+ python -m lidar_slam --no-model /working/c25c745b-27eb-4d15-8486-e0e515b02da3 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/c25c745b-27eb-4d15-8486-e0e515b02da3 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 0.017105681 Adjusted end_distance from 9.223372036854776e+18 to 417.627105681 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017105681 meters Centerline goodness : 0.231603 Centerline is valid? [0, False] SLAMing on 0.047105680999999996 meters Centerline goodness : 0.642431 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.03 [[ 0.99463469 -0.08087535 -0.06450585 0.00664494] [ 0.07903192 0.99640112 -0.03063914 0.00929445] [ 0.06675165 0.02537673 0.99744686 -0.02987482] [ 0. 0. 0. 1. ]] SLAMing on 0.077105681 meters Centerline goodness : 0.786865 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.05 [[ 0.99596331 -0.06009541 -0.06667549 0.03001444] [ 0.05644562 0.99687097 -0.05533683 0.00146101] [ 0.06979235 0.05134992 0.99623903 -0.05488553] [ 0. 0. 0. 1. ]] SLAMing on 0.10710568099999998 meters Centerline goodness : 0.726407 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.06 [[ 0.99434997 -0.07429036 -0.07582271 0.07482116] [ 0.07297224 0.99713316 -0.02001291 0.00266758] [ 0.0770921 0.01436688 0.99692046 -0.05829005] [ 0. 0. 0. 1. ]] SLAMing on 0.13710568099999998 meters Centerline goodness : 0.233930 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.04 [[ 0.97988023 -0.1832434 -0.07909863 0.1565781 ] [ 0.18459424 0.98276338 0.01005496 0.02457613] [ 0.07589273 -0.02445381 0.99681608 -0.03691719] [ 0. 0. 0. 1. ]] SLAMing on 0.16710568099999998 meters Centerline goodness : 0.323147 Centerline is valid? [False, False] Translation: X:0.25, Y:0.05, Z:-0.03 [[ 0.97572394 -0.2108547 -0.05918686 0.24767411] [ 0.2151641 0.97333115 0.07956682 0.05300908] [ 0.04083138 -0.09037014 0.99507087 -0.02954891] [ 0. 0. 0. 1. ]] SLAMing on 0.19710568099999998 meters Centerline goodness : 0.933461 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.04 [[ 0.99200361 -0.11709693 -0.0470866 0.16910488] [ 0.11770619 0.9929943 0.01037197 0.0104199 ] [ 0.0455422 -0.01583142 0.99883696 -0.03625924] [ 0. 0. 0. 1. ]] SLAMing on 0.22710568099999998 meters Centerline goodness : 0.181388 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.02 [[ 0.99365572 -0.10534586 -0.03937708 0.20418014] [ 0.10579722 0.99434183 0.00955409 0.00742206] [ 0.0381478 -0.01365946 0.99917875 -0.02397868] [ 0. 0. 0. 1. ]] SLAMing on 0.257105681 meters Centerline goodness : 0.173196 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:-0.03 [[ 0.99319901 -0.10042668 -0.0589084 0.24372897] [ 0.10046695 0.99493777 -0.00228522 -0.02158375] [ 0.05883969 -0.00364867 0.99826078 -0.02829672] [ 0. 0. 0. 1. ]] SLAMing on 0.28710568099999995 meters Centerline goodness : 0.160044 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.05, Z:-0.01 [[ 0.99442101 -0.07562693 -0.07353521 0.29624259] [ 0.07627119 0.99706912 0.00598888 -0.04810383] [ 0.07286677 -0.01156409 0.99727464 -0.00637952] [ 0. 0. 0. 1. ]] SLAMing on 0.3171056809999999 meters Centerline goodness : 0.276776 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.08, Z:-0.01 [[ 0.9945615 -0.0838298 -0.06180602 0.31849021] [ 0.08510237 0.99620509 0.01824845 -0.07902423] [ 0.06004171 -0.02340905 0.99792134 -0.00503734] [ 0. 0. 0. 1. ]] SLAMing on 0.34710568099999994 meters Centerline goodness : 0.182793 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.14, Z:0.00 [[ 9.89230471e-01 -1.34111595e-01 -5.86272514e-02 3.06665170e-01] [ 1.37839176e-01 9.88320992e-01 6.49767501e-02 -1.42154098e-01] [ 4.92284077e-02 -7.23581131e-02 9.96163073e-01 7.59638915e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3771056809999999 meters Centerline goodness : 0.180322 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.10, Z:0.05 [[ 0.99535639 -0.08222837 -0.05004158 0.30772383] [ 0.07729452 0.99260365 -0.09361383 -0.10021465] [ 0.05736917 0.08931118 0.99435019 0.04980738] [ 0. 0. 0. 1. ]] SLAMing on 0.40710568099999994 meters Centerline goodness : 0.186278 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.07, Z:0.05 [[ 0.99034777 -0.12234623 -0.06513601 0.31003588] [ 0.11829911 0.99099354 -0.06274658 -0.06918802] [ 0.07222617 0.0544354 0.99590169 0.05029157] [ 0. 0. 0. 1. ]] SLAMing on 0.4371056809999999 meters Centerline goodness : 0.148944 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.08, Z:0.03 [[ 0.98971388 -0.1167512 -0.08267768 0.33271663] [ 0.1126228 0.99222512 -0.05296624 -0.07565854] [ 0.08821874 0.04311003 0.99516781 0.0335815 ] [ 0. 0. 0. 1. ]] SLAMing on 0.46710568099999994 meters Centerline goodness : 0.455548 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.08, Z:0.02 [[ 0.99070209 -0.09969911 -0.0925714 0.35841173] [ 0.09471955 0.99388676 -0.05672134 -0.08273816] [ 0.09766056 0.04742563 0.99408914 0.02428094] [ 0. 0. 0. 1. ]] SLAMing on 0.4971056809999999 meters Centerline goodness : 0.944781 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:0.02 [[ 0.99235471 -0.081248 -0.09290257 0.38510129] [ 0.07822234 0.99629422 -0.03576439 -0.11490814] [ 0.09546408 0.02822391 0.99503267 0.02242701] [ 0. 0. 0. 1. ]] SLAMing on 0.5271056809999999 meters Centerline goodness : 0.946048 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:0.01 [[ 0.99099574 -0.07993168 -0.10741681 0.40458871] [ 0.07839474 0.99675143 -0.01846233 -0.14289424] [ 0.10854358 0.00987517 0.99404264 0.0149441 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5571056809999999 meters Centerline goodness : 0.949272 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:0.01 [[ 0.98726408 -0.09749107 -0.12571844 0.45211814] [ 0.09867253 0.99511485 0.00318994 -0.1795626 ] [ 0.1247933 -0.01555427 0.99206083 0.00758333] [ 0. 0. 0. 1. ]] SLAMing on 0.5871056809999999 meters Centerline goodness : 0.953621 Centerline is valid? [False, True] Translation: X:0.47, Y:-0.21, Z:0.02 [[ 0.98745213 -0.09662295 -0.12490917 0.47081215] [ 0.0985807 0.99508301 0.00957385 -0.21069788] [ 0.12336994 -0.02176735 0.99212199 0.01582731] [ 0. 0. 0. 1. ]] SLAMing on 0.6171056809999999 meters Centerline goodness : 0.961162 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.21, Z:0.05 [[ 0.98995102 -0.06922242 -0.12330951 0.49758616] [ 0.06851233 0.9976002 -0.00999474 -0.20539089] [ 0.12370545 0.00144608 0.99231793 0.05307011] [ 0. 0. 0. 1. ]] SLAMing on 0.6471056809999999 meters Centerline goodness : 0.962491 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.17, Z:0.07 [[ 9.90371693e-01 -6.26997830e-02 -1.23420614e-01 5.24521610e-01] [ 6.21073095e-02 9.98032030e-01 -8.64580477e-03 -1.73824509e-01] [ 1.23719816e-01 8.97238064e-04 9.92316785e-01 6.75832460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6771056809999999 meters Centerline goodness : 0.965152 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.13, Z:0.06 [[ 0.98745228 -0.09846619 -0.12346014 0.55041968] [ 0.09821072 0.99513212 -0.00816842 -0.13315195] [ 0.12366346 -0.00405918 0.99231591 0.06428197] [ 0. 0. 0. 1. ]] SLAMing on 0.7071056809999999 meters Centerline goodness : 0.965989 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.05, Z:0.10 [[ 0.99038873 -0.06245322 -0.1234089 0.57231318] [ 0.06184196 0.99804732 -0.00878124 -0.05414897] [ 0.12371634 0.001065 0.99231705 0.10356459] [ 0. 0. 0. 1. ]] SLAMing on 0.7371056809999998 meters Centerline goodness : 0.158216 Centerline is valid? [True, False] Translation: X:0.60, Y:0.04, Z:0.10 [[ 0.98568681 -0.10411209 -0.13259784 0.6026279 ] [ 0.10290233 0.99456337 -0.01596261 0.0373241 ] [ 0.13353886 0.00208951 0.99104138 0.10371699] [ 0. 0. 0. 1. ]] SLAMing on 0.7671056809999999 meters Centerline goodness : 0.934502 Centerline is valid? [False, False] Translation: X:0.62, Y:0.09, Z:0.11 [[ 9.85495119e-01 -8.67207986e-02 -1.45872796e-01 6.20026051e-01] [ 8.77122124e-02 9.96145789e-01 3.66064494e-04 8.82539660e-02] [ 1.45278826e-01 -1.31555804e-02 9.89303287e-01 1.05756161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7971056809999999 meters Centerline goodness : 0.131730 Centerline is valid? [False, False] Translation: X:0.65, Y:0.22, Z:0.09 [[ 0.98359326 -0.10538042 -0.1464215 0.65425016] [ 0.10371929 0.99442597 -0.01895511 0.22239196] [ 0.14760284 0.00345738 0.98904067 0.08663541] [ 0. 0. 0. 1. ]] SLAMing on 0.8271056809999998 meters Centerline goodness : 0.162811 Centerline is valid? [False, False] Translation: X:0.60, Y:0.14, Z:0.14 [[ 0.98691997 -0.10780544 -0.11986228 0.59783224] [ 0.09538044 0.98989018 -0.1049762 0.13701015] [ 0.1299675 0.09217059 0.98722491 0.14394773] [ 0. 0. 0. 1. ]] SLAMing on 0.8571056809999998 meters Centerline goodness : 0.987532 Centerline is valid? [False, True] Translation: X:0.58, Y:0.13, Z:0.18 [[ 0.99240326 -0.08131792 -0.09232098 0.58352025] [ 0.06404236 0.98217939 -0.17669814 0.12877129] [ 0.10504449 0.16944335 0.97992582 0.18319384] [ 0. 0. 0. 1. ]] SLAMing on 0.8871056809999999 meters Centerline goodness : 0.990998 Centerline is valid? [True, True] Translation: X:0.63, Y:0.09, Z:0.12 [[ 0.99375379 -0.00735738 -0.11135201 0.62570067] [ 0.00608119 0.99991193 -0.01179612 0.08994932] [ 0.11142899 0.01104529 0.99371102 0.12287641] [ 0. 0. 0. 1. ]] SLAMing on 0.9171056809999999 meters Centerline goodness : 0.988222 Centerline is valid? [True, True] Translation: X:0.65, Y:0.15, Z:0.11 [[ 0.98457538 -0.13495127 -0.11135295 0.65154598] [ 0.13447772 0.99084651 -0.01178721 0.15078704] [ 0.11192438 -0.0033691 0.99371102 0.11162204] [ 0. 0. 0. 1. ]] SLAMing on 0.9471056809999998 meters Centerline goodness : 0.988222 Centerline is valid? [True, True] Translation: X:0.68, Y:0.15, Z:0.12 [[ 0.98461524 -0.13466013 -0.11135295 0.68477351] [ 0.13418473 0.99088623 -0.01178721 0.15410874] [ 0.11192537 -0.003336 0.99371102 0.11538484] [ 0. 0. 0. 1. ]] SLAMing on 0.9771056809999998 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:0.72, Y:0.19, Z:0.04 [[ 0.97224379 -0.20577111 -0.11135645 0.71889681] [ 0.20575588 0.97853276 -0.01175407 0.19051089] [ 0.11138458 -0.01148442 0.99371102 0.043551 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0071056809999999 meters Centerline goodness : 0.992048 Centerline is valid? [True, True] Translation: X:0.75, Y:0.15, Z:0.10 [[ 0.9927502 -0.04524074 -0.11135668 0.74754306] [ 0.04420522 0.99895335 -0.01175189 0.15248596] [ 0.11177179 0.00674415 0.99371102 0.1041195 ] [ 0. 0. 0. 1. ]] SLAMing on 1.037105681 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:0.79, Y:0.09, Z:0.09 [[ 0.99038141 -0.08212385 -0.11135682 0.78651245] [ 0.08131985 0.99661879 -0.01175058 0.09022955] [ 0.1119453 0.00258204 0.99371102 0.08859661] [ 0. 0. 0. 1. ]] SLAMing on 1.067105681 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:0.81, Y:0.10, Z:0.11 [[ 9.87858131e-01 -1.08332643e-01 -1.11356862e-01 8.12760870e-01] [ 1.07694212e-01 9.94114626e-01 -1.17501660e-02 1.04277403e-01] [ 1.11974412e-01 -3.84992551e-04 9.93711016e-01 1.14329697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.097105681 meters Centerline goodness : 0.995120 Centerline is valid? [True, True] Translation: X:0.84, Y:0.14, Z:0.11 [[ 0.99184626 -0.06197294 -0.11135685 0.84008796] [ 0.06104233 0.99806601 -0.01175028 0.13997734] [ 0.11186969 0.00485699 0.99371102 0.10590092] [ 0. 0. 0. 1. ]] SLAMing on 1.127105681 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:0.87, Y:0.16, Z:0.10 [[ 0.99302259 -0.03880308 -0.11135737 0.867726 ] [ 0.03772809 0.99921901 -0.01174534 0.16052483] [ 0.11172616 0.00746208 0.99371102 0.10255879] [ 0. 0. 0. 1. ]] SLAMing on 1.157105681 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:0.90, Y:0.16, Z:0.08 [[ 0.9919037 -0.06104617 -0.11135717 0.90189081] [ 0.06011009 0.99812263 -0.01174729 0.15537224] [ 0.11186523 0.00495849 0.99371102 0.07824643] [ 0. 0. 0. 1. ]] SLAMing on 1.187105681 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:0.93, Y:0.16, Z:0.09 [[ 0.99085153 -0.07624191 -0.11135717 0.93084555] [ 0.07540126 0.99708407 -0.01174724 0.15750309] [ 0.11192809 0.0032433 0.99371102 0.09099021] [ 0. 0. 0. 1. ]] SLAMing on 1.2171056809999998 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:0.96, Y:0.15, Z:0.11 [[ 0.99120379 -0.07151434 -0.11135863 0.95964036] [ 0.07064552 0.99743247 -0.01173336 0.15381943] [ 0.11191182 0.00376316 0.99371102 0.11170575] [ 0. 0. 0. 1. ]] SLAMing on 1.2471056809999999 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:0.99, Y:0.15, Z:0.10 [[ 0.99164552 -0.06510313 -0.11135863 0.99081196] [ 0.06419406 0.99786845 -0.01173336 0.14847267] [ 0.11188515 0.00448677 0.99371102 0.10448202] [ 0. 0. 0. 1. ]] SLAMing on 1.2771056809999999 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:1.02, Y:0.14, Z:0.12 [[ 9.87598276e-01 -1.10674694e-01 -1.11358687e-01 1.02064974e+00] [ 1.10053052e-01 9.93856461e-01 -1.17328566e-02 1.35245784e-01] [ 1.11973080e-01 -6.68014331e-04 9.93711016e-01 1.20836905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.307105681 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:1.05, Y:0.14, Z:0.14 [[ 9.87743810e-01 -1.09368110e-01 -1.11358803e-01 1.04968856e+00] [ 1.08738313e-01 9.94001180e-01 -1.17317558e-02 1.37878635e-01] [ 1.11973861e-01 -5.20999210e-04 9.93711016e-01 1.37072876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.337105681 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:1.08, Y:0.15, Z:0.14 [[ 0.99128771 -0.07034084 -0.11135902 1.0801916 ] [ 0.06946507 0.99751542 -0.01172964 0.15023754] [ 0.11190742 0.00389189 0.99371102 0.14060299] [ 0. 0. 0. 1. ]] SLAMing on 1.367105681 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:1.11, Y:0.14, Z:0.13 [[ 0.99071015 -0.07805353 -0.11135995 1.11338825] [ 0.07722724 0.99694462 -0.01172089 0.14390666] [ 0.11193456 0.00301198 0.99371102 0.13063692] [ 0. 0. 0. 1. ]] SLAMing on 1.397105681 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:1.15, Y:0.15, Z:0.12 [[ 0.99009358 -0.08551951 -0.11136031 1.14514946] [ 0.08474063 0.99633414 -0.01171744 0.14765104] [ 0.11195415 0.00216462 0.99371102 0.1199439 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4271056809999998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:1.18, Y:0.15, Z:0.12 [[ 9.87579864e-01 -1.10837008e-01 -1.11360539e-01 1.17731682e+00] [ 1.10218379e-01 9.93838348e-01 -1.17152592e-02 1.54543856e-01] [ 1.11972858e-01 -7.04223910e-04 9.93711016e-01 1.19669581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4571056809999998 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:1.20, Y:0.17, Z:0.15 [[ 9.88330754e-01 -1.03927614e-01 -1.11361451e-01 1.20320948e+00] [ 1.03266208e-01 9.94584861e-01 -1.17065793e-02 1.71942256e-01] [ 1.11975050e-01 7.00975525e-05 9.93711016e-01 1.52536029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4871056809999998 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:1.23, Y:0.20, Z:0.17 [[ 0.99218088 -0.0563536 -0.11136146 1.22979117] [ 0.05539267 0.99839602 -0.0117065 0.19792763] [ 0.11184254 0.00544636 0.99371102 0.16999699] [ 0. 0. 0. 1. ]] SLAMing on 1.5171056809999999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:1.26, Y:0.20, Z:0.13 [[ 0.99172584 -0.06386263 -0.11136163 1.26484585] [ 0.06294897 0.99794811 -0.01170484 0.19669942] [ 0.11188063 0.00459789 0.99371102 0.13257828] [ 0. 0. 0. 1. ]] SLAMing on 1.547105681 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:1.29, Y:0.20, Z:0.16 [[ 9.88028884e-01 -1.06759136e-01 -1.11361622e-01 1.29256959e+00] [ 1.06115838e-01 9.94284880e-01 -1.17049501e-02 2.02576880e-01] [ 1.11974788e-01 -2.52403036e-04 9.93711016e-01 1.55418325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.577105681 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:1.33, Y:0.18, Z:0.16 [[ 9.89222121e-01 -9.50690661e-02 -1.11361875e-01 1.32697839e+00] [ 9.43521111e-02 9.95470105e-01 -1.17025487e-02 1.76029774e-01] [ 1.11969968e-01 1.06919202e-03 9.93711016e-01 1.61030188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.607105681 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:1.36, Y:0.17, Z:0.12 [[ 0.99178014 -0.06301223 -0.11136253 1.36195825] [ 0.06209418 0.99800176 -0.01169634 0.17140687] [ 0.11187701 0.00468524 0.99371102 0.12161339] [ 0. 0. 0. 1. ]] SLAMing on 1.6371056809999998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:1.39, Y:0.20, Z:0.14 [[ 0.9850754 -0.13124348 -0.11136252 1.38773885] [ 0.13075657 0.99134551 -0.01169645 0.19666472] [ 0.11193381 -0.0030395 0.99371102 0.1430085 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6671056809999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:1.42, Y:0.21, Z:0.15 [[ 9.89144013e-01 -9.58775140e-02 -1.11362581e-01 1.41779098e+00] [ 9.51664226e-02 9.95392666e-01 -1.16958243e-02 2.13401553e-01] [ 1.11970863e-01 9.70876093e-04 9.93711016e-01 1.45322902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6971056809999998 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:1.45, Y:0.23, Z:0.15 [[ 0.99070729 -0.07808134 -0.11136595 1.44879368] [ 0.07726166 0.99694262 -0.01166363 0.23108047] [ 0.11193618 0.00295092 0.99371102 0.14882674] [ 0. 0. 0. 1. ]] SLAMing on 1.7271056809999998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:1.48, Y:0.23, Z:0.14 [[ 9.88019890e-01 -1.06833467e-01 -1.11370138e-01 1.48142511e+00] [ 1.06199816e-01 9.94276869e-01 -1.16235342e-02 2.26461843e-01] [ 1.11974534e-01 -3.43205213e-04 9.93711017e-01 1.41793168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7571056809999999 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:1.52, Y:0.22, Z:0.15 [[ 9.87217822e-01 -1.14005607e-01 -1.11371866e-01 1.51620792e+00] [ 1.13419282e-01 9.93479414e-01 -1.16069491e-02 2.19967855e-01] [ 1.11968914e-01 -1.17313009e-03 9.93711017e-01 1.49038125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.787105681 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:1.54, Y:0.22, Z:0.16 [[ 0.98332053 -0.14368319 -0.11151629 1.54223921] [ 0.14344317 0.98960584 -0.01021476 0.22147476] [ 0.11182487 -0.00595187 0.99371011 0.16185299] [ 0. 0. 0. 1. ]] SLAMing on 1.817105681 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:1.57, Y:0.23, Z:0.17 [[ 0.98567501 -0.12665175 -0.11137377 1.57249563] [ 0.12614813 0.99194376 -0.01158582 0.23333712] [ 0.11194388 -0.00262974 0.99371105 0.16870651] [ 0. 0. 0. 1. ]] SLAMing on 1.8471056809999997 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:1.60, Y:0.26, Z:0.17 [[ 0.99008594 -0.08558937 -0.11137455 1.60216928] [ 0.08482657 0.99632846 -0.01157834 0.25720955] [ 0.11195662 0.00201604 0.99371105 0.17113668] [ 0. 0. 0. 1. ]] SLAMing on 1.8771056809999997 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:1.63, Y:0.26, Z:0.17 [[ 9.88832554e-01 -9.90206502e-02 -1.11378141e-01 1.63404630e+00] [ 9.83465528e-02 9.95085272e-01 -1.15437156e-02 2.58000691e-01] [ 1.11973814e-01 4.61145606e-04 9.93711051e-01 1.65231495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9071056809999998 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:1.67, Y:0.24, Z:0.17 [[ 9.88406722e-01 -1.03184327e-01 -1.11378392e-01 1.66881687e+00] [ 1.02536843e-01 9.94662251e-01 -1.15412870e-02 2.37459331e-01] [ 1.11974763e-01 -1.29030617e-05 9.93711051e-01 1.73139939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9371056809999998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:1.70, Y:0.22, Z:0.17 [[ 0.9905566 -0.07994713 -0.11138254 1.70253969] [ 0.07915745 0.99679578 -0.01150112 0.21815059] [ 0.11194513 0.00257576 0.99371105 0.170334 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9671056809999998 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:1.74, Y:0.20, Z:0.18 [[ 9.87360029e-01 -1.12755757e-01 -1.11383629e-01 1.73589285e+00] [ 1.12174631e-01 9.93622070e-01 -1.14905677e-02 1.98499734e-01] [ 1.11968859e-01 -1.14909023e-03 9.93711052e-01 1.76525091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9971056809999999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:1.77, Y:0.21, Z:0.18 [[ 9.89109018e-01 -9.62125078e-02 -1.11384483e-01 1.76634250e+00] [ 9.55275766e-02 9.95360557e-01 -1.14822803e-02 2.05060420e-01] [ 1.11972460e-01 7.16937274e-04 9.93711052e-01 1.77380960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0271056809999997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:1.80, Y:0.22, Z:0.18 [[ 0.99120043 -0.07151777 -0.11138634 1.79572574] [ 0.07067918 0.99743322 -0.01146426 0.22435125] [ 0.11192033 0.00349069 0.99371105 0.18213678] [ 0. 0. 0. 1. ]] SLAMing on 2.0571056809999995 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:1.83, Y:0.24, Z:0.19 [[ 0.99230775 -0.05402008 -0.1113874 1.82530002] [ 0.05307283 0.99852495 -0.01145389 0.23993334] [ 0.11184184 0.00545414 0.99371105 0.19243439] [ 0. 0. 0. 1. ]] SLAMing on 2.0871056809999997 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:1.86, Y:0.24, Z:0.17 [[ 0.99320773 -0.03363062 -0.11138848 1.8587021 ] [ 0.03255707 0.99940437 -0.01144337 0.24109078] [ 0.11170699 0.00773916 0.99371105 0.1719282 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1171056809999995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:1.89, Y:0.22, Z:0.18 [[ 0.99240677 -0.05216595 -0.11138904 1.8886601 ] [ 0.05120887 0.99862246 -0.01143793 0.21876761] [ 0.11183227 0.00564697 0.99371105 0.17878639] [ 0. 0. 0. 1. ]] SLAMing on 2.1471056809999998 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:1.92, Y:0.20, Z:0.17 [[ 0.99203988 -0.05873509 -0.11138698 1.9206856 ] [ 0.05781693 0.99826145 -0.01145798 0.2032573 ] [ 0.11186631 0.00492672 0.99371105 0.17445618] [ 0. 0. 0. 1. ]] SLAMing on 2.1771056809999996 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:1.95, Y:0.20, Z:0.18 [[ 0.99272901 -0.04563091 -0.11138643 1.9514101 ] [ 0.04463008 0.99893781 -0.01146332 0.19804464] [ 0.1117912 0.00640879 0.99371105 0.18308202] [ 0. 0. 0. 1. ]] SLAMing on 2.2071056809999994 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:1.98, Y:0.20, Z:0.17 [[ 0.99206067 -0.05838402 -0.11138643 1.98126034] [ 0.05746307 0.99828182 -0.01146332 0.19979993] [ 0.11186432 0.0049717 0.99371105 0.17017186] [ 0. 0. 0. 1. ]] SLAMing on 2.2371056809999996 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:2.01, Y:0.19, Z:0.19 [[ 9.89618769e-01 -9.08188736e-02 -1.11385029e-01 2.01097360e+00] [ 9.01004741e-02 9.95866550e-01 -1.14769288e-02 1.89999697e-01] [ 1.11966946e-01 1.32194024e-03 9.93711052e-01 1.92545921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2671056809999994 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:2.04, Y:0.20, Z:0.20 [[ 0.99085765 -0.07612119 -0.11138531 2.04238997] [ 0.07531044 0.99709412 -0.01147423 0.19559242] [ 0.11193507 0.00298085 0.99371105 0.19668791] [ 0. 0. 0. 1. ]] SLAMing on 2.2971056809999997 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:2.07, Y:0.20, Z:0.20 [[ 9.90201114e-01 -8.42307667e-02 -1.11386411e-01 2.07384855e+00] [ 8.34723124e-02 9.96444159e-01 -1.14635059e-02 2.04772796e-01] [ 1.11955918e-01 2.05349504e-03 9.93711052e-01 1.97608660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3271056809999995 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:2.10, Y:0.21, Z:0.21 [[ 9.88938069e-01 -9.79505930e-02 -1.11387512e-01 2.10335722e+00] [ 9.72799693e-02 9.95191158e-01 -1.14528020e-02 2.13665167e-01] [ 1.11973675e-01 4.90338220e-04 9.93711052e-01 2.06843709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3571056809999997 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:2.13, Y:0.23, Z:0.20 [[ 9.88516374e-01 -1.02116201e-01 -1.11389679e-01 2.13488471e+00] [ 1.01474308e-01 9.94772477e-01 -1.14316847e-02 2.28615408e-01] [ 1.11974747e-01 -2.78307738e-06 9.93711053e-01 2.03264364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3871056809999995 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:2.16, Y:0.25, Z:0.21 [[ 9.89720347e-01 -8.96980166e-02 -1.11390757e-01 2.16449176e+00] [ 8.89788165e-02 9.95968035e-01 -1.14211649e-02 2.48597063e-01] [ 1.11966090e-01 1.39234153e-03 9.93711053e-01 2.07384368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4171056809999993 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:2.19, Y:0.27, Z:0.22 [[ 0.99057641 -0.07968833 -0.11139185 2.19392205] [ 0.0789072 0.99681666 -0.01141052 0.26860771] [ 0.11194653 0.00251337 0.99371105 0.21922415] [ 0. 0. 0. 1. ]] SLAMing on 2.4471056809999996 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:2.22, Y:0.28, Z:0.23 [[ 0.99183345 -0.06211319 -0.11139286 2.22394356] [ 0.06122265 0.99805902 -0.01140063 0.28446682] [ 0.11188478 0.00448776 0.99371105 0.22548924] [ 0. 0. 0. 1. ]] SLAMing on 2.4771056809999994 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:2.26, Y:0.29, Z:0.22 [[ 0.99268858 -0.04648058 -0.11139539 2.2565048 ] [ 0.04549486 0.9988998 -0.01137583 0.28769317] [ 0.11180159 0.00622474 0.99371105 0.22368539] [ 0. 0. 0. 1. ]] SLAMing on 2.5071056809999996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:2.29, Y:0.28, Z:0.21 [[ 0.99289633 -0.04180487 -0.11139675 2.28744672] [ 0.0407914 0.99910308 -0.0113625 0.28097696] [ 0.11177185 0.00673776 0.99371105 0.2115537 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5371056809999994 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:2.32, Y:0.27, Z:0.22 [[ 0.9924689 -0.05096186 -0.11139287 2.31523387] [ 0.05000143 0.99868408 -0.01140044 0.2746621 ] [ 0.11182727 0.00574478 0.99371105 0.21611271] [ 0. 0. 0. 1. ]] SLAMing on 2.5671056809999997 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:2.35, Y:0.27, Z:0.23 [[ 0.99118933 -0.07166817 -0.11138844 2.34637684] [ 0.07083285 0.99742255 -0.0114436 0.26631353] [ 0.11192148 0.00345282 0.99371105 0.22501195] [ 0. 0. 0. 1. ]] SLAMing on 2.5971056809999995 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:2.38, Y:0.26, Z:0.23 [[ 9.89396547e-01 -9.32045508e-02 -1.11388435e-01 2.37755731e+00] [ 9.25049683e-02 9.95646461e-01 -1.14436012e-02 2.57970209e-01] [ 1.11970097e-01 1.01827579e-03 9.93711055e-01 2.33704918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6271056809999993 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:2.41, Y:0.25, Z:0.24 [[ 9.88339138e-01 -1.03818012e-01 -1.11389266e-01 2.41015716e+00] [ 1.03186460e-01 9.94596292e-01 -1.14355076e-02 2.54774314e-01] [ 1.11974563e-01 -1.91704360e-04 9.93711055e-01 2.38583383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6571056809999996 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:2.44, Y:0.25, Z:0.25 [[ 9.86295890e-01 -1.21707038e-01 -1.11390370e-01 2.44104456e+00] [ 1.21190168e-01 9.92563559e-01 -1.14247429e-02 2.51195065e-01] [ 1.11952494e-01 -2.23124067e-03 9.93711055e-01 2.51133582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6871056809999994 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:2.47, Y:0.25, Z:0.25 [[ 0.98409586 -0.13837177 -0.11139389 2.47325013] [ 0.13796487 0.99037162 -0.01139034 0.25044308] [ 0.11189745 -0.00415926 0.99371106 0.25184964] [ 0. 0. 0. 1. ]] SLAMing on 2.7171056809999996 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:2.51, Y:0.26, Z:0.26 [[ 0.98367396 -0.14133896 -0.11139495 2.50535695] [ 0.14095217 0.989951 -0.01137993 0.25513453] [ 0.11188397 -0.00450722 0.99371106 0.25525702] [ 0. 0. 0. 1. ]] SLAMing on 2.7471056809999994 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:2.54, Y:0.27, Z:0.26 [[ 0.98464779 -0.13438415 -0.11139849 2.53601362] [ 0.13395694 0.99092221 -0.01134518 0.27037905] [ 0.11191185 -0.00375159 0.99371106 0.25702352] [ 0. 0. 0. 1. ]] SLAMing on 2.7771056809999997 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:2.57, Y:0.29, Z:0.26 [[ 0.98559938 -0.12721425 -0.111402 2.56758084] [ 0.12674528 0.99187081 -0.01131065 0.28626488] [ 0.11193526 -0.00297191 0.99371106 0.26021425] [ 0. 0. 0. 1. ]] SLAMing on 2.8071056809999995 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:2.60, Y:0.31, Z:0.26 [[ 9.86732024e-01 -1.18104250e-01 -1.11406012e-01 2.59850707e+00] [ 1.17581849e-01 9.92999232e-01 -1.12709670e-02 3.07675226e-01] [ 1.11957233e-01 -1.97790072e-03 9.93711058e-01 2.59872922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8371056809999993 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:2.63, Y:0.31, Z:0.26 [[ 9.86773771e-01 -1.17751385e-01 -1.11409765e-01 2.63181872e+00] [ 1.17230944e-01 9.93041142e-01 -1.12337474e-02 3.10885247e-01] [ 1.11957269e-01 -1.97550458e-03 9.93711058e-01 2.63627099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8671056809999995 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:2.66, Y:0.33, Z:0.27 [[ 9.87139725e-01 -1.14639175e-01 -1.11413745e-01 2.66041515e+00] [ 1.14103444e-01 9.93405806e-01 -1.11941269e-02 3.29063185e-01] [ 1.11962347e-01 -1.66252470e-03 9.93711059e-01 2.74315384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8971056809999993 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:2.69, Y:0.34, Z:0.28 [[ 9.87491041e-01 -1.11569313e-01 -1.11416934e-01 2.69045270e+00] [ 1.11017692e-01 9.93755742e-01 -1.11623057e-02 3.39385691e-01] [ 1.11966588e-01 -1.34657396e-03 9.93711060e-01 2.82363444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9271056809999996 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:2.72, Y:0.35, Z:0.29 [[ 9.88679805e-01 -1.00487854e-01 -1.11420082e-01 2.72243028e+00] [ 9.98695620e-02 9.94938278e-01 -1.11307908e-02 3.50511532e-01] [ 1.11974614e-01 -1.22686721e-04 9.93711060e-01 2.85695943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9571056809999994 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:2.75, Y:0.36, Z:0.28 [[ 9.89546752e-01 -9.15528745e-02 -1.11423953e-01 2.75401806e+00] [ 9.08824522e-02 9.95799854e-01 -1.10919036e-02 3.58517873e-01] [ 1.11971452e-01 8.49475094e-04 9.93711061e-01 2.83525963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9871056809999996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:2.79, Y:0.36, Z:0.28 [[ 9.89422155e-01 -9.28859710e-02 -1.11427087e-01 2.78594715e+00] [ 9.22275289e-02 9.95676530e-01 -1.10603346e-02 3.62924587e-01] [ 1.11972685e-01 6.66695234e-04 9.93711061e-01 2.84575615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0171056809999994 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:2.82, Y:0.36, Z:0.28 [[ 9.87722581e-01 -1.09489239e-01 -1.11428049e-01 2.81811376e+00] [ 1.08937021e-01 9.93987228e-01 -1.10506289e-02 3.61520844e-01] [ 1.11967983e-01 -1.22368399e-03 9.93711061e-01 2.84670767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0471056809999992 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:2.85, Y:0.36, Z:0.29 [[ 9.86088547e-01 -1.23338455e-01 -1.11431609e-01 2.85169589e+00] [ 1.22878265e-01 9.92360625e-01 -1.10146150e-02 3.60822832e-01] [ 1.11938867e-01 -2.83113720e-03 9.93711062e-01 2.86222354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0771056809999995 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:2.88, Y:0.36, Z:0.29 [[ 0.98394711 -0.13939243 -0.11143536 2.88447509] [ 0.13903882 0.9902261 -0.01097649 0.35693218] [ 0.11187625 -0.00469356 0.99371106 0.29005583] [ 0. 0. 0. 1. ]] SLAMing on 3.1071056809999993 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:2.92, Y:0.36, Z:0.29 [[ 0.98339392 -0.14324118 -0.1114377 2.91689078] [ 0.14291483 0.98967438 -0.01095277 0.35866002] [ 0.11185592 -0.00515522 0.99371106 0.29473239] [ 0. 0. 0. 1. ]] SLAMing on 3.1371056809999995 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:2.95, Y:0.36, Z:0.30 [[ 0.98340354 -0.14317217 -0.11144149 2.95038908] [ 0.14284975 0.98968421 -0.01091407 0.35969352] [ 0.11185447 -0.00518645 0.99371106 0.3000462 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1671056809999993 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:2.98, Y:0.37, Z:0.30 [[ 0.98273656 -0.14760199 -0.111546 2.97915805] [ 0.14742897 0.98902366 -0.00984369 0.3664047 ] [ 0.11177458 -0.00677136 0.99371052 0.30019772] [ 0. 0. 0. 1. ]] SLAMing on 3.1971056809999996 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:3.01, Y:0.37, Z:0.30 [[ 0.98217287 -0.15138306 -0.11144336 3.01433196] [ 0.15111537 0.9884561 -0.0108943 0.37026449] [ 0.11180608 -0.00614072 0.99371107 0.30212103] [ 0. 0. 0. 1. ]] SLAMing on 3.2271056809999994 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:3.04, Y:0.38, Z:0.30 [[ 0.98069558 -0.16058887 -0.1115679 3.04256551] [ 0.16052509 0.98698494 -0.00961346 0.37656007] [ 0.11165965 -0.00848157 0.99371031 0.30123114] [ 0. 0. 0. 1. ]] SLAMing on 3.257105680999999 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:3.07, Y:0.38, Z:0.30 [[ 0.97980965 -0.1659907 -0.1114457 3.07422899] [ 0.16581961 0.98609622 -0.01086756 0.38078309] [ 0.11170009 -0.00783174 0.9937111 0.30258926] [ 0. 0. 0. 1. ]] SLAMing on 3.2871056809999994 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:3.11, Y:0.38, Z:0.31 [[ 0.97932301 -0.16883574 -0.11144927 3.10914059] [ 0.16868707 0.98561015 -0.01083083 0.38480383] [ 0.11167416 -0.00819317 0.9937111 0.30788388] [ 0. 0. 0. 1. ]] SLAMing on 3.3171056809999993 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:3.14, Y:0.39, Z:0.32 [[ 0.9799465 -0.16511652 -0.11154095 3.13949064] [ 0.16505119 0.98623548 -0.00988363 0.39366865] [ 0.1116376 -0.00872454 0.99371069 0.32282704] [ 0. 0. 0. 1. ]] SLAMing on 3.3471056809999995 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:3.17, Y:0.40, Z:0.33 [[ 0.98097888 -0.15885727 -0.11155624 3.16983932] [ 0.15876965 0.98726775 -0.0097259 0.40113332] [ 0.11168091 -0.00817084 0.99371053 0.33109706] [ 0. 0. 0. 1. ]] SLAMing on 3.3771056809999993 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:3.20, Y:0.42, Z:0.33 [[ 0.98334974 -0.14345592 -0.11155126 3.19704009] [ 0.14326388 0.98963623 -0.00977734 0.41522772] [ 0.11179778 -0.00636672 0.99371058 0.33387467] [ 0. 0. 0. 1. ]] SLAMing on 3.4071056809999996 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:3.23, Y:0.43, Z:0.35 [[ 9.86819431e-01 -1.17330868e-01 -1.11448996e-01 3.22618905e+00] [ 1.16853292e-01 9.93090133e-01 -1.08303154e-02 4.32247941e-01] [ 1.11949629e-01 -2.33561639e-03 9.93711138e-01 3.47680616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4371056809999994 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:3.26, Y:0.45, Z:0.35 [[ 9.89948969e-01 -8.70598150e-02 -1.11452356e-01 3.25636193e+00] [ 8.63943621e-02 9.96202524e-01 -1.07956243e-02 4.47792926e-01] [ 1.11968984e-01 1.05826187e-03 9.93711138e-01 3.51359671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.467105680999999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:3.29, Y:0.46, Z:0.35 [[ 0.99160474 -0.06555706 -0.11145542 3.28669767] [ 0.06475962 0.99784284 -0.01076388 0.46300847] [ 0.11192064 0.0034557 0.99371114 0.35006208] [ 0. 0. 0. 1. ]] SLAMing on 3.4971056809999994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:3.32, Y:0.48, Z:0.35 [[ 0.99205866 -0.0582807 -0.1114584 3.31829083] [ 0.05744099 0.99829121 -0.01073298 0.47555697] [ 0.11189346 0.00424547 0.99371114 0.35393582] [ 0. 0. 0. 1. ]] SLAMing on 3.527105680999999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:3.35, Y:0.48, Z:0.36 [[ 0.99183235 -0.06201053 -0.11145978 3.34970385] [ 0.06119587 0.99806822 -0.01071862 0.47937197] [ 0.11190913 0.00381019 0.99371114 0.35731395] [ 0. 0. 0. 1. ]] SLAMing on 3.5571056809999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:3.38, Y:0.48, Z:0.36 [[ 9.91135963e-01 -7.22912064e-02 -1.11460689e-01 3.38249498e+00] [ 7.15423134e-02 9.97380074e-01 -1.07091488e-02 4.79419360e-01] [ 1.11942847e-01 2.64006699e-03 9.93711140e-01 3.57099597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5871056809999993 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:3.42, Y:0.48, Z:0.36 [[ 9.90248041e-01 -8.35770999e-02 -1.11461591e-01 3.41509833e+00] [ 8.29004434e-02 9.96500392e-01 -1.06997510e-02 4.77342106e-01] [ 1.11965773e-01 1.35519212e-03 9.93711140e-01 3.60445669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6171056809999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.45, Y:0.47, Z:0.37 [[ 9.88991260e-01 -9.73262626e-02 -1.11462487e-01 3.44669234e+00] [ 9.67375869e-02 9.95252508e-01 -1.06904037e-02 4.71760216e-01] [ 1.11973777e-01 -2.09896242e-04 9.93711140e-01 3.67226419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6471056809999993 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:3.48, Y:0.46, Z:0.36 [[ 9.87722554e-01 -1.09451490e-01 -1.11465364e-01 3.48070170e+00] [ 1.08943062e-01 9.93990828e-01 -1.06603319e-02 4.64425029e-01] [ 1.11962338e-01 -1.61392776e-03 9.93711140e-01 3.64932856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.677105680999999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:3.51, Y:0.46, Z:0.37 [[ 9.86564296e-01 -1.19438808e-01 -1.11468652e-01 3.51253786e+00] [ 1.18997718e-01 9.92837668e-01 -1.06258393e-02 4.57229648e-01] [ 1.11939414e-01 -2.78144154e-03 9.93711141e-01 3.70325087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7071056809999994 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:3.54, Y:0.45, Z:0.38 [[ 9.86586915e-01 -1.19249001e-01 -1.11471674e-01 3.54429051e+00] [ 1.18810294e-01 9.92860454e-01 -1.05940390e-02 4.48745729e-01] [ 1.11939145e-01 -2.79204206e-03 9.93711141e-01 3.79517680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.737105680999999 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:3.58, Y:0.45, Z:0.38 [[ 9.88120474e-01 -1.05790324e-01 -1.11473475e-01 3.57734847e+00] [ 1.05268288e-01 9.94387628e-01 -1.05750572e-02 4.46278673e-01] [ 1.11966583e-01 -1.28519135e-03 9.93711141e-01 3.82132039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7671056809999994 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:3.61, Y:0.45, Z:0.39 [[ 9.89761986e-01 -8.91294480e-02 -1.11477135e-01 3.60872719e+00] [ 8.85062718e-02 9.96019892e-01 -1.05363290e-02 4.45911025e-01] [ 1.11972541e-01 5.62032325e-04 9.93711142e-01 3.93409213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7971056809999992 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:3.64, Y:0.44, Z:0.40 [[ 9.90888823e-01 -7.55743644e-02 -1.11480298e-01 3.64095423e+00] [ 7.48693706e-02 9.97138039e-01 -1.05027623e-02 4.42467900e-01] [ 1.11954985e-01 2.06061008e-03 9.93711143e-01 3.96768786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8271056809999995 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:3.67, Y:0.44, Z:0.40 [[ 9.91071694e-01 -7.31320304e-02 -1.11483643e-01 3.67334776e+00] [ 7.24156437e-02 9.97319615e-01 -1.04671293e-02 4.40592391e-01] [ 1.11950307e-01 2.30051583e-03 9.93711143e-01 3.98595788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8571056809999993 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:3.71, Y:0.43, Z:0.40 [[ 9.90865782e-01 -7.58696399e-02 -1.11484526e-01 3.70574170e+00] [ 7.51715751e-02 9.97115776e-01 -1.04577145e-02 4.33182372e-01] [ 1.11956403e-01 1.98172400e-03 9.93711143e-01 3.99977400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.887105680999999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:3.74, Y:0.42, Z:0.40 [[ 9.90138517e-01 -8.48324960e-02 -1.11486166e-01 3.73858065e+00] [ 8.41929845e-02 9.96394773e-01 -1.04402084e-02 4.24912770e-01] [ 1.11969902e-01 9.50899470e-04 9.93711144e-01 4.02082548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9171056809999993 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:3.77, Y:0.41, Z:0.40 [[ 9.89316684e-01 -9.39315058e-02 -1.11487086e-01 3.77235092e+00] [ 9.33506450e-02 9.95578658e-01 -1.04303739e-02 4.14466731e-01] [ 1.11973904e-01 -8.84484784e-05 9.93711144e-01 4.01655180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.947105680999999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:3.81, Y:0.41, Z:0.40 [[ 9.88484566e-01 -1.02316293e-01 -1.11488294e-01 3.80626913e+00] [ 1.01790004e-01 9.94751362e-01 -1.04174448e-02 4.05468176e-01] [ 1.11969007e-01 -1.05091056e-03 9.93711144e-01 4.00937011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9771056809999994 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:3.84, Y:0.40, Z:0.41 [[ 9.86993733e-01 -1.15816717e-01 -1.11489278e-01 3.83814522e+00] [ 1.15377319e-01 9.93267220e-01 -1.04068983e-02 3.98914260e-01] [ 1.11943938e-01 -2.59179064e-03 9.93711144e-01 4.06743147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.007105681 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:3.87, Y:0.39, Z:0.41 [[ 0.98538459 -0.12879111 -0.1114902 3.87008238] [ 0.1284354 0.99166338 -0.01039699 0.39028471] [ 0.11189979 -0.00407425 0.99371114 0.40711427] [ 0. 0. 0. 1. ]] SLAMing on 4.037105681 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:3.90, Y:0.38, Z:0.41 [[ 0.9840859 -0.13836266 -0.11149308 3.90295361] [ 0.13807149 0.99036802 -0.01036608 0.38232184] [ 0.11185346 -0.0051929 0.99371114 0.40730584] [ 0. 0. 0. 1. ]] SLAMing on 4.067105681 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:3.94, Y:0.38, Z:0.41 [[ 0.98368261 -0.14119998 -0.11149478 3.93537282] [ 0.140929 0.98996563 -0.01034769 0.38008941] [ 0.1118371 -0.005534 0.99371114 0.40954464] [ 0. 0. 0. 1. ]] SLAMing on 4.0971056809999995 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:3.97, Y:0.38, Z:0.41 [[ 0.98449533 -0.1354146 -0.11149813 3.96691208] [ 0.13511078 0.99077684 -0.01031153 0.38411668] [ 0.11186609 -0.00491294 0.99371115 0.41367264] [ 0. 0. 0. 1. ]] SLAMing on 4.127105681 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:4.00, Y:0.39, Z:0.42 [[ 9.86128448e-01 -1.22955335e-01 -1.11501880e-01 3.99710440e+00] [ 1.22576716e-01 9.92405895e-01 -1.02707931e-02 3.92405166e-01] [ 1.11917972e-01 -3.53921300e-03 9.93711146e-01 4.19656809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157105681 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:4.03, Y:0.40, Z:0.43 [[ 9.87882534e-01 -1.07957305e-01 -1.11504791e-01 4.02731196e+00] [ 1.07486924e-01 9.94153772e-01 -1.02390891e-02 4.03344994e-01] [ 1.11958293e-01 -1.87028971e-03 9.93711146e-01 4.27581709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.187105680999999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:4.06, Y:0.42, Z:0.43 [[ 9.89493601e-01 -9.20266102e-02 -1.11505681e-01 4.05775537e+00] [ 9.14563407e-02 9.95756545e-01 -1.02293940e-02 4.16290622e-01] [ 1.11973888e-01 -7.59816301e-05 9.93711147e-01 4.34209121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.217105681 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:4.09, Y:0.43, Z:0.44 [[ 9.90609774e-01 -7.91109633e-02 -1.11506640e-01 4.08816825e+00] [ 7.84602217e-02 9.96864869e-01 -1.02189211e-02 4.31888051e-01] [ 1.11965481e-01 1.37412740e-03 9.93711147e-01 4.42086996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.247105681 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:4.12, Y:0.45, Z:0.44 [[ 9.91158105e-01 -7.19142930e-02 -1.11507603e-01 4.11781823e+00] [ 7.12193213e-02 9.97408440e-01 -1.02084091e-02 4.46664994e-01] [ 1.11952755e-01 2.17665167e-03 9.93711147e-01 4.43703953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277105681 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:4.15, Y:0.45, Z:0.44 [[ 9.91073647e-01 -7.30679196e-02 -1.11508321e-01 4.14984746e+00] [ 7.23811067e-02 9.97324884e-01 -1.02005580e-02 4.54680634e-01] [ 1.11955357e-01 2.03840850e-03 9.93711147e-01 4.42967166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3071056809999995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:4.18, Y:0.46, Z:0.45 [[ 9.90497836e-01 -8.04966976e-02 -1.11509274e-01 4.18137752e+00] [ 7.98579484e-02 9.96754167e-01 -1.01901277e-02 4.57526218e-01] [ 1.11967605e-01 1.18839759e-03 9.93711147e-01 4.46808529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.337105681 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:4.21, Y:0.46, Z:0.46 [[ 9.89497692e-01 -9.19771052e-02 -1.11510218e-01 4.21214422e+00] [ 9.14121131e-02 9.95761115e-01 -1.01797836e-02 4.60583379e-01] [ 1.11973846e-01 -1.20512348e-04 9.93711147e-01 4.58327289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.367105681 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:4.24, Y:0.46, Z:0.46 [[ 9.89032903e-01 -9.68462303e-02 -1.11511097e-01 4.24492475e+00] [ 9.63131590e-02 9.95299123e-01 -1.01701516e-02 4.64605923e-01] [ 1.11971838e-01 -6.81371473e-04 9.93711147e-01 4.64915083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397105680999999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:4.28, Y:0.47, Z:0.47 [[ 9.88603097e-01 -1.01137986e-01 -1.11512443e-01 4.27563984e+00] [ 1.00633784e-01 9.94871705e-01 -1.01553686e-02 4.69601922e-01] [ 1.11967668e-01 -1.18229027e-03 9.93711147e-01 4.71842787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.427105681 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:4.31, Y:0.47, Z:0.48 [[ 9.89204313e-01 -9.50745184e-02 -1.11515306e-01 4.30549272e+00] [ 9.45354451e-02 9.95470018e-01 -1.01238348e-02 4.73490985e-01] [ 1.11972662e-01 -5.27608010e-04 9.93711147e-01 4.76388258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457105681 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:4.34, Y:0.48, Z:0.47 [[ 9.90328293e-01 -8.25464772e-02 -1.11516598e-01 4.33810943e+00] [ 8.19297459e-02 9.96586832e-01 -1.01095872e-02 4.79348890e-01] [ 1.11970484e-01 8.75283718e-04 9.93711148e-01 4.73891829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.487105681 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:4.37, Y:0.49, Z:0.47 [[ 9.90924411e-01 -7.50510580e-02 -1.11517493e-01 4.36823140e+00] [ 7.43881034e-02 9.97178222e-01 -1.00996989e-02 4.85898460e-01] [ 1.11960809e-01 1.71246341e-03 9.93711148e-01 4.72543093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517105680999999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:4.40, Y:0.49, Z:0.47 [[ 9.91000827e-01 -7.40348607e-02 -1.11517713e-01 4.39886414e+00] [ 7.33657669e-02 9.97253984e-01 -1.00972676e-02 4.90086946e-01] [ 1.11959034e-01 1.82481799e-03 9.93711148e-01 4.71659197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.547105681 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:4.43, Y:0.49, Z:0.47 [[ 9.90704364e-01 -7.79010035e-02 -1.11518143e-01 4.43151797e+00] [ 7.72568475e-02 9.96960140e-01 -1.00925217e-02 4.89571243e-01] [ 1.11965361e-01 1.38316518e-03 9.93711148e-01 4.68806545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577105681 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:4.46, Y:0.49, Z:0.47 [[ 9.90339175e-01 -8.24125422e-02 -1.11519020e-01 4.46483213e+00] [ 8.17979779e-02 9.96597927e-01 -1.00828255e-02 4.86954589e-01] [ 1.11970575e-01 8.63386785e-04 9.93711148e-01 4.73031274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.607105680999999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:4.50, Y:0.49, Z:0.48 [[ 9.90321678e-01 -8.26207698e-02 -1.11520324e-01 4.49746288e+00] [ 8.20091480e-02 9.96580718e-01 -1.00683806e-02 4.85265725e-01] [ 1.11970862e-01 8.25248882e-04 9.93711148e-01 4.77570643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6371056809999995 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:4.53, Y:0.48, Z:0.48 [[ 9.90661489e-01 -7.84399996e-02 -1.11521212e-01 4.52944791e+00] [ 7.78030731e-02 9.96918005e-01 -1.00585316e-02 4.83079474e-01] [ 1.11966495e-01 1.28790691e-03 9.93711148e-01 4.78885191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.667105681 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:4.56, Y:0.48, Z:0.48 [[ 9.90999251e-01 -7.40496868e-02 -1.11521873e-01 4.56143034e+00] [ 7.33858690e-02 9.97252971e-01 -1.00512019e-02 4.81867114e-01] [ 1.11959807e-01 1.77660399e-03 9.93711148e-01 4.80682861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697105681 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:4.59, Y:0.48, Z:0.48 [[ 9.90972928e-01 -7.43998180e-02 -1.11522750e-01 4.59283420e+00] [ 7.37393059e-02 9.97226997e-01 -1.00414607e-02 4.78963107e-01] [ 1.11960580e-01 1.72720556e-03 9.93711148e-01 4.83662382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.727105680999999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:4.63, Y:0.47, Z:0.49 [[ 9.90786475e-01 -7.68416151e-02 -1.11523665e-01 4.62513784e+00] [ 7.61976622e-02 9.97042271e-01 -1.00312821e-02 4.72461555e-01] [ 1.11964628e-01 1.44101604e-03 9.93711148e-01 4.89076436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.757105681 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:4.66, Y:0.48, Z:0.49 [[ 9.90793414e-01 -7.67507627e-02 -1.11524577e-01 4.65751945e+00] [ 7.61073779e-02 9.97049269e-01 -1.00211371e-02 4.75277237e-01] [ 1.11964628e-01 1.44103354e-03 9.93711148e-01 4.92734661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.787105681 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:4.69, Y:0.47, Z:0.50 [[ 9.90796055e-01 -7.67153411e-02 -1.11525489e-01 4.68994348e+00] [ 7.60728763e-02 9.97052004e-01 -1.00109745e-02 4.68675408e-01] [ 1.11964708e-01 1.43476931e-03 9.93711148e-01 5.00344000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817105680999999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:4.72, Y:0.46, Z:0.51 [[ 9.90805361e-01 -7.65937170e-02 -1.11526405e-01 4.72151976e+00] [ 7.59516339e-02 9.97061349e-01 -1.00007588e-02 4.63599111e-01] [ 1.11964663e-01 1.43819276e-03 9.93711148e-01 5.13907578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8471056809999995 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:4.75, Y:0.46, Z:0.52 [[ 9.91012474e-01 -7.38642685e-02 -1.11527330e-01 4.75345222e+00] [ 7.32061179e-02 9.97266793e-01 -9.99043128e-03 4.56383391e-01] [ 1.11960439e-01 1.73615913e-03 9.93711148e-01 5.24242424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.877105681 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:4.79, Y:0.45, Z:0.53 [[ 9.91178353e-01 -7.16025231e-02 -1.11528251e-01 4.78574194e+00] [ 7.09312592e-02 9.97431277e-01 -9.98013836e-03 4.54555150e-01] [ 1.11956369e-01 1.98125780e-03 9.93711148e-01 5.27998431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.907105681 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:4.82, Y:0.45, Z:0.52 [[ 9.91759638e-01 -6.30401705e-02 -1.11529179e-01 4.81834263e+00] [ 6.23160990e-02 9.98006667e-01 -9.96975590e-03 4.49622589e-01] [ 1.11935360e-01 2.93753811e-03 9.93711148e-01 5.23489679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937105680999999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:4.85, Y:0.44, Z:0.52 [[ 0.99275491 -0.0447076 -0.11152987 4.85080736] [ 0.04386911 0.99898762 -0.00996204 0.44383056] [ 0.11186234 0.00499714 0.99371115 0.523569 ] [ 0. 0. 0. 1. ]] SLAMing on 4.967105681 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:4.88, Y:0.44, Z:0.53 [[ 0.99290609 -0.04121209 -0.11153056 4.87796068] [ 0.04035253 0.99913592 -0.00995432 0.44385266] [ 0.11184442 0.00538316 0.99371115 0.53021312] [ 0. 0. 0. 1. ]] SLAMing on 4.997105681 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:4.91, Y:0.44, Z:0.53 [[ 0.99310149 -0.03620249 -0.11152941 4.9077571 ] [ 0.03531006 0.9993267 -0.0099672 0.44191729] [ 0.11181515 0.00596033 0.99371115 0.52777718] [ 0. 0. 0. 1. ]] SLAMing on 5.027105680999999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:4.94, Y:0.44, Z:0.52 [[ 0.99321695 -0.0328942 -0.11152608 4.93779699] [ 0.03197689 0.99943854 -0.01000426 0.43914576] [ 0.11179255 0.00637014 0.99371115 0.51629278] [ 0. 0. 0. 1. ]] SLAMing on 5.0571056809999995 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:4.97, Y:0.44, Z:0.52 [[ 0.99334286 -0.02884733 -0.1115249 4.96580724] [ 0.02790321 0.99956043 -0.01001742 0.43564455] [ 0.11176485 0.00683883 0.99371115 0.51770251] [ 0. 0. 0. 1. ]] SLAMing on 5.087105681 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:4.99, Y:0.43, Z:0.52 [[ 0.99343949 -0.0253185 -0.11152112 4.99241383] [ 0.02434762 0.99965294 -0.01005932 0.43262406] [ 0.1117371 0.00727805 0.99371115 0.52134854] [ 0. 0. 0. 1. ]] SLAMing on 5.117105681 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:5.02, Y:0.43, Z:0.52 [[ 0.99343665 -0.02543672 -0.11151948 5.02100099] [ 0.02446455 0.9996499 -0.01007746 0.42907777] [ 0.11173678 0.00728305 0.99371115 0.52217074] [ 0. 0. 0. 1. ]] SLAMing on 5.147105680999999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:5.05, Y:0.41, Z:0.52 [[ 0.9932092 -0.03316254 -0.11151562 5.04984622] [ 0.03223396 0.99942912 -0.01012 0.41340802] [ 0.11178756 0.00645669 0.99371115 0.52075327] [ 0. 0. 0. 1. ]] SLAMing on 5.177105681 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:5.08, Y:0.41, Z:0.52 [[ 0.9930132 -0.03859295 -0.11151396 5.07796992] [ 0.03769635 0.99923781 -0.01013833 0.41004239] [ 0.11182023 0.00586382 0.99371115 0.52325778] [ 0. 0. 0. 1. ]] SLAMing on 5.207105681 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:5.11, Y:0.40, Z:0.53 [[ 9.92437967e-01 -5.13062991e-02 -1.11510290e-01 5.10662963e+00] [ 5.04849771e-02 9.98672952e-01 -1.01784790e-02 3.99636918e-01] [ 1.11884531e-01 4.47191454e-03 9.93711152e-01 5.27944013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.237105680999999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:5.14, Y:0.38, Z:0.53 [[ 9.91925118e-01 -6.04221050e-02 -1.11506637e-01 5.13610350e+00] [ 5.96536242e-02 9.98166835e-01 -1.02183440e-02 3.84152469e-01] [ 1.11919641e-01 3.48405700e-03 9.93711153e-01 5.32629732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.267105680999999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:5.16, Y:0.37, Z:0.54 [[ 9.91749962e-01 -6.32388579e-02 -1.11502737e-01 5.16461597e+00] [ 6.24833453e-02 9.97993261e-01 -1.02607237e-02 3.69665302e-01] [ 1.11927857e-01 3.20900835e-03 9.93711154e-01 5.38549538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.297105681 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:5.19, Y:0.36, Z:0.56 [[ 9.91857224e-01 -6.15358017e-02 -1.11501538e-01 5.19385384e+00] [ 6.07681074e-02 9.98099037e-01 -1.02737423e-02 3.60539401e-01] [ 1.11921781e-01 3.41434811e-03 9.93711154e-01 5.58718548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.327105681 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:5.22, Y:0.36, Z:0.57 [[ 9.92003197e-01 -5.90001055e-02 -1.11573494e-01 5.21844145e+00] [ 5.83044465e-02 9.98253737e-01 -9.49041243e-03 3.55020915e-01] [ 1.11938593e-01 2.90928864e-03 9.93710867e-01 5.74498146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357105680999999 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:5.25, Y:0.35, Z:0.58 [[ 9.92046027e-01 -5.85719476e-02 -1.11418168e-01 5.24665031e+00] [ 5.76859868e-02 9.98272381e-01 -1.11615871e-02 3.53481560e-01] [ 1.11879435e-01 4.64554116e-03 9.93710929e-01 5.79606537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3871056809999995 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:5.28, Y:0.35, Z:0.57 [[ 9.91890862e-01 -6.11130439e-02 -1.11434798e-01 5.27890864e+00] [ 6.02630912e-02 9.98122105e-01 -1.09828407e-02 3.45151526e-01] [ 1.11896730e-01 4.17837387e-03 9.93711056e-01 5.71258749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.417105681 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:5.31, Y:0.34, Z:0.57 [[ 9.91959723e-01 -5.98791679e-02 -1.11491673e-01 5.30739158e+00] [ 5.90900561e-02 9.98198775e-01 -1.03716832e-02 3.44109048e-01] [ 1.11911900e-01 3.70024274e-03 9.93711243e-01 5.73021602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.447105680999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:5.34, Y:0.34, Z:0.58 [[ 9.92259501e-01 -5.46951881e-02 -1.11487753e-01 5.33529960e+00] [ 5.38687777e-02 9.98493721e-01 -1.04136585e-02 3.44228224e-01] [ 1.11889398e-01 4.32734264e-03 9.93711244e-01 5.75202806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477105680999999 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:5.36, Y:0.35, Z:0.57 [[ 0.99274628 -0.04500788 -0.11148594 5.36429362] [ 0.04411849 0.99897183 -0.01043303 0.34751109] [ 0.11184088 0.00543876 0.99371124 0.57217628] [ 0. 0. 0. 1. ]] SLAMing on 5.507105681 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:5.39, Y:0.35, Z:0.57 [[ 0.99318062 -0.03411607 -0.11148253 5.39174285] [ 0.03315439 0.99939541 -0.01046929 0.35189112] [ 0.1117723 0.00670176 0.99371124 0.57206632] [ 0. 0. 0. 1. ]] SLAMing on 5.537105681 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:5.42, Y:0.36, Z:0.58 [[ 0.9933921 -0.02728846 -0.11147857 5.41938171] [ 0.02627938 0.99959937 -0.01051137 0.35659033] [ 0.11172074 0.00751233 0.99371125 0.57590855] [ 0. 0. 0. 1. ]] SLAMing on 5.567105680999999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:5.45, Y:0.36, Z:0.58 [[ 0.993404 -0.0268687 -0.11147448 5.44628489] [ 0.02585217 0.99961006 -0.01055458 0.35932044] [ 0.1117146 0.0076031 0.99371125 0.57998531] [ 0. 0. 0. 1. ]] SLAMing on 5.5971056809999995 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:5.47, Y:0.36, Z:0.58 [[ 0.99335104 -0.02876701 -0.1114727 5.47263877] [ 0.02776025 0.99955869 -0.01057336 0.36204613] [ 0.11172766 0.00740854 0.99371125 0.58212732] [ 0. 0. 0. 1. ]] SLAMing on 5.627105681 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:5.50, Y:0.37, Z:0.58 [[ 0.99332481 -0.02966531 -0.11147101 5.50081452] [ 0.02866218 0.99953305 -0.01059108 0.365576 ] [ 0.11173315 0.00732538 0.99371125 0.58263551] [ 0. 0. 0. 1. ]] SLAMing on 5.657105680999999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:5.53, Y:0.37, Z:0.58 [[ 0.99345655 -0.02488237 -0.11146726 5.52958962] [ 0.02384498 0.99965915 -0.01063039 0.37207403] [ 0.11169378 0.0079029 0.99371125 0.58190659] [ 0. 0. 0. 1. ]] SLAMing on 5.687105680999999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:5.56, Y:0.38, Z:0.58 [[ 0.9935205 -0.02220031 -0.1114637 5.55677432] [ 0.02114202 0.99971957 -0.01066759 0.3770779 ] [ 0.11166927 0.00824191 0.99371125 0.58199289] [ 0. 0. 0. 1. ]] SLAMing on 5.717105681 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:5.58, Y:0.38, Z:0.58 [[ 0.99356459 -0.02013784 -0.11146244 5.58426374] [ 0.01906521 0.99976119 -0.01068077 0.38332167] [ 0.11165091 0.00848698 0.99371125 0.58290272] [ 0. 0. 0. 1. ]] SLAMing on 5.747105681 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:5.61, Y:0.39, Z:0.59 [[ 0.99341895 -0.02637832 -0.11145842 5.61105824] [ 0.02533998 0.99962138 -0.01072257 0.38819295] [ 0.11169906 0.00782765 0.99371125 0.58775325] [ 0. 0. 0. 1. ]] SLAMing on 5.777105680999999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:5.64, Y:0.39, Z:0.60 [[ 0.99286525 -0.04237808 -0.11145717 5.63850992] [ 0.04143833 0.99908339 -0.01073551 0.38913944] [ 0.11180996 0.00604032 0.99371125 0.59982802] [ 0. 0. 0. 1. ]] SLAMing on 5.8071056809999995 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:5.66, Y:0.39, Z:0.61 [[ 9.92466860e-01 -5.08688667e-02 -1.11453530e-01 5.66490840e+00] [ 4.99781235e-02 9.98692208e-01 -1.07731848e-02 3.90304283e-01] [ 1.11855792e-01 5.12179060e-03 9.93711250e-01 6.08062142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.837105681 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:5.69, Y:0.39, Z:0.62 [[ 9.91738368e-01 -6.35118703e-02 -1.11450671e-01 5.68943625e+00] [ 6.26972188e-02 9.97974128e-01 -1.08026800e-02 3.90954828e-01] [ 1.11910985e-01 3.72578514e-03 9.93711251e-01 6.19078626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.867105680999999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:5.72, Y:0.40, Z:0.63 [[ 9.90984828e-01 -7.44724170e-02 -1.11368442e-01 5.71801710e+00] [ 7.36319994e-02 9.97217478e-01 -1.16460419e-02 3.95016806e-01] [ 1.11925866e-01 3.34076973e-03 9.93710944e-01 6.28462759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897105680999999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:5.75, Y:0.40, Z:0.63 [[ 9.90309731e-01 -8.28647109e-02 -1.11445396e-01 5.74585158e+00] [ 8.21659269e-02 9.96559531e-01 -1.08564409e-02 3.98026689e-01] [ 1.11961588e-01 1.59422481e-03 9.93711257e-01 6.34198717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.927105681 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:5.77, Y:0.40, Z:0.64 [[ 9.89930985e-01 -8.72775409e-02 -1.11441806e-01 5.77356103e+00] [ 8.66024840e-02 9.96183391e-01 -1.08931686e-02 4.01380881e-01] [ 1.11967206e-01 1.13234783e-03 9.93711257e-01 6.39786813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957105681 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:5.80, Y:0.41, Z:0.64 [[ 9.88818556e-01 -9.90896414e-02 -1.11441047e-01 5.80178233e+00] [ 9.84884020e-02 9.95078492e-01 -1.09009338e-02 4.09494353e-01] [ 1.11972758e-01 -1.96604961e-04 9.93711257e-01 6.40239298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.987105680999999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:5.83, Y:0.42, Z:0.64 [[ 9.88195721e-01 -1.05189286e-01 -1.11375181e-01 5.83250005e+00] [ 1.04550971e-01 9.94452196e-01 -1.15725440e-02 4.15639257e-01] [ 1.11974601e-01 -2.08444772e-04 9.93711047e-01 6.39548713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017105680999999 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:5.86, Y:0.42, Z:0.64 [[ 9.87150559e-01 -1.14519776e-01 -1.11440540e-01 5.86103747e+00] [ 1.14015926e-01 9.93419072e-01 -1.09048731e-02 4.22613064e-01] [ 1.11955981e-01 -1.94124481e-03 9.93711271e-01 6.35343514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.047105681 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:5.89, Y:0.43, Z:0.64 [[ 9.85462172e-01 -1.28277369e-01 -1.11396699e-01 5.89134547e+00] [ 1.27810418e-01 9.91733641e-01 -1.13526714e-02 4.33687528e-01] [ 1.11932145e-01 -3.05003058e-03 9.93711171e-01 6.39416752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077105680999999 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:5.92, Y:0.44, Z:0.64 [[ 9.84711353e-01 -1.33881542e-01 -1.11441838e-01 5.92137559e+00] [ 1.33502455e-01 9.90988639e-01 -1.08909175e-02 4.40686867e-01] [ 1.11895688e-01 -4.15334884e-03 9.93711278e-01 6.43601727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.107105680999999 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:5.95, Y:0.45, Z:0.65 [[ 9.83820491e-01 -1.40277574e-01 -1.11442556e-01 5.95233468e+00] [ 1.39940118e-01 9.90100152e-01 -1.08835637e-02 4.51558756e-01] [ 1.11866011e-01 -4.88781132e-03 9.93711278e-01 6.49399322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1371056809999995 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:5.98, Y:0.47, Z:0.66 [[ 9.84081131e-01 -1.38436530e-01 -1.11443503e-01 5.98134111e+00] [ 1.38088422e-01 9.90360211e-01 -1.08738568e-02 4.65479579e-01] [ 1.11874550e-01 -4.68830022e-03 9.93711278e-01 6.57685659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.167105681 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:6.01, Y:0.48, Z:0.66 [[ 9.84758462e-01 -1.33532621e-01 -1.11444207e-01 6.01206926e+00] [ 1.33154055e-01 9.91035778e-01 -1.08666319e-02 4.76809321e-01] [ 1.11896247e-01 -4.13824035e-03 9.93711278e-01 6.63000740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197105680999999 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:6.04, Y:0.50, Z:0.67 [[ 9.86690453e-01 -1.18414224e-01 -1.11445152e-01 6.04043943e+00] [ 1.17940525e-01 9.92961308e-01 -1.08569359e-02 5.00731892e-01] [ 1.11946340e-01 -2.43146476e-03 9.93711279e-01 6.65572533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.227105680999999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:6.07, Y:0.52, Z:0.67 [[ 9.87093709e-01 -1.15077330e-01 -1.11369739e-01 6.07312697e+00] [ 1.14494901e-01 9.93355726e-01 -1.16326741e-02 5.15760684e-01] [ 1.11968425e-01 -1.26872781e-03 9.93710955e-01 6.67345611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.257105681 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:6.10, Y:0.54, Z:0.67 [[ 9.87567277e-01 -1.10858894e-01 -1.11450345e-01 6.10290682e+00] [ 1.10343483e-01 9.93834818e-01 -1.08013657e-02 5.39258671e-01] [ 1.11960661e-01 -1.63074402e-03 9.93711302e-01 6.69005043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.287105680999999 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:6.13, Y:0.56, Z:0.67 [[ 9.87101207e-01 -1.14932534e-01 -1.11452769e-01 6.13464751e+00] [ 1.14445815e-01 9.93371042e-01 -1.07763012e-02 5.59009143e-01] [ 1.11952501e-01 -2.11800305e-03 9.93711302e-01 6.69260352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317105680999999 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:6.17, Y:0.57, Z:0.67 [[ 9.86653564e-01 -1.18712684e-01 -1.11454223e-01 6.16562860e+00] [ 1.18251685e-01 9.92925342e-01 -1.07612404e-02 5.68380126e-01] [ 1.11943218e-01 -2.56203351e-03 9.93711302e-01 6.70646494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3471056809999995 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:6.20, Y:0.58, Z:0.68 [[ 9.85622397e-01 -1.26988897e-01 -1.11455421e-01 6.19664564e+00] [ 1.26581953e-01 9.91897914e-01 -1.07488189e-02 5.84614855e-01] [ 1.11917380e-01 -3.51396816e-03 9.93711302e-01 6.76136259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.377105681 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:6.23, Y:0.60, Z:0.68 [[ 9.84843344e-01 -1.32894566e-01 -1.11456819e-01 6.22737593e+00] [ 1.32526886e-01 9.91121284e-01 -1.07343017e-02 6.00740753e-01] [ 1.11893756e-01 -4.19941963e-03 9.93711302e-01 6.83974275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.407105680999999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:6.26, Y:0.61, Z:0.69 [[ 9.84731622e-01 -1.33716667e-01 -1.11460689e-01 6.25943185e+00] [ 1.33358786e-01 9.91010128e-01 -1.06939715e-02 6.08795586e-01] [ 1.11888634e-01 -4.33357025e-03 9.93711303e-01 6.89008820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437105680999999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:6.29, Y:0.62, Z:0.69 [[ 9.85391199e-01 -1.28762713e-01 -1.11464561e-01 6.29044447e+00] [ 1.28377839e-01 9.91668107e-01 -1.06534568e-02 6.19220045e-01] [ 1.11907618e-01 -3.81175689e-03 9.93711304e-01 6.91342876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.467105681 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:6.32, Y:0.63, Z:0.69 [[ 9.86935245e-01 -1.16334448e-01 -1.11468011e-01 6.32261341e+00] [ 1.15874592e-01 9.93207105e-01 -1.06172326e-02 6.31486364e-01] [ 1.11945971e-01 -2.43778927e-03 9.93711305e-01 6.91617802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497105680999999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:6.35, Y:0.64, Z:0.69 [[ 9.87834464e-01 -1.08430348e-01 -1.11471664e-01 6.35492168e+00] [ 1.07924642e-01 9.94102792e-01 -1.05787485e-02 6.39970709e-01] [ 1.11961350e-01 -1.58048706e-03 9.93711305e-01 6.94576461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.527105680999999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:6.39, Y:0.65, Z:0.69 [[ 9.89745108e-01 -8.93190066e-02 -1.11475268e-01 6.38718064e+00] [ 8.86965457e-02 9.96002921e-01 -1.05406264e-02 6.52874558e-01] [ 1.11971171e-01 5.45062188e-04 9.93711306e-01 6.94186288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5571056809999995 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:6.42, Y:0.66, Z:0.69 [[ 9.91195059e-01 -7.14514573e-02 -1.11476651e-01 6.41938764e+00] [ 7.07178648e-02 9.97440819e-01 -1.05259880e-02 6.64127243e-01] [ 1.11943459e-01 2.54991660e-03 9.93711306e-01 6.93337069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.587105681 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:6.45, Y:0.67, Z:0.70 [[ 9.91681433e-01 -6.43468622e-02 -1.11478326e-01 6.45132925e+00] [ 6.35705282e-02 9.97922024e-01 -1.05082167e-02 6.71011420e-01] [ 1.11922847e-01 3.33406734e-03 9.93711306e-01 6.96206702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617105680999999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:6.48, Y:0.68, Z:0.70 [[ 9.92126707e-01 -5.70698322e-02 -1.11479291e-01 6.48333172e+00] [ 5.62488866e-02 9.98361586e-01 -1.04979642e-02 6.78365551e-01] [ 1.11895759e-01 4.14472466e-03 9.93711306e-01 6.98593406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.647105680999999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:6.52, Y:0.68, Z:0.70 [[ 9.92131939e-01 -5.69768816e-02 -1.11480266e-01 6.51570529e+00] [ 5.61565142e-02 9.98366895e-01 -1.04876046e-02 6.81316042e-01] [ 1.11895758e-01 4.14474438e-03 9.93711306e-01 7.02251636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.677105681 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:6.55, Y:0.68, Z:0.70 [[ 9.91861141e-01 -6.15094250e-02 -1.11481241e-01 6.54826864e+00] [ 6.07187197e-02 9.98099927e-01 -1.04772251e-02 6.83101858e-01] [ 1.11913867e-01 3.62295424e-03 9.93711306e-01 7.03390354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.707105680999999 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:6.58, Y:0.68, Z:0.70 [[ 9.91569020e-01 -6.60499314e-02 -1.11482219e-01 6.58000097e+00] [ 6.52889681e-02 9.97811504e-01 -1.04668103e-02 6.83722650e-01] [ 1.11929573e-01 3.10000573e-03 9.93711307e-01 7.03589999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737105680999999 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:6.61, Y:0.68, Z:0.70 [[ 9.90843766e-01 -7.61589503e-02 -1.11482942e-01 6.61305514e+00] [ 7.54625561e-02 9.97093782e-01 -1.04591117e-02 6.81222925e-01] [ 1.11955503e-01 1.95055794e-03 9.93711307e-01 6.99341671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.767105680999999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:6.64, Y:0.68, Z:0.71 [[ 9.90191260e-01 -8.42176278e-02 -1.11483899e-01 6.64463118e+00] [ 8.35732544e-02 9.96446853e-01 -1.04489000e-02 6.79669502e-01] [ 1.11967762e-01 1.02933719e-03 9.93711307e-01 7.07810738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.797105681 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:6.68, Y:0.68, Z:0.72 [[ 9.90078698e-01 -8.55295429e-02 -1.11484841e-01 6.67599447e+00] [ 8.48945919e-02 9.96335254e-01 -1.04388348e-02 6.80661353e-01] [ 1.11969106e-01 8.70807905e-04 9.93711307e-01 7.17674534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.827105680999999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:6.71, Y:0.68, Z:0.72 [[ 9.90202460e-01 -8.40833524e-02 -1.11485774e-01 6.70806928e+00] [ 8.34403868e-02 9.96458198e-01 -1.04288603e-02 6.77719955e-01] [ 1.11967807e-01 1.02426703e-03 9.93711307e-01 7.23244673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857105680999999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:6.74, Y:0.67, Z:0.73 [[ 9.90431180e-01 -8.13432928e-02 -1.11486975e-01 6.73922317e+00] [ 8.06844674e-02 9.96685268e-01 -1.04160080e-02 6.72818969e-01] [ 1.11964698e-01 1.32107191e-03 9.93711307e-01 7.27249718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8871056809999995 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:6.77, Y:0.67, Z:0.73 [[ 9.90452269e-01 -8.10851187e-02 -1.11487697e-01 6.77252697e+00] [ 8.04255342e-02 9.96706276e-01 -1.04082686e-02 6.73794344e-01] [ 1.11964443e-01 1.34243563e-03 9.93711307e-01 7.29855285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.917105680999999 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:6.80, Y:0.67, Z:0.73 [[ 9.90210739e-01 -8.39813585e-02 -1.11489117e-01 6.80363079e+00] [ 8.33417816e-02 9.96466824e-01 -1.03930366e-02 6.73182908e-01] [ 1.11968028e-01 9.99594792e-04 9.93711307e-01 7.31113059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.947105680999999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:6.84, Y:0.67, Z:0.73 [[ 9.89416451e-01 -9.28704713e-02 -1.11490634e-01 6.83662131e+00] [ 9.22889385e-02 9.95678199e-01 -1.03767415e-02 6.67785232e-01] [ 1.11972487e-01 -2.24335480e-05 9.93711307e-01 7.32346319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977105680999999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:6.87, Y:0.67, Z:0.73 [[ 9.88769451e-01 -9.95218664e-02 -1.11491577e-01 6.86986525e+00] [ 9.89835984e-02 9.95035065e-01 -1.03666009e-02 6.65596503e-01] [ 1.11969732e-01 -7.85659181e-04 9.93711307e-01 7.34358311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.007105681 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:6.90, Y:0.66, Z:0.74 [[ 9.86889598e-01 -1.16697204e-01 -1.11492974e-01 6.90219594e+00] [ 1.16269647e-01 9.93163740e-01 -1.03515583e-02 6.59186333e-01] [ 1.11938777e-01 -2.74740342e-03 9.93711307e-01 7.42268441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037105680999999 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:6.94, Y:0.65, Z:0.75 [[ 9.84461166e-01 -1.35666036e-01 -1.11494127e-01 6.93521615e+00] [ 1.35360696e-01 9.90742441e-01 -1.03391214e-02 6.53788013e-01] [ 1.11864631e-01 -4.91345906e-03 9.93711307e-01 7.49612858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.067105680999999 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:6.97, Y:0.65, Z:0.75 [[ 9.83597502e-01 -1.41791030e-01 -1.11495550e-01 6.96726302e+00] [ 1.41526530e-01 9.89880630e-01 -1.03237557e-02 6.51542884e-01] [ 1.11831101e-01 -5.62515787e-03 9.93711307e-01 7.52401348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0971056809999995 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:7.00, Y:0.65, Z:0.75 [[ 9.82374418e-01 -1.50028254e-01 -1.11498995e-01 7.00093421e+00] [ 1.49820637e-01 9.88659682e-01 -1.02864160e-02 6.46585987e-01] [ 1.11777814e-01 -6.59973848e-03 9.93711308e-01 7.54331993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.127105680999999 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:7.03, Y:0.64, Z:0.76 [[ 9.83089727e-01 -1.45266189e-01 -1.11500324e-01 7.02794629e+00] [ 1.45029749e-01 9.89373973e-01 -1.02719881e-02 6.43822526e-01] [ 1.11807691e-01 -6.07257791e-03 9.93711308e-01 7.59798005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157105680999999 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:7.06, Y:0.65, Z:0.77 [[ 9.82767713e-01 -1.47567943e-01 -1.11316323e-01 7.06277880e+00] [ 1.47121626e-01 9.89042444e-01 -1.22585329e-02 6.49325179e-01] [ 1.11905535e-01 -4.32974803e-03 9.93709417e-01 7.67446845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.187105680999999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:7.09, Y:0.66, Z:0.77 [[ 9.83484034e-01 -1.42569817e-01 -1.11503371e-01 7.09417983e+00] [ 1.42321964e-01 9.89767650e-01 -1.02204391e-02 6.55652718e-01] [ 1.11819555e-01 -5.81774004e-03 9.93711498e-01 7.73855746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.217105681 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:7.13, Y:0.66, Z:0.78 [[ 9.83511739e-01 -1.42377867e-01 -1.11504268e-01 7.12612297e+00] [ 1.42129894e-01 9.89795350e-01 -1.02106459e-02 6.64722320e-01] [ 1.11820176e-01 -5.80579973e-03 9.93711498e-01 7.75803771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.247105680999999 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:7.16, Y:0.67, Z:0.78 [[ 9.83491850e-01 -1.42514140e-01 -1.11505610e-01 7.15765893e+00] [ 1.42268698e-01 9.89775560e-01 -1.01959697e-02 6.70638401e-01] [ 1.11818597e-01 -5.83610479e-03 9.93711498e-01 7.77064107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277105680999999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:7.19, Y:0.68, Z:0.78 [[ 9.83382493e-01 -1.43264222e-01 -1.11508900e-01 7.19078951e+00] [ 1.43027655e-01 9.89666543e-01 -1.01598614e-02 6.78504196e-01] [ 1.11812172e-01 -5.95782665e-03 9.93711499e-01 7.75507691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3071056809999995 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:7.22, Y:0.69, Z:0.78 [[ 9.83560340e-01 -1.42035363e-01 -1.11512386e-01 7.22287229e+00] [ 1.41795288e-01 9.89844257e-01 -1.01214492e-02 6.85648293e-01] [ 1.11817499e-01 -5.85687490e-03 9.93711499e-01 7.78799580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.337105680999999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:7.25, Y:0.69, Z:0.79 [[ 9.83905592e-01 -1.39622655e-01 -1.11513681e-01 7.25451530e+00] [ 1.39368784e-01 9.90188965e-01 -1.01071600e-02 6.91870140e-01] [ 1.11830805e-01 -5.59703494e-03 9.93711499e-01 7.85940754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.367105680999999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:7.29, Y:0.70, Z:0.79 [[ 9.84800864e-01 -1.33158415e-01 -1.11517236e-01 7.28686615e+00] [ 1.32867736e-01 9.91082642e-01 -1.00677928e-02 7.02792036e-01] [ 1.11863408e-01 -4.90227161e-03 9.93711500e-01 7.91084060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397105680999999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:7.32, Y:0.71, Z:0.79 [[ 9.85955895e-01 -1.24316251e-01 -1.11518801e-01 7.31919180e+00] [ 1.23971179e-01 9.92234920e-01 -1.00504172e-02 7.13252446e-01] [ 1.11902279e-01 -3.91584922e-03 9.93711500e-01 7.89649299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.427105681 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:7.35, Y:0.72, Z:0.79 [[ 9.86580346e-01 -1.19256411e-01 -1.11521877e-01 7.35154130e+00] [ 1.18882998e-01 9.92857749e-01 -1.00161764e-02 7.20098543e-01] [ 1.11919853e-01 -3.37629229e-03 9.93711501e-01 7.92989889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457105680999999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:7.38, Y:0.73, Z:0.80 [[ 9.87599894e-01 -1.10492271e-01 -1.11525370e-01 7.38185696e+00] [ 1.10067545e-01 9.93874032e-01 -9.97713327e-03 7.31775300e-01] [ 1.11944565e-01 -2.42190789e-03 9.93711502e-01 7.97671698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.487105680999999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:7.41, Y:0.74, Z:0.80 [[ 9.88239494e-01 -1.04615595e-01 -1.11527038e-01 7.41418016e+00] [ 1.04155662e-01 9.94511150e-01 -9.95844878e-03 7.42211872e-01] [ 1.11956692e-01 -1.77484014e-03 9.93711502e-01 8.00024945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517105680999999 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:7.45, Y:0.75, Z:0.80 [[ 9.88427524e-01 -1.02822493e-01 -1.11528317e-01 7.44525038e+00] [ 1.02352801e-01 9.94698456e-01 -9.94411120e-03 7.49410916e-01] [ 1.11959523e-01 -1.58620236e-03 9.93711502e-01 8.02575601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.547105680999999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:7.48, Y:0.76, Z:0.81 [[ 9.88621832e-01 -1.00933684e-01 -1.11531453e-01 7.47549346e+00] [ 1.00455993e-01 9.94892160e-01 -9.90880563e-03 7.62585463e-01] [ 1.11961901e-01 -1.40794126e-03 9.93711503e-01 8.05179997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577105680999999 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:7.51, Y:0.77, Z:0.81 [[ 9.88569320e-01 -1.01444916e-01 -1.11533079e-01 7.50776950e+00] [ 1.00972536e-01 9.94840050e-01 -9.89046928e-03 7.69924141e-01] [ 1.11960912e-01 -1.48436333e-03 9.93711503e-01 8.09833913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.607105680999999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:7.54, Y:0.78, Z:0.81 [[ 9.88054889e-01 -1.06337330e-01 -1.11534342e-01 7.53866410e+00] [ 1.05897606e-01 9.94327993e-01 -9.87620957e-03 7.78311674e-01] [ 1.11951928e-01 -2.05298262e-03 9.93711503e-01 8.14498162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6371056809999995 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:7.57, Y:0.78, Z:0.82 [[ 9.87089761e-01 -1.14950890e-01 -1.11535182e-01 7.57191537e+00] [ 1.14566968e-01 9.93366527e-01 -9.86670965e-03 7.84944460e-01] [ 1.11929504e-01 -3.03891959e-03 9.93711503e-01 8.17069517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.667105680999999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:7.60, Y:0.79, Z:0.82 [[ 9.86456287e-01 -1.20220597e-01 -1.11584056e-01 7.60488092e+00] [ 1.19932748e-01 9.92738336e-01 -9.31299085e-03 7.89603543e-01] [ 1.11893384e-01 -4.19572420e-03 9.93711360e-01 8.21306232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697105680999999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:7.64, Y:0.79, Z:0.83 [[ 9.85042267e-01 -1.31294198e-01 -1.11595549e-01 7.63685252e+00] [ 1.31091674e-01 9.91327722e-01 -9.18260351e-03 7.94747396e-01] [ 1.11833384e-01 -5.58399476e-03 9.93711283e-01 8.26501541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.727105680999999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:7.67, Y:0.80, Z:0.83 [[ 9.84066122e-01 -1.38417711e-01 -1.11599309e-01 7.66855820e+00] [ 1.38265505e-01 9.90353025e-01 -9.13983759e-03 7.99901153e-01] [ 1.11787829e-01 -6.43613030e-03 9.93711255e-01 8.31754016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.757105680999999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:7.70, Y:0.80, Z:0.83 [[ 9.83986357e-01 -1.38993833e-01 -1.11586574e-01 7.70180600e+00] [ 1.38828913e-01 9.90272854e-01 -9.28483648e-03 8.03824112e-01] [ 1.11791690e-01 -6.35529042e-03 9.93711341e-01 8.34951906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.787105680999999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:7.73, Y:0.81, Z:0.84 [[ 9.84387600e-01 -1.36118592e-01 -1.11592033e-01 7.73193783e+00] [ 1.35942356e-01 9.90673822e-01 -9.22248985e-03 8.08342351e-01] [ 1.11806658e-01 -6.09157916e-03 9.93711308e-01 8.38203654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817105680999999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:7.76, Y:0.81, Z:0.85 [[ 9.85678236e-01 -1.26476515e-01 -1.11544191e-01 7.76329594e+00] [ 1.26177006e-01 9.91959642e-01 -9.76895366e-03 8.14825998e-01] [ 1.11882879e-01 -4.44526695e-03 9.93711458e-01 8.49046017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8471056809999995 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:7.80, Y:0.82, Z:0.86 [[ 9.86547332e-01 -1.19478004e-01 -1.11576738e-01 7.79502910e+00] [ 1.19175995e-01 9.92828680e-01 -9.39648302e-03 8.20384879e-01] [ 1.11899259e-01 -4.02719355e-03 9.93711396e-01 8.55871038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.877105680999999 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:7.82, Y:0.83, Z:0.86 [[ 9.88345219e-01 -1.03565742e-01 -1.11570002e-01 7.82474529e+00] [ 1.03153844e-01 9.94620296e-01 -9.47369911e-03 8.28147006e-01] [ 1.11950939e-01 -2.14558939e-03 9.93711419e-01 8.56982736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.907105680999999 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:7.86, Y:0.83, Z:0.86 [[ 9.89760742e-01 -8.90552063e-02 -1.11547494e-01 7.85644219e+00] [ 8.85222103e-02 9.96026662e-01 -9.73174163e-03 8.34905317e-01] [ 1.11970940e-01 -2.42334875e-04 9.93711452e-01 8.55596367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937105680999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:7.89, Y:0.84, Z:0.86 [[ 9.90172506e-01 -8.43497901e-02 -1.11550535e-01 7.88893031e+00] [ 8.37909589e-02 9.96436174e-01 -9.69675652e-03 8.39067350e-01] [ 1.11970908e-01 2.54535415e-04 9.93711453e-01 8.58339813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.967105680999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:7.92, Y:0.84, Z:0.86 [[ 9.90648965e-01 -7.85546056e-02 -1.11551790e-01 7.92075438e+00] [ 7.79607623e-02 9.96909411e-01 -9.68229317e-03 8.43850788e-01] [ 1.11967618e-01 8.95091101e-04 9.93711453e-01 8.57645911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997105680999999 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:7.95, Y:0.85, Z:0.86 [[ 9.90797710e-01 -7.66512254e-02 -1.11554865e-01 7.95260837e+00] [ 7.60493578e-02 9.97057388e-01 -9.64674240e-03 8.47259281e-01] [ 1.11966037e-01 1.07429446e-03 9.93711453e-01 8.58450792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.027105680999998 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:7.98, Y:0.85, Z:0.86 [[ 9.90814553e-01 -7.64320174e-02 -1.11555676e-01 7.98411022e+00] [ 7.58298216e-02 9.97074200e-01 -9.63735624e-03 8.50126076e-01] [ 1.11965888e-01 1.08958584e-03 9.93711453e-01 8.58861318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057105681 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:8.01, Y:0.85, Z:0.87 [[ 9.90177252e-01 -8.42864589e-02 -1.11556279e-01 8.01452396e+00] [ 8.37347062e-02 9.96441546e-01 -9.63036929e-03 8.49692460e-01] [ 1.11971021e-01 1.94640370e-04 9.93711453e-01 8.68767402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.087105680999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:8.05, Y:0.85, Z:0.88 [[ 9.88624599e-01 -1.00878471e-01 -1.11556875e-01 8.04629175e+00] [ 1.00432619e-01 9.94897320e-01 -9.62345808e-03 8.46100331e-01] [ 1.11958436e-01 -1.68996170e-03 9.93711453e-01 8.80465734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117105681 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:8.08, Y:0.84, Z:0.88 [[ 9.87596263e-01 -1.10490936e-01 -1.11558839e-01 8.07922262e+00] [ 1.10108702e-01 9.93873182e-01 -9.60063021e-03 8.44515185e-01] [ 1.11936121e-01 -2.80205255e-03 9.93711454e-01 8.84493050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.147105681 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:8.11, Y:0.84, Z:0.88 [[ 9.85276878e-01 -1.29550683e-01 -1.11562063e-01 8.11372598e+00] [ 1.29294040e-01 9.91560185e-01 -9.56302760e-03 8.38031788e-01] [ 1.11859396e-01 -5.00207978e-03 9.93711454e-01 8.84704416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177105680999999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:8.15, Y:0.83, Z:0.89 [[ 9.83427983e-01 -1.42907646e-01 -1.11565262e-01 8.14647539e+00] [ 1.42740519e-01 9.89714306e-01 -9.52555474e-03 8.31635324e-01] [ 1.11779011e-01 -6.55718637e-03 9.93711455e-01 8.92609146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.207105681 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:8.18, Y:0.83, Z:0.90 [[ 9.83019169e-01 -1.45691011e-01 -1.11568109e-01 8.17679662e+00] [ 1.45545463e-01 9.89306029e-01 -9.49209803e-03 8.30427053e-01] [ 1.11757916e-01 -6.90731781e-03 9.93711456e-01 9.00351475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237105681 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:8.21, Y:0.83, Z:0.91 [[ 9.83718519e-01 -1.40890294e-01 -1.11569713e-01 8.20871139e+00] [ 1.40716192e-01 9.90004652e-01 -9.47320141e-03 8.29446382e-01] [ 1.11789217e-01 -6.38070157e-03 9.93711456e-01 9.07143576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.267105680999999 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:8.24, Y:0.83, Z:0.91 [[ 9.84622920e-01 -1.34421895e-01 -1.11572664e-01 8.24232287e+00] [ 1.34210425e-01 9.90907907e-01 -9.43832010e-03 8.31403832e-01] [ 1.11826952e-01 -5.68102835e-03 9.93711456e-01 9.09075060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297105681 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:8.27, Y:0.83, Z:0.91 [[ 9.86666039e-01 -1.18494494e-01 -1.11575907e-01 8.27378773e+00] [ 1.18185843e-01 9.92947002e-01 -9.39983465e-03 8.34101729e-01] [ 1.11902791e-01 -3.91219497e-03 9.93711457e-01 9.12786004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.327105680999999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:8.31, Y:0.84, Z:0.91 [[ 9.88511736e-01 -1.01954389e-01 -1.11578900e-01 8.30680017e+00] [ 1.01544620e-01 9.94786913e-01 -9.36416114e-03 8.38999157e-01] [ 1.11951947e-01 -2.07365389e-03 9.93711458e-01 9.14122392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357105680999998 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:8.34, Y:0.84, Z:0.92 [[ 9.89148800e-01 -9.55725419e-02 -1.11581990e-01 8.33996961e+00] [ 9.51264510e-02 9.95421499e-01 -9.32720479e-03 8.42336471e-01] [ 1.11962536e-01 -1.38840526e-03 9.93711459e-01 9.15114039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.387105681 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:8.37, Y:0.84, Z:0.91 [[ 9.89546276e-01 -9.13613100e-02 -1.11585295e-01 8.37251152e+00] [ 9.08930001e-02 9.95817355e-01 -9.28749880e-03 8.44467952e-01] [ 1.11967091e-01 -9.51912340e-04 9.93711459e-01 9.12885595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417105680999999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:8.41, Y:0.84, Z:0.91 [[ 9.89022757e-01 -9.68620415e-02 -1.11587329e-01 8.40502783e+00] [ 9.64313723e-02 9.95296532e-01 -9.26298986e-03 8.43083661e-01] [ 1.11959714e-01 -1.59921153e-03 9.93711460e-01 9.10305202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.447105680999998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:8.44, Y:0.84, Z:0.91 [[ 9.88703003e-01 -1.00072266e-01 -1.11588139e-01 8.43717607e+00] [ 9.96630686e-02 9.94978216e-01 -9.25322182e-03 8.42674317e-01] [ 1.11953759e-01 -1.97252817e-03 9.93711460e-01 9.11452443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477105681 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:8.47, Y:0.84, Z:0.91 [[ 9.88212968e-01 -1.04799976e-01 -1.11588951e-01 8.46998062e+00] [ 1.04421903e-01 9.94490133e-01 -9.24341614e-03 8.40820161e-01] [ 1.11942821e-01 -2.51786698e-03 9.93711460e-01 9.13919352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.507105680999999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:8.50, Y:0.84, Z:0.92 [[ 9.87852758e-01 -1.08141827e-01 -1.11589760e-01 8.50252818e+00] [ 1.07786090e-01 9.94131228e-01 -9.23364926e-03 8.39162043e-01] [ 1.11933408e-01 -2.90633802e-03 9.93711460e-01 9.18637909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537105681 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:8.53, Y:0.84, Z:0.92 [[ 9.87690941e-01 -1.09606863e-01 -1.11592748e-01 8.53438744e+00] [ 1.09264532e-01 9.93970156e-01 -9.19739494e-03 8.39092197e-01] [ 1.11927958e-01 -3.10894565e-03 9.93711460e-01 9.23257077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.567105681 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:8.57, Y:0.84, Z:0.93 [[ 9.87705272e-01 -1.09476826e-01 -1.11593548e-01 8.56763606e+00] [ 1.09134766e-01 9.93984502e-01 -9.18766994e-03 8.41708409e-01] [ 1.11928095e-01 -3.10402580e-03 9.93711460e-01 9.27010748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597105680999999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:8.60, Y:0.84, Z:0.93 [[ 9.87514633e-01 -1.11182102e-01 -1.11594754e-01 8.60046934e+00] [ 1.10852540e-01 9.93794531e-01 -9.17300861e-03 8.37923992e-01] [ 1.11922130e-01 -3.31208161e-03 9.93711461e-01 9.30834037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.627105681 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:8.63, Y:0.83, Z:0.93 [[ 9.87224353e-01 -1.13729979e-01 -1.11595559e-01 8.63224041e+00] [ 1.13417731e-01 9.93505135e-01 -9.16319733e-03 8.33563452e-01] [ 1.11912891e-01 -3.61078359e-03 9.93711461e-01 9.34518084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657105680999999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:8.67, Y:0.83, Z:0.94 [[ 9.86960105e-01 -1.15998305e-01 -1.11598137e-01 8.66554028e+00] [ 1.15704049e-01 9.93241756e-01 -9.13169220e-03 8.32635348e-01] [ 1.11903191e-01 -3.89974048e-03 9.93711461e-01 9.39037025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.687105680999998 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:8.70, Y:0.83, Z:0.95 [[ 9.86317724e-01 -1.21338114e-01 -1.11599326e-01 8.69703549e+00] [ 1.21079503e-01 9.92600943e-01 -9.11714174e-03 8.30418708e-01] [ 1.11879853e-01 -4.51999238e-03 9.93711461e-01 9.46256417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717105681 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:8.73, Y:0.83, Z:0.95 [[ 9.85892004e-01 -1.24748198e-01 -1.11601274e-01 8.72939514e+00] [ 1.24514018e-01 9.92176180e-01 -9.09322786e-03 8.31058044e-01] [ 1.11862490e-01 -4.93098247e-03 9.93711462e-01 9.52034453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.747105680999999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:8.76, Y:0.83, Z:0.95 [[ 9.84434110e-01 -1.35771677e-01 -1.11604366e-01 8.76299055e+00] [ 1.35612133e-01 9.90720624e-01 -9.05512347e-03 8.28689245e-01] [ 1.11798177e-01 -6.22073371e-03 9.93711462e-01 9.54253418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777105680999998 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:8.80, Y:0.82, Z:0.95 [[ 9.82369019e-01 -1.49975434e-01 -1.11617565e-01 8.79615623e+00] [ 1.49925141e-01 9.88657364e-01 -8.89199895e-03 8.22699581e-01] [ 1.11685109e-01 -7.99905484e-03 9.93711453e-01 9.54063763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.807105681 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:8.83, Y:0.82, Z:0.96 [[ 9.81359087e-01 -1.56452194e-01 -1.11611168e-01 8.82963726e+00] [ 1.56434427e-01 9.87647603e-01 -8.97121509e-03 8.20232489e-01] [ 1.11636069e-01 -8.65584569e-03 9.93711459e-01 9.55829023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837105680999999 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:8.86, Y:0.82, Z:0.96 [[ 9.79699311e-01 -1.66518852e-01 -1.11627650e-01 8.86090496e+00] [ 1.66588782e-01 9.85987487e-01 -8.76655417e-03 8.18002886e-01] [ 1.11523263e-01 -1.00073273e-02 9.93711435e-01 9.58579247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.867105680999998 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:8.89, Y:0.82, Z:0.96 [[ 0.97935084 -0.16856651 -0.11161213 8.89249921] [ 0.16862773 0.98563909 -0.00895987 0.82176929] [ 0.11151962 -0.01004604 0.99371145 0.9621326 ] [ 0. 0. 0. 1. ]] SLAMing on 8.897105681 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:8.92, Y:0.83, Z:0.97 [[ 0.9800228 -0.16461545 -0.11161127 8.92344409] [ 0.16465008 0.98631125 -0.0089707 0.8305942 ] [ 0.11156016 -0.00958531 0.99371145 0.96773027] [ 0. 0. 0. 1. ]] SLAMing on 8.927105680999999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:8.95, Y:0.84, Z:0.97 [[ 9.81389135e-01 -1.56273601e-01 -1.11597166e-01 8.95446735e+00] [ 1.56234797e-01 9.87677588e-01 -9.14719780e-03 8.42992498e-01] [ 1.11651485e-01 -8.45840000e-03 9.93711428e-01 9.68937693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957105681 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:8.99, Y:0.86, Z:0.97 [[ 9.82816813e-01 -1.47024014e-01 -1.11602205e-01 8.98716655e+00] [ 1.46933146e-01 9.89104713e-01 -9.08386207e-03 8.55359401e-01] [ 1.11721813e-01 -7.47029072e-03 9.93711443e-01 9.69691100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.987105681 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:9.02, Y:0.86, Z:0.97 [[ 9.83489933e-01 -1.42440682e-01 -1.11616320e-01 9.01816933e+00] [ 1.42340616e-01 9.89777669e-01 -8.90589859e-03 8.62327220e-01] [ 1.11743903e-01 -7.12867412e-03 9.93711468e-01 9.71609256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017105680999999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:9.05, Y:0.88, Z:0.98 [[ 9.84476375e-01 -1.35449744e-01 -1.11622728e-01 9.04772744e+00] [ 1.35314167e-01 9.90763442e-01 -8.82485480e-03 8.77127959e-01] [ 1.11787042e-01 -6.41627535e-03 9.93711471e-01 9.80709322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.047105681 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:9.08, Y:0.89, Z:1.00 [[ 9.85695352e-01 -1.26271473e-01 -1.11625212e-01 9.07712196e+00] [ 1.26080887e-01 9.91980991e-01 -8.79332594e-03 8.94746044e-01] [ 1.11840434e-01 -5.40626521e-03 9.93711472e-01 9.98698428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077105680999999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:9.11, Y:0.91, Z:1.02 [[ 9.86767818e-01 -1.17594655e-01 -1.11627817e-01 9.10592890e+00] [ 1.17352527e-01 9.93051683e-01 -8.76012130e-03 9.13011236e-01] [ 1.11882335e-01 -4.45560069e-03 9.93711473e-01 1.01671492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.107105680999998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:9.14, Y:0.92, Z:1.02 [[ 9.87211581e-01 -1.13795404e-01 -1.11641838e-01 9.13647702e+00] [ 1.13549307e-01 9.93495304e-01 -8.58109557e-03 9.22426216e-01] [ 1.11892131e-01 -4.20549640e-03 9.93711460e-01 1.02197656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137105681 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:9.17, Y:0.93, Z:1.02 [[ 9.88257948e-01 -1.04330847e-01 -1.11630204e-01 9.16871348e+00] [ 1.04007739e-01 9.94538173e-01 -8.73003077e-03 9.34808996e-01] [ 1.11931311e-01 -2.98288287e-03 9.93711469e-01 1.02089457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.167105680999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:9.20, Y:0.94, Z:1.03 [[ 9.88755913e-01 -9.94972496e-02 -1.11633517e-01 9.20030660e+00] [ 9.91482393e-02 9.95034750e-01 -8.68747229e-03 9.42278373e-01] [ 1.11943608e-01 -2.47847702e-03 9.93711470e-01 1.02506361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197105680999998 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:9.23, Y:0.96, Z:1.03 [[ 9.89482764e-01 -9.19847860e-02 -1.11636276e-01 9.23143169e+00] [ 9.15921140e-02 9.95759022e-01 -8.65186826e-03 9.55102819e-01] [ 1.11958669e-01 -1.66412799e-03 9.93711471e-01 1.02866705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.227105681 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:9.26, Y:0.96, Z:1.03 [[ 9.89511071e-01 -9.16765634e-02 -1.11638918e-01 9.26252908e+00] [ 9.12857963e-02 9.95787447e-01 -8.61764845e-03 9.64021532e-01] [ 1.11958669e-01 -1.66378894e-03 9.93711471e-01 1.02878081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257105680999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:9.30, Y:0.97, Z:1.03 [[ 9.89305712e-01 -9.38638422e-02 -1.11641334e-01 9.29545103e+00] [ 9.34904951e-02 9.95583148e-01 -8.58623470e-03 9.67480414e-01] [ 1.11954167e-01 -1.94299251e-03 9.93711472e-01 1.02897396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.287105680999998 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:9.33, Y:0.97, Z:1.02 [[ 9.88586377e-01 -1.01156001e-01 -1.11644253e-01 9.32919885e+00] [ 1.00833255e-01 9.94866617e-01 -8.54810015e-03 9.69468768e-01] [ 1.11935832e-01 -2.80691807e-03 9.93711473e-01 1.02111731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317105681 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:9.36, Y:0.97, Z:1.02 [[ 9.87827665e-01 -1.08327596e-01 -1.11631695e-01 9.36210674e+00] [ 1.08031857e-01 9.94109253e-01 -8.71265355e-03 9.70490850e-01] [ 1.11917922e-01 -3.45317914e-03 9.93711454e-01 1.01794624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.347105680999999 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:9.39, Y:0.97, Z:1.02 [[ 9.87589396e-01 -1.10469114e-01 -1.11641207e-01 9.39378428e+00] [ 1.10201113e-01 9.93872209e-01 -8.58761630e-03 9.73399356e-01] [ 1.11905759e-01 -3.82194651e-03 9.93711474e-01 1.01953463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377105681 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:9.42, Y:0.98, Z:1.02 [[ 9.87511519e-01 -1.11153868e-01 -1.11650428e-01 9.42448552e+00] [ 1.10903953e-01 9.93795069e-01 -8.46601763e-03 9.77613329e-01] [ 1.11898676e-01 -4.02218396e-03 9.93711481e-01 1.02318625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.407105680999999 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:9.46, Y:0.98, Z:1.03 [[ 9.87573424e-01 -1.10600173e-01 -1.11652740e-01 9.45605671e+00] [ 1.10350191e-01 9.93856971e-01 -8.43541312e-03 9.81063385e-01] [ 1.11899813e-01 -3.99031145e-03 9.93711482e-01 1.03093722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437105680999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:9.49, Y:0.99, Z:1.03 [[ 9.87661893e-01 -1.09820860e-01 -1.11639434e-01 9.48764095e+00] [ 1.09545959e-01 9.93944421e-01 -8.61220350e-03 9.86524144e-01] [ 1.11909192e-01 -3.72370370e-03 9.93711460e-01 1.03384003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.467105681 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:9.52, Y:0.99, Z:1.04 [[ 9.87638087e-01 -1.10038937e-01 -1.11635301e-01 9.52048146e+00] [ 1.09759202e-01 9.93920417e-01 -8.66731449e-03 9.89358430e-01] [ 1.11910347e-01 -3.69283162e-03 9.93711446e-01 1.03735198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497105680999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:9.55, Y:0.99, Z:1.04 [[ 9.87319215e-01 -1.12854620e-01 -1.11644980e-01 9.55200268e+00] [ 1.12607433e-01 9.93602875e-01 -8.53770737e-03 9.91074671e-01] [ 1.11894293e-01 -4.14261212e-03 9.93711480e-01 1.04054846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.527105680999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:9.58, Y:0.99, Z:1.04 [[ 9.86970973e-01 -1.15857669e-01 -1.11648100e-01 9.58425779e+00] [ 1.15634337e-01 9.93255517e-01 -8.49575354e-03 9.92420498e-01] [ 1.11879390e-01 -4.52529189e-03 9.93711489e-01 1.04452640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557105681 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:9.62, Y:0.99, Z:1.05 [[ 9.85576892e-01 -1.27174139e-01 -1.11646440e-01 9.61762151e+00] [ 1.27020399e-01 9.91863529e-01 -8.51814098e-03 9.91319897e-01] [ 1.11821319e-01 -5.78609234e-03 9.93711484e-01 1.05079987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.587105680999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:9.65, Y:0.99, Z:1.06 [[ 9.84691964e-01 -1.33848186e-01 -1.11653031e-01 9.65005097e+00] [ 1.33747125e-01 9.90979647e-01 -8.42886976e-03 9.90745941e-01] [ 1.11774070e-01 -6.63343149e-03 9.93711505e-01 1.05736833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617105680999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:9.68, Y:0.99, Z:1.06 [[ 9.82907701e-01 -1.46365458e-01 -1.11667383e-01 9.68127040e+00] [ 1.46366439e-01 9.89196173e-01 -8.23383642e-03 9.88547635e-01] [ 1.11666097e-01 -8.25125598e-03 9.93711527e-01 1.06164732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.647105681 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:9.72, Y:0.99, Z:1.06 [[ 9.81461977e-01 -1.55771430e-01 -1.11658627e-01 9.71506891e+00] [ 1.55819144e-01 9.87750281e-01 -8.35321664e-03 9.85398574e-01] [ 1.11592033e-01 -9.20018714e-03 9.93711515e-01 1.06395056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677105680999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:9.75, Y:0.98, Z:1.07 [[ 9.80837824e-01 -1.59644515e-01 -1.11672701e-01 9.74833339e+00] [ 1.59738799e-01 9.87125584e-01 -8.16071316e-03 9.84748691e-01] [ 1.11537794e-01 -9.83412708e-03 9.93711533e-01 1.06555451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.707105680999998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:9.78, Y:0.98, Z:1.07 [[ 9.79981461e-01 -1.64814473e-01 -1.11680458e-01 9.77964789e+00] [ 1.64953948e-01 9.86268384e-01 -8.05416529e-03 9.82825161e-01] [ 1.11474348e-01 -1.05291998e-02 9.93711530e-01 1.06580901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737105681 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:9.81, Y:0.99, Z:1.08 [[ 9.79763664e-01 -1.66107315e-01 -1.11675970e-01 9.81013247e+00] [ 1.66248110e-01 9.86050555e-01 -8.11591981e-03 9.87146727e-01] [ 1.11466266e-01 -1.06142356e-02 9.93711532e-01 1.07754494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.767105680999999 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:9.84, Y:0.99, Z:1.08 [[ 9.79977998e-01 -1.64843272e-01 -1.11668343e-01 9.84114608e+00] [ 1.64964075e-01 9.86265313e-01 -8.22110992e-03 9.91323680e-01] [ 1.11489808e-01 -1.03647581e-02 9.93711525e-01 1.08290801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797105681 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:9.87, Y:1.00, Z:1.09 [[ 9.80797909e-01 -1.59885203e-01 -1.11678928e-01 9.87249466e+00] [ 1.59990742e-01 9.87085488e-01 -8.07473620e-03 9.96678944e-01] [ 1.11527680e-01 -9.94791017e-03 9.93711535e-01 1.08638588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.827105680999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:9.90, Y:1.00, Z:1.09 [[ 9.82005384e-01 -1.52291659e-01 -1.11681141e-01 9.90348686e+00] [ 1.52352016e-01 9.88293558e-01 -8.04401795e-03 1.00242205e+00] [ 1.11598789e-01 -9.11557799e-03 9.93711536e-01 1.08891349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857105680999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:9.94, Y:1.01, Z:1.09 [[ 9.82595310e-01 -1.48436148e-01 -1.11683335e-01 9.93663741e+00] [ 1.48475280e-01 9.88883652e-01 -8.01343127e-03 1.00720333e+00] [ 1.11631307e-01 -8.70825444e-03 9.93711536e-01 1.09256144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.887105681 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:9.97, Y:1.02, Z:1.10 [[ 9.83293185e-01 -1.43738354e-01 -1.11686158e-01 9.96940305e+00] [ 1.43751898e-01 9.89581633e-01 -7.97389437e-03 1.01568507e+00] [ 1.11668725e-01 -8.21442118e-03 9.93711537e-01 1.09780908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917105680999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:10.00, Y:1.02, Z:1.10 [[ 9.83465932e-01 -1.42545553e-01 -1.11693898e-01 1.00001423e+01] [ 1.42563754e-01 9.89754371e-01 -7.86514659e-03 1.02060875e+00] [ 1.11670666e-01 -8.18839774e-03 9.93711534e-01 1.10086779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.947105680999998 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:10.03, Y:1.03, Z:1.10 [[ 9.83107992e-01 -1.45000461e-01 -1.11685016e-01 1.00305933e+01] [ 1.45020235e-01 9.89396426e-01 -7.99020405e-03 1.02700713e+00] [ 1.11659339e-01 -8.34135388e-03 9.93711534e-01 1.10471648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977105681 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:10.06, Y:1.03, Z:1.11 [[ 9.82801138e-01 -1.47061451e-01 -1.11690878e-01 1.00625145e+01] [ 1.47103762e-01 9.89089458e-01 -7.90741616e-03 1.03141949e+00] [ 1.11635146e-01 -8.65873072e-03 9.93711538e-01 1.10870716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.007105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.10, Y:1.03, Z:1.11 [[ 9.82637867e-01 -1.48144789e-01 -1.11695769e-01 1.00953198e+01] [ 1.48201867e-01 9.88926070e-01 -7.83805314e-03 1.03365459e+00] [ 1.11620025e-01 -8.85155367e-03 9.93711538e-01 1.10886283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.13, Y:1.04, Z:1.11 [[ 9.82349063e-01 -1.50041381e-01 -1.11704534e-01 1.01259357e+01] [ 1.50124694e-01 9.88636982e-01 -7.71325471e-03 1.03737528e+00] [ 1.11592540e-01 -9.19250037e-03 9.93711529e-01 1.11058837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.067105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.16, Y:1.04, Z:1.12 [[ 9.82409451e-01 -1.49651364e-01 -1.11696645e-01 1.01572801e+01] [ 1.49719462e-01 9.88697547e-01 -7.82585864e-03 1.04261127e+00] [ 1.11605349e-01 -9.03496408e-03 9.93711535e-01 1.12103874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.19, Y:1.04, Z:1.12 [[ 9.82788060e-01 -1.47135591e-01 -1.11708316e-01 1.01901519e+01] [ 1.47206432e-01 9.89076137e-01 -7.65904237e-03 1.04440342e+00] [ 1.11614947e-01 -8.91696723e-03 9.93711523e-01 1.12061308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.127105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.22, Y:1.05, Z:1.12 [[ 9.83081514e-01 -1.45167133e-01 -1.11701569e-01 1.02225382e+01] [ 1.45214459e-01 9.89369804e-01 -7.75573331e-03 1.04586329e+00] [ 1.11640037e-01 -8.59616485e-03 9.93711532e-01 1.12134388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.25, Y:1.05, Z:1.13 [[ 9.83610942e-01 -1.41533868e-01 -1.11703529e-01 1.02538580e+01] [ 1.41561148e-01 9.89899352e-01 -7.72750811e-03 1.05151295e+00] [ 1.11668955e-01 -8.21201832e-03 9.93711531e-01 1.12945583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.187105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.29, Y:1.06, Z:1.14 [[ 9.84135030e-01 -1.37851712e-01 -1.11692206e-01 1.02854648e+01] [ 1.37836973e-01 9.90423495e-01 -7.89115351e-03 1.05714687e+00] [ 1.11710394e-01 -7.62935500e-03 9.93711518e-01 1.13596089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.32, Y:1.06, Z:1.14 [[ 9.85871930e-01 -1.24821377e-01 -1.11696739e-01 1.03171262e+01] [ 1.24730894e-01 9.92159750e-01 -7.82528020e-03 1.06434466e+00] [ 1.11797771e-01 -6.21731008e-03 9.93711529e-01 1.13626979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.247105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.35, Y:1.07, Z:1.13 [[ 9.87918965e-01 -1.07428167e-01 -1.11692918e-01 1.03490963e+01] [ 1.07220604e-01 9.94204020e-01 -7.88095656e-03 1.07061782e+00] [ 1.11892184e-01 -4.19003570e-03 9.93711519e-01 1.13219047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.38, Y:1.08, Z:1.14 [[ 9.88807420e-01 -9.88991106e-02 -1.11708785e-01 1.03812540e+01] [ 9.86634671e-02 9.95091457e-01 -7.64927945e-03 1.07624222e+00] [ 1.11916965e-01 -3.45791175e-03 9.93711546e-01 1.13642448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:1.09, Z:1.15 [[ 9.90236511e-01 -8.33800819e-02 -1.11711301e-01 1.04105455e+01] [ 8.30500831e-02 9.96516300e-01 -7.61235677e-03 1.08697758e+00] [ 1.11956851e-01 -1.73959922e-03 9.93711546e-01 1.14625571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.44, Y:1.09, Z:1.15 [[ 9.91183915e-01 -7.12688616e-02 -1.11692417e-01 1.04422552e+01] [ 7.08308456e-02 9.97457137e-01 -7.88988006e-03 1.09386947e+00] [ 1.11970702e-01 -9.09461597e-05 9.93711504e-01 1.15346650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.367105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:1.10, Z:1.16 [[ 9.91428956e-01 -6.77813199e-02 -1.11688490e-01 1.04740894e+01] [ 6.73147192e-02 9.97700136e-01 -7.94773354e-03 1.09597402e+00] [ 1.11970330e-01 3.61333804e-04 9.93711485e-01 1.15944467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:1.10, Z:1.17 [[ 9.91717693e-01 -6.33695580e-02 -1.11715339e-01 1.05037259e+01] [ 6.29197879e-02 9.97990024e-01 -7.55061819e-03 1.09754807e+00] [ 1.11969274e-01 4.58976189e-04 9.93711563e-01 1.16619635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.427105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:1.10, Z:1.17 [[ 9.91468956e-01 -6.72494794e-02 -1.11654901e-01 1.05380701e+01] [ 6.67237059e-02 9.97735766e-01 -8.44322777e-03 1.09956566e+00] [ 1.11969891e-01 9.21169466e-04 9.93711173e-01 1.16977825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.57, Y:1.10, Z:1.17 [[ 9.91477056e-01 -6.70247185e-02 -1.11718099e-01 1.05714318e+01] [ 6.66034425e-02 9.97751315e-01 -7.50295524e-03 1.10156708e+00] [ 1.11969764e-01 -1.80200615e-06 9.93711614e-01 1.17301435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.487105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.61, Y:1.10, Z:1.18 [[ 9.91044288e-01 -7.31442563e-02 -1.11719007e-01 1.06051289e+01] [ 7.27632497e-02 9.97321121e-01 -7.48940386e-03 1.09999253e+00] [ 1.11967533e-01 -7.06707111e-04 9.93711614e-01 1.17503675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:1.10, Z:1.18 [[ 9.90358104e-01 -8.19114707e-02 -1.11719907e-01 1.06377626e+01] [ 8.15875416e-02 9.96638141e-01 -7.47595381e-03 1.09672921e+00] [ 1.11956687e-01 -1.71108116e-03 9.93711614e-01 1.17613133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.547105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:1.09, Z:1.18 [[ 9.89299897e-01 -9.38344711e-02 -1.11717531e-01 1.06697466e+01] [ 9.35821940e-02 9.95583221e-01 -7.51153426e-03 1.09200253e+00] [ 1.11928940e-01 -3.02361162e-03 9.93711613e-01 1.17751115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:1.09, Z:1.18 [[ 9.88949419e-01 -9.74538597e-02 -1.11721938e-01 1.07031345e+01] [ 9.72320377e-02 9.95233890e-01 -7.44541943e-03 1.09035219e+00] [ 1.11915043e-01 -3.49980842e-03 9.93711615e-01 1.18090434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.607105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:1.09, Z:1.19 [[ 9.88642107e-01 -1.00520771e-01 -1.11724476e-01 1.07367333e+01] [ 1.00322764e-01 9.94927373e-01 -7.40713338e-03 1.08656445e+00] [ 1.11902310e-01 -3.88550424e-03 9.93711616e-01 1.18544443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.77, Y:1.09, Z:1.19 [[ 9.88747051e-01 -9.94804033e-02 -1.11726984e-01 1.07690419e+01] [ 9.92800739e-02 9.95032242e-01 -7.36911033e-03 1.08617132e+00] [ 1.11905033e-01 -3.80607711e-03 9.93711617e-01 1.19168733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.667105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.80, Y:1.09, Z:1.20 [[ 9.88948574e-01 -9.74557417e-02 -1.11727776e-01 1.08007258e+01] [ 9.72439010e-02 9.95233388e-01 -7.35708514e-03 1.08710727e+00] [ 1.11912203e-01 -3.58906591e-03 9.93711617e-01 1.19535659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.83, Y:1.09, Z:1.20 [[ 9.89252471e-01 -9.43222940e-02 -1.11726693e-01 1.08316751e+01] [ 9.40886851e-02 9.95536514e-01 -7.37356072e-03 1.08728213e+00] [ 1.11923494e-01 -3.21790451e-03 9.93711616e-01 1.19974267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:1.09, Z:1.20 [[ 9.89468607e-01 -9.20222651e-02 -1.11730834e-01 1.08649359e+01] [ 9.17811886e-02 9.95752365e-01 -7.31027686e-03 1.08797294e+00] [ 1.11928951e-01 -3.02149931e-03 9.93711618e-01 1.20409692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757105680999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.90, Y:1.09, Z:1.21 [[ 9.89968540e-01 -8.64751707e-02 -1.11733320e-01 1.08968799e+01] [ 8.62031889e-02 9.96251036e-01 -7.27207789e-03 1.08918329e+00] [ 1.11943290e-01 -2.43264019e-03 9.93711619e-01 1.21137655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.787105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.93, Y:1.09, Z:1.22 [[ 9.90747262e-01 -7.70390497e-02 -1.11735617e-01 1.09292284e+01] [ 7.67112210e-02 9.97027091e-01 -7.23661391e-03 1.09206635e+00] [ 1.11960939e-01 -1.40172022e-03 9.93711620e-01 1.21676040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.96, Y:1.09, Z:1.22 [[ 9.91149156e-01 -7.16795365e-02 -1.11738063e-01 1.09609669e+01] [ 7.13220283e-02 9.97427365e-01 -7.19864839e-03 1.09348626e+00] [ 1.11966598e-01 -8.34451035e-04 9.93711620e-01 1.21859073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.847105680999999 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:10.99, Y:1.09, Z:1.22 [[ 9.91888021e-01 -6.06021766e-02 -1.11738672e-01 1.09939276e+01] [ 6.01756185e-02 9.98161916e-01 -7.18918174e-03 1.09411569e+00] [ 1.11968967e-01 4.06919521e-04 9.93711621e-01 1.22276916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877105680999998 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:11.02, Y:1.09, Z:1.23 [[ 9.92491520e-01 -4.97478561e-02 -1.11739580e-01 1.10246445e+01] [ 4.92542822e-02 9.98760499e-01 -7.17504196e-03 1.09493283e+00] [ 1.11958022e-01 1.61751548e-03 9.93711621e-01 1.22939178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.907105680999999 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:11.06, Y:1.09, Z:1.23 [[ 9.92654246e-01 -4.63865706e-02 -1.11740027e-01 1.10563618e+01] [ 4.58725544e-02 9.98921582e-01 -7.16807235e-03 1.09418832e+00] [ 1.11952027e-01 1.98961697e-03 9.93711621e-01 1.23249005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937105680999998 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:11.09, Y:1.09, Z:1.23 [[ 9.92714235e-01 -4.50830319e-02 -1.11740631e-01 1.10887837e+01] [ 4.45618457e-02 9.98980979e-01 -7.15865560e-03 1.08745858e+00] [ 1.11949499e-01 2.12713057e-03 9.93711621e-01 1.23090030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.967105680999998 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:11.12, Y:1.08, Z:1.23 [[ 9.92271811e-01 -5.40052852e-02 -1.11714285e-01 1.11214768e+01] [ 5.34941282e-02 9.98539469e-01 -7.57014459e-03 1.08049390e+00] [ 1.11959951e-01 1.53558278e-03 9.93711533e-01 1.23363904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997105680999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:11.15, Y:1.08, Z:1.24 [[ 9.91947890e-01 -5.96068404e-02 -1.11742599e-01 1.11541514e+01] [ 5.91810651e-02 9.98221827e-01 -7.12634660e-03 1.07775186e+00] [ 1.11968681e-01 4.55918417e-04 9.93711632e-01 1.23680086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.027105680999998 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:11.19, Y:1.07, Z:1.24 [[ 9.91358727e-01 -6.87119243e-02 -1.11743211e-01 1.11872744e+01] [ 6.83448535e-02 9.97636373e-01 -7.11674535e-03 1.06933867e+00] [ 1.11968097e-01 -5.81825772e-04 9.93711632e-01 1.23702254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057105681 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:11.22, Y:1.06, Z:1.24 [[ 9.91096274e-01 -7.23967651e-02 -1.11744723e-01 1.12186823e+01] [ 7.20557200e-02 9.97375388e-01 -7.09291702e-03 1.05910850e+00] [ 1.11964941e-01 -1.02208287e-03 9.93711632e-01 1.24184494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.087105680999999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:11.25, Y:1.06, Z:1.25 [[ 9.91092573e-01 -7.24467916e-02 -1.11745128e-01 1.12510286e+01] [ 7.21067820e-02 9.97371743e-01 -7.08654369e-03 1.05531639e+00] [ 1.11964830e-01 -1.03416073e-03 9.93711632e-01 1.24845515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117105680999998 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:11.28, Y:1.05, Z:1.25 [[ 9.91375211e-01 -6.84691084e-02 -1.11746018e-01 1.12828684e+01] [ 6.81054898e-02 9.97653057e-01 -7.07247559e-03 1.05032023e+00] [ 1.11968003e-01 -5.99040312e-04 9.93711632e-01 1.25400923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.147105681 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:11.32, Y:1.05, Z:1.26 [[ 9.91674629e-01 -6.39853209e-02 -1.11746629e-01 1.13154711e+01] [ 6.35944065e-02 9.97950835e-01 -7.06280741e-03 1.04974490e+00] [ 1.11969558e-01 -1.02453639e-04 9.93711632e-01 1.25778594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177105680999999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:11.35, Y:1.05, Z:1.26 [[ 9.92148701e-01 -5.61558155e-02 -1.11747388e-01 1.13475205e+01] [ 5.57167283e-02 9.98421721e-01 -7.05078011e-03 1.04509970e+00] [ 1.11966962e-01 7.69223472e-04 9.93711632e-01 1.26012203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.207105680999998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:11.38, Y:1.04, Z:1.26 [[ 9.92391669e-01 -5.16832717e-02 -1.11748000e-01 1.13807603e+01] [ 5.12170071e-02 9.98662727e-01 -7.04107377e-03 1.03895184e+00] [ 1.11962468e-01 1.26410486e-03 9.93711632e-01 1.26035739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237105681 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:11.41, Y:1.04, Z:1.26 [[ 9.92461853e-01 -5.03161834e-02 -1.11748609e-01 1.14117153e+01] [ 4.98423717e-02 9.98732345e-01 -7.03138335e-03 1.03559981e+00] [ 1.11960743e-01 1.40856402e-03 9.93711632e-01 1.25927187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.267105680999999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:11.44, Y:1.03, Z:1.26 [[ 9.92485745e-01 -4.98419733e-02 -1.11748928e-01 1.14432127e+01] [ 4.93657362e-02 9.98756054e-01 -7.02631341e-03 1.02663256e+00] [ 1.11960124e-01 1.45694780e-03 9.93711632e-01 1.26041540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297105680999998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:11.47, Y:1.02, Z:1.26 [[ 9.92491099e-01 -4.97352606e-02 -1.11748928e-01 1.14733434e+01] [ 4.92583494e-02 9.98761356e-01 -7.02631341e-03 1.02392513e+00] [ 1.11959966e-01 1.46898578e-03 9.93711632e-01 1.26464942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.327105680999999 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:11.50, Y:1.01, Z:1.27 [[ 9.92454610e-01 -5.04581351e-02 -1.11748928e-01 1.15034777e+01] [ 4.99857910e-02 9.98725213e-01 -7.02631341e-03 1.01098519e+00] [ 1.11961007e-01 1.38743858e-03 9.93711632e-01 1.27095153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357105680999998 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:11.53, Y:1.01, Z:1.27 [[ 9.92383158e-01 -5.18451379e-02 -1.11748602e-01 1.15337221e+01] [ 5.13809749e-02 9.98654371e-01 -7.03149270e-03 1.00620048e+00] [ 1.11962779e-01 1.23618280e-03 9.93711632e-01 1.27375312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.387105680999998 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:11.56, Y:0.99, Z:1.27 [[ 9.92131256e-01 -5.64614481e-02 -1.11748270e-01 1.15632772e+01] [ 5.60258716e-02 9.98404520e-01 -7.03676764e-03 9.94879263e-01] [ 1.11967284e-01 7.20602887e-04 9.93711632e-01 1.27425362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417105680999999 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:11.59, Y:0.99, Z:1.28 [[ 9.92013734e-01 -5.84909095e-02 -1.11747777e-01 1.15927945e+01] [ 5.80672867e-02 9.98287816e-01 -7.04458287e-03 9.89224757e-01] [ 1.11968489e-01 4.99432732e-04 9.93711632e-01 1.27538717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.447105680999998 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:11.62, Y:0.98, Z:1.28 [[ 9.91750785e-01 -6.27917768e-02 -1.11747811e-01 1.16225166e+01] [ 6.23954224e-02 9.98026649e-01 -7.04405248e-03 9.75010328e-01] [ 1.11969602e-01 1.33927158e-05 9.93711632e-01 1.28160409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477105681 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:11.65, Y:0.96, Z:1.29 [[ 9.91573717e-01 -6.55290637e-02 -1.11747512e-01 1.16543876e+01] [ 6.51495000e-02 9.97850619e-01 -7.04879175e-03 9.62499314e-01] [ 1.11969225e-01 -2.90897890e-04 9.93711632e-01 1.29040330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.507105680999999 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:11.69, Y:0.96, Z:1.29 [[ 9.91584606e-01 -6.53635295e-02 -1.11747833e-01 1.16850294e+01] [ 6.49834913e-02 9.97861479e-01 -7.04370434e-03 9.58981979e-01] [ 1.11969259e-01 -2.77335502e-04 9.93711632e-01 1.29435714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537105680999998 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:11.71, Y:0.95, Z:1.30 [[ 9.91680067e-01 -6.38988804e-02 -1.11747833e-01 1.17146189e+01] [ 6.35095716e-02 9.97956372e-01 -7.04370434e-03 9.49263677e-01] [ 1.11969546e-01 -1.11955776e-04 9.93711632e-01 1.30015673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.567105681 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:11.74, Y:0.95, Z:1.31 [[ 9.91660233e-01 -6.42062303e-02 -1.11747673e-01 1.17449744e+01] [ 6.38185807e-02 9.97936641e-01 -7.04624206e-03 9.45844478e-01] [ 1.11969510e-01 -1.44099815e-04 9.93711632e-01 1.30541617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597105680999999 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:11.78, Y:0.94, Z:1.31 [[ 9.91679810e-01 -6.39031496e-02 -1.11747673e-01 1.17753433e+01] [ 6.35135818e-02 9.97956099e-01 -7.04624206e-03 9.38251019e-01] [ 1.11969548e-01 -1.09878957e-04 9.93711632e-01 1.31025293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.627105680999998 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:11.80, Y:0.93, Z:1.31 [[ 9.91733754e-01 -6.30604407e-02 -1.11747673e-01 1.18049617e+01] [ 6.26655397e-02 9.98009710e-01 -7.04624206e-03 9.34742983e-01] [ 1.11969601e-01 -1.47321240e-05 9.93711632e-01 1.31267921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657105680999999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:11.83, Y:0.93, Z:1.32 [[ 9.91723818e-01 -6.32168055e-02 -1.11747507e-01 1.18349840e+01] [ 6.28225979e-02 9.97999817e-01 -7.04887040e-03 9.34515924e-01] [ 1.11969598e-01 -2.97360243e-05 9.93711632e-01 1.31540227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.687105680999998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:11.86, Y:0.93, Z:1.32 [[ 9.91526914e-01 -6.62340064e-02 -1.11747194e-01 1.18644260e+01] [ 6.58583377e-02 9.97804050e-01 -7.05382822e-03 9.32121421e-01] [ 1.11969006e-01 -3.65423900e-04 9.93711632e-01 1.31996156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717105680999998 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:11.89, Y:0.93, Z:1.33 [[ 9.90766013e-01 -7.67811545e-02 -1.11746864e-01 1.18933099e+01] [ 7.64717143e-02 9.97046763e-01 -7.05904413e-03 9.30240178e-01] [ 1.11958851e-01 -1.55161327e-03 9.93711632e-01 1.32514510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.747105680999999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:11.92, Y:0.93, Z:1.33 [[ 9.90219005e-01 -8.35403926e-02 -1.11746701e-01 1.19246638e+01] [ 8.32735284e-02 9.96501707e-01 -7.06162634e-03 9.29365592e-01] [ 1.11945709e-01 -2.31298548e-03 9.93711632e-01 1.32962414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777105680999998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:11.96, Y:0.93, Z:1.33 [[ 9.89338600e-01 -9.33902408e-02 -1.11747025e-01 1.19553072e+01] [ 9.31864903e-02 9.95623666e-01 -7.05649253e-03 9.25857699e-01] [ 1.11916991e-01 -3.43205265e-03 9.93711632e-01 1.33447806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.807105680999998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:11.99, Y:0.93, Z:1.34 [[ 9.89259518e-01 -9.42240515e-02 -1.11747185e-01 1.19865438e+01] [ 9.40258838e-02 9.95544763e-01 -7.05396278e-03 9.25456556e-01] [ 1.11913978e-01 -3.52892801e-03 9.93711632e-01 1.33537976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837105680999999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:12.02, Y:0.93, Z:1.34 [[ 9.89583646e-01 -9.07562926e-02 -1.11747495e-01 1.20176215e+01] [ 9.05366516e-02 9.95868177e-01 -7.04905163e-03 9.27298251e-01] [ 1.11925520e-01 -3.14161779e-03 9.93711632e-01 1.33722610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.867105680999998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:12.05, Y:0.93, Z:1.34 [[ 9.90897853e-01 -7.50591239e-02 -1.11747813e-01 1.20483604e+01] [ 7.47404641e-02 9.97178141e-01 -7.04400578e-03 9.30370343e-01] [ 1.11961193e-01 -1.37219319e-03 9.93711632e-01 1.33977880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897105681 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:12.08, Y:0.93, Z:1.34 [[ 9.91611722e-01 -6.49503510e-02 -1.11748134e-01 1.20781400e+01] [ 6.45682382e-02 9.97888469e-01 -7.03890491e-03 9.34181979e-01] [ 1.11969354e-01 -2.35519524e-04 9.93711632e-01 1.34395108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.927105680999999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:12.11, Y:0.94, Z:1.35 [[ 9.92650131e-01 -4.64550462e-02 -1.11748134e-01 1.21074352e+01] [ 4.59559988e-02 9.98918665e-01 -7.03890491e-03 9.40699278e-01] [ 1.11954290e-01 1.85167277e-03 9.93711632e-01 1.34795965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957105680999998 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:12.13, Y:0.95, Z:1.35 [[ 9.93102527e-01 -3.54936298e-02 -1.11747809e-01 1.21349545e+01] [ 3.49248304e-02 9.99365117e-01 -7.04405908e-03 9.46336153e-01] [ 1.11926882e-01 3.09269959e-03 9.93711632e-01 1.34628660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.987105681 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:12.16, Y:0.95, Z:1.34 [[ 9.93122940e-01 -3.49261949e-02 -1.11745190e-01 1.21630738e+01] [ 3.43491732e-02 9.99384777e-01 -7.08536636e-03 9.48637870e-01] [ 1.11923907e-01 3.19828498e-03 9.93711633e-01 1.34475838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017105680999999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:12.19, Y:0.95, Z:1.34 [[ 9.92887199e-01 -4.10927208e-02 -1.11742556e-01 1.21902294e+01] [ 4.05499493e-02 9.99152097e-01 -7.12667267e-03 9.48784807e-01] [ 1.11940663e-01 2.54482709e-03 9.93711634e-01 1.34255045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.047105680999998 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:12.22, Y:0.95, Z:1.34 [[ 9.92099610e-01 -5.71043851e-02 -1.11702524e-01 1.22191814e+01] [ 5.65926239e-02 9.98367278e-01 -7.74941710e-03 9.49824678e-01] [ 1.11962671e-01 1.36665472e-03 9.93711473e-01 1.34317194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077105680999999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:12.25, Y:0.95, Z:1.35 [[ 9.91587361e-01 -6.53369803e-02 -1.11738915e-01 1.22464656e+01] [ 6.49410022e-02 9.97863248e-01 -7.18366035e-03 9.49695589e-01] [ 1.11969515e-01 -1.33210313e-04 9.93711633e-01 1.34738765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.107105680999998 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:12.27, Y:0.95, Z:1.35 [[ 9.90367038e-01 -8.17809617e-02 -1.11736317e-01 1.22749716e+01] [ 8.14846382e-02 9.96648418e-01 -7.22384940e-03 9.45917310e-01] [ 1.11952597e-01 -1.95053100e-03 9.93711634e-01 1.35484263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137105680999998 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:12.30, Y:0.94, Z:1.37 [[ 9.89383682e-01 -9.29270998e-02 -1.11733985e-01 1.23048855e+01] [ 9.26974717e-02 9.95667854e-01 -7.25974337e-03 9.42753074e-01] [ 1.11924563e-01 -3.17478624e-03 9.93711635e-01 1.36503976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.167105680999999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:12.34, Y:0.94, Z:1.37 [[ 9.89208265e-01 -9.47755899e-02 -1.11734487e-01 1.23359501e+01] [ 9.45585782e-02 9.95492885e-01 -7.25199767e-03 9.42236612e-01] [ 1.11918199e-01 -3.39171822e-03 9.93711635e-01 1.37137324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197105680999998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:12.37, Y:0.94, Z:1.38 [[ 9.89514710e-01 -9.15203226e-02 -1.11734819e-01 1.23671920e+01] [ 9.12832111e-02 9.95798603e-01 -7.24688435e-03 9.42628989e-01] [ 1.11928614e-01 -3.02861440e-03 9.93711635e-01 1.37738727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.227105680999998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:12.40, Y:0.95, Z:1.38 [[ 9.89945283e-01 -8.67386537e-02 -1.11735149e-01 1.23977338e+01] [ 8.64717607e-02 9.96227981e-01 -7.24178872e-03 9.45560691e-01] [ 1.11941825e-01 -2.49296051e-03 9.93711635e-01 1.38145703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257105680999999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:12.43, Y:0.95, Z:1.38 [[ 9.91161314e-01 -7.15152522e-02 -1.11735482e-01 1.24288271e+01] [ 7.11524186e-02 9.97439203e-01 -7.23665754e-03 9.51540957e-01] [ 1.11966881e-01 -7.77554762e-04 9.93711635e-01 1.38225845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.287105680999998 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:12.46, Y:0.95, Z:1.38 [[ 9.92223877e-01 -5.48350727e-02 -1.11735815e-01 1.24572139e+01] [ 5.43672852e-02 9.98494819e-01 -7.23149936e-03 9.54004963e-01] [ 1.11964173e-01 1.10049339e-03 9.93711635e-01 1.38213721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317105681 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:12.48, Y:0.96, Z:1.38 [[ 9.92507707e-01 -4.94335023e-02 -1.11735315e-01 1.24843462e+01] [ 4.89307199e-02 9.98775940e-01 -7.23921709e-03 9.55171674e-01] [ 1.11956404e-01 1.71768934e-03 9.93711635e-01 1.38366684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.347105680999999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:12.51, Y:0.96, Z:1.39 [[ 9.92720084e-01 -4.49720148e-02 -1.11733399e-01 1.25112528e+01] [ 4.44377490e-02 9.98985712e-01 -7.26868016e-03 9.56591502e-01] [ 1.11946956e-01 2.25058406e-03 9.93711635e-01 1.38598962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377105680999998 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:12.54, Y:0.96, Z:1.39 [[ 9.92711445e-01 -4.52847933e-02 -1.11683811e-01 1.25393935e+01] [ 4.46674520e-02 9.98969680e-01 -8.02483933e-03 9.58653006e-01] [ 1.11932144e-01 2.97771859e-03 9.93711391e-01 1.38939094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.407105680999999 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:12.57, Y:0.96, Z:1.39 [[ 9.92532419e-01 -4.90572926e-02 -1.11681595e-01 1.25687785e+01] [ 4.84599563e-02 9.98792618e-01 -8.05848080e-03 9.62303067e-01] [ 1.11942080e-01 2.58621823e-03 9.93711368e-01 1.39194767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437105680999998 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:12.60, Y:0.96, Z:1.39 [[ 9.92330802e-01 -5.28826246e-02 -1.11727381e-01 1.25967566e+01] [ 5.23875541e-02 9.98599676e-01 -7.36424884e-03 9.64305833e-01] [ 1.11960367e-01 1.45464676e-03 9.93711608e-01 1.39282417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.467105680999998 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:12.62, Y:0.97, Z:1.40 [[ 9.92210602e-01 -5.50976410e-02 -1.11724535e-01 1.26238450e+01] [ 5.46117322e-02 9.98480191e-01 -7.40717743e-03 9.65899453e-01] [ 1.11962853e-01 1.24800960e-03 9.93711609e-01 1.39526875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497105680999999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:12.65, Y:0.97, Z:1.40 [[ 9.92118052e-01 -5.67421668e-02 -1.11723305e-01 1.26518383e+01] [ 5.62645669e-02 9.98388280e-01 -7.42568284e-03 9.66455498e-01] [ 1.11964588e-01 1.08109063e-03 9.93711609e-01 1.39650210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.527105680999998 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:12.68, Y:0.97, Z:1.40 [[ 9.92511759e-01 -4.93854752e-02 -1.11720561e-01 1.26782120e+01] [ 4.88567836e-02 9.98777884e-01 -7.46673861e-03 9.70049999e-01] [ 1.11952774e-01 1.95251860e-03 9.93711610e-01 1.40088420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557105680999998 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:12.71, Y:0.97, Z:1.40 [[ 9.92782294e-01 -4.36150607e-02 -1.11718590e-01 1.27053498e+01] [ 4.30466491e-02 9.99044941e-01 -7.49610847e-03 9.74261277e-01] [ 1.11938836e-01 2.63289280e-03 9.93711611e-01 1.40488628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.587105680999999 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:12.73, Y:0.98, Z:1.40 [[ 9.93282696e-01 -3.01508889e-02 -1.11715750e-01 1.27335131e+01] [ 2.94928926e-02 9.99536565e-01 -7.53820353e-03 9.79294256e-01] [ 1.11891261e-01 4.19274651e-03 9.93711611e-01 1.40435436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617105680999998 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:12.76, Y:0.98, Z:1.40 [[ 9.93477375e-01 -2.28676791e-02 -1.11712909e-01 1.27597284e+01] [ 2.21591507e-02 9.99725720e-01 -7.58007293e-03 9.80546689e-01] [ 1.11855607e-01 5.05516777e-03 9.93711612e-01 1.40466155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.647105680999998 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:12.79, Y:0.98, Z:1.41 [[ 9.93608165e-01 -1.64977840e-02 -1.11672009e-01 1.27872182e+01] [ 1.56818886e-02 9.99843565e-01 -8.18065874e-03 9.81212631e-01] [ 1.11789503e-01 6.37714131e-03 9.93711447e-01 1.40580357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677105680999999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:12.82, Y:0.98, Z:1.41 [[ 9.93552284e-01 -1.96471819e-02 -1.11659517e-01 1.28166358e+01] [ 1.88305403e-02 9.99787707e-01 -8.36368154e-03 9.82354878e-01] [ 1.11800135e-01 6.20714586e-03 9.93711327e-01 1.41081539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.707105680999998 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:12.84, Y:0.98, Z:1.41 [[ 9.93482921e-01 -2.26420650e-02 -1.11709549e-01 1.28446763e+01] [ 2.19263152e-02 9.99730460e-01 -7.63177739e-03 9.81751980e-01] [ 1.11852238e-01 5.13266170e-03 9.93711594e-01 1.41319184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737105681 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:12.87, Y:0.98, Z:1.41 [[ 9.93208404e-01 -3.25378521e-02 -1.11706555e-01 1.28721054e+01] [ 3.18794789e-02 9.99462249e-01 -7.67536388e-03 9.75423667e-01] [ 1.11896224e-01 4.06208916e-03 9.93711595e-01 1.41456665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.767105680999999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:12.90, Y:0.97, Z:1.42 [[ 9.92572479e-01 -4.81851445e-02 -1.11705259e-01 1.29008891e+01] [ 4.76232878e-02 9.98835733e-01 -7.69417037e-03 9.68411884e-01] [ 1.11945949e-01 2.31725005e-03 9.93711595e-01 1.41650202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797105680999998 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:12.93, Y:0.97, Z:1.42 [[ 9.92098697e-01 -5.71166583e-02 -1.11704351e-01 1.29289844e+01] [ 5.66097143e-02 9.98366635e-01 -7.70732926e-03 9.66060700e-01] [ 1.11962114e-01 1.32287991e-03 9.93711595e-01 1.42146838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.827105680999999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:12.96, Y:0.96, Z:1.43 [[ 9.90911167e-01 -7.49492792e-02 -1.11703468e-01 1.29560667e+01] [ 7.45536989e-02 9.97187117e-01 -7.72010824e-03 9.59594674e-01] [ 1.11967876e-01 -6.77965280e-04 9.93711596e-01 1.43213245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857105680999998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:12.98, Y:0.95, Z:1.44 [[ 9.89886906e-01 -8.74465003e-02 -1.11700593e-01 1.29829612e+01] [ 8.71254731e-02 9.96167110e-01 -7.76148489e-03 9.54824598e-01] [ 1.11951172e-01 -2.04897476e-03 9.93711596e-01 1.43745124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.887105680999998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:13.01, Y:0.95, Z:1.44 [[ 9.89631192e-01 -9.02968483e-02 -1.11698623e-01 1.30114909e+01] [ 8.99907216e-02 9.95912140e-01 -7.78973197e-03 9.54111831e-01] [ 1.11945403e-01 -2.34287799e-03 9.93711597e-01 1.44019041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917105680999999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:13.04, Y:0.95, Z:1.44 [[ 9.89992392e-01 -8.62498667e-02 -1.11696127e-01 1.30395272e+01] [ 8.59140428e-02 9.96271821e-01 -7.82536548e-03 9.54815464e-01] [ 1.11954641e-01 -1.84921355e-03 9.93711597e-01 1.44363150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.947105680999998 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:13.07, Y:0.96, Z:1.45 [[ 9.90777581e-01 -7.67064462e-02 -1.11695598e-01 1.30667136e+01] [ 7.63092803e-02 9.97053429e-01 -7.83290508e-03 9.60461599e-01] [ 1.11967314e-01 -7.62743978e-04 9.93711597e-01 1.44745770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977105680999998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:13.09, Y:0.97, Z:1.45 [[ 9.91074950e-01 -7.27649036e-02 -1.11694729e-01 1.30942495e+01] [ 7.23413831e-02 9.97349074e-01 -7.84528122e-03 9.65944492e-01] [ 1.11969496e-01 -3.04889494e-04 9.93711598e-01 1.45190382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.007105680999999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:13.12, Y:0.97, Z:1.46 [[ 9.91636506e-01 -6.46679189e-02 -1.11691984e-01 1.31211018e+01] [ 6.41887890e-02 9.97906629e-01 -7.88416904e-03 9.73662122e-01] [ 1.11968024e-01 6.48856648e-04 9.93711598e-01 1.45738388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037105680999998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:13.15, Y:0.98, Z:1.45 [[ 9.91901133e-01 -6.04786033e-02 -1.11689215e-01 1.31491076e+01] [ 5.99685967e-02 9.98168818e-01 -7.92320851e-03 9.76615243e-01] [ 1.11963876e-01 1.16119403e-03 9.93711599e-01 1.45368368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.067105680999997 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:13.18, Y:0.98, Z:1.45 [[ 9.92129907e-01 -5.66076704e-02 -1.11686250e-01 1.31772683e+01] [ 5.60685313e-02 9.98395153e-01 -7.96478571e-03 9.79699737e-01] [ 1.11957878e-01 1.64001812e-03 9.93711600e-01 1.45174681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097105680999999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:13.21, Y:0.98, Z:1.46 [[ 9.92256140e-01 -5.43519965e-02 -1.11685329e-01 1.32052914e+01] [ 5.37971641e-02 9.98520016e-01 -7.97768152e-03 9.82104656e-01] [ 1.11953639e-01 1.90754952e-03 9.93711600e-01 1.45532043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.127105680999998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:13.23, Y:0.98, Z:1.46 [[ 9.92702692e-01 -4.54800905e-02 -1.11682257e-01 1.32323281e+01] [ 4.48644792e-02 9.98960886e-01 -8.02045218e-03 9.82834826e-01] [ 1.11930977e-01 2.95135816e-03 9.93711601e-01 1.45812511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157105680999999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:13.26, Y:0.98, Z:1.46 [[ 9.92970736e-01 -3.91980440e-02 -1.11680929e-01 1.32613301e+01] [ 3.85407741e-02 9.99224692e-01 -8.03890718e-03 9.83611175e-01] [ 1.11909451e-01 3.67813014e-03 9.93711601e-01 1.45854098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.187105680999998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:13.29, Y:0.99, Z:1.46 [[ 9.93111222e-01 -3.54690913e-02 -1.11678307e-01 1.32866311e+01] [ 3.47842693e-02 9.99362220e-01 -8.07517279e-03 9.85265228e-01] [ 1.11893499e-01 4.13489642e-03 9.93711602e-01 1.46089595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217105680999998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:13.32, Y:0.99, Z:1.46 [[ 9.93140299e-01 -3.47790220e-02 -1.11636759e-01 1.33165372e+01] [ 3.40254773e-02 9.99383544e-01 -8.64867117e-03 9.86126850e-01] [ 1.11868732e-01 4.79084987e-03 9.93711444e-01 1.46299359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.247105680999999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:13.34, Y:0.98, Z:1.47 [[ 9.93098439e-01 -3.58280977e-02 -1.11677385e-01 1.33439062e+01] [ 3.51441005e-02 9.99349527e-01 -8.08795000e-03 9.84205082e-01] [ 1.11894518e-01 4.10732927e-03 9.93711601e-01 1.46583662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277105680999998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:13.37, Y:0.99, Z:1.47 [[ 9.92958910e-01 -3.95097649e-02 -1.11676233e-01 1.33715257e+01] [ 3.88471639e-02 9.99212303e-01 -8.10383385e-03 9.86974826e-01] [ 1.11908446e-01 3.70846911e-03 9.93711601e-01 1.46944186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.307105680999998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:13.40, Y:0.99, Z:1.47 [[ 9.92508925e-01 -4.95494164e-02 -1.11673138e-01 1.34004168e+01] [ 4.89453183e-02 9.98768239e-01 -8.14625791e-03 9.92550661e-01] [ 1.11939226e-01 2.61935640e-03 9.93711602e-01 1.46838534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337105680999999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:13.43, Y:0.99, Z:1.47 [[ 9.91811667e-01 -6.19623600e-02 -1.11670424e-01 1.34283109e+01] [ 6.14324471e-02 9.98077696e-01 -8.18329276e-03 9.92923338e-01] [ 1.11962816e-01 1.25609781e-03 9.93711603e-01 1.46813125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.367105680999998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:13.46, Y:0.99, Z:1.47 [[ 9.91330594e-01 -6.92364729e-02 -1.11668994e-01 1.34564842e+01] [ 6.87503479e-02 9.97600173e-01 -8.20276057e-03 9.92874793e-01] [ 1.11968938e-01 4.54365306e-04 9.93711603e-01 1.47399491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397105680999998 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:13.48, Y:0.99, Z:1.49 [[ 9.90454029e-01 -8.08174084e-02 -1.11666300e-01 1.34825961e+01] [ 8.04004733e-02 9.96728588e-01 -8.23926879e-03 9.92708381e-01] [ 1.11966870e-01 -8.17406441e-04 9.93711604e-01 1.48829730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.427105680999999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:13.51, Y:1.00, Z:1.50 [[ 9.90112362e-01 -8.49020536e-02 -1.11665353e-01 1.35109271e+01] [ 8.45095564e-02 9.96388497e-01 -8.25209483e-03 9.95992724e-01] [ 1.11962693e-01 -1.26628830e-03 9.93711604e-01 1.49945199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457105680999998 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:13.54, Y:1.00, Z:1.51 [[ 9.90103422e-01 -8.50030692e-02 -1.11667778e-01 1.35386407e+01] [ 8.46149080e-02 9.96379827e-01 -8.21932260e-03 1.00003595e+00] [ 1.11962189e-01 -1.31077930e-03 9.93711603e-01 1.50513913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.487105680999997 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:13.57, Y:1.00, Z:1.51 [[ 9.90486873e-01 -8.04191468e-02 -1.11662507e-01 1.35674823e+01] [ 7.99939337e-02 9.96760875e-01 -8.29031974e-03 1.00232008e+00] [ 1.11967518e-01 -7.20870285e-04 9.93711606e-01 1.50599530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517105680999999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:13.60, Y:1.00, Z:1.51 [[ 9.90754818e-01 -7.70517162e-02 -1.11659854e-01 1.35974695e+01] [ 7.66011682e-02 9.97027051e-01 -8.32590051e-03 1.00302688e+00] [ 1.11969420e-01 -3.04349195e-04 9.93711606e-01 1.50774361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.547105680999998 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:13.62, Y:1.01, Z:1.51 [[ 9.90647364e-01 -7.84092375e-02 -1.11668222e-01 1.36249905e+01] [ 7.79799056e-02 9.96921093e-01 -8.21392931e-03 1.00623918e+00] [ 1.11968454e-01 -5.70770014e-04 9.93711598e-01 1.51167797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577105680999999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:13.65, Y:1.01, Z:1.51 [[ 9.90512098e-01 -8.01162471e-02 -1.11656488e-01 1.36529805e+01] [ 7.96800794e-02 9.96785343e-01 -8.37047875e-03 1.00756152e+00] [ 1.11968162e-01 -6.05737349e-04 9.93711610e-01 1.51111708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.607105680999998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:13.68, Y:1.01, Z:1.51 [[ 9.90684584e-01 -7.79588374e-02 -1.11653366e-01 1.36812539e+01] [ 7.75043388e-02 9.96956527e-01 -8.41191074e-03 1.00612814e+00] [ 1.11969335e-01 -3.20070052e-04 9.93711611e-01 1.51090618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637105680999998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:13.71, Y:1.01, Z:1.51 [[ 9.90878799e-01 -7.54548635e-02 -1.11650208e-01 1.37093391e+01] [ 7.49798154e-02 9.97149218e-01 -8.45362187e-03 1.00688510e+00] [ 1.11969785e-01 5.00267125e-06 9.93711612e-01 1.51315122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.667105680999999 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:13.74, Y:1.01, Z:1.52 [[ 9.91365909e-01 -6.87646437e-02 -1.11647027e-01 1.37366185e+01] [ 6.82425722e-02 9.97632587e-01 -8.49543308e-03 1.00733059e+00] [ 1.11966898e-01 8.03002436e-04 9.93711613e-01 1.51553425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697105680999998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:13.76, Y:1.01, Z:1.52 [[ 9.91743404e-01 -6.30893779e-02 -1.11645652e-01 1.37638359e+01] [ 6.25294181e-02 9.98006810e-01 -8.51345985e-03 1.01095910e+00] [ 1.11960230e-01 1.46202997e-03 9.93711613e-01 1.51932297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.727105680999998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:13.79, Y:1.01, Z:1.52 [[ 9.92385930e-01 -5.20203764e-02 -1.11642498e-01 1.37876440e+01] [ 5.13859406e-02 9.98642230e-01 -8.55463051e-03 1.01381849e+00] [ 1.11935928e-01 2.75264020e-03 9.93711614e-01 1.51656365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757105680999999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:13.82, Y:1.02, Z:1.52 [[ 9.92543298e-01 -4.91321278e-02 -1.11551945e-01 1.38182015e+01] [ 4.83474442e-02 9.98783185e-01 -9.73009804e-03 1.01675927e+00] [ 1.11894268e-01 4.26429214e-03 9.93710968e-01 1.51874277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.787105680999998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:13.85, Y:1.01, Z:1.52 [[ 9.93109064e-01 -3.56495924e-02 -1.11640019e-01 1.38458085e+01] [ 3.49085761e-02 9.99353628e-01 -8.58586620e-03 1.01393245e+00] [ 1.11873940e-01 4.62950747e-03 9.93711623e-01 1.51565197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817105680999997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:13.87, Y:1.02, Z:1.52 [[ 9.93189848e-01 -3.35298726e-02 -1.11578107e-01 1.38749440e+01] [ 3.26858626e-02 9.99421606e-01 -9.38546312e-03 1.01615557e+00] [ 1.11828264e-01 5.67452002e-03 9.93711346e-01 1.51949126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.847105680999999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:13.90, Y:1.02, Z:1.52 [[ 9.93367177e-01 -2.75561208e-02 -1.11634725e-01 1.39030942e+01] [ 2.67564247e-02 9.99604509e-01 -8.65562691e-03 1.01967187e+00] [ 1.11829090e-01 5.61126956e-03 9.93711612e-01 1.52213233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877105680999998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:13.93, Y:1.02, Z:1.53 [[ 9.93496739e-01 -2.24182745e-02 -1.11631759e-01 1.39275016e+01] [ 2.15820651e-02 9.99729280e-01 -8.69371030e-03 1.01930357e+00] [ 1.11796436e-01 6.22792895e-03 9.93711613e-01 1.52504392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.907105680999997 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:13.96, Y:1.02, Z:1.53 [[ 9.93484051e-01 -2.34384589e-02 -1.11535099e-01 1.39564925e+01] [ 2.24718136e-02 9.99698298e-01 -9.91615248e-03 1.01799688e+00] [ 1.11733868e-01 7.34514338e-03 9.93711020e-01 1.52673860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937105680999998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:13.98, Y:1.01, Z:1.53 [[ 9.93321713e-01 -2.95441413e-02 -1.11530797e-01 1.39832434e+01] [ 2.86096295e-02 9.99540934e-01 -9.97045134e-03 1.00784199e+00] [ 1.11774166e-01 6.71301101e-03 9.93710960e-01 1.52734164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.967105680999998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:14.02, Y:1.00, Z:1.53 [[ 9.92562384e-01 -4.89558740e-02 -1.11459574e-01 1.40171323e+01] [ 4.80423968e-02 9.98786168e-01 -1.08682804e-02 1.00456410e+00] [ 1.11856347e-01 5.43266123e-03 9.93709537e-01 1.53381027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997105680999999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:14.05, Y:1.00, Z:1.54 [[ 9.91602950e-01 -6.52977564e-02 -1.11623437e-01 1.40451405e+01] [ 6.47205453e-02 9.97864708e-01 -8.79065418e-03 1.00097670e+00] [ 1.11959098e-01 1.49250892e-03 9.93711695e-01 1.54472321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.027105680999998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:14.07, Y:1.00, Z:1.56 [[ 9.90528420e-01 -7.99644331e-02 -1.11620511e-01 1.40720050e+01] [ 7.94757781e-02 9.96797709e-01 -8.82764999e-03 9.95025657e-01] [ 1.11968968e-01 -1.27088778e-04 9.93711696e-01 1.55593335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057105680999998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:14.10, Y:0.99, Z:1.56 [[ 9.89933567e-01 -8.70215681e-02 -1.11618903e-01 1.40999718e+01] [ 8.65753177e-02 9.96206017e-01 -8.84793426e-03 9.93372343e-01] [ 1.11965384e-01 -9.04574884e-04 9.93711696e-01 1.56269125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.087105680999999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:14.13, Y:0.99, Z:1.57 [[ 9.89055885e-01 -9.64904827e-02 -1.11615605e-01 1.41260522e+01] [ 9.60996025e-02 9.95332028e-01 -8.88935223e-03 9.92699365e-01] [ 1.11952324e-01 -1.93414910e-03 9.93711697e-01 1.57080426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:1.00, Z:1.58 [[ 9.88612698e-01 -1.00931702e-01 -1.11614179e-01 1.41538216e+01] [ 1.00566998e-01 9.94890416e-01 -8.90721979e-03 9.95385890e-01] [ 1.11942898e-01 -2.41891227e-03 9.93711697e-01 1.57895558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.147105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:1.00, Z:1.58 [[ 9.88503827e-01 -1.01995542e-01 -1.11611350e-01 1.41808017e+01] [ 1.01633610e-01 9.94781705e-01 -8.94252091e-03 9.99322660e-01] [ 1.11941027e-01 -2.50374833e-03 9.93711698e-01 1.58262114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177105680999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:14.21, Y:1.01, Z:1.58 [[ 9.88534002e-01 -1.01706212e-01 -1.11608127e-01 1.42087937e+01] [ 1.01337923e-01 9.94811509e-01 -8.98257047e-03 1.00803495e+00] [ 1.11942633e-01 -2.43055948e-03 9.93711698e-01 1.58161756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.207105680999998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:14.24, Y:1.02, Z:1.58 [[ 9.88753221e-01 -9.95536288e-02 -1.11607088e-01 1.42372267e+01] [ 9.91702176e-02 9.95029823e-01 -8.99546422e-03 1.01571873e+00] [ 1.11947912e-01 -2.17380498e-03 9.93711698e-01 1.57779653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237105680999997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:14.26, Y:1.02, Z:1.57 [[ 9.89244205e-01 -9.45542580e-02 -1.11603744e-01 1.42628564e+01] [ 9.41344652e-02 9.95518478e-01 -9.03676512e-03 1.02138211e+00] [ 1.11958054e-01 -1.56619122e-03 9.93711699e-01 1.57462605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.267105680999999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:14.29, Y:1.02, Z:1.58 [[ 9.89222590e-01 -9.48522358e-02 -1.11542458e-01 1.42909849e+01] [ 9.43496937e-02 9.95491007e-01 -9.78729765e-03 1.02389423e+00] [ 1.11967861e-01 -8.42180832e-04 9.93711472e-01 1.57797317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297105680999998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:14.32, Y:1.03, Z:1.58 [[ 9.89242224e-01 -9.46436892e-02 -1.11545481e-01 1.43207586e+01] [ 9.41440020e-02 9.95510843e-01 -9.75025514e-03 1.03029711e+00] [ 1.11967536e-01 -8.55973933e-04 9.93711496e-01 1.57952056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.327105680999997 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:14.35, Y:1.04, Z:1.59 [[ 9.89377706e-01 -9.31540468e-02 -1.11597841e-01 1.43472635e+01] [ 9.27172203e-02 9.95650813e-01 -9.10906237e-03 1.03950987e+00] [ 1.11961027e-01 -1.33473839e-03 9.93711702e-01 1.58545695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357105680999998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:14.37, Y:1.05, Z:1.60 [[ 9.89240277e-01 -9.46042101e-02 -1.11596227e-01 1.43749319e+01] [ 9.41743542e-02 9.95513865e-01 -9.12879098e-03 1.04712237e+00] [ 1.11959214e-01 -1.47893492e-03 9.93711702e-01 1.59519388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.387105680999998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:14.40, Y:1.05, Z:1.60 [[ 9.89115264e-01 -9.59059456e-02 -1.11593207e-01 1.44026344e+01] [ 9.54801975e-02 9.95389132e-01 -9.16556850e-03 1.05185096e+00] [ 1.11957698e-01 -1.58913771e-03 9.93711703e-01 1.59997971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417105680999999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:14.43, Y:1.06, Z:1.60 [[ 9.89225157e-01 -9.47692591e-02 -1.11590213e-01 1.44305855e+01] [ 9.43322063e-02 9.95498247e-01 -9.20188002e-03 1.05995925e+00] [ 1.11959916e-01 -1.42381974e-03 9.93711704e-01 1.60198805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.447105680999998 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:14.46, Y:1.07, Z:1.60 [[ 9.89814024e-01 -8.84079426e-02 -1.11589575e-01 1.44588512e+01] [ 8.79297004e-02 9.96084108e-01 -9.20960636e-03 1.07088888e+00] [ 1.11966805e-01 -6.96240358e-04 9.93711704e-01 1.60201500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477105680999998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:14.49, Y:1.08, Z:1.60 [[ 9.90351290e-01 -8.21751611e-02 -1.11586583e-01 1.44869284e+01] [ 8.16533888e-02 9.96617901e-01 -9.24571500e-03 1.07738343e+00] [ 1.11968954e-01 4.50831236e-05 9.93711704e-01 1.60451523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.507105680999999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:14.51, Y:1.09, Z:1.60 [[ 9.91675556e-01 -6.42508094e-02 -1.11585950e-01 1.45141360e+01] [ 6.36149296e-02 9.97931619e-01 -9.25334747e-03 1.08783580e+00] [ 1.11949683e-01 2.07778614e-03 9.93711704e-01 1.60189233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537105680999998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:14.54, Y:1.10, Z:1.60 [[ 9.92642930e-01 -4.70037809e-02 -1.11582516e-01 1.45424836e+01] [ 4.62546251e-02 9.98886440e-01 -9.29458137e-03 1.09593488e+00] [ 1.11895142e-01 4.06499306e-03 9.93711705e-01 1.59867432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.567105680999997 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:14.57, Y:1.10, Z:1.60 [[ 9.93143421e-01 -3.48739073e-02 -1.11579367e-01 1.45703245e+01] [ 3.40443156e-02 9.99376753e-01 -9.33222900e-03 1.10311541e+00] [ 1.11835277e-01 5.46959866e-03 9.93711706e-01 1.59789385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597105680999999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:14.60, Y:1.11, Z:1.60 [[ 9.93213008e-01 -3.28362079e-02 -1.11578245e-01 1.45973462e+01] [ 3.19923276e-02 9.99444421e-01 -9.34562931e-03 1.10670935e+00] [ 1.11823129e-01 5.71255284e-03 9.93711706e-01 1.60161202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.627105680999998 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:14.62, Y:1.11, Z:1.61 [[ 9.93191801e-01 -3.34836829e-02 -1.11574590e-01 1.46243611e+01] [ 3.26389992e-02 9.99423104e-01 -9.38905448e-03 1.10647085e+00] [ 1.11824604e-01 5.68344895e-03 9.93711707e-01 1.60720256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657105680999997 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:14.65, Y:1.10, Z:1.61 [[ 9.92801044e-01 -4.36249257e-02 -1.11547986e-01 1.46531198e+01] [ 4.28086087e-02 9.99036164e-01 -9.70386902e-03 1.10224374e+00] [ 1.11863803e-01 4.85879720e-03 9.93711669e-01 1.60976811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.687105680999998 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:14.68, Y:1.10, Z:1.61 [[ 9.92530017e-01 -4.93624774e-02 -1.11568416e-01 1.46811494e+01] [ 4.86092461e-02 9.98773043e-01 -9.46303623e-03 1.10213307e+00] [ 1.11898646e-01 3.96909090e-03 9.93711698e-01 1.61309394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717105680999998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:14.71, Y:1.10, Z:1.62 [[ 9.92124285e-01 -5.69448353e-02 -1.11564728e-01 1.47096721e+01] [ 5.62344639e-02 9.98372333e-01 -9.50632693e-03 1.10170769e+00] [ 1.11924474e-01 3.15767517e-03 9.93711699e-01 1.61935980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.747105680999997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:14.74, Y:1.10, Z:1.62 [[ 9.91851905e-01 -6.15128115e-02 -1.11561516e-01 1.47364605e+01] [ 6.08269990e-02 9.98102696e-01 -9.54386575e-03 1.10168141e+00] [ 1.11936920e-01 2.68014919e-03 9.93711700e-01 1.62334587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777105680999998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:14.76, Y:1.10, Z:1.63 [[ 9.91757396e-01 -6.30210081e-02 -1.11559940e-01 1.47635298e+01] [ 6.23426341e-02 9.98008998e-01 -9.56225519e-03 1.10233461e+00] [ 1.11940447e-01 2.52849677e-03 9.93711700e-01 1.62544415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.807105680999998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:14.79, Y:1.10, Z:1.63 [[ 9.91630156e-01 -6.49949919e-02 -1.11558440e-01 1.47921860e+01] [ 6.43270993e-02 9.97882886e-01 -9.57971965e-03 1.10171066e+00] [ 1.11944892e-01 2.32330801e-03 9.93711700e-01 1.63044458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837105680999999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:14.82, Y:1.10, Z:1.63 [[ 9.91495773e-01 -6.70191071e-02 -1.11555243e-01 1.48194377e+01] [ 6.63598075e-02 9.97749414e-01 -9.61681614e-03 1.09945878e+00] [ 1.11948688e-01 2.13224813e-03 9.93711701e-01 1.63489625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.867105680999998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:14.85, Y:1.10, Z:1.64 [[ 9.91361816e-01 -6.89765363e-02 -1.11552618e-01 1.48477551e+01] [ 6.83261712e-02 9.97616393e-01 -9.64716191e-03 1.09914039e+00] [ 1.11952148e-01 1.94186466e-03 9.93711701e-01 1.63713182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897105680999998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:14.88, Y:1.10, Z:1.64 [[ 9.90863262e-01 -7.58077139e-02 -1.11549028e-01 1.48757422e+01] [ 7.51958201e-02 9.97121719e-01 -9.68849572e-03 1.09594318e+00] [ 1.11962422e-01 1.21195381e-03 9.93711702e-01 1.63908788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.927105680999999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:14.90, Y:1.09, Z:1.65 [[ 9.90033733e-01 -8.59666804e-02 -1.11547919e-01 1.49038825e+01] [ 8.54175719e-02 9.96298010e-01 -9.70125690e-03 1.09233156e+00] [ 1.11968954e-01 7.64192224e-05 9.93711702e-01 1.64619805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957105680999998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:14.93, Y:1.09, Z:1.65 [[ 9.89663047e-01 -9.01383385e-02 -1.11544312e-01 1.49310183e+01] [ 8.96109811e-02 9.95929192e-01 -9.74254908e-03 1.09093059e+00] [ 1.11968414e-01 -3.53754434e-04 9.93711703e-01 1.64981198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.987105680999997 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:14.96, Y:1.09, Z:1.65 [[ 9.89115320e-01 -9.59640420e-02 -1.11542758e-01 1.49594799e+01] [ 9.54715869e-02 9.95384304e-01 -9.76031041e-03 1.08724915e+00] [ 1.11964549e-01 -9.95091544e-04 9.93711703e-01 1.65232304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017105680999999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:14.99, Y:1.09, Z:1.65 [[ 9.88987082e-01 -9.72808898e-02 -1.11539141e-01 1.49861526e+01] [ 9.67921402e-02 9.95256355e-01 -9.80146933e-03 1.08827629e+00] [ 1.11963535e-01 -1.10258564e-03 9.93711704e-01 1.65492733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.047105680999998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:15.02, Y:1.09, Z:1.66 [[ 9.89057327e-01 -9.65658966e-02 -1.11537580e-01 1.50151278e+01] [ 9.60706154e-02 9.95326087e-01 -9.81920149e-03 1.09204707e+00] [ 1.11964463e-01 -1.00373079e-03 9.93711704e-01 1.65613422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077105680999997 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:15.04, Y:1.10, Z:1.66 [[ 9.89175177e-01 -9.53547068e-02 -1.11534520e-01 1.50424656e+01] [ 9.48478449e-02 9.95443011e-01 -9.85383472e-03 1.09626017e+00] [ 1.11965868e-01 -8.31640189e-04 9.93711705e-01 1.65981705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.107105680999998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:15.07, Y:1.10, Z:1.66 [[ 9.89235778e-01 -9.47282435e-02 -1.11530870e-01 1.50695819e+01] [ 9.42127737e-02 9.95502909e-01 -9.89497740e-03 1.10092845e+00] [ 1.11966640e-01 -7.19166988e-04 9.93711706e-01 1.66348058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137105680999998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:15.09, Y:1.11, Z:1.66 [[ 9.88959103e-01 -9.75785948e-02 -1.11527170e-01 1.50948464e+01] [ 9.70765043e-02 9.95227320e-01 -9.93650880e-03 1.11279574e+00] [ 1.11964477e-01 -9.99866981e-04 9.93711707e-01 1.66405794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.167105680999997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:15.12, Y:1.12, Z:1.67 [[ 9.88706725e-01 -1.00198269e-01 -1.11441997e-01 1.51217898e+01] [ 9.96056503e-02 9.94967433e-01 -1.08867237e-02 1.11896565e+00] [ 1.11971989e-01 -3.36475619e-04 9.93711306e-01 1.66518878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197105680999998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:15.15, Y:1.13, Z:1.67 [[ 9.88016319e-01 -1.06808542e-01 -1.11425710e-01 1.51515940e+01] [ 1.06237374e-01 9.94279197e-01 -1.10679361e-02 1.13086730e+00] [ 1.11970416e-01 -9.02273368e-04 9.93711131e-01 1.66691848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.227105680999998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:15.18, Y:1.14, Z:1.67 [[ 9.87959368e-01 -1.07234551e-01 -1.11521470e-01 1.51792028e+01] [ 1.06786459e-01 9.94231681e-01 -1.00008123e-02 1.13801252e+00] [ 1.11950612e-01 -2.02858677e-03 9.93711701e-01 1.67293870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257105680999999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:15.21, Y:1.15, Z:1.68 [[ 9.88205423e-01 -1.04946256e-01 -1.11518270e-01 1.52070596e+01] [ 1.04479628e-01 9.94476384e-01 -1.00363683e-02 1.15066468e+00] [ 1.11955566e-01 -1.73339380e-03 9.93711702e-01 1.67761420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.287105680999998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:15.24, Y:1.16, Z:1.68 [[ 9.88283050e-01 -1.04265899e-01 -1.11468542e-01 1.52360672e+01] [ 1.03732861e-01 9.94548848e-01 -1.05868596e-02 1.15897777e+00] [ 1.11964758e-01 -1.10013682e-03 9.93711569e-01 1.67874519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317105680999997 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:15.27, Y:1.17, Z:1.68 [[ 9.88880088e-01 -9.83894407e-02 -1.11515419e-01 1.52658489e+01] [ 9.78776861e-02 9.95147526e-01 -1.00677881e-02 1.17192239e+00] [ 1.11964858e-01 -9.59036068e-04 9.93711704e-01 1.68052896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.347105680999999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:15.30, Y:1.18, Z:1.69 [[ 9.89356604e-01 -9.34763162e-02 -1.11515419e-01 1.52954875e+01] [ 9.29334367e-02 9.95621422e-01 -1.00677881e-02 1.18462277e+00] [ 1.11968240e-01 -4.02878560e-04 9.93711704e-01 1.68944676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377105680999998 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:15.33, Y:1.19, Z:1.70 [[ 9.89540864e-01 -9.15045645e-02 -1.11515889e-01 1.53251301e+01] [ 9.09497879e-02 9.95804640e-01 -1.00625853e-02 1.19248111e+00] [ 1.11968812e-01 -1.85007049e-04 9.93711704e-01 1.69637110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.407105680999997 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:15.36, Y:1.20, Z:1.70 [[ 9.89743977e-01 -8.92805387e-02 -1.11516121e-01 1.53551400e+01] [ 8.87119765e-02 9.96006517e-01 -1.00600153e-02 1.20354034e+00] [ 1.11968947e-01 6.40240559e-05 9.93711704e-01 1.70247520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437105680999998 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:15.39, Y:1.21, Z:1.70 [[ 9.89953918e-01 -8.69211850e-02 -1.11516581e-01 1.53866368e+01] [ 8.63382726e-02 9.96215138e-01 -1.00549092e-02 1.21258211e+00] [ 1.11968491e-01 3.25747789e-04 9.93711704e-01 1.70104082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.467105680999998 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:15.42, Y:1.22, Z:1.70 [[ 9.90205886e-01 -8.40012069e-02 -1.11517263e-01 1.54177324e+01] [ 8.34006842e-02 9.96465442e-01 -1.00473357e-02 1.21884039e+00] [ 1.11967088e-01 6.48314857e-04 9.93711704e-01 1.70117824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497105680999997 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:15.45, Y:1.23, Z:1.70 [[ 9.90816200e-01 -7.64660242e-02 -1.11517731e-01 1.54477362e+01] [ 7.58184844e-02 9.97071067e-01 -1.00421491e-02 1.22861915e+00] [ 1.11958986e-01 1.49481869e-03 9.93711704e-01 1.69999204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.527105680999998 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:15.48, Y:1.24, Z:1.70 [[ 9.91427352e-01 -6.80852486e-02 -1.11517731e-01 1.54767854e+01] [ 6.73848428e-02 9.97676520e-01 -1.00421491e-02 1.23692845e+00] [ 1.11942344e-01 2.44145655e-03 9.93711704e-01 1.70209170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557105680999998 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:15.51, Y:1.24, Z:1.70 [[ 9.91710034e-01 -6.38365935e-02 -1.11517252e-01 1.55052061e+01] [ 6.31088211e-02 9.97956074e-01 -1.00474600e-02 1.24156196e+00] [ 1.11930715e-01 2.92644459e-03 9.93711704e-01 1.70420122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.587105680999999 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:15.53, Y:1.25, Z:1.71 [[ 9.92014555e-01 -5.89167665e-02 -1.11516538e-01 1.55323822e+01] [ 5.81571318e-02 9.98256799e-01 -1.00553842e-02 1.24858532e+00] [ 1.11914573e-01 3.48960555e-03 9.93711704e-01 1.70732826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617105680999998 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:15.56, Y:1.25, Z:1.71 [[ 9.92160808e-01 -5.64078611e-02 -1.11512711e-01 1.55573438e+01] [ 5.56276984e-02 9.98400519e-01 -1.00976433e-02 1.25261767e+00] [ 1.11903935e-01 3.81529045e-03 9.93711705e-01 1.70866580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.647105680999998 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:15.59, Y:1.26, Z:1.71 [[ 9.91942373e-01 -6.03061374e-02 -1.11415879e-01 1.55871117e+01] [ 5.94314182e-02 9.98170023e-01 -1.11585218e-02 1.25574025e+00] [ 1.11884918e-01 4.44700688e-03 9.93711220e-01 1.71401482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677105680999999 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:15.62, Y:1.26, Z:1.72 [[ 9.91491010e-01 -6.71682345e-02 -1.11507867e-01 1.56158544e+01] [ 6.64501039e-02 9.97738139e-01 -1.01484188e-02 1.25779478e+00] [ 1.11937303e-01 2.65235663e-03 9.93711731e-01 1.71702125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.707105680999998 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:15.64, Y:1.26, Z:1.72 [[ 9.90814102e-01 -7.65123993e-02 -1.11504567e-01 1.56434363e+01] [ 7.58491289e-02 9.97067292e-01 -1.01845538e-02 1.26070155e+00] [ 1.11956801e-01 1.63347527e-03 9.93711732e-01 1.71935873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737105680999997 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:15.67, Y:1.26, Z:1.72 [[ 9.90459269e-01 -8.09779540e-02 -1.11503398e-01 1.56737762e+01] [ 8.03414397e-02 9.96715239e-01 -1.01973321e-02 1.26156176e+00] [ 1.11962895e-01 1.14169853e-03 9.93711732e-01 1.72410973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.767105680999999 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:15.70, Y:1.26, Z:1.73 [[ 9.89671319e-01 -9.00981245e-02 -1.11503398e-01 1.57044949e+01] [ 8.95192640e-02 9.95932887e-01 -1.01973321e-02 1.25878570e+00] [ 1.11968662e-01 1.10304952e-04 9.93711732e-01 1.73004201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797105680999998 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:15.74, Y:1.26, Z:1.73 [[ 9.88715528e-01 -1.00042705e-01 -1.11503637e-01 1.57351516e+01] [ 9.95271152e-02 9.94982623e-01 -1.01947198e-02 1.25690579e+00] [ 1.11964089e-01 -1.01795759e-03 9.93711732e-01 1.73224875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.827105680999997 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:15.77, Y:1.26, Z:1.74 [[ 9.88247441e-01 -1.04565200e-01 -1.11503873e-01 1.57660155e+01] [ 1.04078580e-01 9.94516852e-01 -1.01921424e-02 1.25804881e+00] [ 1.11958224e-01 -1.53280610e-03 9.93711732e-01 1.73650676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857105680999998 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:15.80, Y:1.25, Z:1.74 [[ 9.87742158e-01 -1.09234661e-01 -1.11504339e-01 1.57953776e+01] [ 1.08778254e-01 9.94013841e-01 -1.01870341e-02 1.25485861e+00] [ 1.11949634e-01 -2.06708425e-03 9.93711732e-01 1.74188839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.887105680999998 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:15.83, Y:1.25, Z:1.75 [[ 9.86190414e-01 -1.22550062e-01 -1.11399953e-01 1.58277916e+01] [ 1.22049601e-01 9.92459368e-01 -1.13268541e-02 1.25365095e+00] [ 1.11948033e-01 -2.42588486e-03 9.93711101e-01 1.74666230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917105680999997 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:15.86, Y:1.25, Z:1.75 [[ 9.85470573e-01 -1.28118966e-01 -1.11504619e-01 1.58603722e+01] [ 1.27783312e-01 9.91749850e-01 -1.01813842e-02 1.25332814e+00] [ 1.11889118e-01 -4.21497508e-03 9.93711759e-01 1.75078491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.947105680999998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:15.89, Y:1.25, Z:1.76 [[ 9.84227124e-01 -1.37344379e-01 -1.11505565e-01 1.58913725e+01] [ 1.37068730e-01 9.90509320e-01 -1.01710151e-02 1.25375141e+00] [ 1.11844233e-01 -5.27333724e-03 9.93711759e-01 1.75844154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977105680999998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:15.92, Y:1.25, Z:1.76 [[ 9.83663452e-01 -1.41324328e-01 -1.11506268e-01 1.59229235e+01] [ 1.41074965e-01 9.89946747e-01 -1.01633015e-02 1.25392210e+00] [ 1.11821589e-01 -5.73347456e-03 9.93711759e-01 1.76020395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.007105681 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:15.96, Y:1.25, Z:1.76 [[ 9.83474653e-01 -1.42631716e-01 -1.11506957e-01 1.59556988e+01] [ 1.42391560e-01 9.89758306e-01 -1.01557336e-02 1.25483745e+00] [ 1.11813467e-01 -5.88974302e-03 9.93711759e-01 1.76179545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037105680999996 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:15.99, Y:1.26, Z:1.76 [[ 9.83508982e-01 -1.42393772e-01 -1.11508276e-01 1.59864858e+01] [ 1.42153736e-01 9.89792640e-01 -1.01412309e-02 1.25831560e+00] [ 1.11814119e-01 -5.87732636e-03 9.93711759e-01 1.76406806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.067105680999997 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:16.02, Y:1.27, Z:1.77 [[ 9.83625069e-01 -1.41588400e-01 -1.11509862e-01 1.60174064e+01] [ 1.41345194e-01 9.89908605e-01 -1.01237670e-02 1.26524490e+00] [ 1.11817980e-01 -5.80339199e-03 9.93711759e-01 1.77020883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097105681 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:16.04, Y:1.27, Z:1.77 [[ 9.84262787e-01 -1.37084323e-01 -1.11510782e-01 1.60439317e+01] [ 1.36813502e-01 9.90545193e-01 -1.01136247e-02 1.26812868e+00] [ 1.11842888e-01 -5.30171614e-03 9.93711759e-01 1.77264198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.127105680999996 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:16.08, Y:1.27, Z:1.78 [[ 9.83721516e-01 -1.41042965e-01 -1.11350176e-01 1.60770548e+01] [ 1.40599504e-01 9.89995459e-01 -1.18647066e-02 1.27358216e+00] [ 1.11909602e-01 -3.98421231e-03 9.93710404e-01 1.77917514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157105680999997 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:16.11, Y:1.28, Z:1.79 [[ 9.83418607e-01 -1.43018614e-01 -1.11505695e-01 1.61081132e+01] [ 1.42780484e-01 9.89702236e-01 -1.01596365e-02 1.28046732e+00] [ 1.11810453e-01 -5.92966144e-03 9.93711861e-01 1.78574345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.187105681 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:16.14, Y:1.28, Z:1.79 [[ 9.83437941e-01 -1.42884887e-01 -1.11506614e-01 1.61413240e+01] [ 1.42647045e-01 9.89721581e-01 -1.01495348e-02 1.28335420e+00] [ 1.11810718e-01 -5.92465135e-03 9.93711861e-01 1.78949644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217105681 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:16.17, Y:1.29, Z:1.79 [[ 9.82698275e-01 -1.47885323e-01 -1.11507989e-01 1.61721878e+01] [ 1.47681156e-01 9.88983099e-01 -1.01344049e-02 1.29213333e+00] [ 1.11778247e-01 -6.50856662e-03 9.93711861e-01 1.79061162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.247105680999997 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:16.20, Y:1.30, Z:1.79 [[ 9.82330625e-01 -1.50307554e-01 -1.11508668e-01 1.62048196e+01] [ 1.50119727e-01 9.88615958e-01 -1.01269345e-02 1.29849260e+00] [ 1.11761403e-01 -6.79165287e-03 9.93711861e-01 1.79464331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277105681 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:16.24, Y:1.31, Z:1.79 [[ 9.81802711e-01 -1.53717114e-01 -1.11510021e-01 1.62355920e+01] [ 1.53552798e-01 9.88088703e-01 -1.01120093e-02 1.30904017e+00] [ 1.11736181e-01 -7.19467763e-03 9.93711861e-01 1.79293607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.307105681 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:16.27, Y:1.32, Z:1.79 [[ 9.80935772e-01 -1.59154431e-01 -1.11511790e-01 1.62677503e+01] [ 1.59027155e-01 9.87222622e-01 -1.00924707e-02 1.32030767e+00] [ 1.11693223e-01 -7.83333720e-03 9.93711861e-01 1.79194526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337105680999997 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:16.30, Y:1.33, Z:1.79 [[ 9.80482820e-01 -1.61920716e-01 -1.11512875e-01 1.62993420e+01] [ 1.61812532e-01 9.86770028e-01 -1.00804626e-02 1.32867820e+00] [ 1.11669799e-01 -8.16046033e-03 9.93711861e-01 1.79479980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.367105680999998 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:16.33, Y:1.34, Z:1.80 [[ 9.80131051e-01 -1.64035993e-01 -1.11513745e-01 1.63265824e+01] [ 1.63942466e-01 9.86418494e-01 -1.00708291e-02 1.34088340e+00] [ 1.11651199e-01 -8.41110608e-03 9.93711861e-01 1.79711753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397105681 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:16.36, Y:1.35, Z:1.80 [[ 9.79598781e-01 -1.67253959e-01 -1.11410690e-01 1.63606999e+01] [ 1.67052313e-01 9.85884314e-01 -1.12090890e-02 1.35436539e+00] [ 1.11712817e-01 -7.63100361e-03 9.93711233e-01 1.80075216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.427105680999997 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:16.39, Y:1.36, Z:1.81 [[ 9.79651328e-01 -1.66875936e-01 -1.11515454e-01 1.63929167e+01] [ 1.66803308e-01 9.85939000e-01 -1.00471406e-02 1.36423862e+00] [ 1.11624061e-01 -8.75845198e-03 9.93711909e-01 1.80686989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457105680999998 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:16.42, Y:1.38, Z:1.81 [[ 9.80347114e-01 -1.62709347e-01 -1.11558077e-01 1.64231657e+01] [ 1.62663559e-01 9.86635147e-01 -9.57357873e-03 1.38049381e+00] [ 1.11624830e-01 -8.76100353e-03 9.93711800e-01 1.81217923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.487105681 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:16.46, Y:1.40, Z:1.82 [[ 9.81737790e-01 -1.54075905e-01 -1.11586412e-01 1.64551133e+01] [ 1.54010405e-01 9.88025846e-01 -9.25866257e-03 1.39589549e+00] [ 1.11676796e-01 -8.09588962e-03 9.93711603e-01 1.81836405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517105680999997 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:16.48, Y:1.42, Z:1.82 [[ 9.83340550e-01 -1.43439600e-01 -1.11653233e-01 1.64793004e+01] [ 1.43390468e-01 9.89629586e-01 -8.51215564e-03 1.41531360e+00] [ 1.11716323e-01 -7.63966151e-03 9.93710772e-01 1.82454964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.547105680999998 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:16.51, Y:1.42, Z:1.83 [[ 9.84735880e-01 -1.33638301e-01 -1.11517045e-01 1.65086919e+01] [ 1.33355153e-01 9.91017579e-01 -1.00280741e-02 1.42448124e+00] [ 1.11855487e-01 -4.99636827e-03 9.93711923e-01 1.82692388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577105681 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:16.54, Y:1.44, Z:1.83 [[ 9.86568491e-01 -1.19448987e-01 -1.11420610e-01 1.65409961e+01] [ 1.18954523e-01 9.92837666e-01 -1.10990994e-02 1.44484771e+00] [ 1.11948355e-01 -2.30396384e-03 9.93711355e-01 1.83422725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.607105680999997 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:16.57, Y:1.46, Z:1.84 [[ 9.87637128e-01 -1.10162908e-01 -1.11521465e-01 1.65723454e+01] [ 1.09736659e-01 9.93910673e-01 -9.97199369e-03 1.45599423e+00] [ 1.11940918e-01 -2.38928182e-03 9.93711992e-01 1.83789712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637105680999998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:16.60, Y:1.47, Z:1.85 [[ 9.89296875e-01 -9.40954043e-02 -1.11524652e-01 1.66028766e+01] [ 9.35712744e-02 9.95563001e-01 -9.93622178e-03 1.47216580e+00] [ 1.11964770e-01 -6.05630706e-04 9.93711992e-01 1.84640542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.667105681 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:16.63, Y:1.48, Z:1.85 [[ 9.90090022e-01 -8.53424146e-02 -1.11527669e-01 1.66343093e+01] [ 8.47667142e-02 9.96351619e-01 -9.90225258e-03 1.48139209e+00] [ 1.11965855e-01 3.50287472e-04 9.93711993e-01 1.84744970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697105680999996 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:16.67, Y:1.49, Z:1.85 [[ 9.90100202e-01 -8.52200559e-02 -1.11530853e-01 1.66668012e+01] [ 8.46476365e-02 9.96362100e-01 -9.86625514e-03 1.48704882e+00] [ 1.11965918e-01 3.27758104e-04 9.93711993e-01 1.85104512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.727105680999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:16.70, Y:1.49, Z:1.85 [[ 9.89907560e-01 -8.74277126e-02 -1.11532138e-01 1.66987840e+01] [ 8.68708975e-02 9.96170864e-01 -9.85170614e-03 1.49442629e+00] [ 1.11966379e-01 6.33814407e-05 9.93711994e-01 1.85334491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757105681 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:16.73, Y:1.50, Z:1.85 [[ 9.89557861e-01 -9.12996539e-02 -1.11533013e-01 1.67299727e+01] [ 9.07684628e-02 9.95823391e-01 -9.84179474e-03 1.49970363e+00] [ 1.11965735e-01 -3.84654778e-04 9.93711994e-01 1.84995769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.787105680999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:16.76, Y:1.50, Z:1.85 [[ 9.89366266e-01 -9.33496335e-02 -1.11535814e-01 1.67606653e+01] [ 9.28350146e-02 9.95633178e-01 -9.80994781e-03 1.50419092e+00] [ 1.11964512e-01 -6.48797478e-04 9.93711994e-01 1.85117299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817105680999997 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:16.79, Y:1.51, Z:1.85 [[ 9.88942492e-01 -9.77338381e-02 -1.11538535e-01 1.67912999e+01] [ 9.72505008e-02 9.95211894e-01 -9.77891211e-03 1.50938467e+00] [ 1.11960207e-01 -1.17639667e-03 9.93711995e-01 1.85178970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.847105681 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:16.82, Y:1.51, Z:1.85 [[ 9.88657201e-01 -1.00575814e-01 -1.11541221e-01 1.68230735e+01] [ 1.00113964e-01 9.94928222e-01 -9.74818299e-03 1.51197826e+00] [ 1.11955940e-01 -1.52922248e-03 9.93711995e-01 1.85423083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877105680999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:16.85, Y:1.51, Z:1.86 [[ 9.87933677e-01 -1.07449626e-01 -1.11542044e-01 1.68547331e+01] [ 1.07032468e-01 9.94207829e-01 -9.73874817e-03 1.51401512e+00] [ 1.11942399e-01 -2.31738304e-03 9.93711995e-01 1.85562434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.907105680999997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:16.88, Y:1.52, Z:1.86 [[ 9.87735732e-01 -1.09252679e-01 -1.11543607e-01 1.68828950e+01] [ 1.08848998e-01 9.94010765e-01 -9.72081178e-03 1.51516812e+00] [ 1.11937571e-01 -2.53981679e-03 9.93711995e-01 1.85963578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937105681 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:16.92, Y:1.52, Z:1.87 [[ 9.87237164e-01 -1.13789908e-01 -1.11420996e-01 1.69186294e+01] [ 1.13255654e-01 9.93503501e-01 -1.11332856e-02 1.51958771e+00] [ 1.11964005e-01 -1.62786445e-03 9.93710930e-01 1.86797743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.967105680999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:16.95, Y:1.52, Z:1.87 [[ 9.87090650e-01 -1.14924921e-01 -1.11554075e-01 1.69504581e+01] [ 1.14572486e-01 9.93368637e-01 -9.58623029e-03 1.52100241e+00] [ 1.11916016e-01 -3.31854941e-03 9.93712128e-01 1.87219897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.98, Y:1.52, Z:1.88 [[ 9.87028856e-01 -1.15451654e-01 -1.11556945e-01 1.69804333e+01] [ 1.15106354e-01 9.93307240e-01 -9.55271340e-03 1.52410849e+00] [ 1.11913198e-01 -3.41210939e-03 9.93712128e-01 1.87977668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.027105681 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:17.01, Y:1.53, Z:1.88 [[ 9.87013355e-01 -1.15582728e-01 -1.11558368e-01 1.70117999e+01] [ 1.15240141e-01 9.93291887e-01 -9.53607042e-03 1.52689501e+00] [ 1.11912227e-01 -3.44377314e-03 9.93712128e-01 1.88361124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057105681 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:17.04, Y:1.53, Z:1.88 [[ 9.86705700e-01 -1.18177510e-01 -1.11561359e-01 1.70447850e+01] [ 1.17855399e-01 9.92985316e-01 -9.50094390e-03 1.52780581e+00] [ 1.11901590e-01 -3.77347303e-03 9.93712129e-01 1.88386214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.087105680999997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:17.08, Y:1.53, Z:1.88 [[ 9.86574819e-01 -1.19262162e-01 -1.11564611e-01 1.70756033e+01] [ 1.18951284e-01 9.92855000e-01 -9.46260467e-03 1.52815016e+00] [ 1.11896013e-01 -3.93518628e-03 9.93712130e-01 1.88288091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117105680999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:17.11, Y:1.53, Z:1.89 [[ 9.85607966e-01 -1.27046256e-01 -1.11517651e-01 1.71118646e+01] [ 1.26722056e-01 9.91887661e-01 -1.00194516e-02 1.52813563e+00] [ 1.11885916e-01 -4.25649475e-03 9.93711942e-01 1.88554877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.147105681 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:17.14, Y:1.53, Z:1.89 [[ 9.84659805e-01 -1.34091850e-01 -1.11644277e-01 1.71439444e+01] [ 1.33983376e-01 9.90947056e-01 -8.50808811e-03 1.52937690e+00] [ 1.11774433e-01 -6.58090475e-03 9.93711813e-01 1.88681808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177105680999997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:17.17, Y:1.53, Z:1.89 [[ 9.84327513e-01 -1.36506398e-01 -1.11648338e-01 1.71717853e+01] [ 1.36418846e-01 9.90615130e-01 -8.45942331e-03 1.53326811e+00] [ 1.11755298e-01 -6.90409427e-03 9.93711772e-01 1.89254454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.207105680999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:17.20, Y:1.54, Z:1.90 [[ 9.84549566e-01 -1.34957085e-01 -1.11573914e-01 1.72032424e+01] [ 1.34759175e-01 9.90834282e-01 -9.34823286e-03 1.53816629e+00] [ 1.11812869e-01 -5.83181000e-03 9.93712168e-01 1.89657268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.24, Y:1.55, Z:1.90 [[ 9.85073033e-01 -1.31079057e-01 -1.11576881e-01 1.72352088e+01] [ 1.30860418e-01 9.91357062e-01 -9.31268511e-03 1.54505776e+00] [ 1.11833227e-01 -5.42732223e-03 9.93712168e-01 1.89886495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.267105680999997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:17.27, Y:1.55, Z:1.90 [[ 9.85442468e-01 -1.28269769e-01 -1.11579610e-01 1.72685836e+01] [ 1.28036921e-01 9.91725986e-01 -9.27986542e-03 1.54877172e+00] [ 1.11846725e-01 -5.14153630e-03 9.93712169e-01 1.90344250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297105680999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:17.30, Y:1.56, Z:1.91 [[ 9.86003878e-01 -1.23816157e-01 -1.11650846e-01 1.72964627e+01] [ 1.23652039e-01 9.92289913e-01 -8.42030054e-03 1.55704248e+00] [ 1.11832578e-01 -5.50340580e-03 9.93711823e-01 1.90733997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.327105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.33, Y:1.56, Z:1.91 [[ 9.85753843e-01 -1.25864765e-01 -1.11568015e-01 1.73309097e+01] [ 1.25600852e-01 9.92036142e-01 -9.41912851e-03 1.56266037e+00] [ 1.11865040e-01 -4.72809561e-03 9.93712161e-01 1.90996847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.36, Y:1.57, Z:1.91 [[ 9.85344234e-01 -1.28959020e-01 -1.11652634e-01 1.73617209e+01] [ 1.28830844e-01 9.91631071e-01 -8.39247769e-03 1.56786207e+00] [ 1.11800507e-01 -6.11482360e-03 9.93711857e-01 1.91281320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.387105680999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:17.39, Y:1.57, Z:1.92 [[ 9.85119045e-01 -1.30674979e-01 -1.11644598e-01 1.73936864e+01] [ 1.30546722e-01 9.91405806e-01 -8.49007144e-03 1.57333148e+00] [ 1.11794542e-01 -6.21110521e-03 9.93711931e-01 1.91757266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.43, Y:1.58, Z:1.92 [[ 9.84779289e-01 -1.33219043e-01 -1.11635292e-01 1.74252565e+01] [ 1.33094270e-01 9.91066045e-01 -8.60291871e-03 1.58156859e+00] [ 1.11784020e-01 -6.38604161e-03 9.93712006e-01 1.92099982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.447105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.46, Y:1.58, Z:1.92 [[ 9.84708907e-01 -1.33741778e-01 -1.11631114e-01 1.74581634e+01] [ 1.33614612e-01 9.90995585e-01 -8.65362152e-03 1.58498302e+00] [ 1.11783292e-01 -6.39424974e-03 9.93712035e-01 1.92251704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.49, Y:1.59, Z:1.92 [[ 9.84399433e-01 -1.35998465e-01 -1.11634111e-01 1.74898000e+01] [ 1.35889835e-01 9.90686478e-01 -8.61710969e-03 1.58847481e+00] [ 1.11766318e-01 -6.68726310e-03 9.93712016e-01 1.92148931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.507105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.52, Y:1.60, Z:1.93 [[ 9.83962477e-01 -1.39129245e-01 -1.11628390e-01 1.75215584e+01] [ 1.39032744e-01 9.90249684e-01 -8.68674464e-03 1.59573410e+00] [ 1.11748558e-01 -6.97257063e-03 9.93712052e-01 1.92831040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:1.60, Z:1.93 [[ 9.83899249e-01 -1.39574641e-01 -1.11629693e-01 1.75524843e+01] [ 1.39482785e-01 9.90186533e-01 -8.67083189e-03 1.60172738e+00] [ 1.11744447e-01 -7.03919547e-03 9.93712045e-01 1.93463898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.567105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:1.61, Z:1.94 [[ 9.84283128e-01 -1.36847604e-01 -1.11621935e-01 1.75836137e+01] [ 1.36727603e-01 9.90569899e-01 -8.76570167e-03 1.61173708e+00] [ 1.11768894e-01 -6.63386731e-03 9.93712084e-01 1.94121758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:1.62, Z:1.94 [[ 9.85072644e-01 -1.31047521e-01 -1.11617353e-01 1.76134738e+01] [ 1.30884152e-01 9.91358419e-01 -8.82180092e-03 1.61899512e+00] [ 1.11808878e-01 -5.91882783e-03 9.93712102e-01 1.94163806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.627105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.65, Y:1.62, Z:1.94 [[ 9.85624433e-01 -1.26851748e-01 -1.11593507e-01 1.76458951e+01] [ 1.26628619e-01 9.91908328e-01 -9.11383520e-03 1.62300608e+00] [ 1.11846635e-01 -5.14811310e-03 9.93712145e-01 1.94361889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657105680999997 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:17.68, Y:1.63, Z:1.95 [[ 9.86079703e-01 -1.23241626e-01 -1.11616851e-01 1.76755447e+01] [ 1.23027866e-01 9.92363958e-01 -8.82722100e-03 1.62901422e+00] [ 1.11852421e-01 -5.02763944e-03 9.93712111e-01 1.94877323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.687105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:1.64, Z:1.96 [[ 9.87879429e-01 -1.07891945e-01 -1.11595527e-01 1.77057686e+01] [ 1.07550922e-01 9.94158030e-01 -9.08907800e-03 1.64368538e+00] [ 1.11924228e-01 -3.02328862e-03 9.93712145e-01 1.95563974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:1.65, Z:1.96 [[ 9.88389786e-01 -1.03103174e-01 -1.11603614e-01 1.77385594e+01] [ 1.02742960e-01 9.94667317e-01 -8.98953636e-03 1.64878784e+00] [ 1.11935317e-01 -2.58131977e-03 9.93712142e-01 1.95786862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.747105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:1.65, Z:1.96 [[ 9.88873361e-01 -9.83520639e-02 -1.11608011e-01 1.77692462e+01] [ 9.79678188e-02 9.95149471e-01 -8.93518350e-03 1.65392092e+00] [ 1.11945447e-01 -2.09822849e-03 9.93712139e-01 1.95779418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.80, Y:1.66, Z:1.96 [[ 9.89083924e-01 -9.62165480e-02 -1.11603619e-01 1.78013994e+01] [ 9.58126181e-02 9.95358795e-01 -8.98955590e-03 1.65801376e+00] [ 1.11950588e-01 -1.80160974e-03 9.93712141e-01 1.96085647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.807105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:1.67, Z:1.96 [[ 9.89768217e-01 -8.89037173e-02 -1.11601995e-01 1.78327551e+01] [ 8.84511508e-02 9.96039768e-01 -9.00969672e-03 1.66608720e+00] [ 1.11961020e-01 -9.53813403e-04 9.93712141e-01 1.96314369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.86, Y:1.67, Z:1.97 [[ 9.90180780e-01 -8.42009492e-02 -1.11589531e-01 1.78637089e+01] [ 8.37011239e-02 9.96448759e-01 -9.16472382e-03 1.67292788e+00] [ 1.11964928e-01 -2.65435799e-04 9.93712123e-01 1.96871016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.867105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:1.68, Z:1.97 [[ 9.91058007e-01 -7.31971767e-02 -1.11562541e-01 1.78952516e+01] [ 7.25898972e-02 9.97316618e-01 -9.50105557e-03 1.67982162e+00] [ 1.11958626e-01 1.31778384e-03 9.93711995e-01 1.97149314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.93, Y:1.68, Z:1.97 [[ 9.91634728e-01 -6.49220533e-02 -1.11560269e-01 1.79274642e+01] [ 6.42593620e-02 9.97887731e-01 -9.52942799e-03 1.68395371e+00] [ 1.11943293e-01 2.28092005e-03 9.93711979e-01 1.97406818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.927105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.96, Y:1.69, Z:1.98 [[ 9.91673911e-01 -6.43006792e-02 -1.11571847e-01 1.79586832e+01] [ 6.36503886e-02 9.97928135e-01 -9.38433012e-03 1.68735766e+00] [ 1.11944104e-01 2.20460394e-03 9.93712060e-01 1.98101973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.99, Y:1.69, Z:1.99 [[ 9.91378837e-01 -6.86338756e-02 -1.11612694e-01 1.79873557e+01] [ 6.80687461e-02 9.97641197e-01 -8.87056390e-03 1.69088157e+00] [ 1.11958243e-01 1.19675319e-03 9.93712192e-01 1.99146290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.987105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.02, Y:1.69, Z:2.00 [[ 9.90781739e-01 -7.68359072e-02 -1.11569664e-01 1.80194322e+01] [ 7.62617018e-02 9.97043418e-01 -9.41146590e-03 1.68810289e+00] [ 1.11962938e-01 8.16216082e-04 9.93712048e-01 2.00045575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.05, Y:1.69, Z:2.00 [[ 9.90452651e-01 -8.09206100e-02 -1.11603771e-01 1.80499645e+01] [ 8.04206573e-02 9.96720547e-01 -8.98160918e-03 1.68685175e+00] [ 1.11964569e-01 -7.93900206e-05 9.93712196e-01 2.00203399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.047105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:1.69, Z:2.00 [[ 9.90185954e-01 -8.41520022e-02 -1.11580543e-01 1.80839493e+01] [ 8.36394367e-02 9.96452918e-01 -9.27502925e-03 1.68586781e+00] [ 1.11965270e-01 -1.48530083e-04 9.93712109e-01 2.00308993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.12, Y:1.69, Z:2.01 [[ 9.90218548e-01 -8.37562307e-02 -1.11589073e-01 1.81163989e+01] [ 8.32533547e-02 9.96486251e-01 -9.16681391e-03 1.68819905e+00] [ 1.11964755e-01 -2.13015526e-04 9.93712156e-01 2.00669514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.107105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:1.69, Z:2.00 [[ 9.90060910e-01 -8.55905204e-02 -1.11595956e-01 1.81502054e+01] [ 8.51091750e-02 9.96330268e-01 -9.07881359e-03 1.68570223e+00] [ 1.11963490e-01 -5.09261340e-04 9.93712191e-01 2.00486480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:1.68, Z:2.01 [[ 9.90509538e-01 -8.02207265e-02 -1.11604166e-01 1.81825771e+01] [ 7.97172701e-02 9.96777124e-01 -8.97339826e-03 1.68403484e+00] [ 1.11964332e-01 -8.54284267e-06 9.93712226e-01 2.01085121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.21, Y:1.68, Z:2.01 [[ 9.90885684e-01 -7.53956822e-02 -1.11629082e-01 1.82146131e+01] [ 7.48979095e-02 9.97153672e-01 -8.65200241e-03 1.68431093e+00] [ 1.11963672e-01 2.12360473e-04 9.93712278e-01 2.01322932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.25, Y:1.68, Z:2.01 [[ 9.91547979e-01 -6.61360449e-02 -1.11618225e-01 1.82473114e+01] [ 6.55639276e-02 9.97809633e-01 -8.79249611e-03 1.68224865e+00] [ 1.11955241e-01 1.40005255e-03 9.93712264e-01 2.01428858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.227105680999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.28, Y:1.68, Z:2.01 [[ 9.92039297e-01 -5.82753076e-02 -1.11633430e-01 1.82802804e+01] [ 5.76757905e-02 9.98298366e-01 -8.59503953e-03 1.68102169e+00] [ 1.11944349e-01 2.08807067e-03 9.93712284e-01 2.01187156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.31, Y:1.68, Z:2.01 [[ 9.92224978e-01 -5.50219111e-02 -1.11634141e-01 1.83125915e+01] [ 5.44029122e-02 9.98482152e-01 -8.58579442e-03 1.68209032e+00] [ 1.11937104e-01 2.44581732e-03 9.93712284e-01 2.01354567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.287105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.35, Y:1.68, Z:2.01 [[ 9.92421475e-01 -5.13544253e-02 -1.11634849e-01 1.83455972e+01] [ 5.07133416e-02 9.98676424e-01 -8.57657379e-03 1.68032641e+00] [ 1.11927537e-01 2.85019976e-03 9.93712284e-01 2.01158161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.38, Y:1.68, Z:2.01 [[ 9.92379428e-01 -5.21590889e-02 -1.11635569e-01 1.83779558e+01] [ 5.15241318e-02 9.98635002e-01 -8.56719251e-03 1.67711816e+00] [ 1.11930044e-01 2.74997982e-03 9.93712284e-01 2.01226227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:1.68, Z:2.02 [[ 9.92243134e-01 -5.46894935e-02 -1.11636119e-01 1.84090525e+01] [ 5.40712970e-02 9.98500386e-01 -8.56001782e-03 1.67650946e+00] [ 1.11936851e-01 2.45730915e-03 9.93712284e-01 2.01634880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.44, Y:1.67, Z:2.03 [[ 9.91691366e-01 -6.39178358e-02 -1.11636668e-01 1.84406142e+01] [ 6.33586823e-02 9.97954170e-01 -8.55285913e-03 1.67272543e+00] [ 1.11954958e-01 1.40864439e-03 9.93712284e-01 2.02507082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.407105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.47, Y:1.67, Z:2.03 [[ 9.91325113e-01 -6.93657961e-02 -1.11637390e-01 1.84717372e+01] [ 6.88421246e-02 9.97590984e-01 -8.54342674e-03 1.67040088e+00] [ 1.11961075e-01 7.83958395e-04 9.93712284e-01 2.02697738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.50, Y:1.66, Z:2.03 [[ 9.90512853e-01 -8.01327755e-02 -1.11637927e-01 1.85041611e+01] [ 7.96780080e-02 9.96784101e-01 -8.53639693e-03 1.66240552e+00] [ 1.11962956e-01 -4.39676766e-04 9.93712284e-01 2.02905696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.467105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.54, Y:1.65, Z:2.04 [[ 9.89934858e-01 -8.69815578e-02 -1.11638637e-01 1.85376950e+01] [ 8.65712230e-02 9.96209171e-01 -8.52710314e-03 1.65394306e+00] [ 1.11957135e-01 -1.22341670e-03 9.93712284e-01 2.03649238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.57, Y:1.65, Z:2.04 [[ 9.89618678e-01 -9.04650283e-02 -1.11673414e-01 1.85704259e+01] [ 9.01282339e-02 9.95897465e-01 -8.07093335e-03 1.65203287e+00] [ 1.11945407e-01 -2.07778119e-03 9.93712186e-01 2.04217311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.60, Y:1.65, Z:2.05 [[ 9.89263246e-01 -9.42594156e-02 -1.11684348e-01 1.86020769e+01] [ 9.39629172e-02 9.95544137e-01 -7.92723584e-03 1.65060850e+00] [ 1.11933915e-01 -2.65206410e-03 9.93712114e-01 2.04822544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557105680999996 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:18.64, Y:1.64, Z:2.05 [[ 9.88464511e-01 -1.02304164e-01 -1.11677076e-01 1.86353050e+01] [ 1.02047980e-01 9.94747126e-01 -8.02283112e-03 1.63957633e+00] [ 1.11911219e-01 -3.46613612e-03 9.93712164e-01 2.05236837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.587105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.67, Y:1.64, Z:2.06 [[ 9.88034368e-01 -1.06380510e-01 -1.11674858e-01 1.86660528e+01] [ 1.06146948e-01 9.94317852e-01 -8.05200996e-03 1.63887383e+00] [ 1.11896882e-01 -3.89828283e-03 9.93712177e-01 2.05622504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617105680999998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:18.70, Y:1.64, Z:2.06 [[ 9.87229025e-01 -1.13642732e-01 -1.11643103e-01 1.87007087e+01] [ 1.13408101e-01 9.93512381e-01 -8.47067757e-03 1.63533018e+00] [ 1.11881436e-01 -4.29873348e-03 9.93712265e-01 2.05745006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.647105680999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.73, Y:1.63, Z:2.06 [[ 9.87006599e-01 -1.15522902e-01 -1.11680044e-01 1.87295344e+01] [ 1.15355395e-01 9.93292211e-01 -7.98228376e-03 1.63477075e+00] [ 1.11853054e-01 -5.00432889e-03 9.93712157e-01 2.05915356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677105680999997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:18.76, Y:1.63, Z:2.06 [[ 9.86253145e-01 -1.21839664e-01 -1.11623607e-01 1.87645060e+01] [ 1.21628295e-01 9.92537354e-01 -8.72691034e-03 1.63255631e+00] [ 1.11853884e-01 -4.96964630e-03 9.93712238e-01 2.06382260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.707105680999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:18.80, Y:1.63, Z:2.07 [[ 9.86538752e-01 -1.19444444e-01 -1.11688480e-01 1.87972824e+01] [ 1.19314633e-01 9.92825305e-01 -7.86972287e-03 1.63228666e+00] [ 1.11827144e-01 -5.56228339e-03 9.93712107e-01 2.06553326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737105681 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:18.83, Y:1.63, Z:2.07 [[ 9.86989957e-01 -1.15634968e-01 -1.11711142e-01 1.88281001e+01] [ 1.15514848e-01 9.93276915e-01 -7.56906970e-03 1.63439912e+00] [ 1.11835348e-01 -5.43369986e-03 9.93711895e-01 2.06879599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.767105680999997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:18.86, Y:1.64, Z:2.07 [[ 9.88281957e-01 -1.04039428e-01 -1.11689619e-01 1.88593862e+01] [ 1.03813252e-01 9.94565791e-01 -7.85473994e-03 1.63939092e+00] [ 1.11899877e-01 -3.83216478e-03 9.93712097e-01 2.07207111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797105680999998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:18.89, Y:1.64, Z:2.08 [[ 9.88916655e-01 -9.78290495e-02 -1.11684044e-01 1.88875598e+01] [ 9.75550424e-02 9.95198547e-01 -7.92881000e-03 1.64426984e+00] [ 1.11923466e-01 -3.05440934e-03 9.93712136e-01 2.07825541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.827105681 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:18.92, Y:1.65, Z:2.08 [[ 9.90271815e-01 -8.30462250e-02 -1.11647022e-01 1.89192118e+01] [ 8.26230412e-02 9.96545302e-01 -8.41989604e-03 1.65079014e+00] [ 1.11960556e-01 -8.86630753e-04 9.93712256e-01 2.08335277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857105680999997 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:18.95, Y:1.65, Z:2.08 [[ 9.91292063e-01 -6.98199657e-02 -1.11647737e-01 1.89511890e+01] [ 6.93141465e-02 9.97559429e-01 -8.41039718e-03 1.65412548e+00] [ 1.11962467e-01 5.98392361e-04 9.93712256e-01 2.08406883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.887105680999998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:18.98, Y:1.66, Z:2.09 [[ 9.91579525e-01 -6.56096808e-02 -1.11648625e-01 1.89834799e+01] [ 6.50785792e-02 9.97844799e-01 -8.39859910e-03 1.65554883e+00] [ 1.11959029e-01 1.06194502e-03 9.93712256e-01 2.08677545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917105681 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:19.02, Y:1.66, Z:2.09 [[ 9.91731352e-01 -6.32720685e-02 -1.11649324e-01 1.90154158e+01] [ 6.27272467e-02 9.97995447e-01 -8.38929540e-03 1.65692276e+00] [ 1.11956325e-01 1.31647258e-03 9.93712256e-01 2.09059900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.947105680999996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:19.05, Y:1.66, Z:2.10 [[ 9.91805996e-01 -6.20897417e-02 -1.11650037e-01 1.90471312e+01] [ 6.15385212e-02 9.98069531e-01 -8.37980105e-03 1.65817746e+00] [ 1.11954799e-01 1.44035878e-03 9.93712256e-01 2.09683337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977105680999998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:19.08, Y:1.66, Z:2.10 [[ 9.91742631e-01 -6.30925132e-02 -1.11650745e-01 1.90790695e+01] [ 6.25486890e-02 9.98006813e-01 -8.37035703e-03 1.65799782e+00] [ 1.11956311e-01 1.31763220e-03 9.93712256e-01 2.10232344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.007105681 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:19.11, Y:1.66, Z:2.10 [[ 9.91482223e-01 -6.70593404e-02 -1.11651453e-01 1.91108043e+01] [ 6.65416453e-02 9.97748618e-01 -8.36089310e-03 1.65610518e+00] [ 1.11960759e-01 8.60205483e-04 9.93712256e-01 2.10392850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037105680999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:19.14, Y:1.65, Z:2.11 [[ 9.91294547e-01 -6.97779050e-02 -1.11651981e-01 1.91429947e+01] [ 6.92781894e-02 9.97562402e-01 -8.35384338e-03 1.65483007e+00] [ 1.11962732e-01 5.46072326e-04 9.93712256e-01 2.10541895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.067105680999997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:19.18, Y:1.65, Z:2.10 [[ 9.90844882e-01 -7.58952714e-02 -1.11652710e-01 1.91754633e+01] [ 7.54353521e-02 9.97115783e-01 -8.34409087e-03 1.64976356e+00] [ 1.11963956e-01 -1.54861723e-04 9.93712256e-01 2.10123765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097105681 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:19.21, Y:1.65, Z:2.10 [[ 9.90356861e-01 -8.20161884e-02 -1.11654075e-01 1.92076204e+01] [ 8.15970896e-02 9.96630622e-01 -8.32578052e-03 1.64821452e+00] [ 1.11960719e-01 -8.65153691e-04 9.93712257e-01 2.10421022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.127105680999996 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:19.24, Y:1.65, Z:2.11 [[ 9.90123956e-01 -8.47806628e-02 -1.11654786e-01 1.92396051e+01] [ 8.43801566e-02 9.96398931e-01 -8.31623358e-03 1.64929265e+00] [ 1.11957765e-01 -1.18734624e-03 9.93712257e-01 2.10842938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157105680999997 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:19.27, Y:1.65, Z:2.12 [[ 9.89716523e-01 -8.94103719e-02 -1.11655672e-01 1.92707771e+01] [ 8.90405608e-02 9.95993382e-01 -8.30432007e-03 1.64932510e+00] [ 1.11950803e-01 -1.72296087e-03 9.93712257e-01 2.11792804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.187105681 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:19.30, Y:1.65, Z:2.12 [[ 9.89522282e-01 -9.15341640e-02 -1.11656392e-01 1.93021880e+01] [ 9.11789172e-02 9.95799982e-01 -8.29463148e-03 1.64994912e+00] [ 1.11946675e-01 -1.97298623e-03 9.93712257e-01 2.12255595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217105680999996 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:19.33, Y:1.65, Z:2.12 [[ 9.88940839e-01 -9.76153000e-02 -1.11656930e-01 1.93346119e+01] [ 9.72994684e-02 9.95220645e-01 -8.28738460e-03 1.64693583e+00] [ 1.11932257e-01 -2.66842681e-03 9.93712257e-01 2.12374122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.247105680999997 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:19.36, Y:1.64, Z:2.13 [[ 9.88514633e-01 -1.01840014e-01 -1.11657650e-01 1.93648389e+01] [ 1.01552115e-01 9.94795782e-01 -8.27766518e-03 1.64472111e+00] [ 1.11919557e-01 -3.15647741e-03 9.93712257e-01 2.12789243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277105681 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:19.40, Y:1.65, Z:2.14 [[ 9.87911905e-01 -1.07605501e-01 -1.11584608e-01 1.93975823e+01] [ 1.07243294e-01 9.94189678e-01 -9.26069942e-03 1.64791682e+00] [ 1.11932767e-01 -2.81794573e-03 9.93711787e-01 2.13680740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.307105680999996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:19.43, Y:1.65, Z:2.15 [[ 9.86967949e-01 -1.15872227e-01 -1.11659724e-01 1.94286352e+01] [ 1.15677374e-01 9.93252627e-01 -8.24409866e-03 1.64966539e+00] [ 1.11861576e-01 -4.77984246e-03 9.93712303e-01 2.14938727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337105680999997 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:19.46, Y:1.65, Z:2.16 [[ 9.86055910e-01 -1.23392440e-01 -1.11660415e-01 1.94604436e+01] [ 1.23246558e-01 9.92341914e-01 -8.23473361e-03 1.64728736e+00] [ 1.11821414e-01 -5.64185397e-03 9.93712303e-01 2.15577828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.367105680999998 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:19.49, Y:1.65, Z:2.16 [[ 9.85639771e-01 -1.26672934e-01 -1.11661134e-01 1.94933105e+01] [ 1.26549073e-01 9.91926248e-01 -8.22496417e-03 1.64760655e+00] [ 1.11801490e-01 -6.02376123e-03 9.93712303e-01 2.15967300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397105680999996 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:19.53, Y:1.65, Z:2.16 [[ 9.85110852e-01 -1.30721676e-01 -1.11662223e-01 1.95291575e+01] [ 1.30625319e-01 9.91397811e-01 -8.21015162e-03 1.64693380e+00] [ 1.11774929e-01 -6.49800413e-03 9.93712303e-01 2.15913679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.427105680999997 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:19.56, Y:1.65, Z:2.16 [[ 9.84087482e-01 -1.38144310e-01 -1.11749620e-01 1.95567333e+01] [ 1.38230289e-01 9.90375265e-01 -7.01578565e-03 1.65379508e+00] [ 1.11643251e-01 -8.54303543e-03 9.93711629e-01 2.16201198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457105680999998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:19.59, Y:1.66, Z:2.17 [[ 9.83661541e-01 -1.41212716e-01 -1.11664412e-01 1.95892674e+01] [ 1.41186772e-01 9.89949182e-01 -8.18000081e-03 1.65790046e+00] [ 1.11697213e-01 -7.71918561e-03 9.93712306e-01 2.16612396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.487105680999996 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:19.62, Y:1.66, Z:2.17 [[ 9.83299597e-01 -1.43709131e-01 -1.11667313e-01 1.96243696e+01] [ 1.43703643e-01 9.89587288e-01 -8.14021079e-03 1.66045696e+00] [ 1.11674376e-01 -8.04273364e-03 9.93712307e-01 2.16505815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517105680999997 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:19.66, Y:1.66, Z:2.17 [[ 9.83307556e-01 -1.43589744e-01 -1.11750777e-01 1.96567891e+01] [ 1.43713402e-01 9.89594662e-01 -6.99028592e-03 1.66397786e+00] [ 1.11591706e-01 -9.18648333e-03 9.93711678e-01 2.16725595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.547105680999998 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:19.68, Y:1.67, Z:2.17 [[ 9.83988205e-01 -1.38854457e-01 -1.11743689e-01 1.96846114e+01] [ 1.38936796e-01 9.90275884e-01 -7.08810746e-03 1.67400961e+00] [ 1.11641295e-01 -8.55069596e-03 9.93711783e-01 2.17068327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577105681 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:19.71, Y:1.69, Z:2.18 [[ 9.86097617e-01 -1.23050985e-01 -1.11668907e-01 1.97109936e+01] [ 1.22916149e-01 9.92383859e-01 -8.11765054e-03 1.68860301e+00] [ 1.11817306e-01 -5.72111622e-03 9.93712312e-01 2.17600179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.607105680999997 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:19.75, Y:1.70, Z:2.18 [[ 9.86934471e-01 -1.16231959e-01 -1.11581723e-01 1.97470471e+01] [ 1.15918967e-01 9.93215034e-01 -9.31070526e-03 1.69779908e+00] [ 1.11906846e-01 -3.74538206e-03 9.93711643e-01 2.17913651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637105680999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:19.78, Y:1.71, Z:2.18 [[ 9.88787044e-01 -9.90768773e-02 -1.11731618e-01 1.97794720e+01] [ 9.88847850e-02 9.95072308e-01 -7.27334581e-03 1.71094368e+00] [ 1.11901659e-01 -3.85676687e-03 9.93711801e-01 2.18116724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.667105681 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:19.81, Y:1.72, Z:2.19 [[ 9.89298214e-01 -9.38140608e-02 -1.11749569e-01 1.98057915e+01] [ 9.36162148e-02 9.95583553e-01 -7.02805293e-03 1.71996801e+00] [ 1.11915363e-01 -3.50873141e-03 9.93711548e-01 2.18687073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697105680999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:19.84, Y:1.73, Z:2.19 [[ 9.90435429e-01 -8.10508499e-02 -1.11662085e-01 1.98381408e+01] [ 8.06378043e-02 9.96709592e-01 -8.21784160e-03 1.73228686e+00] [ 1.11960735e-01 -8.64943906e-04 9.93712255e-01 2.18996162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.727105680999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:19.87, Y:1.74, Z:2.20 [[ 9.91198201e-01 -7.11158642e-02 -1.11663158e-01 1.98679726e+01] [ 7.06415739e-02 9.97468032e-01 -8.20324409e-03 1.74470638e+00] [ 1.11963811e-01 2.42979581e-04 9.93712255e-01 2.19583230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.90, Y:1.75, Z:2.20 [[ 9.91406892e-01 -6.81439421e-02 -1.11663685e-01 1.98999252e+01] [ 6.76516667e-02 9.97675336e-01 -8.19605580e-03 1.75129462e+00] [ 1.11962616e-01 5.71391786e-04 9.93712255e-01 2.19933672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.787105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.93, Y:1.76, Z:2.20 [[ 9.91550475e-01 -6.60189033e-02 -1.11665389e-01 1.99304304e+01] [ 6.55158156e-02 9.97818061e-01 -8.17277423e-03 1.75576786e+00] [ 1.11961300e-01 7.87869119e-04 9.93712255e-01 2.20228645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:1.76, Z:2.21 [[ 9.91546288e-01 -6.60809115e-02 -1.11665895e-01 1.99618194e+01] [ 6.55789947e-02 9.97813968e-01 -8.16585716e-03 1.75822370e+00] [ 1.11961397e-01 7.73888209e-04 9.93712255e-01 2.20754020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.847105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:1.76, Z:2.22 [[ 9.91234338e-01 -7.06049881e-02 -1.11666574e-01 1.99933911e+01] [ 7.01327253e-02 9.97504321e-01 -8.15656105e-03 1.76023514e+00] [ 1.11963784e-01 2.53582215e-04 9.93712255e-01 2.21564040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.03, Y:1.76, Z:2.22 [[ 9.90611152e-01 -7.88667722e-02 -1.11667265e-01 2.00257407e+01] [ 7.84478676e-02 9.96884927e-01 -8.14709578e-03 1.75993336e+00] [ 1.11961948e-01 -6.89454866e-04 9.93712256e-01 2.21902080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.907105680999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.06, Y:1.76, Z:2.22 [[ 9.89802133e-01 -8.84420849e-02 -1.11667965e-01 2.00577268e+01] [ 8.80849498e-02 9.96079727e-01 -8.13748658e-03 1.75899453e+00] [ 1.11949892e-01 -1.78176551e-03 9.93712256e-01 2.21965260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.09, Y:1.76, Z:2.22 [[ 9.89323297e-01 -9.36457381e-02 -1.11668659e-01 2.00898216e+01] [ 9.33226940e-02 9.95602738e-01 -8.12795516e-03 1.75933948e+00] [ 1.11938771e-01 -2.38004467e-03 9.93712256e-01 2.22241353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.967105680999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.12, Y:1.76, Z:2.22 [[ 9.88491644e-01 -1.02050109e-01 -1.11669359e-01 2.01213936e+01] [ 1.01781529e-01 9.94773649e-01 -8.11832403e-03 1.75560497e+00] [ 1.11914212e-01 -3.34098264e-03 9.93712256e-01 2.22149022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997105680999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.15, Y:1.76, Z:2.23 [[ 9.88504711e-01 -1.01921000e-01 -1.11671599e-01 2.01546683e+01] [ 1.01655091e-01 9.94786830e-01 -8.08739432e-03 1.75788761e+00] [ 1.11913711e-01 -3.35755918e-03 9.93712256e-01 2.22523339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.19, Y:1.76, Z:2.23 [[ 9.88225987e-01 -1.04587871e-01 -1.11672632e-01 2.01873344e+01] [ 1.04340526e-01 9.94508863e-01 -8.07310990e-03 1.75731383e+00] [ 1.11903771e-01 -3.67392416e-03 9.93712256e-01 2.22656848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:1.75, Z:2.23 [[ 9.88476579e-01 -1.02189577e-01 -1.11675164e-01 2.02234230e+01] [ 1.01930958e-01 9.94759002e-01 -8.03792796e-03 1.75270272e+00] [ 1.11911267e-01 -3.43785291e-03 9.93712257e-01 2.23022753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.087105680999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.25, Y:1.76, Z:2.24 [[ 9.88081401e-01 -1.05815648e-01 -1.11795323e-01 2.02481001e+01] [ 1.05769544e-01 9.94370330e-01 -6.36003200e-03 1.75879516e+00] [ 1.11838944e-01 -5.54031103e-03 9.93710901e-01 2.23669070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117105680999998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:20.29, Y:1.76, Z:2.24 [[ 9.88631090e-01 -1.00685710e-01 -1.11673436e-01 2.02855830e+01] [ 1.00415875e-01 9.94912965e-01 -8.05260877e-03 1.75504656e+00] [ 1.11916132e-01 -3.25272637e-03 9.93712332e-01 2.23679039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.147105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.31, Y:1.76, Z:2.24 [[ 9.88444788e-01 -1.02350224e-01 -1.11809356e-01 2.03105819e+01] [ 1.02305170e-01 9.94734016e-01 -6.15544750e-03 1.75895480e+00] [ 1.11850581e-01 -5.35435520e-03 9.93710611e-01 2.24490149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177105680999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:20.34, Y:1.76, Z:2.25 [[ 9.88518538e-01 -1.01786443e-01 -1.11671930e-01 2.03418779e+01] [ 1.01522551e-01 9.94800572e-01 -8.06189405e-03 1.75992782e+00] [ 1.11911891e-01 -3.36788750e-03 9.93712426e-01 2.25086558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.207105680999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:20.37, Y:1.76, Z:2.26 [[ 9.88742289e-01 -9.95886941e-02 -1.11672635e-01 2.03732354e+01] [ 9.93119428e-02 9.95023769e-01 -8.05210735e-03 1.75950573e+00] [ 1.11918825e-01 -3.12896732e-03 9.93712426e-01 2.25708097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237105680999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:1.76, Z:2.26 [[ 9.88847386e-01 -9.85371297e-02 -1.11674888e-01 2.04049649e+01] [ 9.82572378e-02 9.95128727e-01 -8.02074371e-03 1.75935550e+00] [ 1.11921230e-01 -3.04157457e-03 9.93712427e-01 2.26405982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.267105680999997 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:20.44, Y:1.76, Z:2.27 [[ 9.88887496e-01 -9.81329984e-02 -1.11675579e-01 2.04373980e+01] [ 9.78516262e-02 9.95168770e-01 -8.01111331e-03 1.75913668e+00] [ 1.11922203e-01 -3.00554722e-03 9.93712427e-01 2.26736011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297105680999998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:20.47, Y:1.76, Z:2.27 [[ 9.88914217e-01 -9.78625766e-02 -1.11676264e-01 2.04690161e+01] [ 9.75805659e-02 9.95195462e-01 -8.00155026e-03 1.75757296e+00] [ 1.11922764e-01 -2.98458624e-03 9.93712427e-01 2.27498835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.327105680999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.50, Y:1.76, Z:2.28 [[ 9.88993318e-01 -9.70591372e-02 -1.11676952e-01 2.05013601e+01] [ 9.67731081e-02 9.95274381e-01 -7.99194029e-03 1.75619147e+00] [ 1.11924900e-01 -2.90335018e-03 9.93712427e-01 2.28253602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357105680999997 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:20.53, Y:1.76, Z:2.28 [[ 9.89166291e-01 -9.52789466e-02 -1.11677983e-01 2.05344370e+01] [ 9.49832425e-02 9.95446906e-01 -7.97749871e-03 1.75638314e+00] [ 1.11929591e-01 -2.71646417e-03 9.93712427e-01 2.28499840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.387105680999998 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:20.57, Y:1.75, Z:2.28 [[ 9.89961802e-01 -8.66223002e-02 -1.11679042e-01 2.05681590e+01] [ 8.62733403e-02 9.96239683e-01 -7.96265359e-03 1.75418403e+00] [ 1.11948837e-01 -1.75220109e-03 9.93712427e-01 2.28058662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417105681 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:20.60, Y:1.75, Z:2.28 [[ 9.91121145e-01 -7.21552311e-02 -1.11680342e-01 2.06011423e+01] [ 7.17166831e-02 9.97393405e-01 -7.94437519e-03 1.75427239e+00] [ 1.11962465e-01 -1.35505472e-04 9.93712427e-01 2.28052771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.447105680999996 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:20.63, Y:1.76, Z:2.28 [[ 9.91679452e-01 -6.40241653e-02 -1.11681561e-01 2.06325428e+01] [ 6.35361243e-02 9.97948055e-01 -7.92720165e-03 1.75565356e+00] [ 1.11959929e-01 7.65429433e-04 9.93712427e-01 2.28184182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477105680999998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:20.66, Y:1.75, Z:2.29 [[ 9.92373395e-01 -5.21738703e-02 -1.11682283e-01 2.06638257e+01] [ 5.16121305e-02 9.98635824e-01 -7.91701937e-03 1.75460418e+00] [ 1.11942990e-01 2.09247883e-03 9.93712427e-01 2.28604833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.507105681 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:20.69, Y:1.75, Z:2.29 [[ 9.92503583e-01 -4.96349529e-02 -1.11682625e-01 2.06934805e+01] [ 4.90577376e-02 9.98764605e-01 -7.91218614e-03 1.75350081e+00] [ 1.11937374e-01 2.37397616e-03 9.93712427e-01 2.29018651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537105680999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:20.72, Y:1.75, Z:2.29 [[ 9.92673634e-01 -4.61099635e-02 -1.11682263e-01 2.07190779e+01] [ 4.55099429e-02 9.98932511e-01 -7.91729323e-03 1.74640544e+00] [ 1.11928110e-01 2.77663482e-03 9.93712427e-01 2.28848781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.567105680999997 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:20.75, Y:1.74, Z:2.29 [[ 9.92286628e-01 -5.40780923e-02 -1.11547331e-01 2.07498932e+01] [ 5.33147259e-02 9.98529500e-01 -9.81718527e-03 1.74336415e+00] [ 1.11914195e-01 3.79434630e-03 9.93710630e-01 2.29052900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597105681 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:20.78, Y:1.74, Z:2.29 [[ 9.91854981e-01 -6.14265209e-02 -1.11581717e-01 2.07810418e+01] [ 6.07638562e-02 9.98108535e-01 -9.33308264e-03 1.74345899e+00] [ 1.11943963e-01 2.47692909e-03 9.93711434e-01 2.29471495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.627105680999996 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:20.81, Y:1.74, Z:2.29 [[ 9.91327835e-01 -6.92520526e-02 -1.11683825e-01 2.08119340e+01] [ 6.88013440e-02 9.97599185e-01 -7.88926973e-03 1.73614303e+00] [ 1.11962041e-01 1.36855440e-04 9.93712475e-01 2.29195443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657105680999997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:20.84, Y:1.73, Z:2.30 [[ 9.90806412e-01 -7.63506231e-02 -1.11683646e-01 2.08432282e+01] [ 7.59445589e-02 9.97080811e-01 -7.89180297e-03 1.72884414e+00] [ 1.11960164e-01 -6.62516224e-04 9.93712475e-01 2.30055011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.687105681 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:20.88, Y:1.73, Z:2.31 [[ 9.90568530e-01 -7.93767667e-02 -1.11684004e-01 2.08752194e+01] [ 7.89904419e-02 9.96844175e-01 -7.88673059e-03 1.72783002e+00] [ 1.11957572e-01 -1.00962169e-03 9.93712475e-01 2.30861773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717105680999996 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:20.90, Y:1.72, Z:2.32 [[ 9.90256604e-01 -8.31768168e-02 -1.11684715e-01 2.09020035e+01] [ 8.28157096e-02 9.96533751e-01 -7.87665413e-03 1.72069439e+00] [ 1.11952743e-01 -1.44934013e-03 9.93712475e-01 2.31821111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.747105680999997 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:20.94, Y:1.72, Z:2.32 [[ 9.89667537e-01 -9.00452144e-02 -1.11579684e-01 2.09356240e+01] [ 8.95607781e-02 9.95937409e-01 -9.35656699e-03 1.71905034e+00] [ 1.11968895e-01 -7.33272706e-04 9.93711441e-01 2.32251888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777105681 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:20.97, Y:1.71, Z:2.33 [[ 9.88971741e-01 -9.72700833e-02 -1.11684491e-01 2.09674884e+01] [ 9.69990122e-02 9.95253352e-01 -7.87123156e-03 1.70878166e+00] [ 1.11919999e-01 -3.04885971e-03 9.93712543e-01 2.32528867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.807105680999996 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:21.00, Y:1.71, Z:2.33 [[ 9.88598823e-01 -1.00989239e-01 -1.11685006e-01 2.09992832e+01] [ 1.00742622e-01 9.94881442e-01 -7.86392284e-03 1.70688567e+00] [ 1.11907511e-01 -3.47717548e-03 9.93712543e-01 2.33052459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837105680999997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:21.03, Y:1.70, Z:2.33 [[ 9.87882748e-01 -1.07768194e-01 -1.11685687e-01 2.10317910e+01] [ 1.07565773e-01 9.94166946e-01 -7.85423171e-03 1.70445109e+00] [ 1.11880655e-01 -4.25449725e-03 9.93712543e-01 2.33487284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.867105680999998 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:21.06, Y:1.70, Z:2.33 [[ 9.87397187e-01 -1.12129175e-01 -1.11686358e-01 2.10635264e+01] [ 1.11955582e-01 9.93682247e-01 -7.84467856e-03 1.70032308e+00] [ 1.11860369e-01 -4.75809772e-03 9.93712543e-01 2.33379910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897105680999996 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:21.10, Y:1.70, Z:2.33 [[ 9.87005448e-01 -1.15526154e-01 -1.11686857e-01 2.10956922e+01] [ 1.15374992e-01 9.93291087e-01 -7.83757079e-03 1.69624498e+00] [ 1.11843004e-01 -5.15014513e-03 9.93712543e-01 2.33250431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.927105680999997 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:21.13, Y:1.70, Z:2.34 [[ 9.86932983e-01 -1.16143117e-01 -1.11687345e-01 2.11282498e+01] [ 1.15996670e-01 9.93218734e-01 -7.83060784e-03 1.69661790e+00] [ 1.11839435e-01 -5.22707495e-03 9.93712543e-01 2.33551455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957105680999998 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:21.16, Y:1.70, Z:2.34 [[ 9.87697456e-01 -1.09451028e-01 -1.11687992e-01 2.11550105e+01] [ 1.09263022e-01 9.93982101e-01 -7.82137395e-03 1.69924476e+00] [ 1.11871922e-01 -4.47821639e-03 9.93712543e-01 2.34056315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.987105680999996 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:21.19, Y:1.71, Z:2.35 [[ 9.88526849e-01 -1.01773995e-01 -1.11609687e-01 2.11880267e+01] [ 1.01409954e-01 9.94804474e-01 -8.94871865e-03 1.70789403e+00] [ 1.11940563e-01 -2.47228457e-03 9.93711828e-01 2.35154150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017105680999997 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:21.22, Y:1.71, Z:2.36 [[ 9.89569818e-01 -9.09710219e-02 -1.11695341e-01 2.12163164e+01] [ 9.06782680e-02 9.95850402e-01 -7.70893097e-03 1.71049681e+00] [ 1.11933140e-01 -2.49981466e-03 9.93712596e-01 2.35508649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.047105680999998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:21.25, Y:1.72, Z:2.36 [[ 9.90337255e-01 -8.23491344e-02 -1.11582893e-01 2.12495597e+01] [ 8.18193471e-02 9.96603536e-01 -9.32661798e-03 1.71862041e+00] [ 1.11971945e-01 1.06857762e-04 9.93711363e-01 2.35544302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077105680999995 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:21.28, Y:1.73, Z:2.36 [[ 9.90999440e-01 -7.37852534e-02 -1.11695329e-01 2.12815326e+01] [ 7.33848755e-02 9.97273991e-01 -7.69722096e-03 1.72639742e+00] [ 1.11958788e-01 -5.68806163e-04 9.93712688e-01 2.35804070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.107105680999997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:21.31, Y:1.73, Z:2.36 [[ 9.91212681e-01 -7.08619732e-02 -1.11696027e-01 2.13117350e+01] [ 7.04442330e-02 9.97486100e-01 -7.68707933e-03 1.73108938e+00] [ 1.11959956e-01 -2.48810457e-04 9.93712688e-01 2.36225880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137105680999998 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:21.34, Y:1.74, Z:2.37 [[ 9.91439168e-01 -6.76190452e-02 -1.11696200e-01 2.13410902e+01] [ 6.71810673e-02 9.97711206e-01 -7.68457359e-03 1.73507139e+00] [ 1.11960174e-01 1.14917348e-04 9.93712688e-01 2.36646774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.167105680999995 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:21.37, Y:1.74, Z:2.37 [[ 9.91482299e-01 -6.69839409e-02 -1.11696029e-01 2.13714309e+01] [ 6.65416669e-02 9.97754036e-01 -7.68704588e-03 1.73741405e+00] [ 1.11960073e-01 1.89129937e-04 9.93712688e-01 2.37002832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197105680999996 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:21.40, Y:1.74, Z:2.38 [[ 9.91385815e-01 -6.83971039e-02 -1.11696029e-01 2.14010780e+01] [ 6.79637699e-02 9.97658176e-01 -7.68704588e-03 1.73832321e+00] [ 1.11960229e-01 2.95449924e-05 9.93712688e-01 2.37631094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.227105680999998 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:21.43, Y:1.74, Z:2.38 [[ 9.91274470e-01 -6.99923048e-02 -1.11696029e-01 2.14323481e+01] [ 6.95690646e-02 9.97547520e-01 -7.68704588e-03 1.73816980e+00] [ 1.11960131e-01 -1.50615957e-04 9.93712688e-01 2.38020590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257105681 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:21.46, Y:1.74, Z:2.38 [[ 9.91152934e-01 -7.16922340e-02 -1.11696394e-01 2.14626853e+01] [ 7.12803500e-02 9.97426740e-01 -7.68174444e-03 1.74002631e+00] [ 1.11959692e-01 -3.47974513e-04 9.93712688e-01 2.38438820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.287105680999996 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:21.49, Y:1.74, Z:2.39 [[ 9.91123828e-01 -7.20932272e-02 -1.11696573e-01 2.14942357e+01] [ 7.16841755e-02 9.97397819e-01 -7.67913654e-03 1.74218269e+00] [ 1.11959532e-01 -3.95901556e-04 9.93712688e-01 2.38794730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317105680999997 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:21.52, Y:1.74, Z:2.39 [[ 9.91151468e-01 -7.17116621e-02 -1.11696930e-01 2.15231263e+01] [ 7.13007795e-02 9.97425340e-01 -7.67395010e-03 1.74218561e+00] [ 1.11959660e-01 -3.58031242e-04 9.93712688e-01 2.38709860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.347105681 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:21.56, Y:1.74, Z:2.39 [[ 9.90988526e-01 -7.40176553e-02 -1.11638378e-01 2.15553020e+01] [ 7.35254400e-02 9.97256902e-01 -8.52529574e-03 1.74420261e+00] [ 1.11963165e-01 2.40209432e-04 9.93712329e-01 2.38962337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377105680999996 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:21.59, Y:1.75, Z:2.39 [[ 9.91037261e-01 -7.32719664e-02 -1.11697658e-01 2.15858650e+01] [ 7.28723455e-02 9.97311847e-01 -7.66166914e-03 1.74515875e+00] [ 1.11958783e-01 -5.46670746e-04 9.93712701e-01 2.38996796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.407105680999997 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:21.61, Y:1.75, Z:2.39 [[ 9.91307175e-01 -6.95246633e-02 -1.11697836e-01 2.16149369e+01] [ 6.91016151e-02 9.97580225e-01 -7.65907816e-03 1.74915677e+00] [ 1.11960047e-01 -1.26001733e-04 9.93712701e-01 2.39264390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437105681 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:21.65, Y:1.75, Z:2.40 [[ 9.91490998e-01 -6.68518923e-02 -1.11697923e-01 2.16450185e+01] [ 6.64120775e-02 9.97762895e-01 -7.65780201e-03 1.75206490e+00] [ 1.11959982e-01 1.74550601e-04 9.93712701e-01 2.39844136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.467105680999996 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:21.68, Y:1.75, Z:2.40 [[ 9.91968242e-01 -5.93513301e-02 -1.11697923e-01 2.16753675e+01] [ 5.88640935e-02 9.98236634e-01 -7.65780201e-03 1.75337109e+00] [ 1.11955460e-01 1.02129939e-03 9.93712701e-01 2.40339737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497105680999997 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:21.70, Y:1.75, Z:2.41 [[ 9.92388221e-01 -5.18574319e-02 -1.11697923e-01 2.17044539e+01] [ 5.13228649e-02 9.98652753e-01 -7.65780201e-03 1.75313346e+00] [ 1.11944553e-01 1.86685508e-03 9.93712701e-01 2.40861358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.527105681 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:21.73, Y:1.75, Z:2.41 [[ 9.92555328e-01 -4.85548868e-02 -1.11697552e-01 2.17317338e+01] [ 4.79988679e-02 9.98817993e-01 -7.66321636e-03 1.75328594e+00] [ 1.11937611e-01 2.24481019e-03 9.93712701e-01 2.41199308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557105680999996 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:21.76, Y:1.75, Z:2.42 [[ 9.92723970e-01 -4.49775831e-02 -1.11696626e-01 2.17590675e+01] [ 4.43974835e-02 9.98984450e-01 -7.67668758e-03 1.75070366e+00] [ 1.11928472e-01 2.66178266e-03 9.93712701e-01 2.41790920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.587105680999997 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:21.78, Y:1.75, Z:2.42 [[ 9.92875614e-01 -4.14978736e-02 -1.11695757e-01 2.17842175e+01] [ 4.08944150e-02 9.99133886e-01 -7.68931884e-03 1.74745253e+00] [ 1.11918106e-01 3.06680453e-03 9.93712701e-01 2.42047776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617105680999998 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:21.82, Y:1.74, Z:2.42 [[ 9.92735168e-01 -4.49573528e-02 -1.11605206e-01 2.18154674e+01] [ 4.42288536e-02 9.98980921e-01 -8.99598945e-03 1.74064953e+00] [ 1.11895907e-01 3.99446480e-03 9.93711905e-01 2.42420661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.647105680999996 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:21.84, Y:1.73, Z:2.43 [[ 9.92525862e-01 -4.92275999e-02 -1.11664931e-01 2.18446113e+01] [ 4.86229153e-02 9.98784089e-01 -8.13364197e-03 1.73356008e+00] [ 1.11929556e-01 2.64337555e-03 9.93712628e-01 2.42706347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677105680999997 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:21.87, Y:1.73, Z:2.43 [[ 9.92466353e-01 -5.03528606e-02 -1.11692112e-01 2.18738811e+01] [ 4.97993686e-02 9.98729238e-01 -7.74160651e-03 1.72985266e+00] [ 1.11939990e-01 2.12108733e-03 9.93712705e-01 2.42941427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.707105680999998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:21.90, Y:1.72, Z:2.43 [[ 9.92458089e-01 -5.05206808e-02 -1.11689757e-01 2.19030800e+01] [ 4.99644423e-02 9.98720730e-01 -7.77543351e-03 1.71663680e+00] [ 1.11939696e-01 2.13627546e-03 9.93712705e-01 2.43135102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737105680999996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:21.93, Y:1.71, Z:2.44 [[ 9.92377351e-01 -5.21444917e-02 -1.11660853e-01 2.19322377e+01] [ 5.15519917e-02 9.98636738e-01 -8.18886987e-03 1.70714101e+00] [ 1.11935635e-01 2.37010960e-03 9.93712633e-01 2.43544107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.767105680999997 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:21.96, Y:1.70, Z:2.44 [[ 9.92331930e-01 -5.29719231e-02 -1.11675044e-01 2.19612832e+01] [ 5.24074029e-02 9.98593851e-01 -7.98654196e-03 1.70421198e+00] [ 1.11941075e-01 2.07270158e-03 9.93712685e-01 2.43839476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797105680999998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:21.99, Y:1.70, Z:2.44 [[ 9.92316521e-01 -5.32404730e-02 -1.11684257e-01 2.19890511e+01] [ 5.26923827e-02 9.98579893e-01 -7.85557387e-03 1.69618688e+00] [ 1.11943888e-01 1.91030612e-03 9.93712693e-01 2.44139297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.827105680999995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:22.02, Y:1.69, Z:2.44 [[ 9.92222874e-01 -5.50059162e-02 -1.11660727e-01 2.20185153e+01] [ 5.44315557e-02 9.98483931e-01 -8.18809686e-03 1.69486764e+00] [ 1.11941836e-01 2.04654989e-03 9.93712653e-01 2.44342367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857105680999997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:22.05, Y:1.69, Z:2.45 [[ 9.92088618e-01 -5.73375636e-02 -1.11680693e-01 2.20471044e+01] [ 5.68096514e-02 9.98353723e-01 -7.90612530e-03 1.68959701e+00] [ 1.11950154e-01 1.49903567e-03 9.93712693e-01 2.44651381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.887105680999998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:22.08, Y:1.69, Z:2.45 [[ 9.92067595e-01 -5.77058667e-02 -1.11677746e-01 2.20752196e+01] [ 5.71756192e-02 9.98332502e-01 -7.94753958e-03 1.69182254e+00] [ 1.11950143e-01 1.49925219e-03 9.93712694e-01 2.44970268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917105680999995 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:22.10, Y:1.69, Z:2.45 [[ 9.91888250e-01 -6.07160495e-02 -1.11674799e-01 2.21038698e+01] [ 6.02001777e-02 9.98154356e-01 -7.98873531e-03 1.68535779e+00] [ 1.11953732e-01 1.20108992e-03 9.93712695e-01 2.45467078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.947105680999996 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:22.13, Y:1.68, Z:2.46 [[ 9.91728529e-01 -6.32759799e-02 -1.11672174e-01 2.21316989e+01] [ 6.27721697e-02 9.97995616e-01 -8.02526685e-03 1.68419341e+00] [ 1.11956147e-01 9.48981425e-04 9.93712695e-01 2.45874060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977105680999998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:22.16, Y:1.68, Z:2.46 [[ 9.91315423e-01 -6.94531744e-02 -1.11669105e-01 2.21600676e+01] [ 6.89836318e-02 9.97585169e-01 -8.06775189e-03 1.68024266e+00] [ 1.11959774e-01 2.94346470e-04 9.93712696e-01 2.46008533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.007105680999995 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:22.19, Y:1.67, Z:2.46 [[ 9.90758041e-01 -7.69989125e-02 -1.11667685e-01 2.21882721e+01] [ 7.65749107e-02 9.97031031e-01 -8.08735859e-03 1.67468272e+00] [ 1.11958865e-01 -5.38327440e-04 9.93712696e-01 2.46081806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037105680999996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:22.22, Y:1.67, Z:2.47 [[ 9.90381532e-01 -8.17004005e-02 -1.11666759e-01 2.22158471e+01] [ 8.13047370e-02 9.96656374e-01 -8.10012650e-03 1.67225133e+00] [ 1.11955170e-01 -1.05682075e-03 9.93712696e-01 2.46615211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.067105680999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:22.24, Y:1.67, Z:2.47 [[ 9.89713441e-01 -8.94564154e-02 -1.11646115e-01 2.22444187e+01] [ 8.90780008e-02 9.95989374e-01 -8.38313520e-03 1.66754173e+00] [ 1.11948269e-01 -1.64831111e-03 9.93712669e-01 2.47248858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097105681 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:22.27, Y:1.67, Z:2.48 [[ 9.89529663e-01 -9.14458944e-02 -1.11663306e-01 2.22724633e+01] [ 9.11066680e-02 9.95807809e-01 -8.14757562e-03 1.66720735e+00] [ 1.11940254e-01 -2.11100395e-03 9.93712697e-01 2.47674355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.127105680999996 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:22.30, Y:1.67, Z:2.48 [[ 9.89556562e-01 -9.11580290e-02 -1.11660305e-01 2.22998542e+01] [ 9.08123607e-02 9.95834356e-01 -8.18849263e-03 1.66841950e+00] [ 1.11941615e-01 -2.03715928e-03 9.93712697e-01 2.47886123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157105680999997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:22.33, Y:1.67, Z:2.48 [[ 9.89456921e-01 -9.22589703e-02 -1.11639077e-01 2.23278968e+01] [ 9.18878192e-02 9.95733288e-01 -8.47632561e-03 1.66973944e+00] [ 1.11944762e-01 -1.87131224e-03 9.93712669e-01 2.47800339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.187105681 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:22.36, Y:1.67, Z:2.48 [[ 9.89226282e-01 -9.47045639e-02 -1.11635159e-01 2.23555015e+01] [ 9.43429505e-02 9.95503219e-01 -8.52932110e-03 1.67396390e+00] [ 1.11940926e-01 -2.09456168e-03 9.93712656e-01 2.47723920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217105680999996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:22.38, Y:1.68, Z:2.48 [[ 9.89036823e-01 -9.66816131e-02 -1.11619122e-01 2.23827790e+01] [ 9.63081167e-02 9.95313145e-01 -8.74587296e-03 1.67721513e+00] [ 1.11941544e-01 -2.09983700e-03 9.93712575e-01 2.48058537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.247105680999997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:22.41, Y:1.68, Z:2.49 [[ 9.88343911e-01 -1.03545284e-01 -1.11600576e-01 2.24115434e+01] [ 1.03187254e-01 9.94621275e-01 -8.99500460e-03 1.68370218e+00] [ 1.11931697e-01 -2.62559895e-03 9.93712434e-01 2.48666408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277105681 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:22.44, Y:1.69, Z:2.49 [[ 9.88211258e-01 -1.04748206e-01 -1.11652685e-01 2.24387170e+01] [ 1.04476946e-01 9.94492725e-01 -8.29387832e-03 1.68821216e+00] [ 1.11906552e-01 -3.46902763e-03 9.93712680e-01 2.49103268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.307105680999996 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:22.47, Y:1.70, Z:2.49 [[ 9.88088920e-01 -1.05923606e-01 -1.11626500e-01 2.24666863e+01] [ 1.05620213e-01 9.94368965e-01 -8.64476116e-03 1.69958680e+00] [ 1.11913611e-01 -3.24822196e-03 9.93712631e-01 2.49203354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337105680999997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:22.49, Y:1.71, Z:2.50 [[ 9.88413290e-01 -1.02828123e-01 -1.11649210e-01 2.24925521e+01] [ 1.02539361e-01 9.94693978e-01 -8.34083926e-03 1.70646802e+00] [ 1.11914470e-01 -3.20424221e-03 9.93712677e-01 2.49576475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.367105680999998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:22.52, Y:1.72, Z:2.50 [[ 9.88884259e-01 -9.82375473e-02 -1.11612302e-01 2.25209451e+01] [ 9.78637696e-02 9.95160595e-01 -8.83589622e-03 1.71972690e+00] [ 1.11940181e-01 -2.18512189e-03 9.93712544e-01 2.50200099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397105680999996 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:22.55, Y:1.73, Z:2.50 [[ 9.89488132e-01 -9.19338909e-02 -1.11630626e-01 2.25483998e+01] [ 9.15478441e-02 9.95763628e-01 -8.59011112e-03 1.73011718e+00] [ 1.11947440e-01 -1.71973017e-03 9.93712641e-01 2.50422067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.427105680999997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:22.58, Y:1.74, Z:2.51 [[ 9.89815555e-01 -8.83141845e-02 -1.11650223e-01 2.25777665e+01] [ 8.79348111e-02 9.96091423e-01 -8.32741658e-03 1.73583637e+00] [ 1.11949259e-01 -1.57533484e-03 9.93712676e-01 2.50933090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457105680999998 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:22.61, Y:1.74, Z:2.51 [[ 9.90547244e-01 -7.96898294e-02 -1.11649846e-01 2.26055267e+01] [ 7.92552389e-02 9.96819531e-01 -8.33247826e-03 1.74485018e+00] [ 1.11958760e-01 -5.95121803e-04 9.93712676e-01 2.51289137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.487105680999996 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:22.63, Y:1.75, Z:2.51 [[ 9.90921831e-01 -7.49402499e-02 -1.11614888e-01 2.26337717e+01] [ 7.44229875e-02 9.97187940e-01 -8.79945635e-03 1.75306315e+00] [ 1.11960454e-01 4.12859959e-04 9.93712577e-01 2.51176630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517105680999997 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:22.66, Y:1.76, Z:2.52 [[ 9.91387129e-01 -6.84585918e-02 -1.11646684e-01 2.26606440e+01] [ 6.79480687e-02 9.97653701e-01 -8.37576778e-03 1.75913361e+00] [ 1.11958120e-01 7.17451838e-04 9.93712667e-01 2.51645663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.547105680999998 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:22.69, Y:1.76, Z:2.52 [[ 9.91594623e-01 -6.54415344e-02 -1.11613215e-01 2.26893209e+01] [ 6.48618601e-02 9.97855267e-01 -8.82071268e-03 1.76306901e+00] [ 1.11951075e-01 1.50713052e-03 9.93712577e-01 2.52022314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577105680999995 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:22.72, Y:1.77, Z:2.52 [[ 9.92009423e-01 -5.88236356e-02 -1.11611308e-01 2.27182922e+01] [ 5.81993610e-02 9.98265788e-01 -8.84595353e-03 1.76736327e+00] [ 1.11938102e-01 2.27956244e-03 9.93712567e-01 2.52391786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.607105680999997 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:22.75, Y:1.77, Z:2.53 [[ 9.92246399e-01 -5.46188318e-02 -1.11641688e-01 2.27462146e+01] [ 5.40131964e-02 9.98504515e-01 -8.44443043e-03 1.76924988e+00] [ 1.11935954e-01 2.34883127e-03 9.93712647e-01 2.52725862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637105680999998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:22.78, Y:1.77, Z:2.53 [[ 9.92327906e-01 -5.31797800e-02 -1.11611999e-01 2.27757840e+01] [ 5.25211595e-02 9.98580728e-01 -8.83499265e-03 1.77200305e+00] [ 1.11923435e-01 2.90521814e-03 9.93712586e-01 2.52582971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.667105680999995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:22.80, Y:1.77, Z:2.53 [[ 9.92122195e-01 -5.68375727e-02 -1.11637989e-01 2.28036554e+01] [ 5.62404173e-02 9.98381128e-01 -8.49346856e-03 1.77031600e+00] [ 1.11940010e-01 2.14799157e-03 9.93712645e-01 2.52691406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697105680999996 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:22.83, Y:1.77, Z:2.53 [[ 9.91991536e-01 -5.90803053e-02 -1.11634713e-01 2.28313811e+01] [ 5.84924806e-02 9.98251352e-01 -8.53631307e-03 1.77111157e+00] [ 1.11943831e-01 1.93815902e-03 9.93712646e-01 2.53147977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.727105680999998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:22.86, Y:1.77, Z:2.54 [[ 9.91876826e-01 -6.09862961e-02 -1.11629002e-01 2.28577475e+01] [ 6.04021292e-02 9.98136984e-01 -8.61071409e-03 1.77047349e+00] [ 1.11946171e-01 1.79813837e-03 9.93712645e-01 2.53680989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757105680999995 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:22.89, Y:1.77, Z:2.54 [[ 9.91657818e-01 -6.45136131e-02 -1.11591957e-01 2.28865465e+01] [ 6.38976150e-02 9.97915046e-01 -9.09147718e-03 1.76957846e+00] [ 1.11945817e-01 1.88517454e-03 9.93712524e-01 2.53845898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.787105680999996 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:22.91, Y:1.77, Z:2.54 [[ 9.91508621e-01 -6.67449861e-02 -1.11605384e-01 2.29142193e+01] [ 6.61626233e-02 9.97769002e-01 -8.91773081e-03 1.76988219e+00] [ 1.11951607e-01 1.45790196e-03 9.93712590e-01 2.54195181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817105680999997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:22.94, Y:1.77, Z:2.55 [[ 9.91179093e-01 -7.14381805e-02 -1.11627018e-01 2.29418427e+01] [ 7.09169346e-02 9.97444820e-01 -8.63823328e-03 1.76775256e+00] [ 1.11958890e-01 6.45790327e-04 9.93712629e-01 2.54737890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.847105680999995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:22.97, Y:1.77, Z:2.55 [[ 9.90626815e-01 -7.87291173e-02 -1.11625446e-01 2.29697699e+01] [ 7.82517036e-02 9.96896033e-01 -8.65849940e-03 1.76569841e+00] [ 1.11960640e-01 -1.57539610e-04 9.93712630e-01 2.55115567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877105680999996 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:23.00, Y:1.76, Z:2.55 [[ 9.90131646e-01 -8.47515946e-02 -1.11608648e-01 2.29982311e+01] [ 8.42879689e-02 9.96401918e-01 -8.87445642e-03 1.76272004e+00] [ 1.11959195e-01 -6.20386097e-04 9.93712611e-01 2.55294181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.907105680999997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:23.03, Y:1.76, Z:2.55 [[ 9.89925700e-01 -8.71584239e-02 -1.11581887e-01 2.30266743e+01] [ 8.66714532e-02 9.96194313e-01 -9.21679400e-03 1.76139115e+00] [ 1.11960563e-01 -5.47023093e-04 9.93712500e-01 2.55362375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937105681 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:23.06, Y:1.76, Z:2.56 [[ 9.89478965e-01 -9.20954635e-02 -1.11578685e-01 2.30558756e+01] [ 9.16351664e-02 9.95749614e-01 -9.25761517e-03 1.75888882e+00] [ 1.11957017e-01 -1.06431588e-03 9.93712480e-01 2.55713965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.967105680999996 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:23.08, Y:1.76, Z:2.57 [[ 9.89394381e-01 -9.29521513e-02 -1.11618353e-01 2.30834616e+01] [ 9.25543164e-02 9.95669173e-01 -8.75188592e-03 1.76025905e+00] [ 1.11948460e-01 -1.67169361e-03 9.93712608e-01 2.56507656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997105680999997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:23.11, Y:1.76, Z:2.57 [[ 9.89892617e-01 -8.74881434e-02 -1.11617342e-01 2.31100319e+01] [ 8.70542192e-02 9.96165017e-01 -8.76475826e-03 1.76288488e+00] [ 1.11956104e-01 -1.04059108e-03 9.93712608e-01 2.57160146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.027105681 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:23.14, Y:1.77, Z:2.57 [[ 9.90110312e-01 -8.50557964e-02 -1.11566487e-01 2.31394733e+01] [ 8.45337972e-02 9.96376183e-01 -9.40950448e-03 1.76747527e+00] [ 1.11962524e-01 -1.14691409e-04 9.93712423e-01 2.57282863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057105680999996 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:23.17, Y:1.77, Z:2.57 [[ 9.90861029e-01 -7.57412238e-02 -1.11614010e-01 2.31675443e+01] [ 7.52281179e-02 9.97127453e-01 -8.80752521e-03 1.77077631e+00] [ 1.11960487e-01 3.30521556e-04 9.93712604e-01 2.57049201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.087105680999997 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:23.19, Y:1.77, Z:2.57 [[ 9.91172110e-01 -7.15568619e-02 -1.11613007e-01 2.31949895e+01] [ 7.10158717e-02 9.97436188e-01 -8.82022762e-03 1.77295319e+00] [ 1.11958000e-01 8.16068664e-04 9.93712604e-01 2.57336351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117105680999998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:23.22, Y:1.78, Z:2.58 [[ 9.91520810e-01 -6.65562787e-02 -1.11609792e-01 2.32233186e+01] [ 6.59791412e-02 9.97781660e-01 -8.86071663e-03 1.77623511e+00] [ 1.11951940e-01 1.42166669e-03 9.93712605e-01 2.57808211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.147105680999996 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:23.25, Y:1.78, Z:2.58 [[ 9.91652664e-01 -6.45668170e-02 -1.11606987e-01 2.32500250e+01] [ 6.39731586e-02 9.97911969e-01 -8.89591558e-03 1.77970081e+00] [ 1.11948329e-01 1.68180692e-03 9.93712606e-01 2.58312109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177105680999997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:23.28, Y:1.78, Z:2.59 [[ 9.91707668e-01 -6.37192839e-02 -1.11605352e-01 2.32771614e+01] [ 6.31179735e-02 9.97966242e-01 -8.91638215e-03 1.78190653e+00] [ 1.11946519e-01 1.79814092e-03 9.93712606e-01 2.58935724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.207105680999998 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:23.30, Y:1.78, Z:2.60 [[ 9.92011067e-01 -5.88136141e-02 -1.11601975e-01 2.33021586e+01] [ 5.81766264e-02 9.98266110e-01 -8.95844806e-03 1.78228158e+00] [ 1.11935348e-01 2.39425321e-03 9.93712607e-01 2.59757511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237105680999996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:23.33, Y:1.78, Z:2.60 [[ 9.92109118e-01 -5.73085397e-02 -1.11513359e-01 2.33314776e+01] [ 5.65391436e-02 9.98349776e-01 -1.00523188e-02 1.78389971e+00] [ 1.11905421e-01 3.66812729e-03 9.93712092e-01 2.59957498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.267105680999997 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:23.36, Y:1.78, Z:2.60 [[ 9.92204374e-01 -5.54668552e-02 -1.11597076e-01 2.33593872e+01] [ 5.48021934e-02 9.98456516e-01 -9.01696493e-03 1.78442117e+00] [ 1.11924970e-01 2.83090752e-03 9.93712628e-01 2.59851032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297105680999998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:23.39, Y:1.78, Z:2.60 [[ 9.92304447e-01 -5.36489994e-02 -1.11596009e-01 2.33893872e+01] [ 5.29714027e-02 9.98555200e-01 -9.03015095e-03 1.78223596e+00] [ 1.11919233e-01 3.04926182e-03 9.93712628e-01 2.59610264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.327105680999995 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:23.42, Y:1.78, Z:2.60 [[ 9.92381495e-01 -5.22101473e-02 -1.11593320e-01 2.34166757e+01] [ 5.15197678e-02 9.98630848e-01 -9.06326205e-03 1.78225442e+00] [ 1.11913726e-01 3.24495163e-03 9.93712629e-01 2.59929952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357105680999997 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:23.45, Y:1.78, Z:2.61 [[ 9.92216669e-01 -5.53586433e-02 -1.11541482e-01 2.34461151e+01] [ 5.46166957e-02 9.98460290e-01 -9.69873348e-03 1.78356133e+00] [ 1.11906649e-01 3.53121784e-03 9.93712450e-01 2.60511043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.387105680999998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:23.47, Y:1.78, Z:2.61 [[ 9.92170150e-01 -5.60897342e-02 -1.11590031e-01 2.34724864e+01] [ 5.54192270e-02 9.98421669e-01 -9.10388938e-03 1.78159272e+00] [ 1.11924540e-01 2.84837401e-03 9.93712627e-01 2.60790543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417105680999995 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:23.50, Y:1.78, Z:2.61 [[ 9.91914306e-01 -6.05892438e-02 -1.11512122e-01 2.35022854e+01] [ 5.98405485e-02 9.98157337e-01 -1.00518412e-02 1.78202142e+00] [ 1.11915676e-01 3.29761852e-03 9.93712236e-01 2.60836026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.447105680999996 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:23.53, Y:1.78, Z:2.61 [[ 9.91430572e-01 -6.79283161e-02 -1.11584786e-01 2.35316056e+01] [ 6.73252628e-02 9.97688958e-01 -9.16798016e-03 1.77690235e+00] [ 1.11949674e-01 1.57694079e-03 9.93712626e-01 2.61155637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477105680999998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:23.56, Y:1.78, Z:2.62 [[ 9.90660100e-01 -7.83712808e-02 -1.11581849e-01 2.35593352e+01] [ 7.78301952e-02 9.96924147e-01 -9.20358737e-03 1.77606684e+00] [ 1.11959936e-01 4.33189709e-04 9.93712627e-01 2.62064650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.507105680999995 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:23.59, Y:1.78, Z:2.63 [[ 9.90271641e-01 -8.31398949e-02 -1.11578824e-01 2.35864851e+01] [ 8.26248585e-02 9.96537883e-01 -9.24010983e-03 1.77722014e+00] [ 1.11960747e-01 -6.89658514e-05 9.93712628e-01 2.62533072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537105680999996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:23.61, Y:1.77, Z:2.63 [[ 9.89450966e-01 -9.23969160e-02 -1.11577759e-01 2.36133932e+01] [ 9.19390534e-02 9.95721644e-01 -9.25295511e-03 1.77406748e+00] [ 1.11955334e-01 -1.10300819e-03 9.93712628e-01 2.62760261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.567105680999997 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:23.64, Y:1.77, Z:2.63 [[ 9.89013050e-01 -9.69747506e-02 -1.11575470e-01 2.36411514e+01] [ 9.65428072e-02 9.95285567e-01 -9.28047602e-03 1.77443674e+00] [ 1.11949427e-01 -1.59329721e-03 9.93712628e-01 2.62900040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597105680999995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:23.67, Y:1.78, Z:2.63 [[ 9.88104581e-01 -1.05834697e-01 -1.11572193e-01 2.36692309e+01] [ 1.05454559e-01 9.94380450e-01 -9.31971100e-03 1.77572593e+00] [ 1.11931556e-01 -2.55694724e-03 9.93712629e-01 2.63036375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.627105680999996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:23.70, Y:1.78, Z:2.63 [[ 9.87618053e-01 -1.10286091e-01 -1.11568635e-01 2.36956447e+01] [ 1.09929451e-01 9.93895300e-01 -9.36210877e-03 1.77765130e+00] [ 1.11920053e-01 -3.01849116e-03 9.93712630e-01 2.63221710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657105680999997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:23.72, Y:1.78, Z:2.64 [[ 9.87007734e-01 -1.15623162e-01 -1.11566199e-01 2.37231237e+01] [ 1.15297190e-01 9.93286648e-01 -9.39105768e-03 1.77974660e+00] [ 1.11903039e-01 -3.59422267e-03 9.93712630e-01 2.63585970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.687105681 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:23.75, Y:1.78, Z:2.64 [[ 9.87168516e-01 -1.14245749e-01 -1.11562672e-01 2.37493356e+01] [ 1.13906306e-01 9.93446715e-01 -9.43276314e-03 1.78486247e+00] [ 1.11909224e-01 -3.39596515e-03 9.93712631e-01 2.63790803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717105680999996 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:23.78, Y:1.79, Z:2.64 [[ 9.87414796e-01 -1.12141899e-01 -1.11517780e-01 2.37772372e+01] [ 1.11729478e-01 9.93688737e-01 -9.96075711e-03 1.78951647e+00] [ 1.11930981e-01 -2.62442448e-03 9.93712518e-01 2.64285078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.747105680999997 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:23.81, Y:1.80, Z:2.65 [[ 9.88231110e-01 -1.04701305e-01 -1.11520895e-01 2.38056912e+01] [ 1.04245771e-01 9.94502052e-01 -9.92413480e-03 1.79908718e+00] [ 1.11946829e-01 -1.81824294e-03 9.93712535e-01 2.65273929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777105681 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:23.83, Y:1.81, Z:2.66 [[ 9.88931903e-01 -9.78199288e-02 -1.11556953e-01 2.38332200e+01] [ 9.73684865e-02 9.95203050e-01 -9.50087739e-03 1.80520042e+00] [ 1.11951195e-01 -1.46641086e-03 9.93712624e-01 2.65734548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.807105680999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:23.86, Y:1.81, Z:2.66 [[ 9.88898036e-01 -9.81629452e-02 -1.11555859e-01 2.38613205e+01] [ 9.77122322e-02 9.95169236e-01 -9.51369775e-03 1.80782409e+00] [ 1.11950852e-01 -1.49229499e-03 9.93712624e-01 2.66052830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837105680999997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:23.89, Y:1.82, Z:2.66 [[ 9.90244651e-01 -8.34958802e-02 -1.11552539e-01 2.38870702e+01] [ 8.29479042e-02 9.96508101e-01 -9.55247292e-03 1.81575604e+00] [ 1.11960601e-01 2.06235909e-04 9.93712625e-01 2.66359924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.867105680999998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:23.92, Y:1.82, Z:2.66 [[ 9.90753792e-01 -7.72952978e-02 -1.11500494e-01 2.39170397e+01] [ 7.66400152e-02 9.97007087e-01 -1.01575691e-02 1.82422629e+00] [ 1.11951915e-01 1.51825055e-03 9.93712465e-01 2.66009141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897105680999996 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:23.94, Y:1.83, Z:2.66 [[ 9.91070895e-01 -7.30429331e-02 -1.11549142e-01 2.39434017e+01] [ 7.24244480e-02 9.97327776e-01 -9.59203659e-03 1.83089611e+00] [ 1.11951688e-01 1.42750326e-03 9.93712625e-01 2.65927613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.927105680999997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:23.97, Y:1.84, Z:2.66 [[ 9.91205063e-01 -7.12030102e-02 -1.11546642e-01 2.39708064e+01] [ 7.05696505e-02 9.97460456e-01 -9.62101668e-03 1.83646725e+00] [ 1.11948410e-01 1.66459288e-03 9.93712626e-01 2.66372350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957105680999998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:24.00, Y:1.84, Z:2.67 [[ 9.91376144e-01 -6.87859806e-02 -1.11542951e-01 2.39973343e+01] [ 6.81325783e-02 9.97629473e-01 -9.66362163e-03 1.84138708e+00] [ 1.11943258e-01 1.98057508e-03 9.93712627e-01 2.66682609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.987105680999996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:24.03, Y:1.84, Z:2.67 [[ 9.91327941e-01 -6.95291582e-02 -1.11510578e-01 2.40259296e+01] [ 6.88385526e-02 9.97577331e-01 -1.00361004e-02 1.84357991e+00] [ 1.11938226e-01 2.27283992e-03 9.93712568e-01 2.66871581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017105680999997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:24.05, Y:1.84, Z:2.67 [[ 9.91234449e-01 -7.08044085e-02 -1.11539241e-01 2.40530926e+01] [ 7.01588819e-02 9.97488601e-01 -9.70680559e-03 1.84281932e+00] [ 1.11946407e-01 1.79625162e-03 9.93712622e-01 2.67091953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.047105680999998 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:24.08, Y:1.85, Z:2.68 [[ 9.90818693e-01 -7.64682136e-02 -1.11494078e-01 2.40822978e+01] [ 7.58002102e-02 9.97070606e-01 -1.02242454e-02 1.84608138e+00] [ 1.11949298e-01 1.67909894e-03 9.93712501e-01 2.67673449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077105680999995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:24.11, Y:1.85, Z:2.69 [[ 9.89949533e-01 -8.69471049e-02 -1.11535295e-01 2.41095976e+01] [ 8.63983667e-02 9.96212929e-01 -9.75303227e-03 1.84779673e+00] [ 1.11960901e-01 1.85424104e-05 9.93712613e-01 2.68562717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.107105680999997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:24.14, Y:1.85, Z:2.69 [[ 9.88858663e-01 -9.86263626e-02 -1.11496126e-01 2.41397060e+01] [ 9.81012434e-02 9.95124171e-01 -1.01995738e-02 1.84776736e+00] [ 1.11958436e-01 -8.51971628e-04 9.93712525e-01 2.68676876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137105680999998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:24.17, Y:1.85, Z:2.68 [[ 9.88314832e-01 -1.03896730e-01 -1.11531443e-01 2.41689672e+01] [ 1.03450360e-01 9.94586361e-01 -9.79764567e-03 1.84588100e+00] [ 1.11945595e-01 -1.85480941e-03 9.93712606e-01 2.68497956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.167105680999995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:24.20, Y:1.85, Z:2.69 [[ 9.88519797e-01 -1.01931638e-01 -1.11528261e-01 2.41966595e+01] [ 1.01468730e-01 9.94790126e-01 -9.83373541e-03 1.84710937e+00] [ 1.11949581e-01 -1.59578882e-03 9.93712607e-01 2.68780522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197105680999996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:24.23, Y:1.85, Z:2.69 [[ 9.89318682e-01 -9.39096392e-02 -1.11487777e-01 2.42251797e+01] [ 9.33442334e-02 9.95580699e-01 -1.02919824e-02 1.85319348e+00] [ 1.11961596e-01 -2.24690661e-04 9.93712509e-01 2.69377787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.227105680999998 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:24.25, Y:1.86, Z:2.70 [[ 9.89908756e-01 -8.74228637e-02 -1.11525322e-01 2.42533879e+01] [ 8.68642082e-02 9.96171289e-01 -9.86777211e-03 1.85842846e+00] [ 1.11960992e-01 8.06352455e-05 9.93712599e-01 2.69857202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257105680999995 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:24.28, Y:1.86, Z:2.70 [[ 9.90735669e-01 -7.74925376e-02 -1.11524618e-01 2.42806988e+01] [ 7.68702199e-02 9.96992196e-01 -9.87572552e-03 1.86319465e+00] [ 1.11954468e-01 1.21131166e-03 9.93712599e-01 2.69955445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.287105680999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:24.31, Y:1.86, Z:2.70 [[ 9.90911513e-01 -7.52160562e-02 -1.11520936e-01 2.43090073e+01] [ 7.45747073e-02 9.97166116e-01 -9.91712167e-03 1.86234058e+00] [ 1.11950826e-01 1.51034885e-03 9.93712600e-01 2.69922518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317105680999997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:24.34, Y:1.86, Z:2.70 [[ 9.90522792e-01 -8.02398565e-02 -1.11472704e-01 2.43388495e+01] [ 7.95695064e-02 9.96774474e-01 -1.04566501e-02 1.86360552e+00] [ 1.11952186e-01 1.48772226e-03 9.93712481e-01 2.69907228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.347105680999995 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:24.37, Y:1.87, Z:2.70 [[ 9.90384122e-01 -8.18766265e-02 -1.11514609e-01 2.43666738e+01] [ 8.12692544e-02 9.96642127e-01 -9.98896922e-03 1.86607506e+00] [ 1.11958020e-01 8.30207386e-04 9.93712590e-01 2.70089772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377105680999996 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:24.39, Y:1.87, Z:2.70 [[ 9.90272469e-01 -8.32177175e-02 -1.11513448e-01 2.43931831e+01] [ 8.26173621e-02 9.96531150e-01 -1.00019203e-02 1.86859199e+00] [ 1.11958961e-01 6.91679436e-04 9.93712591e-01 2.70416067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.407105680999997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:24.42, Y:1.87, Z:2.71 [[ 9.90097198e-01 -8.53714166e-02 -1.11441736e-01 2.44212607e+01] [ 8.46951733e-02 9.96348411e-01 -1.07968658e-02 1.86967958e+00] [ 1.11956540e-01 1.25136941e-03 9.93712316e-01 2.70790184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437105680999995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:24.45, Y:1.87, Z:2.71 [[ 9.89313893e-01 -9.40380876e-02 -1.11421990e-01 2.44510634e+01] [ 9.33920280e-02 9.95568479e-01 -1.10151066e-02 1.86949577e+00] [ 1.11964060e-01 4.91472410e-04 9.93712135e-01 2.71272461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.467105680999996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:24.48, Y:1.87, Z:2.72 [[ 9.88586368e-01 -1.01307004e-01 -1.11507326e-01 2.44788498e+01] [ 1.00813396e-01 9.94854380e-01 -1.00707918e-02 1.87154805e+00] [ 1.11953794e-01 -1.28558480e-03 9.93712582e-01 2.72068769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497105680999997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:24.51, Y:1.88, Z:2.73 [[ 9.88247573e-01 -1.04563724e-01 -1.11504094e-01 2.45068175e+01] [ 1.04086749e-01 9.94516872e-01 -1.01064563e-02 1.87582550e+00] [ 1.11949471e-01 -1.61841766e-03 9.93712583e-01 2.72535818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.527105681 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:24.54, Y:1.88, Z:2.73 [[ 9.87898731e-01 -1.07813107e-01 -1.11500813e-01 2.45358570e+01] [ 1.07352681e-01 9.94169267e-01 -1.01425267e-02 1.88078570e+00] [ 1.11944178e-01 -1.95012193e-03 9.93712583e-01 2.72993333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557105680999996 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:24.56, Y:1.88, Z:2.73 [[ 9.87818209e-01 -1.08548878e-01 -1.11500345e-01 2.45630889e+01] [ 1.08092543e-01 9.94089044e-01 -1.01476667e-02 1.88377429e+00] [ 1.11942789e-01 -2.02830586e-03 9.93712583e-01 2.73187664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.587105680999997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:24.59, Y:1.89, Z:2.74 [[ 9.87522040e-01 -1.11251189e-01 -1.11460276e-01 2.45894392e+01] [ 1.10762508e-01 9.93790519e-01 -1.05863658e-02 1.88790428e+00] [ 1.11945911e-01 -1.89135013e-03 9.93712502e-01 2.73560998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617105680999998 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:24.62, Y:1.90, Z:2.74 [[ 9.87139273e-01 -1.14622598e-01 -1.11434806e-01 2.46182928e+01] [ 1.14123819e-01 9.93407114e-01 -1.08655482e-02 1.89515098e+00] [ 1.11945567e-01 -1.99155634e-03 9.93712345e-01 2.74101391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.647105680999996 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:24.65, Y:1.90, Z:2.75 [[ 9.87490312e-01 -1.11493655e-01 -1.11499094e-01 2.46471083e+01] [ 1.11054585e-01 9.93762369e-01 -1.01603652e-02 1.90195204e+00] [ 1.11936420e-01 -2.34922350e-03 9.93712594e-01 2.74522641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677105680999997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:24.68, Y:1.91, Z:2.75 [[ 9.87712564e-01 -1.09561605e-01 -1.11445709e-01 2.46797417e+01] [ 1.09044005e-01 9.93978819e-01 -1.07476617e-02 1.90502675e+00] [ 1.11952205e-01 -1.53688599e-03 9.93712404e-01 2.74768877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.707105680999998 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:24.71, Y:1.92, Z:2.75 [[ 9.87931957e-01 -1.07403990e-01 -1.11601218e-01 2.47063512e+01] [ 1.07065453e-01 9.94210880e-01 -9.03961981e-03 1.91519680e+00] [ 1.11926037e-01 -3.01810577e-03 9.93711957e-01 2.75394801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737105680999996 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:24.74, Y:1.92, Z:2.76 [[ 9.88234221e-01 -1.04698823e-01 -1.11495651e-01 2.47365925e+01] [ 1.04212719e-01 9.94502776e-01 -1.01949708e-02 1.92416490e+00] [ 1.11950136e-01 -1.54424590e-03 9.93712626e-01 2.75602522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.767105680999997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:24.77, Y:1.93, Z:2.76 [[ 9.88381258e-01 -1.03301043e-01 -1.11496112e-01 2.47658818e+01] [ 1.02806643e-01 9.94649164e-01 -1.01899276e-02 1.92855500e+00] [ 1.11952144e-01 -1.39100743e-03 9.93712626e-01 2.75546696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797105680999998 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:24.80, Y:1.93, Z:2.75 [[ 9.88825204e-01 -9.89615275e-02 -1.11495883e-01 2.47959194e+01] [ 9.84393364e-02 9.95090856e-01 -1.01924321e-02 1.93293908e+00] [ 1.11957192e-01 -8.97046971e-04 9.93712626e-01 2.75346328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.827105680999995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:24.82, Y:1.94, Z:2.75 [[ 9.89186812e-01 -9.52797073e-02 -1.11495414e-01 2.48243924e+01] [ 9.47336171e-02 9.95450427e-01 -1.01975546e-02 1.93782460e+00] [ 1.11959778e-01 -4.75077374e-04 9.93712626e-01 2.75372668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857105680999997 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:24.85, Y:1.95, Z:2.75 [[ 9.89623649e-01 -9.06831861e-02 -1.11452200e-01 2.48535210e+01] [ 9.00549027e-02 9.95879655e-01 -1.06689574e-02 1.94929812e+00] [ 1.11960474e-01 5.21435544e-04 9.93712524e-01 2.75399236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.887105680999998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:24.88, Y:1.96, Z:2.76 [[ 9.90232189e-01 -8.37243966e-02 -1.11491867e-01 2.48822020e+01] [ 8.31007682e-02 9.96488567e-01 -1.02370544e-02 1.95703000e+00] [ 1.11957462e-01 8.72001012e-04 9.93712618e-01 2.75741503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917105680999995 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:24.91, Y:1.96, Z:2.76 [[ 9.90626580e-01 -7.89217934e-02 -1.11491391e-01 2.49109912e+01] [ 7.82672519e-02 9.96879799e-01 -1.02422394e-02 1.96184223e+00] [ 1.11951851e-01 1.42010977e-03 9.93712618e-01 2.75766283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.947105680999996 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:24.94, Y:1.97, Z:2.76 [[ 9.90751586e-01 -7.73415246e-02 -1.11488040e-01 2.49382121e+01] [ 7.66729193e-02 9.97003317e-01 -1.02785924e-02 1.96540105e+00] [ 1.11948907e-01 1.63541824e-03 9.93712618e-01 2.75918681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977105680999998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:24.97, Y:1.97, Z:2.76 [[ 9.90876589e-01 -7.57249492e-02 -1.11486851e-01 2.49652844e+01] [ 7.50446968e-02 9.97127063e-01 -1.02914653e-02 1.97008504e+00] [ 1.11945877e-01 1.83107505e-03 9.93712618e-01 2.76453933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.007105680999995 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:24.99, Y:1.97, Z:2.77 [[ 9.90732871e-01 -7.75851522e-02 -1.11485075e-01 2.49938808e+01] [ 7.69144749e-02 9.96984380e-01 -1.03106743e-02 1.97244708e+00] [ 1.11948833e-01 1.64030798e-03 9.93712618e-01 2.77005883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037105680999996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:25.02, Y:1.97, Z:2.78 [[ 9.90091054e-01 -8.53903191e-02 -1.11481833e-01 2.50212435e+01] [ 8.47649954e-02 9.96347261e-01 -1.03456047e-02 1.97146139e+00] [ 1.11958034e-01 7.93333593e-04 9.93712619e-01 2.77922276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.067105680999997 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:25.05, Y:1.97, Z:2.79 [[ 9.89114395e-01 -9.60456685e-02 -1.11480686e-01 2.50490559e+01] [ 9.54863500e-02 9.95376848e-01 -1.03579507e-02 1.97074461e+00] [ 1.11960130e-01 -3.99685661e-04 9.93712619e-01 2.78696368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097105680999995 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:25.08, Y:1.97, Z:2.79 [[ 9.88565460e-01 -1.01543608e-01 -1.11477471e-01 2.50776227e+01] [ 1.01015228e-01 9.94830599e-01 -1.03924404e-02 1.97142294e+00] [ 1.11956485e-01 -9.87314510e-04 9.93712620e-01 2.78909002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.127105680999996 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:25.11, Y:1.97, Z:2.79 [[ 9.87196952e-01 -1.14083953e-01 -1.11476590e-01 2.51082858e+01] [ 1.13634078e-01 9.93468216e-01 -1.04018796e-02 1.96595911e+00] [ 1.11935137e-01 -2.39883575e-03 9.93712620e-01 2.79228311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157105680999997 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:25.14, Y:1.96, Z:2.80 [[ 9.85602969e-01 -1.27121034e-01 -1.11476590e-01 2.51398661e+01] [ 1.26754081e-01 9.91879632e-01 -1.04018796e-02 1.96267573e+00] [ 1.11893657e-01 -3.87798937e-03 9.93712620e-01 2.79923665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.187105680999995 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:25.17, Y:1.96, Z:2.80 [[ 9.85204547e-01 -1.30172435e-01 -1.11477076e-01 2.51689437e+01] [ 1.29825508e-01 9.91482348e-01 -1.03966694e-02 1.96414544e+00] [ 1.11880913e-01 -4.22972206e-03 9.93712620e-01 2.80419917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217105680999996 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:25.20, Y:1.97, Z:2.81 [[ 9.84532235e-01 -1.35220566e-01 -1.11407702e-01 2.52018168e+01] [ 1.34821936e-01 9.90807230e-01 -1.11390196e-02 1.96661158e+00] [ 1.11889781e-01 -4.05347809e-03 9.93712356e-01 2.80678034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.247105680999997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:25.23, Y:1.97, Z:2.81 [[ 9.84882853e-01 -1.32584026e-01 -1.11477539e-01 2.52318497e+01] [ 1.32253216e-01 9.91161507e-01 -1.03900583e-02 1.96753973e+00] [ 1.11869801e-01 -4.51027275e-03 9.93712637e-01 2.80807977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277105680999995 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:25.26, Y:1.97, Z:2.81 [[ 9.85649065e-01 -1.26799761e-01 -1.11434920e-01 2.52633445e+01] [ 1.26380501e-01 9.91922535e-01 -1.08468520e-02 1.97057475e+00] [ 1.11910187e-01 -3.39201151e-03 9.93712536e-01 2.80914923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.307105680999996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:25.29, Y:1.98, Z:2.81 [[ 9.86586422e-01 -1.19246754e-01 -1.11478441e-01 2.52945391e+01] [ 1.18832211e-01 9.92860096e-01 -1.03795635e-02 1.97604509e+00] [ 1.11920225e-01 -3.00689319e-03 9.93712646e-01 2.81452151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337105680999997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:25.32, Y:1.98, Z:2.82 [[ 9.87490588e-01 -1.11510903e-01 -1.11479406e-01 2.53249878e+01] [ 1.11048375e-01 9.93760906e-01 -1.03691857e-02 1.98136897e+00] [ 1.11940153e-01 -2.14013367e-03 9.93712646e-01 2.82186139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.367105680999998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:25.36, Y:1.99, Z:2.83 [[ 9.87858764e-01 -1.08200269e-01 -1.11479883e-01 2.53563340e+01] [ 1.07717305e-01 9.94127541e-01 -1.03640573e-02 1.98510670e+00] [ 1.11946616e-01 -1.77008768e-03 9.93712646e-01 2.82511473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397105680999996 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:25.39, Y:1.99, Z:2.82 [[ 9.88624079e-01 -1.00968103e-01 -1.11480366e-01 2.53851773e+01] [ 1.00439862e-01 9.94889204e-01 -1.03588598e-02 1.98829245e+00] [ 1.11956527e-01 -9.56054402e-04 9.93712646e-01 2.82418309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.427105680999997 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:25.41, Y:2.00, Z:2.83 [[ 9.89542521e-01 -9.16364908e-02 -1.11392782e-01 2.54141092e+01] [ 9.09434151e-02 9.95791972e-01 -1.12979098e-02 1.99510692e+00] [ 1.11959339e-01 1.04932212e-03 9.93712235e-01 2.82505657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457105680999998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:25.44, Y:2.00, Z:2.83 [[ 9.90660906e-01 -7.86104775e-02 -1.11406289e-01 2.54419042e+01] [ 7.78514890e-02 9.96902576e-01 -1.11534178e-02 2.00245307e+00] [ 1.11937992e-01 2.37610948e-03 9.93712353e-01 2.82833732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.487105680999996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:25.47, Y:2.01, Z:2.83 [[ 9.91115079e-01 -7.25533840e-02 -1.11476033e-01 2.54690742e+01] [ 7.18401789e-02 9.97361865e-01 -1.04066653e-02 2.00630522e+00] [ 1.11936983e-01 2.30574475e-03 9.93712632e-01 2.83203020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517105680999997 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:25.50, Y:2.01, Z:2.83 [[ 9.91724338e-01 -6.36930862e-02 -1.11472096e-01 2.54972242e+01] [ 6.29193662e-02 9.97963917e-01 -1.04486685e-02 2.01052815e+00] [ 1.11910637e-01 3.34844523e-03 9.93712633e-01 2.83282511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.547105680999998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:25.52, Y:2.01, Z:2.83 [[ 9.91869293e-01 -6.14016462e-02 -1.11468129e-01 2.55237877e+01] [ 6.06087802e-02 9.98106466e-01 -1.04908209e-02 2.01331701e+00] [ 1.11901214e-01 3.64957583e-03 9.93712634e-01 2.83419988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577105680999995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:25.55, Y:2.01, Z:2.83 [[ 9.91865169e-01 -6.14713594e-02 -1.11466399e-01 2.55520636e+01] [ 6.06768717e-02 9.98102136e-01 -1.05091722e-02 2.01452984e+00] [ 1.11900864e-01 3.66024955e-03 9.93712634e-01 2.83464182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.607105680999997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:25.58, Y:2.01, Z:2.84 [[ 9.91600213e-01 -6.56135684e-02 -1.11462447e-01 2.55806739e+01] [ 6.48404494e-02 9.97839864e-01 -1.05509143e-02 2.01320582e+00] [ 1.11913957e-01 3.23501367e-03 9.93712635e-01 2.83579522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637105680999998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:25.61, Y:2.01, Z:2.84 [[ 9.91473352e-01 -6.75101179e-02 -1.11458409e-01 2.56081332e+01] [ 6.67441614e-02 9.97713885e-01 -1.05934099e-02 2.01259673e+00] [ 1.11918764e-01 3.06388563e-03 9.93712636e-01 2.83800824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.667105680999995 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:25.64, Y:2.01, Z:2.84 [[ 9.90841084e-01 -7.63191780e-02 -1.11397172e-01 2.56378212e+01] [ 7.55366123e-02 9.97079736e-01 -1.12348190e-02 2.01135347e+00] [ 1.11929295e-01 2.71735525e-03 9.93712458e-01 2.84476142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697105680999996 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:25.67, Y:2.01, Z:2.85 [[ 9.90811698e-01 -7.66175062e-02 -1.11453739e-01 2.56659024e+01] [ 7.59033882e-02 9.97058378e-01 -1.06426351e-02 2.01416496e+00] [ 1.11941296e-01 2.08513096e-03 9.93712634e-01 2.84777673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.727105680999998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:25.69, Y:2.01, Z:2.85 [[ 9.90467035e-01 -8.09567650e-02 -1.11449783e-01 2.56924683e+01] [ 8.02653729e-02 9.96716271e-01 -1.06839055e-02 2.01283754e+00] [ 1.11948746e-01 1.63649789e-03 9.93712635e-01 2.85092628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757105680999995 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:25.72, Y:2.01, Z:2.85 [[ 9.90288262e-01 -8.31172991e-02 -1.11448072e-01 2.57205185e+01] [ 8.24375376e-02 9.96538773e-01 -1.07017145e-02 2.01392386e+00] [ 1.11951823e-01 1.41027755e-03 9.93712635e-01 2.85259810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.787105680999996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:25.75, Y:2.01, Z:2.86 [[ 9.89953582e-01 -8.70178267e-02 -1.11444173e-01 2.57470416e+01] [ 8.63581393e-02 9.96206242e-01 -1.07421748e-02 2.01446634e+00] [ 1.11956141e-01 1.01014300e-03 9.93712636e-01 2.85562877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817105680999997 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:25.77, Y:2.01, Z:2.86 [[ 9.90023155e-01 -8.62261494e-02 -1.11441483e-01 2.57727919e+01] [ 8.55583298e-02 9.96274952e-01 -1.07700039e-02 2.01417591e+00] [ 1.11955014e-01 1.12780604e-03 9.93712636e-01 2.85984392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.847105680999995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:25.80, Y:2.02, Z:2.87 [[ 9.89482632e-01 -9.23750202e-02 -1.11314767e-01 2.58025729e+01] [ 9.15994787e-02 9.95722751e-01 -1.20722165e-02 2.01710423e+00] [ 1.11953817e-01 1.74887391e-03 9.93711872e-01 2.86763993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877105680999996 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:25.83, Y:2.02, Z:2.87 [[ 9.89496535e-01 -9.20783608e-02 -1.11436904e-01 2.58304904e+01] [ 9.14424956e-02 9.95751633e-01 -1.08146009e-02 2.01820840e+00] [ 1.11959270e-01 5.10941483e-04 9.93712665e-01 2.86772275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.907105680999997 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:25.86, Y:2.02, Z:2.87 [[ 9.89699694e-01 -8.98706338e-02 -1.11435117e-01 2.58564887e+01] [ 8.92187454e-02 9.95953142e-01 -1.08329871e-02 2.01803716e+00] [ 1.11957722e-01 7.79302754e-04 9.93712665e-01 2.86612326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937105680999995 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:25.89, Y:2.02, Z:2.87 [[ 9.89703971e-01 -8.99776907e-02 -1.11310670e-01 2.58859894e+01] [ 8.91827275e-02 9.95941653e-01 -1.21105239e-02 2.01904444e+00] [ 1.11948610e-01 2.05884445e-03 9.93711865e-01 2.87065480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.967105680999996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:25.91, Y:2.02, Z:2.88 [[ 9.89699547e-01 -8.99902333e-02 -1.11339857e-01 2.59119945e+01] [ 8.92290119e-02 9.95941102e-01 -1.18112193e-02 2.01839124e+00] [ 1.11950834e-01 1.75481298e-03 9.93712197e-01 2.87723160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997105680999997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:25.94, Y:2.02, Z:2.88 [[ 9.90007362e-01 -8.65571252e-02 -1.11325142e-01 2.59416810e+01] [ 8.57572960e-02 9.96244244e-01 -1.19621080e-02 2.01735095e+00] [ 1.11942438e-01 2.29563176e-03 9.93712041e-01 2.88117285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.027105680999995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:25.97, Y:2.02, Z:2.89 [[ 9.89976484e-01 -8.68308857e-02 -1.11386530e-01 2.59667652e+01] [ 8.61036395e-02 9.96221736e-01 -1.13320472e-02 2.02022877e+00] [ 1.11949654e-01 1.62767456e-03 9.93712547e-01 2.88746471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057105680999996 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:26.00, Y:2.02, Z:2.89 [[ 9.90057743e-01 -8.59900309e-02 -1.11316575e-01 2.59981284e+01] [ 8.51769940e-02 9.96292994e-01 -1.20478270e-02 2.02266079e+00] [ 1.11939917e-01 2.44643320e-03 9.93711965e-01 2.89253619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.087105680999997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:26.02, Y:2.03, Z:2.89 [[ 9.90277545e-01 -8.32673237e-02 -1.11431309e-01 2.60247535e+01] [ 8.25692640e-02 9.96526016e-01 -1.08727632e-02 2.02526464e+00] [ 1.11949544e-01 1.56625210e-03 9.93712658e-01 2.89387103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117105680999995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:26.05, Y:2.02, Z:2.89 [[ 9.90956580e-01 -7.47563789e-02 -1.11429530e-01 2.60502458e+01] [ 7.40026169e-02 9.97198576e-01 -1.08909585e-02 2.02424064e+00] [ 1.11931538e-01 2.54639008e-03 9.93712658e-01 2.89339112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.147105680999996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:26.08, Y:2.02, Z:2.90 [[ 9.91057520e-01 -7.36418205e-02 -1.11273867e-01 2.60785944e+01] [ 7.27051239e-02 9.97275672e-01 -1.24578778e-02 2.02482720e+00] [ 1.11888141e-01 4.25629322e-03 9.93711692e-01 2.89552631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177105680999997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:26.11, Y:2.03, Z:2.90 [[ 9.90754974e-01 -7.76392205e-02 -1.11250768e-01 2.61098102e+01] [ 7.67015908e-02 9.96973337e-01 -1.26898020e-02 2.02966342e+00] [ 1.11899276e-01 4.03937358e-03 9.93711344e-01 2.89890597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.207105680999998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:26.14, Y:2.03, Z:2.90 [[ 9.90932514e-01 -7.50973048e-02 -1.11414302e-01 2.61352863e+01] [ 7.43288099e-02 9.97172663e-01 -1.10411763e-02 2.02841336e+00] [ 1.11928458e-01 2.65976814e-03 9.93712708e-01 2.90194655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237105680999996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:26.17, Y:2.03, Z:2.91 [[ 9.90496086e-01 -8.08112667e-02 -1.11297088e-01 2.61658557e+01] [ 7.99466364e-02 9.96724274e-01 -1.22170377e-02 2.02746890e+00] [ 1.11919784e-01 3.20310023e-03 9.93712082e-01 2.90585749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.267105680999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:26.19, Y:2.02, Z:2.91 [[ 9.90472156e-01 -8.09498557e-02 -1.11409284e-01 2.61920957e+01] [ 8.02126667e-02 9.96716070e-01 -1.10907195e-02 2.02330774e+00] [ 1.11941216e-01 2.04861306e-03 9.93712719e-01 2.91051365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297105680999998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:26.22, Y:2.02, Z:2.91 [[ 9.90328963e-01 -8.28608017e-02 -1.11277278e-01 2.62203179e+01] [ 8.19877023e-02 9.96556109e-01 -1.24072222e-02 2.02407199e+00] [ 1.11922124e-01 3.16386318e-03 9.93711944e-01 2.91363420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.327105680999995 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:26.25, Y:2.02, Z:2.91 [[ 9.90189118e-01 -8.45192746e-02 -1.11274449e-01 2.62497151e+01] [ 8.36534374e-02 9.96417313e-01 -1.24354258e-02 2.02222005e+00] [ 1.11926820e-01 3.00493321e-03 9.93711909e-01 2.91483295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357105680999997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:26.28, Y:2.02, Z:2.92 [[ 9.90298664e-01 -8.32301823e-02 -1.11271258e-01 2.62767981e+01] [ 8.23526759e-02 9.96525267e-01 -1.24671431e-02 2.02178491e+00] [ 1.11922263e-01 3.18270929e-03 9.93711868e-01 2.91578543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.387105680999998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:26.31, Y:2.02, Z:2.92 [[ 9.90306472e-01 -8.31681361e-02 -1.11248154e-01 2.63060326e+01] [ 8.22644545e-02 9.96529654e-01 -1.26967697e-02 2.02030664e+00] [ 1.11918051e-01 3.42192458e-03 9.93711548e-01 2.91557688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417105680999995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:26.33, Y:2.02, Z:2.92 [[ 9.90291069e-01 -8.33167852e-02 -1.11274044e-01 2.63342826e+01] [ 8.24429786e-02 9.96518151e-01 -1.24390499e-02 2.01883064e+00] [ 1.11922986e-01 3.14451642e-03 9.93711909e-01 2.91992675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.447105680999996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:26.37, Y:2.02, Z:2.92 [[ 9.89848750e-01 -8.84439263e-02 -1.11252520e-01 2.63651970e+01] [ 8.75783521e-02 9.96077275e-01 -1.26528616e-02 2.02093348e+00] [ 1.11935176e-01 2.78110684e-03 9.93711619e-01 2.92329225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477105680999998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:26.39, Y:2.02, Z:2.93 [[ 9.89206364e-01 -9.51869397e-02 -1.11401148e-01 2.63923872e+01] [ 9.45304668e-02 9.95459279e-01 -1.11720837e-02 2.01802502e+00] [ 1.11958743e-01 5.20693827e-04 9.93712719e-01 2.92514814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.507105680999995 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:26.42, Y:2.02, Z:2.93 [[ 9.88396013e-01 -1.03265411e-01 -1.11398274e-01 2.64165800e+01] [ 1.02656824e-01 9.94653770e-01 -1.12006627e-02 2.01569838e+00] [ 1.11959354e-01 -3.65102695e-04 9.93712720e-01 2.92899644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537105680999996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:26.44, Y:2.02, Z:2.93 [[ 9.87769789e-01 -1.09235771e-01 -1.11258216e-01 2.64439338e+01] [ 1.08509151e-01 9.94015804e-01 -1.25835379e-02 2.01774292e+00] [ 1.11966997e-01 3.57104060e-04 9.93711862e-01 2.93365202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.567105680999997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:26.47, Y:2.02, Z:2.94 [[ 9.86369763e-01 -1.21238678e-01 -1.11246905e-01 2.64724025e+01] [ 1.20575420e-01 9.92622984e-01 -1.26956319e-02 2.01818279e+00] [ 1.11965436e-01 -8.91054892e-04 9.93711702e-01 2.93542954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597105680999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:26.50, Y:2.02, Z:2.94 [[ 9.85719220e-01 -1.26422773e-01 -1.11242536e-01 2.64987568e+01] [ 1.25787524e-01 9.91975413e-01 -1.27388534e-02 2.01922356e+00] [ 1.11960342e-01 -1.43599065e-03 9.93711638e-01 2.93836509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.627105680999996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:26.52, Y:2.02, Z:2.94 [[ 9.84615162e-01 -1.34764645e-01 -1.11227126e-01 2.65249881e+01] [ 1.34165230e-01 9.90875126e-01 -1.28908841e-02 2.01985355e+00] [ 1.11949428e-01 -2.23025292e-03 9.93711403e-01 2.94171033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657105680999997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:26.56, Y:2.03, Z:2.95 [[ 9.83015776e-01 -1.45994641e-01 -1.11200486e-01 2.65575058e+01] [ 1.45436791e-01 9.89280074e-01 -1.31557825e-02 2.02863191e+00] [ 1.11929099e-01 -3.24030009e-03 9.93710912e-01 2.94566118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.687105680999995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:26.58, Y:2.04, Z:2.95 [[ 9.82812857e-01 -1.47201325e-01 -1.11403136e-01 2.65840842e+01] [ 1.46880174e-01 9.89091677e-01 -1.11296879e-02 2.03680989e+00] [ 1.11826219e-01 -5.42451161e-03 9.93712972e-01 2.95214759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717105680999996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:26.61, Y:2.04, Z:2.96 [[ 9.83336680e-01 -1.43661410e-01 -1.11401851e-01 2.66079675e+01] [ 1.43316199e-01 9.89614223e-01 -1.11425371e-02 2.04033873e+00] [ 1.11845609e-01 -5.00882443e-03 9.93712972e-01 2.96124380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.747105680999997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:26.64, Y:2.05, Z:2.97 [[ 9.83647243e-01 -1.41651729e-01 -1.11233487e-01 2.66377757e+01] [ 1.41105214e-01 9.89911719e-01 -1.28104565e-02 2.05070189e+00] [ 1.11925956e-01 -3.09465478e-03 9.93711731e-01 2.97116977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777105680999995 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:26.66, Y:2.06, Z:2.98 [[ 9.85059347e-01 -1.31335067e-01 -1.11396516e-01 2.66625862e+01] [ 1.30906033e-01 9.91331640e-01 -1.11888247e-02 2.06220901e+00] [ 1.11900376e-01 -3.56081969e-03 9.93713050e-01 2.97691906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.807105680999996 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:26.69, Y:2.07, Z:2.98 [[ 9.84986614e-01 -1.32010765e-01 -1.11240853e-01 2.66944635e+01] [ 1.31412057e-01 9.91246100e-01 -1.27294880e-02 2.07163276e+00] [ 1.11947491e-01 -2.08001400e-03 9.93711947e-01 2.98036346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837105680999997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:26.72, Y:2.08, Z:2.97 [[ 9.85917022e-01 -1.24736177e-01 -1.11393498e-01 2.67243310e+01] [ 1.24262244e-01 9.92186035e-01 -1.12145741e-02 2.08156498e+00] [ 1.11921936e-01 -2.78536654e-03 9.93713098e-01 2.97496594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.867105680999995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:26.75, Y:2.09, Z:2.97 [[ 9.87354565e-01 -1.12794347e-01 -1.11392992e-01 2.67482005e+01] [ 1.12244008e-01 9.93617332e-01 -1.12195949e-02 2.09068601e+00] [ 1.11947514e-01 -1.42547764e-03 9.93713098e-01 2.97145233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897105680999996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:26.78, Y:2.10, Z:2.97 [[ 9.87763790e-01 -1.09342001e-01 -1.11207110e-01 2.67760003e+01] [ 1.08562722e-01 9.94003847e-01 -1.30571098e-02 2.09794099e+00] [ 1.11967985e-01 8.24393683e-04 9.93711473e-01 2.97471697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.927105680999997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:26.81, Y:2.11, Z:2.98 [[ 9.88220311e-01 -1.05118512e-01 -1.11223720e-01 2.68073001e+01] [ 1.04330977e-01 9.94459051e-01 -1.28935236e-02 2.10885664e+00] [ 1.11962784e-01 1.13756247e-03 9.93711749e-01 2.97547470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957105680999994 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:26.84, Y:2.11, Z:2.98 [[ 9.88571504e-01 -1.01582252e-01 -1.11388635e-01 2.68352504e+01] [ 1.00955848e-01 9.94827138e-01 -1.12642267e-02 2.11403887e+00] [ 1.11956682e-01 -1.09840546e-04 9.93713082e-01 2.97638461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.987105680999996 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:26.86, Y:2.12, Z:2.98 [[ 9.89514084e-01 -9.19503180e-02 -1.11386790e-01 2.68605261e+01] [ 9.12609732e-02 9.95763095e-01 -1.12824414e-02 2.12037243e+00] [ 1.11952279e-01 9.98867782e-04 9.93713082e-01 2.97914585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017105680999997 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:26.89, Y:2.13, Z:2.98 [[ 9.89882540e-01 -8.80780683e-02 -1.11242131e-01 2.68905300e+01] [ 8.72049796e-02 9.96109440e-01 -1.26994031e-02 2.12620891e+00] [ 1.11927876e-01 2.87004960e-03 9.93712188e-01 2.98042888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.047105680999998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:26.92, Y:2.13, Z:2.98 [[ 9.90233865e-01 -8.38513073e-02 -1.11381557e-01 2.69183701e+01] [ 8.31055370e-02 9.96476345e-01 -1.13297671e-02 2.12860803e+00] [ 1.11939103e-01 1.96269492e-03 9.93713130e-01 2.98331490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077105680999995 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:26.94, Y:2.13, Z:2.99 [[ 9.90290222e-01 -8.31887815e-02 -1.11377300e-01 2.69448234e+01] [ 8.24341469e-02 9.96531636e-01 -1.13714637e-02 2.13177518e+00] [ 1.11936981e-01 2.07975654e-03 9.93713131e-01 2.98521806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.107105680999997 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:26.97, Y:2.13, Z:2.99 [[ 9.90343380e-01 -8.25560327e-02 -1.11375453e-01 2.69712826e+01] [ 8.17953792e-02 9.96584063e-01 -1.13895319e-02 2.13243124e+00] [ 1.11935276e-01 2.16955018e-03 9.93713131e-01 2.98759698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137105680999998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:27.00, Y:2.13, Z:2.99 [[ 9.90088368e-01 -8.56732036e-02 -1.11288476e-01 2.70014764e+01] [ 8.48370907e-02 9.96319706e-01 -1.22356275e-02 2.13415012e+00] [ 1.11927167e-01 2.67296196e-03 9.93712818e-01 2.98843431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.167105680999995 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:27.03, Y:2.13, Z:2.99 [[ 9.89721259e-01 -8.97132580e-02 -1.11370374e-01 2.70293290e+01] [ 8.89922195e-02 9.95966638e-01 -1.14385931e-02 2.13005875e+00] [ 1.11947370e-01 1.40992205e-03 9.93713137e-01 2.99174981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197105680999996 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:27.06, Y:2.13, Z:3.00 [[ 9.88869794e-01 -9.86614522e-02 -1.11366282e-01 2.70570791e+01] [ 9.79924600e-02 9.95120961e-01 -1.14782978e-02 2.12686132e+00] [ 1.11955387e-01 4.37486105e-04 9.93713138e-01 2.99718030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.227105680999998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:27.08, Y:2.13, Z:3.00 [[ 9.88400230e-01 -1.03264287e-01 -1.11361895e-01 2.70837607e+01] [ 1.02619628e-01 9.94653953e-01 -1.15207005e-02 2.12679136e+00] [ 1.11956226e-01 -4.08532397e-05 9.93713139e-01 3.00041308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257105680999995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:27.11, Y:2.12, Z:3.00 [[ 9.87472778e-01 -1.11787579e-01 -1.11360005e-01 2.71121342e+01] [ 1.11194839e-01 9.93731634e-01 -1.15389390e-02 2.12403627e+00] [ 1.11951870e-01 -9.88269757e-04 9.93713139e-01 3.00236748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.287105680999996 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:27.14, Y:2.12, Z:3.00 [[ 9.86966915e-01 -1.16171034e-01 -1.11357979e-01 2.71400308e+01] [ 1.15603888e-01 9.93228142e-01 -1.15584642e-02 2.12423495e+00] [ 1.11946637e-01 -1.46559349e-03 9.93713139e-01 3.00471597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317105680999997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:27.17, Y:2.12, Z:3.01 [[ 9.86234865e-01 -1.22233819e-01 -1.11353872e-01 2.71683703e+01] [ 1.21700709e-01 9.92499081e-01 -1.15978977e-02 2.12173128e+00] [ 1.11936271e-01 -2.11359409e-03 9.93713140e-01 3.00687225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.347105680999995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:27.20, Y:2.12, Z:3.01 [[ 9.85694473e-01 -1.26521490e-01 -1.11349528e-01 2.71964215e+01] [ 1.26010935e-01 9.91960568e-01 -1.16394497e-02 2.12025429e+00] [ 1.11926982e-01 -2.55831687e-03 9.93713141e-01 3.01317134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377105680999996 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:27.22, Y:2.12, Z:3.02 [[ 9.85751412e-01 -1.26078291e-01 -1.11348186e-01 2.72225438e+01] [ 1.25563470e-01 9.92017157e-01 -1.16522772e-02 2.12140559e+00] [ 1.11928410e-01 -2.49501588e-03 9.93713141e-01 3.01836552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.407105680999997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:27.25, Y:2.13, Z:3.02 [[ 9.85692589e-01 -1.26619657e-01 -1.11254582e-01 2.72519425e+01] [ 1.26007800e-01 9.91949959e-01 -1.25424821e-02 2.12763579e+00] [ 1.11947103e-01 -1.65591350e-03 9.93712788e-01 3.02171632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437105680999995 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:27.28, Y:2.13, Z:3.02 [[ 9.86522043e-01 -1.19904100e-01 -1.11343009e-01 2.72769548e+01] [ 1.19344511e-01 9.92783946e-01 -1.17014529e-02 2.13262271e+00] [ 1.11942604e-01 -1.74443570e-03 9.93713143e-01 3.02391771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.467105680999996 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:27.31, Y:2.14, Z:3.02 [[ 9.86350472e-01 -1.21427404e-01 -1.11212104e-01 2.73076031e+01] [ 1.20737997e-01 9.92600092e-01 -1.29380882e-02 2.13764141e+00] [ 1.11960183e-01 -6.66037252e-04 9.93712470e-01 3.02416612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497105680999997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:27.34, Y:2.14, Z:3.02 [[ 9.86480911e-01 -1.20247084e-01 -1.11337554e-01 2.73365523e+01] [ 1.19684175e-01 9.92742480e-01 -1.17501674e-02 2.14281865e+00] [ 1.11942442e-01 -1.73402733e-03 9.93713179e-01 3.02399588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.527105680999995 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:27.36, Y:2.15, Z:3.03 [[ 9.86095575e-01 -1.23370626e-01 -1.11333756e-01 2.73626892e+01] [ 1.22823501e-01 9.92358543e-01 -1.17860366e-02 2.15039671e+00] [ 1.11937055e-01 -2.05224316e-03 9.93713180e-01 3.03025907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557105680999996 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:27.39, Y:2.15, Z:3.04 [[ 9.86118548e-01 -1.23188322e-01 -1.11332143e-01 2.73874565e+01] [ 1.22638321e-01 9.92381264e-01 -1.18012584e-02 2.15365132e+00] [ 1.11937710e-01 -2.01614736e-03 9.93713180e-01 3.03759134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.587105680999997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:27.42, Y:2.16, Z:3.05 [[ 9.85564482e-01 -1.27662384e-01 -1.11197875e-01 2.74160626e+01] [ 1.26998201e-01 9.91816901e-01 -1.30649463e-02 2.16091032e+00] [ 1.11955834e-01 -1.24558309e-03 9.93712403e-01 3.04720616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617105680999995 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:27.44, Y:2.16, Z:3.05 [[ 9.85539495e-01 -1.27815983e-01 -1.11242878e-01 2.74441693e+01] [ 1.27200509e-01 9.91796458e-01 -1.26418358e-02 2.16393050e+00] [ 1.11946121e-01 -1.69112223e-03 9.93712839e-01 3.05028964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.647105680999996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:27.47, Y:2.17, Z:3.05 [[ 9.85171348e-01 -1.30626759e-01 -1.11238774e-01 2.74727924e+01] [ 1.30024792e-01 9.91429656e-01 -1.26803221e-02 2.17100036e+00] [ 1.11941808e-01 -1.97150843e-03 9.93712808e-01 3.05481219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677105680999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:27.50, Y:2.18, Z:3.06 [[ 9.85123279e-01 -1.30914273e-01 -1.11326448e-01 2.75017393e+01] [ 1.30407024e-01 9.91389634e-01 -1.18575360e-02 2.17873692e+00] [ 1.11920208e-01 -2.83661610e-03 9.93713148e-01 3.05713707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.707105680999994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:27.53, Y:2.18, Z:3.06 [[ 9.85097074e-01 -1.31111774e-01 -1.11325907e-01 2.75301738e+01] [ 1.30605209e-01 9.91363484e-01 -1.18626153e-02 2.18450983e+00] [ 1.11919768e-01 -2.85391574e-03 9.93713148e-01 3.05786867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737105680999996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:27.56, Y:2.19, Z:3.06 [[ 9.85151859e-01 -1.30700338e-01 -1.11324910e-01 2.75575874e+01] [ 1.30190099e-01 9.91417972e-01 -1.18719641e-02 2.18964309e+00] [ 1.11921186e-01 -2.79771358e-03 9.93713148e-01 3.06194429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.767105680999997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:27.59, Y:2.20, Z:3.07 [[ 9.84218251e-01 -1.37632601e-01 -1.11228151e-01 2.75874608e+01] [ 1.37064184e-01 9.90479753e-01 -1.27776438e-02 2.20004465e+00] [ 1.11927852e-01 -2.66940558e-03 9.93712750e-01 3.06603729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797105680999994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:27.62, Y:2.21, Z:3.07 [[ 9.83952033e-01 -1.39447280e-01 -1.11323192e-01 2.76176290e+01] [ 1.38990909e-01 9.90222299e-01 -1.18880772e-02 2.20629913e+00] [ 1.11892467e-01 -3.77561391e-03 9.93713148e-01 3.06889619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.827105680999995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:27.65, Y:2.21, Z:3.07 [[ 9.84005053e-01 -1.39072436e-01 -1.11323463e-01 2.76489043e+01] [ 1.38613963e-01 9.90275165e-01 -1.18855369e-02 2.21124414e+00] [ 1.11893812e-01 -3.73555807e-03 9.93713148e-01 3.07199089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857105680999997 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:27.68, Y:2.22, Z:3.07 [[ 9.84666357e-01 -1.34309830e-01 -1.11324012e-01 2.76781461e+01] [ 1.33821607e-01 9.90934223e-01 -1.18803957e-02 2.22026272e+00] [ 1.11910427e-01 -3.19933223e-03 9.93713148e-01 3.07267508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.887105680999998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:27.71, Y:2.23, Z:3.08 [[ 9.85969821e-01 -1.24380125e-01 -1.11324284e-01 2.77061712e+01] [ 1.23829050e-01 9.92232474e-01 -1.18778448e-02 2.22941951e+00] [ 1.11936938e-01 -2.07398388e-03 9.93713148e-01 3.07519958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917105680999995 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:27.74, Y:2.24, Z:3.08 [[ 9.87069406e-01 -1.15413354e-01 -1.11237339e-01 2.77372503e+01] [ 1.14713699e-01 9.93317524e-01 -1.26910988e-02 2.24196991e+00] [ 1.11958720e-01 -2.33451156e-04 9.93712831e-01 3.08004718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.947105680999996 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:27.77, Y:2.25, Z:3.08 [[ 9.87684879e-01 -1.09934071e-01 -1.11324214e-01 2.77667856e+01] [ 1.09291458e-01 9.93938786e-01 -1.18771752e-02 2.24971246e+00] [ 1.11955160e-01 -4.35879258e-04 9.93713164e-01 3.08108240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977105680999998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:27.79, Y:2.26, Z:3.07 [[ 9.89025704e-01 -9.71340048e-02 -1.11324486e-01 2.77927793e+01] [ 9.64107424e-02 9.95270798e-01 -1.18746213e-02 2.25653061e+00] [ 1.11951440e-01 1.01142930e-03 9.93713164e-01 3.07314194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.007105680999995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:27.82, Y:2.26, Z:3.07 [[ 9.89286137e-01 -9.46066269e-02 -1.11186892e-01 2.78248453e+01] [ 9.37232572e-02 9.95511352e-01 -1.31566948e-02 2.26036026e+00] [ 1.11932523e-01 2.59493810e-03 9.93712421e-01 3.07101766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037105680999996 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:27.85, Y:2.26, Z:3.08 [[ 9.89359962e-01 -9.36738310e-02 -1.11319715e-01 2.78532270e+01] [ 9.29239886e-02 9.95601890e-01 -1.19167518e-02 2.26405278e+00] [ 1.11946406e-01 1.44568520e-03 9.93713194e-01 3.07561344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.067105680999997 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:27.88, Y:2.27, Z:3.08 [[ 9.89345520e-01 -9.38307454e-02 -1.11315918e-01 2.78805622e+01] [ 9.30779151e-02 9.95587087e-01 -1.19521108e-02 2.26896550e+00] [ 1.11946166e-01 1.46371370e-03 9.93713195e-01 3.08258048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097105680999995 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:27.91, Y:2.27, Z:3.09 [[ 9.89202399e-01 -9.53323690e-02 -1.11311967e-01 2.79085280e+01] [ 9.45848862e-02 9.95444608e-01 -1.19887956e-02 2.27086046e+00] [ 1.11947818e-01 1.33091561e-03 9.93713195e-01 3.08646708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.127105680999996 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:27.94, Y:2.27, Z:3.09 [[ 9.88549513e-01 -1.01880777e-01 -1.11311128e-01 2.79376210e+01] [ 1.01173770e-01 9.94796437e-01 -1.19965803e-02 2.26883531e+00] [ 1.11954135e-01 5.97447143e-04 9.93713195e-01 3.09141812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157105680999997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:27.97, Y:2.26, Z:3.10 [[ 9.88106217e-01 -1.06098123e-01 -1.11307194e-01 2.79653291e+01] [ 1.05413680e-01 9.94355653e-01 -1.20329710e-02 2.26291755e+00] [ 1.11955614e-01 1.56552561e-04 9.93713196e-01 3.09552439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.187105680999995 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:27.99, Y:2.26, Z:3.10 [[ 9.87883179e-01 -1.08257688e-01 -1.11207456e-01 2.79948515e+01] [ 1.07483342e-01 9.94122509e-01 -1.29525400e-02 2.26360228e+00] [ 1.11956048e-01 8.42647408e-04 9.93712802e-01 3.10161589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217105680999996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:28.02, Y:2.27, Z:3.11 [[ 9.87647646e-01 -1.10370079e-01 -1.11223080e-01 2.80233052e+01] [ 1.09625274e-01 9.93890455e-01 -1.28087084e-02 2.26611882e+00] [ 1.11957256e-01 4.57630092e-04 9.93712918e-01 3.11249704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.247105680999997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:28.05, Y:2.27, Z:3.12 [[ 9.87686463e-01 -1.09941345e-01 -1.11302969e-01 2.80520336e+01] [ 1.09276770e-01 9.93938048e-01 -1.20724473e-02 2.26869634e+00] [ 1.11955517e-01 -2.39036240e-04 9.93713191e-01 3.11880596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277105680999995 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:28.08, Y:2.26, Z:3.12 [[ 9.87671409e-01 -1.10077051e-01 -1.11302431e-01 2.80813277e+01] [ 1.09412777e-01 9.93923026e-01 -1.20774020e-02 2.26456577e+00] [ 1.11955494e-01 -2.49403370e-04 9.93713191e-01 3.11725428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.307105680999996 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:28.11, Y:2.26, Z:3.12 [[ 9.87694376e-01 -1.09871589e-01 -1.11301633e-01 2.81077557e+01] [ 1.09205186e-01 9.93945766e-01 -1.20847518e-02 2.26487341e+00] [ 1.11955558e-01 -2.18674137e-04 9.93713191e-01 3.11933503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337105680999997 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:28.14, Y:2.27, Z:3.12 [[ 9.86862780e-01 -1.17203521e-01 -1.11198869e-01 2.81377523e+01] [ 1.16477356e-01 9.93107912e-01 -1.30269018e-02 2.26582006e+00] [ 1.11959276e-01 -9.63857752e-05 9.93712791e-01 3.12210690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.367105680999995 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:28.17, Y:2.27, Z:3.13 [[ 9.86685253e-01 -1.18596782e-01 -1.11296969e-01 2.81654128e+01] [ 1.17980890e-01 9.92941814e-01 -1.21270098e-02 2.26649735e+00] [ 1.11949638e-01 -1.16537363e-03 9.93713198e-01 3.12784531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397105680999996 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:28.20, Y:2.26, Z:3.13 [[ 9.86370175e-01 -1.21193191e-01 -1.11292806e-01 2.81952341e+01] [ 1.20589471e-01 9.92627921e-01 -1.21650896e-02 2.26468275e+00] [ 1.11946673e-01 -1.42145908e-03 9.93713199e-01 3.13437396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.427105680999997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:28.22, Y:2.26, Z:3.14 [[ 9.86390391e-01 -1.21028807e-01 -1.11292519e-01 2.82230092e+01] [ 1.20423749e-01 9.92648008e-01 -1.21677163e-02 2.26202248e+00] [ 1.11946941e-01 -1.40014391e-03 9.93713199e-01 3.13821047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457105680999994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:28.25, Y:2.26, Z:3.14 [[ 9.86299055e-01 -1.21838953e-01 -1.11218000e-01 2.82527507e+01] [ 1.21162298e-01 9.92549557e-01 -1.28480922e-02 2.26412637e+00] [ 1.11954775e-01 -8.03367337e-04 9.93712978e-01 3.14360582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.487105680999996 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:28.28, Y:2.27, Z:3.14 [[ 9.87077778e-01 -1.15291429e-01 -1.11289474e-01 2.82817217e+01] [ 1.14646794e-01 9.93331449e-01 -1.21961130e-02 2.26630471e+00] [ 1.11953442e-01 -7.20469313e-04 9.93713192e-01 3.14444193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517105680999997 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:28.31, Y:2.27, Z:3.14 [[ 9.87924763e-01 -1.07793810e-01 -1.11288625e-01 2.83087173e+01] [ 1.07100841e-01 9.94173262e-01 -1.22038592e-02 2.26912467e+00] [ 1.11955676e-01 1.37389374e-04 9.93713192e-01 3.14409832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.547105680999994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:28.34, Y:2.27, Z:3.14 [[ 9.89067312e-01 -9.68815497e-02 -1.11174717e-01 2.83360159e+01] [ 9.60036246e-02 9.95292982e-01 -1.32357395e-02 2.27054330e+00] [ 1.11933715e-01 2.41786153e-03 9.93712734e-01 3.13863447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577105680999995 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:28.37, Y:2.27, Z:3.14 [[ 9.89439855e-01 -9.30508333e-02 -1.11131972e-01 2.83651986e+01] [ 9.21056248e-02 9.95656086e-01 -1.36203140e-02 2.26976111e+00] [ 1.11916606e-01 3.24060177e-03 9.93712318e-01 3.13712736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.607105680999997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:28.40, Y:2.27, Z:3.14 [[ 9.89020508e-01 -9.74226583e-02 -1.11118223e-01 2.83968863e+01] [ 9.64910553e-02 9.95238958e-01 -1.37438517e-02 2.27325352e+00] [ 1.11928147e-01 2.87103652e-03 9.93712155e-01 3.14213707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637105680999994 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:28.43, Y:2.27, Z:3.15 [[ 9.88550235e-01 -1.01913070e-01 -1.11275146e-01 2.84252702e+01] [ 1.01168897e-01 9.94792874e-01 -1.23285256e-02 2.27371180e+00] [ 1.11952160e-01 9.29783050e-04 9.93713163e-01 3.14517979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.667105680999995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:28.45, Y:2.27, Z:3.15 [[ 9.88075637e-01 -1.06420306e-01 -1.11271087e-01 2.84514186e+01] [ 1.05700497e-01 9.94321130e-01 -1.23650555e-02 2.27319120e+00] [ 1.11955086e-01 4.56200917e-04 9.93713163e-01 3.14761944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697105680999996 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:28.48, Y:2.28, Z:3.15 [[ 9.87561688e-01 -1.11181499e-01 -1.11178172e-01 2.84817784e+01] [ 1.10398053e-01 9.93799828e-01 -1.31974325e-02 2.27608760e+00] [ 1.11956158e-01 7.59424953e-04 9.93712857e-01 3.15269961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.727105680999998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:28.51, Y:2.27, Z:3.16 [[ 9.87265742e-01 -1.13693220e-01 -1.11266372e-01 2.85083671e+01] [ 1.13014720e-01 9.93515851e-01 -1.24067513e-02 2.27458825e+00] [ 1.11955468e-01 -3.25977411e-04 9.93713171e-01 3.15820982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757105680999995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:28.54, Y:2.27, Z:3.16 [[ 9.86918779e-01 -1.16743509e-01 -1.11185776e-01 2.85385476e+01] [ 1.16003280e-01 9.93162096e-01 -1.31258929e-02 2.27261741e+00] [ 1.11957862e-01 5.62754468e-05 9.93712954e-01 3.16348069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.787105680999996 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:28.56, Y:2.27, Z:3.17 [[ 9.86689740e-01 -1.18616001e-01 -1.11236687e-01 2.85622998e+01] [ 1.17938744e-01 9.92940011e-01 -1.26723035e-02 2.27498148e+00] [ 1.11954495e-01 -6.15483218e-04 9.93713144e-01 3.17055351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817105680999997 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:28.59, Y:2.28, Z:3.18 [[ 9.85941398e-01 -1.24771212e-01 -1.11138222e-01 2.85912735e+01] [ 1.24033895e-01 9.92185449e-01 -1.35509549e-02 2.27747061e+00] [ 1.11960496e-01 -4.24459171e-04 9.93712568e-01 3.17696866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.847105680999995 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:28.62, Y:2.28, Z:3.18 [[ 9.85401398e-01 -1.28927600e-01 -1.11183446e-01 2.86199310e+01] [ 1.28262162e-01 9.91653150e-01 -1.31471665e-02 2.28048946e+00] [ 1.11950447e-01 -1.30539284e-03 9.93712933e-01 3.18195326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877105680999996 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:28.65, Y:2.28, Z:3.19 [[ 9.84764541e-01 -1.33688942e-01 -1.11202812e-01 2.86452784e+01] [ 1.33073211e-01 9.91021282e-01 -1.29745569e-02 2.28229320e+00] [ 1.11938908e-01 -2.02123180e-03 9.93713035e-01 3.18598197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.907105680999997 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:28.68, Y:2.29, Z:3.19 [[ 9.84216282e-01 -1.37725462e-01 -1.11130588e-01 2.86760876e+01] [ 1.37062929e-01 9.90468751e-01 -1.36164085e-02 2.28634838e+00] [ 1.11946700e-01 -1.83039289e-03 9.93712527e-01 3.18765660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937105680999995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:28.70, Y:2.29, Z:3.19 [[ 9.85041340e-01 -1.31588869e-01 -1.11256137e-01 2.87010445e+01] [ 1.31013416e-01 9.91301794e-01 -1.24995453e-02 2.29108989e+00] [ 1.11933210e-01 -2.26347774e-03 9.93713154e-01 3.19030417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.967105680999996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:28.73, Y:2.30, Z:3.19 [[ 9.85317249e-01 -1.29586847e-01 -1.11162802e-01 2.87312768e+01] [ 1.28905581e-01 9.91567349e-01 -1.33245491e-02 2.29692519e+00] [ 1.11952091e-01 -1.20059748e-03 9.93712880e-01 3.19324226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997105680999997 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:28.76, Y:2.30, Z:3.20 [[ 9.86600629e-01 -1.19344435e-01 -1.11247938e-01 2.87580793e+01] [ 1.18683164e-01 9.92852590e-01 -1.25714391e-02 2.30116111e+00] [ 1.11953135e-01 -8.00267634e-04 9.93713165e-01 3.19538433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.027105680999995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:28.79, Y:2.31, Z:3.20 [[ 9.86945410e-01 -1.16561104e-01 -1.11140756e-01 2.87886399e+01] [ 1.15775738e-01 9.93183410e-01 -1.35163860e-02 2.30608630e+00] [ 1.11958640e-01 4.72532065e-04 9.93712755e-01 3.19524027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057105680999996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:28.81, Y:2.31, Z:3.20 [[ 9.88065013e-01 -1.06548235e-01 -1.11242998e-01 2.88146450e+01] [ 1.05801068e-01 9.94307292e-01 -1.26152071e-02 2.30917202e+00] [ 1.11953852e-01 6.95016871e-04 9.93713164e-01 3.19516940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.087105680999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:28.84, Y:2.31, Z:3.20 [[ 9.88591388e-01 -1.01637864e-01 -1.11161198e-01 2.88442684e+01] [ 1.00778943e-01 9.94819496e-01 -1.33331988e-02 2.31264606e+00] [ 1.11940485e-01 1.97837752e-03 9.93712943e-01 3.19580818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117105680999995 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:28.87, Y:2.32, Z:3.20 [[ 9.89240954e-01 -9.50213325e-02 -1.11235255e-01 2.88721694e+01] [ 9.41937115e-02 9.95473085e-01 -1.26839461e-02 2.31570091e+00] [ 1.11936948e-01 2.06981738e-03 9.93713156e-01 3.19834913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.147105680999996 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:28.90, Y:2.32, Z:3.20 [[ 9.89386858e-01 -9.34955239e-02 -1.11230540e-01 2.88994322e+01] [ 9.26536604e-02 9.95617080e-01 -1.27251618e-02 2.31779847e+00] [ 1.11932771e-01 2.28419118e-03 9.93713156e-01 3.20141918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177105680999997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:28.93, Y:2.32, Z:3.21 [[ 9.89306168e-01 -9.43511391e-02 -1.11225757e-01 2.89272782e+01] [ 9.35099804e-02 9.95536484e-01 -1.27668350e-02 2.31676727e+00] [ 1.11933864e-01 2.22959028e-03 9.93713157e-01 3.20680844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.207105680999994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:28.96, Y:2.32, Z:3.21 [[ 9.88857577e-01 -9.90216778e-02 -1.11154848e-01 2.89569572e+01] [ 9.81407505e-02 9.95082561e-01 -1.33824127e-02 2.31967729e+00] [ 1.11933400e-01 2.32448001e-03 9.93712992e-01 3.20859366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237105680999996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:28.98, Y:2.32, Z:3.21 [[ 9.87997602e-01 -1.07194569e-01 -1.11220787e-01 2.89836068e+01] [ 1.06429548e-01 9.94237725e-01 -1.28100744e-02 2.32018953e+00] [ 1.11953073e-01 8.19144735e-04 9.93713157e-01 3.21219228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.267105680999997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:29.01, Y:2.32, Z:3.21 [[ 9.86777287e-01 -1.17947249e-01 -1.11171187e-01 2.90126583e+01] [ 1.17201800e-01 9.93019861e-01 -1.32398191e-02 2.31971839e+00] [ 1.11956797e-01 3.52895008e-05 9.93713074e-01 3.21418344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297105680999994 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:29.04, Y:2.32, Z:3.22 [[ 9.86175952e-01 -1.22870459e-01 -1.11174828e-01 2.90413103e+01] [ 1.22159731e-01 9.92422562e-01 -1.32082638e-02 2.32113038e+00] [ 1.11955313e-01 -5.55414992e-04 9.93713087e-01 3.21799886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.327105680999995 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:29.07, Y:2.32, Z:3.22 [[ 9.84897879e-01 -1.32731579e-01 -1.11168773e-01 2.90696435e+01] [ 1.32077478e-01 9.91150693e-01 -1.32606368e-02 2.32295332e+00] [ 1.11945111e-01 -1.62251806e-03 9.93713067e-01 3.21777974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357105680999997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:29.10, Y:2.33, Z:3.22 [[ 9.84555551e-01 -1.35209475e-01 -1.11214953e-01 2.90972104e+01] [ 1.34616182e-01 9.90814346e-01 -1.28613894e-02 2.32533290e+00] [ 1.11932352e-01 -2.30857991e-03 9.93713147e-01 3.22168762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.387105680999994 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:29.12, Y:2.33, Z:3.23 [[ 9.83729455e-01 -1.41132603e-01 -1.11166303e-01 2.91241734e+01] [ 1.40529544e-01 9.89987399e-01 -1.32814196e-02 2.33048247e+00] [ 1.11927680e-01 -2.55682622e-03 9.93713066e-01 3.22867820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417105680999995 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:29.15, Y:2.34, Z:3.24 [[ 9.82932204e-01 -1.46593113e-01 -1.11151889e-01 2.91520070e+01] [ 1.46010780e-01 9.89192166e-01 -1.34056348e-02 2.33545071e+00] [ 1.11915751e-01 -3.05254378e-03 9.93713010e-01 3.23572449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.447105680999996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:29.18, Y:2.34, Z:3.24 [[ 9.82126551e-01 -1.51903388e-01 -1.11143147e-01 2.91784290e+01] [ 1.51346401e-01 9.88388858e-01 -1.34807919e-02 2.33763763e+00] [ 1.11900426e-01 -3.58127164e-03 9.93712971e-01 3.24150646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477105680999994 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:29.21, Y:2.34, Z:3.24 [[ 9.81564135e-01 -1.55528059e-01 -1.11098479e-01 2.92077902e+01] [ 1.54951015e-01 9.87824887e-01 -1.38627289e-02 2.34209122e+00] [ 1.11901886e-01 -3.60766461e-03 9.93712711e-01 3.24397157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.507105680999995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:29.24, Y:2.35, Z:3.25 [[ 9.81525074e-01 -1.55743514e-01 -1.11141739e-01 2.92358456e+01] [ 1.55209639e-01 9.87789403e-01 -1.34930429e-02 2.34547176e+00] [ 1.11886086e-01 -4.00650931e-03 9.93712962e-01 3.24707535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537105680999996 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:29.26, Y:2.35, Z:3.25 [[ 9.80415128e-01 -1.62584482e-01 -1.11141639e-01 2.92643870e+01] [ 1.62094208e-01 9.86683020e-01 -1.34938955e-02 2.35408066e+00] [ 1.11855466e-01 -4.78579668e-03 9.93712962e-01 3.25156845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.567105680999997 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:29.29, Y:2.36, Z:3.25 [[ 9.79594726e-01 -1.67419486e-01 -1.11197516e-01 2.92909362e+01] [ 1.67014159e-01 9.85868570e-01 -1.30166621e-02 2.36381478e+00] [ 1.11805379e-01 -5.82050616e-03 9.93713077e-01 3.25154934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597105680999995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:29.32, Y:2.37, Z:3.25 [[ 9.79727122e-01 -1.66644365e-01 -1.11195419e-01 2.93170130e+01] [ 1.66232048e-01 9.86000510e-01 -1.30345534e-02 2.36929677e+00] [ 1.11810875e-01 -5.71393674e-03 9.93713077e-01 3.25243159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.627105680999996 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:29.35, Y:2.38, Z:3.25 [[ 9.79647200e-01 -1.67185856e-01 -1.11086688e-01 2.93474101e+01] [ 1.66671987e-01 9.85913534e-01 -1.39625379e-02 2.37918547e+00] [ 1.11856208e-01 -4.83667789e-03 9.93712632e-01 3.25274400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657105680999997 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:29.38, Y:2.39, Z:3.25 [[ 9.79888636e-01 -1.65689751e-01 -1.11198772e-01 2.93758857e+01] [ 1.65274714e-01 9.86161827e-01 -1.30045830e-02 2.38560014e+00] [ 1.11814711e-01 -5.63530213e-03 9.93713094e-01 3.25294312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.687105680999995 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:29.40, Y:2.40, Z:3.26 [[ 9.80603902e-01 -1.61403280e-01 -1.11197883e-01 2.94039955e+01] [ 1.60959955e-01 9.86875157e-01 -1.30121849e-02 2.39503164e+00] [ 1.11838637e-01 -5.13860697e-03 9.93713094e-01 3.25585673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717105680999996 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:29.43, Y:2.41, Z:3.26 [[ 9.81537559e-01 -1.55663585e-01 -1.11143458e-01 2.94321528e+01] [ 1.55131054e-01 9.87801972e-01 -1.34766333e-02 2.41011502e+00] [ 1.11885548e-01 -4.01398006e-03 9.93712993e-01 3.26297524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.747105680999997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:29.46, Y:2.42, Z:3.27 [[ 9.82118028e-01 -1.51918678e-01 -1.11197547e-01 2.94605721e+01] [ 1.51414492e-01 9.88384678e-01 -1.30145986e-02 2.41870770e+00] [ 1.11883112e-01 -4.05504817e-03 9.93713100e-01 3.26755467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777105680999995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:29.49, Y:2.43, Z:3.27 [[ 9.83147617e-01 -1.45118094e-01 -1.11182293e-01 2.94910655e+01] [ 1.44555831e-01 9.89409331e-01 -1.31448534e-02 2.42923275e+00] [ 1.11912354e-01 -3.14871744e-03 9.93713093e-01 3.27142078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.807105680999996 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:29.52, Y:2.44, Z:3.27 [[ 9.84514168e-01 -1.35525965e-01 -1.11196072e-01 2.95207790e+01] [ 1.34915958e-01 9.90771404e-01 -1.30272423e-02 2.44075878e+00] [ 1.11935418e-01 -2.17661999e-03 9.93713100e-01 3.27349932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837105680999997 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:29.55, Y:2.45, Z:3.28 [[ 9.85105244e-01 -1.31159798e-01 -1.11196972e-01 2.95510979e+01] [ 1.30522923e-01 9.91359802e-01 -1.30195595e-02 2.44737690e+00] [ 1.11943851e-01 -1.68811744e-03 9.93713100e-01 3.27636313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.867105680999995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:29.58, Y:2.46, Z:3.28 [[ 9.86039719e-01 -1.23938580e-01 -1.11197581e-01 2.95815078e+01] [ 1.23256482e-01 9.92289507e-01 -1.30143567e-02 2.45526982e+00] [ 1.11953174e-01 -8.73149988e-04 9.93713100e-01 3.27936277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897105680999996 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:29.61, Y:2.46, Z:3.29 [[ 9.86588346e-01 -1.19492249e-01 -1.11198190e-01 2.96107879e+01] [ 1.18782572e-01 9.92835063e-01 -1.30091475e-02 2.46456666e+00] [ 1.11955955e-01 -3.73733638e-04 9.93713100e-01 3.28606304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.927105680999997 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:29.64, Y:2.47, Z:3.29 [[ 9.86886114e-01 -1.17040368e-01 -1.11163622e-01 2.96377654e+01] [ 1.16281928e-01 9.93127137e-01 -1.33042245e-02 2.46943235e+00] [ 1.11956741e-01 2.03434141e-04 9.93713061e-01 3.29423815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957105680999994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:29.67, Y:2.47, Z:3.30 [[ 9.87239207e-01 -1.14081490e-01 -1.11104283e-01 2.96671515e+01] [ 1.13247456e-01 9.93470839e-01 -1.38095957e-02 2.47404649e+00] [ 1.11954285e-01 1.05109683e-03 9.93712802e-01 3.30015555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.987105680999996 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:29.70, Y:2.48, Z:3.30 [[ 9.87599749e-01 -1.10825181e-01 -1.11195845e-01 2.96969727e+01] [ 1.10058513e-01 9.93839717e-01 -1.30284272e-02 2.47606131e+00] [ 1.11954725e-01 6.28822089e-04 9.93713110e-01 3.30214922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017105680999997 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:29.73, Y:2.48, Z:3.31 [[ 9.88299780e-01 -1.04398092e-01 -1.11196144e-01 2.97286058e+01] [ 1.03591133e-01 9.94534667e-01 -1.30258748e-02 2.47706944e+00] [ 1.11948296e-01 1.35453469e-03 9.93713110e-01 3.30545939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.047105680999994 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:29.76, Y:2.48, Z:3.31 [[ 9.89026476e-01 -9.72723477e-02 -1.11196762e-01 2.97592882e+01] [ 9.64210667e-02 9.95255466e-01 -1.30205942e-02 2.47854067e+00] [ 1.11935729e-01 2.15600198e-03 9.93713110e-01 3.30800297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077105680999995 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:29.79, Y:2.48, Z:3.31 [[ 9.89145776e-01 -9.60663815e-02 -1.11184011e-01 2.97889779e+01] [ 9.51952879e-02 9.95372030e-01 -1.31293353e-02 2.48065831e+00] [ 1.11930742e-01 2.40263264e-03 9.93713106e-01 3.31150665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.107105680999997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:29.82, Y:2.48, Z:3.30 [[ 9.89247340e-01 -9.50038105e-02 -1.11193417e-01 2.98188980e+01] [ 9.41350332e-02 9.95473914e-01 -1.30491888e-02 2.47526845e+00] [ 1.11929868e-01 2.44167931e-03 9.93713109e-01 3.30393118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137105680999994 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:29.85, Y:2.47, Z:3.31 [[ 9.89129148e-01 -9.62290924e-02 -1.11191237e-01 2.98478570e+01] [ 9.53659448e-02 9.95356504e-01 -1.30677333e-02 2.47371023e+00] [ 1.11932417e-01 2.32181850e-03 9.93713109e-01 3.30519361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.167105680999995 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:29.88, Y:2.46, Z:3.31 [[ 9.88370552e-01 -1.03735835e-01 -1.11186907e-01 2.98771567e+01] [ 1.02915858e-01 9.94603740e-01 -1.31044756e-02 2.46350388e+00] [ 1.11946317e-01 1.50918184e-03 9.93713110e-01 3.30901051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197105680999996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:29.90, Y:2.46, Z:3.32 [[ 9.87939807e-01 -1.07763371e-01 -1.11184506e-01 2.99043870e+01] [ 1.06966517e-01 9.94175992e-01 -1.31248177e-02 2.46263576e+00] [ 1.11951341e-01 1.07351061e-03 9.93713110e-01 3.31523076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.227105680999994 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:29.93, Y:2.46, Z:3.32 [[ 9.87474931e-01 -1.11944633e-01 -1.11183005e-01 2.99327986e+01] [ 1.11172755e-01 9.93714257e-01 -1.31375219e-02 2.46229348e+00] [ 1.11954812e-01 6.12452520e-04 9.93713110e-01 3.32084020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257105680999995 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:29.96, Y:2.46, Z:3.32 [[ 9.86814212e-01 -1.17630696e-01 -1.11178824e-01 2.99611934e+01] [ 1.16890794e-01 9.93057410e-01 -1.31728072e-02 2.45746769e+00] [ 1.11956481e-01 3.33233114e-06 9.93713111e-01 3.32496258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.287105680999996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:29.99, Y:2.45, Z:3.32 [[ 9.85689590e-01 -1.26781263e-01 -1.11096998e-01 2.99928275e+01] [ 1.26021641e-01 9.91930642e-01 -1.38617576e-02 2.45285162e+00] [ 1.11957927e-01 -3.37235731e-04 9.93712891e-01 3.32493742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317105680999994 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:30.02, Y:2.45, Z:3.33 [[ 9.85236267e-01 -1.30191200e-01 -1.11174409e-01 3.00207637e+01] [ 1.29526632e-01 9.91487940e-01 -1.32104969e-02 2.45280766e+00] [ 1.11947976e-01 -1.38458618e-03 9.93713104e-01 3.32858029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.347105680999995 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:30.05, Y:2.45, Z:3.33 [[ 9.84240521e-01 -1.37517880e-01 -1.11172967e-01 3.00483373e+01] [ 1.36898475e-01 9.90496830e-01 -1.32226191e-02 2.45305717e+00] [ 1.11934818e-01 -2.20517225e-03 9.93713104e-01 3.33337902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377105680999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:30.08, Y:2.45, Z:3.34 [[ 9.83784701e-01 -1.40745430e-01 -1.11168282e-01 3.00765263e+01] [ 1.40142113e-01 9.90042580e-01 -1.32618966e-02 2.45259723e+00] [ 1.11927884e-01 -2.53250689e-03 9.93713105e-01 3.33694142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.407105680999997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:30.10, Y:2.45, Z:3.34 [[ 9.83744558e-01 -1.41026870e-01 -1.11166838e-01 3.01039029e+01] [ 1.40423977e-01 9.90002479e-01 -1.32739904e-02 2.45362329e+00] [ 1.11927434e-01 -2.55227359e-03 9.93713105e-01 3.34055045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437105680999995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:30.13, Y:2.45, Z:3.34 [[ 9.84175493e-01 -1.37991362e-01 -1.11161970e-01 3.01327648e+01] [ 1.37364578e-01 9.90431064e-01 -1.33146283e-02 2.45489565e+00] [ 1.11935572e-01 -2.16578624e-03 9.93713106e-01 3.34336378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.467105680999996 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:30.16, Y:2.46, Z:3.35 [[ 9.84801525e-01 -1.33453865e-01 -1.11157643e-01 3.01587166e+01] [ 1.32794190e-01 9.91053714e-01 -1.33506613e-02 2.45794713e+00] [ 1.11944892e-01 -1.61333745e-03 9.93713107e-01 3.34798685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497105680999997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:30.19, Y:2.46, Z:3.35 [[ 9.85638211e-01 -1.27213328e-01 -1.11058931e-01 3.01879272e+01] [ 1.26421905e-01 9.91875377e-01 -1.41682159e-02 2.46252247e+00] [ 1.11959005e-01 -7.55467502e-05 9.93712823e-01 3.34919842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.527105680999995 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:30.22, Y:2.47, Z:3.35 [[ 9.86620240e-01 -1.19273216e-01 -1.11150358e-01 3.02166159e+01] [ 1.18516901e-01 9.92861469e-01 -1.34107275e-02 2.46513406e+00] [ 1.11956449e-01 5.80992642e-05 9.93713113e-01 3.35383865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557105680999996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:30.25, Y:2.47, Z:3.36 [[ 9.87129378e-01 -1.15019454e-01 -1.11113080e-01 3.02456976e+01] [ 1.14201541e-01 9.93362873e-01 -1.37189896e-02 2.46950984e+00] [ 1.11953559e-01 8.53132756e-04 9.93713074e-01 3.35551476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.587105680999997 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:30.27, Y:2.47, Z:3.36 [[ 9.87457565e-01 -1.12133932e-01 -1.11146473e-01 3.02729489e+01] [ 1.11328869e-01 9.93692694e-01 -1.34429372e-02 2.47187242e+00] [ 1.11952847e-01 9.00518938e-04 9.93713112e-01 3.35979296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617105680999995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:30.30, Y:2.48, Z:3.36 [[ 9.87901830e-01 -1.08198927e-01 -1.11098903e-01 3.03014622e+01] [ 1.07324901e-01 9.94127733e-01 -1.38353127e-02 2.47575584e+00] [ 1.11943466e-01 1.74425192e-03 9.93713046e-01 3.35951761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.647105680999996 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:30.33, Y:2.48, Z:3.36 [[ 9.88257313e-01 -1.04856194e-01 -1.11142530e-01 3.03303299e+01] [ 1.04001551e-01 9.94485841e-01 -1.34755455e-02 2.47926939e+00] [ 1.11942667e-01 1.75831083e-03 9.93713111e-01 3.36155944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677105680999997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:30.36, Y:2.48, Z:3.36 [[ 9.88388246e-01 -1.03619403e-01 -1.11138177e-01 3.03579602e+01] [ 1.02752942e-01 9.94615140e-01 -1.35113517e-02 2.48271485e+00] [ 1.11939752e-01 1.93468650e-03 9.93713112e-01 3.36443646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.707105680999994 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:30.38, Y:2.49, Z:3.37 [[ 9.88749592e-01 -1.00118380e-01 -1.11133052e-01 3.03837719e+01] [ 9.92251500e-02 9.94972701e-01 -1.35533774e-02 2.48629755e+00] [ 1.11931295e-01 2.37370262e-03 9.93713113e-01 3.37113118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737105680999996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:30.41, Y:2.49, Z:3.37 [[ 9.88679666e-01 -1.00848618e-01 -1.11094885e-01 3.04117054e+01] [ 9.99249361e-02 9.94898366e-01 -1.38653799e-02 2.48972111e+00] [ 1.11926424e-01 2.60726987e-03 9.93713076e-01 3.37486067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.767105680999997 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:30.44, Y:2.49, Z:3.38 [[ 9.88191594e-01 -1.05493327e-01 -1.11123942e-01 3.04396515e+01] [ 1.04625506e-01 9.94418306e-01 -1.36284767e-02 2.48967706e+00] [ 1.11941396e-01 1.84114738e-03 9.93713104e-01 3.38040194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797105680999994 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:30.47, Y:2.49, Z:3.39 [[ 9.87134272e-01 -1.14968485e-01 -1.11122352e-01 3.04667779e+01] [ 1.14158981e-01 9.93368833e-01 -1.36414297e-02 2.49008314e+00] [ 1.11953816e-01 7.80308329e-04 9.93713105e-01 3.38609804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.827105680999995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:30.49, Y:2.49, Z:3.39 [[ 9.86432059e-01 -1.20850160e-01 -1.11117195e-01 3.04943030e+01] [ 1.20073113e-01 9.92670748e-01 -1.36833129e-02 2.49189177e+00] [ 1.11956420e-01 1.55471054e-04 9.93713105e-01 3.38848405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857105680999997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:30.52, Y:2.49, Z:3.39 [[ 9.85041072e-01 -1.31712533e-01 -1.11112082e-01 3.05241966e+01] [ 1.30999610e-01 9.91287413e-01 -1.37247031e-02 2.48996974e+00] [ 1.11951724e-01 -1.03624319e-03 9.93713106e-01 3.38735436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.887105680999994 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:30.55, Y:2.49, Z:3.39 [[ 9.83705222e-01 -1.41347596e-01 -1.11107579e-01 3.05518851e+01] [ 1.40691739e-01 9.89957811e-01 -1.37610606e-02 2.48911956e+00] [ 1.11936909e-01 -2.09509149e-03 9.93713107e-01 3.38990027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917105680999995 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:30.58, Y:2.49, Z:3.40 [[ 9.83374221e-01 -1.43636299e-01 -1.11102456e-01 3.05781301e+01] [ 1.42990337e-01 9.89627839e-01 -1.38023014e-02 2.49111587e+00] [ 1.11932595e-01 -2.31375026e-03 9.93713108e-01 3.39682420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.947105680999996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:30.60, Y:2.49, Z:3.41 [[ 9.83573575e-01 -1.42299671e-01 -1.11057761e-01 3.06040459e+01] [ 1.41604744e-01 9.89821989e-01 -1.41607279e-02 2.49285419e+00] [ 1.11942481e-01 -1.79818805e-03 9.93713061e-01 3.40522586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977105680999994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:30.63, Y:2.50, Z:3.41 [[ 9.84066513e-01 -1.38902630e-01 -1.10991697e-01 3.06334614e+01] [ 1.38126553e-01 9.90305656e-01 -1.46888824e-02 2.49504460e+00] [ 1.11956030e-01 -8.76063297e-04 9.93712775e-01 3.41110412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.007105680999995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:30.66, Y:2.50, Z:3.41 [[ 9.84975786e-01 -1.32232459e-01 -1.11073299e-01 3.06624024e+01] [ 1.31487643e-01 9.91218427e-01 -1.40367209e-02 2.49862864e+00] [ 1.11954011e-01 -7.78936015e-04 9.93713084e-01 3.41349902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037105680999996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:30.69, Y:2.50, Z:3.41 [[ 9.85395556e-01 -1.29064661e-01 -1.11076152e-01 3.06903235e+01] [ 1.28302345e-01 9.91636081e-01 -1.40139348e-02 2.50331829e+00] [ 1.11955824e-01 -4.42061667e-04 9.93713086e-01 3.41440641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.067105680999994 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:30.72, Y:2.51, Z:3.42 [[ 9.86373717e-01 -1.21353513e-01 -1.11086519e-01 3.07174230e+01] [ 1.20551720e-01 9.92609290e-01 -1.39312734e-02 2.50876298e+00] [ 1.11956119e-01 3.49771108e-04 9.93713090e-01 3.41574262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097105680999995 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:30.75, Y:2.51, Z:3.41 [[ 9.87224793e-01 -1.14228257e-01 -1.11081560e-01 3.07461626e+01] [ 1.13377025e-01 9.93453809e-01 -1.39707010e-02 2.51473077e+00] [ 1.11950248e-01 1.19812556e-03 9.93713091e-01 3.41204363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.127105680999996 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:30.77, Y:2.52, Z:3.41 [[ 9.87483959e-01 -1.11970288e-01 -1.11076931e-01 3.07742121e+01] [ 1.11100685e-01 9.93710436e-01 -1.40074069e-02 2.51982549e+00] [ 1.11946719e-01 1.49136648e-03 9.93713091e-01 3.41053654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157105680999997 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:30.80, Y:2.53, Z:3.41 [[ 9.87706352e-01 -1.09992929e-01 -1.11075280e-01 3.08020492e+01] [ 1.09109390e-01 9.93930866e-01 -1.40204917e-02 2.52604070e+00] [ 1.11943304e-01 1.72877269e-03 9.93713091e-01 3.41227059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.187105680999995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:30.83, Y:2.53, Z:3.42 [[ 9.87900111e-01 -1.08243567e-01 -1.11070703e-01 3.08294449e+01] [ 1.07344941e-01 9.94122464e-01 -1.40566552e-02 2.53035809e+00] [ 1.11939424e-01 1.96369316e-03 9.93713092e-01 3.41515848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217105680999996 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:30.86, Y:2.53, Z:3.42 [[ 9.87861747e-01 -1.08595535e-01 -1.11068354e-01 3.08559282e+01] [ 1.07697042e-01 9.94084119e-01 -1.40751939e-02 2.53440043e+00] [ 1.11939790e-01 1.94261245e-03 9.93713092e-01 3.41615403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.247105680999997 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:30.88, Y:2.54, Z:3.42 [[ 9.87542325e-01 -1.11466390e-01 -1.11064843e-01 3.08843184e+01] [ 1.10582878e-01 9.93766842e-01 -1.41028421e-02 2.53830993e+00] [ 1.11944551e-01 1.64528347e-03 9.93713093e-01 3.41931516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277105680999995 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:30.91, Y:2.54, Z:3.42 [[ 9.86817775e-01 -1.17712901e-01 -1.11060128e-01 3.09115724e+01] [ 1.16864626e-01 9.93047191e-01 -1.41398743e-02 2.53916703e+00] [ 1.11952394e-01 9.74478997e-04 9.93713093e-01 3.42415854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.307105680999996 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:30.94, Y:2.54, Z:3.43 [[ 9.86212960e-01 -1.22678501e-01 -1.11058466e-01 3.09400156e+01] [ 1.21860122e-01 9.92446374e-01 -1.41529194e-02 2.54133997e+00] [ 1.11955831e-01 4.24194261e-04 9.93713093e-01 3.43197005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337105680999997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:30.97, Y:2.54, Z:3.44 [[ 9.84753421e-01 -1.33894530e-01 -1.11053841e-01 3.09683492e+01] [ 1.33143064e-01 9.90995254e-01 -1.41891202e-02 2.54103574e+00] [ 1.11953675e-01 -8.13263952e-04 9.93713094e-01 3.44096979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.367105680999995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:31.00, Y:2.54, Z:3.44 [[ 9.83113258e-01 -1.45456710e-01 -1.11043535e-01 3.09975470e+01] [ 1.44769552e-01 9.89362499e-01 -1.42696113e-02 2.54042557e+00] [ 1.11937920e-01 -2.04707865e-03 9.93713093e-01 3.44272928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397105680999996 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:31.02, Y:2.54, Z:3.45 [[ 9.82376269e-01 -1.50350216e-01 -1.11048094e-01 3.10247184e+01] [ 1.49698202e-01 9.88629273e-01 -1.42340438e-02 2.54324755e+00] [ 1.11925488e-01 -2.64051310e-03 9.93713094e-01 3.44624041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.427105680999997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:31.05, Y:2.55, Z:3.45 [[ 9.82320040e-01 -1.50721102e-01 -1.11042736e-01 3.10526948e+01] [ 1.50066740e-01 9.88572798e-01 -1.42757225e-02 2.54705993e+00] [ 1.11925480e-01 -2.64049303e-03 9.93713095e-01 3.44942933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457105680999994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:31.08, Y:2.55, Z:3.45 [[ 9.81206257e-01 -1.57813134e-01 -1.11037364e-01 3.10795966e+01] [ 1.57199248e-01 9.87463118e-01 -1.43173794e-02 2.55161835e+00] [ 1.11904772e-01 -3.40668790e-03 9.93713096e-01 3.45273863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.487105680999996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:31.11, Y:2.56, Z:3.46 [[ 9.80625486e-01 -1.61380034e-01 -1.11041172e-01 3.11079090e+01] [ 1.60792239e-01 9.86884853e-01 -1.42878812e-02 2.55614949e+00] [ 1.11890629e-01 -3.84349812e-03 9.93713095e-01 3.45548653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517105680999997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.13, Y:2.56, Z:3.46 [[ 9.80408788e-01 -1.62698078e-01 -1.11031272e-01 3.11349539e+01] [ 1.62110043e-01 9.86668130e-01 -1.43644017e-02 2.56078930e+00] [ 1.11888078e-01 -3.91629865e-03 9.93713098e-01 3.46000892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.547105680999994 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:31.16, Y:2.57, Z:3.47 [[ 9.80938817e-01 -1.59474990e-01 -1.11025969e-01 3.11593051e+01] [ 1.58861764e-01 9.87195739e-01 -1.44052735e-02 2.56738841e+00] [ 1.11901645e-01 -3.50708950e-03 9.93713099e-01 3.46975227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577105680999995 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:31.19, Y:2.58, Z:3.48 [[ 9.81662429e-01 -1.55025426e-01 -1.10932383e-01 3.11859063e+01] [ 1.54302672e-01 9.87907870e-01 -1.51236538e-02 2.57803656e+00] [ 1.11935525e-01 -2.27084037e-03 9.93712877e-01 3.47694927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.607105680999997 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:31.21, Y:2.59, Z:3.48 [[ 9.81801290e-01 -1.54135415e-01 -1.10943685e-01 3.12141239e+01] [ 1.53416790e-01 9.88047154e-01 -1.50369653e-02 2.58564401e+00] [ 1.11935321e-01 -2.25731208e-03 9.93712931e-01 3.48202145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637105680999994 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:31.24, Y:2.59, Z:3.48 [[ 9.82509307e-01 -1.49501106e-01 -1.11017478e-01 3.12408147e+01] [ 1.48816924e-01 9.88758875e-01 -1.44709857e-02 2.59447896e+00] [ 1.11932945e-01 -2.30340151e-03 9.93713092e-01 3.48290805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.667105680999995 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:31.27, Y:2.60, Z:3.48 [[ 9.83116608e-01 -1.45458101e-01 -1.11012053e-01 3.12673687e+01] [ 1.44743531e-01 9.89362774e-01 -1.45124853e-02 2.60041774e+00] [ 1.11942151e-01 -1.80081130e-03 9.93713093e-01 3.48107249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697105680999996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:31.30, Y:2.61, Z:3.47 [[ 9.84838405e-01 -1.33304778e-01 -1.11009691e-01 3.12958479e+01] [ 1.32511083e-01 9.91075010e-01 -1.45305358e-02 2.60954843e+00] [ 1.11955920e-01 -3.99784639e-04 9.93713093e-01 3.47490177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.727105680999994 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:31.32, Y:2.62, Z:3.47 [[ 9.86582521e-01 -1.19719771e-01 -1.11004976e-01 3.13231788e+01] [ 1.18836161e-01 9.92807023e-01 -1.45664666e-02 2.62050074e+00] [ 1.11950413e-01 1.17961619e-03 9.93713094e-01 3.47488050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757105680999995 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:31.35, Y:2.63, Z:3.48 [[ 9.87295922e-01 -1.13691293e-01 -1.11000238e-01 3.13511730e+01] [ 1.12765631e-01 9.93514308e-01 -1.46024801e-02 2.62681930e+00] [ 1.11940500e-01 1.89995708e-03 9.93713095e-01 3.47786428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.787105680999996 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:31.38, Y:2.63, Z:3.48 [[ 9.87996742e-01 -1.07430126e-01 -1.11000931e-01 3.13784055e+01] [ 1.06465653e-01 9.94209227e-01 -1.45972147e-02 2.63072264e+00] [ 1.11926330e-01 2.60421399e-03 9.93713095e-01 3.47661975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817105680999994 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:31.41, Y:2.63, Z:3.48 [[ 9.87789658e-01 -1.09323226e-01 -1.10995602e-01 3.14058584e+01] [ 1.08366121e-01 9.94003282e-01 -1.46376274e-02 2.63323964e+00] [ 1.11930225e-01 2.43073415e-03 9.93713096e-01 3.48012858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.847105680999995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:31.43, Y:2.64, Z:3.48 [[ 9.87457808e-01 -1.12286554e-01 -1.10990122e-01 3.14328890e+01] [ 1.11343441e-01 9.93673570e-01 -1.46790650e-02 2.63641622e+00] [ 1.11936212e-01 2.13693529e-03 9.93713096e-01 3.48400784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877105680999996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:31.46, Y:2.64, Z:3.48 [[ 9.86727233e-01 -1.18540246e-01 -1.10984579e-01 3.14619422e+01] [ 1.17631832e-01 9.92948160e-01 -1.47208508e-02 2.63811021e+00] [ 1.11946947e-01 1.47014501e-03 9.93713097e-01 3.48277114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.907105680999994 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:31.49, Y:2.64, Z:3.49 [[ 9.85861442e-01 -1.25541740e-01 -1.10979679e-01 3.14898835e+01] [ 1.24673361e-01 9.92088082e-01 -1.47577004e-02 2.63847650e+00] [ 1.11954324e-01 7.12838140e-04 9.93713098e-01 3.48668905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937105680999995 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:31.52, Y:2.64, Z:3.49 [[ 9.85455953e-01 -1.28690776e-01 -1.10974089e-01 3.15184602e+01] [ 1.27837574e-01 9.91684691e-01 -1.47996183e-02 2.64086441e+00] [ 1.11955880e-01 3.97713675e-04 9.93713099e-01 3.49194251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.967105680999996 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:31.54, Y:2.64, Z:3.50 [[ 9.85000146e-01 -1.32138356e-01 -1.10969217e-01 3.15441140e+01] [ 1.31302849e-01 9.91231281e-01 -1.48360598e-02 2.64371064e+00] [ 1.11956572e-01 4.29467486e-05 9.93713100e-01 3.49952122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997105680999997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:31.57, Y:2.65, Z:3.50 [[ 9.84759861e-01 -1.33975585e-01 -1.10898870e-01 3.15734764e+01] [ 1.33092575e-01 9.90984565e-01 -1.53609436e-02 2.64813792e+00] [ 1.11957060e-01 3.67024485e-04 9.93712978e-01 3.50270333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.027105680999995 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:31.60, Y:2.65, Z:3.50 [[ 9.84971516e-01 -1.32366330e-01 -1.10951644e-01 3.16019235e+01] [ 1.31517450e-01 9.91200854e-01 -1.49675762e-02 2.65189924e+00] [ 1.11956568e-01 1.50558958e-04 9.93713090e-01 3.50344909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.05710568099999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:31.63, Y:2.65, Z:3.50 [[ 9.85058517e-01 -1.31709869e-01 -1.10960485e-01 3.16301441e+01] [ 1.30864253e-01 9.91288296e-01 -1.49017484e-02 2.65494474e+00] [ 1.11956537e-01 1.58333174e-04 9.93713092e-01 3.50386606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.08710568099999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:31.66, Y:2.66, Z:3.50 [[ 9.84903021e-01 -1.32869091e-01 -1.10958747e-01 3.16579506e+01] [ 1.32029350e-01 9.91133595e-01 -1.49146823e-02 2.65801997e+00] [ 1.11956642e-01 3.97045178e-05 9.93713092e-01 3.50311735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.11710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:31.68, Y:2.66, Z:3.51 [[ 9.84649275e-01 -1.34738034e-01 -1.10957054e-01 3.16849276e+01] [ 1.33908701e-01 9.90881242e-01 -1.49272599e-02 2.66237642e+00] [ 1.11956534e-01 -1.59999420e-04 9.93713092e-01 3.50823712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.14710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:31.71, Y:2.67, Z:3.51 [[ 9.84304924e-01 -1.37235554e-01 -1.10951424e-01 3.17114785e+01] [ 1.36417330e-01 9.90538359e-01 -1.49689923e-02 2.66661086e+00] [ 1.11955920e-01 -4.01644198e-04 9.93713093e-01 3.51272623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17710568099999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:31.74, Y:2.67, Z:3.52 [[ 9.83995204e-01 -1.39440894e-01 -1.10948977e-01 3.17395295e+01] [ 1.38634597e-01 9.90230193e-01 -1.49871091e-02 2.66772478e+00] [ 1.11954843e-01 -6.34123330e-04 9.93713093e-01 3.51885929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.207105680999994 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:31.77, Y:2.67, Z:3.52 [[ 9.83787600e-01 -1.40901995e-01 -1.10944064e-01 3.17671417e+01] [ 1.40100867e-01 9.90023255e-01 -1.50233917e-02 2.67027699e+00] [ 1.11954029e-01 -7.63533012e-04 9.93713094e-01 3.52247620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:31.79, Y:2.67, Z:3.53 [[ 9.83577488e-01 -1.42365636e-01 -1.10938502e-01 3.17939537e+01] [ 1.41569166e-01 9.89813738e-01 -1.50643552e-02 2.67397039e+00] [ 1.11953099e-01 -8.88510516e-04 9.93713094e-01 3.52809170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.26710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:31.82, Y:2.68, Z:3.54 [[ 9.83536813e-01 -1.42647705e-01 -1.10936785e-01 3.18212464e+01] [ 1.41851600e-01 9.89773109e-01 -1.50769874e-02 2.68239081e+00] [ 1.11952944e-01 -9.07788223e-04 9.93713095e-01 3.53572047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.29710568099999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:31.85, Y:2.69, Z:3.54 [[ 9.83479285e-01 -1.43047483e-01 -1.10932026e-01 3.18483069e+01] [ 1.42249972e-01 9.89715401e-01 -1.51119236e-02 2.68813611e+00] [ 1.11952857e-01 -9.17813655e-04 9.93713095e-01 3.53840646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.32710568099999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:31.88, Y:2.69, Z:3.54 [[ 9.83255301e-01 -1.44583228e-01 -1.10926570e-01 3.18761514e+01] [ 1.43790951e-01 9.89492084e-01 -1.51518646e-02 2.69348159e+00] [ 1.11951668e-01 -1.05208587e-03 9.93713096e-01 3.53695959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:31.90, Y:2.70, Z:3.54 [[ 9.82367326e-01 -1.50499522e-01 -1.10924889e-01 3.19032144e+01] [ 1.49743415e-01 9.88608597e-01 -1.51641618e-02 2.70199209e+00] [ 1.11943498e-01 -1.71349461e-03 9.93713096e-01 3.53903815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.387105680999994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:31.93, Y:2.71, Z:3.54 [[ 9.81761237e-01 -1.54407831e-01 -1.10919316e-01 3.19305700e+01] [ 1.53671976e-01 9.88004928e-01 -1.52048202e-02 2.70887585e+00] [ 1.11936574e-01 -2.11768730e-03 9.93713097e-01 3.54366530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.417105680999995 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:31.96, Y:2.72, Z:3.55 [[ 9.80691231e-01 -1.61067435e-01 -1.10914339e-01 3.19576960e+01] [ 1.60369879e-01 9.86939316e-01 -1.52410396e-02 2.71798800e+00] [ 1.11920557e-01 -2.84056523e-03 9.93713098e-01 3.54512357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.44710568099999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:31.98, Y:2.73, Z:3.55 [[ 9.79991679e-01 -1.65271618e-01 -1.10912588e-01 3.19831819e+01] [ 1.64599424e-01 9.86242542e-01 -1.52537723e-02 2.72533688e+00] [ 1.11907728e-01 -3.30757811e-03 9.93713098e-01 3.54742334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:32.01, Y:2.73, Z:3.55 [[ 9.79610491e-01 -1.67586389e-01 -1.10806533e-01 3.20110450e+01] [ 1.66842089e-01 9.85853442e-01 -1.60221367e-02 2.73151768e+00] [ 1.11924094e-01 -2.79174029e-03 9.93712837e-01 3.55230774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.50710568099999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:32.04, Y:2.74, Z:3.56 [[ 9.79433192e-01 -1.68623385e-01 -1.10800612e-01 3.20379433e+01] [ 1.67880850e-01 9.85676385e-01 -1.60650002e-02 2.73839824e+00] [ 1.11922481e-01 -2.86670651e-03 9.93712806e-01 3.55942331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:32.07, Y:2.75, Z:3.56 [[ 9.79959429e-01 -1.65542847e-01 -1.10792976e-01 3.20675059e+01] [ 1.64774446e-01 9.86199534e-01 -1.61202153e-02 2.74897907e+00] [ 1.11932568e-01 -2.45869433e-03 9.93712763e-01 3.56483120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.567105680999994 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:32.09, Y:2.76, Z:3.57 [[ 9.81002511e-01 -1.59168189e-01 -1.10903389e-01 3.20928130e+01] [ 1.58449473e-01 9.87248208e-01 -1.53212535e-02 2.75559490e+00] [ 1.11927829e-01 -2.54239542e-03 9.93713086e-01 3.56865875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.597105680999995 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:32.12, Y:2.77, Z:3.58 [[ 9.83021106e-01 -1.46255891e-01 -1.10809383e-01 3.21222792e+01] [ 1.45378411e-01 9.89246719e-01 -1.60014732e-02 2.76902903e+00] [ 1.11958128e-01 -3.79506221e-04 9.93712853e-01 3.57690804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.62710568099999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:32.15, Y:2.78, Z:3.58 [[ 9.84871338e-01 -1.33228782e-01 -1.10808572e-01 3.21521396e+01] [ 1.32268298e-01 9.91084690e-01 -1.60073417e-02 2.78210183e+00] [ 1.11953318e-01 1.10871080e-03 9.93712849e-01 3.57952469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.65710568099999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:32.18, Y:2.79, Z:3.58 [[ 9.85707438e-01 -1.26808623e-01 -1.10907261e-01 3.21824988e+01] [ 1.25888137e-01 9.91926579e-01 -1.52917916e-02 2.78870311e+00] [ 1.11950991e-01 1.11132424e-03 9.93713108e-01 3.58123713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.68710568099999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:32.21, Y:2.80, Z:3.58 [[ 9.86792160e-01 -1.18071582e-01 -1.10906869e-01 3.22121392e+01] [ 1.17095719e-01 9.93002853e-01 -1.52946373e-02 2.79668679e+00] [ 1.11936699e-01 2.10590866e-03 9.93713108e-01 3.57766562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71710568099999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:32.24, Y:2.80, Z:3.57 [[ 9.87364349e-01 -1.13186908e-01 -1.10907013e-01 3.22410063e+01] [ 1.12180440e-01 9.93570156e-01 -1.52935922e-02 2.80297012e+00] [ 1.11924932e-01 2.65875023e-03 9.93713108e-01 3.57444081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.747105680999994 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:32.27, Y:2.81, Z:3.58 [[ 9.87565980e-01 -1.11415131e-01 -1.10905829e-01 3.22697778e+01] [ 1.10396567e-01 9.93769813e-01 -1.53021720e-02 2.80761054e+00] [ 1.11919758e-01 2.86828177e-03 9.93713108e-01 3.57710456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.777105680999995 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:32.30, Y:2.81, Z:3.58 [[ 9.87900278e-01 -1.08411709e-01 -1.10905101e-01 3.22983432e+01] [ 1.07373693e-01 9.94100886e-01 -1.53074479e-02 2.81126814e+00] [ 1.11910366e-01 3.21394174e-03 9.93713108e-01 3.57717430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.80710568099999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:32.32, Y:2.81, Z:3.58 [[ 9.88277622e-01 -1.04921553e-01 -1.10899997e-01 3.23245814e+01] [ 1.03857507e-01 9.94473815e-01 -1.53443374e-02 2.81290078e+00] [ 1.11897095e-01 3.64666814e-03 9.93713109e-01 3.58009378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.83710568099999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:32.35, Y:2.82, Z:3.58 [[ 9.88080398e-01 -1.06830907e-01 -1.10834489e-01 3.23535713e+01] [ 1.05725894e-01 9.94269515e-01 -1.58166567e-02 2.81527795e+00] [ 1.11889061e-01 3.91005303e-03 9.93713012e-01 3.58445188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.86710568099999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:32.38, Y:2.81, Z:3.59 [[ 9.87862110e-01 -1.08771421e-01 -1.10892871e-01 3.23829414e+01] [ 1.07725706e-01 9.94061431e-01 -1.53962240e-02 2.81084642e+00] [ 1.11908995e-01 3.26333359e-03 9.93713101e-01 3.58791581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89710568099999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:32.41, Y:2.81, Z:3.60 [[ 9.87208112e-01 -1.14560135e-01 -1.10887870e-01 3.24114113e+01] [ 1.13546742e-01 9.93412797e-01 -1.54321592e-02 2.81032022e+00] [ 1.11925339e-01 2.64379635e-03 9.93713102e-01 3.59624237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.92710568099999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:32.44, Y:2.81, Z:3.60 [[ 9.86861780e-01 -1.17511072e-01 -1.10882706e-01 3.24383599e+01] [ 1.16512077e-01 9.93068800e-01 -1.54691765e-02 2.81248411e+00] [ 1.11931955e-01 2.34676476e-03 9.93713103e-01 3.59913650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.957105680999994 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:32.47, Y:2.81, Z:3.60 [[ 9.85898281e-01 -1.25388730e-01 -1.10825291e-01 3.24680060e+01] [ 1.24393251e-01 9.92105928e-01 -1.58791429e-02 2.81125551e+00] [ 1.11941494e-01 1.86930149e-03 9.93713041e-01 3.60237309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.98710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:32.50, Y:2.81, Z:3.60 [[ 9.85176585e-01 -1.30897763e-01 -1.10873223e-01 3.24984800e+01] [ 1.29975476e-01 9.91395467e-01 -1.55371454e-02 2.80592391e+00] [ 1.11952989e-01 8.96031838e-04 9.93713100e-01 3.60059934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.01710568099999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:32.53, Y:2.81, Z:3.60 [[ 9.84786252e-01 -1.33806958e-01 -1.10868099e-01 3.25279451e+01] [ 1.32898935e-01 9.91007233e-01 -1.55736294e-02 2.80672869e+00] [ 1.11954948e-01 6.02443921e-04 9.93713101e-01 3.60173492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.04710568099999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:32.56, Y:2.81, Z:3.61 [[ 9.84453615e-01 -1.36236622e-01 -1.10863265e-01 3.25568352e+01] [ 1.35340087e-01 9.90676260e-01 -1.56079608e-02 2.80654368e+00] [ 1.11955981e-01 3.61069526e-04 9.93713101e-01 3.60503876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.07710568099999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:32.58, Y:2.81, Z:3.61 [[ 9.84367460e-01 -1.36861941e-01 -1.10858074e-01 3.25846978e+01] [ 1.35965216e-01 9.90590078e-01 -1.56447481e-02 2.80901973e+00] [ 1.11956079e-01 3.27339072e-04 9.93713102e-01 3.61243474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.10710568099999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:32.61, Y:2.81, Z:3.62 [[ 9.84407950e-01 -1.36574670e-01 -1.10852823e-01 3.26117123e+01] [ 1.35671949e-01 9.90629699e-01 -1.56818677e-02 2.80840988e+00] [ 1.11955844e-01 3.97736683e-04 9.93713103e-01 3.62306063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.137105680999994 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:32.64, Y:2.81, Z:3.63 [[ 9.84788557e-01 -1.33804183e-01 -1.10850974e-01 3.26400547e+01] [ 1.32882488e-01 9.91007524e-01 -1.56949277e-02 2.80811409e+00] [ 1.11954196e-01 7.26032023e-04 9.93713103e-01 3.62606817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16710568099999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:32.67, Y:2.81, Z:3.63 [[ 9.85237430e-01 -1.30462969e-01 -1.10845031e-01 3.26671775e+01] [ 1.29515477e-01 9.91452518e-01 -1.57367832e-02 2.80894975e+00] [ 1.11950653e-01 1.14832073e-03 9.93713104e-01 3.62734606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.19710568099999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:32.70, Y:2.81, Z:3.63 [[ 9.85569126e-01 -1.27973324e-01 -1.10798585e-01 3.26967879e+01] [ 1.26973449e-01 9.91776044e-01 -1.60630737e-02 2.80912185e+00] [ 1.11943028e-01 1.76279092e-03 9.93713063e-01 3.62825712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.22710568099999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:32.72, Y:2.81, Z:3.63 [[ 9.85480236e-01 -1.28621981e-01 -1.10838126e-01 3.27247093e+01] [ 1.27657403e-01 9.91692698e-01 -1.57854680e-02 2.81209361e+00] [ 1.11947719e-01 1.40695932e-03 9.93713102e-01 3.63198007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.25710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:32.75, Y:2.81, Z:3.64 [[ 9.85169555e-01 -1.30984821e-01 -1.10832869e-01 3.27520418e+01] [ 1.30031001e-01 9.91383676e-01 -1.58222912e-02 2.81261225e+00] [ 1.11950378e-01 1.17593058e-03 9.93713103e-01 3.63642735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.28710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:32.78, Y:2.81, Z:3.64 [[ 9.85124685e-01 -1.31323421e-01 -1.10831018e-01 3.27800212e+01] [ 1.30370280e-01 9.91338910e-01 -1.58352474e-02 2.81408084e+00] [ 1.11950640e-01 1.15062222e-03 9.93713103e-01 3.63930488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317105680999994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:32.81, Y:2.82, Z:3.64 [[ 9.85089898e-01 -1.31639686e-01 -1.10765005e-01 3.28079379e+01] [ 1.30636654e-01 9.91296366e-01 -1.62966130e-02 2.81832112e+00] [ 1.11946228e-01 1.58365924e-03 9.93713004e-01 3.64258482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.347105680999995 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:32.84, Y:2.82, Z:3.64 [[ 9.84239625e-01 -1.37857947e-01 -1.10758964e-01 3.28372626e+01] [ 1.36889389e-01 9.90451584e-01 -1.63387295e-02 2.81954467e+00] [ 1.11953815e-01 9.19498085e-04 9.93712986e-01 3.64208803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.37710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:32.87, Y:2.82, Z:3.65 [[ 9.83104039e-01 -1.45686450e-01 -1.10823768e-01 3.28658085e+01] [ 1.44818296e-01 9.89330719e-01 -1.58867444e-02 2.82323805e+00] [ 1.11955842e-01 -4.30986763e-04 9.93713089e-01 3.64517213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.40710568099999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:32.89, Y:2.83, Z:3.65 [[ 9.82617644e-01 -1.48935654e-01 -1.10818486e-01 3.28934282e+01] [ 1.48083943e-01 9.88846595e-01 -1.59235076e-02 2.82792094e+00] [ 1.11954060e-01 -7.63718808e-04 9.93713090e-01 3.64659559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.43710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:32.92, Y:2.83, Z:3.65 [[ 9.81730854e-01 -1.54674517e-01 -1.10816625e-01 3.29209507e+01] [ 1.53857756e-01 9.87964483e-01 -1.59364462e-02 2.83257850e+00] [ 1.11947852e-01 -1.40469643e-03 9.93713090e-01 3.64917471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.46710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:32.95, Y:2.84, Z:3.66 [[ 9.80878823e-01 -1.59992877e-01 -1.10810712e-01 3.29473490e+01] [ 1.59205280e-01 9.87116204e-01 -1.59774535e-02 2.83636696e+00] [ 1.11939329e-01 -1.96970474e-03 9.93713091e-01 3.65595646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497105680999994 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:32.97, Y:2.84, Z:3.66 [[ 9.80477226e-01 -1.62437314e-01 -1.10808521e-01 3.29746305e+01] [ 1.61663552e-01 9.86716338e-01 -1.59926400e-02 2.84045696e+00] [ 1.11934379e-01 -2.23327970e-03 9.93713091e-01 3.66094999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.527105680999995 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:33.00, Y:2.85, Z:3.67 [[ 9.80140939e-01 -1.64455486e-01 -1.10806734e-01 3.30006199e+01] [ 1.63693172e-01 9.86381460e-01 -1.60050089e-02 2.84617005e+00] [ 1.11929820e-01 -2.45114134e-03 9.93713091e-01 3.66884291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.55710568099999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:33.03, Y:2.86, Z:3.67 [[ 9.79942910e-01 -1.65695134e-01 -1.10711406e-01 3.30274730e+01] [ 1.64866400e-01 9.86175147e-01 -1.66628123e-02 2.85650542e+00] [ 1.11941784e-01 -1.92398606e-03 9.93712904e-01 3.67277098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.58710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:33.06, Y:2.86, Z:3.68 [[ 9.79661112e-01 -1.67361358e-01 -1.10699059e-01 3.30562614e+01] [ 1.66533607e-01 9.85893536e-01 -1.67479527e-02 2.86443823e+00] [ 1.11940447e-01 -2.02779560e-03 9.93712848e-01 3.67812762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.61710568099999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:33.08, Y:2.87, Z:3.68 [[ 9.79222589e-01 -1.69844209e-01 -1.10797409e-01 3.30835859e+01] [ 1.69108879e-01 9.85466357e-01 -1.60700436e-02 2.87151130e+00] [ 1.11916523e-01 -3.00067600e-03 9.93713081e-01 3.68198490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.64710568099999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:33.11, Y:2.88, Z:3.68 [[ 9.78393671e-01 -1.74557076e-01 -1.10795544e-01 3.31090454e+01] [ 1.73850364e-01 9.84640742e-01 -1.60828973e-02 2.87917392e+00] [ 1.11901190e-01 -3.52644062e-03 9.93713081e-01 3.68285161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67710568099999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:33.14, Y:2.89, Z:3.68 [[ 9.77895934e-01 -1.77389639e-01 -1.10690826e-01 3.31354455e+01] [ 1.76619733e-01 9.84135753e-01 -1.68014555e-02 2.88556859e+00] [ 1.11915204e-01 -3.12010916e-03 9.93712862e-01 3.68164912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.707105680999994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:33.17, Y:2.90, Z:3.68 [[ 9.76590904e-01 -1.84467634e-01 -1.10643109e-01 3.31661018e+01] [ 1.83705966e-01 9.82832001e-01 -1.71282095e-02 2.89544329e+00] [ 1.11903188e-01 -3.59854552e-03 9.93712598e-01 3.67870880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73710568099999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:33.19, Y:2.90, Z:3.68 [[ 9.76288245e-01 -1.85979780e-01 -1.10782601e-01 3.31943541e+01] [ 1.85335914e-01 9.82542127e-01 -1.61730751e-02 2.90410627e+00] [ 1.11856437e-01 -4.74241146e-03 9.93713061e-01 3.67870434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.76710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:33.22, Y:2.91, Z:3.68 [[ 9.76415405e-01 -1.85314124e-01 -1.10777403e-01 3.32227721e+01] [ 1.84661970e-01 9.82668427e-01 -1.62085998e-02 2.91256191e+00] [ 1.11861139e-01 -4.63004693e-03 9.93713061e-01 3.68300864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.79710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:33.25, Y:2.93, Z:3.69 [[ 9.77290279e-01 -1.80643979e-01 -1.10776639e-01 3.32507847e+01] [ 1.79961347e-01 9.83540048e-01 -1.62138224e-02 2.92720890e+00] [ 1.11882190e-01 -4.08990207e-03 9.93713061e-01 3.69032615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.82710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:33.28, Y:2.94, Z:3.70 [[ 9.78880362e-01 -1.71818768e-01 -1.10777018e-01 3.32796202e+01] [ 1.71080066e-01 9.85123752e-01 -1.62112314e-02 2.94050145e+00] [ 1.11914465e-01 -3.08288352e-03 9.93713061e-01 3.69671266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:33.31, Y:2.95, Z:3.70 [[ 9.79700150e-01 -1.67080520e-01 -1.10777773e-01 3.33091835e+01] [ 1.66312203e-01 9.85939965e-01 -1.62060694e-02 2.94833878e+00] [ 1.11927952e-01 -2.54660675e-03 9.93713061e-01 3.69710524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.887105680999994 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:33.34, Y:2.96, Z:3.70 [[ 9.81266956e-01 -1.57617777e-01 -1.10778148e-01 3.33393124e+01] [ 1.56789565e-01 9.87499103e-01 -1.62035060e-02 2.96179764e+00] [ 1.11947282e-01 -1.46889264e-03 9.93713061e-01 3.69618869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91710568099999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:33.37, Y:2.97, Z:3.70 [[ 9.82001715e-01 -1.52972769e-01 -1.10778897e-01 3.33700775e+01] [ 1.52115654e-01 9.88229953e-01 -1.61983831e-02 2.97094428e+00] [ 1.11952936e-01 -9.44364482e-04 9.93713061e-01 3.70005242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.94710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:33.40, Y:2.98, Z:3.71 [[ 9.82800595e-01 -1.47752110e-01 -1.10780434e-01 3.33994862e+01] [ 1.46863095e-01 9.89024360e-01 -1.61878644e-02 2.98486036e+00] [ 1.11956339e-01 -3.60114672e-04 9.93713061e-01 3.70933710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.97710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:33.43, Y:3.00, Z:3.72 [[ 9.82637775e-01 -1.48829964e-01 -1.10781966e-01 3.34289980e+01] [ 1.47948959e-01 9.88862679e-01 -1.61773718e-02 2.99715001e+00] [ 1.11955830e-01 -4.93579984e-04 9.93713061e-01 3.71772587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.00710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:33.46, Y:3.00, Z:3.72 [[ 9.82401742e-01 -1.50378278e-01 -1.10784435e-01 3.34600768e+01] [ 1.49508992e-01 9.88628293e-01 -1.61604463e-02 3.00287881e+00] [ 1.11954807e-01 -6.87218719e-04 9.93713062e-01 3.72020864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03710568099999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:33.49, Y:3.01, Z:3.72 [[ 9.81859586e-01 -1.53876590e-01 -1.10786954e-01 3.34924834e+01] [ 1.53031438e-01 9.88089458e-01 -1.61431633e-02 3.00632853e+00] [ 1.11951476e-01 -1.10356722e-03 9.93713062e-01 3.71746960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.067105680999994 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:33.52, Y:3.01, Z:3.72 [[ 9.81457805e-01 -1.56417704e-01 -1.10788444e-01 3.35243929e+01] [ 1.55589837e-01 9.87689998e-01 -1.61329263e-02 3.00995442e+00] [ 1.11948114e-01 -1.40376962e-03 9.93713062e-01 3.72065641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.097105680999995 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:33.56, Y:3.01, Z:3.73 [[ 9.81246941e-01 -1.57734042e-01 -1.10789952e-01 3.35559575e+01] [ 1.56915704e-01 9.87480392e-01 -1.61225690e-02 3.01404969e+00] [ 1.11945983e-01 -1.56446181e-03 9.93713062e-01 3.72550512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.12710568099999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:33.59, Y:3.02, Z:3.73 [[ 9.80723379e-01 -1.60956223e-01 -1.10791459e-01 3.35871340e+01] [ 1.60159534e-01 9.86959635e-01 -1.61122059e-02 3.01824575e+00] [ 1.11940057e-01 -1.94269145e-03 9.93713062e-01 3.72800174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.15710568099999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:33.62, Y:3.02, Z:3.73 [[ 9.80514404e-01 -1.62223638e-01 -1.10792577e-01 3.36191312e+01] [ 1.61435880e-01 9.86751793e-01 -1.61045106e-02 3.02229004e+00] [ 1.11937307e-01 -2.09519263e-03 9.93713062e-01 3.73051001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.18710568099999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:33.65, Y:3.03, Z:3.73 [[ 9.81375080e-01 -1.56931915e-01 -1.10794071e-01 3.36500168e+01] [ 1.56111681e-01 9.87608282e-01 -1.60942259e-02 3.02727535e+00] [ 1.11946840e-01 -1.50177652e-03 9.93713062e-01 3.73412443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:33.68, Y:3.03, Z:3.74 [[ 9.82084889e-01 -1.52426043e-01 -1.10795182e-01 3.36805896e+01] [ 1.51578073e-01 9.88314378e-01 -1.60865749e-02 3.03235789e+00] [ 1.11952484e-01 -9.95738057e-04 9.93713062e-01 3.73830416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.247105680999994 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:33.71, Y:3.04, Z:3.74 [[ 9.83489505e-01 -1.43082725e-01 -1.10795879e-01 3.37117182e+01] [ 1.42176112e-01 9.89710730e-01 -1.60817716e-02 3.03736131e+00] [ 1.11956894e-01 6.37262098e-05 9.93713062e-01 3.74208748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.277105680999995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:33.74, Y:3.04, Z:3.74 [[ 9.84159513e-01 -1.38397360e-01 -1.10798121e-01 3.37415081e+01] [ 1.37462870e-01 9.90376612e-01 -1.60663144e-02 3.04283303e+00] [ 1.11955403e-01 5.81188509e-04 9.93713062e-01 3.74252550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.30710568099999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:33.77, Y:3.05, Z:3.74 [[ 9.84627788e-01 -1.35024439e-01 -1.10799462e-01 3.37687323e+01] [ 1.34069693e-01 9.90841808e-01 -1.60570614e-02 3.04619575e+00] [ 1.11952835e-01 9.55379008e-04 9.93713062e-01 3.74060352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.33710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:33.80, Y:3.05, Z:3.75 [[ 9.84233778e-01 -1.37989518e-01 -1.10647024e-01 3.37988728e+01] [ 1.36935578e-01 9.90432257e-01 -1.71052850e-02 3.04943802e+00] [ 1.11948732e-01 1.68408511e-03 9.93712557e-01 3.74707724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.36710568099999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:33.83, Y:3.05, Z:3.75 [[ 9.84164025e-01 -1.38368462e-01 -1.10794132e-01 3.38290869e+01] [ 1.37430797e-01 9.90380631e-01 -1.60928992e-02 3.05155752e+00] [ 1.11955113e-01 6.11526515e-04 9.93713077e-01 3.75170925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39710568099999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:33.86, Y:3.05, Z:3.76 [[ 9.83899958e-01 -1.40233848e-01 -1.10794132e-01 3.38598507e+01] [ 1.39307969e-01 9.90118330e-01 -1.60928992e-02 3.05038277e+00] [ 1.11956071e-01 3.99297245e-04 9.93713077e-01 3.75651542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42710568099999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:33.89, Y:3.05, Z:3.76 [[ 9.83553395e-01 -1.42644243e-01 -1.10794132e-01 3.38909625e+01] [ 1.41733603e-01 9.89774017e-01 -1.60928992e-02 3.04715165e+00] [ 1.11956713e-01 1.24974006e-04 9.93713077e-01 3.76297382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.457105680999994 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:33.92, Y:3.05, Z:3.77 [[ 9.83632375e-01 -1.42097691e-01 -1.10795295e-01 3.39237563e+01] [ 1.41184497e-01 9.89852622e-01 -1.60848913e-02 3.04701700e+00] [ 1.11956639e-01 1.79041871e-04 9.93713077e-01 3.76619118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48710568099999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:33.95, Y:3.05, Z:3.77 [[ 9.83409814e-01 -1.43564725e-01 -1.10879700e-01 3.39531039e+01] [ 1.42726449e-01 9.89640760e-01 -1.55025012e-02 3.04969112e+00] [ 1.11956682e-01 -5.80154019e-04 9.93712919e-01 3.76862749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.51710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:33.98, Y:3.05, Z:3.77 [[ 9.83370073e-01 -1.43900236e-01 -1.10797206e-01 3.39827079e+01] [ 1.42999969e-01 9.89592199e-01 -1.60713504e-02 3.05209641e+00] [ 1.11956721e-01 -3.99119605e-05 9.93713083e-01 3.77365553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.54710568099999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:34.01, Y:3.05, Z:3.77 [[ 9.82822778e-01 -1.47591888e-01 -1.10797206e-01 3.40133328e+01] [ 1.46714993e-01 9.89048241e-01 -1.60713504e-02 3.05139412e+00] [ 1.11955782e-01 -4.60321969e-04 9.93713083e-01 3.77270213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.57710568099999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:34.04, Y:3.05, Z:3.77 [[ 9.82307528e-01 -1.50983387e-01 -1.10796829e-01 3.40422416e+01] [ 1.50127692e-01 9.88535940e-01 -1.60739485e-02 3.05314349e+00] [ 1.11953546e-01 -8.44111572e-04 9.93713083e-01 3.77361363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.60710568099999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:34.07, Y:3.06, Z:3.78 [[ 9.80801228e-01 -1.60478216e-01 -1.10795731e-01 3.40720414e+01] [ 1.59681955e-01 9.87037516e-01 -1.60815088e-02 3.05548384e+00] [ 1.11940275e-01 -1.91931539e-03 9.93713083e-01 3.77732895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.637105680999994 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:34.10, Y:3.06, Z:3.79 [[ 9.79081194e-01 -1.70658496e-01 -1.10795731e-01 3.41013896e+01] [ 1.69927063e-01 9.85325418e-01 -1.60815088e-02 3.06122072e+00] [ 1.11914296e-01 -3.08209032e-03 9.93713083e-01 3.78718074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66710568099999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:34.13, Y:3.07, Z:3.79 [[ 9.78250769e-01 -1.75355799e-01 -1.10796107e-01 3.41317085e+01] [ 1.74654637e-01 9.84498464e-01 -1.60789205e-02 3.06665762e+00] [ 1.11898129e-01 -3.62183748e-03 9.93713083e-01 3.79390743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.69710568099999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:34.16, Y:3.07, Z:3.80 [[ 9.77177322e-01 -1.81241665e-01 -1.10796846e-01 3.41569934e+01] [ 1.80578703e-01 9.83429186e-01 -1.60738242e-02 3.07106283e+00] [ 1.11874099e-01 -4.30057435e-03 9.93713083e-01 3.79526210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.72710568099999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:34.18, Y:3.08, Z:3.80 [[ 9.76441745e-01 -1.85238964e-01 -1.10670887e-01 3.41846920e+01] [ 1.84503668e-01 9.82685848e-01 -1.69387295e-02 3.07785724e+00] [ 1.11892427e-01 -3.87950202e-03 9.93712752e-01 3.79710229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.75710568099999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:34.21, Y:3.09, Z:3.80 [[ 9.76067337e-01 -1.87182520e-01 -1.10703469e-01 3.42134523e+01] [ 1.86485023e-01 9.82315609e-01 -1.67146653e-02 3.08643956e+00] [ 1.11874439e-01 -4.32990019e-03 9.93712917e-01 3.80375360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.78710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:34.24, Y:3.10, Z:3.81 [[ 9.77116030e-01 -1.81574744e-01 -1.10792044e-01 3.42406310e+01] [ 1.80910327e-01 9.83367717e-01 -1.61054949e-02 3.09677971e+00] [ 1.11873671e-01 -4.30648772e-03 9.93713105e-01 3.80885133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817105680999994 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:34.27, Y:3.11, Z:3.82 [[ 9.77162516e-01 -1.81405116e-01 -1.10659842e-01 3.42721186e+01] [ 1.80636962e-01 9.83402694e-01 -1.70125964e-02 3.10837475e+00] [ 1.11909359e-01 -3.36518627e-03 9.93712720e-01 3.81734657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84710568099999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:34.30, Y:3.12, Z:3.82 [[ 9.77289179e-01 -1.80642468e-01 -1.10788802e-01 3.43025757e+01] [ 1.79969655e-01 9.83539955e-01 -1.61269821e-02 3.11582833e+00] [ 1.11878432e-01 -4.17789735e-03 9.93713118e-01 3.82328901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.87710568099999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:34.33, Y:3.12, Z:3.83 [[ 9.77631706e-01 -1.78778745e-01 -1.10789929e-01 3.43309479e+01] [ 1.78094891e-01 9.83881283e-01 -1.61192409e-02 3.12410190e+00] [ 1.11885915e-01 -3.97243922e-03 9.93713118e-01 3.82738328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.90710568099999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:34.36, Y:3.13, Z:3.84 [[ 9.77355335e-01 -1.80351302e-01 -1.10679524e-01 3.43625433e+01] [ 1.79591663e-01 9.83596448e-01 -1.68778239e-02 3.13261902e+00] [ 1.11907925e-01 -3.38148865e-03 9.93712827e-01 3.83655677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.93710568099999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:34.39, Y:3.15, Z:3.84 [[ 9.79395246e-01 -1.68847407e-01 -1.10794882e-01 3.43913504e+01] [ 1.68104211e-01 9.85638016e-01 -1.60834012e-02 3.14791733e+00] [ 1.11919288e-01 -2.87307954e-03 9.93713147e-01 3.84170083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.96710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:34.42, Y:3.16, Z:3.84 [[ 9.80358504e-01 -1.63160823e-01 -1.10795985e-01 3.44223597e+01] [ 1.62382269e-01 9.86596963e-01 -1.60757992e-02 3.15676914e+00] [ 1.11933923e-01 -2.23125698e-03 9.93713147e-01 3.84224257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997105680999994 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:34.45, Y:3.16, Z:3.84 [[ 9.81784035e-01 -1.54350349e-01 -1.10797465e-01 3.44513339e+01] [ 1.53516956e-01 9.88015405e-01 -1.60655917e-02 3.16310655e+00] [ 1.11949332e-01 -1.23634814e-03 9.93713147e-01 3.83984337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.027105680999995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:34.48, Y:3.17, Z:3.84 [[ 9.83419123e-01 -1.43649695e-01 -1.10686914e-01 3.44810409e+01] [ 1.42662779e-01 9.89628310e-01 -1.68267448e-02 3.17311183e+00] [ 1.11956061e-01 7.56839849e-04 9.93712870e-01 3.83571399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05710568099999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:34.51, Y:3.18, Z:3.84 [[ 9.83926920e-01 -1.40125430e-01 -1.10691828e-01 3.45125421e+01] [ 1.39120087e-01 9.90133123e-01 -1.67928419e-02 3.18455151e+00] [ 1.11952750e-01 1.12347242e-03 9.93712896e-01 3.83889207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.08710568099999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:34.54, Y:3.19, Z:3.84 [[ 9.83958565e-01 -1.39813621e-01 -1.10804757e-01 3.45431196e+01] [ 1.38894244e-01 9.90177771e-01 -1.60115820e-02 3.19282177e+00] [ 1.11955045e-01 3.64590240e-04 9.93713206e-01 3.84302383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.11710568099999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:34.57, Y:3.20, Z:3.85 [[ 9.83836056e-01 -1.40672206e-01 -1.10805890e-01 3.45743062e+01] [ 1.39759139e-01 9.90056192e-01 -1.60037383e-02 3.19838193e+00] [ 1.11955339e-01 2.58918989e-04 9.93713206e-01 3.84595389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.14710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:34.61, Y:3.20, Z:3.85 [[ 9.83391468e-01 -1.43746104e-01 -1.10807389e-01 3.46066751e+01] [ 1.42853650e-01 9.89614595e-01 -1.59933553e-02 3.20209383e+00] [ 1.11955592e-01 -1.01510822e-04 9.93713206e-01 3.84643921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17710568099999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:34.64, Y:3.21, Z:3.85 [[ 9.83140014e-01 -1.45454808e-01 -1.10808901e-01 3.46380059e+01] [ 1.44574351e-01 9.89364849e-01 -1.59828717e-02 3.20520905e+00] [ 1.11955217e-01 -3.06724275e-04 9.93713206e-01 3.84844385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.207105680999994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:34.67, Y:3.21, Z:3.85 [[ 9.82549016e-01 -1.49392968e-01 -1.10811429e-01 3.46693442e+01] [ 1.48539439e-01 9.88777601e-01 -1.59653283e-02 3.20884059e+00] [ 1.11952966e-01 -7.73149854e-04 9.93713206e-01 3.85218267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:34.70, Y:3.21, Z:3.86 [[ 9.82570159e-01 -1.49252723e-01 -1.10812938e-01 3.47023595e+01] [ 1.48399487e-01 9.88798784e-01 -1.59548443e-02 3.21345172e+00] [ 1.11953002e-01 -7.67829275e-04 9.93713206e-01 3.85593487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.26710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:34.73, Y:3.22, Z:3.86 [[ 9.81667193e-01 -1.55079047e-01 -1.10815208e-01 3.47332086e+01] [ 1.54264559e-01 9.87901003e-01 -1.59390603e-02 3.21610508e+00] [ 1.11946270e-01 -1.44800662e-03 9.93713206e-01 3.85858035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.29710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:34.77, Y:3.22, Z:3.86 [[ 9.81045680e-01 -1.58962622e-01 -1.10816328e-01 3.47658000e+01] [ 1.58173688e-01 9.87282776e-01 -1.59312717e-02 3.21865756e+00] [ 1.11939529e-01 -1.89892205e-03 9.93713206e-01 3.86213850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.32710568099999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:34.80, Y:3.22, Z:3.87 [[ 9.79604335e-01 -1.67614412e-01 -1.10818574e-01 3.47966826e+01] [ 1.66882320e-01 9.85848357e-01 -1.59156367e-02 3.21879730e+00] [ 1.11917999e-01 -2.90263402e-03 9.93713206e-01 3.86568066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35710568099999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:34.83, Y:3.22, Z:3.87 [[ 9.78471307e-01 -1.74105187e-01 -1.10820957e-01 3.48275801e+01] [ 1.73416387e-01 9.84720254e-01 -1.58990248e-02 3.22136714e+00] [ 1.11895743e-01 -3.66143032e-03 9.93713206e-01 3.87247740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.387105680999994 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:34.86, Y:3.23, Z:3.88 [[ 9.78266387e-01 -1.75252253e-01 -1.10822042e-01 3.48589629e+01] [ 1.74571635e-01 9.84516229e-01 -1.58914604e-02 3.22543907e+00] [ 1.11891113e-01 -3.80030347e-03 9.93713206e-01 3.87858161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41710568099999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:34.89, Y:3.23, Z:3.89 [[ 9.79156927e-01 -1.70205376e-01 -1.10823474e-01 3.48895634e+01] [ 1.69493670e-01 9.85403306e-01 -1.58814655e-02 3.22970486e+00] [ 1.11908928e-01 -3.23343027e-03 9.93713206e-01 3.88679832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.44710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:34.92, Y:3.24, Z:3.89 [[ 9.81387677e-01 -1.56831592e-01 -1.10824539e-01 3.49197653e+01] [ 1.56035577e-01 9.87623873e-01 -1.58740284e-02 3.23707219e+00] [ 1.11942510e-01 -1.71399507e-03 9.93713206e-01 3.89051871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.47710568099999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:34.95, Y:3.24, Z:3.89 [[ 9.82624895e-01 -1.48882519e-01 -1.10825592e-01 3.49499385e+01] [ 1.48036880e-01 9.88854555e-01 -1.58666710e-02 3.24386614e+00] [ 1.11952662e-01 -8.15289018e-04 9.93713207e-01 3.89284476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.50710568099999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:34.98, Y:3.25, Z:3.90 [[ 9.84567093e-01 -1.35444072e-01 -1.10826637e-01 3.49813893e+01] [ 1.34514225e-01 9.90784741e-01 -1.58593711e-02 3.25181588e+00] [ 1.11953399e-01 7.06855683e-04 9.93713207e-01 3.89606316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53710568099999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:35.01, Y:3.26, Z:3.90 [[ 9.85227428e-01 -1.30552918e-01 -1.10828025e-01 3.50123746e+01] [ 1.29593295e-01 9.91440551e-01 -1.58496696e-02 3.25756798e+00] [ 1.11948618e-01 1.25296029e-03 9.93713207e-01 3.90040464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.567105680999994 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:35.04, Y:3.26, Z:3.90 [[ 9.85156431e-01 -1.31086337e-01 -1.10829506e-01 3.50443272e+01] [ 1.30131245e-01 9.91370252e-01 -1.58393030e-02 3.26117101e+00] [ 1.11949392e-01 1.18180958e-03 9.93713207e-01 3.90213513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59710568099999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:35.08, Y:3.26, Z:3.90 [[ 9.84444052e-01 -1.36331938e-01 -1.10830998e-01 3.50762323e+01] [ 1.35411134e-01 9.90663047e-01 -1.58288563e-02 3.26304609e+00] [ 1.11954153e-01 5.74872336e-04 9.93713207e-01 3.90248412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.62710568099999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:35.11, Y:3.27, Z:3.91 [[ 9.84070192e-01 -1.39003671e-01 -1.10832471e-01 3.51081900e+01] [ 1.38100914e-01 9.90291831e-01 -1.58185387e-02 3.26670453e+00] [ 1.11955325e-01 2.60486986e-04 9.93713207e-01 3.90565730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.65710568099999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:35.14, Y:3.27, Z:3.91 [[ 9.83474150e-01 -1.43158779e-01 -1.10833927e-01 3.51390506e+01] [ 1.42283458e-01 9.89699709e-01 -1.58083278e-02 3.27025101e+00] [ 1.11955406e-01 -2.22752605e-04 9.93713207e-01 3.91149824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.68710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:35.17, Y:3.27, Z:3.91 [[ 9.83390473e-01 -1.43730850e-01 -1.10836008e-01 3.51688677e+01] [ 1.42860797e-01 9.89616770e-01 -1.57937243e-02 3.27015328e+00] [ 1.11955218e-01 -3.02722379e-04 9.93713207e-01 3.91275689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:35.20, Y:3.28, Z:3.92 [[ 9.82693638e-01 -1.48504659e-01 -1.10722990e-01 3.52009174e+01] [ 1.47575131e-01 9.88911707e-01 -1.65896274e-02 3.27561051e+00] [ 1.11958898e-01 -3.74385291e-05 9.93712838e-01 3.92008094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.747105680999994 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:35.23, Y:3.28, Z:3.92 [[ 9.81674584e-01 -1.55008371e-01 -1.10848614e-01 3.52317194e+01] [ 1.54220060e-01 9.87911729e-01 -1.57031706e-02 3.27842754e+00] [ 1.11942769e-01 -1.67967644e-03 9.93713236e-01 3.92193529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.777105680999995 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:35.26, Y:3.28, Z:3.92 [[ 9.80382450e-01 -1.62980330e-01 -1.10849736e-01 3.52640433e+01] [ 1.62243623e-01 9.86625900e-01 -1.56952485e-02 3.27973466e+00] [ 1.11925237e-01 -2.59731655e-03 9.93713236e-01 3.92179577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.80710568099999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:35.30, Y:3.28, Z:3.93 [[ 9.79112648e-01 -1.70441636e-01 -1.10851574e-01 3.52958617e+01] [ 1.69753966e-01 9.85361689e-01 -1.56822570e-02 3.28251372e+00] [ 1.11901803e-01 -3.46279811e-03 9.93713236e-01 3.92712536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.83710568099999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:35.33, Y:3.29, Z:3.93 [[ 9.78528041e-01 -1.73765587e-01 -1.10853030e-01 3.53275583e+01] [ 1.73100308e-01 9.84779505e-01 -1.56719557e-02 3.28617973e+00] [ 1.11889039e-01 -3.85324551e-03 9.93713236e-01 3.93012024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.86710568099999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:35.36, Y:3.29, Z:3.93 [[ 9.77305603e-01 -1.80513269e-01 -1.10854494e-01 3.53596690e+01] [ 1.79892314e-01 9.83561625e-01 -1.56615923e-02 3.28910627e+00] [ 1.11859352e-01 -4.63570952e-03 9.93713236e-01 3.93117366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89710568099999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:35.39, Y:3.29, Z:3.93 [[ 9.76656690e-01 -1.83990732e-01 -1.10856310e-01 3.53904799e+01] [ 1.83393505e-01 9.82915022e-01 -1.56487306e-02 3.29263150e+00] [ 1.11841553e-01 -5.04688979e-03 9.93713236e-01 3.93405948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.92710568099999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:35.42, Y:3.30, Z:3.94 [[ 9.75561356e-01 -1.89712143e-01 -1.10857312e-01 3.54225963e+01] [ 1.89152414e-01 9.81823153e-01 -1.56416289e-02 3.29726551e+00] [ 1.11809682e-01 -5.70955944e-03 9.93713236e-01 3.94310224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.957105680999994 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:35.45, Y:3.30, Z:3.94 [[ 9.75205087e-01 -1.91533862e-01 -1.10859453e-01 3.54520375e+01] [ 1.90987551e-01 9.81468069e-01 -1.56264408e-02 3.29940063e+00] [ 1.11798005e-01 -5.93379085e-03 9.93713236e-01 3.94121625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98710568099999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:35.48, Y:3.30, Z:3.95 [[ 9.75068107e-01 -1.92317301e-01 -1.10707917e-01 3.54819231e+01] [ 1.91654389e-01 9.81320391e-01 -1.66998591e-02 3.30276123e+00] [ 1.11851608e-01 -4.93415808e-03 9.93712671e-01 3.94697334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.01710568099999 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:35.52, Y:3.31, Z:3.96 [[ 9.74340372e-01 -1.95987907e-01 -1.10677821e-01 3.55156066e+01] [ 1.95324295e-01 9.80592851e-01 -1.69139130e-02 3.31416202e+00] [ 1.11844802e-01 -5.13815893e-03 9.93712403e-01 3.95659061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.04710568099999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:35.55, Y:3.33, Z:3.96 [[ 9.74908618e-01 -1.93028729e-01 -1.10874238e-01 3.55460801e+01] [ 1.92505135e-01 9.81173375e-01 -1.55106791e-02 3.32725067e+00] [ 1.11780857e-01 -6.22236555e-03 9.93713400e-01 3.96247617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07710568099999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:35.58, Y:3.33, Z:3.96 [[ 9.75464362e-01 -1.90199581e-01 -1.10875596e-01 3.55784863e+01] [ 1.89658914e-01 9.81727669e-01 -1.55009685e-02 3.33472597e+00] [ 1.11797918e-01 -5.90790287e-03 9.93713400e-01 3.96478912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.10710568099999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:35.61, Y:3.35, Z:3.96 [[ 9.77222046e-01 -1.80950866e-01 -1.10877663e-01 3.56084548e+01] [ 1.80352570e-01 9.83480111e-01 -1.54861704e-02 3.34510755e+00] [ 1.11848212e-01 -4.86364435e-03 9.93713401e-01 3.96099035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.137105680999994 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:35.64, Y:3.35, Z:3.97 [[ 9.77681136e-01 -1.78491359e-01 -1.10817102e-01 3.56411850e+01] [ 1.77828187e-01 9.83932763e-01 -1.59202230e-02 3.35487545e+00] [ 1.11878199e-01 -4.14150253e-03 9.93713297e-01 3.96799574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16710568099999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:35.67, Y:3.38, Z:3.98 [[ 9.79452845e-01 -1.68453746e-01 -1.10884898e-01 3.56696509e+01] [ 1.67781551e-01 9.85703387e-01 -1.54332188e-02 3.37540021e+00] [ 1.11899403e-01 -3.48833004e-03 9.93713417e-01 3.97600327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19710568099999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:35.70, Y:3.38, Z:3.98 [[ 9.80080502e-01 -1.64761749e-01 -1.10886323e-01 3.57004625e+01] [ 1.64067163e-01 9.86328595e-01 -1.54229727e-02 3.38484842e+00] [ 1.11911467e-01 -3.07704954e-03 9.93713417e-01 3.97983307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.22710568099999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:35.73, Y:3.39, Z:3.98 [[ 9.80571386e-01 -1.61812230e-01 -1.10889852e-01 3.57326480e+01] [ 1.61101721e-01 9.86817689e-01 -1.53975576e-02 3.39273755e+00] [ 1.11919580e-01 -2.76614165e-03 9.93713417e-01 3.98253760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.25710568099999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:35.76, Y:3.40, Z:3.98 [[ 9.81490019e-01 -1.56141968e-01 -1.10891971e-01 3.57635622e+01] [ 1.55397093e-01 9.87732316e-01 -1.53822832e-02 3.39997197e+00] [ 1.11933403e-01 -2.13473246e-03 9.93713418e-01 3.97933643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.28710568099999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:35.79, Y:3.41, Z:3.98 [[ 9.82215933e-01 -1.51507751e-01 -1.10893020e-01 3.57937220e+01] [ 1.50734277e-01 9.88454752e-01 -1.53747129e-02 3.40883659e+00] [ 1.11942121e-01 -1.61409117e-03 9.93713418e-01 3.98287434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317105680999994 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:35.82, Y:3.42, Z:3.99 [[ 9.83089543e-01 -1.45730789e-01 -1.10894036e-01 3.58239554e+01] [ 1.44921477e-01 9.89323814e-01 -1.53673794e-02 3.41809873e+00] [ 1.11949611e-01 -9.63417603e-04 9.93713418e-01 3.98938376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34710568099999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:35.86, Y:3.42, Z:3.99 [[ 9.83589157e-01 -1.42318552e-01 -1.10895444e-01 3.58550458e+01] [ 1.41488759e-01 9.89820735e-01 -1.53572161e-02 3.42344282e+00] [ 1.11952227e-01 -5.85267428e-04 9.93713418e-01 3.99385885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.37710568099999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:35.89, Y:3.43, Z:3.99 [[ 9.84573797e-01 -1.35337777e-01 -1.10896905e-01 3.58858667e+01] [ 1.34464989e-01 9.90799499e-01 -1.53466557e-02 3.42758357e+00] [ 1.11953580e-01 1.98163958e-04 9.93713418e-01 3.99444524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.40710568099999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:35.92, Y:3.43, Z:3.99 [[ 9.85082493e-01 -1.31583118e-01 -1.10897992e-01 3.59189416e+01] [ 1.30687486e-01 9.91304949e-01 -1.53387958e-02 3.42895915e+00] [ 1.11952055e-01 6.16999396e-04 9.93713418e-01 3.99231437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.43710568099999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:35.95, Y:3.43, Z:3.99 [[ 9.85130275e-01 -1.31223711e-01 -1.10899413e-01 3.59514810e+01] [ 1.30326966e-01 9.91352570e-01 -1.53285194e-02 3.43095184e+00] [ 1.11951883e-01 6.47404536e-04 9.93713418e-01 3.99426443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46710568099999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:35.98, Y:3.43, Z:4.00 [[ 9.84798605e-01 -1.33687121e-01 -1.10902932e-01 3.59840816e+01] [ 1.32808813e-01 9.91023530e-01 -1.53030125e-02 3.43053721e+00] [ 1.11953231e-01 3.41498507e-04 9.93713418e-01 3.99898574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497105680999994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:36.02, Y:3.43, Z:4.00 [[ 9.84142158e-01 -1.38435663e-01 -1.10904371e-01 3.60172250e+01] [ 1.37588566e-01 9.90371407e-01 -1.52925833e-02 3.42945543e+00] [ 1.11953556e-01 -2.09097350e-04 9.93713418e-01 4.00059699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52710568099999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:36.05, Y:3.43, Z:4.00 [[ 9.83945584e-01 -1.39824585e-01 -1.10906150e-01 3.60498051e+01] [ 1.38987736e-01 9.90176217e-01 -1.52796693e-02 3.43006165e+00] [ 1.11953105e-01 -3.80231602e-04 9.93713418e-01 4.00378708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55710568099999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:36.08, Y:3.43, Z:4.01 [[ 9.83494246e-01 -1.42963564e-01 -1.10907562e-01 3.60821379e+01] [ 1.42147758e-01 9.89727670e-01 -1.52694102e-02 3.42784127e+00] [ 1.11951252e-01 -7.47884251e-04 9.93713418e-01 4.00833466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.58710568099999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:36.11, Y:3.43, Z:4.01 [[ 9.83371235e-01 -1.43806156e-01 -1.10908987e-01 3.61143032e+01] [ 1.42996859e-01 9.89605507e-01 -1.52590545e-02 3.42610088e+00] [ 1.11950490e-01 -8.54321453e-04 9.93713418e-01 4.01112564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.61710568099999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:36.15, Y:3.43, Z:4.02 [[ 9.83249158e-01 -1.44637126e-01 -1.10910755e-01 3.61464514e+01] [ 1.43834548e-01 9.89484298e-01 -1.52461933e-02 3.42766696e+00] [ 1.11949616e-01 -9.61991536e-04 9.93713418e-01 4.01546890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.64710568099999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:36.17, Y:3.42, Z:4.02 [[ 9.83223622e-01 -1.44809524e-01 -1.10912178e-01 3.61734752e+01] [ 1.44009208e-01 9.89459053e-01 -1.52358317e-02 3.42495762e+00] [ 1.11949352e-01 -9.92145371e-04 9.93713419e-01 4.01948304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67710568099999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:36.21, Y:3.42, Z:4.03 [[ 9.82088289e-01 -1.52506042e-01 -1.10654866e-01 3.62060530e+01] [ 1.51544002e-01 9.88302538e-01 -1.71028959e-02 3.42413863e+00] [ 1.11968780e-01 2.74725282e-05 9.93711725e-01 4.02910907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.707105680999994 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:36.24, Y:3.42, Z:4.03 [[ 9.81424431e-01 -1.56674404e-01 -1.10721355e-01 3.62358715e+01] [ 1.55793299e-01 9.87649862e-01 -1.66192255e-02 3.42457312e+00] [ 1.11957738e-01 -9.39131217e-04 9.93712525e-01 4.03360530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73710568099999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:36.27, Y:3.42, Z:4.04 [[ 9.79134881e-01 -1.70439468e-01 -1.10658357e-01 3.62690299e+01] [ 1.69594069e-01 9.85366025e-01 -1.70777228e-02 3.42093212e+00] [ 1.11949704e-01 -2.04560696e-03 9.93711769e-01 4.03601837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.76710568099999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:36.30, Y:3.42, Z:4.04 [[ 9.76065434e-01 -1.87202193e-01 -1.10686982e-01 3.63026060e+01] [ 1.86487352e-01 9.82312525e-01 -1.68691939e-02 3.42163617e+00] [ 1.11887159e-01 -4.17628513e-03 9.93712143e-01 4.03730473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.79710568099999 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:36.34, Y:3.42, Z:4.04 [[ 9.74522704e-01 -1.94940154e-01 -1.10922658e-01 3.63354232e+01] [ 1.94470379e-01 9.80791478e-01 -1.51442615e-02 3.42213065e+00] [ 1.11744222e-01 -6.81274470e-03 9.93713649e-01 4.03911089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.82710568099999 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:36.37, Y:3.42, Z:4.04 [[ 9.74326423e-01 -1.95918051e-01 -1.10924021e-01 3.63663894e+01] [ 1.95455701e-01 9.80595749e-01 -1.51342746e-02 3.42353713e+00] [ 1.11736701e-01 -6.93500852e-03 9.93713649e-01 4.04185055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85710568099999 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:36.39, Y:3.42, Z:4.04 [[ 9.75054286e-01 -1.92261427e-01 -1.10926476e-01 3.63946357e+01] [ 1.91777602e-01 9.81321991e-01 -1.51162558e-02 3.42388241e+00] [ 1.11760863e-01 -6.53404360e-03 9.93713649e-01 4.04461653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.887105680999994 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:36.42, Y:3.43, Z:4.05 [[ 9.75397604e-01 -1.90617587e-01 -1.10744972e-01 3.64223512e+01] [ 1.89972667e-01 9.81651645e-01 -1.64448456e-02 3.42843545e+00] [ 1.11847661e-01 -4.99825469e-03 9.93712795e-01 4.04751700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91710568099999 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:36.45, Y:3.44, Z:4.05 [[ 9.75879355e-01 -1.88163923e-01 -1.10696988e-01 3.64529729e+01] [ 1.87463663e-01 9.82127950e-01 -1.67947634e-02 3.43781650e+00] [ 1.11878774e-01 -4.36199991e-03 9.93712289e-01 4.05253952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.94710568099999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:36.48, Y:3.45, Z:4.06 [[ 9.77135675e-01 -1.81438016e-01 -1.10842768e-01 3.64838055e+01] [ 1.80816002e-01 9.83391254e-01 -1.57231007e-02 3.44776377e+00] [ 1.11854577e-01 -4.67854366e-03 9.93713573e-01 4.06074853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.97710568099999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:36.51, Y:3.46, Z:4.07 [[ 9.77857159e-01 -1.77483904e-01 -1.10882103e-01 3.65147485e+01] [ 1.76869360e-01 9.84113324e-01 -1.54335552e-02 3.45560708e+00] [ 1.11859762e-01 -4.51983407e-03 9.93713724e-01 4.06628708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.00710568099999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:36.55, Y:3.47, Z:4.07 [[ 9.80342861e-01 -1.63160040e-01 -1.10935458e-01 3.65455021e+01] [ 1.62498521e-01 9.86594155e-01 -1.50400727e-02 3.46856801e+00] [ 1.11902213e-01 -3.28241986e-03 9.93713802e-01 4.07005913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03710568099999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:36.58, Y:3.48, Z:4.07 [[ 9.81501304e-01 -1.56039177e-01 -1.10936762e-01 3.65760248e+01] [ 1.55333383e-01 9.87747754e-01 -1.50304430e-02 3.47777040e+00] [ 1.11922876e-01 -2.47978313e-03 9.93713802e-01 4.07169143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.067105680999994 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:36.61, Y:3.49, Z:4.07 [[ 9.83703073e-01 -1.41495878e-01 -1.10937735e-01 3.66069400e+01] [ 1.40698524e-01 9.89938497e-01 -1.50232628e-02 3.49099217e+00] [ 1.11947264e-01 -8.30345754e-04 9.93713802e-01 4.07292969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09710568099999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:36.64, Y:3.50, Z:4.08 [[ 9.84862459e-01 -1.33185773e-01 -1.10939110e-01 3.66392926e+01] [ 1.32336948e-01 9.91091085e-01 -1.50131010e-02 3.49978408e+00] [ 1.11950294e-01 1.04496318e-04 9.93713802e-01 4.07568109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.12710568099999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:36.67, Y:3.50, Z:4.08 [[ 9.84881529e-01 -1.33042896e-01 -1.10941254e-01 3.66723558e+01] [ 1.32194954e-01 9.91110275e-01 -1.49972393e-02 3.50411175e+00] [ 1.11950293e-01 1.04630017e-04 9.93713802e-01 4.07943197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.15710568099999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:36.70, Y:3.51, Z:4.08 [[ 9.85065069e-01 -1.31675236e-01 -1.10943414e-01 3.67043592e+01] [ 1.30820448e-01 9.91292879e-01 -1.49812441e-02 3.50654880e+00] [ 1.11950075e-01 2.43833050e-04 9.93713802e-01 4.08110998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.18710568099999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:36.74, Y:3.51, Z:4.08 [[ 9.84881970e-01 -1.33036344e-01 -1.10945197e-01 3.67367925e+01] [ 1.32191651e-01 9.91111157e-01 -1.49680299e-02 3.50795311e+00] [ 1.11950314e-01 7.57140068e-05 9.93713803e-01 4.08322465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21710568099999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:36.76, Y:3.50, Z:4.09 [[ 9.84573794e-01 -1.35297040e-01 -1.10946631e-01 3.67648144e+01] [ 1.34467849e-01 9.90805064e-01 -1.49573938e-02 3.50468385e+00] [ 1.11950175e-01 -1.92096831e-04 9.93713803e-01 4.09118579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.247105680999994 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:36.80, Y:3.51, Z:4.09 [[ 9.83250533e-01 -1.44798702e-01 -1.10687510e-01 3.67997940e+01] [ 1.43813991e-01 9.89460907e-01 -1.68715689e-02 3.50884262e+00] [ 1.11963946e-01 6.70566514e-04 9.93712043e-01 4.08603356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27710568099999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:36.83, Y:3.51, Z:4.10 [[ 9.83403905e-01 -1.43552232e-01 -1.10948258e-01 3.68261288e+01] [ 1.42777723e-01 9.89642071e-01 -1.49363150e-02 3.50949907e+00] [ 1.11943205e-01 -1.15250908e-03 9.93713938e-01 4.09526434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30710568099999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:36.86, Y:3.51, Z:4.10 [[ 9.83177898e-01 -1.45273860e-01 -1.10710106e-01 3.68569148e+01] [ 1.44313454e-01 9.89391391e-01 -1.66823833e-02 3.51095127e+00] [ 1.11959140e-01 4.24792842e-04 9.93712720e-01 4.09568163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.33710568099999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:36.89, Y:3.51, Z:4.10 [[ 9.83163307e-01 -1.45386171e-01 -1.10692244e-01 3.68881144e+01] [ 1.44411772e-01 9.89374835e-01 -1.68129533e-02 3.51451780e+00] [ 1.11960492e-01 5.44615631e-04 9.93712510e-01 4.09880969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.36710568099999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:36.92, Y:3.52, Z:4.10 [[ 9.83125472e-01 -1.45608399e-01 -1.10736171e-01 3.69197670e+01] [ 1.44671824e-01 9.89342285e-01 -1.64895596e-02 3.51877562e+00] [ 1.11956995e-01 1.90902253e-04 9.93713034e-01 4.10121727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39710568099999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:36.95, Y:3.53, Z:4.10 [[ 9.82402330e-01 -1.50414018e-01 -1.10730690e-01 3.69527250e+01] [ 1.49503300e-01 9.88623044e-01 -1.65299595e-02 3.52564654e+00] [ 1.11957250e-01 -3.15532827e-04 9.93712974e-01 4.09898200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:36.98, Y:3.53, Z:4.10 [[ 9.82214585e-01 -1.51480695e-01 -1.10941915e-01 3.69845541e+01] [ 1.50753277e-01 9.88458140e-01 -1.49651166e-02 3.52955730e+00] [ 1.11928365e-01 -2.02590136e-03 9.93714213e-01 4.09789216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.457105680999994 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:37.02, Y:3.53, Z:4.10 [[ 9.81999501e-01 -1.52867790e-01 -1.10943310e-01 3.70156973e+01] [ 1.52150360e-01 9.88244212e-01 -1.49547634e-02 3.53236847e+00] [ 1.11925186e-01 -2.19449441e-03 9.93714213e-01 4.09880011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48710568099999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:37.05, Y:3.53, Z:4.10 [[ 9.81691190e-01 -1.54834620e-01 -1.10944344e-01 3.70480918e+01] [ 1.54130568e-01 9.87937423e-01 -1.49470928e-02 3.53270692e+00] [ 1.11920397e-01 -2.42648540e-03 9.93714213e-01 4.10470358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51710568099999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:37.08, Y:3.54, Z:4.11 [[ 9.81403920e-01 -1.56644145e-01 -1.10945738e-01 3.70791159e+01] [ 1.55952779e-01 9.87651570e-01 -1.49367393e-02 3.53651225e+00] [ 1.11915485e-01 -2.64332157e-03 9.93714213e-01 4.10962016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.54710568099999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:37.11, Y:3.54, Z:4.12 [[ 9.81248973e-01 -1.57611125e-01 -1.10946772e-01 3.71102477e+01] [ 1.56926784e-01 9.87497396e-01 -1.49290509e-02 3.54034566e+00] [ 1.11912633e-01 -2.76140430e-03 9.93714213e-01 4.11510229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57710568099999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:37.14, Y:3.54, Z:4.12 [[ 9.80881542e-01 -1.59880948e-01 -1.10948106e-01 3.71421519e+01] [ 1.59212187e-01 9.87131652e-01 -1.49191297e-02 3.54072095e+00] [ 1.11905672e-01 -3.03039168e-03 9.93714213e-01 4.12074153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60710568099999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:37.17, Y:3.54, Z:4.13 [[ 9.80658226e-01 -1.61244074e-01 -1.10949508e-01 3.71739378e+01] [ 1.60585179e-01 9.86909383e-01 -1.49086963e-02 3.54379499e+00] [ 1.11901050e-01 -3.19651100e-03 9.93714213e-01 4.12692383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.637105680999994 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:37.21, Y:3.55, Z:4.13 [[ 9.80758011e-01 -1.60635051e-01 -1.10950910e-01 3.72060614e+01] [ 1.59973455e-01 9.87008883e-01 -1.48982555e-02 3.54778410e+00] [ 1.11902716e-01 -3.13761698e-03 9.93714213e-01 4.13122728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66710568099999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:37.24, Y:3.55, Z:4.13 [[ 9.81329160e-01 -1.57107180e-01 -1.10952305e-01 3.72367096e+01] [ 1.56424284e-01 9.87577741e-01 -1.48878646e-02 3.55122185e+00] [ 1.11913017e-01 -2.74573916e-03 9.93714213e-01 4.13295936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69710568099999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:37.27, Y:3.56, Z:4.14 [[ 9.81754279e-01 -1.54427629e-01 -1.10953340e-01 3.72675261e+01] [ 1.53728549e-01 9.88001070e-01 -1.48801446e-02 3.55647594e+00] [ 1.11919924e-01 -2.44805028e-03 9.93714213e-01 4.13600395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.72710568099999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:37.30, Y:3.57, Z:4.14 [[ 9.82813052e-01 -1.47538591e-01 -1.10954358e-01 3.72975086e+01] [ 1.46796576e-01 9.89054889e-01 -1.48725530e-02 3.56718500e+00] [ 1.11934225e-01 -1.67078051e-03 9.93714213e-01 4.14200712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.75710568099999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:37.33, Y:3.57, Z:4.15 [[ 9.83722859e-01 -1.41343535e-01 -1.10956484e-01 3.73283767e+01] [ 1.40563999e-01 9.89960121e-01 -1.48566713e-02 3.57481350e+00] [ 1.11942389e-01 -9.81640014e-04 9.93714213e-01 4.14875333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.78710568099999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:37.36, Y:3.58, Z:4.15 [[ 9.84130436e-01 -1.38476126e-01 -1.10957868e-01 3.73594199e+01] [ 1.37679582e-01 9.90365548e-01 -1.48463294e-02 3.57891735e+00] [ 1.11944712e-01 -6.65908328e-04 9.93714213e-01 4.15172908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817105680999994 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:37.39, Y:3.58, Z:4.16 [[ 9.84760572e-01 -1.33920642e-01 -1.10958899e-01 3.73905065e+01] [ 1.33096123e-01 9.90992047e-01 -1.48386225e-02 3.58319619e+00] [ 1.11946584e-01 -1.55708783e-04 9.93714214e-01 4.15931728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84710568099999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:37.42, Y:3.59, Z:4.16 [[ 9.85400680e-01 -1.29125200e-01 -1.10960276e-01 3.74216613e+01] [ 1.28271516e-01 9.91628226e-01 -1.48283154e-02 3.58678429e+00] [ 1.11946051e-01 3.78789251e-04 9.93714214e-01 4.16157023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87710568099999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:37.45, Y:3.59, Z:4.16 [[ 9.85807208e-01 -1.25983083e-01 -1.10961307e-01 3.74542025e+01] [ 1.25110418e-01 9.92032123e-01 -1.48205990e-02 3.58949899e+00] [ 1.11944325e-01 7.27837867e-04 9.93714214e-01 4.16389976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.90710568099999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:37.49, Y:3.59, Z:4.16 [[ 9.86508945e-01 -1.20363238e-01 -1.10963027e-01 3.74867682e+01] [ 1.19456563e-01 9.92728997e-01 -1.48077100e-02 3.58805641e+00] [ 1.11938518e-01 1.35267655e-03 9.93714214e-01 4.16484224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.93710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:37.52, Y:3.59, Z:4.17 [[ 9.86936845e-01 -1.16801353e-01 -1.10964449e-01 3.75186445e+01] [ 1.15873429e-01 9.93153762e-01 -1.47970468e-02 3.58502731e+00] [ 1.11933075e-01 1.74591946e-03 9.93714214e-01 4.16580593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:37.55, Y:3.58, Z:4.17 [[ 9.87048194e-01 -1.15854308e-01 -1.10966850e-01 3.75502115e+01] [ 1.14922446e-01 9.93264523e-01 -1.47790176e-02 3.58406190e+00] [ 1.11931648e-01 1.83502085e-03 9.93714214e-01 4.16737589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997105680999994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:37.58, Y:3.58, Z:4.16 [[ 9.87034294e-01 -1.15972000e-01 -1.10967548e-01 3.75812952e+01] [ 1.15041469e-01 9.93250822e-01 -1.47737726e-02 3.57867595e+00] [ 1.11931952e-01 1.81635044e-03 9.93714214e-01 4.16371904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:37.61, Y:3.58, Z:4.17 [[ 9.86516038e-01 -1.20301234e-01 -1.10967202e-01 3.76110966e+01] [ 1.19397693e-01 9.92736546e-01 -1.47763747e-02 3.57560941e+00] [ 1.11938812e-01 1.32790277e-03 9.93714214e-01 4.16823647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05710568099999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:37.64, Y:3.57, Z:4.17 [[ 9.86053023e-01 -1.24039795e-01 -1.10966504e-01 3.76419255e+01] [ 1.23159250e-01 9.92276828e-01 -1.47816120e-02 3.57482737e+00] [ 1.11942999e-01 9.08901867e-04 9.93714214e-01 4.17360700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.08710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:37.67, Y:3.57, Z:4.18 [[ 9.85153920e-01 -1.30989269e-01 -1.10966504e-01 3.76720811e+01] [ 1.30152629e-01 9.91383779e-01 -1.47816120e-02 3.56700793e+00] [ 1.11946625e-01 1.19580841e-04 9.93714214e-01 4.17644498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.11710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:37.70, Y:3.56, Z:4.18 [[ 9.84493349e-01 -1.35864244e-01 -1.10967349e-01 3.77027529e+01] [ 1.35059167e-01 9.90727366e-01 -1.47752662e-02 3.56321632e+00] [ 1.11945820e-01 -4.41006488e-04 9.93714214e-01 4.18065190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.14710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:37.73, Y:3.56, Z:4.18 [[ 9.84285297e-01 -1.37363392e-01 -1.10967349e-01 3.77322664e+01] [ 1.36567811e-01 9.90520532e-01 -1.47752662e-02 3.56474185e+00] [ 1.11945018e-01 -6.11490695e-04 9.93714214e-01 4.18383762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17710568099999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:37.76, Y:3.57, Z:4.19 [[ 9.84401034e-01 -1.36532077e-01 -1.10966649e-01 3.77622271e+01] [ 1.35730638e-01 9.90635518e-01 -1.47805194e-02 3.56754087e+00] [ 1.11945519e-01 -5.11615459e-04 9.93714214e-01 4.18725573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:37.79, Y:3.57, Z:4.19 [[ 9.84815049e-01 -1.33513003e-01 -1.10966649e-01 3.77918049e+01] [ 1.32692451e-01 9.91047047e-01 -1.47805194e-02 3.56768589e+00] [ 1.11946561e-01 -1.68358675e-04 9.93714214e-01 4.18982159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:37.82, Y:3.57, Z:4.19 [[ 9.84904076e-01 -1.32854655e-01 -1.10966670e-01 3.78203945e+01] [ 1.32029955e-01 9.91135527e-01 -1.47803595e-02 3.57017402e+00] [ 1.11946649e-01 -9.36882422e-05 9.93714214e-01 4.19235706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.26710568099999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:37.85, Y:3.57, Z:4.20 [[ 9.84702931e-01 -1.34338453e-01 -1.10965388e-01 3.78497308e+01] [ 1.33522059e-01 9.90935475e-01 -1.47899804e-02 3.57144359e+00] [ 1.11946403e-01 -2.52590042e-04 9.93714214e-01 4.19885125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.29710568099999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:37.88, Y:3.57, Z:4.21 [[ 9.84125148e-01 -1.38508239e-01 -1.10964684e-01 3.78782878e+01] [ 1.37717657e-01 9.90361019e-01 -1.47952650e-02 3.57065993e+00] [ 1.11944363e-01 -7.21403842e-04 9.93714214e-01 4.20713933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.32710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:37.91, Y:3.57, Z:4.21 [[ 9.83924812e-01 -1.39924830e-01 -1.10963984e-01 3.79078116e+01] [ 1.39142633e-01 9.90161741e-01 -1.48005093e-02 3.57266424e+00] [ 1.11943250e-01 -8.77232644e-04 9.93714214e-01 4.21313952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35710568099999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:37.93, Y:3.57, Z:4.21 [[ 9.84290874e-01 -1.37326703e-01 -1.10963289e-01 3.79322730e+01] [ 1.36527457e-01 9.90525640e-01 -1.48057163e-02 3.57305934e+00] [ 1.11945203e-01 -5.76404268e-04 9.93714214e-01 4.21370701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.387105680999994 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:37.96, Y:3.58, Z:4.22 [[ 9.84369404e-01 -1.36952234e-01 -1.10729229e-01 3.79643176e+01] [ 1.35954317e-01 9.90576881e-01 -1.65488938e-02 3.57616645e+00] [ 1.11952223e-01 1.23610792e-03 9.93712822e-01 4.22118962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41710568099999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:37.99, Y:3.58, Z:4.22 [[ 9.84622703e-01 -1.34931457e-01 -1.10957803e-01 3.79931090e+01] [ 1.34113037e-01 9.90854899e-01 -1.48412585e-02 3.57923056e+00] [ 1.11945636e-01 -2.67847942e-04 9.93714296e-01 4.22354345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.44710568099999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:38.02, Y:3.58, Z:4.23 [[ 9.85242033e-01 -1.30336361e-01 -1.10953005e-01 3.80213124e+01] [ 1.29484845e-01 9.91469792e-01 -1.48770469e-02 3.58438398e+00] [ 1.11945573e-01 2.90759297e-04 9.93714297e-01 4.22879309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:38.05, Y:3.59, Z:4.23 [[ 9.85591219e-01 -1.27673235e-01 -1.10948163e-01 3.80484420e+01] [ 1.26800836e-01 9.91816086e-01 -1.49130648e-02 3.58596249e+00] [ 1.11944172e-01 6.29865759e-04 9.93714298e-01 4.23264753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.50710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:38.08, Y:3.59, Z:4.24 [[ 9.85732209e-01 -1.26581579e-01 -1.10946453e-01 3.80764492e+01] [ 1.25700856e-01 9.91955904e-01 -1.49257792e-02 3.58816526e+00] [ 1.11943318e-01 7.66757218e-04 9.93714298e-01 4.23601057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53710568099999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:38.10, Y:3.59, Z:4.24 [[ 9.86186333e-01 -1.22998038e-01 -1.10941426e-01 3.81037136e+01] [ 1.22090508e-01 9.92406174e-01 -1.49630525e-02 3.59220689e+00] [ 1.11939382e-01 1.21146282e-03 9.93714299e-01 4.23612774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.567105680999994 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:38.13, Y:3.60, Z:4.24 [[ 9.86758510e-01 -1.18321761e-01 -1.10939643e-01 3.81313497e+01] [ 1.17383272e-01 9.92973755e-01 -1.49762631e-02 3.59614771e+00] [ 1.11932171e-01 1.75549681e-03 9.93714299e-01 4.24173882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59710568099999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:38.16, Y:3.60, Z:4.24 [[ 9.87130477e-01 -1.15182126e-01 -1.10934662e-01 3.81595980e+01] [ 1.14219735e-01 9.93342066e-01 -1.50130648e-02 3.59865442e+00] [ 1.11925303e-01 2.14892602e-03 9.93714299e-01 4.24318769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.62710568099999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:38.19, Y:3.60, Z:4.24 [[ 9.87952255e-01 -1.07912493e-01 -1.10928965e-01 3.81894419e+01] [ 1.06899693e-01 9.94155823e-01 -1.50550408e-02 3.59740587e+00] [ 1.11905304e-01 3.01538916e-03 9.93714300e-01 4.23848528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.65710568099999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:38.22, Y:3.60, Z:4.24 [[ 9.88065510e-01 -1.06875707e-01 -1.10923986e-01 3.82178444e+01] [ 1.05852293e-01 9.94267336e-01 -1.50916414e-02 3.59593270e+00] [ 1.11901026e-01 3.16997221e-03 9.93714301e-01 4.24434892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.68710568099999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:38.25, Y:3.60, Z:4.25 [[ 9.87962505e-01 -1.07829053e-01 -1.10918815e-01 3.82458925e+01] [ 1.06807371e-01 9.94164615e-01 -1.51295516e-02 3.59690351e+00] [ 1.11902966e-01 3.10048280e-03 9.93714302e-01 4.24992862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:38.27, Y:3.60, Z:4.26 [[ 9.87460496e-01 -1.12338466e-01 -1.10913652e-01 3.82739378e+01] [ 1.11340871e-01 9.93666525e-01 -1.51673085e-02 3.59510808e+00] [ 1.11915055e-01 2.62789543e-03 9.93714302e-01 4.25524232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.747105680999994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:38.30, Y:3.59, Z:4.26 [[ 9.86526232e-01 -1.20268701e-01 -1.10911829e-01 3.83019931e+01] [ 1.19319504e-01 9.92739847e-01 -1.51806288e-02 3.59132831e+00] [ 1.11932346e-01 1.74214413e-03 9.93714302e-01 4.25739890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:38.33, Y:3.59, Z:4.26 [[ 9.85929459e-01 -1.25068878e-01 -1.10909319e-01 3.83305100e+01] [ 1.24147875e-01 9.92147316e-01 -1.51989437e-02 3.59140200e+00] [ 1.11939298e-01 1.21593003e-03 9.93714303e-01 4.26184679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.80710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:38.36, Y:3.59, Z:4.27 [[ 9.84878191e-01 -1.33098459e-01 -1.10904235e-01 3.83582842e+01] [ 1.32223985e-01 9.91102761e-01 -1.52359460e-02 3.58974862e+00] [ 1.11945375e-01 3.41350960e-04 9.93714303e-01 4.26589944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.83710568099999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:38.39, Y:3.59, Z:4.27 [[ 9.84251085e-01 -1.37660623e-01 -1.10902452e-01 3.83867971e+01] [ 1.36813539e-01 9.90479443e-01 -1.52489193e-02 3.58997736e+00] [ 1.11945774e-01 -1.64191511e-04 9.93714303e-01 4.26769215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.86710568099999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:38.41, Y:3.59, Z:4.27 [[ 9.84218162e-01 -1.37900484e-01 -1.10896649e-01 3.84125565e+01] [ 1.37050176e-01 9.90446078e-01 -1.52910066e-02 3.59105241e+00] [ 1.11945788e-01 -1.48718811e-04 9.93714304e-01 4.26963646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89710568099999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:38.44, Y:3.59, Z:4.27 [[ 9.83321626e-01 -1.44249091e-01 -1.10773550e-01 3.84425922e+01] [ 1.43338801e-01 9.89541408e-01 -1.61799077e-02 3.59358447e+00] [ 1.11948951e-01 3.19053125e-05 9.93713958e-01 4.27152849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.92710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:38.47, Y:3.59, Z:4.28 [[ 9.82951772e-01 -1.46661477e-01 -1.10888347e-01 3.84709902e+01] [ 1.45859912e-01 9.89186147e-01 -1.53509518e-02 3.59345422e+00] [ 1.11940610e-01 -1.08491926e-03 9.93714306e-01 4.27703473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:38.50, Y:3.60, Z:4.28 [[ 9.83106886e-01 -1.45621914e-01 -1.10883310e-01 3.84996286e+01] [ 1.44809664e-01 9.89339878e-01 -1.53872466e-02 3.59552231e+00] [ 1.11942001e-01 -9.29666886e-04 9.93714307e-01 4.28108118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98710568099999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:38.53, Y:3.60, Z:4.29 [[ 9.83997746e-01 -1.39479175e-01 -1.10878289e-01 3.85281087e+01] [ 1.38623945e-01 9.90224986e-01 -1.54233474e-02 3.60005373e+00] [ 1.11945688e-01 -1.93846669e-04 9.93714308e-01 4.28635780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.01710568099999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:38.56, Y:3.60, Z:4.29 [[ 9.84527849e-01 -1.35690671e-01 -1.10873605e-01 3.85557270e+01] [ 1.34807695e-01 9.90751214e-01 -1.54569435e-02 3.60499610e+00] [ 1.11945522e-01 2.71176164e-04 9.93714308e-01 4.29069861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.04710568099999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:38.58, Y:3.61, Z:4.29 [[ 9.84477346e-01 -1.36061310e-01 -1.10867832e-01 3.85836485e+01] [ 1.35176026e-01 9.90700382e-01 -1.54982426e-02 3.60913109e+00] [ 1.11945515e-01 2.70995868e-04 9.93714309e-01 4.29388670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07710568099999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:38.61, Y:3.61, Z:4.30 [[ 9.85473100e-01 -1.28656062e-01 -1.10862018e-01 3.86113396e+01] [ 1.27719352e-01 9.91688603e-01 -1.55397193e-02 3.61206651e+00] [ 1.11939879e-01 1.15475024e-03 9.93714310e-01 4.30199160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.10710568099999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:38.64, Y:3.61, Z:4.30 [[ 9.85839779e-01 -1.25783190e-01 -1.10898691e-01 3.86394884e+01] [ 1.24857770e-01 9.92057010e-01 -1.52782606e-02 3.61256434e+00] [ 1.11939572e-01 1.21535374e-03 9.93714272e-01 4.30373112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.137105680999994 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:38.67, Y:3.62, Z:4.30 [[ 9.85844625e-01 -1.25784666e-01 -1.10853923e-01 3.86673235e+01] [ 1.24823470e-01 9.92056375e-01 -1.55964975e-02 3.61510402e+00] [ 1.11935141e-01 1.53855193e-03 9.93714324e-01 4.30421093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16710568099999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:38.70, Y:3.62, Z:4.31 [[ 9.85599162e-01 -1.27695355e-01 -1.10852098e-01 3.86957055e+01] [ 1.26744744e-01 9.91812540e-01 -1.56094561e-02 3.61567430e+00] [ 1.11937756e-01 1.33474605e-03 9.93714324e-01 4.30895332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.19710568099999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:38.72, Y:3.61, Z:4.31 [[ 9.85330047e-01 -1.29760011e-01 -1.10846917e-01 3.87239705e+01] [ 1.28818290e-01 9.91544777e-01 -1.56461626e-02 3.61493026e+00] [ 1.11939928e-01 1.13752382e-03 9.93714324e-01 4.31433461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.22710568099999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:38.75, Y:3.62, Z:4.32 [[ 9.85112315e-01 -1.31404351e-01 -1.10845045e-01 3.87511468e+01] [ 1.30471513e-01 9.91328385e-01 -1.56594098e-02 3.61769403e+00] [ 1.11941554e-01 9.64156618e-04 9.93714325e-01 4.31778345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.25710568099999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:38.78, Y:3.62, Z:4.32 [[ 9.84756431e-01 -1.34050253e-01 -1.10839076e-01 3.87785991e+01] [ 1.33129374e-01 9.90974284e-01 -1.57015512e-02 3.61705517e+00] [ 1.11943471e-01 7.06266661e-04 9.93714325e-01 4.32155816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.28710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:38.81, Y:3.62, Z:4.33 [[ 9.84275675e-01 -1.37537282e-01 -1.10837234e-01 3.88072523e+01] [ 1.36636969e-01 9.90496538e-01 -1.57145399e-02 3.61767324e+00] [ 1.11945232e-01 3.22975585e-04 9.93714326e-01 4.32679633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317105680999994 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:38.83, Y:3.62, Z:4.33 [[ 9.83906088e-01 -1.40160807e-01 -1.10832115e-01 3.88345902e+01] [ 1.39273025e-01 9.90128751e-01 -1.57505621e-02 3.62192668e+00] [ 1.11945675e-01 6.11500790e-05 9.93714326e-01 4.33150164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:38.86, Y:3.63, Z:4.33 [[ 9.83214411e-01 -1.44937952e-01 -1.10826041e-01 3.88631761e+01] [ 1.44075599e-01 9.89440649e-01 -1.57931881e-02 3.62551658e+00] [ 1.11944822e-01 -4.39238079e-04 9.93714327e-01 4.33327763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:38.89, Y:3.63, Z:4.33 [[ 9.82169216e-01 -1.51845974e-01 -1.10844179e-01 3.88913992e+01] [ 1.51041746e-01 9.88403239e-01 -1.56661323e-02 3.62688363e+00] [ 1.11937585e-01 -1.35530545e-03 9.93714315e-01 4.33342315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.40710568099999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:38.92, Y:3.63, Z:4.34 [[ 9.81612052e-01 -1.55425829e-01 -1.10817830e-01 3.89174652e+01] [ 1.54623537e-01 9.87846308e-01 -1.58503677e-02 3.63069607e+00] [ 1.11934541e-01 -1.57613286e-03 9.93714332e-01 4.33648131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.43710568099999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:38.95, Y:3.64, Z:4.34 [[ 9.80464638e-01 -1.62508700e-01 -1.10815231e-01 3.89458857e+01] [ 1.61749388e-01 9.86704275e-01 -1.58685146e-02 3.63681321e+00] [ 1.11920634e-01 -2.36577848e-03 9.93714333e-01 4.33728311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:38.97, Y:3.64, Z:4.34 [[ 9.79355177e-01 -1.69069678e-01 -1.10810116e-01 3.89728959e+01] [ 1.68348131e-01 9.85599292e-01 -1.59041528e-02 3.64008280e+00] [ 1.11903282e-01 -3.07886162e-03 9.93714333e-01 4.34186039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497105680999994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:39.00, Y:3.64, Z:4.35 [[ 9.78373209e-01 -1.74663625e-01 -1.10808311e-01 3.90004075e+01] [ 1.73976352e-01 9.84621190e-01 -1.59167201e-02 3.64435329e+00] [ 1.11884283e-01 -3.70553315e-03 9.93714333e-01 4.35144758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52710568099999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:39.03, Y:3.65, Z:4.36 [[ 9.78044044e-01 -1.76500755e-01 -1.10803122e-01 3.90281356e+01] [ 1.75821139e-01 9.84292861e-01 -1.59527649e-02 3.65022216e+00] [ 1.11878397e-01 -3.87902429e-03 9.93714334e-01 4.35785667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:39.05, Y:3.66, Z:4.36 [[ 9.78470805e-01 -1.74122748e-01 -1.10797803e-01 3.90549251e+01] [ 1.73423774e-01 9.84717486e-01 -1.59896204e-02 3.65992629e+00] [ 1.11888691e-01 -3.56959633e-03 9.93714335e-01 4.36357075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.58710568099999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:39.08, Y:3.67, Z:4.36 [[ 9.80114289e-01 -1.64623822e-01 -1.10792498e-01 3.90823046e+01] [ 1.63860147e-01 9.86353390e-01 -1.60262981e-02 3.66871483e+00] [ 1.11918866e-01 -2.44687118e-03 9.93714335e-01 4.36222938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.61710568099999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:39.11, Y:3.68, Z:4.36 [[ 9.81112578e-01 -1.58567166e-01 -1.10790624e-01 3.91104999e+01] [ 1.57763509e-01 9.87346655e-01 -1.60392424e-02 3.67546827e+00] [ 1.11932049e-01 -1.74241512e-03 9.93714335e-01 4.36406958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.64710568099999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:39.14, Y:3.69, Z:4.37 [[ 9.83019486e-01 -1.46284898e-01 -1.10785466e-01 3.91369153e+01] [ 1.45399334e-01 9.89242455e-01 -1.60747902e-02 3.68699048e+00] [ 1.11945185e-01 -3.06300963e-04 9.93714336e-01 4.36946420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67710568099999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:39.16, Y:3.70, Z:4.38 [[ 9.83793121e-01 -1.40989645e-01 -1.10783639e-01 3.91644514e+01] [ 1.40069170e-01 9.90011022e-01 -1.60873697e-02 3.69504774e+00] [ 1.11945176e-01 3.09271331e-04 9.93714336e-01 4.37596873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70710568099999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:39.19, Y:3.70, Z:4.38 [[ 9.85061544e-01 -1.31840434e-01 -1.10778400e-01 3.91912133e+01] [ 1.30858163e-01 9.91269982e-01 -1.61233640e-02 3.70168343e+00] [ 1.11937014e-01 1.38624781e-03 9.93714337e-01 4.38084677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73710568099999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:39.22, Y:3.71, Z:4.38 [[ 9.85500367e-01 -1.28520753e-01 -1.10776547e-01 3.92186150e+01] [ 1.27516140e-01 9.91705229e-01 -1.61360879e-02 3.70668705e+00] [ 1.11931503e-01 1.77632287e-03 9.93714337e-01 4.38317625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.76710568099999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:39.25, Y:3.71, Z:4.39 [[ 9.85437697e-01 -1.29005492e-01 -1.10770613e-01 3.92462854e+01] [ 1.27999365e-01 9.91642313e-01 -1.61767236e-02 3.71151739e+00] [ 1.11931713e-01 1.76258522e-03 9.93714338e-01 4.38586392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.79710568099999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:39.27, Y:3.72, Z:4.39 [[ 9.85258243e-01 -1.30373989e-01 -1.10764691e-01 3.92740517e+01] [ 1.29371934e-01 9.91463517e-01 -1.62171717e-02 3.71533700e+00] [ 1.11933447e-01 1.64825993e-03 9.93714339e-01 4.38703919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.82710568099999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:39.30, Y:3.72, Z:4.39 [[ 9.84895006e-01 -1.33091755e-01 -1.10762863e-01 3.93030451e+01] [ 1.32105420e-01 9.91102798e-01 -1.62296480e-02 3.71697121e+00] [ 1.11937415e-01 1.35212475e-03 9.93714339e-01 4.38560787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85710568099999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:39.33, Y:3.72, Z:4.39 [[ 9.84402090e-01 -1.36693988e-01 -1.10757752e-01 3.93326089e+01] [ 1.35726455e-01 9.90612839e-01 -1.62644502e-02 3.71555791e+00] [ 1.11941304e-01 9.78001711e-04 9.93714339e-01 4.38626186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.887105680999994 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:39.36, Y:3.72, Z:4.39 [[ 9.84175358e-01 -1.38321302e-01 -1.10752341e-01 3.93592838e+01] [ 1.37359902e-01 9.90387060e-01 -1.63012133e-02 3.71681998e+00] [ 1.11942491e-01 8.30321750e-04 9.93714340e-01 4.38695092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91710568099999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:39.39, Y:3.72, Z:4.39 [[ 9.83910238e-01 -1.40196836e-01 -1.10749675e-01 3.93865056e+01] [ 1.39245239e-01 9.90123449e-01 -1.63193074e-02 3.72057693e+00] [ 1.11943765e-01 6.35368600e-04 9.93714340e-01 4.39229240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.94710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:39.41, Y:3.72, Z:4.40 [[ 9.84066073e-01 -1.39103370e-01 -1.10743927e-01 3.94132242e+01] [ 1.38140491e-01 9.90277544e-01 -1.63582218e-02 3.72475769e+00] [ 1.11942708e-01 7.99350652e-04 9.93714341e-01 4.39996172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.97710568099999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:39.44, Y:3.73, Z:4.40 [[ 9.84064721e-01 -1.39180361e-01 -1.10659173e-01 3.94419937e+01] [ 1.38153615e-01 9.90266097e-01 -1.69303174e-02 3.72786746e+00] [ 1.11938395e-01 1.37256337e-03 9.93714200e-01 4.40189395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.00710568099999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:39.47, Y:3.73, Z:4.41 [[ 9.83632915e-01 -1.42137792e-01 -1.10739045e-01 3.94698619e+01] [ 1.41190407e-01 9.89846761e-01 -1.63907987e-02 3.72698637e+00] [ 1.11944437e-01 4.87238240e-04 9.93714348e-01 4.40539989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:39.50, Y:3.73, Z:4.41 [[ 9.82976315e-01 -1.46612035e-01 -1.10736062e-01 3.94981118e+01] [ 1.45690666e-01 9.89194072e-01 -1.64109290e-02 3.73005294e+00] [ 1.11945496e-01 -1.65611157e-06 9.93714348e-01 4.40592356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.067105680999994 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:39.53, Y:3.73, Z:4.41 [[ 9.81292774e-01 -1.57487867e-01 -1.10734204e-01 3.95252849e+01] [ 1.56633992e-01 9.87520158e-01 -1.64234582e-02 3.73226011e+00] [ 1.11938754e-01 -1.22851957e-03 9.93714348e-01 4.41245040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:39.56, Y:3.74, Z:4.41 [[ 9.80043887e-01 -1.65138738e-01 -1.10648887e-01 3.95550180e+01] [ 1.64268706e-01 9.86269178e-01 -1.69970729e-02 3.73567398e+00] [ 1.11936462e-01 -1.51827213e-03 9.93714206e-01 4.41317307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.12710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:39.58, Y:3.74, Z:4.42 [[ 9.78659261e-01 -1.73105082e-01 -1.10727957e-01 3.95823093e+01] [ 1.72345803e-01 9.84898885e-01 -1.64654500e-02 3.73729226e+00] [ 1.11906094e-01 -2.96943353e-03 9.93714350e-01 4.41820210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.15710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.61, Y:3.74, Z:4.42 [[ 9.77776225e-01 -1.78026905e-01 -1.10725225e-01 3.96097753e+01] [ 1.77296953e-01 9.84019347e-01 -1.64838037e-02 3.74108830e+00] [ 1.11890324e-01 -3.51377362e-03 9.93714350e-01 4.42239302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.18710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.64, Y:3.75, Z:4.43 [[ 9.77543092e-01 -1.79306120e-01 -1.10719552e-01 3.96372293e+01] [ 1.78580036e-01 9.83786664e-01 -1.65218221e-02 3.74704555e+00] [ 1.11886882e-01 -3.62150842e-03 9.93714350e-01 4.42720345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:39.66, Y:3.75, Z:4.43 [[ 9.77529133e-01 -1.79385547e-01 -1.10714133e-01 3.96638071e+01] [ 1.78655872e-01 9.83772286e-01 -1.65580508e-02 3.75328538e+00] [ 1.11887771e-01 -3.59375295e-03 9.93714351e-01 4.43037421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.247105680999994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:39.69, Y:3.76, Z:4.44 [[ 9.77705432e-01 -1.78423826e-01 -1.10711454e-01 3.96902978e+01] [ 1.77685985e-01 9.83947625e-01 -1.65759484e-02 3.76099559e+00] [ 1.11891816e-01 -3.46547887e-03 9.93714351e-01 4.43604740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:39.72, Y:3.77, Z:4.44 [[ 9.77955216e-01 -1.77053517e-01 -1.10705226e-01 3.97182805e+01] [ 1.76302236e-01 9.84195805e-01 -1.66174400e-02 3.76794803e+00] [ 1.11897795e-01 -3.26646666e-03 9.93714352e-01 4.44061353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.30710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:39.74, Y:3.78, Z:4.45 [[ 9.78691091e-01 -1.72943136e-01 -1.10699688e-01 3.97449416e+01] [ 1.72161480e-01 9.84927947e-01 -1.66542519e-02 3.77846976e+00] [ 1.11911455e-01 -2.75885414e-03 9.93714353e-01 4.44967269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.33710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:39.77, Y:3.79, Z:4.46 [[ 9.79525116e-01 -1.68158700e-01 -1.10694169e-01 3.97696376e+01] [ 1.67342443e-01 9.85757537e-01 -1.66908530e-02 3.78552297e+00] [ 1.11924323e-01 -2.17472293e-03 9.93714354e-01 4.45584923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.36710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:39.80, Y:3.80, Z:4.46 [[ 9.80499846e-01 -1.62472725e-01 -1.10556166e-01 3.97983562e+01] [ 1.61517372e-01 9.86712855e-01 -1.76034355e-02 3.80001368e+00] [ 1.11947268e-01 -5.96575495e-04 9.93713970e-01 4.45738791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39710568099999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:39.82, Y:3.81, Z:4.46 [[ 9.81229999e-01 -1.57910911e-01 -1.10688000e-01 3.98237985e+01] [ 1.57024960e-01 9.87452893e-01 -1.67315756e-02 3.80922802e+00] [ 1.11941284e-01 -9.63254830e-04 9.93714356e-01 4.46018018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.42710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:39.85, Y:3.82, Z:4.46 [[ 9.82374170e-01 -1.50631186e-01 -1.10685300e-01 3.98502192e+01] [ 1.49697109e-01 9.88590022e-01 -1.67494183e-02 3.82254575e+00] [ 1.11945368e-01 -1.15073508e-04 9.93714356e-01 4.46352070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45710568099999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:39.88, Y:3.83, Z:4.47 [[ 9.83023422e-01 -1.46338446e-01 -1.10679769e-01 3.98750431e+01] [ 1.45373120e-01 9.89234497e-01 -1.67858839e-02 3.82909821e+00] [ 1.11944666e-01 4.11053677e-04 9.93714357e-01 4.46503187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.48710568099999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:39.90, Y:3.84, Z:4.46 [[ 9.83823552e-01 -1.40950051e-01 -1.10563563e-01 3.99046613e+01] [ 1.39864940e-01 9.90015071e-01 -1.75487522e-02 3.83737509e+00] [ 1.11933091e-01 1.80090962e-03 9.93714114e-01 4.46264822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.51710568099999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:39.93, Y:3.85, Z:4.46 [[ 9.84158349e-01 -1.38559996e-01 -1.10605027e-01 3.99341786e+01] [ 1.37490438e-01 9.90352414e-01 -1.72764662e-02 3.84612282e+00] [ 1.11931783e-01 1.79564484e-03 9.93714271e-01 4.46048566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.54710568099999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:39.96, Y:3.85, Z:4.46 [[ 9.84533101e-01 -1.35820401e-01 -1.10667931e-01 3.99604002e+01] [ 1.34779977e-01 9.90732039e-01 -1.68637251e-02 3.85170179e+00] [ 1.11932703e-01 1.68707434e-03 9.93714357e-01 4.46378506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:39.99, Y:3.86, Z:4.47 [[ 9.84460322e-01 -1.36399914e-01 -1.10602614e-01 3.99886032e+01] [ 1.35315057e-01 9.90651721e-01 -1.72916861e-02 3.85564835e+00] [ 1.11927254e-01 2.05677990e-03 9.93714275e-01 4.46590195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.60710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:40.02, Y:3.86, Z:4.47 [[ 9.84171960e-01 -1.38447511e-01 -1.10624772e-01 4.00179886e+01] [ 1.37391829e-01 9.90368354e-01 -1.71466761e-02 3.85917485e+00] [ 1.11933188e-01 1.67633808e-03 9.93714321e-01 4.46985893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:40.05, Y:3.86, Z:4.47 [[ 9.83815459e-01 -1.40932839e-01 -1.10657475e-01 4.00452935e+01] [ 1.39916841e-01 9.90018460e-01 -1.69329808e-02 3.86043239e+00] [ 1.11939356e-01 1.17608403e-03 9.93714344e-01 4.47454975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.66710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:40.07, Y:3.86, Z:4.48 [[ 9.83298668e-01 -1.44499474e-01 -1.10650946e-01 4.00739068e+01] [ 1.43501187e-01 9.89504543e-01 -1.69755394e-02 3.85894964e+00] [ 1.11942570e-01 8.13483178e-04 9.93714345e-01 4.47610664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.69710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:40.10, Y:3.86, Z:4.49 [[ 9.82793447e-01 -1.47898125e-01 -1.10648930e-01 4.01023573e+01] [ 1.46919821e-01 9.89002503e-01 -1.69886696e-02 3.85809050e+00] [ 1.11944661e-01 4.39832178e-04 9.93714345e-01 4.48603816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.72710568099999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:40.13, Y:3.86, Z:4.49 [[ 9.82546944e-01 -1.49530852e-01 -1.10643695e-01 4.01304232e+01] [ 1.48559035e-01 9.88757018e-01 -1.70226919e-02 3.86220141e+00] [ 1.11945148e-01 2.88473301e-04 9.93714346e-01 4.49476409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.75710568099999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:40.16, Y:3.87, Z:4.50 [[ 9.82138529e-01 -1.52194344e-01 -1.10638113e-01 4.01574618e+01] [ 1.51235290e-01 9.88350586e-01 -1.70588957e-02 3.86683529e+00] [ 1.11945511e-01 2.18115885e-05 9.93714346e-01 4.49957938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.78710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:40.19, Y:3.87, Z:4.50 [[ 9.81907493e-01 -1.53679272e-01 -1.10636142e-01 4.01854279e+01] [ 1.52728173e-01 9.88120774e-01 -1.70716703e-02 3.87051933e+00] [ 1.11945432e-01 -1.34454753e-04 9.93714346e-01 4.50167926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817105680999994 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:40.21, Y:3.87, Z:4.49 [[ 9.81706641e-01 -1.54961752e-01 -1.10629684e-01 4.02147888e+01] [ 1.54014065e-01 9.87920442e-01 -1.71134170e-02 3.87176099e+00] [ 1.11945252e-01 -2.38172214e-04 9.93714347e-01 4.49448324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:40.24, Y:3.88, Z:4.49 [[ 9.81513571e-01 -1.56183918e-01 -1.10624107e-01 4.02441517e+01] [ 1.55239914e-01 9.87727932e-01 -1.71493931e-02 3.87532533e+00] [ 1.11944980e-01 -3.40914813e-04 9.93714348e-01 4.49349269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87710568099999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:40.27, Y:3.88, Z:4.49 [[ 9.80801743e-01 -1.60596852e-01 -1.10619129e-01 4.02722318e+01] [ 1.59677192e-01 9.87019753e-01 -1.71814461e-02 3.87882948e+00] [ 1.11942551e-01 -8.11759571e-04 9.93714348e-01 4.49491655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.90710568099999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:40.30, Y:3.88, Z:4.51 [[ 9.79545059e-01 -1.68093145e-01 -1.10617233e-01 4.02998482e+01] [ 1.67219690e-01 9.85769727e-01 -1.71936413e-02 3.88345614e+00] [ 1.11933253e-01 -1.65543308e-03 9.93714349e-01 4.50653427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.93710568099999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:40.33, Y:3.89, Z:4.51 [[ 9.79482153e-01 -1.68463035e-01 -1.10611563e-01 4.03276974e+01] [ 1.67587821e-01 9.85706573e-01 -1.72300409e-02 3.88801698e+00] [ 1.11933170e-01 -1.66063332e-03 9.93714349e-01 4.50972111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.96710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:40.36, Y:3.89, Z:4.52 [[ 9.78629716e-01 -1.73350503e-01 -1.10605072e-01 4.03560100e+01] [ 1.72501675e-01 9.84857789e-01 -1.72716095e-02 3.89110779e+00] [ 1.11924309e-01 -2.17704994e-03 9.93714350e-01 4.51535352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997105680999994 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:40.38, Y:3.89, Z:4.52 [[ 9.77313930e-01 -1.80624605e-01 -1.10599434e-01 4.03830673e+01] [ 1.79818050e-01 9.83547617e-01 -1.73076411e-02 3.89081149e+00] [ 1.11905995e-01 -2.97277580e-03 9.93714351e-01 4.52292279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02710568099999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:40.41, Y:3.89, Z:4.53 [[ 9.76596596e-01 -1.84496374e-01 -1.10544907e-01 4.04107041e+01] [ 1.83675194e-01 9.82828424e-01 -1.76553733e-02 3.89446780e+00] [ 1.11904029e-01 -3.06217968e-03 9.93714301e-01 4.52836396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:40.44, Y:3.90, Z:4.53 [[ 9.76587414e-01 -1.84538741e-01 -1.10555311e-01 4.04388202e+01] [ 1.83725329e-01 9.82820242e-01 -1.75890797e-02 3.89878593e+00] [ 1.11901864e-01 -3.13453702e-03 9.93714319e-01 4.52854685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.08710568099999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:40.47, Y:3.90, Z:4.53 [[ 9.77435068e-01 -1.79972713e-01 -1.10591634e-01 4.04666139e+01] [ 1.79156343e-01 9.83667482e-01 -1.73576768e-02 3.90315742e+00] [ 1.11909302e-01 -2.84719064e-03 9.93714346e-01 4.53193788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.11710568099999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:40.49, Y:3.91, Z:4.54 [[ 9.77998036e-01 -1.76891885e-01 -1.10585274e-01 4.04939563e+01] [ 1.76051310e-01 9.84227231e-01 -1.73981038e-02 3.90904811e+00] [ 1.11918621e-01 -2.45337099e-03 9.93714347e-01 4.53536036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.14710568099999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:40.52, Y:3.92, Z:4.54 [[ 9.79485304e-01 -1.68466266e-01 -1.10578737e-01 4.05189725e+01] [ 1.67567421e-01 9.85706357e-01 -1.74395480e-02 3.91795307e+00] [ 1.11936140e-01 -1.44761290e-03 9.93714348e-01 4.54276772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:40.55, Y:3.93, Z:4.55 [[ 9.80458825e-01 -1.62752742e-01 -1.10508091e-01 4.05469794e+01] [ 1.61767267e-01 9.86666828e-01 -1.78863631e-02 3.92777117e+00] [ 1.11945722e-01 -3.39749250e-04 9.93714265e-01 4.54864715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20710568099999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:40.57, Y:3.93, Z:4.55 [[ 9.80844516e-01 -1.60369285e-01 -1.10570010e-01 4.05747154e+01] [ 1.59412819e-01 9.87056977e-01 -1.74950875e-02 3.93465362e+00] [ 1.11944574e-01 -4.66316274e-04 9.93714343e-01 4.55252806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23710568099999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:40.60, Y:3.94, Z:4.55 [[ 9.81270990e-01 -1.57742771e-01 -1.10564295e-01 4.06027767e+01] [ 1.56765615e-01 9.87480228e-01 -1.75311287e-02 3.94155514e+00] [ 1.11945464e-01 -1.29891688e-04 9.93714343e-01 4.54913123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.26710568099999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:40.63, Y:3.95, Z:4.55 [[ 9.81741758e-01 -1.54789906e-01 -1.10558609e-01 4.06313241e+01] [ 1.53790044e-01 9.87947380e-01 -1.75669150e-02 3.94778389e+00] [ 1.11945269e-01 2.43360649e-04 9.93714344e-01 4.55339386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.29710568099999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:40.66, Y:3.96, Z:4.55 [[ 9.83215342e-01 -1.45118585e-01 -1.10581135e-01 4.06589794e+01] [ 1.44073610e-01 9.89413540e-01 -1.74253031e-02 3.95560035e+00] [ 1.11939208e-01 1.20100201e-03 9.93714331e-01 4.55393766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.32710568099999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:40.69, Y:3.96, Z:4.55 [[ 9.83941858e-01 -1.40131344e-01 -1.10551468e-01 4.06873078e+01] [ 1.39034032e-01 9.90130987e-01 -1.76115438e-02 3.96226880e+00] [ 1.11928363e-01 1.95831878e-03 9.93714349e-01 4.55438472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35710568099999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:40.71, Y:3.97, Z:4.55 [[ 9.85289786e-01 -1.30262809e-01 -1.10614817e-01 4.07146259e+01] [ 1.29148083e-01 9.91475891e-01 -1.72142265e-02 3.96614348e+00] [ 1.11914297e-01 2.67531008e-03 9.93714261e-01 4.55367968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38710568099999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:40.74, Y:3.97, Z:4.56 [[ 9.85595423e-01 -1.27991830e-01 -1.10542993e-01 4.07422916e+01] [ 1.26812455e-01 9.91769425e-01 -1.76637847e-02 3.96718051e+00] [ 1.11893981e-01 3.39111698e-03 9.93714364e-01 4.55634527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:40.77, Y:3.97, Z:4.56 [[ 9.85358256e-01 -1.29806799e-01 -1.10540954e-01 4.07705701e+01] [ 1.28637369e-01 9.91534148e-01 -1.76765345e-02 3.97036911e+00] [ 1.11899665e-01 3.19802176e-03 9.93714364e-01 4.56278490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.44710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:40.80, Y:3.97, Z:4.57 [[ 9.84448448e-01 -1.36540113e-01 -1.10535291e-01 4.07986404e+01] [ 1.35408964e-01 9.90631466e-01 -1.77118790e-02 3.96996244e+00] [ 1.11918119e-01 2.46896260e-03 9.93714365e-01 4.57059686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.47710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:40.83, Y:3.97, Z:4.57 [[ 9.82901821e-01 -1.47265867e-01 -1.10529522e-01 4.08285382e+01] [ 1.46198162e-01 9.89096109e-01 -1.77478029e-02 3.96673521e+00] [ 1.11937966e-01 1.28513469e-03 9.93714365e-01 4.56995779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.50710568099999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:40.86, Y:3.97, Z:4.57 [[ 9.81959236e-01 -1.53429304e-01 -1.10523786e-01 4.08563532e+01] [ 1.52396468e-01 9.88159433e-01 -1.77834528e-02 3.96810634e+00] [ 1.11943625e-01 6.19191018e-04 9.93714366e-01 4.57305666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53710568099999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:40.88, Y:3.97, Z:4.58 [[ 9.80470377e-01 -1.62676982e-01 -1.10517147e-01 4.08848633e+01] [ 1.61697986e-01 9.86679302e-01 -1.78246213e-02 3.96924033e+00] [ 1.11944637e-01 -3.93886898e-04 9.93714367e-01 4.57676197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.567105680999994 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:40.91, Y:3.97, Z:4.57 [[ 9.79495931e-01 -1.68445229e-01 -1.10516632e-01 4.09131178e+01] [ 1.67502436e-01 9.85710456e-01 -1.78278084e-02 3.96988183e+00] [ 1.11940409e-01 -1.04953935e-03 9.93714367e-01 4.57434281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:40.94, Y:3.97, Z:4.57 [[ 9.79062706e-01 -1.70981313e-01 -1.10460893e-01 4.09416875e+01] [ 1.70015735e-01 9.85273776e-01 -1.81723963e-02 3.97272173e+00] [ 1.11941361e-01 -9.88174385e-04 9.93714323e-01 4.57265575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.62710568099999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:40.97, Y:3.97, Z:4.57 [[ 9.78333015e-01 -1.75078316e-01 -1.10508346e-01 4.09710519e+01] [ 1.74171858e-01 9.84552945e-01 -1.78791280e-02 3.97437031e+00] [ 1.11931565e-01 -1.75570262e-03 9.93714367e-01 4.57372419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.65710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:41.00, Y:3.98, Z:4.58 [[ 9.77944185e-01 -1.77239136e-01 -1.10505471e-01 4.09986556e+01] [ 1.76344415e-01 9.84165814e-01 -1.78968801e-02 3.97850015e+00] [ 1.11927734e-01 -1.98487278e-03 9.93714367e-01 4.57812872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.68710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:41.03, Y:3.98, Z:4.59 [[ 9.77468924e-01 -1.79845579e-01 -1.10499189e-01 4.10251862e+01] [ 1.78963075e-01 9.83692296e-01 -1.79355794e-02 3.98374036e+00] [ 1.11922836e-01 -2.24380311e-03 9.93714367e-01 4.59031221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:41.05, Y:3.99, Z:4.60 [[ 9.77889358e-01 -1.77546605e-01 -1.10497086e-01 4.10517337e+01] [ 1.76648007e-01 9.84110427e-01 -1.79485266e-02 3.99073179e+00] [ 1.11928035e-01 -1.96741683e-03 9.93714368e-01 4.59932410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.747105680999994 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:41.08, Y:4.00, Z:4.60 [[ 9.78566801e-01 -1.73801770e-01 -1.10453437e-01 4.10790797e+01] [ 1.72849104e-01 9.84779845e-01 -1.82165916e-02 3.99786162e+00] [ 1.11938394e-01 -1.26562582e-03 9.93714342e-01 4.60344428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:41.11, Y:4.00, Z:4.61 [[ 9.78662469e-01 -1.73258298e-01 -1.10459646e-01 4.11056809e+01] [ 1.72306482e-01 9.84875636e-01 -1.81784858e-02 4.00358274e+00] [ 1.11938587e-01 -1.24231113e-03 9.93714350e-01 4.60873096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.80710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:41.13, Y:4.01, Z:4.62 [[ 9.78994327e-01 -1.71346133e-01 -1.10501630e-01 4.11344938e+01] [ 1.70411222e-01 9.85210053e-01 -1.79211211e-02 4.01162152e+00] [ 1.11938031e-01 -1.28604193e-03 9.93714357e-01 4.61616802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.83710568099999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:41.16, Y:4.02, Z:4.62 [[ 9.78599493e-01 -1.73511066e-01 -1.10620716e-01 4.11595182e+01] [ 1.72672251e-01 9.84829287e-01 -1.71921070e-02 4.02134979e+00] [ 1.11925542e-01 -2.27694081e-03 9.93713987e-01 4.61979162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.86710568099999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:41.18, Y:4.03, Z:4.62 [[ 9.78212400e-01 -1.75774131e-01 -1.10471518e-01 4.11836607e+01] [ 1.74846830e-01 9.84429211e-01 -1.81028733e-02 4.03191569e+00] [ 1.11933406e-01 -1.60713958e-03 9.93714411e-01 4.62007117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89710568099999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:41.21, Y:4.04, Z:4.62 [[ 9.76947060e-01 -1.82774252e-01 -1.10308723e-01 4.12114175e+01] [ 1.81779777e-01 9.83153911e-01 -1.90918879e-02 4.04295418e+00] [ 1.11939958e-01 -1.40013134e-03 9.93713986e-01 4.61960741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.92710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:41.24, Y:4.05, Z:4.62 [[ 9.75845946e-01 -1.88524047e-01 -1.10378321e-01 4.12412387e+01] [ 1.87614063e-01 9.82065413e-01 -1.86678276e-02 4.05081235e+00] [ 1.11918065e-01 -2.49160124e-03 9.93714314e-01 4.61834291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:41.27, Y:4.06, Z:4.62 [[ 9.73964802e-01 -1.97962850e-01 -1.10468429e-01 4.12696698e+01] [ 1.97175316e-01 9.80200802e-01 -1.81185456e-02 4.05964540e+00] [ 1.11868042e-01 -4.13482165e-03 9.93714468e-01 4.61786397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.98710568099999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:41.30, Y:4.07, Z:4.62 [[ 9.71958475e-01 -2.07591303e-01 -1.10465263e-01 4.12975999e+01] [ 2.06863331e-01 9.78201708e-01 -1.81378246e-02 4.07070424e+00] [ 1.11822564e-01 -5.22200003e-03 9.93714468e-01 4.62250106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.01710568099999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:41.33, Y:4.08, Z:4.63 [[ 9.70957133e-01 -2.12225954e-01 -1.10464429e-01 4.13252572e+01] [ 2.11527199e-01 9.77203704e-01 -1.81429051e-02 4.07882367e+00] [ 1.11796644e-01 -5.75024810e-03 9.93714469e-01 4.62619013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.04710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:41.35, Y:4.09, Z:4.63 [[ 9.69673046e-01 -2.18018498e-01 -1.10463197e-01 4.13532249e+01] [ 2.17356194e-01 9.75923587e-01 -1.81504049e-02 4.09085927e+00] [ 1.11760763e-01 -6.40990158e-03 9.93714469e-01 4.63395261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07710568099999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:41.38, Y:4.10, Z:4.64 [[ 9.70106906e-01 -2.16079786e-01 -1.10463197e-01 4.13819121e+01] [ 2.15404990e-01 9.76356110e-01 -1.81504049e-02 4.10456285e+00] [ 1.11773353e-01 -6.18649063e-03 9.93714469e-01 4.64109407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.10710568099999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:41.41, Y:4.12, Z:4.65 [[ 9.70893639e-01 -2.12516457e-01 -1.10464009e-01 4.14128005e+01] [ 2.11819281e-01 9.77140386e-01 -1.81454614e-02 4.11533854e+00] [ 1.11795053e-01 -5.78109384e-03 9.93714469e-01 4.64555421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13710568099999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:41.44, Y:4.13, Z:4.65 [[ 9.73791362e-01 -1.98815790e-01 -1.10465674e-01 4.14386406e+01] [ 1.98031817e-01 9.80027811e-01 -1.81353198e-02 4.13148790e+00] [ 1.11865020e-01 -4.21570030e-03 9.93714469e-01 4.64788008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.16710568099999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:41.47, Y:4.14, Z:4.65 [[ 9.75061803e-01 -1.92585612e-01 -1.10296246e-01 4.14738041e+01] [ 1.91645089e-01 9.81277120e-01 -1.91670117e-02 4.14121578e+00] [ 1.11922473e-01 -2.44871277e-03 9.93713925e-01 4.64884523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19710568099999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:41.50, Y:4.16, Z:4.66 [[ 9.77122358e-01 -1.81660641e-01 -1.10595247e-01 4.14997047e+01] [ 1.80856910e-01 9.83356529e-01 -1.73411290e-02 4.15938463e+00] [ 1.11904759e-01 -3.05750977e-03 9.93714233e-01 4.65705734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.22710568099999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:41.53, Y:4.18, Z:4.66 [[ 9.79541131e-01 -1.68212564e-01 -1.10470386e-01 4.15294358e+01] [ 1.67237223e-01 9.85750467e-01 -1.81032642e-02 4.17652337e+00] [ 1.11941431e-01 -7.41868776e-04 9.93714529e-01 4.66252227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25710568099999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:41.56, Y:4.18, Z:4.66 [[ 9.80874561e-01 -1.60251321e-01 -1.10474473e-01 4.15574497e+01] [ 1.59228394e-01 9.87076235e-01 -1.80782919e-02 4.18444773e+00] [ 1.11943797e-01 1.41863673e-04 9.93714530e-01 4.66191316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.28710568099999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:41.59, Y:4.20, Z:4.66 [[ 9.81012362e-01 -1.59555172e-01 -1.10258303e-01 4.15906104e+01] [ 1.58379615e-01 9.87187772e-01 -1.93958601e-02 4.19631343e+00] [ 1.11940359e-01 1.56491087e-03 9.93713695e-01 4.66007804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31710568099999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:41.62, Y:4.20, Z:4.66 [[ 9.80510966e-01 -1.62459139e-01 -1.10477479e-01 4.16191144e+01] [ 1.61452754e-01 9.86715263e-01 -1.80554103e-02 4.20224464e+00] [ 1.11943081e-01 -1.33365374e-04 9.93714611e-01 4.66032001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34710568099999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:41.65, Y:4.21, Z:4.67 [[ 9.79007478e-01 -1.71423721e-01 -1.10264531e-01 4.16521644e+01] [ 1.70327633e-01 9.85197381e-01 -1.93550462e-02 4.20998899e+00] [ 1.11950241e-01 1.67638472e-04 9.93713800e-01 4.66518539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37710568099999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:41.68, Y:4.21, Z:4.67 [[ 9.77265504e-01 -1.80959126e-01 -1.10480451e-01 4.16806487e+01] [ 1.80072717e-01 9.83487994e-01 -1.80328092e-02 4.21311578e+00] [ 1.11919398e-01 -2.27167260e-03 9.93714691e-01 4.66597176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.40710568099999 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:41.71, Y:4.22, Z:4.67 [[ 9.75478802e-01 -1.90493037e-01 -1.10242961e-01 4.17106393e+01] [ 1.89503384e-01 9.81686736e-01 -1.94838109e-02 4.21954887e+00] [ 1.11935583e-01 -1.88536968e-03 9.93713676e-01 4.66721544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.43710568099999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:41.74, Y:4.23, Z:4.68 [[ 9.75873970e-01 -1.88425318e-01 -1.10299107e-01 4.17417145e+01] [ 1.87461434e-01 9.82085486e-01 -1.91391978e-02 4.22944035e+00] [ 1.11929462e-01 -1.99938390e-03 9.93714143e-01 4.67588737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.46710568099999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:41.77, Y:4.24, Z:4.68 [[ 9.76595746e-01 -1.84619405e-01 -1.10346837e-01 4.17734321e+01] [ 1.83664589e-01 9.82808325e-01 -1.88445154e-02 4.23851538e+00] [ 1.11928853e-01 -1.86333289e-03 9.93714476e-01 4.67913971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497105680999994 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:41.81, Y:4.25, Z:4.68 [[ 9.77035997e-01 -1.82227875e-01 -1.10424920e-01 4.18056131e+01] [ 1.81312399e-01 9.83254122e-01 -1.83615157e-02 4.24804071e+00] [ 1.11921738e-01 -2.08154546e-03 9.93714844e-01 4.68203268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52710568099999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:41.84, Y:4.26, Z:4.69 [[ 9.77950787e-01 -1.77199289e-01 -1.10510952e-01 4.18364653e+01] [ 1.76312046e-01 9.84172857e-01 -1.78283432e-02 4.25667497e+00] [ 1.11921049e-01 -2.04916971e-03 9.93714989e-01 4.68592631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55710568099999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:41.87, Y:4.26, Z:4.69 [[ 9.77853482e-01 -1.77734491e-01 -1.10512525e-01 4.18655786e+01] [ 1.76851755e-01 9.84076194e-01 -1.78185833e-02 4.26016506e+00] [ 1.11919722e-01 -2.12037033e-03 9.93714989e-01 4.68808505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.58710568099999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:41.90, Y:4.27, Z:4.69 [[ 9.76948327e-01 -1.82744219e-01 -1.10347254e-01 4.18979736e+01] [ 1.81777946e-01 9.83159102e-01 -1.88403649e-02 4.26549294e+00] [ 1.11931874e-01 -1.65263407e-03 9.93714508e-01 4.68859588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.61710568099999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:41.93, Y:4.27, Z:4.70 [[ 9.75147456e-01 -1.92083796e-01 -1.10414015e-01 4.19309387e+01] [ 1.91223741e-01 9.81373490e-01 -1.84270083e-02 4.26980587e+00] [ 1.11896916e-01 -3.14473070e-03 9.93714844e-01 4.69674367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.64710568099999 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:41.96, Y:4.27, Z:4.70 [[ 9.74261821e-01 -1.96470583e-01 -1.10513411e-01 4.19623402e+01] [ 1.95708374e-01 9.80500394e-01 -1.78103904e-02 4.27235884e+00] [ 1.11857661e-01 -4.27641653e-03 9.93715038e-01 4.70274490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67710568099999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:41.99, Y:4.27, Z:4.71 [[ 9.74898712e-01 -1.93284575e-01 -1.10515042e-01 4.19928662e+01] [ 1.92503123e-01 9.81134903e-01 -1.78002620e-02 4.27392838e+00] [ 1.11870682e-01 -3.92103825e-03 9.93715038e-01 4.70657812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70710568099999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:42.03, Y:4.28, Z:4.71 [[ 9.76362633e-01 -1.85840389e-01 -1.10360135e-01 4.20261193e+01] [ 1.84902834e-01 9.82577725e-01 -1.87604776e-02 4.27738135e+00] [ 1.11923865e-01 -2.08887241e-03 9.93714589e-01 4.71167880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73710568099999 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:42.06, Y:4.28, Z:4.71 [[ 9.77712764e-01 -1.78502477e-01 -1.10519761e-01 4.20577712e+01] [ 1.77630350e-01 9.83936868e-01 -1.77679332e-02 4.28193654e+00] [ 1.11916087e-01 -2.25972867e-03 9.93715091e-01 4.71365795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.76710568099999 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:42.09, Y:4.29, Z:4.72 [[ 9.80952164e-01 -1.59742903e-01 -1.10521745e-01 4.20890696e+01] [ 1.58753113e-01 9.87158644e-01 -1.77555804e-02 4.28988508e+00] [ 1.11938824e-01 -1.28296052e-04 9.93715092e-01 4.71594616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.79710568099999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:42.12, Y:4.30, Z:4.72 [[ 9.83335751e-01 -1.44344721e-01 -1.10523313e-01 4.21203098e+01] [ 1.43258850e-01 9.89526143e-01 -1.77458133e-02 4.29813108e+00] [ 1.11927222e-01 1.61664985e-03 9.93715092e-01 4.72153885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82710568099999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:42.15, Y:4.30, Z:4.72 [[ 9.84436960e-01 -1.36631335e-01 -1.10524887e-01 4.21514806e+01] [ 1.35498067e-01 9.90618851e-01 -1.77360093e-02 4.30449640e+00] [ 1.11911331e-01 2.48407460e-03 9.93715092e-01 4.72411229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85710568099999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:42.18, Y:4.31, Z:4.73 [[ 9.84456485e-01 -1.36489223e-01 -1.10526566e-01 4.21844243e+01] [ 1.35356238e-01 9.90638427e-01 -1.77255394e-02 4.30963350e+00] [ 1.11911208e-01 2.48956207e-03 9.93715092e-01 4.72786459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:42.22, Y:4.31, Z:4.73 [[ 9.84619897e-01 -1.35303261e-01 -1.10529117e-01 4.22159926e+01] [ 1.34164617e-01 9.90800800e-01 -1.77096153e-02 4.31384464e+00] [ 1.11908506e-01 2.60814294e-03 9.93715092e-01 4.72847523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91710568099999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:42.25, Y:4.31, Z:4.73 [[ 9.84181365e-01 -1.38455371e-01 -1.10531223e-01 4.22484984e+01] [ 1.37338001e-01 9.90366149e-01 -1.76964599e-02 4.31340679e+00] [ 1.11916552e-01 2.23638873e-03 9.93715092e-01 4.73255180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.94710568099999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:42.28, Y:4.32, Z:4.74 [[ 9.83635316e-01 -1.42281672e-01 -1.10532761e-01 4.22800744e+01] [ 1.41189442e-01 9.89824589e-01 -1.76868494e-02 4.31513386e+00] [ 1.11924559e-01 1.79135084e-03 9.93715092e-01 4.73880315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.97710568099999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:42.31, Y:4.32, Z:4.75 [[ 9.82484974e-01 -1.50018057e-01 -1.10534419e-01 4.23124621e+01] [ 1.48975734e-01 9.88682847e-01 -1.76764848e-02 4.31533048e+00] [ 1.11935276e-01 8.99934590e-04 9.93715092e-01 4.74507664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00710568099999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:42.35, Y:4.31, Z:4.75 [[ 9.81717390e-01 -1.54960167e-01 -1.10536475e-01 4.23457135e+01] [ 1.53950494e-01 9.87920666e-01 -1.76636149e-02 4.31286118e+00] [ 1.11938425e-01 3.23532907e-04 9.93715092e-01 4.74664192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03710568099999 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:42.38, Y:4.31, Z:4.75 [[ 9.81015661e-01 -1.59341124e-01 -1.10538137e-01 4.23783283e+01] [ 1.58360325e-01 9.87223567e-01 -1.76532130e-02 4.30893140e+00] [ 1.11938736e-01 -1.86776890e-04 9.93715092e-01 4.74822363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06710568099999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:42.41, Y:4.31, Z:4.75 [[ 9.80416463e-01 -1.62986522e-01 -1.10539372e-01 4.24091136e+01] [ 1.62029678e-01 9.86628107e-01 -1.76454756e-02 4.30954852e+00] [ 1.11937226e-01 -6.10743965e-04 9.93715092e-01 4.75224177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09710568099999 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:42.44, Y:4.31, Z:4.76 [[ 9.78743469e-01 -1.72748373e-01 -1.10540583e-01 4.24418034e+01] [ 1.71854334e-01 9.84964463e-01 -1.76378860e-02 4.30799185e+00] [ 1.11925462e-01 -1.73391239e-03 9.93715092e-01 4.75809606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.12710568099999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:42.47, Y:4.31, Z:4.76 [[ 9.77866543e-01 -1.77644128e-01 -1.10542244e-01 4.24733263e+01] [ 1.76782408e-01 9.84092096e-01 -1.76274708e-02 4.30954782e+00] [ 1.11915165e-01 -2.30461000e-03 9.93715092e-01 4.76096555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.15710568099999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:42.51, Y:4.31, Z:4.76 [[ 9.76263931e-01 -1.86249507e-01 -1.10543467e-01 4.25059657e+01] [ 1.85443519e-01 9.82496944e-01 -1.76197970e-02 4.30689430e+00] [ 1.11890297e-01 -3.29799713e-03 9.93715092e-01 4.75557023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.18710568099999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:42.54, Y:4.30, Z:4.76 [[ 9.74875808e-01 -1.93383129e-01 -1.10544670e-01 4.25373425e+01] [ 1.92623593e-01 9.81114652e-01 -1.76122465e-02 4.30406151e+00] [ 1.11862906e-01 -4.12375845e-03 9.93715092e-01 4.75657473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21710568099999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:42.57, Y:4.31, Z:4.76 [[ 9.74184247e-01 -1.96868422e-01 -1.10489264e-01 4.25673944e+01] [ 1.96091863e-01 9.80421050e-01 -1.79595877e-02 4.30702404e+00] [ 1.11861676e-01 -4.17009811e-03 9.93715038e-01 4.75892821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.247105680999994 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:42.60, Y:4.31, Z:4.77 [[ 9.74106524e-01 -1.97223407e-01 -1.10541427e-01 4.25984017e+01] [ 1.96486157e-01 9.80348041e-01 -1.76326082e-02 4.31282457e+00] [ 1.11846634e-01 -4.54382147e-03 9.93715092e-01 4.76515040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27710568099999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:42.63, Y:4.32, Z:4.77 [[ 9.74334024e-01 -1.96095491e-01 -1.10543058e-01 4.26301152e+01] [ 1.95352173e-01 9.80574821e-01 -1.76223758e-02 4.31954240e+00] [ 1.11851408e-01 -4.42474625e-03 9.93715092e-01 4.76972127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.30710568099999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:42.66, Y:4.33, Z:4.77 [[ 9.75215956e-01 -1.91660411e-01 -1.10544681e-01 4.26589445e+01] [ 1.90889861e-01 9.81453449e-01 -1.76121861e-02 4.32690331e+00] [ 1.11870018e-01 -3.92617393e-03 9.93715092e-01 4.77387887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.33710568099999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:42.69, Y:4.33, Z:4.78 [[ 9.75414831e-01 -1.90665719e-01 -1.10510144e-01 4.26892422e+01] [ 1.89864262e-01 9.81648454e-01 -1.78290507e-02 4.33418153e+00] [ 1.11881501e-01 -3.59120647e-03 9.93715066e-01 4.77959641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.36710568099999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:42.72, Y:4.34, Z:4.79 [[ 9.75232638e-01 -1.91597296e-01 -1.10506912e-01 4.27187337e+01] [ 1.90799495e-01 9.81466736e-01 -1.78493579e-02 4.34129820e+00] [ 1.11878747e-01 -3.67738663e-03 9.93715061e-01 4.78501157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39710568099999 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:42.75, Y:4.36, Z:4.79 [[ 9.74271845e-01 -1.96440499e-01 -1.10478515e-01 4.27491961e+01] [ 1.95653455e-01 9.80507377e-01 -1.80279937e-02 4.35535385e+00] [ 1.11866427e-01 -4.05133639e-03 9.93714994e-01 4.79236294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.42710568099999 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:42.78, Y:4.36, Z:4.80 [[ 9.73948560e-01 -1.97994055e-01 -1.10555672e-01 4.27812317e+01] [ 1.97272031e-01 9.80191834e-01 -1.75418003e-02 4.36439782e+00] [ 1.11838939e-01 -4.72473083e-03 9.93715114e-01 4.79742060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45710568099999 meters Centerline goodness : 0.998300 Centerline is valid? [True, True] Translation: X:42.81, Y:4.37, Z:4.80 [[ 9.73645805e-01 -1.99476187e-01 -1.10558118e-01 4.28080085e+01] [ 1.98765414e-01 9.79890369e-01 -1.75263756e-02 4.37345683e+00] [ 1.11830929e-01 -4.91064796e-03 9.93715115e-01 4.80216480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48710568099999 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:42.84, Y:4.39, Z:4.81 [[ 9.72621721e-01 -2.04497237e-01 -1.10398674e-01 4.28400569e+01] [ 2.03704859e-01 9.78856956e-01 -1.85307702e-02 4.38509689e+00] [ 1.11854001e-01 -4.46531662e-03 9.93714619e-01 4.80698240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51710568099999 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:42.87, Y:4.39, Z:4.81 [[ 9.72643413e-01 -2.04306110e-01 -1.10561319e-01 4.28707966e+01] [ 2.03628894e-01 9.78891664e-01 -1.75038226e-02 4.39326519e+00] [ 1.11803691e-01 -5.48850136e-03 9.93715156e-01 4.81123561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.54710568099999 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:42.90, Y:4.41, Z:4.82 [[ 9.74345841e-01 -1.96025576e-01 -1.10562905e-01 4.28977343e+01] [ 1.95296373e-01 9.80588239e-01 -1.74938012e-02 4.41246607e+00] [ 1.11845916e-01 -4.54752186e-03 9.93715156e-01 4.81875397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57710568099999 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:42.93, Y:4.42, Z:4.82 [[ 9.75508319e-01 -1.90219772e-01 -1.10453421e-01 4.29265773e+01] [ 1.89375316e-01 9.81736388e-01 -1.81839162e-02 4.42063747e+00] [ 1.11895083e-01 -3.17858986e-03 9.93714943e-01 4.82439527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.60710568099999 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:42.96, Y:4.43, Z:4.83 [[ 9.76347993e-01 -1.85928656e-01 -1.10340976e-01 4.29578490e+01] [ 1.84976387e-01 9.82561289e-01 -1.88957565e-02 4.42841708e+00] [ 1.11930034e-01 -1.96164111e-03 9.93714154e-01 4.82777598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63710568099999 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:42.99, Y:4.44, Z:4.83 [[ 9.77209500e-01 -1.81352160e-01 -1.10331258e-01 4.29914749e+01] [ 1.80363822e-01 9.83417259e-01 -1.89574932e-02 4.44113183e+00] [ 1.11939645e-01 -1.37432487e-03 9.93714057e-01 4.82679049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66710568099999 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:43.02, Y:4.45, Z:4.83 [[ 9.78803474e-01 -1.72377950e-01 -1.10587532e-01 4.30230985e+01] [ 1.71517175e-01 9.85028828e-01 -1.73224112e-02 4.45216082e+00] [ 1.11917909e-01 -2.01242485e-03 9.93715418e-01 4.82592824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69710568099999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:43.05, Y:4.46, Z:4.82 [[ 9.80077839e-01 -1.64977171e-01 -1.10589160e-01 4.30536207e+01] [ 1.64070556e-01 9.86296683e-01 -1.73120102e-02 4.46209620e+00] [ 1.11929808e-01 -1.17730750e-03 9.93715418e-01 4.82048032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.72710568099999 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:43.08, Y:4.47, Z:4.82 [[ 9.80734589e-01 -1.61026190e-01 -1.10590376e-01 4.30816569e+01] [ 1.60095397e-01 9.86949861e-01 -1.73042375e-02 4.46867612e+00] [ 1.11933592e-01 -7.34145909e-04 9.93715418e-01 4.82117054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75710568099999 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:43.11, Y:4.48, Z:4.82 [[ 9.80720824e-01 -1.61212185e-01 -1.10441377e-01 4.31134772e+01] [ 1.60175522e-01 9.86919747e-01 -1.82541985e-02 4.47974159e+00] [ 1.11939575e-01 2.12267359e-04 9.93714993e-01 4.82330239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78710568099999 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:43.14, Y:4.48, Z:4.83 [[ 9.81294731e-01 -1.57577038e-01 -1.10589905e-01 4.31414145e+01] [ 1.56624272e-01 9.87506639e-01 -1.73053645e-02 4.48374631e+00] [ 1.11935194e-01 -3.39400313e-04 9.93715451e-01 4.83035920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81710568099999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:43.17, Y:4.49, Z:4.82 [[ 9.81303308e-01 -1.57630883e-01 -1.10436960e-01 4.31734163e+01] [ 1.56567976e-01 9.87497887e-01 -1.82863664e-02 4.48830515e+00] [ 1.11938760e-01 6.53580564e-04 9.93714892e-01 4.82435141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84710568099999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:43.21, Y:4.49, Z:4.83 [[ 9.80597319e-01 -1.62003557e-01 -1.10380006e-01 4.32077301e+01] [ 1.60927017e-01 9.86790033e-01 -1.86527821e-02 4.49471840e+00] [ 1.11943707e-01 5.27743080e-04 9.93714410e-01 4.82636479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87710568099999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:43.24, Y:4.50, Z:4.83 [[ 9.80189431e-01 -1.64293195e-01 -1.10618375e-01 4.32385107e+01] [ 1.63404710e-01 9.86410691e-01 -1.71128374e-02 4.49982911e+00] [ 1.11926671e-01 -1.30174122e-03 9.93715616e-01 4.83434084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.90710568099999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:43.27, Y:4.50, Z:4.84 [[ 9.79666986e-01 -1.67379306e-01 -1.10619909e-01 4.32688114e+01] [ 1.66511538e-01 9.85891169e-01 -1.71029184e-02 4.50242864e+00] [ 1.11921866e-01 -1.66432662e-03 9.93715616e-01 4.84031306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.93710568099999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:43.30, Y:4.50, Z:4.84 [[ 9.78890576e-01 -1.71861063e-01 -1.10621044e-01 4.32983400e+01] [ 1.71022619e-01 9.85118777e-01 -1.70955698e-02 4.50278009e+00] [ 1.11912931e-01 -2.18400860e-03 9.93715616e-01 4.84147211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96710568099999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:43.33, Y:4.51, Z:4.85 [[ 9.77642018e-01 -1.78904144e-01 -1.10496115e-01 4.33315948e+01] [ 1.78019192e-01 9.83864123e-01 -1.79040398e-02 4.50832442e+00] [ 1.11916271e-01 -2.16668755e-03 9.93715278e-01 4.85332693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99710568099999 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:43.36, Y:4.51, Z:4.85 [[ 9.76042977e-01 -1.87354679e-01 -1.10626994e-01 4.33634097e+01] [ 1.86619604e-01 9.82284194e-01 -1.70553850e-02 4.51038127e+00] [ 1.11862554e-01 -3.99837716e-03 9.93715644e-01 4.85416236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02710568099999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:43.39, Y:4.51, Z:4.86 [[ 9.74651000e-01 -1.94465096e-01 -1.10628908e-01 4.33949174e+01] [ 1.93776946e-01 9.80897565e-01 -1.70429653e-02 4.51185573e+00] [ 1.11829888e-01 -4.82638878e-03 9.93715644e-01 4.85907270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05710568099999 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:43.42, Y:4.52, Z:4.87 [[ 9.74161941e-01 -1.96899746e-01 -1.10630029e-01 4.34248961e+01] [ 1.96228031e-01 9.80410294e-01 -1.70356820e-02 4.51644195e+00] [ 1.11817141e-01 -5.11319973e-03 9.93715645e-01 4.86509309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.08710568099999 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:43.45, Y:4.52, Z:4.87 [[ 9.73626068e-01 -1.99532035e-01 -1.10631132e-01 4.34544991e+01] [ 1.98878024e-01 9.79876299e-01 -1.70285181e-02 4.52316603e+00] [ 1.11802559e-01 -5.42269176e-03 9.93715645e-01 4.87465564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.11710568099999 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:43.49, Y:4.53, Z:4.88 [[ 9.73425856e-01 -2.00505920e-01 -1.10632181e-01 4.34854456e+01] [ 1.99858935e-01 9.79676818e-01 -1.70216963e-02 4.52850958e+00] [ 1.11796734e-01 -5.54147070e-03 9.93715645e-01 4.87550043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.14710568099999 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:43.52, Y:4.53, Z:4.88 [[ 9.73518328e-01 -2.00055884e-01 -1.10633216e-01 4.35171827e+01] [ 1.99406771e-01 9.79769070e-01 -1.70149729e-02 4.53241402e+00] [ 1.11798948e-01 -5.49662428e-03 9.93715645e-01 4.87785230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17710568099999 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:43.55, Y:4.54, Z:4.88 [[ 9.74815749e-01 -1.93634222e-01 -1.10634729e-01 4.35476876e+01] [ 1.92945035e-01 9.81062199e-01 -1.70051261e-02 4.53865766e+00] [ 1.11832325e-01 -4.76955692e-03 9.93715645e-01 4.88205380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20710568099999 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:43.58, Y:4.55, Z:4.89 [[ 9.77696616e-01 -1.78517925e-01 -1.10637596e-01 4.35780047e+01] [ 1.77734217e-01 9.83931913e-01 -1.69864535e-02 4.55023862e+00] [ 1.11892248e-01 -3.05648836e-03 9.93715645e-01 4.89129982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23710568099999 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:43.61, Y:4.56, Z:4.89 [[ 9.79553548e-01 -1.68029240e-01 -1.10639151e-01 4.36089882e+01] [ 1.67179896e-01 9.85780243e-01 -1.69763192e-02 4.55865624e+00] [ 1.11918407e-01 -1.86742804e-03 9.93715645e-01 4.89295802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.26710568099999 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:43.64, Y:4.57, Z:4.89 [[ 9.82826032e-01 -1.47684432e-01 -1.10644926e-01 4.36391340e+01] [ 1.46710421e-01 9.89034446e-01 -1.69385958e-02 4.56985330e+00] [ 1.11933210e-01 4.14929197e-04 9.93715646e-01 4.89289381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.29710568099999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:43.67, Y:4.58, Z:4.90 [[ 9.84827054e-01 -1.33690457e-01 -1.10645995e-01 4.36704403e+01] [ 1.32629025e-01 9.91021121e-01 -1.69316105e-02 4.57992975e+00] [ 1.11916113e-01 1.99983772e-03 9.93715646e-01 4.89505480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.32710568099999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:43.70, Y:4.59, Z:4.90 [[ 9.85176603e-01 -1.31088421e-01 -1.10647576e-01 4.37017759e+01] [ 1.30011790e-01 9.91368047e-01 -1.69212737e-02 4.58589086e+00] [ 1.11910654e-01 2.28495353e-03 9.93715646e-01 4.89616055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35710568099999 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:43.73, Y:4.59, Z:4.89 [[ 9.85257547e-01 -1.30477316e-01 -1.10649160e-01 4.37329670e+01] [ 1.29398009e-01 9.91448524e-01 -1.69109055e-02 4.58900058e+00] [ 1.11909436e-01 2.34381619e-03 9.93715646e-01 4.89450978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38710568099999 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:43.77, Y:4.59, Z:4.90 [[ 9.84313845e-01 -1.37414544e-01 -1.10650342e-01 4.37654041e+01] [ 1.36379744e-01 9.90512417e-01 -1.69031699e-02 4.59063191e+00] [ 1.11923279e-01 1.54755878e-03 9.93715646e-01 4.89532711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41710568099999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:43.80, Y:4.59, Z:4.90 [[ 9.83812738e-01 -1.40955860e-01 -1.10652345e-01 4.37965920e+01] [ 1.39944849e-01 9.90015235e-01 -1.68900463e-02 4.59323336e+00] [ 1.11928259e-01 1.13141693e-03 9.93715646e-01 4.89758239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.44710568099999 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:43.83, Y:4.59, Z:4.90 [[ 9.82669134e-01 -1.48718404e-01 -1.10653551e-01 4.38290792e+01] [ 1.47757282e-01 9.88879557e-01 -1.68821427e-02 4.59209822e+00] [ 1.11933720e-01 2.39692573e-04 9.93715646e-01 4.90013679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.47710568099999 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:43.86, Y:4.59, Z:4.91 [[ 9.81726000e-01 -1.54820861e-01 -1.10655144e-01 4.38618608e+01] [ 1.53899521e-01 9.87942449e-01 -1.68716940e-02 4.59190921e+00] [ 1.11933004e-01 -4.66393054e-04 9.93715646e-01 4.90500881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.50710568099999 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:43.89, Y:4.60, Z:4.91 [[ 9.81477385e-01 -1.56387788e-01 -1.10657137e-01 4.38946527e+01] [ 1.55477846e-01 9.87695513e-01 -1.68586169e-02 4.59523834e+00] [ 1.11932039e-01 -6.58382006e-04 9.93715646e-01 4.90928458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53710568099999 meters Centerline goodness : 0.998171 Centerline is valid? [True, True] Translation: X:43.93, Y:4.60, Z:4.91 [[ 9.81761189e-01 -1.54594438e-01 -1.10659515e-01 4.39265403e+01] [ 1.53674899e-01 9.87977904e-01 -1.68429934e-02 4.59508797e+00] [ 1.11932988e-01 -4.69792511e-04 9.93715646e-01 4.91214125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56710568099999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:43.96, Y:4.60, Z:4.92 [[ 9.82153310e-01 -1.52088532e-01 -1.10652402e-01 4.39583315e+01] [ 1.51147862e-01 9.88366865e-01 -1.68897651e-02 4.59572398e+00] [ 1.11933907e-01 -1.36535328e-04 9.93715644e-01 4.91891450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59710568099999 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:43.99, Y:4.60, Z:4.93 [[ 9.81918707e-01 -1.53588597e-01 -1.10662533e-01 4.39894987e+01] [ 1.52664928e-01 9.88134810e-01 -1.68231291e-02 4.59890115e+00] [ 1.11933341e-01 -3.75342330e-04 9.93715647e-01 4.92626463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.62710568099999 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:44.02, Y:4.60, Z:4.93 [[ 9.80769958e-01 -1.60759857e-01 -1.10664164e-01 4.40200662e+01] [ 1.59882849e-01 9.86992816e-01 -1.68123893e-02 4.59988497e+00] [ 1.11927492e-01 -1.20421547e-03 9.93715647e-01 4.93126541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.65710568099999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:44.05, Y:4.60, Z:4.94 [[ 9.79690796e-01 -1.67209838e-01 -1.10665329e-01 4.40528712e+01] [ 1.66374661e-01 9.85919405e-01 -1.68047164e-02 4.60131544e+00] [ 1.11917010e-01 -1.94848076e-03 9.93715647e-01 4.93548555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.68710568099999 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:44.08, Y:4.60, Z:4.94 [[ 9.77106907e-01 -1.81699646e-01 -1.10667655e-01 4.40832768e+01] [ 1.80958535e-01 9.83347408e-01 -1.67893870e-02 4.59727189e+00] [ 1.11875377e-01 -3.62123068e-03 9.93715647e-01 4.93719462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71710568099999 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:44.12, Y:4.60, Z:4.94 [[ 9.74725066e-01 -1.94132760e-01 -1.10560020e-01 4.41166908e+01] [ 1.93390924e-01 9.80965730e-01 -1.74982221e-02 4.59723296e+00] [ 1.11852569e-01 -4.32534871e-03 9.93715399e-01 4.94274772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74710568099999 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:44.15, Y:4.60, Z:4.95 [[ 9.74778482e-01 -1.93853538e-01 -1.10579005e-01 4.41497419e+01] [ 1.93124109e-01 9.81020521e-01 -1.73728535e-02 4.60194959e+00] [ 1.11848062e-01 -4.42078806e-03 9.93715486e-01 4.94646659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77710568099999 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:44.18, Y:4.60, Z:4.95 [[ 9.74110517e-01 -1.97179800e-01 -1.10584024e-01 4.41821659e+01] [ 1.96475436e-01 9.80355414e-01 -1.73397188e-02 4.60499192e+00] [ 1.11830689e-01 -4.83624195e-03 9.93715506e-01 4.94871834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80710568099999 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:44.21, Y:4.61, Z:4.95 [[ 9.73117646e-01 -2.02023782e-01 -1.10582271e-01 4.42132368e+01] [ 2.01349184e-01 9.79365835e-01 -1.73512998e-02 4.60930757e+00] [ 1.11805874e-01 -5.38079407e-03 9.93715499e-01 4.95419227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83710568099999 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:44.24, Y:4.61, Z:4.96 [[ 9.73335865e-01 -2.00916859e-01 -1.10678408e-01 4.42441806e+01] [ 2.00307296e-01 9.79590527e-01 -1.67148806e-02 4.61423679e+00] [ 1.11777821e-01 -5.90049991e-03 9.93715705e-01 4.95703025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.86710568099999 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:44.27, Y:4.62, Z:4.96 [[ 9.73987293e-01 -1.97733182e-01 -1.10681262e-01 4.42741493e+01] [ 1.97105316e-01 9.80240144e-01 -1.66959600e-02 4.61890165e+00] [ 1.11795562e-01 -5.55421230e-03 9.93715705e-01 4.95941665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89710568099999 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:44.30, Y:4.63, Z:4.97 [[ 9.75056641e-01 -1.92447719e-01 -1.10582197e-01 4.43027317e+01] [ 1.91711681e-01 9.81297890e-01 -1.73517306e-02 4.62735349e+00] [ 1.11853378e-01 -4.28097882e-03 9.93715500e-01 4.96919755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92710568099999 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:44.33, Y:4.64, Z:4.98 [[ 9.75378061e-01 -1.90844951e-01 -1.10525307e-01 4.43346935e+01] [ 1.90056086e-01 9.81613165e-01 -1.77278883e-02 4.64150406e+00] [ 1.11876375e-01 -3.71461397e-03 9.93715190e-01 4.97728931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95710568099999 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:44.37, Y:4.65, Z:4.98 [[ 9.76082067e-01 -1.87118914e-01 -1.10681117e-01 4.43651656e+01] [ 1.86423085e-01 9.82327694e-01 -1.66953616e-02 4.64968828e+00] [ 1.11849145e-01 -4.33747221e-03 9.93715732e-01 4.98368592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98710568099999 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:44.39, Y:4.66, Z:4.99 [[ 9.77961796e-01 -1.77031313e-01 -1.10682610e-01 4.43949343e+01] [ 1.76272158e-01 9.84200042e-01 -1.66854604e-02 4.66274874e+00] [ 1.11887678e-01 -3.19251963e-03 9.93715732e-01 4.98908691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.01710568099999 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:44.43, Y:4.68, Z:4.99 [[ 9.79936748e-01 -1.65749794e-01 -1.10684124e-01 4.44265463e+01] [ 1.64919936e-01 9.86165983e-01 -1.66754107e-02 4.67539827e+00] [ 1.11916864e-01 -1.91317092e-03 9.93715732e-01 4.99291846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.04710568099999 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:44.46, Y:4.69, Z:4.99 [[ 9.81701990e-01 -1.54950677e-01 -1.10686451e-01 4.44571235e+01] [ 1.54054029e-01 9.87921962e-01 -1.66599491e-02 4.68540877e+00] [ 1.11931046e-01 -6.96588509e-04 9.93715732e-01 4.99341511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07710568099999 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:44.49, Y:4.69, Z:4.99 [[ 9.82274305e-01 -1.51276563e-01 -1.10691424e-01 4.44886858e+01] [ 1.50360379e-01 9.88491429e-01 -1.66268444e-02 4.69159365e+00] [ 1.11932776e-01 -3.11482440e-04 9.93715732e-01 4.99465399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.10710568099999 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:44.52, Y:4.70, Z:4.99 [[ 9.82781372e-01 -1.47945413e-01 -1.10692955e-01 4.45209269e+01] [ 1.47009304e-01 9.88995527e-01 -1.66166465e-02 4.69594789e+00] [ 1.11933194e-01 5.76363758e-05 9.93715732e-01 4.99315628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13710568099999 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:44.55, Y:4.70, Z:4.99 [[ 9.82669123e-01 -1.48688008e-01 -1.10694496e-01 4.45526730e+01] [ 1.47757753e-01 9.88884156e-01 -1.66063711e-02 4.69667226e+00] [ 1.11933202e-01 -3.74019693e-05 9.93715732e-01 4.99140292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.16710568099999 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:44.58, Y:4.70, Z:4.99 [[ 9.82236898e-01 -1.51516173e-01 -1.10695646e-01 4.45824750e+01] [ 1.50604677e-01 9.88454710e-01 -1.65987001e-02 4.69713254e+00] [ 1.11932605e-01 -3.67426325e-04 9.93715733e-01 4.99029238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19710568099999 meters Centerline goodness : 0.997753 Centerline is valid? [True, True] Translation: X:44.62, Y:4.70, Z:4.99 [[ 9.81283988e-01 -1.57704341e-01 -1.10503738e-01 4.46177855e+01] [ 1.56687957e-01 9.87486349e-01 -1.78772351e-02 4.70164587e+00] [ 1.11940251e-01 2.28039511e-04 9.93714913e-01 4.99447190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.22710568099999 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:44.65, Y:4.70, Z:5.00 [[ 9.80470480e-01 -1.62551445e-01 -1.10700797e-01 4.46490035e+01] [ 1.61714217e-01 9.86698666e-01 -1.65606581e-02 4.70225783e+00] [ 1.11920287e-01 -1.66465618e-03 9.93715794e-01 4.99509243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25710568099999 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:44.68, Y:4.70, Z:4.99 [[ 9.80896196e-01 -1.59961681e-01 -1.10701913e-01 4.46789982e+01] [ 1.59108851e-01 9.87122265e-01 -1.65531912e-02 4.70328340e+00] [ 1.11924199e-01 -1.37669199e-03 9.93715794e-01 4.99427061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.28710568099999 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:44.71, Y:4.71, Z:5.00 [[ 9.80003260e-01 -1.65488357e-01 -1.10486259e-01 4.47138372e+01] [ 1.64508319e-01 9.86211594e-01 -1.79918084e-02 4.70793048e+00] [ 1.11940265e-01 -5.43877900e-04 9.93714789e-01 4.99544968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31710568099999 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:44.75, Y:4.71, Z:4.99 [[ 9.79947901e-01 -1.65669661e-01 -1.10705351e-01 4.47468672e+01] [ 1.64856290e-01 9.86179158e-01 -1.65248753e-02 4.71098253e+00] [ 1.11912981e-01 -2.05695665e-03 9.93715882e-01 4.99409515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34710568099999 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:44.78, Y:4.72, Z:4.99 [[ 9.79939928e-01 -1.65715614e-01 -1.10707145e-01 4.47786987e+01] [ 1.64903892e-01 9.86171401e-01 -1.65128497e-02 4.71528160e+00] [ 1.11912657e-01 -2.07443846e-03 9.93715882e-01 4.99434957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37710568099999 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:44.81, Y:4.72, Z:5.00 [[ 9.79993879e-01 -1.65395315e-01 -1.10708569e-01 4.48097320e+01] [ 1.64582636e-01 9.86225226e-01 -1.65032966e-02 4.72064017e+00] [ 1.11913152e-01 -2.04757844e-03 9.93715882e-01 5.00488010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.40710568099999 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:44.84, Y:4.72, Z:5.01 [[ 9.80198707e-01 -1.64176068e-01 -1.10710040e-01 4.48415569e+01] [ 1.63356752e-01 9.86429186e-01 -1.64934251e-02 4.72313383e+00] [ 1.11915440e-01 -1.91839861e-03 9.93715882e-01 5.01343826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.43710568099999 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:44.87, Y:4.73, Z:5.02 [[ 9.80218550e-01 -1.64056514e-01 -1.10711587e-01 4.48721479e+01] [ 1.63237611e-01 9.86449082e-01 -1.64830311e-02 4.72525904e+00] [ 1.11915492e-01 -1.91532224e-03 9.93715882e-01 5.01709974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.46710568099999 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:44.90, Y:4.73, Z:5.03 [[ 9.79835318e-01 -1.66329310e-01 -1.10712739e-01 4.49037350e+01] [ 1.65525733e-01 9.86067846e-01 -1.64752953e-02 4.72587190e+00] [ 1.11910596e-01 -2.18273099e-03 9.93715882e-01 5.02617646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49710568099999 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:44.94, Y:4.73, Z:5.03 [[ 9.79201005e-01 -1.70022765e-01 -1.10714273e-01 4.49356731e+01] [ 1.69243861e-01 9.85436665e-01 -1.64649747e-02 4.72903248e+00] [ 1.11901325e-01 -2.61519134e-03 9.93715882e-01 5.03353207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52710568099999 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:44.97, Y:4.73, Z:5.04 [[ 9.78990500e-01 -1.71229682e-01 -1.10715836e-01 4.49674354e+01] [ 1.70459653e-01 9.85227262e-01 -1.64544637e-02 4.73277527e+00] [ 1.11897752e-01 -2.76381926e-03 9.93715882e-01 5.03712567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55710568099999 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:45.00, Y:4.74, Z:5.04 [[ 9.78686084e-01 -1.72959888e-01 -1.10717777e-01 4.49989794e+01] [ 1.72202362e-01 9.84924376e-01 -1.64413877e-02 4.73520066e+00] [ 1.11892338e-01 -2.97490545e-03 9.93715882e-01 5.04061600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.58710568099999 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:45.03, Y:4.74, Z:5.04 [[ 9.78641865e-01 -1.73208937e-01 -1.10719307e-01 4.50322926e+01] [ 1.72454164e-01 9.84880491e-01 -1.64310807e-02 4.73806183e+00] [ 1.11891295e-01 -3.01386205e-03 9.93715882e-01 5.04297248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.61710568099999 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:45.07, Y:4.74, Z:5.05 [[ 9.79281656e-01 -1.69552844e-01 -1.10721594e-01 4.50654242e+01] [ 1.68776521e-01 9.85517637e-01 -1.64156522e-02 4.74065812e+00] [ 1.11901405e-01 -2.61165842e-03 9.93715882e-01 5.04507579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.64710568099999 meters Centerline goodness : 0.997631 Centerline is valid? [True, True] Translation: X:45.10, Y:4.75, Z:5.05 [[ 9.80955655e-01 -1.59581419e-01 -1.10723858e-01 4.50956051e+01] [ 1.58743420e-01 9.87183648e-01 -1.64003686e-02 4.74826132e+00] [ 1.11921976e-01 -1.48864959e-03 9.93715883e-01 5.04880962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.677105680999986 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:45.13, Y:4.76, Z:5.05 [[ 9.82013630e-01 -1.52935314e-01 -1.10724977e-01 4.51270631e+01] [ 1.52056013e-01 9.88235925e-01 -1.63928149e-02 4.75516366e+00] [ 1.11929440e-01 -7.38430882e-04 9.93715883e-01 5.05364985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70710568099999 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:45.16, Y:4.76, Z:5.06 [[ 9.84066228e-01 -1.39116151e-01 -1.10726490e-01 4.51582327e+01] [ 1.38150622e-01 9.90275727e-01 -1.63825850e-02 4.75993289e+00] [ 1.11928838e-01 8.24615110e-04 9.93715883e-01 5.05679038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73710568099999 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] Translation: X:45.19, Y:4.76, Z:5.06 [[ 9.85409547e-01 -1.29257172e-01 -1.10727630e-01 4.51900745e+01] [ 1.28230390e-01 9.91609212e-01 -1.63748796e-02 4.76264633e+00] [ 1.11915108e-01 1.93731550e-03 9.93715883e-01 5.05687970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.76710568099999 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:45.22, Y:4.77, Z:5.06 [[ 9.86160465e-01 -1.23396092e-01 -1.10729140e-01 4.52221096e+01] [ 1.22333614e-01 9.92354113e-01 -1.63646619e-02 4.76567477e+00] [ 1.11901852e-01 2.59228673e-03 9.93715883e-01 5.05735959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.79710568099999 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:45.25, Y:4.77, Z:5.06 [[ 9.86377767e-01 -1.21645465e-01 -1.10730675e-01 4.52537692e+01] [ 1.20573162e-01 9.92569721e-01 -1.63542662e-02 4.76732117e+00] [ 1.11897338e-01 2.78033688e-03 9.93715883e-01 5.05723760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.82710568099999 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:45.29, Y:4.76, Z:5.06 [[ 9.86630486e-01 -1.19577375e-01 -1.10731821e-01 4.52866224e+01] [ 1.18492965e-01 9.92820331e-01 -1.63465016e-02 4.76330264e+00] [ 1.11891475e-01 3.00701499e-03 9.93715883e-01 5.05927900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85710568099999 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:45.32, Y:4.76, Z:5.06 [[ 9.86641348e-01 -1.19486270e-01 -1.10733383e-01 4.53173060e+01] [ 1.18402475e-01 9.92831301e-01 -1.63359185e-02 4.75998446e+00] [ 1.11891486e-01 3.00658612e-03 9.93715883e-01 5.06126611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88710568099999 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:45.35, Y:4.76, Z:5.07 [[ 9.86454970e-01 -1.21014983e-01 -1.10733766e-01 4.53483070e+01] [ 1.19941072e-01 9.92646645e-01 -1.63333178e-02 4.76024124e+00] [ 1.11896078e-01 2.83055590e-03 9.93715883e-01 5.06674148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91710568099999 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:45.38, Y:4.75, Z:5.07 [[ 9.85923977e-01 -1.25266798e-01 -1.10734547e-01 4.53811110e+01] [ 1.24220187e-01 9.92120326e-01 -1.63280202e-02 4.75370255e+00] [ 1.11907354e-01 2.34272054e-03 9.93715883e-01 5.06788689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94710568099999 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:45.41, Y:4.75, Z:5.07 [[ 9.84739226e-01 -1.34262215e-01 -1.10735333e-01 4.54123442e+01] [ 1.33272814e-01 9.90944967e-01 -1.63226876e-02 4.74683543e+00] [ 1.11924141e-01 1.31558124e-03 9.93715883e-01 5.06844878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97710568099999 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:45.44, Y:4.75, Z:5.07 [[ 9.83952930e-01 -1.39908557e-01 -1.10734945e-01 4.54429229e+01] [ 1.38954473e-01 9.90164198e-01 -1.63253232e-02 4.74557597e+00] [ 1.11929830e-01 6.76233745e-04 9.93715883e-01 5.07176580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.00710568099999 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:45.47, Y:4.74, Z:5.07 [[ 9.82473523e-01 -1.49945152e-01 -1.10734945e-01 4.54728024e+01] [ 1.49054520e-01 9.88694207e-01 -1.63253232e-02 4.74092447e+00] [ 1.11930901e-01 -4.66346169e-04 9.93715883e-01 5.07464616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03710568099999 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:45.50, Y:4.74, Z:5.08 [[ 9.81809856e-01 -1.54231198e-01 -1.10734567e-01 4.55011146e+01] [ 1.53367432e-01 9.88034327e-01 -1.63278879e-02 4.74062610e+00] [ 1.11927823e-01 -9.52194836e-04 9.93715883e-01 5.07902411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06710568099999 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:45.53, Y:4.74, Z:5.08 [[ 9.81704148e-01 -1.54903397e-01 -1.10733477e-01 4.55312565e+01] [ 1.54043060e-01 9.87929094e-01 -1.63352742e-02 4.74278637e+00] [ 1.11927213e-01 -1.02131716e-03 9.93715883e-01 5.08458470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09710568099999 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:45.56, Y:4.74, Z:5.08 [[ 9.81928398e-01 -1.53475465e-01 -1.10733477e-01 4.55601210e+01] [ 1.52606075e-01 9.88152086e-01 -1.63352742e-02 4.74029364e+00] [ 1.11928580e-01 -8.58531703e-04 9.93715883e-01 5.08291597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.12710568099999 meters Centerline goodness : 0.997879 Centerline is valid? [True, True] Translation: X:45.59, Y:4.74, Z:5.09 [[ 9.82111886e-01 -1.52310490e-01 -1.10714762e-01 4.55920936e+01] [ 1.51419432e-01 9.88332514e-01 -1.64619934e-02 4.74139284e+00] [ 1.11930333e-01 -5.96847022e-04 9.93715877e-01 5.08746703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.15710568099999 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:45.62, Y:4.74, Z:5.09 [[ 9.82117465e-01 -1.52137114e-01 -1.10903483e-01 4.56205605e+01] [ 1.51388903e-01 9.88357619e-01 -1.51860937e-02 4.74426866e+00] [ 1.11922671e-01 -1.87502882e-03 9.93715150e-01 5.09099616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.18710568099999 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:45.65, Y:4.75, Z:5.10 [[ 9.81384150e-01 -1.56805535e-01 -1.10892622e-01 4.56466421e+01] [ 1.56078699e-01 9.87626743e-01 -1.52596147e-02 4.74800114e+00] [ 1.11913311e-01 -2.33243216e-03 9.93715236e-01 5.09595440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21710568099999 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:45.68, Y:4.75, Z:5.10 [[ 9.80720806e-01 -1.61021348e-01 -1.10719586e-01 4.56756415e+01] [ 1.60189547e-01 9.86949584e-01 -1.64264599e-02 4.74715606e+00] [ 1.11919660e-01 -1.62634937e-03 9.93715928e-01 5.10109794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24710568099999 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:45.70, Y:4.75, Z:5.10 [[ 9.80418978e-01 -1.62852628e-01 -1.10714270e-01 4.57031516e+01] [ 1.62028425e-01 9.86648765e-01 -1.64622130e-02 4.74951273e+00] [ 1.11917013e-01 -1.79899275e-03 9.93715928e-01 5.10258331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27710568099999 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:45.73, Y:4.75, Z:5.11 [[ 9.79774048e-01 -1.66690074e-01 -1.10712394e-01 4.57302180e+01] [ 1.65888845e-01 9.86006831e-01 -1.64748196e-02 4.75268913e+00] [ 1.11909366e-01 -2.22435051e-03 9.93715928e-01 5.10749038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30710568099999 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:45.75, Y:4.75, Z:5.11 [[ 9.79553893e-01 -1.67980124e-01 -1.10710649e-01 4.57538382e+01] [ 1.67185779e-01 9.85787558e-01 -1.64865420e-02 4.75384118e+00] [ 1.11906591e-01 -2.35978967e-03 9.93715928e-01 5.11340185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33710568099999 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:45.79, Y:4.76, Z:5.12 [[ 9.78689594e-01 -1.73093494e-01 -1.10477690e-01 4.57868284e+01] [ 1.72154558e-01 9.84904474e-01 -1.80550718e-02 4.76015525e+00] [ 1.11935187e-01 -1.34892708e-03 9.93714594e-01 5.11547177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.36710568099999 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:45.81, Y:4.77, Z:5.12 [[ 9.77835496e-01 -1.77702906e-01 -1.10722263e-01 4.58137898e+01] [ 1.76979693e-01 9.84077765e-01 -1.64054901e-02 4.76574085e+00] [ 1.11874620e-01 -3.55372147e-03 9.93715976e-01 5.12450867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39710568099999 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:45.84, Y:4.77, Z:5.13 [[ 9.77494033e-01 -1.79572916e-01 -1.10720297e-01 4.58414795e+01] [ 1.78860144e-01 9.83737502e-01 -1.64187483e-02 4.77048203e+00] [ 1.11868071e-01 -3.75421973e-03 9.93715976e-01 5.12721209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.427105680999986 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:45.87, Y:4.78, Z:5.12 [[ 9.76775352e-01 -1.83445125e-01 -1.10714939e-01 4.58695675e+01] [ 1.82753020e-01 9.83021146e-01 -1.64547959e-02 4.77524644e+00] [ 1.11853679e-01 -4.16085049e-03 9.93715976e-01 5.12402701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45710568099999 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:45.90, Y:4.78, Z:5.12 [[ 9.76797617e-01 -1.83327682e-01 -1.10713039e-01 4.58981225e+01] [ 1.82633379e-01 9.83043167e-01 -1.64675725e-02 4.77906844e+00] [ 1.11854658e-01 -4.13441093e-03 9.93715977e-01 5.11841700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48710568099999 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:45.93, Y:4.79, Z:5.12 [[ 9.76566109e-01 -1.84604345e-01 -1.10633950e-01 4.59259213e+01] [ 1.83858165e-01 9.82805799e-01 -1.69981087e-02 4.78624999e+00] [ 1.11869612e-01 -3.74117814e-03 9.93715851e-01 5.12275107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51710568099999 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:45.96, Y:4.80, Z:5.13 [[ 9.76513304e-01 -1.84839416e-01 -1.10707535e-01 4.59557767e+01] [ 1.84150588e-01 9.82759461e-01 -1.65046197e-02 4.79565185e+00] [ 1.11849581e-01 -4.26987694e-03 9.93715975e-01 5.13420150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.54710568099999 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:45.99, Y:4.80, Z:5.14 [[ 9.75460866e-01 -1.90283717e-01 -1.10761937e-01 4.59853516e+01] [ 1.89671091e-01 9.81715025e-01 -1.61396300e-02 4.80292805e+00] [ 1.11807766e-01 -5.26475995e-03 9.93715908e-01 5.14027257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57710568099999 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:46.01, Y:4.81, Z:5.14 [[ 9.74715708e-01 -1.94072851e-01 -1.10747541e-01 4.60142354e+01] [ 1.93473593e-01 9.80971129e-01 -1.62361459e-02 4.80939512e+00] [ 1.11791136e-01 -5.60109828e-03 9.93715940e-01 5.14457564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60710568099999 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:46.04, Y:4.82, Z:5.15 [[ 9.73839384e-01 -1.98446760e-01 -1.10705639e-01 4.60416443e+01] [ 1.97843745e-01 9.80094404e-01 -1.65170289e-02 4.81790976e+00] [ 1.11779728e-01 -5.81748493e-03 9.93715980e-01 5.14653021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63710568099999 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:46.07, Y:4.83, Z:5.15 [[ 9.73297306e-01 -2.01131032e-01 -1.10628491e-01 4.60700537e+01] [ 2.00486788e-01 9.79548330e-01 -1.70328292e-02 4.82624703e+00] [ 1.11791784e-01 -5.60154396e-03 9.93715865e-01 5.14836665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66710568099999 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:46.10, Y:4.83, Z:5.15 [[ 9.73280966e-01 -2.01158787e-01 -1.10721738e-01 4.60987092e+01] [ 2.00585317e-01 9.79538788e-01 -1.64101780e-02 4.83051650e+00] [ 1.11757289e-01 -6.23744103e-03 9.93715957e-01 5.15146178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69710568099999 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:46.13, Y:4.84, Z:5.15 [[ 9.73174146e-01 -2.01676912e-01 -1.10718133e-01 4.61279637e+01] [ 2.01104046e-01 9.79432019e-01 -1.64342284e-02 4.84177470e+00] [ 1.11755289e-01 -6.27249834e-03 9.93715961e-01 5.15410459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.72710568099999 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:46.16, Y:4.86, Z:5.16 [[ 9.72802188e-01 -2.03503825e-01 -1.10644002e-01 4.61577285e+01] [ 2.02886627e-01 9.79055889e-01 -1.69287458e-02 4.85667240e+00] [ 1.11771726e-01 -5.97986735e-03 9.93715916e-01 5.15736997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75710568099999 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:46.19, Y:4.87, Z:5.15 [[ 9.72875070e-01 -2.03125855e-01 -1.10697724e-01 4.61876114e+01] [ 2.02546920e-01 9.79132363e-01 -1.65698927e-02 4.87021543e+00] [ 1.11753498e-01 -6.30104761e-03 9.93715982e-01 5.15361310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.78710568099999 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:46.22, Y:4.88, Z:5.16 [[ 9.73071122e-01 -2.02187677e-01 -1.10692076e-01 4.62150634e+01] [ 2.01598426e-01 9.79327453e-01 -1.66076564e-02 4.87769086e+00] [ 1.11761652e-01 -6.15491746e-03 9.93715981e-01 5.15509123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81710568099999 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:46.24, Y:4.89, Z:5.16 [[ 9.72050255e-01 -2.07086277e-01 -1.10605500e-01 4.62437231e+01] [ 2.06463004e-01 9.78303474e-01 -1.71854765e-02 4.89194510e+00] [ 1.11764621e-01 -6.13079697e-03 9.93715796e-01 5.16169088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84710568099999 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:46.27, Y:4.91, Z:5.17 [[ 9.71216567e-01 -2.10914034e-01 -1.10696206e-01 4.62748806e+01] [ 2.10384102e-01 9.77478201e-01 -1.65800201e-02 4.90621319e+00] [ 1.11700087e-01 -7.18593169e-03 9.93715982e-01 5.16636740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87710568099999 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:46.30, Y:4.91, Z:5.17 [[ 9.70878735e-01 -2.12462547e-01 -1.10698460e-01 4.63049914e+01] [ 2.11944311e-01 9.77141347e-01 -1.65649562e-02 4.91411701e+00] [ 1.11687475e-01 -7.37934509e-03 9.93715982e-01 5.16601451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.90710568099999 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:46.34, Y:4.93, Z:5.17 [[ 9.70479120e-01 -2.14279916e-01 -1.10699567e-01 4.63359580e+01] [ 2.13774247e-01 9.76742760e-01 -1.65575526e-02 4.92541509e+00] [ 1.11672952e-01 -7.59595755e-03 9.93715982e-01 5.17029270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.93710568099999 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:46.37, Y:4.93, Z:5.17 [[ 9.70611037e-01 -2.13680802e-01 -1.10701084e-01 4.63666594e+01] [ 2.13172418e-01 9.76874456e-01 -1.65474071e-02 4.93435344e+00] [ 1.11676924e-01 -7.53732165e-03 9.93715982e-01 5.17413017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.96710568099999 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:46.40, Y:4.95, Z:5.18 [[ 9.72054664e-01 -2.07013691e-01 -1.10702585e-01 4.63962894e+01] [ 2.06463468e-01 9.78314547e-01 -1.65373557e-02 4.95064773e+00] [ 1.11725409e-01 -6.78082594e-03 9.93715982e-01 5.17975465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99710568099999 meters Centerline goodness : 0.997411 Centerline is valid? [True, True] Translation: X:46.42, Y:4.96, Z:5.18 [[ 9.74747184e-01 -1.93937180e-01 -1.10708164e-01 4.64246207e+01] [ 1.93307158e-01 9.80999539e-01 -1.64999225e-02 4.96407073e+00] [ 1.11804607e-01 -5.31742762e-03 9.93715983e-01 5.18041186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02710568099999 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:46.46, Y:4.97, Z:5.19 [[ 9.75899508e-01 -1.88089438e-01 -1.10645897e-01 4.64566865e+01] [ 1.87374714e-01 9.82142826e-01 -1.69170360e-02 4.97241296e+00] [ 1.11851990e-01 -4.22291631e-03 9.93715905e-01 5.18573362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05710568099999 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:46.49, Y:4.99, Z:5.19 [[ 9.78877742e-01 -1.71877519e-01 -1.10709009e-01 4.64866294e+01] [ 1.71107204e-01 9.85114354e-01 -1.64934854e-02 4.98602691e+00] [ 1.11895893e-01 -2.79800324e-03 9.93715996e-01 5.19456879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.08710568099999 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:46.52, Y:5.00, Z:5.20 [[ 9.81880466e-01 -1.53798364e-01 -1.10710493e-01 4.65168184e+01] [ 1.52914304e-01 9.88101973e-01 -1.64835139e-02 5.00100949e+00] [ 1.11928394e-01 -7.44377731e-04 9.93715996e-01 5.20111557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.11710568099999 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:46.55, Y:5.01, Z:5.20 [[ 9.84091444e-01 -1.38949212e-01 -1.10712000e-01 4.65467662e+01] [ 1.37972415e-01 9.90299066e-01 -1.64733905e-02 5.01072160e+00] [ 1.11926954e-01 9.36120707e-04 9.93715996e-01 5.20479331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14710568099999 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:46.58, Y:5.02, Z:5.21 [[ 9.84647723e-01 -1.34948419e-01 -1.10714889e-01 4.65795515e+01] [ 1.33948586e-01 9.90851676e-01 -1.64539466e-02 5.01606966e+00] [ 1.11922468e-01 1.37123818e-03 9.93715996e-01 5.20808470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.177105680999986 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:46.61, Y:5.02, Z:5.21 [[ 9.84776849e-01 -1.34000995e-01 -1.10717167e-01 4.66124540e+01] [ 1.32996917e-01 9.90980117e-01 -1.64386080e-02 5.01811305e+00] [ 1.11921301e-01 1.46331874e-03 9.93715996e-01 5.20694074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20710568099999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:46.64, Y:5.02, Z:5.21 [[ 9.84271723e-01 -1.37661005e-01 -1.10718669e-01 4.66444247e+01] [ 1.36681134e-01 9.90478860e-01 -1.64284854e-02 5.01765658e+00] [ 1.11926062e-01 1.03694044e-03 9.93715996e-01 5.21020296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23710568099999 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:46.68, Y:5.02, Z:5.22 [[ 9.83955069e-01 -1.39904159e-01 -1.10721487e-01 4.66765449e+01] [ 1.38940579e-01 9.90164756e-01 -1.64094668e-02 5.01915852e+00] [ 1.11928267e-01 7.62470499e-04 9.93715996e-01 5.21562744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26710568099999 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:46.71, Y:5.02, Z:5.22 [[ 9.82933079e-01 -1.46911483e-01 -1.10722976e-01 4.67094402e+01] [ 1.45993305e-01 9.89149642e-01 -1.63994121e-02 5.01581357e+00] [ 1.11930854e-01 -4.52886158e-05 9.93715997e-01 5.22238136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.29710568099999 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:46.74, Y:5.01, Z:5.22 [[ 9.81669346e-01 -1.55130177e-01 -1.10724533e-01 4.67438285e+01] [ 1.54265230e-01 9.87893538e-01 -1.63888930e-02 5.00923980e+00] [ 1.11926463e-01 -9.92471728e-04 9.93715997e-01 5.22341595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.32710568099999 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:46.78, Y:5.01, Z:5.22 [[ 9.80912091e-01 -1.59846891e-01 -1.10726881e-01 4.67759479e+01] [ 1.59013662e-01 9.87140608e-01 -1.63730159e-02 5.00873447e+00] [ 1.11920177e-01 -1.54659765e-03 9.93715997e-01 5.22461301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35710568099999 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:46.81, Y:5.01, Z:5.23 [[ 9.79469014e-01 -1.68462399e-01 -1.10728819e-01 4.68086949e+01] [ 1.67685430e-01 9.85704799e-01 -1.63598987e-02 5.00508451e+00] [ 1.11901956e-01 -2.54359580e-03 9.93715997e-01 5.23188538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38710568099999 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:46.84, Y:5.00, Z:5.24 [[ 9.78158744e-01 -1.75909834e-01 -1.10730310e-01 4.68419977e+01] [ 1.75181474e-01 9.84400394e-01 -1.63498047e-02 5.00135986e+00] [ 1.11879052e-01 -3.40519447e-03 9.93715997e-01 5.23596801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41710568099999 meters Centerline goodness : 0.997523 Centerline is valid? [True, True] Translation: X:46.87, Y:5.00, Z:5.24 [[ 9.77645470e-01 -1.78739461e-01 -1.10731838e-01 4.68731379e+01] [ 1.78030337e-01 9.83889334e-01 -1.63394472e-02 5.00151194e+00] [ 1.11868378e-01 -3.73943988e-03 9.93715997e-01 5.23755630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44710568099999 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:46.91, Y:5.00, Z:5.24 [[ 9.77678668e-01 -1.78557078e-01 -1.10732973e-01 4.69056777e+01] [ 1.77847659e-01 9.83922499e-01 -1.63317549e-02 5.00126052e+00] [ 1.11868814e-01 -3.72639152e-03 9.93715997e-01 5.23919307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47710568099999 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:46.94, Y:5.00, Z:5.24 [[ 9.78457450e-01 -1.74238039e-01 -1.10734474e-01 4.69375087e+01] [ 1.73502207e-01 9.84698223e-01 -1.63215710e-02 5.00484262e+00] [ 1.11883878e-01 -3.24271275e-03 9.93715997e-01 5.24289739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50710568099999 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:46.97, Y:5.01, Z:5.25 [[ 9.80675529e-01 -1.61285608e-01 -1.10735989e-01 4.69700634e+01] [ 1.60468485e-01 9.86906180e-01 -1.63112862e-02 5.00631875e+00] [ 1.11916807e-01 -1.77355711e-03 9.93715997e-01 5.24732980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53710568099999 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:47.00, Y:5.01, Z:5.25 [[ 9.82959832e-01 -1.46721122e-01 -1.10737894e-01 4.70020801e+01] [ 1.45813126e-01 9.89177889e-01 -1.62983390e-02 5.00636451e+00] [ 1.11930787e-01 -1.26426000e-04 9.93715997e-01 5.25125961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56710568099999 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:47.03, Y:5.01, Z:5.25 [[ 9.84481349e-01 -1.36136892e-01 -1.10739426e-01 4.70336693e+01] [ 1.35163220e-01 9.90689461e-01 -1.62879253e-02 5.00633805e+00] [ 1.11925770e-01 1.06726134e-03 9.93715997e-01 5.25343152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59710568099999 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:47.07, Y:5.01, Z:5.26 [[ 9.85047607e-01 -1.31976276e-01 -1.10740576e-01 4.70657144e+01] [ 1.30977262e-01 9.91251691e-01 -1.62801046e-02 5.00673040e+00] [ 1.11920370e-01 1.53218068e-03 9.93715997e-01 5.25507128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.62710568099999 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:47.10, Y:5.00, Z:5.25 [[ 9.86064221e-01 -1.24151249e-01 -1.10742129e-01 4.70963365e+01] [ 1.23104196e-01 9.92260379e-01 -1.62695325e-02 5.00157060e+00] [ 1.11904909e-01 2.40998318e-03 9.93715997e-01 5.25452932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65710568099999 meters Centerline goodness : 0.997270 Centerline is valid? [True, True] Translation: X:47.13, Y:5.00, Z:5.26 [[ 9.86834943e-01 -1.17868828e-01 -1.10741745e-01 4.71259275e+01] [ 1.16782042e-01 9.93024256e-01 -1.62721415e-02 5.00041533e+00] [ 1.11887218e-01 3.12527062e-03 9.93715997e-01 5.26414126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.68710568099999 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:47.15, Y:5.00, Z:5.27 [[ 9.87014990e-01 -1.16351887e-01 -1.10741361e-01 4.71547711e+01] [ 1.15255295e-01 9.93202572e-01 -1.62747584e-02 5.00064939e+00] [ 1.11882203e-01 3.29990220e-03 9.93715997e-01 5.26921643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71710568099999 meters Centerline goodness : 0.997257 Centerline is valid? [True, True] Translation: X:47.18, Y:4.99, Z:5.27 [[ 9.87048350e-01 -1.16069265e-01 -1.10740597e-01 4.71848470e+01] [ 1.14970320e-01 9.93235515e-01 -1.62799548e-02 4.99375024e+00] [ 1.11881096e-01 3.33722065e-03 9.93715997e-01 5.27426012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74710568099999 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:47.21, Y:4.99, Z:5.28 [[ 9.86946143e-01 -1.16940282e-01 -1.10735184e-01 4.72143347e+01] [ 1.15842679e-01 9.93133546e-01 -1.63166902e-02 4.99122627e+00] [ 1.11882904e-01 3.27583411e-03 9.93715998e-01 5.27700684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77710568099999 meters Centerline goodness : 0.997529 Centerline is valid? [True, True] Translation: X:47.24, Y:4.98, Z:5.28 [[ 9.86918740e-01 -1.17176494e-01 -1.10729715e-01 4.72434509e+01] [ 1.16076221e-01 9.93105667e-01 -1.63537235e-02 4.98175377e+00] [ 1.11882579e-01 3.28670934e-03 9.93715999e-01 5.27827601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80710568099999 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:47.27, Y:4.97, Z:5.28 [[ 9.87248487e-01 -1.14366886e-01 -1.10727777e-01 4.72719544e+01] [ 1.13247538e-01 9.93431992e-01 -1.63668304e-02 4.97480746e+00] [ 1.11872340e-01 3.61848029e-03 9.93715999e-01 5.28131698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.83710568099999 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:47.30, Y:4.97, Z:5.29 [[ 9.87427835e-01 -1.12809709e-01 -1.10725967e-01 4.73000501e+01] [ 1.11679240e-01 9.93609316e-01 -1.63790658e-02 4.97354715e+00] [ 1.11866070e-01 3.80735363e-03 9.93715999e-01 5.28555115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.86710568099999 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:47.33, Y:4.97, Z:5.29 [[ 9.87759118e-01 -1.09877588e-01 -1.10719649e-01 4.73301216e+01] [ 1.08724003e-01 9.93936326e-01 -1.64216650e-02 4.96732252e+00] [ 1.11852654e-01 4.18276585e-03 9.93716000e-01 5.28899746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89710568099999 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:47.36, Y:4.97, Z:5.29 [[ 9.87830324e-01 -1.09241229e-01 -1.10714070e-01 4.73578329e+01] [ 1.08079465e-01 9.94005998e-01 -1.64591924e-02 4.96571495e+00] [ 1.11848472e-01 4.29297182e-03 9.93716000e-01 5.29204734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.927105680999986 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:47.39, Y:4.96, Z:5.30 [[ 9.88050351e-01 -1.07237449e-01 -1.10709685e-01 4.73886994e+01] [ 1.06059867e-01 9.94223028e-01 -1.64886384e-02 4.95539776e+00] [ 1.11838318e-01 4.54975045e-03 9.93716001e-01 5.29554524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95710568099999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:47.42, Y:4.95, Z:5.29 [[ 9.88186718e-01 -1.05979258e-01 -1.10704140e-01 4.74189941e+01] [ 1.04789663e-01 9.94357091e-01 -1.65257866e-02 4.94518280e+00] [ 1.11830837e-01 4.72991336e-03 9.93716002e-01 5.29383518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98710568099999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:47.45, Y:4.94, Z:5.30 [[ 9.88053008e-01 -1.07220715e-01 -1.10702177e-01 4.74466761e+01] [ 1.06037404e-01 9.94224589e-01 -1.65389232e-02 4.94309849e+00] [ 1.11836142e-01 4.60276126e-03 9.93716002e-01 5.30009747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01710568099999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:47.48, Y:4.93, Z:5.31 [[ 9.87410235e-01 -1.12993112e-01 -1.10695909e-01 4.74754296e+01] [ 1.11841203e-01 9.93587753e-01 -1.65807697e-02 4.93473025e+00] [ 1.11859612e-01 3.99165801e-03 9.93716003e-01 5.30758286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.04710568099999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:47.51, Y:4.92, Z:5.31 [[ 9.86154771e-01 -1.23473122e-01 -1.10693972e-01 4.75059211e+01] [ 1.22385434e-01 9.92343920e-01 -1.65936939e-02 4.92433870e+00] [ 1.11895365e-01 2.81662067e-03 9.93716003e-01 5.31259707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:47.53, Y:4.91, Z:5.32 [[ 9.84677407e-01 -1.34753220e-01 -1.10688639e-01 4.75343986e+01] [ 1.33732459e-01 9.90877944e-01 -1.66291901e-02 4.91438231e+00] [ 1.11919768e-01 1.57172388e-03 9.93716003e-01 5.32176224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.107105680999986 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:47.56, Y:4.91, Z:5.33 [[ 9.83858840e-01 -1.40659160e-01 -1.10619996e-01 4.75617721e+01] [ 1.39624330e-01 9.90057140e-01 -1.70852830e-02 4.91307268e+00] [ 1.11923318e-01 1.36426393e-03 9.93715910e-01 5.32598449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.59, Y:4.91, Z:5.33 [[ 9.82169253e-01 -1.52034445e-01 -1.10585196e-01 4.75923963e+01] [ 1.51045491e-01 9.88375149e-01 -1.73154296e-02 4.91014008e+00] [ 1.11932201e-01 3.03287409e-04 9.93715800e-01 5.32691591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:4.91, Z:5.33 [[ 9.81889381e-01 -1.53745057e-01 -1.10705464e-01 4.76215796e+01] [ 1.52856581e-01 9.88110300e-01 -1.65196969e-02 4.90762526e+00] [ 1.11929031e-01 -7.01543886e-04 9.93715955e-01 5.32874936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.65, Y:4.91, Z:5.33 [[ 9.82189207e-01 -1.51843134e-01 -1.10670796e-01 4.76500151e+01] [ 1.50916794e-01 9.88404573e-01 -1.67487955e-02 4.91053405e+00] [ 1.11930710e-01 -2.51595499e-04 9.93715982e-01 5.33106813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.22710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:4.91, Z:5.33 [[ 9.83931613e-01 -1.40113498e-01 -1.10665207e-01 4.76780648e+01] [ 1.39108922e-01 9.90134814e-01 -1.67856403e-02 4.91362732e+00] [ 1.11925369e-01 1.12140447e-03 9.93715983e-01 5.33485213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:4.92, Z:5.34 [[ 9.86026492e-01 -1.24524029e-01 -1.10659495e-01 4.77050942e+01] [ 1.23417191e-01 9.92212264e-01 -1.68232183e-02 4.91872813e+00] [ 1.11892603e-01 2.93085490e-03 9.93715983e-01 5.34185372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.28710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.73, Y:4.92, Z:5.35 [[ 9.86818098e-01 -1.18088807e-01 -1.10657471e-01 4.77332577e+01] [ 1.16940149e-01 9.92996240e-01 -1.68365155e-02 4.92293717e+00] [ 1.11870657e-01 3.67427693e-03 9.93715983e-01 5.34819762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.76, Y:4.92, Z:5.36 [[ 9.87745316e-01 -1.10069803e-01 -1.10651840e-01 4.77619094e+01] [ 1.08866873e-01 9.93913120e-01 -1.68734446e-02 4.92183174e+00] [ 1.11835572e-01 4.62034598e-03 9.93715984e-01 5.35516339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:47.79, Y:4.92, Z:5.36 [[ 9.87988213e-01 -1.07873586e-01 -1.10646197e-01 4.77900327e+01] [ 1.06652819e-01 9.94152511e-01 -1.69103718e-02 4.91959427e+00] [ 1.11823377e-01 4.90651920e-03 9.93715985e-01 5.35840223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.82, Y:4.92, Z:5.36 [[ 9.87882532e-01 -1.08840188e-01 -1.10643196e-01 4.78178844e+01] [ 1.07623261e-01 9.94047589e-01 -1.69299847e-02 4.92181355e+00] [ 1.11827265e-01 4.81705467e-03 9.93715985e-01 5.36378020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:4.92, Z:5.36 [[ 9.88151164e-01 -1.06380377e-01 -1.10636762e-01 4.78470441e+01] [ 1.05143418e-01 9.94312232e-01 -1.69719254e-02 4.92036931e+00] [ 1.11812965e-01 5.13810051e-03 9.93715986e-01 5.36203338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.88, Y:4.91, Z:5.36 [[ 9.88589291e-01 -1.02230914e-01 -1.10634779e-01 4.78765808e+01] [ 1.00966658e-01 9.94744816e-01 -1.69848427e-02 4.91475671e+00] [ 1.11789749e-01 5.62060974e-03 9.93715986e-01 5.36155014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:4.92, Z:5.36 [[ 9.88654667e-01 -1.01625410e-01 -1.10608435e-01 4.79064278e+01] [ 1.00338239e-01 9.94805456e-01 -1.71564095e-02 4.91500795e+00] [ 1.11777401e-01 5.86350870e-03 9.93715971e-01 5.36238901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:4.91, Z:5.37 [[ 9.88695351e-01 -1.01203929e-01 -1.10631223e-01 4.79347106e+01] [ 9.99306747e-02 9.94849025e-01 -1.70081909e-02 4.91371601e+00] [ 1.11782660e-01 5.76046660e-03 9.93715983e-01 5.36501395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.96, Y:4.91, Z:5.37 [[ 9.88387679e-01 -1.04172875e-01 -1.10624628e-01 4.79630235e+01] [ 1.02913331e-01 9.94544172e-01 -1.70509761e-02 4.91206883e+00] [ 1.11797328e-01 5.46822577e-03 9.93715984e-01 5.36778002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:4.92, Z:5.37 [[ 9.88347805e-01 -1.04557489e-01 -1.10618024e-01 4.79909296e+01] [ 1.03295569e-01 9.94503811e-01 -1.70937131e-02 4.91662473e+00] [ 1.11797322e-01 5.46818211e-03 9.93715984e-01 5.37096780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.58710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:48.02, Y:4.92, Z:5.37 [[ 9.88130384e-01 -1.06599548e-01 -1.10611397e-01 4.80188554e+01] [ 1.05345573e-01 9.94288012e-01 -1.71364906e-02 4.91643065e+00] [ 1.11806328e-01 5.28066604e-03 9.93715985e-01 5.37177525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.61710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:48.05, Y:4.91, Z:5.38 [[ 9.87407018e-01 -1.13110392e-01 -1.10604790e-01 4.80476635e+01] [ 1.11892274e-01 9.93571839e-01 -1.71790314e-02 4.90994264e+00] [ 1.11836931e-01 4.58687470e-03 9.93715986e-01 5.37798619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.64710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.08, Y:4.90, Z:5.38 [[ 9.86370939e-01 -1.21817087e-01 -1.10602750e-01 4.80774783e+01] [ 1.20651934e-01 9.92545989e-01 -1.71921561e-02 4.90371749e+00] [ 1.11872614e-01 3.61340746e-03 9.93715986e-01 5.38421153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.677105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.11, Y:4.90, Z:5.39 [[ 9.85690721e-01 -1.27245505e-01 -1.10554888e-01 4.81060574e+01] [ 1.26079920e-01 9.91865729e-01 -1.74994361e-02 4.90454122e+00] [ 1.11882329e-01 3.31028038e-03 9.93715949e-01 5.38797695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:4.90, Z:5.39 [[ 9.84433088e-01 -1.36614540e-01 -1.10580117e-01 4.81345544e+01] [ 1.35525894e-01 9.90622095e-01 -1.73377194e-02 4.90382816e+00] [ 1.11911692e-01 2.08135540e-03 9.93715976e-01 5.39118861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:4.90, Z:5.39 [[ 9.83540535e-01 -1.42879593e-01 -1.10604875e-01 4.81640380e+01] [ 1.41848186e-01 9.89739342e-01 -1.71792869e-02 4.90374166e+00] [ 1.11924566e-01 1.20742405e-03 9.93715972e-01 5.39036002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:4.91, Z:5.40 [[ 9.83399674e-01 -1.43861666e-01 -1.10584365e-01 4.81922978e+01] [ 1.42821716e-01 9.89597044e-01 -1.73103188e-02 4.90515788e+00] [ 1.11924252e-01 1.22911305e-03 9.93715981e-01 5.39536299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.79710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:48.22, Y:4.91, Z:5.39 [[ 9.82864269e-01 -1.47521994e-01 -1.10521903e-01 4.82224562e+01] [ 1.46460313e-01 9.89058025e-01 -1.77087360e-02 4.90695352e+00] [ 1.11925003e-01 1.21821129e-03 9.93715910e-01 5.39138629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.25, Y:4.91, Z:5.40 [[ 9.82736533e-01 -1.48328213e-01 -1.10578694e-01 4.82503965e+01] [ 1.47312330e-01 9.88937899e-01 -1.73467611e-02 4.91140634e+00] [ 1.11928476e-01 7.57690701e-04 9.93715977e-01 5.39728373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.857105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.28, Y:4.92, Z:5.41 [[ 9.81255911e-01 -1.57860318e-01 -1.10530349e-01 4.82785017e+01] [ 1.56869973e-01 9.87461452e-01 -1.76547957e-02 4.92043552e+00] [ 1.11931450e-01 -1.50201953e-05 9.93715930e-01 5.40905963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.31, Y:4.93, Z:5.41 [[ 9.80536185e-01 -1.62238859e-01 -1.10577313e-01 4.83065397e+01] [ 1.61309956e-01 9.86751175e-01 -1.73556053e-02 4.92600427e+00] [ 1.11928047e-01 -8.19422509e-04 9.93715976e-01 5.41441901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:4.93, Z:5.42 [[ 9.79005987e-01 -1.71234332e-01 -1.10571607e-01 4.83333791e+01] [ 1.70358432e-01 9.85228667e-01 -1.73918841e-02 4.93260368e+00] [ 1.11916405e-01 -1.81004686e-03 9.93715977e-01 5.41993723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.94710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.36, Y:4.94, Z:5.42 [[ 9.78256170e-01 -1.75468596e-01 -1.10569601e-01 4.83605176e+01] [ 1.74618188e-01 9.84482386e-01 -1.74046287e-02 4.93983965e+00] [ 1.11907790e-01 -2.28127790e-03 9.93715977e-01 5.42466146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.97710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:4.95, Z:5.43 [[ 9.77229779e-01 -1.81099360e-01 -1.10566636e-01 4.83873841e+01] [ 1.80282695e-01 9.83460509e-01 -1.74234404e-02 4.95370174e+00] [ 1.11893294e-01 -2.90654641e-03 9.93715977e-01 5.43025925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.00710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.41, Y:4.97, Z:5.44 [[ 9.77503445e-01 -1.79605200e-01 -1.10584748e-01 4.84118768e+01] [ 1.78791989e-01 9.83734637e-01 -1.73086298e-02 4.96726159e+00] [ 1.11894767e-01 -2.85242189e-03 9.93715968e-01 5.43508759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.44, Y:4.98, Z:5.44 [[ 9.77728514e-01 -1.78392252e-01 -1.10558388e-01 4.84386700e+01] [ 1.77552460e-01 9.83956165e-01 -1.74754081e-02 4.97577325e+00] [ 1.11902085e-01 -2.54370894e-03 9.93715982e-01 5.43691116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.47, Y:4.99, Z:5.43 [[ 9.77742835e-01 -1.78317680e-01 -1.10552038e-01 4.84657521e+01] [ 1.77472883e-01 9.83969808e-01 -1.75154880e-02 4.98916578e+00] [ 1.11903189e-01 -2.49434603e-03 9.93715983e-01 5.43428251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.49, Y:5.01, Z:5.43 [[ 9.77401063e-01 -1.80185122e-01 -1.10546296e-01 4.84911618e+01] [ 1.79348135e-01 9.83629090e-01 -1.75516511e-02 5.00581840e+00] [ 1.11899099e-01 -2.67126961e-03 9.93715984e-01 5.43407714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:5.02, Z:5.44 [[ 9.77064130e-01 -1.82004535e-01 -1.10544267e-01 4.85175013e+01] [ 1.81177701e-01 9.83293513e-01 -1.75644220e-02 5.01692223e+00] [ 1.11894265e-01 -2.86658944e-03 9.93715984e-01 5.43672582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:5.03, Z:5.44 [[ 9.76370698e-01 -1.85692389e-01 -1.10537764e-01 4.85437012e+01] [ 1.84884462e-01 9.82602560e-01 -1.76052566e-02 5.03081404e+00] [ 1.11883852e-01 -3.24745834e-03 9.93715984e-01 5.44031755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.57, Y:5.04, Z:5.44 [[ 9.75997991e-01 -1.87642659e-01 -1.10535756e-01 4.85705485e+01] [ 1.86845759e-01 9.82231273e-01 -1.76178514e-02 5.03898739e+00] [ 1.11877537e-01 -3.45814967e-03 9.93715985e-01 5.44321997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.60, Y:5.05, Z:5.45 [[ 9.75582785e-01 -1.89793386e-01 -1.10529182e-01 4.85983864e+01] [ 1.89005570e-01 9.81817221e-01 -1.76589977e-02 5.05221271e+00] [ 1.11871016e-01 -3.66281694e-03 9.93715985e-01 5.44620816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:5.07, Z:5.45 [[ 9.75447372e-01 -1.90473265e-01 -1.10554781e-01 4.86227003e+01] [ 1.89707907e-01 9.81684621e-01 -1.74989852e-02 5.06723621e+00] [ 1.11863017e-01 -3.90377694e-03 9.93715968e-01 5.44951882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:5.09, Z:5.46 [[ 9.75072928e-01 -1.92441216e-01 -1.10449827e-01 4.86494930e+01] [ 1.91614357e-01 9.81302394e-01 -1.81535300e-02 5.08525335e+00] [ 1.11878167e-01 -3.46275699e-03 9.93715898e-01 5.45650445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:5.10, Z:5.46 [[ 9.75144634e-01 -1.92039066e-01 -1.10516699e-01 4.86755662e+01] [ 1.91256785e-01 9.81379765e-01 -1.77369212e-02 5.09537895e+00] [ 1.11865034e-01 -3.84100501e-03 9.93715986e-01 5.46132245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:5.11, Z:5.46 [[ 9.75364341e-01 -1.90921211e-01 -1.10514680e-01 4.87026257e+01] [ 1.90130361e-01 9.81598391e-01 -1.77494919e-02 5.10782458e+00] [ 1.11869787e-01 -3.69997454e-03 9.93715986e-01 5.46459782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.36710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:5.12, Z:5.47 [[ 9.74976156e-01 -1.92906444e-01 -1.10492529e-01 4.87291423e+01] [ 1.92112696e-01 9.81209845e-01 -1.78872191e-02 5.11735460e+00] [ 1.11866917e-01 -3.78740558e-03 9.93715980e-01 5.47007458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:48.75, Y:5.13, Z:5.48 [[ 9.75304345e-01 -1.91231806e-01 -1.10507155e-01 4.87548278e+01] [ 1.90437631e-01 9.81537975e-01 -1.77964061e-02 5.13340057e+00] [ 1.11870208e-01 -3.68780852e-03 9.93715984e-01 5.47580405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.427105680999986 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:48.78, Y:5.14, Z:5.48 [[ 9.75556518e-01 -1.89979428e-01 -1.10441372e-01 4.87807578e+01] [ 1.89131119e-01 9.81783086e-01 -1.82041714e-02 5.14415952e+00] [ 1.11887889e-01 -3.12870214e-03 9.93715911e-01 5.47507600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:48.81, Y:5.16, Z:5.47 [[ 9.75743184e-01 -1.89047962e-01 -1.10390701e-01 4.88099676e+01] [ 1.88158281e-01 9.81964136e-01 -1.85174821e-02 5.15859705e+00] [ 1.11900402e-01 -2.70261770e-03 9.93715752e-01 5.47295256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:48.84, Y:5.17, Z:5.48 [[ 9.76126746e-01 -1.86995880e-01 -1.10494875e-01 4.88360734e+01] [ 1.86165916e-01 9.82355732e-01 -1.78736305e-02 5.16873352e+00] [ 1.11887569e-01 -3.12345082e-03 9.93715963e-01 5.47505882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51710568099999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:48.86, Y:5.18, Z:5.48 [[ 9.76175724e-01 -1.86743989e-01 -1.10488186e-01 4.88636540e+01] [ 1.85907753e-01 9.82403870e-01 -1.79148806e-02 5.17756126e+00] [ 1.11889518e-01 -3.05253895e-03 9.93715964e-01 5.48048327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.54710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:48.89, Y:5.19, Z:5.49 [[ 9.77124585e-01 -1.81717357e-01 -1.10482338e-01 4.88867553e+01] [ 1.80845009e-01 9.83347776e-01 -1.79508739e-02 5.19003754e+00] [ 1.11904547e-01 -2.43993921e-03 9.93715965e-01 5.48981375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57710568099999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:48.91, Y:5.20, Z:5.50 [[ 9.78420919e-01 -1.74669176e-01 -1.10377459e-01 4.89142205e+01] [ 1.73679229e-01 9.84626694e-01 -1.85956634e-02 5.20496743e+00] [ 1.11928681e-01 -9.75885926e-04 9.93715763e-01 5.49673225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.607105680999986 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:48.94, Y:5.21, Z:5.50 [[ 9.79586285e-01 -1.67944060e-01 -1.10478516e-01 4.89405459e+01] [ 1.66981509e-01 9.85796169e-01 -1.79746668e-02 5.21426385e+00] [ 1.11928037e-01 -8.40132232e-04 9.93715960e-01 5.49991942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63710568099999 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:48.97, Y:5.23, Z:5.50 [[ 9.82238047e-01 -1.51672050e-01 -1.10471754e-01 4.89673941e+01] [ 1.50601962e-01 9.88430305e-01 -1.80161311e-02 5.22759464e+00] [ 1.11926173e-01 1.05886654e-03 9.93715961e-01 5.49659743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66710568099999 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:48.99, Y:5.24, Z:5.49 [[ 9.84159815e-01 -1.38661310e-01 -1.10464928e-01 4.89945161e+01] [ 1.37504692e-01 9.90336495e-01 -1.80578903e-02 5.23597986e+00] [ 1.11901380e-01 2.58240416e-03 9.93715962e-01 5.49202508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69710568099999 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:49.02, Y:5.24, Z:5.49 [[ 9.84634485e-01 -1.35251243e-01 -1.10462805e-01 4.90226111e+01] [ 1.34071781e-01 9.90806844e-01 -1.80708654e-02 5.24056651e+00] [ 1.11891410e-01 2.98325222e-03 9.93715962e-01 5.49225676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.72710568099999 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:49.05, Y:5.25, Z:5.49 [[ 9.84782867e-01 -1.34171572e-01 -1.10456751e-01 4.90507522e+01] [ 1.32981204e-01 9.90953131e-01 -1.81077962e-02 5.24592260e+00] [ 1.11887015e-01 3.14357576e-03 9.93715962e-01 5.49172139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75710568099999 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:49.08, Y:5.25, Z:5.49 [[ 9.84463991e-01 -1.36496493e-01 -1.10450699e-01 4.90788411e+01] [ 1.35316567e-01 9.90636260e-01 -1.81446361e-02 5.24819615e+00] [ 1.11893147e-01 2.91693146e-03 9.93715963e-01 5.49202776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.787105680999986 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:49.11, Y:5.25, Z:5.49 [[ 9.84162292e-01 -1.38656764e-01 -1.10448560e-01 4.91074983e+01] [ 1.37488928e-01 9.90336859e-01 -1.81576488e-02 5.24900241e+00] [ 1.11898961e-01 2.68461921e-03 9.93715963e-01 5.49447568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81710568099999 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:49.14, Y:5.24, Z:5.50 [[ 9.83565102e-01 -1.42835984e-01 -1.10442617e-01 4.91357169e+01] [ 1.41690336e-01 9.89743824e-01 -1.81937246e-02 5.24408196e+00] [ 1.11908617e-01 2.24606104e-03 9.93715964e-01 5.49995039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84710568099999 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:49.16, Y:5.25, Z:5.50 [[ 9.83073377e-01 -1.46237935e-01 -1.10368482e-01 4.91639462e+01] [ 1.45063236e-01 9.89246733e-01 -1.86429445e-02 5.24514486e+00] [ 1.11907966e-01 2.31697322e-03 9.93715874e-01 5.50447763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87710568099999 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:49.19, Y:5.24, Z:5.51 [[ 9.82146578e-01 -1.52328465e-01 -1.10381779e-01 4.91938822e+01] [ 1.51201105e-01 9.88328722e-01 -1.85623933e-02 5.24365591e+00] [ 1.11921063e-01 1.54114424e-03 9.93715905e-01 5.51106119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.90710568099999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:49.22, Y:5.24, Z:5.52 [[ 9.81809433e-01 -1.54447858e-01 -1.10435938e-01 4.92207626e+01] [ 1.53370722e-01 9.88000469e-01 -1.82344188e-02 5.24048396e+00] [ 1.11927025e-01 9.65084890e-04 9.93715960e-01 5.51854303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.93710568099999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:49.25, Y:5.24, Z:5.53 [[ 9.81122461e-01 -1.58809353e-01 -1.10355360e-01 4.92497646e+01] [ 1.57704926e-01 9.87308796e-01 -1.87215760e-02 5.23851470e+00] [ 1.11927979e-01 9.64574962e-04 9.93715853e-01 5.52642920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.96710568099999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:49.28, Y:5.24, Z:5.53 [[ 9.80716072e-01 -1.61281924e-01 -1.10381733e-01 4.92791458e+01] [ 1.60211016e-01 9.86908238e-01 -1.85623236e-02 5.24110879e+00] [ 1.11930409e-01 5.19999545e-04 9.93715912e-01 5.52944478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99710568099999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:49.31, Y:5.24, Z:5.54 [[ 9.80628150e-01 -1.61784672e-01 -1.10427127e-01 4.93062778e+01] [ 1.60747795e-01 9.86826067e-01 -1.82882518e-02 5.23903419e+00] [ 1.11931126e-01 1.83057402e-04 9.93715950e-01 5.53519927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02710568099999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:49.34, Y:5.24, Z:5.54 [[ 9.80555979e-01 -1.62280240e-01 -1.10340818e-01 4.93367607e+01] [ 1.61187950e-01 9.86744492e-01 -1.88083185e-02 5.24223952e+00] [ 1.11930412e-01 6.56999022e-04 9.93715830e-01 5.53692678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05710568099999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:49.36, Y:5.24, Z:5.54 [[ 9.81356216e-01 -1.57314101e-01 -1.10418527e-01 4.93630012e+01] [ 1.56243105e-01 9.87548336e-01 -1.83405461e-02 5.24496922e+00] [ 1.11928860e-01 7.46475272e-04 9.93715942e-01 5.53936736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.08710568099999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:49.39, Y:5.25, Z:5.54 [[ 9.82262073e-01 -1.51558874e-01 -1.10413442e-01 4.93923102e+01] [ 1.50448164e-01 9.88447192e-01 -1.83711116e-02 5.24614480e+00] [ 1.11922162e-01 1.43374659e-03 9.93715942e-01 5.53995112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.11710568099999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:49.42, Y:5.24, Z:5.54 [[ 9.82928312e-01 -1.47176820e-01 -1.10412484e-01 4.94207761e+01] [ 1.46037892e-01 9.89108298e-01 -1.83768613e-02 5.24465569e+00] [ 1.11914552e-01 1.93873080e-03 9.93715942e-01 5.54224622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.14710568099999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:49.45, Y:5.25, Z:5.54 [[ 9.83290371e-01 -1.44745203e-01 -1.10403223e-01 4.94486754e+01] [ 1.43584767e-01 9.89466353e-01 -1.84323327e-02 5.24729909e+00] [ 1.11908266e-01 2.27211419e-03 9.93715944e-01 5.54468460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.177105680999986 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:49.48, Y:5.25, Z:5.55 [[ 9.84235686e-01 -1.38176632e-01 -1.10396250e-01 4.94768292e+01] [ 1.36970314e-01 9.90402870e-01 -1.84740049e-02 5.24742714e+00] [ 1.11889438e-01 3.06176583e-03 9.93715945e-01 5.54558929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:49.51, Y:5.24, Z:5.55 [[ 9.84994371e-01 -1.32663015e-01 -1.10392999e-01 4.95057854e+01] [ 1.31420010e-01 9.91154264e-01 -1.84934108e-02 5.24342840e+00] [ 1.11869883e-01 3.70805653e-03 9.93715945e-01 5.54864775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:49.53, Y:5.24, Z:5.55 [[ 9.85040648e-01 -1.32405680e-01 -1.10288974e-01 4.95341097e+01] [ 1.31091735e-01 9.91185979e-01 -1.91131174e-02 5.24493110e+00] [ 1.11847570e-01 4.36922462e-03 9.93715770e-01 5.55303366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.26710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.56, Y:5.24, Z:5.56 [[ 9.84914349e-01 -1.33313530e-01 -1.10323292e-01 4.95627343e+01] [ 1.32028097e-01 9.91065607e-01 -1.89088571e-02 5.24402485e+00] [ 1.11858427e-01 4.05783036e-03 9.93715868e-01 5.55638803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.29710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:49.59, Y:5.24, Z:5.56 [[ 9.84677660e-01 -1.35028735e-01 -1.10350107e-01 4.95922914e+01] [ 1.33771858e-01 9.90834773e-01 -1.87494707e-02 5.24195289e+00] [ 1.11870440e-01 3.70044617e-03 9.93715911e-01 5.55800329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.32710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:49.62, Y:5.24, Z:5.55 [[ 9.84757400e-01 -1.34450912e-01 -1.10344075e-01 4.96206098e+01] [ 1.33186416e-01 9.90912959e-01 -1.87852646e-02 5.24238482e+00] [ 1.11867070e-01 3.80259647e-03 9.93715905e-01 5.55401163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.357105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:5.24, Z:5.56 [[ 9.83870376e-01 -1.40911572e-01 -1.10195334e-01 4.96506910e+01] [ 1.39588877e-01 9.90014239e-01 -1.96660002e-02 5.24079531e+00] [ 1.11866117e-01 3.96675197e-03 9.93715370e-01 5.55580637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:5.24, Z:5.56 [[ 9.83406847e-01 -1.43976417e-01 -1.10371032e-01 4.96777932e+01] [ 1.42789513e-01 9.89577817e-01 -1.86252122e-02 5.24066137e+00] [ 1.11902316e-01 2.55633536e-03 9.93715924e-01 5.55816612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.71, Y:5.24, Z:5.56 [[ 9.82055747e-01 -1.52922792e-01 -1.10368157e-01 4.97068048e+01] [ 1.51790202e-01 9.88236916e-01 -1.86422281e-02 5.23861813e+00] [ 1.11920709e-01 1.55490230e-03 9.93715924e-01 5.56353799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.44710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:49.74, Y:5.24, Z:5.57 [[ 9.80319001e-01 -1.63691497e-01 -1.10361905e-01 4.97352591e+01] [ 1.62622653e-01 9.86511511e-01 -1.86791720e-02 5.23945751e+00] [ 1.11930911e-01 3.64201538e-04 9.93715924e-01 5.56726238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:49.76, Y:5.24, Z:5.57 [[ 9.80256288e-01 -1.64071484e-01 -1.10354691e-01 4.97630834e+01] [ 1.63000254e-01 9.86448385e-01 -1.87216942e-02 5.24442314e+00] [ 1.11930903e-01 3.64215852e-04 9.93715925e-01 5.57045017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.50710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:5.25, Z:5.58 [[ 9.78994460e-01 -1.71444697e-01 -1.10347463e-01 4.97906420e+01] [ 1.70415310e-01 9.85193649e-01 -1.87641993e-02 5.24541369e+00] [ 1.11930642e-01 -4.34849949e-04 9.93715926e-01 5.57831385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.537105680999986 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:49.82, Y:5.25, Z:5.58 [[ 9.78576398e-01 -1.73816462e-01 -1.10345234e-01 4.98191703e+01] [ 1.72800623e-01 9.84777821e-01 -1.87773008e-02 5.24821093e+00] [ 1.11929343e-01 -6.92701757e-04 9.93715926e-01 5.58319128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.85, Y:5.25, Z:5.59 [[ 9.77610393e-01 -1.79173654e-01 -1.10339115e-01 4.98474112e+01] [ 1.78187746e-01 9.83816645e-01 -1.88131841e-02 5.24691920e+00] [ 1.11924285e-01 -1.26911402e-03 9.93715927e-01 5.59105970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:5.25, Z:5.60 [[ 9.76965991e-01 -1.82658412e-01 -1.10332942e-01 4.98745864e+01] [ 1.81690560e-01 9.83175083e-01 -1.88493203e-02 5.24975078e+00] [ 1.11919586e-01 -1.63130914e-03 9.93715928e-01 5.59507728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.90, Y:5.25, Z:5.60 [[ 9.75318102e-01 -1.91266275e-01 -1.10325935e-01 4.98999247e+01] [ 1.90348586e-01 9.81534806e-01 -1.88902464e-02 5.25287671e+00] [ 1.11901812e-01 -2.57638643e-03 9.93715929e-01 5.60135931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:5.26, Z:5.60 [[ 9.73952543e-01 -1.98154414e-01 -1.10232812e-01 4.99286302e+01] [ 1.97219338e-01 9.80166777e-01 -1.94324911e-02 5.25861613e+00] [ 1.11897174e-01 -2.81371806e-03 9.93715807e-01 5.60372376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.96, Y:5.26, Z:5.61 [[ 9.71693551e-01 -2.08906356e-01 -1.10316715e-01 4.99572925e+01] [ 2.08095366e-01 9.77925071e-01 -1.89439792e-02 5.26486414e+00] [ 1.11838999e-01 -4.54865469e-03 9.93715929e-01 5.60998032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:5.27, Z:5.61 [[ 9.69678798e-01 -2.18045612e-01 -1.10359138e-01 4.99844179e+01] [ 2.17321351e-01 9.75921027e-01 -1.86970652e-02 5.27164525e+00] [ 1.11778616e-01 -5.85324914e-03 9.93715895e-01 5.61045879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.01, Y:5.28, Z:5.61 [[ 9.68923289e-01 -2.21404800e-01 -1.10306727e-01 5.00114135e+01] [ 2.20667629e-01 9.75163959e-01 -1.90013514e-02 5.27798740e+00] [ 1.11774135e-01 -5.93027192e-03 9.93715943e-01 5.61253653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:5.29, Z:5.62 [[ 9.67696787e-01 -2.26706510e-01 -1.10304517e-01 5.00388417e+01] [ 2.26002062e-01 9.73941235e-01 -1.90141707e-02 5.28875289e+00] [ 1.11740754e-01 -6.52909639e-03 9.93715943e-01 5.61643026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:5.30, Z:5.62 [[ 9.67378488e-01 -2.28063920e-01 -1.10298276e-01 5.00637752e+01] [ 2.27364128e-01 9.73623459e-01 -1.90503062e-02 5.30271613e+00] [ 1.11733676e-01 -6.64901496e-03 9.93715943e-01 5.62159502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:5.31, Z:5.62 [[ 9.67128035e-01 -2.29134714e-01 -1.10275326e-01 5.00911409e+01] [ 2.28426758e-01 9.73372091e-01 -1.91830248e-02 5.31389789e+00] [ 1.11734421e-01 -6.63739411e-03 9.93715937e-01 5.62250471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.86710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:5.33, Z:5.62 [[ 9.66777922e-01 -2.30589337e-01 -1.10313224e-01 5.01175031e+01] [ 2.29915598e-01 9.73025777e-01 -1.89645858e-02 5.33190756e+00] [ 1.11710642e-01 -7.02818806e-03 9.93715924e-01 5.62472943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.14, Y:5.35, Z:5.63 [[ 9.66767506e-01 -2.30631276e-01 -1.10316833e-01 5.01430268e+01] [ 2.29960170e-01 9.73015649e-01 -1.89438089e-02 5.35037666e+00] [ 1.11709039e-01 -7.05421877e-03 9.93715919e-01 5.62894625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.927105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.17, Y:5.36, Z:5.63 [[ 9.66755835e-01 -2.30664356e-01 -1.10349945e-01 5.01669887e+01] [ 2.30015096e-01 9.73006353e-01 -1.87534981e-02 5.36345564e+00] [ 1.11696961e-01 -7.25209938e-03 9.93715853e-01 5.63253694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:5.38, Z:5.64 [[ 9.67904040e-01 -2.25838289e-01 -1.10267111e-01 5.01939024e+01] [ 2.25103887e-01 9.74145011e-01 -1.92285849e-02 5.38182889e+00] [ 1.11758707e-01 -6.21013038e-03 9.93715968e-01 5.63548876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:50.22, Y:5.39, Z:5.64 [[ 9.68689035e-01 -2.22411987e-01 -1.10337945e-01 5.02200647e+01] [ 2.21701588e-01 9.74932875e-01 -1.88227176e-02 5.39439930e+00] [ 1.11758488e-01 -6.22873749e-03 9.93715877e-01 5.63849167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01710568099999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:50.24, Y:5.42, Z:5.64 [[ 9.70554551e-01 -2.14119564e-01 -1.10347977e-01 5.02435625e+01] [ 2.13362307e-01 9.76792910e-01 -1.87653123e-02 5.41703492e+00] [ 1.11805142e-01 -5.33133975e-03 9.93715848e-01 5.64083726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.04710568099999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:50.27, Y:5.43, Z:5.64 [[ 9.72742399e-01 -2.04003100e-01 -1.10249539e-01 5.02690139e+01] [ 2.03117323e-01 9.78963647e-01 -1.93269505e-02 5.43498619e+00] [ 1.11873049e-01 -3.59344709e-03 9.93716010e-01 5.64073588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07710568099999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:50.30, Y:5.45, Z:5.64 [[ 9.73880572e-01 -1.98499772e-01 -1.10247325e-01 5.02955263e+01] [ 1.97577404e-01 9.80096500e-01 -1.93395764e-02 5.44616871e+00] [ 1.11891919e-01 -2.94794251e-03 9.93716010e-01 5.64405981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.107105680999986 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:50.32, Y:5.46, Z:5.65 [[ 9.76417875e-01 -1.85621259e-01 -1.10240110e-01 5.03193217e+01] [ 1.84612251e-01 9.82620328e-01 -1.93806150e-02 5.46426461e+00] [ 1.11921627e-01 -1.42809588e-03 9.93716011e-01 5.64644187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13710568099999 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:50.35, Y:5.48, Z:5.65 [[ 9.78837258e-01 -1.72410645e-01 -1.10236980e-01 5.03454943e+01] [ 1.71315916e-01 9.85025156e-01 -1.93984047e-02 5.48241659e+00] [ 1.11930690e-01 1.02532134e-04 9.93716011e-01 5.64510633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16710568099999 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:50.37, Y:5.50, Z:5.64 [[ 9.80634654e-01 -1.61879227e-01 -1.10230626e-01 5.03713562e+01] [ 1.60713997e-01 9.86809664e-01 -1.94344434e-02 5.49687297e+00] [ 1.11922679e-01 1.34248419e-03 9.93716012e-01 5.64055637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19710568099999 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:50.40, Y:5.51, Z:5.64 [[ 9.80624804e-01 -1.62011697e-01 -1.10123587e-01 5.03990149e+01] [ 1.60779248e-01 9.86786918e-01 -2.00402560e-02 5.50599805e+00] [ 1.11915271e-01 1.94638457e-03 9.93715847e-01 5.63867316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.22710568099999 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:50.43, Y:5.51, Z:5.64 [[ 9.80459295e-01 -1.62943236e-01 -1.10222833e-01 5.04258797e+01] [ 1.61779724e-01 9.86634633e-01 -1.94787661e-02 5.51287152e+00] [ 1.11923598e-01 1.26631766e-03 9.93716008e-01 5.63837490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25710568099999 meters Centerline goodness : 0.997319 Centerline is valid? [True, True] Translation: X:50.45, Y:5.52, Z:5.64 [[ 9.79781200e-01 -1.66976802e-01 -1.10215912e-01 5.04513919e+01] [ 1.65834318e-01 9.85960462e-01 -1.95178501e-02 5.51894658e+00] [ 1.11927560e-01 8.45641940e-04 9.93716009e-01 5.64077960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.287105680999986 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:50.48, Y:5.53, Z:5.65 [[ 9.78170470e-01 -1.76274027e-01 -1.10045444e-01 5.04794142e+01] [ 1.75082106e-01 9.84340837e-01 -2.04786148e-02 5.52668443e+00] [ 1.11932072e-01 7.64588258e-04 9.93715566e-01 5.64625976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31710568099999 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:50.51, Y:5.53, Z:5.65 [[ 9.76738824e-01 -1.84036604e-01 -1.10053611e-01 5.05092388e+01] [ 1.82898914e-01 9.82919376e-01 -2.04325287e-02 5.53453356e+00] [ 1.11934160e-01 -1.71441889e-04 9.93715610e-01 5.65104818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34710568099999 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:50.54, Y:5.54, Z:5.66 [[ 9.76604648e-01 -1.84648880e-01 -1.10218655e-01 5.05364705e+01] [ 1.83620227e-01 9.82803828e-01 -1.94999482e-02 5.54054562e+00] [ 1.11923959e-01 -1.19463434e-03 9.93716056e-01 5.65501033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37710568099999 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:50.57, Y:5.55, Z:5.66 [[ 9.76772536e-01 -1.83762844e-01 -1.10211751e-01 5.05654317e+01] [ 1.82724175e-01 9.82970044e-01 -1.95388877e-02 5.54873712e+00] [ 1.11925372e-01 -1.05330250e-03 9.93716057e-01 5.65932021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.40710568099999 meters Centerline goodness : 0.997408 Centerline is valid? [True, True] Translation: X:50.60, Y:5.56, Z:5.66 [[ 9.76884405e-01 -1.83167214e-01 -1.10211751e-01 5.05953479e+01] [ 1.82124767e-01 9.83081279e-01 -1.95388877e-02 5.55606895e+00] [ 1.11925993e-01 -9.85054784e-04 9.93716057e-01 5.66285512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43710568099999 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:50.62, Y:5.56, Z:5.67 [[ 9.76930133e-01 -1.82923167e-01 -1.10211751e-01 5.06235045e+01] [ 1.81879171e-01 9.83126746e-01 -1.95388877e-02 5.56281675e+00] [ 1.11926236e-01 -9.57093811e-04 9.93716057e-01 5.66679782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.467105680999985 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:50.65, Y:5.57, Z:5.67 [[ 9.76637566e-01 -1.84479088e-01 -1.10211304e-01 5.06516454e+01] [ 1.83444680e-01 9.82835786e-01 -1.95414092e-02 5.57073532e+00] [ 1.11924595e-01 -1.13280308e-03 9.93716057e-01 5.67289062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49710568099999 meters Centerline goodness : 0.997223 Centerline is valid? [True, True] Translation: X:50.68, Y:5.57, Z:5.68 [[ 9.75967305e-01 -1.87993293e-01 -1.10210440e-01 5.06820637e+01] [ 1.86980652e-01 9.82169119e-01 -1.95462799e-02 5.57474719e+00] [ 1.11919861e-01 -1.53068987e-03 9.93716057e-01 5.67754368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52710568099999 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:50.71, Y:5.58, Z:5.68 [[ 9.75738640e-01 -1.89176009e-01 -1.10211363e-01 5.07127204e+01] [ 1.88171472e-01 9.81941772e-01 -1.95410771e-02 5.58010368e+00] [ 1.11917844e-01 -1.67165041e-03 9.93716057e-01 5.68030891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55710568099999 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:50.74, Y:5.59, Z:5.68 [[ 9.76170761e-01 -1.86932874e-01 -1.10212274e-01 5.07425833e+01] [ 1.85914663e-01 9.82371664e-01 -1.95359352e-02 5.58763099e+00] [ 1.11921324e-01 -1.41966906e-03 9.93716057e-01 5.68419613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.58710568099999 meters Centerline goodness : 0.997333 Centerline is valid? [True, True] Translation: X:50.77, Y:5.59, Z:5.69 [[ 9.76754220e-01 -1.83859313e-01 -1.10213187e-01 5.07733572e+01] [ 1.82822170e-01 9.82951984e-01 -1.95307877e-02 5.59371308e+00] [ 1.11925188e-01 -1.07263461e-03 9.93716057e-01 5.68969370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.61710568099999 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:50.80, Y:5.60, Z:5.69 [[ 9.78545544e-01 -1.74073173e-01 -1.10214100e-01 5.08038551e+01] [ 1.72974626e-01 9.84732719e-01 -1.95256310e-02 5.59745667e+00] [ 1.11930319e-01 4.24764179e-05 9.93716057e-01 5.69319189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.64710568099999 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:50.83, Y:5.60, Z:5.70 [[ 9.80366189e-01 -1.63507755e-01 -1.10215015e-01 5.08342751e+01] [ 1.62343113e-01 9.86541264e-01 -1.95204650e-02 5.60103818e+00] [ 1.11923408e-01 1.24455528e-03 9.93716057e-01 5.69507651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.677105680999986 meters Centerline goodness : 0.997376 Centerline is valid? [True, True] Translation: X:50.86, Y:5.61, Z:5.70 [[ 9.82059661e-01 -1.53006930e-01 -1.10216610e-01 5.08642477e+01] [ 1.51777282e-01 9.88222121e-01 -1.95114540e-02 5.60637015e+00] [ 1.11903880e-01 2.43303440e-03 9.93716057e-01 5.69685207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70710568099999 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:50.89, Y:5.61, Z:5.70 [[ 9.82819810e-01 -1.48045670e-01 -1.10216610e-01 5.08940016e+01] [ 1.46784918e-01 9.88975981e-01 -1.95114540e-02 5.61074296e+00] [ 1.11890167e-01 2.99810748e-03 9.93716057e-01 5.69825096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73710568099999 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:50.92, Y:5.61, Z:5.70 [[ 9.84084543e-01 -1.39391941e-01 -1.10215689e-01 5.09222897e+01] [ 1.38076487e-01 9.90229258e-01 -1.95166566e-02 5.61069500e+00] [ 1.11859265e-01 3.98784495e-03 9.93716057e-01 5.69561512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.76710568099999 meters Centerline goodness : 0.997605 Centerline is valid? [True, True] Translation: X:50.95, Y:5.61, Z:5.70 [[ 9.84448143e-01 -1.36802267e-01 -1.10213395e-01 5.09512751e+01] [ 1.35469204e-01 9.90589062e-01 -1.95296024e-02 5.60973428e+00] [ 1.11847877e-01 4.29535996e-03 9.93716057e-01 5.69782339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.79710568099999 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:50.98, Y:5.61, Z:5.70 [[ 9.84259366e-01 -1.38159243e-01 -1.10206734e-01 5.09793484e+01] [ 1.36830452e-01 9.90401209e-01 -1.95671186e-02 5.61019552e+00] [ 1.11852261e-01 4.17948252e-03 9.93716058e-01 5.69955253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.82710568099999 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:51.01, Y:5.61, Z:5.70 [[ 9.83477689e-01 -1.43619760e-01 -1.10204358e-01 5.10091713e+01] [ 1.42323579e-01 9.89626497e-01 -1.95804926e-02 5.60639569e+00] [ 1.11873298e-01 3.57229897e-03 9.93716058e-01 5.70233455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.857105680999986 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:51.04, Y:5.61, Z:5.70 [[ 9.82420215e-01 -1.50688263e-01 -1.10197864e-01 5.10373290e+01] [ 1.49432243e-01 9.88577351e-01 -1.96169733e-02 5.60575018e+00] [ 1.11895160e-01 2.80499724e-03 9.93716059e-01 5.70370554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88710568099999 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:51.07, Y:5.61, Z:5.71 [[ 9.81782104e-01 -1.54793726e-01 -1.10194384e-01 5.10656503e+01] [ 1.53561263e-01 9.87944000e-01 -1.96365014e-02 5.60635714e+00] [ 1.11905488e-01 2.35717685e-03 9.93716059e-01 5.70531772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91710568099999 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:51.09, Y:5.60, Z:5.71 [[ 9.80355914e-01 -1.63584767e-01 -1.10192135e-01 5.10941805e+01] [ 1.62406150e-01 9.86528334e-01 -1.96491142e-02 5.60081600e+00] [ 1.11921959e-01 1.36724487e-03 9.93716059e-01 5.70948666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.94710568099999 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:51.12, Y:5.60, Z:5.72 [[ 9.79458593e-01 -1.68875808e-01 -1.10189956e-01 5.11230169e+01] [ 1.67729163e-01 9.85637033e-01 -1.96613235e-02 5.60179666e+00] [ 1.11927624e-01 7.75383089e-04 9.93716059e-01 5.71632236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.97710568099999 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:51.15, Y:5.60, Z:5.72 [[ 9.78590019e-01 -1.73842401e-01 -1.10183455e-01 5.11453042e+01] [ 1.72723019e-01 9.84773456e-01 -1.96976905e-02 5.59780631e+00] [ 1.11930036e-01 2.44744337e-04 9.93716060e-01 5.71949191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.00710568099999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:51.17, Y:5.60, Z:5.73 [[ 9.77402994e-01 -1.80685515e-01 -1.09709304e-01 5.11730543e+01] [ 1.79315138e-01 9.83538600e-01 -2.23137499e-02 5.59593854e+00] [ 1.11935107e-01 2.13698693e-03 9.93713221e-01 5.72896354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.037105680999986 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:51.21, Y:5.60, Z:5.73 [[ 9.76019011e-01 -1.87982880e-01 -1.09769426e-01 5.12060864e+01] [ 1.86695896e-01 9.82171836e-01 -2.19801360e-02 5.59952300e+00] [ 1.11944328e-01 9.59529362e-04 9.93714017e-01 5.73486086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06710568099999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:51.23, Y:5.60, Z:5.74 [[ 9.74701450e-01 -1.94474678e-01 -1.10166614e-01 5.12345174e+01] [ 1.93478180e-01 9.80905403e-01 -1.97682417e-02 5.59802146e+00] [ 1.11907449e-01 -2.04670213e-03 9.93716526e-01 5.73729115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09710568099999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:51.26, Y:5.60, Z:5.74 [[ 9.73551967e-01 -2.00153710e-01 -1.10159253e-01 5.12625087e+01] [ 1.99188767e-01 9.79760905e-01 -1.98091779e-02 5.59522928e+00] [ 1.11894610e-01 -2.65722158e-03 9.93716527e-01 5.73719824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.12710568099999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:51.29, Y:5.60, Z:5.74 [[ 9.72500126e-01 -2.05274683e-01 -1.10026401e-01 5.12918625e+01] [ 2.04259137e-01 9.78701225e-01 -2.05454958e-02 5.59781792e+00] [ 1.11900443e-01 -2.49340045e-03 9.93716294e-01 5.73869442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.15710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:51.32, Y:5.60, Z:5.75 [[ 9.71483641e-01 -2.09967962e-01 -1.10149856e-01 5.13233333e+01] [ 2.09059859e-01 9.77701139e-01 -1.98609614e-02 5.59683372e+00] [ 1.11863805e-01 -3.73331417e-03 9.93716535e-01 5.74724982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18710568099999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:51.35, Y:5.60, Z:5.75 [[ 9.71020148e-01 -2.12016392e-01 -1.10312836e-01 5.13477344e+01] [ 2.11224288e-01 9.77253842e-01 -1.89533231e-02 5.59986053e+00] [ 1.11822058e-01 -4.89669163e-03 9.93716182e-01 5.74682152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.217105680999985 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:51.38, Y:5.61, Z:5.75 [[ 9.70400618e-01 -2.15009986e-01 -1.09969750e-01 5.13777868e+01] [ 2.14023019e-01 9.76606239e-01 -2.08423060e-02 5.60785169e+00] [ 1.11878448e-01 -3.31067142e-03 9.93716384e-01 5.74968032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:51.41, Y:5.62, Z:5.75 [[ 9.70051649e-01 -2.16500202e-01 -1.10124754e-01 5.14056719e+01] [ 2.15619483e-01 9.76272859e-01 -1.99885668e-02 5.61620257e+00] [ 1.11839337e-01 -4.35510038e-03 9.93716758e-01 5.75254238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27710568099999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:51.43, Y:5.62, Z:5.76 [[ 9.69719912e-01 -2.17984370e-01 -1.10118606e-01 5.14337437e+01] [ 2.17109339e-01 9.75941924e-01 -2.00223805e-02 5.62269704e+00] [ 1.11833930e-01 -4.49167672e-03 9.93716759e-01 5.75690719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30710568099999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:51.46, Y:5.63, Z:5.76 [[ 9.68838700e-01 -2.21871233e-01 -1.10112348e-01 5.14599974e+01] [ 2.21017262e-01 9.75063637e-01 -2.00567359e-02 5.63099131e+00] [ 1.11816560e-01 -4.90498782e-03 9.93716759e-01 5.76087922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33710568099999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:51.49, Y:5.64, Z:5.76 [[ 9.67763281e-01 -2.26517080e-01 -1.10110147e-01 5.14867591e+01] [ 2.25691615e-01 9.73992062e-01 -2.00688145e-02 5.64125389e+00] [ 1.11792338e-01 -5.42907514e-03 9.93716760e-01 5.76399934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.36710568099999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:51.51, Y:5.65, Z:5.77 [[ 9.67699706e-01 -2.26819297e-01 -1.10046747e-01 5.15145028e+01] [ 2.25956356e-01 9.73923459e-01 -2.04161833e-02 5.64655258e+00] [ 1.11807893e-01 -5.10902746e-03 9.93716707e-01 5.76724547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39710568099999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:51.54, Y:5.66, Z:5.77 [[ 9.66672888e-01 -2.31158215e-01 -1.10042747e-01 5.15398510e+01] [ 2.30320719e-01 9.72900124e-01 -2.04380688e-02 5.65741132e+00] [ 1.11785030e-01 -5.58819773e-03 9.93716700e-01 5.76804155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.427105680999986 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:51.57, Y:5.67, Z:5.77 [[ 9.66017701e-01 -2.33941229e-01 -1.09914982e-01 5.15676237e+01] [ 2.33042342e-01 9.72236854e-01 -2.11368620e-02 5.66574851e+00] [ 1.11808179e-01 -5.19626187e-03 9.93716222e-01 5.77121820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45710568099999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:51.59, Y:5.68, Z:5.78 [[ 9.65306809e-01 -2.36835210e-01 -1.09962937e-01 5.15935477e+01] [ 2.35984727e-01 9.71532529e-01 -2.08747301e-02 5.67647540e+00] [ 1.11776441e-01 -5.79905451e-03 9.93716458e-01 5.77869309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48710568099999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:51.62, Y:5.69, Z:5.78 [[ 9.64941958e-01 -2.38331317e-01 -1.09932715e-01 5.16237734e+01] [ 2.37471750e-01 9.71166566e-01 -2.10396974e-02 5.68691287e+00] [ 1.11777396e-01 -5.80382745e-03 9.93716322e-01 5.78319014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51710568099999 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:51.65, Y:5.70, Z:5.79 [[ 9.64381661e-01 -2.40507011e-01 -1.10110805e-01 5.16486359e+01] [ 2.39772089e-01 9.70621800e-01 -2.00665376e-02 5.69778742e+00] [ 1.11702091e-01 -7.04969694e-03 9.93716733e-01 5.78796259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.54710568099999 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:51.68, Y:5.71, Z:5.79 [[ 9.64315129e-01 -2.40842864e-01 -1.09959294e-01 5.16755114e+01] [ 2.40016036e-01 9.70544041e-01 -2.08941976e-02 5.70987959e+00] [ 1.11752556e-01 -6.24340309e-03 9.93716452e-01 5.79470812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57710568099999 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:51.70, Y:5.72, Z:5.79 [[ 9.64418447e-01 -2.40420268e-01 -1.09977966e-01 5.17028742e+01] [ 2.39602291e-01 9.70648455e-01 -2.07922743e-02 5.72303190e+00] [ 1.11748827e-01 -6.29851975e-03 9.93716523e-01 5.79485428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.607105680999986 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:51.73, Y:5.73, Z:5.80 [[ 9.64684737e-01 -2.39297364e-01 -1.10091463e-01 5.17291448e+01] [ 2.38542514e-01 9.70922509e-01 -2.01730034e-02 5.73177166e+00] [ 1.11717626e-01 -6.80090589e-03 9.93716720e-01 5.79675029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63710568099999 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:51.75, Y:5.74, Z:5.79 [[ 9.65791692e-01 -2.34793322e-01 -1.10084080e-01 5.17548410e+01] [ 2.34004804e-01 9.72025297e-01 -2.02132156e-02 5.74261140e+00] [ 1.11750438e-01 -6.23844776e-03 9.93716721e-01 5.79493442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66710568099999 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:51.78, Y:5.75, Z:5.80 [[ 9.66173794e-01 -2.33241583e-01 -1.10029836e-01 5.17818885e+01] [ 2.32409571e-01 9.72401776e-01 -2.05079988e-02 5.75213904e+00] [ 1.11776526e-01 -5.75769606e-03 9.93716689e-01 5.79784444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69710568099999 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:51.81, Y:5.77, Z:5.80 [[ 9.68079247e-01 -2.25182279e-01 -1.10070487e-01 5.18077963e+01] [ 2.24323417e-01 9.74303558e-01 -2.02874597e-02 5.76980463e+00] [ 1.11810444e-01 -5.05151919e-03 9.93716714e-01 5.79864684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.72710568099999 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:51.84, Y:5.79, Z:5.80 [[ 9.70867837e-01 -2.12839091e-01 -1.10068908e-01 5.18352645e+01] [ 2.11900085e-01 9.77080562e-01 -2.02960268e-02 5.78808879e+00] [ 1.11865978e-01 -3.61885118e-03 9.93716714e-01 5.79851889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75710568099999 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:51.86, Y:5.80, Z:5.80 [[ 9.72493122e-01 -2.05285079e-01 -1.10068908e-01 5.18634332e+01] [ 2.04297804e-01 9.78698359e-01 -2.02960268e-02 5.79818105e+00] [ 1.11890731e-01 -2.74908958e-03 9.93716714e-01 5.79987369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.787105680999986 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:51.89, Y:5.81, Z:5.80 [[ 9.75858592e-01 -1.88639716e-01 -1.10068458e-01 5.18926497e+01] [ 1.87546291e-01 9.82046008e-01 -2.02984646e-02 5.81183544e+00] [ 1.11921386e-01 -8.34499927e-04 9.93716714e-01 5.80110972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81710568099999 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:51.92, Y:5.82, Z:5.80 [[ 9.77032747e-01 -1.82460238e-01 -1.10069395e-01 5.19224077e+01] [ 1.81328251e-01 9.83213224e-01 -2.02933807e-02 5.82225847e+00] [ 1.11924420e-01 -1.31393456e-04 9.93716714e-01 5.80330380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84710568099999 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:51.95, Y:5.84, Z:5.81 [[ 9.78268151e-01 -1.75715522e-01 -1.10070339e-01 5.19508555e+01] [ 1.74541499e-01 9.84440781e-01 -2.02882635e-02 5.83733079e+00] [ 1.11922693e-01 6.35520146e-04 9.93716714e-01 5.80577222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87710568099999 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:51.98, Y:5.85, Z:5.81 [[ 9.78209974e-01 -1.76038525e-01 -1.10071272e-01 5.19814422e+01] [ 1.74867110e-01 9.84383099e-01 -2.02831973e-02 5.84602156e+00] [ 1.11922924e-01 5.93380595e-04 9.93716714e-01 5.81164321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.90710568099999 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:52.01, Y:5.85, Z:5.81 [[ 9.77789206e-01 -1.78359636e-01 -1.10073193e-01 5.20109036e+01] [ 1.77204050e-01 9.83965314e-01 -2.02727661e-02 5.84807332e+00] [ 1.11924047e-01 3.17076239e-04 9.93716714e-01 5.81283669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93710568099999 meters Centerline goodness : 0.996871 Centerline is valid? [True, True] Translation: X:52.04, Y:5.85, Z:5.82 [[ 9.77271414e-01 -1.81187764e-01 -1.10052609e-01 5.20415478e+01] [ 1.80037475e-01 9.83448515e-01 -2.03844377e-02 5.85234329e+00] [ 1.11924486e-01 1.07534499e-04 9.93716709e-01 5.81907554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.967105680999985 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:52.07, Y:5.86, Z:5.82 [[ 9.76709882e-01 -1.84180563e-01 -1.10069648e-01 5.20711910e+01] [ 1.83059615e-01 9.82892370e-01 -2.02920167e-02 5.85571946e+00] [ 1.11924012e-01 -3.29894078e-04 9.93716713e-01 5.82212115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99710568099999 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:52.10, Y:5.86, Z:5.83 [[ 9.75964432e-01 -1.88146211e-01 -1.09974678e-01 5.21020629e+01] [ 1.86992334e-01 9.82140996e-01 -2.08069722e-02 5.86117792e+00] [ 1.11925393e-01 -2.57556855e-04 9.93716579e-01 5.82521490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02710568099999 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:52.13, Y:5.86, Z:5.83 [[ 9.75233348e-01 -1.91844103e-01 -1.10071597e-01 5.21319825e+01] [ 1.90772972e-01 9.81424654e-01 -2.02810494e-02 5.86279851e+00] [ 1.11917779e-01 -1.21993003e-03 9.93716721e-01 5.82792850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05710568099999 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:52.16, Y:5.87, Z:5.83 [[ 9.73537541e-01 -2.00340879e-01 -1.09946295e-01 5.21606388e+01] [ 1.99247163e-01 9.79725103e-01 -2.09592792e-02 5.86504026e+00] [ 1.11916146e-01 -1.50184228e-03 9.93716519e-01 5.83288175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.08710568099999 meters Centerline goodness : 0.997229 Centerline is valid? [True, True] Translation: X:52.19, Y:5.87, Z:5.84 [[ 9.72206431e-01 -2.06707719e-01 -1.09938956e-01 5.21896481e+01] [ 2.05650037e-01 9.78400279e-01 -2.09989350e-02 5.86924630e+00] [ 1.11904947e-01 -2.19365070e-03 9.93716494e-01 5.83821774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.11710568099999 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:52.22, Y:5.87, Z:5.84 [[ 9.70802760e-01 -2.13142523e-01 -1.10055742e-01 5.22221195e+01] [ 2.12197306e-01 9.77014558e-01 -2.03680213e-02 5.86944937e+00] [ 1.11867354e-01 -3.58020073e-03 9.93716699e-01 5.84232333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.147105680999985 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:52.25, Y:5.87, Z:5.85 [[ 9.70195900e-01 -2.15887079e-01 -1.10057642e-01 5.22514377e+01] [ 2.14960596e-01 9.76410520e-01 -2.03577507e-02 5.87228201e+00] [ 1.11856415e-01 -3.90705010e-03 9.93716699e-01 5.84602857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.177105680999986 meters Centerline goodness : 0.997257 Centerline is valid? [True, True] Translation: X:52.28, Y:5.88, Z:5.85 [[ 9.69764643e-01 -2.17836783e-01 -1.10016693e-01 5.22808453e+01] [ 2.16897716e-01 9.75977399e-01 -2.05790639e-02 5.87697960e+00] [ 1.11856683e-01 -3.90552080e-03 9.93716675e-01 5.85260208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20710568099999 meters Centerline goodness : 0.997486 Centerline is valid? [True, True] Translation: X:52.31, Y:5.88, Z:5.86 [[ 9.69704373e-01 -2.18086477e-01 -1.10053246e-01 5.23116817e+01] [ 2.17171374e-01 9.75920684e-01 -2.03817040e-02 5.87916681e+00] [ 1.11848213e-01 -4.13618709e-03 9.93716695e-01 5.85657135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23710568099999 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:52.34, Y:5.88, Z:5.86 [[ 9.69812436e-01 -2.17604954e-01 -1.10054178e-01 5.23418055e+01] [ 2.16687335e-01 9.76028376e-01 -2.03766683e-02 5.88443650e+00] [ 1.11850065e-01 -4.08580030e-03 9.93716695e-01 5.85912498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.26710568099999 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:52.37, Y:5.89, Z:5.86 [[ 9.69853852e-01 -2.17419510e-01 -1.10055725e-01 5.23709873e+01] [ 2.16501650e-01 9.76069756e-01 -2.03683085e-02 5.89075581e+00] [ 1.11850533e-01 -4.07296366e-03 9.93716695e-01 5.86099204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.29710568099999 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:52.40, Y:5.90, Z:5.87 [[ 9.69534414e-01 -2.18839338e-01 -1.10056183e-01 5.24010638e+01] [ 2.17930860e-01 9.75751696e-01 -2.03658357e-02 5.89812358e+00] [ 1.11844353e-01 -4.23926009e-03 9.93716695e-01 5.86519868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.32710568099999 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:52.43, Y:5.90, Z:5.87 [[ 9.69508799e-01 -2.18952335e-01 -1.10057094e-01 5.24278362e+01] [ 2.18045140e-01 9.75726268e-01 -2.03609110e-02 5.90247766e+00] [ 1.11843667e-01 -4.25733218e-03 9.93716695e-01 5.86666732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.357105680999986 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:52.46, Y:5.91, Z:5.87 [[ 9.67761703e-01 -2.26624717e-01 -1.09902339e-01 5.24571684e+01] [ 2.25672205e-01 9.73972706e-01 -2.11949236e-02 5.90870238e+00] [ 1.11845172e-01 -4.29026778e-03 9.93716384e-01 5.86818121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38710568099999 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:52.48, Y:5.91, Z:5.87 [[ 9.66488786e-01 -2.31924232e-01 -1.10048066e-01 5.24809039e+01] [ 2.31094932e-01 9.72717117e-01 -2.04093536e-02 5.91458305e+00] [ 1.11779061e-01 -5.70613899e-03 9.93716701e-01 5.86888523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41710568099999 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:52.51, Y:5.92, Z:5.87 [[ 9.65221370e-01 -2.37246635e-01 -1.09825955e-01 5.25088539e+01] [ 2.36315877e-01 9.71436063e-01 -2.16051173e-02 5.92182510e+00] [ 1.11814635e-01 -5.09989591e-03 9.93715995e-01 5.87147803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.44710568099999 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:52.54, Y:5.93, Z:5.87 [[ 9.63197271e-01 -2.45326359e-01 -1.09845321e-01 5.25362413e+01] [ 2.44459536e-01 9.69421085e-01 -2.15010272e-02 5.92990741e+00] [ 1.11761139e-01 -6.14300540e-03 9.93716112e-01 5.87448712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47710568099999 meters Centerline goodness : 0.997132 Centerline is valid? [True, True] Translation: X:52.57, Y:5.94, Z:5.88 [[ 9.61689378e-01 -2.51170155e-01 -1.09850325e-01 5.25652704e+01] [ 2.50344203e-01 9.67918718e-01 -2.14740683e-02 5.93865632e+00] [ 1.11719831e-01 -6.84900858e-03 9.93716142e-01 5.87680570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.50710568099999 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:52.59, Y:5.95, Z:5.88 [[ 9.60390081e-01 -2.56008565e-01 -1.10047748e-01 5.25929936e+01] [ 2.55335128e-01 9.66637164e-01 -2.04099473e-02 5.94904610e+00] [ 1.11601364e-01 -8.49754491e-03 9.93716724e-01 5.87836994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.537105680999986 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:52.62, Y:5.96, Z:5.88 [[ 9.59297010e-01 -2.60074669e-01 -1.10047323e-01 5.26211088e+01] [ 2.59427441e-01 9.65546862e-01 -2.04122394e-02 5.96133055e+00] [ 1.11564554e-01 -8.96789513e-03 9.93716724e-01 5.88243808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56710568099999 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:52.65, Y:5.97, Z:5.89 [[ 9.59514318e-01 -2.59271788e-01 -1.10047323e-01 5.26491949e+01] [ 2.58619330e-01 9.65763627e-01 -2.04122394e-02 5.96722640e+00] [ 1.11572019e-01 -8.87452895e-03 9.93716724e-01 5.88654560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59710568099999 meters Centerline goodness : 0.996533 Centerline is valid? [True, True] Translation: X:52.68, Y:5.98, Z:5.89 [[ 9.57626276e-01 -2.66180942e-01 -1.09998281e-01 5.26806129e+01] [ 2.65543376e-01 9.63877162e-01 -2.06768425e-02 5.98271215e+00] [ 1.11528612e-01 -9.40862719e-03 9.93716683e-01 5.89423164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.62710568099999 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:52.71, Y:6.00, Z:5.90 [[ 9.57749245e-01 -2.65688373e-01 -1.10118448e-01 5.27108949e+01] [ 2.65121635e-01 9.64006960e-01 -2.00274813e-02 5.99753915e+00] [ 1.11476019e-01 -1.00134778e-02 9.93716674e-01 5.89994611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65710568099999 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:52.74, Y:6.02, Z:5.90 [[ 9.57883298e-01 -2.65171400e-01 -1.10198526e-01 5.27367481e+01] [ 2.64650719e-01 9.64145252e-01 -1.95941165e-02 6.01560859e+00] [ 1.11443185e-01 -1.03952421e-02 9.93716436e-01 5.90350121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68710568099999 meters Centerline goodness : 0.995835 Centerline is valid? [True, True] Translation: X:52.77, Y:6.03, Z:5.91 [[ 9.58060431e-01 -2.64588960e-01 -1.10058589e-01 5.27686785e+01] [ 2.63978141e-01 9.64313940e-01 -2.03510768e-02 6.02651172e+00] [ 1.11515702e-01 -9.55550037e-03 9.93716731e-01 5.91012936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.717105680999985 meters Centerline goodness : 0.995857 Centerline is valid? [True, True] Translation: X:52.80, Y:6.04, Z:5.91 [[ 9.58573143e-01 -2.62674526e-01 -1.10179955e-01 5.27960990e+01] [ 2.62126249e-01 9.64832636e-01 -1.96929991e-02 6.04315514e+00] [ 1.11478065e-01 -1.00038781e-02 9.93716541e-01 5.90991256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74710568099999 meters Centerline goodness : 0.996403 Centerline is valid? [True, True] Translation: X:52.83, Y:6.05, Z:5.91 [[ 9.59319924e-01 -2.59981473e-01 -1.10067782e-01 5.28255532e+01] [ 2.59346280e-01 9.65571004e-01 -2.03012876e-02 6.05365216e+00] [ 1.11556217e-01 -9.07024002e-03 9.93716731e-01 5.91158471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77710568099999 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:52.85, Y:6.07, Z:5.91 [[ 9.62603561e-01 -2.47546108e-01 -1.10069561e-01 5.28523282e+01] [ 2.46831178e-01 9.68846024e-01 -2.02916365e-02 6.06913773e+00] [ 1.11663572e-01 -7.63579778e-03 9.93716731e-01 5.91249310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80710568099999 meters Centerline goodness : 0.996313 Centerline is valid? [True, True] Translation: X:52.88, Y:6.08, Z:5.92 [[ 9.64687122e-01 -2.39385267e-01 -1.09879255e-01 5.28832235e+01] [ 2.38500435e-01 9.70908294e-01 -2.13219806e-02 6.08140093e+00] [ 1.11786848e-01 -5.63720997e-03 9.93716218e-01 5.92159001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83710568099999 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:52.91, Y:6.10, Z:5.93 [[ 9.68753865e-01 -2.22261270e-01 -1.10072147e-01 5.29117233e+01] [ 2.21385033e-01 9.74975685e-01 -2.02751355e-02 6.09945385e+00] [ 1.11824044e-01 -4.72671003e-03 9.93716781e-01 5.92793124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.86710568099999 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:52.94, Y:6.11, Z:5.93 [[ 9.71209502e-01 -2.11254560e-01 -1.10107286e-01 5.29404197e+01] [ 2.10329397e-01 9.77424252e-01 -2.00842446e-02 6.11429932e+00] [ 1.11864420e-01 -3.65278994e-03 9.93716765e-01 5.93296839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.897105680999985 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:52.97, Y:6.12, Z:5.93 [[ 9.71716995e-01 -2.08922863e-01 -1.10078690e-01 5.29729013e+01] [ 2.07965180e-01 9.77926805e-01 -2.02397781e-02 6.12300385e+00] [ 1.11877454e-01 -3.22519829e-03 9.93716777e-01 5.93447206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.927105680999986 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:53.00, Y:6.13, Z:5.93 [[ 9.71289549e-01 -2.10899485e-01 -1.10081874e-01 5.30049074e+01] [ 2.09956401e-01 9.77501592e-01 -2.02224484e-02 6.13096666e+00] [ 1.11870111e-01 -3.47054124e-03 9.93716777e-01 5.93456315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95710568099999 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:53.03, Y:6.14, Z:5.94 [[ 9.68859342e-01 -2.21792576e-01 -1.10089187e-01 5.30345196e+01] [ 2.20923828e-01 9.75082215e-01 -2.01825588e-02 6.14131301e+00] [ 1.11822350e-01 -4.76726397e-03 9.93716778e-01 5.93899276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98710568099999 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:53.07, Y:6.15, Z:5.94 [[ 9.67876798e-01 -2.26067712e-01 -1.10035876e-01 5.30664781e+01] [ 2.25193419e-01 9.74098945e-01 -2.04736417e-02 6.14673666e+00] [ 1.11814260e-01 -4.96339234e-03 9.93716728e-01 5.94290910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01710568099999 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:53.10, Y:6.15, Z:5.95 [[ 9.65190052e-01 -2.37238067e-01 -1.10119311e-01 5.30984039e+01] [ 2.36487584e-01 9.71428291e-01 -2.00174357e-02 6.15340822e+00] [ 1.11721912e-01 -6.72122000e-03 9.93716780e-01 5.94686476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.04710568099999 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:53.13, Y:6.16, Z:5.95 [[ 9.63145514e-01 -2.45391011e-01 -1.10154308e-01 5.31290240e+01] [ 2.44715103e-01 9.69392311e-01 -1.98258742e-02 6.15997337e+00] [ 1.11647831e-01 -7.86122104e-03 9.93716742e-01 5.94686281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07710568099999 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:53.16, Y:6.17, Z:5.95 [[ 9.62466716e-01 -2.48059252e-01 -1.10110979e-01 5.31609988e+01] [ 2.47373639e-01 9.68712418e-01 -2.00632476e-02 6.16645196e+00] [ 1.11642747e-01 -7.92834544e-03 9.93716780e-01 5.94986720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.107105680999986 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:53.19, Y:6.18, Z:5.95 [[ 9.61149926e-01 -2.53115014e-01 -1.10107266e-01 5.31922383e+01] [ 2.52459922e-01 9.67398902e-01 -2.00836026e-02 6.17502901e+00] [ 1.11601110e-01 -8.49431867e-03 9.93716780e-01 5.95285577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13710568099999 meters Centerline goodness : 0.997462 Centerline is valid? [True, True] Translation: X:53.22, Y:6.18, Z:5.96 [[ 9.60981650e-01 -2.53759731e-01 -1.10092090e-01 5.32241935e+01] [ 2.53099346e-01 9.67230075e-01 -2.01669014e-02 6.18298535e+00] [ 1.11601928e-01 -8.48421381e-03 9.93716774e-01 5.95939031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16710568099999 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:53.25, Y:6.19, Z:5.96 [[ 9.61421120e-01 -2.52077443e-01 -1.10119902e-01 5.32545264e+01] [ 2.51423531e-01 9.67670216e-01 -2.00140163e-02 6.19377116e+00] [ 1.11604832e-01 -8.44483669e-03 9.93716784e-01 5.96453887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19710568099999 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:53.29, Y:6.20, Z:5.97 [[ 9.61966510e-01 -2.49975143e-01 -1.10149270e-01 5.32859892e+01] [ 2.49325974e-01 9.68216113e-01 -1.98523726e-02 6.20189860e+00] [ 1.11610898e-01 -8.36575653e-03 9.93716771e-01 5.96836035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.22710568099999 meters Centerline goodness : 0.998300 Centerline is valid? [True, True] Translation: X:53.32, Y:6.21, Z:5.97 [[ 9.63323028e-01 -2.44691728e-01 -1.10157619e-01 5.33154482e+01] [ 2.44013507e-01 9.69569553e-01 -1.98063432e-02 6.21262486e+00] [ 1.11651922e-01 -7.80004034e-03 9.93716764e-01 5.97097609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25710568099999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:53.35, Y:6.22, Z:5.98 [[ 9.66380052e-01 -2.32328985e-01 -1.10149159e-01 5.33459621e+01] [ 2.31565483e-01 9.72616721e-01 -1.98530071e-02 6.22478213e+00] [ 1.11745343e-01 -6.32119322e-03 9.93716771e-01 5.97910969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.287105680999986 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:53.38, Y:6.23, Z:5.98 [[ 9.66411786e-01 -2.32190831e-01 -1.10162054e-01 5.33779780e+01] [ 2.31434532e-01 9.72649341e-01 -1.97817593e-02 6.23050291e+00] [ 1.11742193e-01 -6.37797805e-03 9.93716762e-01 5.98274216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31710568099999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:53.41, Y:6.24, Z:5.99 [[ 9.68763622e-01 -2.22172543e-01 -1.10165354e-01 5.34077556e+01] [ 2.21353774e-01 9.74993287e-01 -1.97635127e-02 6.24069031e+00] [ 1.11801390e-01 -5.23934473e-03 9.93716760e-01 5.98884629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34710568099999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:53.44, Y:6.26, Z:5.99 [[ 9.73610081e-01 -1.99893254e-01 -1.10118561e-01 5.34374466e+01] [ 1.98902526e-01 9.79814720e-01 -2.00224918e-02 6.25621636e+00] [ 1.11898148e-01 -2.40876014e-03 9.93716762e-01 5.99472981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37710568099999 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:53.47, Y:6.27, Z:6.00 [[ 9.76995275e-01 -1.82613640e-01 -1.10147593e-01 5.34673594e+01] [ 1.81531279e-01 9.83184576e-01 -1.98616411e-02 6.26620816e+00] [ 1.11922421e-01 -5.90503946e-04 9.93716772e-01 5.99749190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40710568099999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:53.50, Y:6.27, Z:6.00 [[ 9.78474122e-01 -1.74558488e-01 -1.10080546e-01 5.34985119e+01] [ 1.73383356e-01 9.84646550e-01 -2.02332403e-02 6.26930318e+00] [ 1.11922313e-01 7.11567689e-04 9.93716705e-01 5.99940040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43710568099999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:53.53, Y:6.27, Z:6.00 [[ 9.79572315e-01 -1.68241136e-01 -1.10149894e-01 5.35316307e+01] [ 1.67069451e-01 9.85745321e-01 -1.98484371e-02 6.27371086e+00] [ 1.11919066e-01 1.04029717e-03 9.93716781e-01 6.00344133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.467105680999985 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:53.56, Y:6.28, Z:6.01 [[ 9.79899643e-01 -1.66319607e-01 -1.10156603e-01 5.35640818e+01] [ 1.65140011e-01 9.86071141e-01 -1.98111294e-02 6.27722115e+00] [ 1.11917227e-01 1.22165591e-03 9.93716782e-01 6.00691516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49710568099999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:53.60, Y:6.28, Z:6.01 [[ 9.79904886e-01 -1.66284220e-01 -1.10163393e-01 5.35968345e+01] [ 1.65108653e-01 9.86077152e-01 -1.97733058e-02 6.27891996e+00] [ 1.11917593e-01 1.18702961e-03 9.93716782e-01 6.00924443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52710568099999 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:53.63, Y:6.27, Z:6.01 [[ 9.80465575e-01 -1.62921143e-01 -1.10199623e-01 5.36280463e+01] [ 1.61747103e-01 9.86638150e-01 -1.95712856e-02 6.27393297e+00] [ 1.11915729e-01 1.36450196e-03 9.93716764e-01 6.01097806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55710568099999 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:53.66, Y:6.28, Z:6.01 [[ 9.80743469e-01 -1.61262851e-01 -1.10165974e-01 5.36607415e+01] [ 1.60057301e-01 9.86909948e-01 -1.97589104e-02 6.27536217e+00] [ 1.11910274e-01 1.74555387e-03 9.93716782e-01 6.01433676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.58710568099999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:53.69, Y:6.27, Z:6.01 [[ 9.80898231e-01 -1.60314751e-01 -1.10171871e-01 5.36947389e+01] [ 1.59106939e-01 9.87064267e-01 -1.97259708e-02 6.27220093e+00] [ 1.11909082e-01 1.82006065e-03 9.93716783e-01 6.01339573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.61710568099999 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:53.73, Y:6.27, Z:6.01 [[ 9.80385340e-01 -1.63420446e-01 -1.10174152e-01 5.37287437e+01] [ 1.62233601e-01 9.86555446e-01 -1.97132253e-02 6.26568351e+00] [ 1.11914454e-01 1.45260768e-03 9.93716783e-01 6.01403242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.647105680999985 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:53.76, Y:6.26, Z:6.02 [[ 9.79992708e-01 -1.65757485e-01 -1.10175988e-01 5.37605933e+01] [ 1.64586508e-01 9.86165846e-01 -1.97029562e-02 6.26467605e+00] [ 1.11917709e-01 1.17527228e-03 9.93716783e-01 6.01739834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.677105680999986 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:53.79, Y:6.26, Z:6.02 [[ 9.78844070e-01 -1.72410082e-01 -1.10177356e-01 5.37941506e+01] [ 1.71281924e-01 9.85025176e-01 -1.96953037e-02 6.25816805e+00] [ 1.11923139e-01 4.07241746e-04 9.93716783e-01 6.02146383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70710568099999 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:53.83, Y:6.25, Z:6.02 [[ 9.77194398e-01 -1.81525909e-01 -1.10179185e-01 5.38283021e+01] [ 1.80456564e-01 9.83385950e-01 -1.96850692e-02 6.25129605e+00] [ 1.11922012e-01 -6.46417842e-04 9.93716783e-01 6.02377912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73710568099999 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:53.86, Y:6.25, Z:6.03 [[ 9.76274355e-01 -1.86409555e-01 -1.10181043e-01 5.38603173e+01] [ 1.85372355e-01 9.82471372e-01 -1.96746652e-02 6.25087394e+00] [ 1.11917266e-01 -1.21664831e-03 9.93716783e-01 6.02717776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76710568099999 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:53.89, Y:6.24, Z:6.03 [[ 9.74811441e-01 -1.93911794e-01 -1.10185618e-01 5.38932095e+01] [ 1.92925180e-01 9.81016713e-01 -1.96490098e-02 6.24145199e+00] [ 1.11904107e-01 -2.10350057e-03 9.93716784e-01 6.02739672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.79710568099999 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:53.93, Y:6.24, Z:6.03 [[ 9.73803518e-01 -1.98985889e-01 -1.10051464e-01 5.39254884e+01] [ 1.97946657e-01 9.80000478e-01 -2.04005941e-02 6.24044237e+00] [ 1.11909917e-01 -1.91814906e-03 9.93716504e-01 6.03344904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.82710568099999 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:53.96, Y:6.23, Z:6.04 [[ 9.73736748e-01 -1.99236897e-01 -1.10188040e-01 5.39577696e+01] [ 1.98285874e-01 9.79947553e-01 -1.96343175e-02 6.23352089e+00] [ 1.11890381e-01 -2.73007542e-03 9.93716805e-01 6.04167227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.857105680999986 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:53.99, Y:6.23, Z:6.05 [[ 9.75526205e-01 -1.90281204e-01 -1.10189320e-01 5.39874810e+01] [ 1.89273965e-01 9.81728141e-01 -1.96271314e-02 6.22989207e+00] [ 1.11910631e-01 -1.70918845e-03 9.93716805e-01 6.04765260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88710568099999 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:54.02, Y:6.23, Z:6.06 [[ 9.76062855e-01 -1.87619271e-01 -1.10001419e-01 5.40178099e+01] [ 1.86476343e-01 9.82241774e-01 -2.06802177e-02 6.23360330e+00] [ 1.11927996e-01 -3.27470030e-04 9.93716266e-01 6.05500998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91710568099999 meters Centerline goodness : 0.995934 Centerline is valid? [True, True] Translation: X:54.05, Y:6.23, Z:6.06 [[ 9.78106594e-01 -1.76538192e-01 -1.10189644e-01 5.40512629e+01] [ 1.75444190e-01 9.84293781e-01 -1.96236759e-02 6.23118539e+00] [ 1.11923309e-01 -1.38086028e-04 9.93716838e-01 6.05785883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94710568099999 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:54.08, Y:6.23, Z:6.06 [[ 9.79420717e-01 -1.69094368e-01 -1.10191444e-01 5.40841950e+01] [ 1.67954480e-01 9.85599615e-01 -1.96135649e-02 6.22952241e+00] [ 1.11921188e-01 7.02785225e-04 9.93716838e-01 6.05980090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97710568099999 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:54.12, Y:6.23, Z:6.06 [[ 9.79785284e-01 -1.66967781e-01 -1.10193275e-01 5.41150313e+01] [ 1.65815639e-01 9.85961909e-01 -1.96032705e-02 6.23234068e+00] [ 1.11919486e-01 9.35227635e-04 9.93716838e-01 6.06119847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00710568099999 meters Centerline goodness : 0.996544 Centerline is valid? [True, True] Translation: X:54.15, Y:6.23, Z:6.06 [[ 9.80232699e-01 -1.64318731e-01 -1.10196235e-01 5.41457674e+01] [ 1.63151770e-01 9.86406541e-01 -1.95866187e-02 6.23133172e+00] [ 1.11916735e-01 1.22073343e-03 9.93716838e-01 6.06452691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.037105680999986 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:54.18, Y:6.23, Z:6.07 [[ 9.80180130e-01 -1.64667173e-01 -1.10143700e-01 5.41763999e+01] [ 1.63469200e-01 9.86348074e-01 -1.98820936e-02 6.23341788e+00] [ 1.11913954e-01 1.48293056e-03 9.93716795e-01 6.06639335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06710568099999 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:54.21, Y:6.23, Z:6.07 [[ 9.80367065e-01 -1.63514789e-01 -1.10196789e-01 5.42072107e+01] [ 1.62343128e-01 9.86540014e-01 -1.95833853e-02 6.23069978e+00] [ 1.11915715e-01 1.30921445e-03 9.93716840e-01 6.06840957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09710568099999 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:54.24, Y:6.23, Z:6.07 [[ 9.80921001e-01 -1.60157912e-01 -1.10197244e-01 5.42361033e+01] [ 1.58965414e-01 9.87089960e-01 -1.95808291e-02 6.22712355e+00] [ 1.11910617e-01 1.68969602e-03 9.93716840e-01 6.07117322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.12710568099999 meters Centerline goodness : 0.996986 Centerline is valid? [True, True] Translation: X:54.27, Y:6.23, Z:6.08 [[ 9.80928007e-01 -1.60223994e-01 -1.10038703e-01 5.42657121e+01] [ 1.58932040e-01 9.87077279e-01 -2.04707551e-02 6.23017698e+00] [ 1.11896610e-01 2.59166143e-03 9.93716475e-01 6.07807993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15710568099999 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:54.29, Y:6.23, Z:6.08 [[ 9.82340048e-01 -1.51216089e-01 -1.10189496e-01 5.42918791e+01] [ 1.49962575e-01 9.88496896e-01 -1.96242980e-02 6.22820526e+00] [ 1.11889484e-01 2.75343329e-03 9.93716842e-01 6.07970159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18710568099999 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:54.32, Y:6.23, Z:6.08 [[ 9.82654357e-01 -1.49336618e-01 -1.09949938e-01 5.43238850e+01] [ 1.47921514e-01 9.88776911e-01 -2.09629897e-02 6.22598406e+00] [ 1.11846502e-01 4.33541180e-03 9.93716038e-01 6.08005919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.217105680999985 meters Centerline goodness : 0.997209 Centerline is valid? [True, True] Translation: X:54.35, Y:6.22, Z:6.08 [[ 9.83113576e-01 -1.46110022e-01 -1.10179665e-01 5.43510491e+01] [ 1.44818612e-01 9.89262542e-01 -1.96772144e-02 6.22473006e+00] [ 1.11871653e-01 3.38887057e-03 9.93716886e-01 6.07992579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24710568099999 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:54.38, Y:6.23, Z:6.08 [[ 9.82182735e-01 -1.52382605e-01 -1.09984617e-01 5.43816431e+01] [ 1.51008665e-01 9.88314326e-01 -2.07647891e-02 6.22513571e+00] [ 1.11863566e-01 3.78618711e-03 9.93716362e-01 6.08258184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27710568099999 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:54.41, Y:6.22, Z:6.08 [[ 9.82217215e-01 -1.52026277e-01 -1.10169656e-01 5.44080358e+01] [ 1.50765768e-01 9.88372567e-01 -1.97320137e-02 6.22413644e+00] [ 1.11888450e-01 2.77131081e-03 9.93716909e-01 6.08084243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30710568099999 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:54.44, Y:6.22, Z:6.09 [[ 9.81547019e-01 -1.56441762e-01 -1.09961012e-01 5.44371892e+01] [ 1.55078659e-01 9.87681137e-01 -2.08945124e-02 6.21857001e+00] [ 1.11875192e-01 3.45634011e-03 9.93716255e-01 6.08977315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33710568099999 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:54.47, Y:6.21, Z:6.10 [[ 9.81326246e-01 -1.57826306e-01 -1.09952977e-01 5.44658361e+01] [ 1.56466853e-01 9.87461226e-01 -2.09392082e-02 6.21338797e+00] [ 1.11879060e-01 3.34419836e-03 9.93716203e-01 6.09656843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.36710568099999 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:54.50, Y:6.21, Z:6.10 [[ 9.81351678e-01 -1.57712650e-01 -1.09889050e-01 5.44975576e+01] [ 1.56312749e-01 9.87478041e-01 -2.12942055e-02 6.21142339e+00] [ 1.11871389e-01 3.72004481e-03 9.93715731e-01 6.10447584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.397105680999985 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:54.52, Y:6.21, Z:6.11 [[ 9.82296620e-01 -1.51518614e-01 -1.10161063e-01 5.45231349e+01] [ 1.50249541e-01 9.88450214e-01 -1.97800307e-02 6.20836009e+00] [ 1.11885769e-01 2.87820816e-03 9.93716907e-01 6.10869097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.427105680999986 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:54.56, Y:6.20, Z:6.11 [[ 9.82574002e-01 -1.49897763e-01 -1.09904467e-01 5.45550342e+01] [ 1.48459344e-01 9.88691183e-01 -2.12030030e-02 6.20319489e+00] [ 1.11839861e-01 4.51717434e-03 9.93715976e-01 6.10982894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45710568099999 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:54.58, Y:6.20, Z:6.11 [[ 9.83237699e-01 -1.45293761e-01 -1.10151488e-01 5.45806381e+01] [ 1.43979971e-01 9.89381866e-01 -1.98315772e-02 6.20142856e+00] [ 1.11863289e-01 3.63954634e-03 9.93716941e-01 6.10889681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48710568099999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:54.61, Y:6.20, Z:6.11 [[ 9.82921142e-01 -1.47639531e-01 -1.09857168e-01 5.46133960e+01] [ 1.46158508e-01 9.89028417e-01 -2.14588125e-02 6.20016562e+00] [ 1.11820030e-01 5.03576070e-03 9.93715715e-01 6.10859488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51710568099999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:54.64, Y:6.19, Z:6.11 [[ 9.82900685e-01 -1.47563743e-01 -1.10141656e-01 5.46431061e+01] [ 1.46258302e-01 9.89046584e-01 -1.98837637e-02 6.19087412e+00] [ 1.11869351e-01 3.43463329e-03 9.93716988e-01 6.11120305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.54710568099999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:54.67, Y:6.19, Z:6.12 [[ 9.82742231e-01 -1.48620460e-01 -1.10134768e-01 5.46723950e+01] [ 1.47317363e-01 9.88888626e-01 -1.99218459e-02 6.18999059e+00] [ 1.11871813e-01 3.35327573e-03 9.93716988e-01 6.12001239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.577105680999985 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:54.70, Y:6.19, Z:6.13 [[ 9.82177146e-01 -1.52279539e-01 -1.10177107e-01 5.47010252e+01] [ 1.51025583e-01 9.88333783e-01 -1.96877240e-02 6.18577790e+00] [ 1.11889795e-01 2.69727067e-03 9.93716961e-01 6.12582875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.607105680999986 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:54.73, Y:6.18, Z:6.13 [[ 9.81367961e-01 -1.57441600e-01 -1.10132046e-01 5.47303476e+01] [ 1.56192101e-01 9.87525471e-01 -1.99366667e-02 6.18170903e+00] [ 1.11897062e-01 2.36345018e-03 9.93716993e-01 6.12972933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:54.76, Y:6.18, Z:6.13 [[ 9.80805662e-01 -1.60912603e-01 -1.10124420e-01 5.47587326e+01] [ 1.59680179e-01 9.86966611e-01 -1.99787017e-02 6.18212987e+00] [ 1.11903951e-01 2.01053665e-03 9.93716994e-01 6.13067262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.66710568099999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:54.79, Y:6.18, Z:6.13 [[ 9.79256338e-01 -1.70092136e-01 -1.10116706e-01 5.47879842e+01] [ 1.68912701e-01 9.85427650e-01 -2.00211321e-02 6.17939860e+00] [ 1.11917484e-01 1.00571036e-03 9.93716995e-01 6.13107672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:54.82, Y:6.18, Z:6.14 [[ 9.76921643e-01 -1.83027147e-01 -1.10114333e-01 5.48156825e+01] [ 1.81927955e-01 9.83107751e-01 -2.00341754e-02 6.17938825e+00] [ 1.11921052e-01 -4.61055872e-04 9.93716995e-01 6.13707259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.72710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.84, Y:6.18, Z:6.14 [[ 9.75613140e-01 -1.89879795e-01 -1.10112054e-01 5.48443959e+01] [ 1.88822639e-01 9.81806570e-01 -2.00466920e-02 6.18146404e+00] [ 1.11915200e-01 -1.23383252e-03 9.93716995e-01 6.14407085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:54.87, Y:6.18, Z:6.15 [[ 9.73488169e-01 -2.00493241e-01 -1.10105607e-01 5.48717954e+01] [ 1.99499600e-01 9.79692105e-01 -2.00820419e-02 6.18088907e+00] [ 1.11895907e-01 -2.41639429e-03 9.93716995e-01 6.15434278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.787105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.90, Y:6.19, Z:6.16 [[ 9.72794007e-01 -2.03836520e-01 -1.10102195e-01 5.48987519e+01] [ 2.02862084e-01 9.79000988e-01 -2.01007316e-02 6.18505433e+00] [ 1.11887421e-01 -2.78168946e-03 9.93716996e-01 6.15819779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:6.19, Z:6.16 [[ 9.72199317e-01 -2.06658294e-01 -1.10094679e-01 5.49263037e+01] [ 2.05697224e-01 9.78408381e-01 -2.01418153e-02 6.19074634e+00] [ 1.11880029e-01 -3.06431071e-03 9.93716996e-01 6.15625154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.95, Y:6.20, Z:6.16 [[ 9.72038879e-01 -2.07412854e-01 -1.10092353e-01 5.49547470e+01] [ 2.06455166e-01 9.78248465e-01 -2.01545202e-02 6.19689562e+00] [ 1.11877982e-01 -3.13815771e-03 9.93716997e-01 6.15680475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.98, Y:6.21, Z:6.16 [[ 9.71650168e-01 -2.09229662e-01 -1.10085871e-01 5.49831832e+01] [ 2.08279583e-01 9.77860923e-01 -2.01898637e-02 6.20524452e+00] [ 1.11872989e-01 -3.31115473e-03 9.93716997e-01 6.15524843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.01, Y:6.21, Z:6.16 [[ 9.70828845e-01 -2.13011458e-01 -1.10079389e-01 5.50115269e+01] [ 2.12081573e-01 9.77042655e-01 -2.02251438e-02 6.21325400e+00] [ 1.11860446e-01 -3.71065693e-03 9.93716998e-01 6.15677958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.04, Y:6.22, Z:6.16 [[ 9.70398823e-01 -2.14965154e-01 -1.10073194e-01 5.50401806e+01] [ 2.14043965e-01 9.76613927e-01 -2.02588043e-02 6.21926047e+00] [ 1.11853951e-01 -3.90138301e-03 9.93716998e-01 6.16110471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.967105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.06, Y:6.23, Z:6.17 [[ 9.69234788e-01 -2.20113790e-01 -1.10153735e-01 5.50639916e+01] [ 2.19275196e-01 9.75461682e-01 -1.98215710e-02 6.22908758e+00] [ 1.11813749e-01 -4.94222576e-03 9.93716891e-01 6.16630097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:55.09, Y:6.24, Z:6.17 [[ 9.67977643e-01 -2.25622321e-01 -1.10062945e-01 5.50902056e+01] [ 2.24763312e-01 9.74201628e-01 -2.03135691e-02 6.24151243e+00] [ 1.11806695e-01 -5.07503121e-03 9.93717016e-01 6.17150159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.12, Y:6.25, Z:6.18 [[ 9.66649619e-01 -2.31248950e-01 -1.10056518e-01 5.51164004e+01] [ 2.30422212e-01 9.72877973e-01 -2.03483285e-02 6.25402385e+00] [ 1.11777092e-01 -5.68976230e-03 9.93717016e-01 6.17729904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:6.26, Z:6.18 [[ 9.66440030e-01 -2.32126328e-01 -1.10050155e-01 5.51409499e+01] [ 2.31301342e-01 9.72668615e-01 -2.03826838e-02 6.26260931e+00] [ 1.11773690e-01 -5.75610707e-03 9.93717017e-01 6.18052682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.08710568099999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:55.17, Y:6.28, Z:6.18 [[ 9.64999826e-01 -2.38113752e-01 -1.09896212e-01 5.51718918e+01] [ 2.37232801e-01 9.71221140e-01 -2.12154534e-02 6.27685613e+00] [ 1.11785215e-01 -5.59807725e-03 9.93716623e-01 6.18024130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.11710568099999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:55.20, Y:6.29, Z:6.18 [[ 9.65171511e-01 -2.37274339e-01 -1.10203637e-01 5.51964641e+01] [ 2.36577130e-01 9.71415989e-01 -1.95509003e-02 6.28500316e+00] [ 1.11692502e-01 -7.20168823e-03 9.93716721e-01 6.18135431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.147105680999985 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:55.22, Y:6.30, Z:6.18 [[ 9.64619362e-01 -2.39580538e-01 -1.10048405e-01 5.52184118e+01] [ 2.38802944e-01 9.70853976e-01 -2.03889809e-02 6.30285159e+00] [ 1.11725734e-01 -6.61227721e-03 9.93717082e-01 6.17581031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.177105680999986 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:55.25, Y:6.31, Z:6.18 [[ 9.64633064e-01 -2.39648276e-01 -1.09780484e-01 5.52452252e+01] [ 2.38707596e-01 9.70846122e-01 -2.18286552e-02 6.30803243e+00] [ 1.11811157e-01 -5.14879291e-03 9.93716134e-01 6.17912391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20710568099999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:55.28, Y:6.32, Z:6.18 [[ 9.64974209e-01 -2.38260229e-01 -1.09803643e-01 5.52757211e+01] [ 2.37324783e-01 9.71187878e-01 -2.17037603e-02 6.31748675e+00] [ 1.11811110e-01 -5.11555673e-03 9.93716311e-01 6.18366414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23710568099999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:55.30, Y:6.33, Z:6.18 [[ 9.65217328e-01 -2.37171600e-01 -1.10023373e-01 5.53014099e+01] [ 2.36363985e-01 9.71447968e-01 -2.05161421e-02 6.33287293e+00] [ 1.11747828e-01 -6.20302689e-03 9.93717236e-01 6.18260319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26710568099999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:55.33, Y:6.34, Z:6.19 [[ 9.65046616e-01 -2.37870091e-01 -1.10012950e-01 5.53319672e+01] [ 2.37060582e-01 9.71277022e-01 -2.05725038e-02 6.34415133e+00] [ 1.11746633e-01 -6.22630865e-03 9.93717225e-01 6.18732722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.29710568099999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:55.35, Y:6.37, Z:6.19 [[ 9.65914657e-01 -2.34188330e-01 -1.10293707e-01 5.53536045e+01] [ 2.33528486e-01 9.72163396e-01 -1.90467255e-02 6.36526203e+00] [ 1.11684025e-01 -7.35921113e-03 9.93716519e-01 6.18996872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.327105680999985 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:55.38, Y:6.37, Z:6.19 [[ 9.66000216e-01 -2.33936165e-01 -1.10079310e-01 5.53771300e+01] [ 2.33142554e-01 9.72232557e-01 -2.02090445e-02 6.37446296e+00] [ 1.11750315e-01 -6.14223014e-03 9.93717334e-01 6.19282811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.357105680999986 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:55.40, Y:6.39, Z:6.20 [[ 9.66131742e-01 -2.33518855e-01 -1.09810752e-01 5.54035055e+01] [ 2.32558008e-01 9.72341335e-01 -2.16587298e-02 6.38550463e+00] [ 1.11831255e-01 -4.61218338e-03 9.93716508e-01 6.19823644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38710568099999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:55.43, Y:6.40, Z:6.21 [[ 9.65312113e-01 -2.36858233e-01 -1.09866751e-01 5.54332886e+01] [ 2.35953295e-01 9.71529718e-01 -2.13553106e-02 6.39725156e+00] [ 1.11796994e-01 -5.30888174e-03 9.93716885e-01 6.20562299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41710568099999 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:55.46, Y:6.42, Z:6.21 [[ 9.64703791e-01 -2.39233302e-01 -1.10063717e-01 5.54570880e+01] [ 2.38465024e-01 9.70939168e-01 -2.02870685e-02 6.41686484e+00] [ 1.11718516e-01 -6.67533510e-03 9.93717471e-01 6.21083445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.44710568099999 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:55.48, Y:6.43, Z:6.21 [[ 9.64282423e-01 -2.40927068e-01 -1.10061599e-01 5.54832882e+01] [ 2.40168436e-01 9.70518980e-01 -2.02985546e-02 6.42867861e+00] [ 1.11707342e-01 -6.85978266e-03 9.93717471e-01 6.21386620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47710568099999 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:55.51, Y:6.44, Z:6.21 [[ 9.63661294e-01 -2.43402875e-01 -1.10054307e-01 5.55105109e+01] [ 2.42655774e-01 9.69899242e-01 -2.03380161e-02 6.44312612e+00] [ 1.11691920e-01 -7.10635409e-03 9.93717472e-01 6.21015826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.50710568099999 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:55.53, Y:6.46, Z:6.20 [[ 9.62995163e-01 -2.46028012e-01 -1.10047870e-01 5.55302755e+01] [ 2.45293958e-01 9.69234659e-01 -2.03727826e-02 6.45676987e+00] [ 1.11674485e-01 -7.37518655e-03 9.93717473e-01 6.20458979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.537105680999986 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:55.56, Y:6.47, Z:6.21 [[ 9.63462723e-01 -2.44361903e-01 -1.09666954e-01 5.55632509e+01] [ 2.43383002e-01 9.69670808e-01 -2.24329619e-02 6.46700976e+00] [ 1.11822605e-01 -5.07774981e-03 9.93715211e-01 6.20867794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56710568099999 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:55.59, Y:6.49, Z:6.21 [[ 9.63588580e-01 -2.43686309e-01 -1.10063756e-01 5.55901255e+01] [ 2.42947519e-01 9.69827399e-01 -2.02810189e-02 6.48680070e+00] [ 1.11685053e-01 -7.19715826e-03 9.93717591e-01 6.21227603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59710568099999 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:55.62, Y:6.50, Z:6.22 [[ 9.63361249e-01 -2.44583258e-01 -1.10064223e-01 5.56206805e+01] [ 2.43850564e-01 9.69600787e-01 -2.02784868e-02 6.49853006e+00] [ 1.11678135e-01 -7.30371443e-03 9.93717591e-01 6.21608358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.62710568099999 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:55.65, Y:6.51, Z:6.22 [[ 9.62492255e-01 -2.47980088e-01 -1.10066051e-01 5.56500858e+01] [ 2.47270539e-01 9.68734466e-01 -2.02685564e-02 6.51150150e+00] [ 1.11650976e-01 -7.70776335e-03 9.93717591e-01 6.21682314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65710568099999 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:55.68, Y:6.53, Z:6.22 [[ 9.61212526e-01 -2.52894533e-01 -1.10067411e-01 5.56758275e+01] [ 2.52217727e-01 9.67458373e-01 -2.02611711e-02 6.52509157e+00] [ 1.11609578e-01 -8.28566078e-03 9.93717591e-01 6.21656792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68710568099999 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:55.70, Y:6.54, Z:6.22 [[ 9.60011372e-01 -2.57461842e-01 -1.09961656e-01 5.57027869e+01] [ 2.56749501e-01 9.66253403e-01 -2.08339983e-02 6.54219017e+00] [ 1.11614784e-01 -8.23172506e-03 9.93717454e-01 6.22448547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.717105680999985 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:55.73, Y:6.55, Z:6.23 [[ 9.59863648e-01 -2.57970386e-01 -1.10059337e-01 5.57335107e+01] [ 2.57321644e-01 9.66112464e-01 -2.03046175e-02 6.55372710e+00] [ 1.11567687e-01 -8.83098535e-03 9.93717598e-01 6.22870397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74710568099999 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:55.76, Y:6.57, Z:6.23 [[ 9.59915327e-01 -2.57777276e-01 -1.10061083e-01 5.57627990e+01] [ 2.57128356e-01 9.66164124e-01 -2.02951466e-02 6.57137089e+00] [ 1.11568698e-01 -8.81820317e-03 9.93717598e-01 6.23421733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77710568099999 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:55.79, Y:6.58, Z:6.24 [[ 9.60157507e-01 -2.56872980e-01 -1.10062864e-01 5.57929680e+01] [ 2.56219275e-01 9.66405806e-01 -2.02854863e-02 6.58310190e+00] [ 1.11576184e-01 -8.72296529e-03 9.93717598e-01 6.23656444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80710568099999 meters Centerline goodness : 0.995749 Centerline is valid? [True, True] Translation: X:55.82, Y:6.60, Z:6.24 [[ 9.61293613e-01 -2.52587151e-01 -1.10065073e-01 5.58199716e+01] [ 2.51906945e-01 9.67539083e-01 -2.02734917e-02 6.59764423e+00] [ 1.11613084e-01 -8.23737825e-03 9.93717598e-01 6.23710753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83710568099999 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:55.85, Y:6.61, Z:6.24 [[ 9.61831243e-01 -2.50567609e-01 -1.09984244e-01 5.58493012e+01] [ 2.49824347e-01 9.68069623e-01 -2.07123122e-02 6.61345471e+00] [ 1.11662241e-01 -7.55499312e-03 9.93717498e-01 6.24169407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.86710568099999 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:55.88, Y:6.62, Z:6.24 [[ 9.62423757e-01 -2.48245875e-01 -1.10065873e-01 5.58802775e+01] [ 2.47537986e-01 9.68666149e-01 -2.02691119e-02 6.62427612e+00] [ 1.11648809e-01 -7.73800978e-03 9.93717599e-01 6.24380006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.897105680999985 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:55.91, Y:6.64, Z:6.25 [[ 9.62639141e-01 -2.47406429e-01 -1.10072445e-01 5.59098929e+01] [ 2.46697163e-01 9.68881376e-01 -2.02333620e-02 6.64104416e+00] [ 1.11653006e-01 -7.67713372e-03 9.93717600e-01 6.25139174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.927105680999986 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:55.94, Y:6.65, Z:6.26 [[ 9.62981253e-01 -2.46068334e-01 -1.10079434e-01 5.59413328e+01] [ 2.45354728e-01 9.69222992e-01 -2.01952682e-02 6.65211387e+00] [ 1.11660934e-01 -7.56084475e-03 9.93717600e-01 6.25758531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95710568099999 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:55.97, Y:6.67, Z:6.27 [[ 9.64477555e-01 -2.40133383e-01 -1.10086352e-01 5.59741528e+01] [ 2.39385648e-01 9.70715297e-01 -2.01574823e-02 6.66592499e+00] [ 1.11702991e-01 -6.91165352e-03 9.93717601e-01 6.26565547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98710568099999 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:56.01, Y:6.68, Z:6.27 [[ 9.66202519e-01 -2.32997608e-01 -1.10294183e-01 5.60054042e+01] [ 2.32332993e-01 9.72450304e-01 -1.90206898e-02 6.67881077e+00] [ 1.11687387e-01 -7.24713918e-03 9.93716965e-01 6.26938882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01710568099999 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:56.04, Y:6.69, Z:6.27 [[ 9.67381709e-01 -2.28047088e-01 -1.10304825e-01 5.60372437e+01] [ 2.27357114e-01 9.73626812e-01 -1.89624119e-02 6.68783669e+00] [ 1.11720058e-01 -6.73469628e-03 9.93716898e-01 6.27240308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.04710568099999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:56.07, Y:6.70, Z:6.28 [[ 9.70217719e-01 -2.15666577e-01 -1.10297345e-01 5.60662989e+01] [ 2.14892222e-01 9.76452871e-01 -1.90032426e-02 6.70367611e+00] [ 1.11798523e-01 -5.26475879e-03 9.93716948e-01 6.27595213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.077105680999985 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:56.09, Y:6.72, Z:6.28 [[ 9.73233685e-01 -2.01634776e-01 -1.10270626e-01 5.60920658e+01] [ 2.00753947e-01 9.79454523e-01 -1.91491607e-02 6.72057339e+00] [ 1.11866200e-01 -3.50065510e-03 9.93717112e-01 6.28117911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.107105680999986 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:56.12, Y:6.73, Z:6.29 [[ 9.74577517e-01 -1.95143333e-01 -1.10080620e-01 5.61232493e+01] [ 1.94103916e-01 9.80773270e-01 -2.01856823e-02 6.73024749e+00] [ 1.11903231e-01 -1.69456732e-03 9.93717664e-01 6.28612114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13710568099999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:56.15, Y:6.74, Z:6.29 [[ 9.76734446e-01 -1.84039425e-01 -1.10087744e-01 5.61542806e+01] [ 1.82933951e-01 9.82918754e-01 -2.01467547e-02 6.73968301e+00] [ 1.11915105e-01 -4.60756639e-04 9.93717665e-01 6.29025666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16710568099999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:56.18, Y:6.74, Z:6.29 [[ 9.77890232e-01 -1.77792081e-01 -1.10093918e-01 5.61844402e+01] [ 1.76650902e-01 9.84068050e-01 -2.01129619e-02 6.74428811e+00] [ 1.11915832e-01 2.20079078e-04 9.93717665e-01 6.29456678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19710568099999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:56.22, Y:6.75, Z:6.30 [[ 9.78214028e-01 -1.75998818e-01 -1.10098732e-01 5.62172624e+01] [ 1.74849284e-01 9.84390297e-01 -2.00865759e-02 6.74859610e+00] [ 1.11915337e-01 3.98285942e-04 9.93717666e-01 6.29963299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.22710568099999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:56.25, Y:6.75, Z:6.30 [[ 9.78460748e-01 -1.74617505e-01 -1.10105822e-01 5.62488933e+01] [ 1.73463634e-01 9.84636207e-01 -2.00476347e-02 6.75088700e+00] [ 1.11914847e-01 5.16467618e-04 9.93717666e-01 6.30462841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.257105680999985 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:56.28, Y:6.75, Z:6.31 [[ 9.78497980e-01 -1.74404065e-01 -1.10113235e-01 5.62818710e+01] [ 1.73253437e-01 9.84674044e-01 -2.00068374e-02 6.75458442e+00] [ 1.11914918e-01 4.99153590e-04 9.93717667e-01 6.30901433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.287105680999986 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:56.32, Y:6.75, Z:6.31 [[ 9.78002704e-01 -1.77155723e-01 -1.10120661e-01 5.63161115e+01] [ 1.76027084e-01 9.84182823e-01 -1.99658802e-02 6.75277389e+00] [ 1.11915933e-01 1.42466068e-04 9.93717668e-01 6.31067218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31710568099999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:56.35, Y:6.75, Z:6.31 [[ 9.77501060e-01 -1.79898506e-01 -1.10128129e-01 5.63500479e+01] [ 1.78791858e-01 9.83685154e-01 -1.99246022e-02 6.75370563e+00] [ 1.11915812e-01 -2.13693010e-04 9.93717669e-01 6.31219954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34710568099999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:56.38, Y:6.75, Z:6.31 [[ 9.76235004e-01 -1.86645118e-01 -1.10130911e-01 5.63833541e+01] [ 1.85582941e-01 9.82426891e-01 -1.99092123e-02 6.74950162e+00] [ 1.11911526e-01 -1.00234839e-03 9.93717669e-01 6.31313984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37710568099999 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:56.42, Y:6.75, Z:6.31 [[ 9.75455538e-01 -1.90675825e-01 -1.10132751e-01 5.64153332e+01] [ 1.89640382e-01 9.81651952e-01 -1.98990319e-02 6.74784635e+00] [ 1.11906294e-01 -1.47499602e-03 9.93717669e-01 6.31464730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40710568099999 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:56.45, Y:6.75, Z:6.31 [[ 9.74573837e-01 -1.95128971e-01 -1.10138639e-01 5.64473786e+01] [ 1.94125527e-01 9.80775513e-01 -1.98663865e-02 6.74693363e+00] [ 1.11897788e-01 -2.01946086e-03 9.93717670e-01 6.31326301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43710568099999 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:56.48, Y:6.75, Z:6.32 [[ 9.74122054e-01 -1.97369998e-01 -1.10142215e-01 5.64801476e+01] [ 1.96383064e-01 9.80326378e-01 -1.98465411e-02 6.74811212e+00] [ 1.11892430e-01 -2.29711221e-03 9.93717670e-01 6.31654783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.467105680999985 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:56.51, Y:6.74, Z:6.32 [[ 9.73036340e-01 -2.02653301e-01 -1.10144999e-01 5.65125020e+01] [ 2.01701799e-01 9.79246196e-01 -1.98310756e-02 6.74287089e+00] [ 1.11877905e-01 -2.92008730e-03 9.93717670e-01 6.31687177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49710568099999 meters Centerline goodness : 0.996977 Centerline is valid? [True, True] Translation: X:56.55, Y:6.74, Z:6.32 [[ 9.72562726e-01 -2.04912464e-01 -1.10148200e-01 5.65451949e+01] [ 2.03977399e-01 9.78775079e-01 -1.98132855e-02 6.74483874e+00] [ 1.11870302e-01 -3.19808033e-03 9.93717670e-01 6.32145744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52710568099999 meters Centerline goodness : 0.996686 Centerline is valid? [True, True] Translation: X:56.58, Y:6.75, Z:6.33 [[ 9.72544294e-01 -2.04998482e-01 -1.10150894e-01 5.65774206e+01] [ 2.04065663e-01 9.78756983e-01 -1.97982961e-02 6.74561370e+00] [ 1.11869577e-01 -3.22329523e-03 9.93717670e-01 6.32778126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55710568099999 meters Centerline goodness : 0.996640 Centerline is valid? [True, True] Translation: X:56.61, Y:6.75, Z:6.33 [[ 9.72981805e-01 -2.02910781e-01 -1.10152719e-01 5.66091304e+01] [ 2.01965780e-01 9.79192654e-01 -1.97881371e-02 6.74754142e+00] [ 1.11875959e-01 -2.99358239e-03 9.93717670e-01 6.33014677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.58710568099999 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:56.64, Y:6.74, Z:6.33 [[ 9.74853294e-01 -1.93718692e-01 -1.10154993e-01 5.66408331e+01] [ 1.92716546e-01 9.81055179e-01 -1.97754684e-02 6.74412811e+00] [ 1.11899004e-01 -1.95050931e-03 9.93717670e-01 6.33468150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61710568099999 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:56.67, Y:6.74, Z:6.34 [[ 9.77306364e-01 -1.80936086e-01 -1.10156271e-01 5.66726276e+01] [ 1.79853613e-01 9.83494733e-01 -1.97683469e-02 6.74484607e+00] [ 1.11914920e-01 -4.92272154e-04 9.93717670e-01 6.34176809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.647105680999985 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:56.71, Y:6.74, Z:6.35 [[ 9.79291112e-01 -1.69865009e-01 -1.10158050e-01 5.67051605e+01] [ 1.68713691e-01 9.85467044e-01 -1.97584304e-02 6.74429410e+00] [ 1.11913394e-01 7.64084133e-04 9.93717670e-01 6.34621525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.677105680999986 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:56.74, Y:6.74, Z:6.35 [[ 9.80104573e-01 -1.65105535e-01 -1.10159833e-01 5.67362496e+01] [ 1.63925345e-01 9.86275052e-01 -1.97484849e-02 6.74461000e+00] [ 1.11908479e-01 1.29759183e-03 9.93717670e-01 6.35032746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70710568099999 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:56.77, Y:6.74, Z:6.36 [[ 9.80477434e-01 -1.62874761e-01 -1.10162672e-01 5.67691582e+01] [ 1.61682312e-01 9.86645556e-01 -1.97326359e-02 6.74218400e+00] [ 1.11905459e-01 1.53604873e-03 9.93717671e-01 6.35596484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73710568099999 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:56.80, Y:6.74, Z:6.36 [[ 9.80410455e-01 -1.63276259e-01 -1.10164436e-01 5.68014611e+01] [ 1.62087444e-01 9.86579278e-01 -1.97227810e-02 6.74386338e+00] [ 1.11906212e-01 1.48014892e-03 9.93717671e-01 6.36024828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76710568099999 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:56.83, Y:6.74, Z:6.36 [[ 9.80585091e-01 -1.62222899e-01 -1.10166282e-01 5.68342566e+01] [ 1.61028616e-01 9.86752858e-01 -1.97124638e-02 6.73979151e+00] [ 1.11904707e-01 1.58982411e-03 9.93717671e-01 6.36434923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.79710568099999 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:56.87, Y:6.74, Z:6.37 [[ 9.80786528e-01 -1.60999280e-01 -1.10168138e-01 5.68669631e+01] [ 1.59798468e-01 9.86953027e-01 -1.97020838e-02 6.73708845e+00] [ 1.11902799e-01 1.71883860e-03 9.93717671e-01 6.36705902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.827105680999985 meters Centerline goodness : 0.996249 Centerline is valid? [True, True] Translation: X:56.90, Y:6.74, Z:6.37 [[ 9.80706508e-01 -1.61484713e-01 -1.10170021e-01 5.68985132e+01] [ 1.60288137e-01 9.86873830e-01 -1.96915488e-02 6.73760914e+00] [ 1.11903795e-01 1.65268258e-03 9.93717671e-01 6.36936156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.857105680999986 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:56.93, Y:6.73, Z:6.37 [[ 9.80097994e-01 -1.65136845e-01 -1.10171429e-01 5.69297597e+01] [ 1.63964136e-01 9.86269900e-01 -1.96836697e-02 6.73162833e+00] [ 1.11909263e-01 1.22776199e-03 9.93717671e-01 6.37186611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88710568099999 meters Centerline goodness : 0.996917 Centerline is valid? [True, True] Translation: X:56.96, Y:6.73, Z:6.38 [[ 9.79920386e-01 -1.66187828e-01 -1.10170973e-01 5.69600859e+01] [ 1.65021452e-01 9.86093491e-01 -1.96862227e-02 6.73158992e+00] [ 1.11910490e-01 1.11035703e-03 9.93717671e-01 6.37552078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91710568099999 meters Centerline goodness : 0.996917 Centerline is valid? [True, True] Translation: X:56.99, Y:6.73, Z:6.38 [[ 9.79756900e-01 -1.67148954e-01 -1.10170973e-01 5.69911165e+01] [ 1.65988634e-01 9.85931147e-01 -1.96862227e-02 6.72727594e+00] [ 1.11911525e-01 1.00058324e-03 9.93717671e-01 6.38006552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94710568099999 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:57.02, Y:6.73, Z:6.38 [[ 9.79816508e-01 -1.66799183e-01 -1.10170973e-01 5.70207520e+01] [ 1.65636659e-01 9.85990340e-01 -1.96862227e-02 6.72770658e+00] [ 1.11911161e-01 1.04053419e-03 9.93717671e-01 6.38301461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97710568099999 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:57.05, Y:6.72, Z:6.38 [[ 9.80682927e-01 -1.61627834e-01 -1.10170053e-01 5.70509413e+01] [ 1.60432179e-01 9.86850427e-01 -1.96913678e-02 6.72224263e+00] [ 1.11904037e-01 1.63616657e-03 9.93717671e-01 6.38429713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.007105680999985 meters Centerline goodness : 0.996877 Centerline is valid? [True, True] Translation: X:57.08, Y:6.72, Z:6.39 [[ 9.81949402e-01 -1.53750969e-01 -1.10163569e-01 5.70810391e+01] [ 1.52501787e-01 9.88106284e-01 -1.97275771e-02 6.71865866e+00] [ 1.11886449e-01 2.57134137e-03 9.93717672e-01 6.38623828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.037105680999986 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:57.11, Y:6.72, Z:6.39 [[ 9.82493297e-01 -1.50240909e-01 -1.10157114e-01 5.71090331e+01] [ 1.48965701e-01 9.88644841e-01 -1.97635596e-02 6.71966346e+00] [ 1.11875557e-01 3.00793318e-03 9.93717672e-01 6.38980275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06710568099999 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:57.14, Y:6.71, Z:6.39 [[ 9.83212435e-01 -1.45466076e-01 -1.10149576e-01 5.71390576e+01] [ 1.44156307e-01 9.89356711e-01 -1.98054802e-02 6.71405279e+00] [ 1.11858248e-01 3.59423827e-03 9.93717673e-01 6.39002684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09710568099999 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:57.17, Y:6.72, Z:6.39 [[ 9.83157136e-01 -1.45844325e-01 -1.10142992e-01 5.71667854e+01] [ 1.44532829e-01 9.89301044e-01 -1.98420300e-02 6.71928664e+00] [ 1.11858424e-01 3.58855522e-03 9.93717674e-01 6.39321314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.12710568099999 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:57.20, Y:6.71, Z:6.39 [[ 9.82814272e-01 -1.48142855e-01 -1.10135377e-01 5.71978497e+01] [ 1.46841007e-01 9.88960230e-01 -1.98842080e-02 6.71006798e+00] [ 1.11865211e-01 3.37009380e-03 9.93717675e-01 6.38897682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15710568099999 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:57.23, Y:6.71, Z:6.39 [[ 9.82374072e-01 -1.51039183e-01 -1.10128782e-01 5.72262679e+01] [ 1.49751372e-01 9.88522986e-01 -1.99206658e-02 6.70809939e+00] [ 1.11873634e-01 3.07760929e-03 9.93717675e-01 6.38877356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18710568099999 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:57.26, Y:6.70, Z:6.40 [[ 9.81459539e-01 -1.56874434e-01 -1.10125314e-01 5.72564254e+01] [ 1.55621039e-01 9.87615561e-01 -1.99398202e-02 6.70099851e+00] [ 1.11889522e-01 2.43231097e-03 9.93717676e-01 6.39604841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.217105680999985 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:57.28, Y:6.70, Z:6.40 [[ 9.80841818e-01 -1.60695953e-01 -1.10118752e-01 5.72840354e+01] [ 1.59462485e-01 9.87001862e-01 -1.99759930e-02 6.70081732e+00] [ 1.11897475e-01 2.03347936e-03 9.93717676e-01 6.40242587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24710568099999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:57.31, Y:6.70, Z:6.41 [[ 9.79867479e-01 -1.66535559e-01 -1.10116447e-01 5.73134552e+01] [ 1.65337378e-01 9.86034484e-01 -1.99886938e-02 6.69589824e+00] [ 1.11907442e-01 1.37990635e-03 9.93717676e-01 6.41386055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27710568099999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:57.34, Y:6.69, Z:6.42 [[ 9.79392908e-01 -1.69308502e-01 -1.10109774e-01 5.73422313e+01] [ 1.68123658e-01 9.85562489e-01 -2.00253865e-02 6.68945679e+00] [ 1.11910531e-01 1.10066364e-03 9.93717677e-01 6.41866520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30710568099999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:57.37, Y:6.69, Z:6.42 [[ 9.78998765e-01 -1.71575147e-01 -1.10106250e-01 5.73703720e+01] [ 1.70402410e-01 9.85170659e-01 -2.00447422e-02 6.69012043e+00] [ 1.11912627e-01 8.61407389e-04 9.93717677e-01 6.42292049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33710568099999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:57.40, Y:6.69, Z:6.43 [[ 9.77937143e-01 -1.77527604e-01 -1.10104018e-01 5.73996943e+01] [ 1.76391055e-01 9.84115802e-01 -2.00569975e-02 6.68836206e+00] [ 1.11915774e-01 1.93118986e-04 9.93717677e-01 6.43055009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36710568099999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:57.43, Y:6.69, Z:6.44 [[ 9.76759402e-01 -1.83901124e-01 -1.10097445e-01 5.74280688e+01] [ 1.82800832e-01 9.82944620e-01 -2.00930137e-02 6.68849014e+00] [ 1.11914819e-01 -4.99864466e-04 9.93717678e-01 6.43585020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.397105680999985 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:57.46, Y:6.69, Z:6.44 [[ 9.76275908e-01 -1.86454680e-01 -1.10090891e-01 5.74554802e+01] [ 1.85366524e-01 9.82463272e-01 -2.01288581e-02 6.69121050e+00] [ 1.11913377e-01 -7.55846595e-04 9.93717679e-01 6.43991603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.427105680999986 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:57.48, Y:6.69, Z:6.44 [[ 9.76010977e-01 -1.87840990e-01 -1.10083313e-01 5.74840397e+01] [ 1.86756958e-01 9.82199064e-01 -2.01702170e-02 6.69049804e+00] [ 1.11912521e-01 -8.72471498e-04 9.93717679e-01 6.44250966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:57.51, Y:6.69, Z:6.45 [[ 9.76448828e-01 -1.85556009e-01 -1.10075676e-01 5.75114525e+01] [ 1.84452807e-01 9.82633525e-01 -2.02118090e-02 6.69331506e+00] [ 1.11914472e-01 -5.67970242e-04 9.93717680e-01 6.44541406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48710568099999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:57.54, Y:6.70, Z:6.45 [[ 9.78016454e-01 -1.77109233e-01 -1.10073317e-01 5.75389914e+01] [ 1.75951170e-01 9.84191114e-01 -2.02246467e-02 6.69648786e+00] [ 1.11915153e-01 4.12508247e-04 9.93717680e-01 6.44986617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:57.57, Y:6.70, Z:6.46 [[ 9.79632344e-01 -1.67942995e-01 -1.10070985e-01 5.75671738e+01] [ 1.66725736e-01 9.85795607e-01 -2.02373338e-02 6.69743151e+00] [ 1.11906212e-01 1.47348075e-03 9.93717681e-01 6.45643393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.54710568099999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:57.60, Y:6.70, Z:6.46 [[ 9.80285275e-01 -1.64093322e-01 -1.10064353e-01 5.75952324e+01] [ 1.62847819e-01 9.86442892e-01 -2.02733392e-02 6.69877098e+00] [ 1.11898918e-01 1.94991600e-03 9.93717681e-01 6.46114864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.577105680999985 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:57.62, Y:6.69, Z:6.47 [[ 9.81216049e-01 -1.58434284e-01 -1.10061998e-01 5.76234724e+01] [ 1.57151840e-01 9.87366078e-01 -2.02861147e-02 6.69487568e+00] [ 1.11885500e-01 2.60861571e-03 9.93717681e-01 6.46531941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.607105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:6.70, Z:6.47 [[ 9.81403403e-01 -1.57271849e-01 -1.10058737e-01 5.76513894e+01] [ 1.55980139e-01 9.87551493e-01 -2.03037945e-02 6.69615857e+00] [ 1.11881885e-01 2.75923602e-03 9.93717681e-01 6.46733679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.68, Y:6.70, Z:6.47 [[ 9.81512249e-01 -1.56596368e-01 -1.10051271e-01 5.76814998e+01] [ 1.55295901e-01 9.87658492e-01 -2.03441791e-02 6.69512361e+00] [ 1.11878897e-01 2.87754962e-03 9.93717682e-01 6.46789536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:57.71, Y:6.70, Z:6.47 [[ 9.81465793e-01 -1.56889778e-01 -1.10047695e-01 5.77106375e+01] [ 1.55588983e-01 9.87611966e-01 -2.03635078e-02 6.69520862e+00] [ 1.11879246e-01 2.86387746e-03 9.93717682e-01 6.46505363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:6.69, Z:6.46 [[ 9.81380597e-01 -1.57423428e-01 -1.10045388e-01 5.77396751e+01] [ 1.56124579e-01 9.87527182e-01 -2.03759672e-02 6.69274952e+00] [ 1.11880466e-01 2.81578900e-03 9.93717683e-01 6.46346711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.72710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:57.77, Y:6.69, Z:6.47 [[ 9.81226333e-01 -1.58383715e-01 -1.10043095e-01 5.77692122e+01] [ 1.57089495e-01 9.87373894e-01 -2.03883412e-02 6.69419517e+00] [ 1.11882860e-01 2.71896304e-03 9.93717683e-01 6.46533755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.757105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.80, Y:6.69, Z:6.47 [[ 9.80886341e-01 -1.60479961e-01 -1.10037126e-01 5.77987461e+01] [ 1.59195273e-01 9.87035900e-01 -2.04205060e-02 6.69239044e+00] [ 1.11887676e-01 2.51280511e-03 9.93717683e-01 6.47112855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.787105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.83, Y:6.69, Z:6.48 [[ 9.81009201e-01 -1.59731794e-01 -1.10030458e-01 5.78257545e+01] [ 1.58438396e-01 9.87156934e-01 -2.04563731e-02 6.69404516e+00] [ 1.11884862e-01 2.63484094e-03 9.93717684e-01 6.47855901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.86, Y:6.69, Z:6.49 [[ 9.80403268e-01 -1.63486936e-01 -1.09915666e-01 5.78552145e+01] [ 1.62147979e-01 9.86541419e-01 -2.10727503e-02 6.69437866e+00] [ 1.11881476e-01 2.83719019e-03 9.93717508e-01 6.48757338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:6.70, Z:6.49 [[ 9.79925112e-01 -1.66255879e-01 -1.10026165e-01 5.78833404e+01] [ 1.65000854e-01 9.86080788e-01 -2.04791974e-02 6.69602820e+00] [ 1.11899474e-01 1.91366864e-03 9.93717689e-01 6.49381146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.91, Y:6.69, Z:6.50 [[ 9.78645753e-01 -1.73632334e-01 -1.10019559e-01 5.79127851e+01] [ 1.72419729e-01 9.84809924e-01 -2.05146225e-02 6.69293735e+00] [ 1.11910356e-01 1.10700555e-03 9.93717690e-01 6.50261100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:6.69, Z:6.51 [[ 9.77268448e-01 -1.81228003e-01 -1.10012686e-01 5.79423366e+01] [ 1.80059169e-01 9.83441068e-01 -2.05514159e-02 6.69089095e+00] [ 1.11915486e-01 2.75457450e-04 9.93717690e-01 6.50685495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.937105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.97, Y:6.69, Z:6.51 [[ 9.77135727e-01 -1.81898514e-01 -1.10084974e-01 5.79704968e+01] [ 1.80777464e-01 9.83317290e-01 -2.01647410e-02 6.69310443e+00] [ 1.11916395e-01 -1.97193644e-04 9.93717607e-01 6.50609841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.967105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:6.70, Z:6.50 [[ 9.77802233e-01 -1.78331488e-01 -1.10003057e-01 5.79985569e+01] [ 1.77138657e-01 9.83970247e-01 -2.06021877e-02 6.69590228e+00] [ 1.11913754e-01 6.59071297e-04 9.93717705e-01 6.50410662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.03, Y:6.70, Z:6.50 [[ 9.79717321e-01 -1.67492756e-01 -1.10000671e-01 5.80265816e+01] [ 1.66230267e-01 9.85871454e-01 -2.06149198e-02 6.69808090e+00] [ 1.11899372e-01 1.91135301e-03 9.93717705e-01 6.50258182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.06, Y:6.70, Z:6.51 [[ 9.80627711e-01 -1.62079196e-01 -1.09998301e-01 5.80550959e+01] [ 1.60781320e-01 9.86774478e-01 -2.06275611e-02 6.70183931e+00] [ 1.11886814e-01 2.54228605e-03 9.93717705e-01 6.50525057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.08, Y:6.70, Z:6.51 [[ 9.81627902e-01 -1.55911851e-01 -1.09991624e-01 5.80823010e+01] [ 1.54571383e-01 9.87765521e-01 -2.06631014e-02 6.70399967e+00] [ 1.11867556e-01 3.28191934e-03 9.93717706e-01 6.50927993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.08710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.11, Y:6.71, Z:6.52 [[ 9.81443291e-01 -1.57072070e-01 -1.09988323e-01 5.81084013e+01] [ 1.55736893e-01 9.87582063e-01 -2.06806570e-02 6.70559887e+00] [ 1.11870849e-01 3.16765235e-03 9.93717706e-01 6.51506213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.14, Y:6.71, Z:6.52 [[ 9.81337515e-01 -1.57860320e-01 -1.09803465e-01 5.81385828e+01] [ 1.56420280e-01 9.87453014e-01 -2.16619736e-02 6.70687926e+00] [ 1.11845329e-01 4.08221856e-03 9.93717242e-01 6.51876924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.147105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.17, Y:6.71, Z:6.52 [[ 9.80777636e-01 -1.61180832e-01 -1.09981673e-01 5.81652933e+01] [ 1.59867396e-01 9.86921100e-01 -2.07161500e-02 6.70879686e+00] [ 1.11882280e-01 2.73545284e-03 9.93717703e-01 6.51953471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.177105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.20, Y:6.71, Z:6.52 [[ 9.80640859e-01 -1.62161147e-01 -1.09760051e-01 5.81960178e+01] [ 1.60722345e-01 9.86756872e-01 -2.18907288e-02 6.71229977e+00] [ 1.11856310e-01 3.82605027e-03 9.93717026e-01 6.52428275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.22, Y:6.72, Z:6.53 [[ 9.80432282e-01 -1.63269073e-01 -1.09980677e-01 5.82248021e+01] [ 1.61968282e-01 9.86578407e-01 -2.07200923e-02 6.71560556e+00] [ 1.11887512e-01 2.50126608e-03 9.93717731e-01 6.52523282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.25, Y:6.72, Z:6.53 [[ 9.80525029e-01 -1.62715732e-01 -1.09973895e-01 5.82524808e+01] [ 1.61407445e-01 9.86669562e-01 -2.07560254e-02 6.71883316e+00] [ 1.11885227e-01 2.60119703e-03 9.93717731e-01 6.52766940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.28, Y:6.72, Z:6.53 [[ 9.80410237e-01 -1.63454356e-01 -1.09901959e-01 5.82822207e+01] [ 1.62108041e-01 9.86546616e-01 -2.11366464e-02 6.72103545e+00] [ 1.11878282e-01 2.90659331e-03 9.93717667e-01 6.52723849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.31, Y:6.73, Z:6.53 [[ 9.80223889e-01 -1.64524801e-01 -1.09966890e-01 5.83102363e+01] [ 1.63223675e-01 9.86369946e-01 -2.07932914e-02 6.72509877e+00] [ 1.11889047e-01 2.43288106e-03 9.93717728e-01 6.53152334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.327105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.34, Y:6.73, Z:6.53 [[ 9.79776374e-01 -1.67173862e-01 -1.09959796e-01 5.83374307e+01] [ 1.65885154e-01 9.85925046e-01 -2.08307349e-02 6.72634407e+00] [ 1.11894472e-01 2.16876414e-03 9.93717728e-01 6.53317356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.357105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.37, Y:6.73, Z:6.53 [[ 9.79018046e-01 -1.71620187e-01 -1.09864361e-01 5.83664107e+01] [ 1.70302964e-01 9.85160788e-01 -2.13336101e-02 6.73145981e+00] [ 1.11895339e-01 2.17576287e-03 9.93717615e-01 6.53329125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:6.74, Z:6.54 [[ 9.78353848e-01 -1.75310296e-01 -1.09954758e-01 5.83940889e+01] [ 1.74069764e-01 9.84512416e-01 -2.08571250e-02 6.73542352e+00] [ 1.11908293e-01 1.26584975e-03 9.93717732e-01 6.53762626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:6.74, Z:6.54 [[ 9.75997966e-01 -1.88052724e-01 -1.09836899e-01 5.84221169e+01] [ 1.86822762e-01 9.82158835e-01 -2.14773747e-02 6.73777307e+00] [ 1.11916159e-01 4.41841196e-04 9.93717554e-01 6.54356804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.44710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.45, Y:6.74, Z:6.55 [[ 9.74529595e-01 -1.95536184e-01 -1.09807417e-01 5.84492116e+01] [ 1.94336071e-01 9.80696453e-01 -2.16323305e-02 6.74123775e+00] [ 1.11917648e-01 -2.58195652e-04 9.93717452e-01 6.54852390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.48, Y:6.75, Z:6.56 [[ 9.70773113e-01 -2.13417871e-01 -1.09783308e-01 5.84779633e+01] [ 2.12316996e-01 9.76958564e-01 -2.17590884e-02 6.74593391e+00] [ 1.11897521e-01 -2.18572422e-03 9.93717348e-01 6.55855223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.507105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.50, Y:6.75, Z:6.56 [[ 9.68216051e-01 -2.24683141e-01 -1.09887055e-01 5.85026286e+01] [ 2.23716015e-01 9.74423486e-01 -2.12135329e-02 6.75015455e+00] [ 1.11842851e-01 -4.04421101e-03 9.93717677e-01 6.56304240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.537105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:6.76, Z:6.57 [[ 9.65802424e-01 -2.34917376e-01 -1.09724672e-01 5.85303120e+01] [ 2.33918921e-01 9.72005599e-01 -2.20692781e-02 6.75935172e+00] [ 1.11837453e-01 -4.35211475e-03 9.93716983e-01 6.57126584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.56, Y:6.77, Z:6.57 [[ 9.64934077e-01 -2.38418387e-01 -1.09813017e-01 5.85564166e+01] [ 2.37495267e-01 9.71148433e-01 -2.16036918e-02 6.76764731e+00] [ 1.11795457e-01 -5.23393337e-03 9.93717456e-01 6.57491420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.58, Y:6.78, Z:6.58 [[ 9.63568051e-01 -2.43879399e-01 -1.09815528e-01 5.85823501e+01] [ 2.42992991e-01 9.69787739e-01 -2.15904649e-02 6.78003598e+00] [ 1.11763222e-01 -5.88052147e-03 9.93717466e-01 6.57646861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:6.79, Z:6.58 [[ 9.62988820e-01 -2.46164895e-01 -1.09796982e-01 5.86092536e+01] [ 2.45282162e-01 9.69209106e-01 -2.16880033e-02 6.78963869e+00] [ 1.11755059e-01 -6.04593640e-03 9.93717391e-01 6.57947007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.64, Y:6.81, Z:6.59 [[ 9.62100678e-01 -2.49583001e-01 -1.09866336e-01 5.86354595e+01] [ 2.48763903e-01 9.68329420e-01 -2.13226645e-02 6.80654579e+00] [ 1.11708580e-01 -6.81622855e-03 9.93717632e-01 6.58993610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.687105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:6.82, Z:6.59 [[ 9.61715676e-01 -2.51020293e-01 -1.09962590e-01 5.86606304e+01] [ 2.50268126e-01 9.67952762e-01 -2.08162226e-02 6.81972820e+00] [ 1.11663887e-01 -7.50084382e-03 9.93717723e-01 6.59482002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.717105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.68, Y:6.84, Z:6.59 [[ 9.62531461e-01 -2.47883122e-01 -1.09941547e-01 5.86843912e+01] [ 2.47098045e-01 9.68764484e-01 -2.09267775e-02 6.83952075e+00] [ 1.11694861e-01 -7.02365967e-03 9.93717730e-01 6.59299180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.71, Y:6.86, Z:6.60 [[ 9.64260459e-01 -2.41126884e-01 -1.09816181e-01 5.87111999e+01] [ 2.40223357e-01 9.70477632e-01 -2.15848240e-02 6.85974527e+00] [ 1.11778829e-01 -5.56701941e-03 9.93717516e-01 6.59623038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.74, Y:6.87, Z:6.60 [[ 9.65715888e-01 -2.35161195e-01 -1.09963792e-01 5.87369586e+01] [ 2.34307227e-01 9.71939852e-01 -2.08098070e-02 6.87319118e+00] [ 1.11771851e-01 -5.66895000e-03 9.93717725e-01 6.59904031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:6.89, Z:6.60 [[ 9.69990539e-01 -2.16869157e-01 -1.09936903e-01 5.87604299e+01] [ 2.15881742e-01 9.76194721e-01 -2.09509116e-02 6.89476559e+00] [ 1.11863431e-01 -3.41118409e-03 9.93717735e-01 6.59555581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:6.91, Z:6.60 [[ 9.71388033e-01 -2.10617529e-01 -1.09752203e-01 5.87892523e+01] [ 2.09480830e-01 9.77567065e-01 -2.19183567e-02 6.90981053e+00] [ 1.11906529e-01 -1.69975317e-03 9.93717284e-01 6.59919084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:6.93, Z:6.60 [[ 9.74277532e-01 -1.96737130e-01 -1.09899008e-01 5.88149323e+01] [ 1.95599108e-01 9.80455867e-01 -2.11490329e-02 6.92963581e+00] [ 1.11911927e-01 -8.91120384e-04 9.93717730e-01 6.59654647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.897105680999985 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:58.84, Y:6.95, Z:6.60 [[ 9.76174907e-01 -1.87078587e-01 -1.09927943e-01 5.88403488e+01] [ 1.85896487e-01 9.82344949e-01 -2.09975610e-02 6.94600075e+00] [ 1.11915353e-01 6.20737486e-05 9.93717742e-01 6.59790848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.927105680999986 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:58.87, Y:6.96, Z:6.60 [[ 9.77250380e-01 -1.81378249e-01 -1.09925541e-01 5.88664385e+01] [ 1.80158747e-01 9.83413138e-01 -2.10101281e-02 6.95942908e+00] [ 1.11913001e-01 7.28108065e-04 9.93717742e-01 6.59862081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:58.89, Y:6.97, Z:6.60 [[ 9.77546498e-01 -1.79780232e-01 -1.09917750e-01 5.88926853e+01] [ 1.78546081e-01 9.83706339e-01 -2.10508048e-02 6.96783428e+00] [ 1.11911306e-01 9.52756987e-04 9.93717742e-01 6.60000751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:58.92, Y:6.97, Z:6.60 [[ 9.77482776e-01 -1.80127846e-01 -1.09915342e-01 5.89203844e+01] [ 1.78894473e-01 9.83642771e-01 -2.10633708e-02 6.97339346e+00] [ 1.11911532e-01 9.25834863e-04 9.93717743e-01 6.60319103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01710568099999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:58.95, Y:6.98, Z:6.61 [[ 9.77749910e-01 -1.78676758e-01 -1.09907821e-01 5.89476650e+01] [ 1.77429840e-01 9.83907178e-01 -2.11025432e-02 6.98418385e+00] [ 1.11909628e-01 1.13208262e-03 9.93717743e-01 6.60811810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.04710568099999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:58.97, Y:6.99, Z:6.61 [[ 9.77754577e-01 -1.78655625e-01 -1.09900663e-01 5.89740046e+01] [ 1.77404391e-01 9.83910968e-01 -2.11397604e-02 6.99078674e+00] [ 1.11909204e-01 1.17263738e-03 9.93717744e-01 6.61032627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.077105680999985 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:59.00, Y:7.00, Z:6.61 [[ 9.77232754e-01 -1.81490397e-01 -1.09897133e-01 5.90019168e+01] [ 1.80254961e-01 9.83392335e-01 -2.11580950e-02 6.99731998e+00] [ 1.11911989e-01 8.66880103e-04 9.93717744e-01 6.61221241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.107105680999986 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:59.03, Y:7.00, Z:6.62 [[ 9.76789057e-01 -1.83867535e-01 -1.09890248e-01 5.90289768e+01] [ 1.82643073e-01 9.82950828e-01 -2.11937901e-02 7.00241969e+00] [ 1.11913561e-01 6.31169600e-04 9.93717745e-01 6.61805740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13710568099999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:59.06, Y:7.01, Z:6.62 [[ 9.76329233e-01 -1.86355860e-01 -1.09784887e-01 5.90580927e+01] [ 1.85085711e-01 9.82481895e-01 -2.17394949e-02 7.00859259e+00] [ 1.11912946e-01 9.05290451e-04 9.93717602e-01 6.62284134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16710568099999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:59.09, Y:7.01, Z:6.63 [[ 9.75855221e-01 -1.88763076e-01 -1.09886708e-01 5.90859591e+01] [ 1.87567463e-01 9.82022654e-01 -2.12121097e-02 7.01216734e+00] [ 1.11915299e-01 8.87770164e-05 9.93717746e-01 6.62794077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:59.11, Y:7.01, Z:6.63 [[ 9.75557384e-01 -1.90300422e-01 -1.09879661e-01 5.91134667e+01] [ 1.89110423e-01 9.81725902e-01 -2.12485505e-02 7.01464811e+00] [ 1.11915317e-01 -5.02088659e-05 9.93717746e-01 6.63307487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.22710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:59.14, Y:7.01, Z:6.64 [[ 9.74054866e-01 -1.97903147e-01 -1.09779153e-01 5.91398493e+01] [ 1.96702839e-01 9.80221501e-01 -2.17669958e-02 7.01445894e+00] [ 1.11915643e-01 -3.91622938e-04 9.93717634e-01 6.63966597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.257105680999985 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:59.17, Y:7.02, Z:6.64 [[ 9.72637979e-01 -2.04794608e-01 -1.09702002e-01 5.91653622e+01] [ 2.03593170e-01 9.78804661e-01 -2.21642958e-02 7.01546916e+00] [ 1.11915959e-01 -7.76742551e-04 9.93717372e-01 6.64359180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.287105680999986 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.20, Y:7.02, Z:6.65 [[ 9.71996520e-01 -2.07894338e-01 -1.09556876e-01 5.91971807e+01] [ 2.06627996e-01 9.78151221e-01 -2.29141989e-02 7.01973323e+00] [ 1.11926924e-01 -3.64996015e-04 9.93716373e-01 6.64605462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.22, Y:7.02, Z:6.65 [[ 9.72717032e-01 -2.04380298e-01 -1.09773723e-01 5.92231519e+01] [ 2.03218039e-01 9.78890936e-01 -2.17936836e-02 7.02252293e+00] [ 1.11910702e-01 -1.10891355e-03 9.93717649e-01 6.64562753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:59.25, Y:7.03, Z:6.65 [[ 9.74775968e-01 -1.94423949e-01 -1.09595347e-01 5.92534978e+01] [ 1.93095371e-01 9.80917109e-01 -2.27112826e-02 7.02507055e+00] [ 1.11919568e-01 9.76058349e-04 9.93716789e-01 6.64834173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.28, Y:7.03, Z:6.65 [[ 9.77110779e-01 -1.82220068e-01 -1.09774193e-01 5.92826046e+01] [ 1.80918188e-01 9.83256731e-01 -2.17901571e-02 7.02741380e+00] [ 1.11906818e-01 1.43124943e-03 9.93717674e-01 6.65395477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.31, Y:7.03, Z:6.66 [[ 9.78502443e-01 -1.74537663e-01 -1.09861613e-01 5.93073896e+01] [ 1.73238023e-01 9.84648762e-01 -2.13401702e-02 7.03072260e+00] [ 1.11899764e-01 1.84920014e-03 9.93717778e-01 6.65992361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.437105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.34, Y:7.03, Z:6.66 [[ 9.79781597e-01 -1.67310191e-01 -1.09705617e-01 5.93383376e+01] [ 1.65875332e-01 9.85898101e-01 -2.21429112e-02 7.03438806e+00] [ 1.11863294e-01 3.49776124e-03 9.93717449e-01 6.66257056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.467105680999985 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.37, Y:7.03, Z:6.66 [[ 9.81071594e-01 -1.59464113e-01 -1.09862296e-01 5.93670234e+01] [ 1.58070500e-01 9.87197284e-01 -2.13363596e-02 7.03273711e+00] [ 1.11858143e-01 3.56650837e-03 9.93717785e-01 6.66181329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.39, Y:7.03, Z:6.66 [[ 9.81574177e-01 -1.56343413e-01 -1.09858417e-01 5.93948572e+01] [ 1.54928097e-01 9.87694889e-01 -2.13563093e-02 7.03418225e+00] [ 1.11845516e-01 3.94264616e-03 9.93717785e-01 6.66467783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.42, Y:7.03, Z:6.67 [[ 9.82752647e-01 -1.48762246e-01 -1.09850031e-01 5.94246797e+01] [ 1.47294925e-01 9.88861099e-01 -2.13993597e-02 7.03199145e+00] [ 1.11809839e-01 4.84992526e-03 9.93717786e-01 6.66646828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.45, Y:7.03, Z:6.67 [[ 9.83898951e-01 -1.40987432e-01 -1.09842610e-01 5.94536188e+01] [ 1.39467627e-01 9.89994555e-01 -2.14373836e-02 7.03020691e+00] [ 1.11765988e-01 5.77273108e-03 9.93717787e-01 6.67093616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.58710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:7.03, Z:6.67 [[ 9.84259648e-01 -1.38483189e-01 -1.09796868e-01 5.94815633e+01] [ 1.36921830e-01 9.90344766e-01 -2.16715572e-02 7.03154195e+00] [ 1.11737900e-01 6.29685112e-03 9.93717762e-01 6.67433949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.617105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:7.03, Z:6.68 [[ 9.84669628e-01 -1.35562248e-01 -1.09766115e-01 5.95106445e+01] [ 1.33965376e-01 9.90745569e-01 -2.18287731e-02 7.02736857e+00] [ 1.11709449e-01 6.78927105e-03 9.93717719e-01 6.67658470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.647105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:7.02, Z:6.68 [[ 9.85136064e-01 -1.32103949e-01 -1.09797455e-01 5.95405742e+01] [ 1.30503513e-01 9.91211026e-01 -2.16687464e-02 7.02118735e+00] [ 1.11694975e-01 7.01770996e-03 9.93717759e-01 6.68215555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.677105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:7.02, Z:6.68 [[ 9.85179103e-01 -1.31791671e-01 -1.09786572e-01 5.95705523e+01] [ 1.30183150e-01 9.91251938e-01 -2.17242433e-02 7.02070982e+00] [ 1.11689227e-01 7.10990875e-03 9.93717750e-01 6.68319863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:7.01, Z:6.69 [[ 9.85413125e-01 -1.30002230e-01 -1.09819821e-01 5.96014988e+01] [ 1.28401477e-01 9.91487997e-01 -2.15548544e-02 7.01307314e+00] [ 1.11687213e-01 7.13940927e-03 9.93717764e-01 6.68770610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.63, Y:7.01, Z:6.69 [[ 9.85310330e-01 -1.30785063e-01 -1.09812667e-01 5.96306454e+01] [ 1.29185098e-01 9.91385409e-01 -2.15912400e-02 7.00592337e+00] [ 1.11690487e-01 7.08791164e-03 9.93717765e-01 6.68853688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:7.00, Z:6.69 [[ 9.85068210e-01 -1.32600940e-01 -1.09807158e-01 5.96609007e+01] [ 1.31009069e-01 9.91145415e-01 -2.16192183e-02 6.99813838e+00] [ 1.11701590e-01 6.91067109e-03 9.93717765e-01 6.69078635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:7.00, Z:6.69 [[ 9.84904892e-01 -1.33815184e-01 -1.09799135e-01 5.96894231e+01] [ 1.32226289e-01 9.90982875e-01 -2.16598903e-02 6.99641641e+00] [ 1.11707485e-01 6.81459984e-03 9.93717766e-01 6.69408006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.827105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.72, Y:6.99, Z:6.70 [[ 9.84058595e-01 -1.39952610e-01 -1.09735815e-01 5.97195301e+01] [ 1.38365998e-01 9.90137219e-01 -2.19804114e-02 6.98709747e+00] [ 1.11729730e-01 6.44630719e-03 9.93717723e-01 6.69682018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.857105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.75, Y:6.98, Z:6.71 [[ 9.82716037e-01 -1.49068226e-01 -1.09762721e-01 5.97502149e+01] [ 1.47553190e-01 9.88812865e-01 -2.18443291e-02 6.97717227e+00] [ 1.11791086e-01 5.27093293e-03 9.93717752e-01 6.70685310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.78, Y:6.97, Z:6.71 [[ 9.81793867e-01 -1.55001343e-01 -1.09797027e-01 5.97782261e+01] [ 1.53542505e-01 9.87904381e-01 -2.16710388e-02 6.97460092e+00] [ 1.11828004e-01 4.41798244e-03 9.93717756e-01 6.71162945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.81, Y:6.97, Z:6.72 [[ 9.79153710e-01 -1.70899955e-01 -1.09778034e-01 5.98089519e+01] [ 1.69529652e-01 9.85284681e-01 -2.17668284e-02 6.96563053e+00] [ 1.11882565e-01 2.70243886e-03 9.93717761e-01 6.72109837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.94710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.84, Y:6.97, Z:6.72 [[ 9.77487036e-01 -1.80192894e-01 -1.09770744e-01 5.98390200e+01] [ 1.78876768e-01 9.83629863e-01 -2.18035298e-02 6.96503871e+00] [ 1.11902623e-01 1.67723171e-03 9.93717762e-01 6.72284971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.87, Y:6.96, Z:6.72 [[ 9.74863422e-01 -1.93868260e-01 -1.09801670e-01 5.98672732e+01] [ 1.92655825e-01 9.81027571e-01 -2.16480405e-02 6.96267715e+00] [ 1.11915334e-01 -5.00484740e-05 9.93717744e-01 6.72071922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.007105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:6.96, Z:6.73 [[ 9.73758053e-01 -1.99369238e-01 -1.09759558e-01 5.98948908e+01] [ 1.98167786e-01 9.79924329e-01 -2.18595055e-02 6.96336977e+00] [ 1.11914174e-01 -4.64938988e-04 9.93717768e-01 6.72516699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.037105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:6.97, Z:6.73 [[ 9.73763048e-01 -1.99349598e-01 -1.09750916e-01 5.99234987e+01] [ 1.98143141e-01 9.79928346e-01 -2.19028097e-02 6.96675296e+00] [ 1.11914349e-01 -4.18244374e-04 9.93717769e-01 6.73019478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:6.97, Z:6.74 [[ 9.74621625e-01 -1.95089191e-01 -1.09785685e-01 5.99503617e+01] [ 1.93875372e-01 9.80785500e-01 -2.17288771e-02 6.97090518e+00] [ 1.11915277e-01 -1.07306863e-04 9.93717746e-01 6.73684703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.98, Y:6.98, Z:6.74 [[ 9.76093299e-01 -1.87595533e-01 -1.09771528e-01 5.99766199e+01] [ 1.86326445e-01 9.82246016e-01 -2.17995572e-02 6.97898193e+00] [ 1.11912145e-01 8.25063199e-04 9.93717762e-01 6.73604022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:6.99, Z:6.74 [[ 9.76959699e-01 -1.83055387e-01 -1.09729085e-01 6.00052709e+01] [ 1.81733941e-01 9.83101360e-01 -2.20111562e-02 6.98562653e+00] [ 1.11904073e-01 1.56251352e-03 9.93717785e-01 6.73720140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:6.99, Z:6.74 [[ 9.78736190e-01 -1.73308589e-01 -1.09725131e-01 6.00318685e+01] [ 1.71923786e-01 9.84863876e-01 -2.20308463e-02 6.99140822e+00] [ 1.11882453e-01 2.69802663e-03 9.93717786e-01 6.74208055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.187105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:7.00, Z:6.75 [[ 9.80129735e-01 -1.65247276e-01 -1.09722557e-01 6.00580566e+01] [ 1.63810654e-01 9.86245480e-01 -2.20436588e-02 6.99645108e+00] [ 1.11856031e-01 3.63192162e-03 9.93717786e-01 6.75087886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.217105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:7.00, Z:6.75 [[ 9.80999022e-01 -1.60007601e-01 -1.09720035e-01 6.00859290e+01] [ 1.58536918e-01 9.87106666e-01 -2.20562041e-02 7.00356349e+00] [ 1.11834539e-01 4.24243832e-03 9.93717786e-01 6.75085186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.11, Y:7.01, Z:6.75 [[ 9.81281445e-01 -1.58271290e-01 -1.09712914e-01 6.01131309e+01] [ 1.56785854e-01 9.87385517e-01 -2.20915718e-02 7.01045693e+00] [ 1.11825404e-01 4.47661663e-03 9.93717786e-01 6.74888315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:7.02, Z:6.74 [[ 9.81723178e-01 -1.55509584e-01 -1.09710394e-01 6.01412684e+01] [ 1.54005583e-01 9.87822702e-01 -2.21040792e-02 7.01508744e+00] [ 1.11811814e-01 4.80407372e-03 9.93717786e-01 6.74427387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:7.02, Z:6.75 [[ 9.81817012e-01 -1.54918595e-01 -1.09706813e-01 6.01692934e+01] [ 1.53408942e-01 9.87915138e-01 -2.21218394e-02 7.01763479e+00] [ 1.11808105e-01 4.88959225e-03 9.93717787e-01 6.74892006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.20, Y:7.02, Z:6.75 [[ 9.81540124e-01 -1.56668897e-01 -1.09698867e-01 6.01972981e+01] [ 1.55165731e-01 9.87639853e-01 -2.21611735e-02 7.02252509e+00] [ 1.11814939e-01 4.73057613e-03 9.93717787e-01 6.75410973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.367105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:7.03, Z:6.76 [[ 9.80701172e-01 -1.61842159e-01 -1.09691965e-01 6.02247906e+01] [ 1.60367367e-01 9.86807822e-01 -2.21952823e-02 7.02663557e+00] [ 1.11837022e-01 4.17592779e-03 9.93717788e-01 6.76301121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.397105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.25, Y:7.03, Z:6.77 [[ 9.79941111e-01 -1.66386933e-01 -1.09685035e-01 6.02530799e+01] [ 1.64936644e-01 9.86053626e-01 -2.22294752e-02 7.02955341e+00] [ 1.11854021e-01 3.69249503e-03 9.93717789e-01 6.77151181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.427105680999986 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:60.28, Y:7.03, Z:6.78 [[ 9.79428213e-01 -1.69384483e-01 -1.09678042e-01 6.02812048e+01] [ 1.67949048e-01 9.85544233e-01 -2.22639283e-02 7.03322600e+00] [ 1.11863725e-01 3.38559678e-03 9.93717789e-01 6.77614579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:7.04, Z:6.78 [[ 9.77983163e-01 -1.77542232e-01 -1.09670824e-01 6.03079986e+01] [ 1.76153846e-01 9.84110034e-01 -2.22994271e-02 7.03553182e+00] [ 1.11887248e-01 2.48952691e-03 9.93717790e-01 6.77794982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:7.04, Z:6.78 [[ 9.77210721e-01 -1.81750728e-01 -1.09662568e-01 6.03379175e+01] [ 1.80384184e-01 9.83342500e-01 -2.23399513e-02 7.03823480e+00] [ 1.11896167e-01 2.04944701e-03 9.93717791e-01 6.77861928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.36, Y:7.04, Z:6.78 [[ 9.76859855e-01 -1.83557080e-01 -1.09779878e-01 6.03633160e+01] [ 1.82266480e-01 9.83008256e-01 -2.17646213e-02 7.04268802e+00] [ 1.11909576e-01 1.25179289e-03 9.93717606e-01 6.78031245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.39, Y:7.04, Z:6.78 [[ 9.76879598e-01 -1.83530315e-01 -1.09648869e-01 6.03921301e+01] [ 1.82167546e-01 9.83012188e-01 -2.24058646e-02 7.04362444e+00] [ 1.11898330e-01 1.91336665e-03 9.93717818e-01 6.78237367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.577105680999985 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.42, Y:7.05, Z:6.78 [[ 9.76934888e-01 -1.83240099e-01 -1.09641643e-01 6.04201540e+01] [ 1.81871547e-01 9.83066190e-01 -2.24411681e-02 7.04642100e+00] [ 1.11897115e-01 1.98286474e-03 9.93717819e-01 6.78222622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.607105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:7.05, Z:6.78 [[ 9.77331684e-01 -1.81113360e-01 -1.09639088e-01 6.04498825e+01] [ 1.79730067e-01 9.83459677e-01 -2.24536458e-02 7.04707167e+00] [ 1.11892277e-01 2.23921879e-03 9.93717819e-01 6.78381393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.48, Y:7.05, Z:6.79 [[ 9.77826552e-01 -1.78426516e-01 -1.09632172e-01 6.04774985e+01] [ 1.77022607e-01 9.83949854e-01 -2.24873663e-02 7.05168198e+00] [ 1.11884902e-01 2.58137095e-03 9.93717820e-01 6.78608626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:7.06, Z:6.79 [[ 9.79370052e-01 -1.69751651e-01 -1.09629728e-01 6.05060048e+01] [ 1.68292187e-01 9.85480351e-01 -2.24992731e-02 7.05760934e+00] [ 1.11857232e-01 3.58528766e-03 9.93717820e-01 6.78810793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.53, Y:7.06, Z:6.79 [[ 9.80740222e-01 -1.61652358e-01 -1.09622684e-01 6.05333939e+01] [ 1.60138624e-01 9.86837302e-01 -2.25335433e-02 7.06213329e+00] [ 1.11822354e-01 4.54472656e-03 9.93717820e-01 6.79123865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.72710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.56, Y:7.07, Z:6.80 [[ 9.81267924e-01 -1.58423133e-01 -1.09614657e-01 6.05621560e+01] [ 1.56884991e-01 9.87358892e-01 -2.25725209e-02 7.06642961e+00] [ 1.11805016e-01 4.95279615e-03 9.93717821e-01 6.79585335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.757105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.59, Y:7.07, Z:6.80 [[ 9.81948054e-01 -1.54143597e-01 -1.09625593e-01 6.05895143e+01] [ 1.52584826e-01 9.88033778e-01 -2.25194455e-02 7.06862236e+00] [ 1.11785017e-01 5.38572371e-03 9.93717819e-01 6.80395783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.787105680999986 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.62, Y:7.08, Z:6.81 [[ 9.81836529e-01 -1.54858952e-01 -1.09616311e-01 6.06182174e+01] [ 1.53299600e-01 9.87922101e-01 -2.25644742e-02 7.07561732e+00] [ 1.11786687e-01 5.35048842e-03 9.93717822e-01 6.80899533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.64, Y:7.08, Z:6.81 [[ 9.81788386e-01 -1.55118244e-01 -1.09680879e-01 6.06446723e+01] [ 1.53595393e-01 9.87883260e-01 -2.22513068e-02 7.08093283e+00] [ 1.11803488e-01 4.99959681e-03 9.93717759e-01 6.80905249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.67, Y:7.08, Z:6.81 [[ 9.81526298e-01 -1.56823521e-01 -1.09601595e-01 6.06736302e+01] [ 1.55268465e-01 9.87612955e-01 -2.26352468e-02 7.08328496e+00] [ 1.11793695e-01 5.19941849e-03 9.93717835e-01 6.81014636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:7.09, Z:6.81 [[ 9.81335183e-01 -1.58020090e-01 -1.09594296e-01 6.07025239e+01] [ 1.56468524e-01 9.87422730e-01 -2.26705350e-02 7.08627843e+00] [ 1.11798299e-01 5.09933597e-03 9.93717836e-01 6.81350122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.73, Y:7.09, Z:6.82 [[ 9.81277537e-01 -1.58382720e-01 -1.09586997e-01 6.07302256e+01] [ 1.56829478e-01 9.87364656e-01 -2.27057594e-02 7.09225563e+00] [ 1.11798528e-01 5.09417996e-03 9.93717836e-01 6.81668908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.937105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:7.09, Z:6.82 [[ 9.81004157e-01 -1.60073007e-01 -1.09578631e-01 6.07581587e+01] [ 1.58525761e-01 9.87092802e-01 -2.27460664e-02 7.09335044e+00] [ 1.11805309e-01 4.94294985e-03 9.93717837e-01 6.82337684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.967105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.79, Y:7.10, Z:6.83 [[ 9.81055406e-01 -1.59760383e-01 -1.09576048e-01 6.07858823e+01] [ 1.58209810e-01 9.87143205e-01 -2.27585006e-02 7.09545638e+00] [ 1.11803158e-01 4.99134419e-03 9.93717837e-01 6.82722335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.82, Y:7.10, Z:6.83 [[ 9.81427021e-01 -1.57467080e-01 -1.09567882e-01 6.08152088e+01] [ 1.55897912e-01 9.87510052e-01 -2.27977509e-02 7.09603097e+00] [ 1.11789280e-01 5.29292483e-03 9.93717838e-01 6.82854705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.84, Y:7.10, Z:6.83 [[ 9.81520128e-01 -1.56890768e-01 -1.09560597e-01 6.08440734e+01] [ 1.55314136e-01 9.87601229e-01 -2.28327030e-02 7.10032250e+00] [ 1.11784421e-01 5.39444801e-03 9.93717839e-01 6.83176667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.87, Y:7.10, Z:6.83 [[ 9.81407278e-01 -1.57606849e-01 -1.09543760e-01 6.08721760e+01] [ 1.56025668e-01 9.87487198e-01 -2.29133961e-02 7.10141320e+00] [ 1.11784369e-01 5.39573533e-03 9.93717838e-01 6.83062072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.08710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:7.10, Z:6.84 [[ 9.81053126e-01 -1.59791351e-01 -1.09551306e-01 6.09017769e+01] [ 1.58227736e-01 9.87137586e-01 -2.28772639e-02 7.09899303e+00] [ 1.11797800e-01 5.10975623e-03 9.93717838e-01 6.83501376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.117105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.93, Y:7.10, Z:6.84 [[ 9.80425240e-01 -1.63604635e-01 -1.09543930e-01 6.09303463e+01] [ 1.62060756e-01 9.86514738e-01 -2.29125257e-02 7.09918574e+00] [ 1.11815297e-01 4.71124638e-03 9.93717839e-01 6.84146017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.147105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.96, Y:7.10, Z:6.85 [[ 9.80131410e-01 -1.65318092e-01 -1.09600853e-01 6.09582298e+01] [ 1.63815237e-01 9.86231202e-01 -2.26403454e-02 7.10359623e+00] [ 1.11834640e-01 4.23622383e-03 9.93717801e-01 6.84666523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.177105680999986 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:60.99, Y:7.11, Z:6.85 [[ 9.79271122e-01 -1.70350455e-01 -1.09584632e-01 6.09869288e+01] [ 1.68870290e-01 9.85376438e-01 -2.27178436e-02 7.10633503e+00] [ 1.11852109e-01 3.74133972e-03 9.93717821e-01 6.84945102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.02, Y:7.11, Z:6.85 [[ 9.77618000e-01 -1.79627488e-01 -1.09530872e-01 6.10164958e+01] [ 1.78176570e-01 9.83730297e-01 -2.29741652e-02 7.10811133e+00] [ 1.11875629e-01 2.94412244e-03 9.93717855e-01 6.85029550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.04, Y:7.11, Z:6.85 [[ 9.76387301e-01 -1.86205483e-01 -1.09523313e-01 6.10439941e+01] [ 1.84791717e-01 9.82508298e-01 -2.30101424e-02 7.11173975e+00] [ 1.11892179e-01 2.22780977e-03 9.93717856e-01 6.85301300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:7.11, Z:6.86 [[ 9.73702816e-01 -1.99773268e-01 -1.09514689e-01 6.10719350e+01] [ 1.98440199e-01 9.79841892e-01 -2.30511148e-02 7.11306231e+00] [ 1.11912077e-01 7.12818651e-04 9.93717857e-01 6.86079992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.29710568099999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:61.10, Y:7.12, Z:6.87 [[ 9.72151221e-01 -2.07193439e-01 -1.09512022e-01 6.11000359e+01] [ 2.05905802e-01 9.78299986e-01 -2.30637818e-02 7.11732059e+00] [ 1.11914274e-01 -1.27677026e-04 9.93717857e-01 6.86650147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.327105680999985 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:61.13, Y:7.12, Z:6.87 [[ 9.69599082e-01 -2.18829586e-01 -1.09504483e-01 6.11272001e+01] [ 2.17611698e-01 9.75762041e-01 -2.30995197e-02 7.12153890e+00] [ 1.11905176e-01 -1.43218341e-03 9.93717858e-01 6.87093390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.357105680999986 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:61.15, Y:7.13, Z:6.87 [[ 9.68816035e-01 -2.22274967e-01 -1.09495795e-01 6.11533892e+01] [ 2.21074350e-01 9.74982381e-01 -2.31406310e-02 7.12805139e+00] [ 1.11900054e-01 -1.78769722e-03 9.93717858e-01 6.87404697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:61.18, Y:7.14, Z:6.88 [[ 9.68534193e-01 -2.23502753e-01 -1.09489888e-01 6.11798633e+01] [ 2.22306797e-01 9.74701445e-01 -2.31685445e-02 7.13818780e+00] [ 1.11898186e-01 -1.90081882e-03 9.93717859e-01 6.87688262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41710568099999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:61.21, Y:7.15, Z:6.88 [[ 9.69161712e-01 -2.20770083e-01 -1.09481261e-01 6.12074831e+01] [ 2.19552141e-01 9.75324658e-01 -2.32092419e-02 7.14778510e+00] [ 1.11903679e-01 -1.54333658e-03 9.93717860e-01 6.87552708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.44710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:61.23, Y:7.16, Z:6.88 [[ 9.70286593e-01 -2.15776334e-01 -1.09473748e-01 6.12334574e+01] [ 2.14522679e-01 9.76442373e-01 -2.32446251e-02 7.15772030e+00] [ 1.11910446e-01 -9.30653558e-04 9.93717860e-01 6.87706175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.26, Y:7.17, Z:6.88 [[ 9.70994302e-01 -2.12570327e-01 -1.09471100e-01 6.12595369e+01] [ 2.11294941e-01 9.77145616e-01 -2.32570903e-02 7.16697885e+00] [ 1.11912972e-01 -5.48187401e-04 9.93717860e-01 6.88306709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.507105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.28, Y:7.18, Z:6.89 [[ 9.72970029e-01 -2.03340507e-01 -1.09462147e-01 6.12846857e+01] [ 2.02002036e-01 9.79107924e-01 -2.32991493e-02 7.18190724e+00] [ 1.11912917e-01 5.57797411e-04 9.93717861e-01 6.88620402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.537105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.31, Y:7.20, Z:6.89 [[ 9.74283799e-01 -1.96951060e-01 -1.09459396e-01 6.13100302e+01] [ 1.95570887e-01 9.80412452e-01 -2.33120685e-02 7.19712751e+00] [ 1.11906691e-01 1.30549958e-03 9.93717861e-01 6.88693422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.34, Y:7.21, Z:6.89 [[ 9.74216137e-01 -1.97290347e-01 -1.09450619e-01 6.13378086e+01] [ 1.95907687e-01 9.80344228e-01 -2.33532031e-02 7.20706151e+00] [ 1.11906644e-01 1.30884965e-03 9.93717862e-01 6.89214230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.36, Y:7.22, Z:6.90 [[ 9.73183473e-01 -2.02282972e-01 -1.09524090e-01 6.13622995e+01] [ 2.00970476e-01 9.79327041e-01 -2.30089929e-02 7.21720823e+00] [ 1.11914230e-01 3.80863282e-04 9.93717797e-01 6.89726033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.39, Y:7.23, Z:6.90 [[ 9.71935940e-01 -2.08237911e-01 -1.09441767e-01 6.13889476e+01] [ 2.06919670e-01 9.78078199e-01 -2.33941521e-02 7.22556306e+00] [ 1.11914156e-01 9.19628878e-05 9.93717874e-01 6.90434198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.42, Y:7.24, Z:6.91 [[ 9.69021655e-01 -2.21407212e-01 -1.09434353e-01 6.14158494e+01] [ 2.20168528e-01 9.75180451e-01 -2.34287841e-02 7.23728752e+00] [ 1.11905543e-01 -1.39100118e-03 9.93717875e-01 6.90969420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.687105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.44, Y:7.25, Z:6.91 [[ 9.66368038e-01 -2.32719907e-01 -1.09426966e-01 6.14417817e+01] [ 2.31549404e-01 9.72540153e-01 -2.34632365e-02 7.24976893e+00] [ 1.11882480e-01 -2.66362699e-03 9.93717875e-01 6.90708383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.717105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.47, Y:7.26, Z:6.91 [[ 9.65242872e-01 -2.37345309e-01 -1.09423047e-01 6.14678333e+01] [ 2.36202310e-01 9.71420140e-01 -2.34814966e-02 7.25961788e+00] [ 1.11868975e-01 -3.18062940e-03 9.93717875e-01 6.90870903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.49, Y:7.28, Z:6.92 [[ 9.64366645e-01 -2.40884845e-01 -1.09414191e-01 6.14936429e+01] [ 2.39759847e-01 9.70547216e-01 -2.35226909e-02 7.27552076e+00] [ 1.11857898e-01 -3.54863120e-03 9.93717876e-01 6.91579441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.52, Y:7.29, Z:6.93 [[ 9.65778205e-01 -2.35165297e-01 -1.09406312e-01 6.15184430e+01] [ 2.33999547e-01 9.71951219e-01 -2.35592815e-02 7.29218071e+00] [ 1.11877924e-01 -2.84798685e-03 9.93717877e-01 6.92537404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.80710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.54, Y:7.30, Z:6.93 [[ 9.67265806e-01 -2.28954572e-01 -1.09437952e-01 6.15432361e+01] [ 2.27765776e-01 9.73434438e-01 -2.34125228e-02 7.30396804e+00] [ 1.11891075e-01 -2.28008733e-03 9.93717862e-01 6.92813576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.57, Y:7.32, Z:6.93 [[ 9.70204561e-01 -2.16185433e-01 -1.09393637e-01 6.15676897e+01] [ 2.14892285e-01 9.76352142e-01 -2.36177925e-02 7.32281939e+00] [ 1.11912535e-01 -5.93758627e-04 9.93717883e-01 6.92567859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.867105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.59, Y:7.34, Z:6.93 [[ 9.71621035e-01 -2.09728870e-01 -1.09390888e-01 6.15935115e+01] [ 2.08393436e-01 9.77759569e-01 -2.36305195e-02 7.33584915e+00] [ 1.11913990e-01 1.63566738e-04 9.93717884e-01 6.92716471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.897105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.62, Y:7.35, Z:6.93 [[ 9.74309467e-01 -1.96867136e-01 -1.09381866e-01 6.16168321e+01] [ 1.95445997e-01 9.80428727e-01 -2.36722094e-02 7.35334200e+00] [ 1.11901403e-01 1.68580994e-03 9.93717884e-01 6.92882254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.927105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.64, Y:7.37, Z:6.93 [[ 9.76084536e-01 -1.87870805e-01 -1.09377966e-01 6.16425433e+01] [ 1.86391260e-01 9.82189937e-01 -2.36902167e-02 7.36761677e+00] [ 1.11880637e-01 2.73655737e-03 9.93717885e-01 6.93220513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.67, Y:7.38, Z:6.93 [[ 9.76974799e-01 -1.83189798e-01 -1.09369741e-01 6.16706281e+01] [ 1.81676764e-01 9.83071986e-01 -2.37281273e-02 7.37755401e+00] [ 1.11865079e-01 3.31184181e-03 9.93717885e-01 6.93352493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.70, Y:7.39, Z:6.94 [[ 9.77084321e-01 -1.82558230e-01 -1.09447349e-01 6.16956999e+01] [ 1.81081250e-01 9.83190416e-01 -2.33706229e-02 7.38568064e+00] [ 1.11874084e-01 3.01620648e-03 9.93717813e-01 6.93636854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.72, Y:7.40, Z:6.94 [[ 9.77091875e-01 -1.82571120e-01 -1.09358378e-01 6.17218322e+01] [ 1.81048444e-01 9.83186646e-01 -2.37798278e-02 7.39710369e+00] [ 1.11861207e-01 3.43591242e-03 9.93717900e-01 6.93613155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.047105680999984 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:61.75, Y:7.40, Z:6.94 [[ 9.77034989e-01 -1.82877712e-01 -1.09354347e-01 6.17493248e+01] [ 1.81354878e-01 9.83129720e-01 -2.37983482e-02 7.40497717e+00] [ 1.11861696e-01 3.41987455e-03 9.93717900e-01 6.93916588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.077105680999985 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:61.78, Y:7.41, Z:6.94 [[ 9.76655044e-01 -1.84900667e-01 -1.09346548e-01 6.17792877e+01] [ 1.83386455e-01 9.82751923e-01 -2.38341293e-02 7.41412625e+00] [ 1.11867477e-01 3.22504672e-03 9.93717901e-01 6.93996389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.107105680999986 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:61.80, Y:7.42, Z:6.95 [[ 9.76108039e-01 -1.87699973e-01 -1.09461479e-01 6.18045626e+01] [ 1.86262134e-01 9.82223567e-01 -2.33083887e-02 7.42188230e+00] [ 1.11890629e-01 2.36297691e-03 9.93717718e-01 6.94997523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:61.83, Y:7.43, Z:6.95 [[ 9.75695515e-01 -1.89886851e-01 -1.09367478e-01 6.18315683e+01] [ 1.88414607e-01 9.81802658e-01 -2.37376520e-02 7.42927818e+00] [ 1.11884749e-01 2.55429019e-03 9.93717907e-01 6.95272907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.16710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:61.86, Y:7.44, Z:6.96 [[ 9.74758837e-01 -1.94620307e-01 -1.09399021e-01 6.18577133e+01] [ 1.93193881e-01 9.80876886e-01 -2.35936134e-02 7.43619705e+00] [ 1.11898767e-01 1.86286173e-03 9.93717865e-01 6.95796230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19710568099999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:61.89, Y:7.44, Z:6.96 [[ 9.74110933e-01 -1.97884514e-01 -1.09314272e-01 6.18858423e+01] [ 1.96435227e-01 9.80223527e-01 -2.39799843e-02 7.44202540e+00] [ 1.11897689e-01 1.88599099e-03 9.93717943e-01 6.96277699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.22710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.91, Y:7.45, Z:6.97 [[ 9.72995248e-01 -2.03290039e-01 -1.09331639e-01 6.19138667e+01] [ 2.01883599e-01 9.79117848e-01 -2.39008800e-02 7.44907872e+00] [ 1.11907370e-01 1.18317788e-03 9.93717938e-01 6.96597850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.257105680999985 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:61.94, Y:7.46, Z:6.97 [[ 9.71618244e-01 -2.09787069e-01 -1.09304041e-01 6.19395355e+01] [ 2.08407446e-01 9.77746934e-01 -2.40264366e-02 7.45698433e+00] [ 1.11912127e-01 5.64748170e-04 9.93717946e-01 6.96690688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.287105680999986 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:61.97, Y:7.46, Z:6.97 [[ 9.70821331e-01 -2.13446502e-01 -1.09300197e-01 6.19664276e+01] [ 2.12088014e-01 9.76954740e-01 -2.40439102e-02 7.46308815e+00] [ 1.11913434e-01 1.61079150e-04 9.93717947e-01 6.96819326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:62.00, Y:7.47, Z:6.97 [[ 9.69424274e-01 -2.19708885e-01 -1.09291271e-01 6.19960258e+01] [ 2.18385451e-01 9.75565342e-01 -2.40844165e-02 7.47025033e+00] [ 1.11912336e-01 -5.19605545e-04 9.93717947e-01 6.96729075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:62.02, Y:7.48, Z:6.97 [[ 9.68721160e-01 -2.22776534e-01 -1.09315732e-01 6.20237766e+01] [ 2.21485070e-01 9.74869037e-01 -2.39734119e-02 7.47693206e+00] [ 1.11909236e-01 -9.88251314e-04 9.93717941e-01 6.96650062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.05, Y:7.48, Z:6.97 [[ 9.68273072e-01 -2.24731338e-01 -1.09284415e-01 6.20517597e+01] [ 2.23436266e-01 9.74420179e-01 -2.41153378e-02 7.48316426e+00] [ 1.11908412e-01 -1.06786951e-03 9.93717951e-01 6.96856457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.40710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:62.08, Y:7.49, Z:6.97 [[ 9.67231420e-01 -2.29192032e-01 -1.09244649e-01 6.20793651e+01] [ 2.27904967e-01 9.73380223e-01 -2.42954319e-02 7.48946631e+00] [ 1.11904900e-01 -1.39809313e-03 9.93717937e-01 6.97116823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.437105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.11, Y:7.50, Z:6.98 [[ 9.67839120e-01 -2.26597109e-01 -1.09275742e-01 6.21060842e+01] [ 2.25309435e-01 9.73987785e-01 -2.41547734e-02 7.49623592e+00] [ 1.11906640e-01 -1.24292116e-03 9.93717947e-01 6.97934841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.467105680999985 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.13, Y:7.51, Z:6.99 [[ 9.70520563e-01 -2.14823860e-01 -1.09272808e-01 6.21312612e+01] [ 2.13460098e-01 9.76652800e-01 -2.41680419e-02 7.50640134e+00] [ 1.11913466e-01 1.30197394e-04 9.93717948e-01 6.98814456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.16, Y:7.52, Z:6.99 [[ 9.71948913e-01 -2.08268371e-01 -1.09268458e-01 6.21569526e+01] [ 2.06861041e-01 9.78071299e-01 -2.41876931e-02 7.51547351e+00] [ 1.11909874e-01 9.05815105e-04 9.93717948e-01 6.99351603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:62.18, Y:7.53, Z:7.00 [[ 9.74549209e-01 -1.95742613e-01 -1.09264212e-01 6.21830138e+01] [ 1.94254461e-01 9.80652453e-01 -2.42068551e-02 7.52655270e+00] [ 1.11888531e-01 2.36571081e-03 9.93717948e-01 7.00030533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.21, Y:7.53, Z:7.00 [[ 9.75994863e-01 -1.88406735e-01 -1.09256254e-01 6.22097488e+01] [ 1.86868705e-01 9.82085728e-01 -2.42427234e-02 7.53485552e+00] [ 1.11866500e-01 3.24419877e-03 9.93717949e-01 7.00322603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.58710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.24, Y:7.54, Z:7.00 [[ 9.76197982e-01 -1.87357022e-01 -1.09246725e-01 6.22361705e+01] [ 1.85807650e-01 9.82285970e-01 -2.42855879e-02 7.54138681e+00] [ 1.11861601e-01 3.40866458e-03 9.93717950e-01 7.00451473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.617105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.26, Y:7.55, Z:7.01 [[ 9.76006593e-01 -1.88355222e-01 -1.09240290e-01 6.22636826e+01] [ 1.86808844e-01 9.82095342e-01 -2.43145015e-02 7.54781070e+00] [ 1.11864143e-01 3.32406162e-03 9.93717950e-01 7.00730786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.647105680999985 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:62.29, Y:7.55, Z:7.01 [[ 9.76022602e-01 -1.88277496e-01 -1.09231249e-01 6.22919735e+01] [ 1.86726099e-01 9.82110073e-01 -2.43550476e-02 7.55297390e+00] [ 1.11862618e-01 3.37475184e-03 9.93717951e-01 7.00792799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.677105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.32, Y:7.56, Z:7.01 [[ 9.76249899e-01 -1.87100111e-01 -1.09223092e-01 6.23192931e+01] [ 1.85537290e-01 9.82334447e-01 -2.43915768e-02 7.55798567e+00] [ 1.11857272e-01 3.54731797e-03 9.93717952e-01 7.00852985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.35, Y:7.56, Z:7.01 [[ 9.77213354e-01 -1.82002765e-01 -1.09220206e-01 6.23463968e+01] [ 1.80406770e-01 9.83289285e-01 -2.44044909e-02 7.56026912e+00] [ 1.11836743e-01 4.14432984e-03 9.93717952e-01 7.01352858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.37, Y:7.56, Z:7.02 [[ 9.78018925e-01 -1.77693906e-01 -1.09104802e-01 6.23749530e+01] [ 1.76013757e-01 9.84072237e-01 -2.49196504e-02 7.56205897e+00] [ 1.11795077e-01 5.16794355e-03 9.93717844e-01 7.01818074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.40, Y:7.57, Z:7.02 [[ 9.78335338e-01 -1.75902595e-01 -1.09170712e-01 6.24036115e+01] [ 1.74244110e-01 9.84394523e-01 -2.46254791e-02 7.56683582e+00] [ 1.11798737e-01 5.06962286e-03 9.93717939e-01 7.02129833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.797105680999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.43, Y:7.57, Z:7.02 [[ 9.78280873e-01 -1.76215357e-01 -1.09154391e-01 6.24311833e+01] [ 1.74550706e-01 9.84338381e-01 -2.46982469e-02 7.57322709e+00] [ 1.11797067e-01 5.10884644e-03 9.93717926e-01 7.02448573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.827105680999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.46, Y:7.57, Z:7.02 [[ 9.78892171e-01 -1.72792806e-01 -1.09145608e-01 6.24587678e+01] [ 1.71102631e-01 9.84942614e-01 -2.47373417e-02 7.57486436e+00] [ 1.11776596e-01 5.54008936e-03 9.93717918e-01 7.02432320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.857105680999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.49, Y:7.57, Z:7.02 [[ 9.78377180e-01 -1.75714676e-01 -1.09098337e-01 6.24889087e+01] [ 1.74019187e-01 9.84426201e-01 -2.49474829e-02 7.57168506e+00] [ 1.11782900e-01 5.42284411e-03 9.93717855e-01 7.02481363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.52, Y:7.57, Z:7.03 [[ 9.77941196e-01 -1.78073834e-01 -1.09182079e-01 6.25179491e+01] [ 1.76434374e-01 9.84005568e-01 -2.45754755e-02 7.57181700e+00] [ 1.11812023e-01 4.76989814e-03 9.93717928e-01 7.02683271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:62.55, Y:7.57, Z:7.04 [[ 9.76402246e-01 -1.86332636e-01 -1.09173271e-01 6.25481923e+01] [ 1.84740125e-01 9.82479115e-01 -2.46145424e-02 7.56778756e+00] [ 1.11846951e-01 3.86501078e-03 9.93717928e-01 7.03551169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.94710568099999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:62.58, Y:7.56, Z:7.04 [[ 9.74237749e-01 -1.97354966e-01 -1.09141308e-01 6.25756949e+01] [ 1.95815372e-01 9.80328247e-01 -2.47561728e-02 7.56363923e+00] [ 1.11880061e-01 2.74685216e-03 9.93717921e-01 7.04221146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.60, Y:7.56, Z:7.04 [[ 9.72672211e-01 -2.04965592e-01 -1.09077382e-01 6.26044484e+01] [ 2.03441939e-01 9.78766787e-01 -2.50390390e-02 7.56498565e+00] [ 1.11893460e-01 2.16386341e-03 9.93717853e-01 7.04436011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.63, Y:7.56, Z:7.05 [[ 9.69426326e-01 -2.19766247e-01 -1.09157664e-01 6.26341994e+01] [ 2.18375615e-01 9.75552555e-01 -2.46840502e-02 7.56264260e+00] [ 1.11913759e-01 9.19961764e-05 9.93717919e-01 7.04922141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.037105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.66, Y:7.57, Z:7.06 [[ 9.67857295e-01 -2.26568747e-01 -1.09173528e-01 6.26635965e+01] [ 2.25229078e-01 9.73994875e-01 -2.46139518e-02 7.56657184e+00] [ 1.11911209e-01 -7.66260225e-04 9.93717915e-01 7.05541528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.067105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.69, Y:7.57, Z:7.06 [[ 9.65954564e-01 -2.34493502e-01 -1.09291254e-01 6.26916981e+01] [ 2.33263025e-01 9.72115151e-01 -2.40934452e-02 7.56990943e+00] [ 1.11893440e-01 -2.22043514e-03 9.93717730e-01 7.05658308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.72, Y:7.58, Z:7.07 [[ 9.65159458e-01 -2.37794061e-01 -1.09184275e-01 6.27186551e+01] [ 2.36531227e-01 9.71313291e-01 -2.45656300e-02 7.57660242e+00] [ 1.11893699e-01 -2.11574059e-03 9.93717930e-01 7.06573769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.74, Y:7.58, Z:7.07 [[ 9.65019109e-01 -2.38365082e-01 -1.09179701e-01 6.27441463e+01] [ 2.37103611e-01 9.71173217e-01 -2.45857827e-02 7.58445195e+00] [ 1.11892794e-01 -2.16115120e-03 9.93717934e-01 7.07333489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:62.77, Y:7.60, Z:7.08 [[ 9.65147139e-01 -2.37868859e-01 -1.09130221e-01 6.27704532e+01] [ 2.36579609e-01 9.71295462e-01 -2.48034979e-02 7.59579454e+00] [ 1.11897668e-01 -1.87895992e-03 9.93717959e-01 7.07715969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.80, Y:7.60, Z:7.08 [[ 9.65236863e-01 -2.37503496e-01 -1.09132430e-01 6.27971326e+01] [ 2.36213015e-01 9.71384929e-01 -2.47937842e-02 7.60467334e+00] [ 1.11898208e-01 -1.84662585e-03 9.93717958e-01 7.08205152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.82, Y:7.62, Z:7.09 [[ 9.65725386e-01 -2.35514257e-01 -1.09121553e-01 6.28234752e+01] [ 2.34205718e-01 9.71869631e-01 -2.48415366e-02 7.61728996e+00] [ 1.11902459e-01 -1.56678906e-03 9.93717960e-01 7.08995983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:7.63, Z:7.09 [[ 9.66142274e-01 -2.33806869e-01 -1.09102956e-01 6.28506341e+01] [ 2.32478266e-01 9.72282211e-01 -2.49230579e-02 7.62698917e+00] [ 1.11906045e-01 -1.28484611e-03 9.93717961e-01 7.09330993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.88, Y:7.64, Z:7.09 [[ 9.67334714e-01 -2.28820803e-01 -1.09108163e-01 6.28777685e+01] [ 2.27463124e-01 9.73468287e-01 -2.49002415e-02 7.64006432e+00] [ 1.11911030e-01 -7.31215608e-04 9.93717961e-01 7.09297821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.90, Y:7.65, Z:7.09 [[ 9.69518909e-01 -2.19352110e-01 -1.09168389e-01 6.29019590e+01] [ 2.17964229e-01 9.75645757e-01 -2.46363806e-02 7.65030413e+00] [ 1.11913718e-01 9.06330728e-05 9.93717924e-01 7.09408681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.93, Y:7.66, Z:7.09 [[ 9.70379207e-01 -2.15589564e-01 -1.09019885e-01 6.29300121e+01] [ 2.14104928e-01 9.76483339e-01 -2.52857326e-02 7.66051082e+00] [ 1.11907442e-01 1.19505454e-03 9.93717916e-01 7.09307047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.367105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.96, Y:7.67, Z:7.08 [[ 9.72027123e-01 -2.07994752e-01 -1.09093787e-01 6.29561235e+01] [ 2.06498647e-01 9.78128400e-01 -2.49628150e-02 7.67444239e+00] [ 1.11899866e-01 1.73681384e-03 9.93717970e-01 7.08440839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.397105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.98, Y:7.69, Z:7.08 [[ 9.72314130e-01 -2.06702916e-01 -1.08991452e-01 6.29846024e+01] [ 2.05148642e-01 9.78400940e-01 -2.54093665e-02 7.68530282e+00] [ 1.11889529e-01 2.34643780e-03 9.93717881e-01 7.08314358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.427105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.01, Y:7.69, Z:7.08 [[ 9.72748158e-01 -2.04602267e-01 -1.09082233e-01 6.30106042e+01] [ 2.03079201e-01 9.78842767e-01 -2.50135191e-02 7.69495468e+00] [ 1.11892177e-01 2.17952200e-03 9.93717963e-01 7.08490115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.04, Y:7.70, Z:7.09 [[ 9.72797405e-01 -2.04369495e-01 -1.09079414e-01 6.30382545e+01] [ 2.02843594e-01 9.78891304e-01 -2.50258058e-02 7.70295569e+00] [ 1.11891401e-01 2.21897864e-03 9.93717963e-01 7.09087817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:7.71, Z:7.10 [[ 9.72792089e-01 -2.04392392e-01 -1.09083924e-01 6.30650463e+01] [ 2.02868837e-01 9.78886575e-01 -2.50061546e-02 7.71078663e+00] [ 1.11891857e-01 2.19606056e-03 9.93717963e-01 7.09506163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:7.72, Z:7.10 [[ 9.72965819e-01 -2.03575871e-01 -1.09061358e-01 6.30903850e+01] [ 2.02036201e-01 9.79056253e-01 -2.51043285e-02 7.71961991e+00] [ 1.11887840e-01 2.39131123e-03 9.93717965e-01 7.09834314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:7.73, Z:7.10 [[ 9.72199361e-01 -2.07274319e-01 -1.08930063e-01 6.31178461e+01] [ 2.05693949e-01 9.78279527e-01 -2.56742458e-02 7.73046725e+00] [ 1.11885662e-01 2.55423063e-03 9.93717804e-01 7.10471492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:7.74, Z:7.11 [[ 9.71339819e-01 -2.11225058e-01 -1.09008860e-01 6.31441969e+01] [ 2.09707765e-01 9.77435893e-01 -2.53323534e-02 7.73844016e+00] [ 1.11900000e-01 1.74631928e-03 9.93717938e-01 7.10956278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.17, Y:7.74, Z:7.11 [[ 9.70819571e-01 -2.13644827e-01 -1.08927724e-01 6.31717613e+01] [ 2.12103257e-01 9.76909687e-01 -2.56840712e-02 7.74441804e+00] [ 1.11899818e-01 1.83067384e-03 9.93717807e-01 7.11098465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.20, Y:7.75, Z:7.11 [[ 9.69417250e-01 -2.19946388e-01 -1.08875071e-01 6.31998755e+01] [ 2.18418796e-01 9.75511042e-01 -2.59121030e-02 7.75143822e+00] [ 1.11908108e-01 1.33927773e-03 9.93717657e-01 7.10787679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:7.76, Z:7.11 [[ 9.69086661e-01 -2.21343381e-01 -1.08986933e-01 6.32273961e+01] [ 2.19879060e-01 9.75195698e-01 -2.54273499e-02 7.75868103e+00] [ 1.11911763e-01 6.77361289e-04 9.93717917e-01 7.11224190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.697105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.25, Y:7.77, Z:7.12 [[ 9.69021355e-01 -2.21633736e-01 -1.08977520e-01 6.32531141e+01] [ 2.20166663e-01 9.75129743e-01 -2.54680968e-02 7.76802078e+00] [ 1.11911811e-01 6.85912720e-04 9.93717906e-01 7.11679217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.28, Y:7.78, Z:7.12 [[ 9.68960201e-01 -2.21945284e-01 -1.08887184e-01 6.32800194e+01] [ 2.20436272e-01 9.75058553e-01 -2.58586251e-02 7.77633635e+00] [ 1.11910580e-01 1.05329377e-03 9.93717723e-01 7.11740608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.757105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:7.79, Z:7.12 [[ 9.68520383e-01 -2.23826410e-01 -1.08949558e-01 6.33082755e+01] [ 2.22359570e-01 9.74628866e-01 -2.55889522e-02 7.78572151e+00] [ 1.11912867e-01 5.57445024e-04 9.93717867e-01 7.12020882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.787105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.34, Y:7.79, Z:7.12 [[ 9.67908589e-01 -2.26453433e-01 -1.08957814e-01 6.33367458e+01] [ 2.25007190e-01 9.74021969e-01 -2.55532564e-02 7.79362969e+00] [ 1.11913927e-01 2.16924887e-04 9.93717880e-01 7.12281620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.817105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.36, Y:7.80, Z:7.13 [[ 9.66747918e-01 -2.31322424e-01 -1.09033934e-01 6.33631288e+01] [ 2.29944063e-01 9.72876901e-01 -2.52242505e-02 7.80084828e+00] [ 1.11911530e-01 -6.86213979e-04 9.93717937e-01 7.12653063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.39, Y:7.81, Z:7.13 [[ 9.65420772e-01 -2.36841073e-01 -1.08945121e-01 6.33902330e+01] [ 2.35454479e-01 9.71547962e-01 -2.56075412e-02 7.80788539e+00] [ 1.11910328e-01 -9.29564565e-04 9.93717875e-01 7.13033574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.42, Y:7.82, Z:7.14 [[ 9.65034496e-01 -2.38418571e-01 -1.08926612e-01 6.34173032e+01] [ 2.37032987e-01 9.71161945e-01 -2.56873348e-02 7.81505227e+00] [ 1.11909718e-01 -1.03003601e-03 9.93717844e-01 7.13507030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:7.82, Z:7.14 [[ 9.65556120e-01 -2.36253480e-01 -1.09021429e-01 6.34434930e+01] [ 2.34900298e-01 9.71690717e-01 -2.52784483e-02 7.82289978e+00] [ 1.11907232e-01 -1.20140575e-03 9.93717932e-01 7.13817891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:7.83, Z:7.14 [[ 9.67369942e-01 -2.28774502e-01 -1.08892714e-01 6.34682445e+01] [ 2.27311534e-01 9.73479415e-01 -2.58320599e-02 7.83425111e+00] [ 1.11914532e-01 2.36588438e-04 9.93717808e-01 7.14375105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.50, Y:7.85, Z:7.14 [[ 9.69135476e-01 -2.21249285e-01 -1.08743656e-01 6.34978665e+01] [ 2.19667165e-01 9.75215686e-01 -2.64707905e-02 7.84616240e+00] [ 1.11905162e-01 1.76637164e-03 9.93717321e-01 7.14375920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:7.85, Z:7.14 [[ 9.70606005e-01 -2.14580399e-01 -1.08991902e-01 6.35252689e+01] [ 2.13075898e-01 9.76705273e-01 -2.54061121e-02 7.85392267e+00] [ 1.11904619e-01 1.43577759e-03 9.93717915e-01 7.14404188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.55, Y:7.87, Z:7.14 [[ 9.72499032e-01 -2.05877291e-01 -1.08904426e-01 6.35529505e+01] [ 2.04276246e-01 9.78573737e-01 -2.57809359e-02 7.86659992e+00] [ 1.11878720e-01 2.82534787e-03 9.93717852e-01 7.14346536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.58, Y:7.88, Z:7.15 [[ 9.73520300e-01 -2.00949914e-01 -1.08983289e-01 6.35783324e+01] [ 1.99355896e-01 9.79596791e-01 -2.54431633e-02 7.87510487e+00] [ 1.11872482e-01 3.04297477e-03 9.93717912e-01 7.14830608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:7.88, Z:7.16 [[ 9.74083183e-01 -1.98275968e-01 -1.08851240e-01 6.36073326e+01] [ 1.96602204e-01 9.80138342e-01 -2.60077684e-02 7.88360082e+00] [ 1.11845989e-01 3.93333624e-03 9.93717769e-01 7.15590968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.63, Y:7.88, Z:7.16 [[ 9.74350210e-01 -1.96891333e-01 -1.08974640e-01 6.36336464e+01] [ 1.95267882e-01 9.80418900e-01 -2.54800770e-02 7.88458753e+00] [ 1.11857603e-01 3.54727124e-03 9.93717915e-01 7.16339794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.147105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:7.89, Z:7.17 [[ 9.73934308e-01 -1.99039454e-01 -1.08789980e-01 6.36623942e+01] [ 1.97341342e-01 9.79982838e-01 -2.62684611e-02 7.88995836e+00] [ 1.11840773e-01 4.11499477e-03 9.93717620e-01 7.16653068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.177105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:7.89, Z:7.17 [[ 9.73942695e-01 -1.98934825e-01 -1.08906205e-01 6.36881519e+01] [ 1.97291469e-01 9.80006057e-01 -2.57721603e-02 7.89298570e+00] [ 1.11855721e-01 3.61434212e-03 9.93717885e-01 7.16885040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:7.90, Z:7.17 [[ 9.73959050e-01 -1.98988589e-01 -1.08661452e-01 6.37184243e+01] [ 1.97229300e-01 9.79990609e-01 -2.68143625e-02 7.89843874e+00] [ 1.11822954e-01 4.68486897e-03 9.93717102e-01 7.16686296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.75, Y:7.90, Z:7.17 [[ 9.75224161e-01 -1.92526666e-01 -1.08955584e-01 6.37474456e+01] [ 1.90867029e-01 9.81283044e-01 -2.55610091e-02 7.90046585e+00] [ 1.11837443e-01 4.13168505e-03 9.93717926e-01 7.16605793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:7.90, Z:7.17 [[ 9.75800158e-01 -1.89590473e-01 -1.08947250e-01 6.37751095e+01] [ 1.87908653e-01 9.81852921e-01 -2.55964811e-02 7.90437514e+00] [ 1.11823025e-01 4.50491924e-03 9.93717926e-01 7.16829451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.80, Y:7.91, Z:7.17 [[ 9.76767973e-01 -1.84545236e-01 -1.08937520e-01 6.38038218e+01] [ 1.82827558e-01 9.82810656e-01 -2.56378247e-02 7.90539083e+00] [ 1.11796294e-01 5.12542528e-03 9.93717927e-01 7.17383806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.83, Y:7.91, Z:7.18 [[ 9.77047171e-01 -1.83090803e-01 -1.08887944e-01 6.38327109e+01] [ 1.81340724e-01 9.83080570e-01 -2.58483147e-02 7.90672948e+00] [ 1.11778211e-01 5.50920406e-03 9.93717908e-01 7.17758013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.86, Y:7.91, Z:7.18 [[ 9.77079256e-01 -1.82896032e-01 -1.08927353e-01 6.38613029e+01] [ 1.81163334e-01 9.83117655e-01 -2.56811707e-02 7.90816035e+00] [ 1.11785388e-01 5.35889677e-03 9.93717922e-01 7.18327079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.89, Y:7.90, Z:7.19 [[ 9.76795842e-01 -1.84430103e-01 -1.08882597e-01 6.38905304e+01] [ 1.82685791e-01 9.82830912e-01 -2.58708491e-02 7.90258692e+00] [ 1.11784545e-01 5.37923448e-03 9.93717907e-01 7.18572225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.92, Y:7.90, Z:7.19 [[ 9.76655938e-01 -1.85188741e-01 -1.08849938e-01 6.39188483e+01] [ 1.83433742e-01 9.82687941e-01 -2.60090988e-02 7.90455777e+00] [ 1.11782114e-01 5.43518926e-03 9.93717876e-01 7.18878367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.95, Y:7.90, Z:7.19 [[ 9.76563473e-01 -1.85704054e-01 -1.08801598e-01 6.39472998e+01] [ 1.83929511e-01 9.82589836e-01 -2.62135304e-02 7.90347824e+00] [ 1.11775303e-01 5.58735155e-03 9.93717799e-01 7.19234179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.98, Y:7.91, Z:7.19 [[ 9.76658683e-01 -1.85190210e-01 -1.08822804e-01 6.39765920e+01] [ 1.83422456e-01 9.82687002e-01 -2.61239152e-02 7.90529064e+00] [ 1.11776649e-01 5.55360250e-03 9.93717836e-01 7.19254759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.507105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:7.90, Z:7.19 [[ 9.76418276e-01 -1.86461974e-01 -1.08808468e-01 6.40074857e+01] [ 1.84695344e-01 9.82446948e-01 -2.61844350e-02 7.90192402e+00] [ 1.11780949e-01 5.47054343e-03 9.93717813e-01 7.19222702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.537105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.04, Y:7.90, Z:7.20 [[ 9.75917173e-01 -1.89015934e-01 -1.08897417e-01 6.40368318e+01] [ 1.87306855e-01 9.81962336e-01 -2.58091660e-02 7.89926790e+00] [ 1.11811506e-01 4.79037559e-03 9.93717887e-01 7.19544229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:7.90, Z:7.20 [[ 9.75576501e-01 -1.90771758e-01 -1.08888139e-01 6.40657244e+01] [ 1.89069205e-01 9.81623504e-01 -2.58482514e-02 7.90023844e+00] [ 1.11818273e-01 4.62955278e-03 9.93717888e-01 7.19998171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.10, Y:7.89, Z:7.21 [[ 9.75090355e-01 -1.93245800e-01 -1.08880027e-01 6.40964175e+01] [ 1.91554787e-01 9.81140595e-01 -2.58823761e-02 7.89369921e+00] [ 1.11828275e-01 4.38116484e-03 9.93717889e-01 7.20662878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.12, Y:7.89, Z:7.21 [[ 9.75526666e-01 -1.91035759e-01 -1.08871774e-01 6.41228793e+01] [ 1.89327178e-01 9.81571967e-01 -2.59170483e-02 7.88935018e+00] [ 1.11816564e-01 4.67038614e-03 9.93717889e-01 7.21228440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:7.89, Z:7.22 [[ 9.75288286e-01 -1.92357951e-01 -1.08679239e-01 6.41533714e+01] [ 1.90567746e-01 9.81310230e-01 -2.67239090e-02 7.89296075e+00] [ 1.11788605e-01 5.35275778e-03 9.93717594e-01 7.21581992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.18, Y:7.89, Z:7.22 [[ 9.75418385e-01 -1.91594501e-01 -1.08860098e-01 6.41813695e+01] [ 1.89883951e-01 9.81463123e-01 -2.59658160e-02 7.89391607e+00] [ 1.11817079e-01 4.65674887e-03 9.93717895e-01 7.21953019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.21, Y:7.90, Z:7.22 [[ 9.75351082e-01 -1.91942060e-01 -1.08850868e-01 6.42088755e+01] [ 1.90229359e-01 9.81395211e-01 -2.60044516e-02 7.90073318e+00] [ 1.11817068e-01 4.65683912e-03 9.93717896e-01 7.22271788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.24, Y:7.90, Z:7.23 [[ 9.75372711e-01 -1.91837357e-01 -1.08841646e-01 6.42384776e+01] [ 1.90119714e-01 9.81415435e-01 -2.60429952e-02 7.89590935e+00] [ 1.11814890e-01 4.70868426e-03 9.93717897e-01 7.22637832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.27, Y:7.89, Z:7.23 [[ 9.75335311e-01 -1.92032613e-01 -1.08832474e-01 6.42682082e+01] [ 1.90311917e-01 9.81377166e-01 -2.60812665e-02 7.89224136e+00] [ 1.11814159e-01 4.72586338e-03 9.93717898e-01 7.22895373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.30, Y:7.89, Z:7.23 [[ 9.75334916e-01 -1.92039973e-01 -1.08823024e-01 6.42962597e+01] [ 1.90314938e-01 9.81375533e-01 -2.61206394e-02 7.89336555e+00] [ 1.11812460e-01 4.76572462e-03 9.93717898e-01 7.23117173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.837105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.33, Y:7.89, Z:7.23 [[ 9.75565839e-01 -1.90868783e-01 -1.08813607e-01 6.43256901e+01] [ 1.89132137e-01 9.81603127e-01 -2.61598071e-02 7.88965752e+00] [ 1.11804868e-01 4.94046408e-03 9.93717899e-01 7.23171029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.867105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.35, Y:7.89, Z:7.23 [[ 9.76286132e-01 -1.87155215e-01 -1.08804013e-01 6.43536711e+01] [ 1.85391178e-01 9.82315473e-01 -2.61996519e-02 7.88657584e+00] [ 1.11783267e-01 5.40705265e-03 9.93717900e-01 7.23138004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.897105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.38, Y:7.89, Z:7.23 [[ 9.76195174e-01 -1.87714866e-01 -1.08655934e-01 6.43838661e+01] [ 1.85886050e-01 9.82205372e-01 -2.68138623e-02 7.88968977e+00] [ 1.11755803e-01 5.97794055e-03 9.93717719e-01 7.23438735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.927105681 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:64.41, Y:7.89, Z:7.24 [[ 9.76423007e-01 -1.86444620e-01 -1.08795752e-01 6.44128179e+01] [ 1.84672366e-01 9.82449942e-01 -2.62341037e-02 7.88508233e+00] [ 1.11777588e-01 5.52401336e-03 9.93717896e-01 7.23941958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95710568099999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:64.44, Y:7.88, Z:7.24 [[ 9.76721700e-01 -1.84875226e-01 -1.08792793e-01 6.44422949e+01] [ 1.83091926e-01 9.82745376e-01 -2.62463710e-02 7.88378052e+00] [ 1.11767918e-01 5.71631805e-03 9.93717896e-01 7.24401252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.47, Y:7.89, Z:7.25 [[ 9.76890212e-01 -1.83987487e-01 -1.08784737e-01 6.44707936e+01] [ 1.82195011e-01 9.82911163e-01 -2.62797195e-02 7.88698086e+00] [ 1.11760872e-01 5.85236442e-03 9.93717896e-01 7.24576354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:64.50, Y:7.89, Z:7.24 [[ 9.77122265e-01 -1.82756567e-01 -1.08775535e-01 6.45002356e+01] [ 1.80952285e-01 9.83139688e-01 -2.63177519e-02 7.88634320e+00] [ 1.11751288e-01 6.03247963e-03 9.93717897e-01 7.24365943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.53, Y:7.89, Z:7.25 [[ 9.77191312e-01 -1.82388705e-01 -1.08772698e-01 6.45278407e+01] [ 1.80580857e-01 9.83207665e-01 -2.63294750e-02 7.88890758e+00] [ 1.11748349e-01 6.08666719e-03 9.93717897e-01 7.24735670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.56, Y:7.89, Z:7.25 [[ 9.76171150e-01 -1.87854539e-01 -1.08630371e-01 6.45579994e+01] [ 1.86015188e-01 9.82178114e-01 -2.69165738e-02 7.88724770e+00] [ 1.11750773e-01 6.06828405e-03 9.93717737e-01 7.25020879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.107105681 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:64.59, Y:7.89, Z:7.25 [[ 9.74822269e-01 -1.94689573e-01 -1.08708386e-01 6.45883867e+01] [ 1.92928135e-01 9.80852407e-01 -2.65949492e-02 7.88529965e+00] [ 1.11804641e-01 4.95244255e-03 9.93717865e-01 7.25160565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.137105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.62, Y:7.89, Z:7.25 [[ 9.74152570e-01 -1.97985188e-01 -1.08759533e-01 6.46165271e+01] [ 1.96267646e-01 9.80195332e-01 -2.63841228e-02 7.88886726e+00] [ 1.11829252e-01 4.35618346e-03 9.93717889e-01 7.25476806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.167105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:64.64, Y:7.89, Z:7.26 [[ 9.73152707e-01 -2.02847451e-01 -1.08750722e-01 6.46449526e+01] [ 2.01156059e-01 9.79202840e-01 -2.64203906e-02 7.89066881e+00] [ 1.11848325e-01 3.83520790e-03 9.93717889e-01 7.25920731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.197105681 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:64.67, Y:7.89, Z:7.26 [[ 9.72613485e-01 -2.05418801e-01 -1.08747990e-01 6.46724971e+01] [ 2.03742150e-01 9.78667719e-01 -2.64316327e-02 7.89475947e+00] [ 1.11857702e-01 3.55121313e-03 9.93717889e-01 7.26312975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.227105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:64.70, Y:7.90, Z:7.26 [[ 9.71717564e-01 -2.09620573e-01 -1.08739100e-01 6.47005999e+01] [ 2.07966021e-01 9.77777874e-01 -2.64681538e-02 7.89600777e+00] [ 1.11870956e-01 3.10553190e-03 9.93717890e-01 7.26468780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.257105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:7.90, Z:7.27 [[ 9.70142308e-01 -2.16795537e-01 -1.08736370e-01 6.47301447e+01] [ 2.15184558e-01 9.76214346e-01 -2.64793662e-02 7.90041806e+00] [ 1.11890613e-01 2.29036577e-03 9.93717890e-01 7.26678397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.287105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:64.76, Y:7.90, Z:7.27 [[ 9.69209672e-01 -2.20881964e-01 -1.08829083e-01 6.47578255e+01] [ 2.19339287e-01 9.75299507e-01 -2.60988385e-02 7.90459207e+00] [ 1.11905713e-01 1.42475341e-03 9.93717808e-01 7.26820052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.79, Y:7.91, Z:7.27 [[ 9.66570733e-01 -2.32206596e-01 -1.08724953e-01 6.47853380e+01] [ 2.30687237e-01 9.72666328e-01 -2.65256956e-02 7.90548457e+00] [ 1.11912542e-01 5.57501953e-04 9.93717904e-01 7.27144583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.81, Y:7.91, Z:7.28 [[ 9.64905960e-01 -2.39033083e-01 -1.08718322e-01 6.48136518e+01] [ 2.37553790e-01 9.71011402e-01 -2.65528477e-02 7.91077196e+00] [ 1.11913739e-01 -2.05448353e-04 9.93717904e-01 7.27787688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.84, Y:7.92, Z:7.29 [[ 9.61621573e-01 -2.51924730e-01 -1.08710073e-01 6.48411907e+01] [ 2.50523465e-01 9.67745394e-01 -2.65865751e-02 7.91584891e+00] [ 1.11901488e-01 -1.66820005e-03 9.93717905e-01 7.28956171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.87, Y:7.92, Z:7.30 [[ 9.59805110e-01 -2.58762690e-01 -1.08701526e-01 6.48701369e+01] [ 2.57401096e-01 9.65937872e-01 -2.66214742e-02 7.92378028e+00] [ 1.11887565e-01 -2.42846507e-03 9.93717905e-01 7.29558333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:64.89, Y:7.93, Z:7.30 [[ 9.58280308e-01 -2.64276005e-01 -1.08890057e-01 6.48942359e+01] [ 2.63037069e-01 9.64439329e-01 -2.58511152e-02 7.93179123e+00] [ 1.11849683e-01 -3.86950690e-03 9.93717603e-01 7.29845287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:64.92, Y:7.94, Z:7.30 [[ 9.57711697e-01 -2.66410897e-01 -1.08690110e-01 6.49201308e+01] [ 2.65093189e-01 9.63853989e-01 -2.66662546e-02 7.94296311e+00] [ 1.11865577e-01 -3.27442388e-03 9.93717953e-01 7.29918525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:7.95, Z:7.30 [[ 9.57324483e-01 -2.67800216e-01 -1.08687065e-01 6.49470324e+01] [ 2.66490014e-01 9.63468381e-01 -2.66786602e-02 7.95260616e+00] [ 1.11861101e-01 -3.42388278e-03 9.93717953e-01 7.30180434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.527105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.97, Y:7.97, Z:7.31 [[ 9.56996928e-01 -2.68972481e-01 -1.08676972e-01 6.49721607e+01] [ 2.67665148e-01 9.63141436e-01 -2.67197103e-02 7.96705034e+00] [ 1.11858162e-01 -3.51835719e-03 9.93717954e-01 7.30595883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.557105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:65.00, Y:7.98, Z:7.31 [[ 9.56841043e-01 -2.69530619e-01 -1.08666757e-01 6.49966634e+01] [ 2.68222164e-01 9.62985311e-01 -2.67611889e-02 7.97861207e+00] [ 1.11857451e-01 -3.54062891e-03 9.93717955e-01 7.30941798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.587105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:65.02, Y:8.00, Z:7.31 [[ 9.56154287e-01 -2.71958585e-01 -1.08662353e-01 6.50203421e+01] [ 2.70663702e-01 9.62301430e-01 -2.67790588e-02 7.99516270e+00] [ 1.11848733e-01 -3.80604299e-03 9.93717955e-01 7.31188131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.617105681 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:65.05, Y:8.01, Z:7.32 [[ 9.54759142e-01 -2.76878721e-01 -1.08504173e-01 6.50461193e+01] [ 2.75542765e-01 9.60897678e-01 -2.74196507e-02 8.01016107e+00] [ 1.11853325e-01 -3.71837764e-03 9.93717770e-01 7.31616163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.647105681 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:65.07, Y:8.02, Z:7.32 [[ 9.53976634e-01 -2.79506663e-01 -1.08649007e-01 6.50707399e+01] [ 2.78254236e-01 9.60132571e-01 -2.68332957e-02 8.02211859e+00] [ 1.11817536e-01 -4.63370949e-03 9.93717952e-01 7.31813291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.677105681 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:65.10, Y:8.03, Z:7.32 [[ 9.52998922e-01 -2.82824976e-01 -1.08642014e-01 6.50962528e+01] [ 2.81590763e-01 9.59158536e-01 -2.68615811e-02 8.03445951e+00] [ 1.11802041e-01 -4.99352964e-03 9.93717952e-01 7.32063757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70710568099999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:65.12, Y:8.05, Z:7.32 [[ 9.52042324e-01 -2.86032516e-01 -1.08631552e-01 6.51198424e+01] [ 2.84814243e-01 9.58205109e-01 -2.69038254e-02 8.05288944e+00] [ 1.11786677e-01 -5.32623267e-03 9.93717953e-01 7.32292242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73710568099999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:65.14, Y:8.07, Z:7.32 [[ 9.51915921e-01 -2.86454630e-01 -1.08627000e-01 6.51431199e+01] [ 2.85236999e-01 9.58078833e-01 -2.69221910e-02 8.07354361e+00] [ 1.11785216e-01 -5.35677727e-03 9.93717953e-01 7.32445280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:65.17, Y:8.09, Z:7.33 [[ 9.51862416e-01 -2.86636340e-01 -1.08616525e-01 6.51661862e+01] [ 2.85415082e-01 9.58024610e-01 -2.69643867e-02 8.09348552e+00] [ 1.11786277e-01 -5.33440804e-03 9.93717954e-01 7.32957889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.19, Y:8.11, Z:7.33 [[ 9.51739323e-01 -2.87073963e-01 -1.08539395e-01 6.51918051e+01] [ 2.85820251e-01 9.57895030e-01 -2.72744321e-02 8.10741863e+00] [ 1.11799126e-01 -5.06460751e-03 9.93717920e-01 7.33101772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.22, Y:8.13, Z:7.33 [[ 9.51653375e-01 -2.87335302e-01 -1.08601467e-01 6.52159616e+01] [ 2.86111668e-01 9.57815098e-01 -2.70250069e-02 8.13068002e+00] [ 1.11785363e-01 -5.35370787e-03 9.93717953e-01 7.33430726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:8.15, Z:7.34 [[ 9.51479792e-01 -2.87904499e-01 -1.08614937e-01 6.52402909e+01] [ 2.86690711e-01 9.57643465e-01 -2.69709120e-02 8.14565447e+00] [ 1.11779431e-01 -5.47661570e-03 9.93717951e-01 7.33635333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.887105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.26, Y:8.17, Z:7.34 [[ 9.51194758e-01 -2.88855160e-01 -1.08587425e-01 6.52642342e+01] [ 2.87634968e-01 9.57357160e-01 -2.70812290e-02 8.16690881e+00] [ 1.11779502e-01 -5.47401753e-03 9.93717957e-01 7.34271683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.917105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.29, Y:8.18, Z:7.35 [[ 9.51019618e-01 -2.89434654e-01 -1.08578391e-01 6.52892445e+01] [ 2.88214099e-01 9.57181947e-01 -2.71174006e-02 8.18153828e+00] [ 1.11777991e-01 -5.50464326e-03 9.93717958e-01 7.34806482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.947105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.31, Y:8.20, Z:7.35 [[ 9.51278015e-01 -2.88588251e-01 -1.08567767e-01 6.53114890e+01] [ 2.87357377e-01 9.57438290e-01 -2.71598695e-02 8.20487458e+00] [ 1.11784957e-01 -5.36116203e-03 9.93717959e-01 7.35223796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.977105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.33, Y:8.23, Z:7.36 [[ 9.52705621e-01 -2.83843857e-01 -1.08557200e-01 6.53341191e+01] [ 2.82577501e-01 9.58858699e-01 -2.72020422e-02 8.22648920e+00] [ 1.11812148e-01 -4.76028378e-03 9.93717960e-01 7.35598566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.007105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.36, Y:8.25, Z:7.36 [[ 9.55150475e-01 -2.75506615e-01 -1.08552639e-01 6.53555229e+01] [ 2.74184468e-01 9.61291806e-01 -2.72202284e-02 8.24972137e+00] [ 1.11850116e-01 -3.76403357e-03 9.93717960e-01 7.36353013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.037105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.38, Y:8.27, Z:7.37 [[ 9.56428172e-01 -2.71039578e-01 -1.08548138e-01 6.53799001e+01] [ 2.69686709e-01 9.62562809e-01 -2.72381656e-02 8.26524354e+00] [ 1.11867022e-01 -3.22264125e-03 9.93717960e-01 7.36666264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:8.29, Z:7.37 [[ 9.59061616e-01 -2.61572796e-01 -1.08537959e-01 6.54037058e+01] [ 2.60154774e-01 9.65181521e-01 -2.72786683e-02 8.28775667e+00] [ 1.11894190e-01 -2.07474453e-03 9.93717961e-01 7.36531495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.43, Y:8.30, Z:7.36 [[ 9.60710291e-01 -2.55455387e-01 -1.08527796e-01 6.54286020e+01] [ 2.53993831e-01 9.66819944e-01 -2.73190433e-02 8.30070276e+00] [ 1.11905634e-01 -1.31970459e-03 9.93717962e-01 7.36459006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:8.32, Z:7.36 [[ 9.64090937e-01 -2.42386751e-01 -1.08523394e-01 6.54535826e+01] [ 2.40840403e-01 9.70179682e-01 -2.73365164e-02 8.31733746e+00] [ 1.11913202e-01 2.18069689e-04 9.93717962e-01 7.36375969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.48, Y:8.33, Z:7.37 [[ 9.65568672e-01 -2.36436061e-01 -1.08513261e-01 6.54792697e+01] [ 2.34847675e-01 9.71646585e-01 -2.73766836e-02 8.32912211e+00] [ 1.11909375e-01 9.49980949e-04 9.93717963e-01 7.36566643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:8.35, Z:7.37 [[ 9.66986597e-01 -2.30573238e-01 -1.08503012e-01 6.55043385e+01] [ 2.28943454e-01 9.73053539e-01 -2.74172450e-02 8.34643164e+00] [ 1.11900922e-01 1.67105423e-03 9.93717964e-01 7.36678649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.53, Y:8.36, Z:7.37 [[ 9.67417243e-01 -2.28795089e-01 -1.08428250e-01 6.55308521e+01] [ 2.27121034e-01 9.73472157e-01 -2.77127441e-02 8.35749390e+00] [ 1.11892422e-01 2.18345027e-03 9.93717927e-01 7.36787472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.56, Y:8.37, Z:7.37 [[ 9.67938280e-01 -2.26572930e-01 -1.08444422e-01 6.55564824e+01] [ 2.24892128e-01 9.73991309e-01 -2.76488645e-02 8.36926854e+00] [ 1.11888409e-01 2.37409749e-03 9.93717942e-01 7.36615835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:8.38, Z:7.37 [[ 9.67016632e-01 -2.30456243e-01 -1.08483890e-01 6.55835018e+01] [ 2.28817212e-01 9.73081092e-01 -2.74931344e-02 8.37829102e+00] [ 1.11899587e-01 1.76333682e-03 9.93717955e-01 7.37101495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:8.38, Z:7.38 [[ 9.66123732e-01 -2.34175217e-01 -1.08475352e-01 6.56092268e+01] [ 2.32555756e-01 9.72193446e-01 -2.75267796e-02 8.38481355e+00] [ 1.11905116e-01 1.36770744e-03 9.93717955e-01 7.37618999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.64, Y:8.39, Z:7.38 [[ 9.63307481e-01 -2.45543115e-01 -1.08384847e-01 6.56377535e+01] [ 2.43955167e-01 9.69385580e-01 -2.78832117e-02 8.39159330e+00] [ 1.11913238e-01 4.19062965e-04 9.93717893e-01 7.38383664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.367105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:8.40, Z:7.39 [[ 9.62216411e-01 -2.49748011e-01 -1.08468933e-01 6.56643473e+01] [ 2.48223924e-01 9.68310777e-01 -2.75522026e-02 8.39728205e+00] [ 1.11912745e-01 -4.13402727e-04 9.93717951e-01 7.38927162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.397105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.69, Y:8.40, Z:7.39 [[ 9.61266362e-01 -2.53381410e-01 -1.08465857e-01 6.56913068e+01] [ 2.51878991e-01 9.67366106e-01 -2.75643087e-02 8.40162662e+00] [ 1.11910477e-01 -8.23627941e-04 9.93717951e-01 7.39450441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.427105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.72, Y:8.41, Z:7.40 [[ 9.60474639e-01 -2.56403828e-01 -1.08376864e-01 6.57190359e+01] [ 2.54881119e-01 9.66569406e-01 -2.79141242e-02 8.40842205e+00] [ 1.11911049e-01 -8.12408032e-04 9.93717896e-01 7.39885550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.74, Y:8.41, Z:7.40 [[ 9.60458822e-01 -2.56429806e-01 -1.08455550e-01 6.57428830e+01] [ 2.54942152e-01 9.66562188e-01 -2.76050041e-02 8.41275441e+00] [ 1.11907779e-01 -1.13642156e-03 9.93717947e-01 7.39919402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.77, Y:8.42, Z:7.40 [[ 9.60491181e-01 -2.56429283e-01 -1.08169842e-01 6.57722840e+01] [ 2.54814674e-01 9.66562994e-01 -2.87308216e-02 8.42073579e+00] [ 1.11920390e-01 3.24377255e-05 9.93717176e-01 7.40197802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.80, Y:8.43, Z:7.40 [[ 9.61552825e-01 -2.52331614e-01 -1.08373990e-01 6.57991941e+01] [ 2.50781777e-01 9.67640765e-01 -2.79258011e-02 8.42607722e+00] [ 1.11913653e-01 -3.26088923e-04 9.93717881e-01 7.40424918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:8.43, Z:7.40 [[ 9.62661481e-01 -2.48131507e-01 -1.08229515e-01 6.58291793e+01] [ 2.46491110e-01 9.68726065e-01 -2.84946407e-02 8.43400036e+00] [ 1.11915170e-01 7.53079874e-04 9.93717479e-01 7.40451398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.86, Y:8.44, Z:7.41 [[ 9.64089034e-01 -2.42415301e-01 -1.08476525e-01 6.58554529e+01] [ 2.40848341e-01 9.70172488e-01 -2.75212645e-02 8.44149471e+00] [ 1.11912516e-01 4.06558137e-04 9.93717980e-01 7.40833058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.88, Y:8.45, Z:7.41 [[ 9.63995506e-01 -2.42791738e-01 -1.08465830e-01 6.58828141e+01] [ 2.41222418e-01 9.70078351e-01 -2.75633525e-02 8.44870257e+00] [ 1.11912508e-01 4.06558107e-04 9.93717981e-01 7.41151821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:8.45, Z:7.41 [[ 9.64453889e-01 -2.40969257e-01 -1.08455118e-01 6.59094460e+01] [ 2.39383710e-01 9.70532524e-01 -2.76054363e-02 8.45497929e+00] [ 1.11911281e-01 6.61781777e-04 9.93717982e-01 7.41394381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:8.46, Z:7.42 [[ 9.65116986e-01 -2.38301688e-01 -1.08450493e-01 6.59393503e+01] [ 2.36697300e-01 9.71190674e-01 -2.76235952e-02 8.45899897e+00] [ 1.11908857e-01 9.90062049e-04 9.93717982e-01 7.41527873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.697105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.97, Y:8.46, Z:7.42 [[ 9.65457416e-01 -2.36884385e-01 -1.08525416e-01 6.59662226e+01] [ 2.35304118e-01 9.71537476e-01 -2.73295569e-02 8.46469559e+00] [ 1.11910454e-01 8.49046109e-04 9.93717933e-01 7.41652741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.99, Y:8.47, Z:7.42 [[ 9.65505164e-01 -2.36725320e-01 -1.08447690e-01 6.59939582e+01] [ 2.35109822e-01 9.71575896e-01 -2.76342202e-02 8.46945827e+00] [ 1.11906881e-01 1.18386528e-03 9.93717992e-01 7.42233678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.757105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:8.47, Z:7.43 [[ 9.65772492e-01 -2.35639920e-01 -1.08431180e-01 6.60217097e+01] [ 2.34010344e-01 9.71839458e-01 -2.76988520e-02 8.47389201e+00] [ 1.11904654e-01 1.37677161e-03 9.93717995e-01 7.42582300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.787105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:8.48, Z:7.43 [[ 9.65042310e-01 -2.38633190e-01 -1.08386076e-01 6.60492968e+01] [ 2.37002618e-01 9.71109020e-01 -2.78752538e-02 8.47888359e+00] [ 1.11906656e-01 1.21301556e-03 9.93717983e-01 7.43402234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.08, Y:8.48, Z:7.44 [[ 9.64539797e-01 -2.40641387e-01 -1.08419108e-01 6.60770475e+01] [ 2.39037951e-01 9.70613727e-01 -2.77461820e-02 8.48358966e+00] [ 1.11909954e-01 8.46015217e-04 9.93717991e-01 7.43719420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:8.49, Z:7.44 [[ 9.62409845e-01 -2.49072942e-01 -1.08304941e-01 6.61071063e+01] [ 2.47472550e-01 9.68484673e-01 -2.81917752e-02 8.48692837e+00] [ 1.11913484e-01 3.29542068e-04 9.93717899e-01 7.43537121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.14, Y:8.49, Z:7.43 [[ 9.59294347e-01 -2.60792840e-01 -1.08357971e-01 6.61352204e+01] [ 2.59290021e-01 9.65393977e-01 -2.79848855e-02 8.49300063e+00] [ 1.11906390e-01 -1.25039803e-03 9.93717966e-01 7.43381799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.16, Y:8.50, Z:7.44 [[ 9.55467970e-01 -2.74495706e-01 -1.08319279e-01 6.61626936e+01] [ 2.73063252e-01 9.61584548e-01 -2.81357007e-02 8.49888201e+00] [ 1.11881274e-01 -2.69525373e-03 9.93717926e-01 7.43795764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:66.19, Y:8.50, Z:7.44 [[ 9.53754444e-01 -2.80359331e-01 -1.08402523e-01 6.61907319e+01] [ 2.79001294e-01 9.59887916e-01 -2.78112600e-02 8.50482249e+00] [ 1.11851418e-01 -3.71933126e-03 9.93717982e-01 7.44279442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.22, Y:8.51, Z:7.45 [[ 9.51658683e-01 -2.87396343e-01 -1.08393234e-01 6.62162897e+01] [ 2.86079535e-01 9.57801139e-01 -2.78474135e-02 8.51138373e+00] [ 1.11822408e-01 -4.50785318e-03 9.93717982e-01 7.45342466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.997105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:66.24, Y:8.52, Z:7.46 [[ 9.50797442e-01 -2.90279657e-01 -1.08267930e-01 6.62442818e+01] [ 2.88926076e-01 9.56932012e-01 -2.83345428e-02 8.52401387e+00] [ 1.11829989e-01 -4.34101728e-03 9.93717872e-01 7.45667602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.27, Y:8.53, Z:7.46 [[ 9.51069441e-01 -2.89342486e-01 -1.08387475e-01 6.62708707e+01] [ 2.88035713e-01 9.57214035e-01 -2.78696724e-02 8.53344142e+00] [ 1.11813893e-01 -4.71346995e-03 9.93717986e-01 7.45946889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.30, Y:8.55, Z:7.46 [[ 9.52463578e-01 -2.84723406e-01 -1.08377652e-01 6.62973312e+01] [ 2.83382494e-01 9.58600811e-01 -2.79078188e-02 8.54594689e+00] [ 1.11836915e-01 -4.13114850e-03 9.93717987e-01 7.45982725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.32, Y:8.56, Z:7.46 [[ 9.53377192e-01 -2.81652539e-01 -1.08368712e-01 6.63230994e+01] [ 2.80287920e-01 9.59509197e-01 -2.79424903e-02 8.55625209e+00] [ 1.11850850e-01 -3.73470812e-03 9.93717988e-01 7.46280953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.117105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.35, Y:8.57, Z:7.47 [[ 9.56100733e-01 -2.72267957e-01 -1.08358426e-01 6.63484054e+01] [ 2.70838619e-01 9.62217975e-01 -2.79823230e-02 8.57045501e+00] [ 1.11883115e-01 -2.59372696e-03 9.93717989e-01 7.46810817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.147105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:66.37, Y:8.58, Z:7.47 [[ 9.58727534e-01 -2.62877566e-01 -1.08336973e-01 6.63736254e+01] [ 2.61378924e-01 9.64828170e-01 -2.80652982e-02 8.58212467e+00] [ 1.11904301e-01 -1.41002746e-03 9.93717988e-01 7.46916374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.177105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.40, Y:8.59, Z:7.48 [[ 9.59624363e-01 -2.59581226e-01 -1.08345137e-01 6.63999501e+01] [ 2.58065189e-01 9.65720698e-01 -2.80337489e-02 8.59191566e+00] [ 1.11908176e-01 -1.05823977e-03 9.93717988e-01 7.47639802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.43, Y:8.60, Z:7.48 [[ 9.60512037e-01 -2.56278088e-01 -1.08342833e-01 6.64250786e+01] [ 2.54740082e-01 9.66602866e-01 -2.80426449e-02 8.60476764e+00] [ 1.11911209e-01 -6.63964236e-04 9.93717988e-01 7.48210934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.45, Y:8.61, Z:7.49 [[ 9.60464918e-01 -2.56458010e-01 -1.08334804e-01 6.64515603e+01] [ 2.54917650e-01 9.66555153e-01 -2.80736278e-02 8.61319855e+00] [ 1.11911270e-01 -6.52719172e-04 9.93717989e-01 7.48630873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.48, Y:8.62, Z:7.49 [[ 9.60455001e-01 -2.56499778e-01 -1.08323847e-01 6.64782070e+01] [ 2.54954922e-01 9.66544095e-01 -2.81158446e-02 8.62142245e+00] [ 1.11911483e-01 -6.13694434e-04 9.93717990e-01 7.49093761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.50, Y:8.63, Z:7.49 [[ 9.60708074e-01 -2.55533145e-01 -1.08364238e-01 6.65038988e+01] [ 2.53999697e-01 9.66800069e-01 -2.79603526e-02 8.62963735e+00] [ 1.11911350e-01 -6.62747114e-04 9.93717973e-01 7.49333240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.53, Y:8.64, Z:7.49 [[ 9.62236545e-01 -2.49739216e-01 -1.08310458e-01 6.65309662e+01] [ 2.48145801e-01 9.68313107e-01 -2.81671605e-02 8.63936308e+00] [ 1.11912881e-01 2.26685664e-04 9.93717996e-01 7.49479936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.56, Y:8.65, Z:7.50 [[ 9.63430293e-01 -2.45086485e-01 -1.08326754e-01 6.65579157e+01] [ 2.43470765e-01 9.69500965e-01 -2.81045345e-02 8.64686363e+00] [ 1.11910935e-01 7.02362116e-04 9.93717993e-01 7.49653455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.59, Y:8.65, Z:7.49 [[ 9.65655686e-01 -2.36175327e-01 -1.08306562e-01 6.65858033e+01] [ 2.34494903e-01 9.71708760e-01 -2.81820196e-02 8.65467946e+00] [ 1.11898333e-01 1.81679065e-03 9.93717999e-01 7.49304252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.61, Y:8.66, Z:7.49 [[ 9.67573977e-01 -2.28198306e-01 -1.08287272e-01 6.66133014e+01] [ 2.26459717e-01 9.73610599e-01 -2.82559486e-02 8.66354603e+00] [ 1.11877595e-01 2.81701554e-03 9.93718002e-01 7.49307851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.64, Y:8.67, Z:7.50 [[ 9.68280684e-01 -2.25185329e-01 -1.08277813e-01 6.66396631e+01] [ 2.23423913e-01 9.74310684e-01 -2.82921508e-02 8.67007061e+00] [ 1.11867207e-01 3.20289056e-03 9.93718003e-01 7.49514060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:8.67, Z:7.50 [[ 9.68756424e-01 -2.23132061e-01 -1.08273143e-01 6.66672615e+01] [ 2.21355872e-01 9.74782089e-01 -2.83100106e-02 8.67305278e+00] [ 1.11859591e-01 3.45860870e-03 9.93718003e-01 7.49764258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.507105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.70, Y:8.67, Z:7.50 [[ 9.68238044e-01 -2.25376032e-01 -1.08262341e-01 6.66967120e+01] [ 2.23609200e-01 9.74266458e-01 -2.83512601e-02 8.67452233e+00] [ 1.11866062e-01 3.24231329e-03 9.93718004e-01 7.49811183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.537105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.72, Y:8.68, Z:7.50 [[ 9.67590594e-01 -2.28144189e-01 -1.08252812e-01 6.67241463e+01] [ 2.26390543e-01 9.73622856e-01 -2.83875967e-02 8.67829188e+00] [ 1.11873877e-01 2.96015861e-03 9.93718005e-01 7.50050449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.75, Y:8.68, Z:7.51 [[ 9.66332438e-01 -2.33420898e-01 -1.08241878e-01 6.67535027e+01] [ 2.31695535e-01 9.72372849e-01 -2.84292286e-02 8.67820947e+00] [ 1.11887439e-01 2.39292600e-03 9.93718006e-01 7.50663519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:8.68, Z:7.51 [[ 9.65602418e-01 -2.36427011e-01 -1.08232335e-01 6.67814890e+01] [ 2.34716388e-01 9.71647020e-01 -2.84655145e-02 8.68154863e+00] [ 1.11893642e-01 2.08246704e-03 9.93718006e-01 7.51119185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.81, Y:8.68, Z:7.52 [[ 9.63812571e-01 -2.43622288e-01 -1.08228964e-01 6.68106734e+01] [ 2.41955357e-01 9.69869368e-01 -2.84783256e-02 8.68093996e+00] [ 1.11905911e-01 1.26119075e-03 9.93718006e-01 7.52007475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.84, Y:8.68, Z:7.53 [[ 9.61529903e-01 -2.52485132e-01 -1.08219696e-01 6.68381216e+01] [ 2.50870074e-01 9.67600737e-01 -2.85134986e-02 8.67951340e+00] [ 1.11912692e-01 2.67498366e-04 9.93718007e-01 7.52687140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.86, Y:8.68, Z:7.53 [[ 9.60187720e-01 -2.57609155e-01 -1.08060469e-01 6.68644519e+01] [ 2.55958554e-01 9.66249157e-01 -2.91167393e-02 8.68376805e+00] [ 1.11914076e-01 2.98534012e-04 9.93717842e-01 7.52916836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:8.69, Z:7.53 [[ 9.57933134e-01 -2.65875489e-01 -1.08047837e-01 6.68941834e+01] [ 2.64271798e-01 9.64007181e-01 -2.91645719e-02 8.68725118e+00] [ 1.11913036e-01 -6.16286481e-04 9.93717813e-01 7.53009371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:8.69, Z:7.53 [[ 9.56819555e-01 -2.69823541e-01 -1.08127683e-01 6.69229209e+01] [ 2.68279061e-01 9.62908779e-01 -2.88622191e-02 8.69179074e+00] [ 1.11904801e-01 -1.39245756e-03 9.93717956e-01 7.52971110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.95, Y:8.70, Z:7.54 [[ 9.56725868e-01 -2.70124974e-01 -1.08204028e-01 6.69493170e+01] [ 2.68615090e-01 9.62823717e-01 -2.85731233e-02 8.69763281e+00] [ 1.11899719e-01 -1.72858861e-03 9.93718001e-01 7.53519485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.98, Y:8.71, Z:7.54 [[ 9.56244055e-01 -2.71875309e-01 -1.08079246e-01 6.69769292e+01] [ 2.70323227e-01 9.62331407e-01 -2.90450763e-02 8.70597994e+00] [ 1.11904692e-01 -1.44214896e-03 9.93717898e-01 7.53822788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.837105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.00, Y:8.71, Z:7.54 [[ 9.55682343e-01 -2.73829039e-01 -1.08115290e-01 6.70025815e+01] [ 2.72304804e-01 9.61776675e-01 -2.89088585e-02 8.71272349e+00] [ 1.11898849e-01 -1.81262725e-03 9.93717949e-01 7.54126230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.867105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.03, Y:8.72, Z:7.55 [[ 9.53540807e-01 -2.81232407e-01 -1.08019732e-01 6.70307397e+01] [ 2.79714630e-01 9.59636921e-01 -2.92695322e-02 8.71970444e+00] [ 1.11891264e-01 -2.30500596e-03 9.93717783e-01 7.54670140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.897105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:8.72, Z:7.55 [[ 9.51709836e-01 -2.87317332e-01 -1.08153308e-01 6.70595769e+01] [ 2.85895730e-01 9.57828893e-01 -2.87653116e-02 8.72469464e+00] [ 1.11857136e-01 -3.54433897e-03 9.93717978e-01 7.54824983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.09, Y:8.73, Z:7.56 [[ 9.49867724e-01 -2.93343012e-01 -1.08172007e-01 6.70868825e+01] [ 2.91968239e-01 9.55997468e-01 -2.86947621e-02 8.73270715e+00] [ 1.11829573e-01 -4.32656206e-03 9.93717982e-01 7.55593411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.11, Y:8.74, Z:7.56 [[ 9.47751470e-01 -3.00108878e-01 -1.08174919e-01 6.71126269e+01] [ 2.98779100e-01 9.53891131e-01 -2.86837811e-02 8.74074466e+00] [ 1.11795353e-01 -5.13530918e-03 9.93717982e-01 7.55923710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.14, Y:8.75, Z:7.56 [[ 9.46115038e-01 -3.05261325e-01 -1.08082648e-01 6.71383039e+01] [ 3.03925375e-01 9.52253409e-01 -2.90312094e-02 8.75437888e+00] [ 1.11784175e-01 -5.38219545e-03 9.93717933e-01 7.56399055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.16, Y:8.76, Z:7.57 [[ 9.46058785e-01 -3.05365679e-01 -1.08280085e-01 6.71638249e+01] [ 3.04115160e-01 9.52215187e-01 -2.82879168e-02 8.76420347e+00] [ 1.11744100e-01 -6.16758306e-03 9.93717876e-01 7.56809258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.19, Y:8.78, Z:7.57 [[ 9.45762875e-01 -3.06327442e-01 -1.08148428e-01 6.71892295e+01] [ 3.05026743e-01 9.51908738e-01 -2.87826612e-02 8.77925478e+00] [ 1.11764353e-01 -5.76659048e-03 9.93718006e-01 7.56872347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:8.79, Z:7.57 [[ 9.45767796e-01 -3.06316141e-01 -1.08137406e-01 6.72145212e+01] [ 3.05010653e-01 9.51912642e-01 -2.88240126e-02 8.79051744e+00] [ 1.11766624e-01 -5.72223800e-03 9.93718007e-01 7.56984243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.24, Y:8.81, Z:7.57 [[ 9.46079019e-01 -3.05355236e-01 -1.08132646e-01 6.72389697e+01] [ 3.04041472e-01 9.52222101e-01 -2.88418591e-02 8.80679247e+00] [ 1.11773308e-01 -5.59013117e-03 9.93718007e-01 7.57022302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.26, Y:8.83, Z:7.57 [[ 9.46883942e-01 -3.02853883e-01 -1.08121811e-01 6.72611961e+01] [ 3.01519268e-01 9.53022527e-01 -2.88824219e-02 8.82659741e+00] [ 1.11789675e-01 -5.25250774e-03 9.93718008e-01 7.57337763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.29, Y:8.84, Z:7.58 [[ 9.47856483e-01 -2.99797883e-01 -1.08117141e-01 6.72881429e+01] [ 2.98441485e-01 9.53990292e-01 -2.88998906e-02 8.84002587e+00] [ 1.11806829e-01 -4.87369157e-03 9.93718008e-01 7.57583741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.197105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.31, Y:8.86, Z:7.58 [[ 9.49043229e-01 -2.95969496e-01 -1.08254362e-01 6.73086476e+01] [ 2.94646766e-01 9.55184531e-01 -2.83865330e-02 8.86074463e+00] [ 1.11804439e-01 -4.95675054e-03 9.93717866e-01 7.58177876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.227105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:8.88, Z:7.59 [[ 9.51219594e-01 -2.88955523e-01 -1.08101754e-01 6.73327278e+01] [ 2.87522767e-01 9.57335986e-01 -2.89563330e-02 8.87932751e+00] [ 1.11856792e-01 -3.53788409e-03 9.93718039e-01 7.58502998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.257105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.35, Y:8.89, Z:7.59 [[ 9.53627231e-01 -2.80911782e-01 -1.08091051e-01 6.73535725e+01] [ 2.79422902e-01 9.59730202e-01 -2.89962321e-02 8.89006327e+00] [ 1.11883629e-01 -2.55151859e-03 9.93718040e-01 7.58952674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.287105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.38, Y:8.91, Z:7.60 [[ 9.57849523e-01 -2.66374719e-01 -1.07558356e-01 6.73799467e+01] [ 2.64570507e-01 9.63868788e-01 -3.09742875e-02 8.91220988e+00] [ 1.11922909e-01 1.21193780e-03 9.93716153e-01 7.59616986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.41, Y:8.93, Z:7.60 [[ 9.59582389e-01 -2.59920923e-01 -1.07901591e-01 6.74072063e+01] [ 2.58219444e-01 9.65629696e-01 -2.96986440e-02 8.92513041e+00] [ 1.11912280e-01 6.36006859e-04 9.93717886e-01 7.60184471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.43, Y:8.94, Z:7.61 [[ 9.62724278e-01 -2.47956933e-01 -1.08070919e-01 6.74318915e+01] [ 2.46250900e-01 9.68770083e-01 -2.90692257e-02 8.94064186e+00] [ 1.11903789e-01 1.37308828e-03 9.93718097e-01 7.60539033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.46, Y:8.95, Z:7.60 [[ 9.64564839e-01 -2.40702588e-01 -1.08059867e-01 6.74580317e+01] [ 2.38946497e-01 9.70596293e-01 -2.91102497e-02 8.95377653e+00] [ 1.11889419e-01 2.25819655e-03 9.93718098e-01 7.60235176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:67.48, Y:8.96, Z:7.60 [[ 9.65214591e-01 -2.38088858e-01 -1.08048552e-01 6.74844406e+01] [ 2.36311744e-01 9.71239883e-01 -2.91521899e-02 8.96098045e+00] [ 1.11881874e-01 2.60497745e-03 9.93718099e-01 7.60021764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:67.51, Y:8.97, Z:7.60 [[ 9.65202893e-01 -2.38207455e-01 -1.07891536e-01 6.75146050e+01] [ 2.36366140e-01 9.71209035e-01 -2.97331018e-02 8.96702632e+00] [ 1.11867881e-01 3.19657005e-03 9.93717948e-01 7.59697681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:67.54, Y:8.97, Z:7.60 [[ 9.65471403e-01 -2.37054073e-01 -1.08029335e-01 6.75399754e+01] [ 2.35262496e-01 9.71492424e-01 -2.92237681e-02 8.97151940e+00] [ 1.11877294e-01 2.79946137e-03 9.93718086e-01 7.59891722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.497105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:67.57, Y:8.98, Z:7.60 [[ 9.64376773e-01 -2.41545387e-01 -1.07857613e-01 6.75698151e+01] [ 2.39710929e-01 9.70385071e-01 -2.98577479e-02 8.97737384e+00] [ 1.11875419e-01 2.93947001e-03 9.93717893e-01 7.59672444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.527105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:67.60, Y:8.98, Z:7.60 [[ 9.64282780e-01 -2.41848364e-01 -1.08018933e-01 6.75970714e+01] [ 2.40082407e-01 9.70311369e-01 -2.92623316e-02 8.98488490e+00] [ 1.11889046e-01 2.28371685e-03 9.93718082e-01 7.59984688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.557105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.63, Y:8.99, Z:7.60 [[ 9.62688759e-01 -2.48122358e-01 -1.08007633e-01 6.76254126e+01] [ 2.46391024e-01 9.68727382e-01 -2.93039836e-02 8.98640055e+00] [ 1.11900925e-01 1.59850441e-03 9.93718083e-01 7.60105617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.587105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:8.99, Z:7.61 [[ 9.61666758e-01 -2.52056583e-01 -1.08002435e-01 6.76530515e+01] [ 2.50347804e-01 9.67711802e-01 -2.93231279e-02 8.99125901e+00] [ 1.11906318e-01 1.16090497e-03 9.93718083e-01 7.60734035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.617105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:8.99, Z:7.62 [[ 9.59531925e-01 -2.60069252e-01 -1.07992910e-01 6.76813401e+01] [ 2.58407012e-01 9.65589931e-01 -2.93581655e-02 8.99328829e+00] [ 1.11912023e-01 2.63971875e-04 9.93718084e-01 7.61574853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.647105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:9.00, Z:7.62 [[ 9.58327440e-01 -2.64477107e-01 -1.07983232e-01 6.77086929e+01] [ 2.62838724e-01 9.64391940e-01 -2.93937215e-02 8.99783640e+00] [ 1.11912125e-01 -2.13364916e-04 9.93718084e-01 7.61935086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.74, Y:9.00, Z:7.63 [[ 9.55301507e-01 -2.75208590e-01 -1.07978062e-01 6.77374766e+01] [ 2.73636182e-01 9.61383447e-01 -2.94126996e-02 9.00021715e+00] [ 1.11902949e-01 -1.44870839e-03 9.93718084e-01 7.62588959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.76, Y:9.01, Z:7.63 [[ 9.53589632e-01 -2.81086539e-01 -1.07968380e-01 6.77637383e+01] [ 2.79547598e-01 9.59680126e-01 -2.94481978e-02 9.00712083e+00] [ 1.11892601e-01 -2.10080520e-03 9.93718085e-01 7.63102201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.79, Y:9.01, Z:7.63 [[ 9.51817796e-01 -2.87033347e-01 -1.07957124e-01 6.77865537e+01] [ 2.85527782e-01 9.57916625e-01 -2.94894056e-02 9.01327463e+00] [ 1.11878367e-01 -2.75621711e-03 9.93718086e-01 7.63206468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.82, Y:9.02, Z:7.63 [[ 9.50052457e-01 -2.92951437e-01 -1.07609410e-01 6.78179079e+01] [ 2.91340078e-01 9.56124951e-01 -3.07577237e-02 9.02178228e+00] [ 1.11898561e-01 -2.12948292e-03 9.93717353e-01 7.63189109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.85, Y:9.03, Z:7.63 [[ 9.49593865e-01 -2.94313804e-01 -1.07939221e-01 6.78453799e+01] [ 2.92847710e-01 9.55702261e-01 -2.95534728e-02 9.02873283e+00] [ 1.11855752e-01 -3.54595718e-03 9.93718127e-01 7.63347600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.87, Y:9.04, Z:7.63 [[ 9.48420794e-01 -2.98076296e-01 -1.07928304e-01 6.78718246e+01] [ 2.96629907e-01 9.54533884e-01 -2.95932863e-02 9.03794145e+00] [ 1.11842281e-01 -3.94787476e-03 9.93718128e-01 7.63474796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.90, Y:9.05, Z:7.64 [[ 9.46553311e-01 -3.03958356e-01 -1.07917315e-01 6.78981290e+01] [ 3.02545390e-01 9.52674212e-01 -2.96333059e-02 9.04806674e+00] [ 1.11817334e-01 -4.60038244e-03 9.93718129e-01 7.64067010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.887105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.92, Y:9.06, Z:7.65 [[ 9.45559990e-01 -3.07037948e-01 -1.07907380e-01 6.79242641e+01] [ 3.05640799e-01 9.51684520e-01 -2.96694389e-02 9.05603403e+00] [ 1.11803427e-01 -4.92666364e-03 9.93718130e-01 7.64697306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.917105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.95, Y:9.07, Z:7.66 [[ 9.45087656e-01 -3.08489994e-01 -1.07903873e-01 6.79487599e+01] [ 3.07100801e-01 9.51213996e-01 -2.96821886e-02 9.06601087e+00] [ 1.11796333e-01 -5.08509588e-03 9.93718130e-01 7.65757267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.947105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.97, Y:9.08, Z:7.66 [[ 9.46321372e-01 -3.04748469e-01 -1.07722939e-01 6.79749461e+01] [ 3.03260371e-01 9.52424646e-01 -3.03387735e-02 9.07520170e+00] [ 1.11843677e-01 -3.95786864e-03 9.93717931e-01 7.66078436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.977105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.00, Y:9.09, Z:7.66 [[ 9.50079296e-01 -2.92809736e-01 -1.07758013e-01 6.79993674e+01] [ 2.91259330e-01 9.56166965e-01 -3.02115568e-02 9.09240203e+00] [ 1.11880890e-01 -2.68215199e-03 9.93718005e-01 7.66393211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.007105681 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:68.02, Y:9.11, Z:7.66 [[ 9.54988017e-01 -2.76402166e-01 -1.07702045e-01 6.80241435e+01] [ 2.74724256e-01 9.61041907e-01 -3.04143890e-02 9.11289602e+00] [ 1.11912782e-01 -5.42987180e-04 9.93717885e-01 7.66412855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.037105681 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:68.05, Y:9.13, Z:7.67 [[ 9.57510999e-01 -2.67457572e-01 -1.07884815e-01 6.80509228e+01] [ 2.65797710e-01 9.63569619e-01 -2.97517348e-02 9.12599554e+00] [ 1.11911856e-01 -1.87923322e-04 9.93718120e-01 7.66506213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06710568099999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:68.07, Y:9.14, Z:7.66 [[ 9.60840352e-01 -2.55197665e-01 -1.07981345e-01 6.80723895e+01] [ 2.53499844e-01 9.66888506e-01 -2.94014594e-02 9.14254225e+00] [ 1.11909105e-01 8.76854489e-04 9.93718060e-01 7.65947043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09710568099999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:68.10, Y:9.16, Z:7.66 [[ 9.61287485e-01 -2.53702943e-01 -1.07522961e-01 6.81011259e+01] [ 2.51810241e-01 9.67278189e-01 -3.10565258e-02 9.15764519e+00] [ 1.11883747e-01 2.77886691e-03 9.93717417e-01 7.65510659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12710568099999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:68.13, Y:9.17, Z:7.66 [[ 9.61404046e-01 -2.53116718e-01 -1.07861888e-01 6.81273637e+01] [ 2.51357553e-01 9.67434478e-01 -2.98313996e-02 9.16655583e+00] [ 1.11900136e-01 1.56812795e-03 9.93718220e-01 7.65642053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:68.15, Y:9.18, Z:7.66 [[ 9.61375592e-01 -2.53229383e-01 -1.07851056e-01 6.81539031e+01] [ 2.51466538e-01 9.67404948e-01 -2.98705125e-02 9.17661342e+00] [ 1.11899736e-01 1.59585006e-03 9.93718221e-01 7.65812141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18710568099999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:68.18, Y:9.18, Z:7.66 [[ 9.61165372e-01 -2.54027549e-01 -1.07847724e-01 6.81810343e+01] [ 2.52268362e-01 9.67195796e-01 -2.98825370e-02 9.18451813e+00] [ 1.11900853e-01 1.51549108e-03 9.93718221e-01 7.65993904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21710568099999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:68.21, Y:9.19, Z:7.66 [[ 9.60905844e-01 -2.55012021e-01 -1.07837041e-01 6.82063830e+01] [ 2.53254691e-01 9.66936809e-01 -2.99210401e-02 9.18760124e+00] [ 1.11901829e-01 1.44106577e-03 9.93718222e-01 7.66265028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.247105681 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:68.24, Y:9.20, Z:7.67 [[ 9.59157173e-01 -2.61660889e-01 -1.07476032e-01 6.82356943e+01] [ 2.59799769e-01 9.65157756e-01 -3.12183513e-02 9.19549547e+00] [ 1.11899947e-01 2.02105741e-03 9.93717423e-01 7.66907548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.277105681 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:68.26, Y:9.20, Z:7.68 [[ 9.56750308e-01 -2.70190275e-01 -1.07824223e-01 6.82644281e+01] [ 2.68523583e-01 9.62806904e-01 -2.99658272e-02 9.19984738e+00] [ 1.11910382e-01 -2.83532331e-04 9.93718263e-01 7.67823253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.307105681 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:68.29, Y:9.20, Z:7.68 [[ 9.55241170e-01 -2.75421644e-01 -1.07968628e-01 6.82867179e+01] [ 2.73846900e-01 9.61322446e-01 -2.94453603e-02 9.20345313e+00] [ 1.11902556e-01 -1.43945378e-03 9.93718142e-01 7.68266344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.337105681 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:68.32, Y:9.21, Z:7.69 [[ 9.54285063e-01 -2.78961734e-01 -1.07332980e-01 6.83160878e+01] [ 2.77153681e-01 9.60302080e-01 -3.17136072e-02 9.20949135e+00] [ 1.11918966e-01 5.16091304e-04 9.93717203e-01 7.68659464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.367105681 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:68.35, Y:9.21, Z:7.69 [[ 9.52417343e-01 -2.85220960e-01 -1.07471896e-01 6.83485345e+01] [ 2.83508545e-01 9.58461506e-01 -3.12161246e-02 9.21192158e+00] [ 1.11911169e-01 -7.38422473e-04 9.93717940e-01 7.69084256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.397105681 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:68.38, Y:9.22, Z:7.69 [[ 9.50037447e-01 -2.92919920e-01 -1.07827502e-01 6.83761313e+01] [ 2.91400723e-01 9.56132351e-01 -2.99423848e-02 9.21955472e+00] [ 1.11868084e-01 -2.97462522e-03 9.93718614e-01 7.69213331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42710568099999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:68.40, Y:9.23, Z:7.70 [[ 9.49465616e-01 -2.94753919e-01 -1.07866452e-01 6.84025237e+01] [ 2.93262316e-01 9.55567369e-01 -2.98029768e-02 9.22818779e+00] [ 1.11858206e-01 -3.33626381e-03 9.93718577e-01 7.69681505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45710568099999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:68.43, Y:9.23, Z:7.70 [[ 9.49088742e-01 -2.95943427e-01 -1.07926122e-01 6.84254233e+01] [ 2.94483765e-01 9.55198304e-01 -2.95890717e-02 9.23434134e+00] [ 1.11847540e-01 -3.69983604e-03 9.93718491e-01 7.70181597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48710568099999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:68.46, Y:9.24, Z:7.71 [[ 9.48380348e-01 -2.98377816e-01 -1.07449502e-01 6.84556954e+01] [ 2.96740584e-01 9.54445287e-01 -3.12924814e-02 9.24234479e+00] [ 1.11891653e-01 -2.20745372e-03 9.93717961e-01 7.70505366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:68.48, Y:9.25, Z:7.71 [[ 9.48484222e-01 -2.97898959e-01 -1.07860517e-01 6.84790300e+01] [ 2.96425121e-01 9.54590297e-01 -2.98246847e-02 9.24891044e+00] [ 1.11847345e-01 -3.68432385e-03 9.93718570e-01 7.71249370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:68.51, Y:9.26, Z:7.72 [[ 9.49047572e-01 -2.96233127e-01 -1.07492513e-01 6.85067372e+01] [ 2.94600020e-01 9.55113315e-01 -3.11349222e-02 9.26179043e+00] [ 1.11890726e-01 -2.11877417e-03 9.93718258e-01 7.71672181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.53, Y:9.27, Z:7.72 [[ 9.50834654e-01 -2.90355105e-01 -1.07737519e-01 6.85321550e+01] [ 2.88783157e-01 9.56916113e-01 -3.02628562e-02 9.27013600e+00] [ 1.11882743e-01 -2.33780850e-03 9.93718666e-01 7.72148002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.607105681 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:68.56, Y:9.28, Z:7.72 [[ 9.55567862e-01 -2.74443537e-01 -1.07567683e-01 6.85559799e+01] [ 2.72702399e-01 9.61603203e-01 -3.08655530e-02 9.28423653e+00] [ 1.11908280e-01 1.60165330e-04 9.93718527e-01 7.72358090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.637105681 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:68.58, Y:9.30, Z:7.72 [[ 9.60300246e-01 -2.57454377e-01 -1.07427562e-01 6.85807988e+01] [ 2.55550960e-01 9.66286784e-01 -3.13617120e-02 9.29795024e+00] [ 1.11880044e-01 2.66344317e-03 9.93718150e-01 7.72372322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.667105681 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:68.61, Y:9.31, Z:7.73 [[ 9.61787568e-01 -2.51843451e-01 -1.07422298e-01 6.86081547e+01] [ 2.49903037e-01 9.67762237e-01 -3.13803281e-02 9.30612075e+00] [ 1.11862174e-01 3.33605097e-03 9.93718132e-01 7.72565542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.697105681 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:68.64, Y:9.31, Z:7.73 [[ 9.63068764e-01 -2.46889088e-01 -1.07444562e-01 6.86367673e+01] [ 2.44926715e-01 9.69036177e-01 -3.13016262e-02 9.31356300e+00] [ 1.11845697e-01 3.82957495e-03 9.93718207e-01 7.72506477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.727105681 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:68.66, Y:9.32, Z:7.72 [[ 9.62940392e-01 -2.47350686e-01 -1.07533433e-01 6.86647159e+01] [ 2.45426220e-01 9.68919890e-01 -3.09873772e-02 9.31979014e+00] [ 1.11856031e-01 3.44747321e-03 9.93718443e-01 7.72330270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.757105681 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:68.69, Y:9.33, Z:7.72 [[ 9.61991089e-01 -2.51073442e-01 -1.07402380e-01 6.86941924e+01] [ 2.49120447e-01 9.67961717e-01 -3.14502367e-02 9.32790348e+00] [ 1.11857712e-01 3.49871842e-03 9.93718074e-01 7.72297966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.787105681 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:68.72, Y:9.33, Z:7.73 [[ 9.60877365e-01 -2.55183710e-01 -1.07684555e-01 6.87239300e+01] [ 2.53367859e-01 9.66890565e-01 -3.04526495e-02 9.32731109e+00] [ 1.11890201e-01 1.97745636e-03 9.93718608e-01 7.72766591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:68.75, Y:9.33, Z:7.73 [[ 9.60011061e-01 -2.58379312e-01 -1.07790971e-01 6.87505474e+01] [ 2.56625683e-01 9.66042785e-01 -3.00765124e-02 9.33085562e+00] [ 1.11901838e-01 1.21185318e-03 9.93718527e-01 7.73205639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.78, Y:9.33, Z:7.74 [[ 9.58195408e-01 -2.65082978e-01 -1.07668819e-01 6.87789952e+01] [ 2.63323078e-01 9.64225202e-01 -3.05076568e-02 9.33315770e+00] [ 1.11904049e-01 8.80611859e-04 9.93718626e-01 7.74047793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87710568099999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:68.80, Y:9.34, Z:7.74 [[ 9.57666673e-01 -2.66990854e-01 -1.07658848e-01 6.88039585e+01] [ 2.65239016e-01 9.63698813e-01 -3.05428026e-02 9.33768648e+00] [ 1.11905353e-01 6.94497179e-04 9.93718627e-01 7.74426022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:68.83, Y:9.34, Z:7.75 [[ 9.55817481e-01 -2.73613871e-01 -1.07463450e-01 6.88332095e+01] [ 2.71826475e-01 9.61839405e-01 -3.12302117e-02 9.33966066e+00] [ 1.11907600e-01 6.38971471e-04 9.93718411e-01 7.74603926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.86, Y:9.34, Z:7.75 [[ 9.54522750e-01 -2.78082778e-01 -1.07500178e-01 6.88618202e+01] [ 2.76338110e-01 9.60557113e-01 -3.11011334e-02 9.34461335e+00] [ 1.11908751e-01 -1.96567828e-05 9.93718487e-01 7.74875934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.89, Y:9.35, Z:7.76 [[ 9.53762344e-01 -2.80627099e-01 -1.07637455e-01 6.88898869e+01] [ 2.78952948e-01 9.59816521e-01 -3.06185988e-02 9.34724009e+00] [ 1.11904616e-01 -8.22918827e-04 9.93718612e-01 7.75562015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.997105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.91, Y:9.35, Z:7.76 [[ 9.55865249e-01 -2.73380569e-01 -1.07632201e-01 6.89115839e+01] [ 2.71658440e-01 9.61905953e-01 -3.06370584e-02 9.34870689e+00] [ 1.11907631e-01 4.57037124e-05 9.93718612e-01 7.75933952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:9.36, Z:7.76 [[ 9.57515892e-01 -2.67791089e-01 -1.07010514e-01 6.89451787e+01] [ 2.65789318e-01 9.63472390e-01 -3.28175594e-02 9.35586561e+00] [ 1.11889926e-01 2.98108310e-03 9.93716135e-01 7.76201405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.97, Y:9.36, Z:7.77 [[ 9.59014862e-01 -2.62115984e-01 -1.07636919e-01 6.89717699e+01] [ 2.60325226e-01 9.65035446e-01 -3.06164009e-02 9.36199150e+00] [ 1.11898491e-01 1.34097809e-03 9.93718738e-01 7.76529876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.087105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.00, Y:9.37, Z:7.77 [[ 9.62347051e-01 -2.49606722e-01 -1.07631955e-01 6.89951405e+01] [ 2.47735774e-01 9.68343201e-01 -3.06338428e-02 9.36537284e+00] [ 1.11871085e-01 2.81610258e-03 9.93718738e-01 7.77051036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.02, Y:9.37, Z:7.78 [[ 9.63256247e-01 -2.46248826e-01 -1.07233008e-01 6.90245191e+01] [ 2.44200984e-01 9.69195389e-01 -3.20340174e-02 9.37107097e+00] [ 1.11818076e-01 4.67056127e-03 9.93717718e-01 7.77504416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.147105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.05, Y:9.37, Z:7.77 [[ 9.64305074e-01 -2.42034419e-01 -1.07401414e-01 6.90545405e+01] [ 2.40026293e-01 9.70257035e-01 -3.14430274e-02 9.37056088e+00] [ 1.11817272e-01 4.54150767e-03 9.93718407e-01 7.77410610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.08, Y:9.37, Z:7.78 [[ 9.64425397e-01 -2.41537600e-01 -1.07439476e-01 6.90835896e+01] [ 2.39541260e-01 9.70381214e-01 -3.13094893e-02 9.37031234e+00] [ 1.11819668e-01 4.45947921e-03 9.93718509e-01 7.77673486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.11, Y:9.38, Z:7.78 [[ 9.63722172e-01 -2.44333927e-01 -1.07426749e-01 6.91140368e+01] [ 2.42349894e-01 9.69682136e-01 -3.13541823e-02 9.37573366e+00] [ 1.11830690e-01 4.18185942e-03 9.93718476e-01 7.77861864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.14, Y:9.37, Z:7.78 [[ 9.61563089e-01 -2.52609400e-01 -1.07633254e-01 6.91429420e+01] [ 2.50757764e-01 9.67565208e-01 -3.06286107e-02 9.37434994e+00] [ 1.11879267e-01 2.46146732e-03 9.93718758e-01 7.78187098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.17, Y:9.37, Z:7.79 [[ 9.58442183e-01 -2.64208495e-01 -1.07621801e-01 6.91722176e+01] [ 2.62424998e-01 9.64464901e-01 -3.06688035e-02 9.37187969e+00] [ 1.11900408e-01 1.15162417e-03 9.93718759e-01 7.78861423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:9.38, Z:7.79 [[ 9.57352608e-01 -2.68165997e-01 -1.07531311e-01 6.91994760e+01] [ 2.66371754e-01 9.63372179e-01 -3.09860273e-02 9.37520013e+00] [ 1.11902072e-01 1.02125031e-03 9.93718714e-01 7.79389267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.23, Y:9.38, Z:7.80 [[ 9.56643467e-01 -2.70730178e-01 -1.07417165e-01 6.92283041e+01] [ 2.68907163e-01 9.62654596e-01 -3.13857618e-02 9.37610071e+00] [ 1.11902700e-01 1.13973890e-03 9.93718515e-01 7.79848821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.26, Y:9.38, Z:7.80 [[ 9.56312599e-01 -2.71907746e-01 -1.07388973e-01 6.92577071e+01] [ 2.70081057e-01 9.62322688e-01 -3.14843843e-02 9.38177283e+00] [ 1.11903693e-01 1.10518612e-03 9.93718442e-01 7.80219105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.29, Y:9.39, Z:7.81 [[ 9.56740107e-01 -2.70315560e-01 -1.07600494e-01 6.92861634e+01] [ 2.68562028e-01 9.62771640e-01 -3.07442094e-02 9.38717921e+00] [ 1.11905343e-01 5.16811227e-04 9.93718736e-01 7.80571352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.31, Y:9.40, Z:7.81 [[ 9.56654511e-01 -2.70637247e-01 -1.07552903e-01 6.93132999e+01] [ 2.68867025e-01 9.62681180e-01 -3.09106722e-02 9.39519899e+00] [ 1.11904735e-01 6.53404929e-04 9.93718724e-01 7.80890391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.34, Y:9.40, Z:7.81 [[ 9.55452757e-01 -2.74854028e-01 -1.07542048e-01 6.93411802e+01] [ 2.73106135e-01 9.61485946e-01 -3.09485911e-02 9.40345958e+00] [ 1.11906513e-01 1.99523493e-04 9.93718719e-01 7.80972553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:9.41, Z:7.81 [[ 9.54707767e-01 -2.77416203e-01 -1.07579413e-01 6.93688772e+01] [ 2.75699196e-01 9.60749808e-01 -3.08181650e-02 9.41015585e+00] [ 1.11906358e-01 -2.37216107e-04 9.93718728e-01 7.81170323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.507105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.40, Y:9.42, Z:7.81 [[ 9.52998093e-01 -2.83258873e-01 -1.07513005e-01 6.93975700e+01] [ 2.81552762e-01 9.59043246e-01 -3.10498594e-02 9.41514279e+00] [ 1.11904770e-01 -6.80126731e-04 9.93718703e-01 7.80984950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.537105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:9.42, Z:7.81 [[ 9.52267949e-01 -2.85680581e-01 -1.07574895e-01 6.94246701e+01] [ 2.84014225e-01 9.58324156e-01 -3.08339459e-02 9.42219145e+00] [ 1.11900280e-01 -1.19062188e-03 9.93718728e-01 7.81004034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:9.43, Z:7.81 [[ 9.51565666e-01 -2.88012477e-01 -1.07571358e-01 6.94502734e+01] [ 2.86359568e-01 9.57625556e-01 -3.08462801e-02 9.42951873e+00] [ 1.11897195e-01 -1.45182647e-03 9.93718728e-01 7.81414442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.48, Y:9.44, Z:7.82 [[ 9.50760961e-01 -2.90752439e-01 -1.07315490e-01 6.94783279e+01] [ 2.89016297e-01 9.56797947e-01 -3.17374938e-02 9.44240444e+00] [ 1.11906994e-01 -8.41155511e-04 9.93718329e-01 7.82336814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:9.45, Z:7.83 [[ 9.51355719e-01 -2.88707984e-01 -1.07563913e-01 6.95040037e+01] [ 2.87056585e-01 9.57416017e-01 -3.08721097e-02 9.45143898e+00] [ 1.11896438e-01 -1.50657131e-03 9.93718732e-01 7.83076094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:9.46, Z:7.84 [[ 9.52697106e-01 -2.84285938e-01 -1.07469673e-01 6.95287164e+01] [ 2.82569403e-01 9.58739324e-01 -3.12000124e-02 9.46289755e+00] [ 1.11905127e-01 -6.43479970e-04 9.93718687e-01 7.83801431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.55, Y:9.48, Z:7.84 [[ 9.54087100e-01 -2.79554900e-01 -1.07549358e-01 6.95531797e+01] [ 2.77839630e-01 9.60129634e-01 -3.09228884e-02 9.47532051e+00] [ 1.11905970e-01 -3.78344854e-04 9.93718728e-01 7.84386781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.58, Y:9.49, Z:7.85 [[ 9.54590625e-01 -2.77833613e-01 -1.07541724e-01 6.95791962e+01] [ 2.76104459e-01 9.60629201e-01 -3.09494141e-02 9.48581080e+00] [ 1.11906508e-01 -1.48728902e-04 9.93718729e-01 7.84932748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:9.50, Z:7.85 [[ 9.55741924e-01 -2.73851408e-01 -1.07530376e-01 6.96050798e+01] [ 2.72092663e-01 9.61771947e-01 -3.09887924e-02 9.49766581e+00] [ 1.11906023e-01 3.59061850e-04 9.93718729e-01 7.85306381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.63, Y:9.51, Z:7.85 [[ 9.58224790e-01 -2.65037776e-01 -1.07518510e-01 6.96322216e+01] [ 2.63218958e-01 9.64236965e-01 -3.10299072e-02 9.50956893e+00] [ 1.11897419e-01 1.43271612e-03 9.93718730e-01 7.85243270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:9.52, Z:7.85 [[ 9.59461466e-01 -2.60529638e-01 -1.07508158e-01 6.96579625e+01] [ 2.58678560e-01 9.65463786e-01 -3.10657330e-02 9.51915926e+00] [ 1.11888777e-01 1.99631820e-03 9.93718731e-01 7.85396346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.837105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.68, Y:9.53, Z:7.85 [[ 9.61192657e-01 -2.54070404e-01 -1.07503050e-01 6.96844904e+01] [ 2.52177023e-01 9.67181768e-01 -3.10834001e-02 9.52816717e+00] [ 1.11872361e-01 2.76733700e-03 9.93718731e-01 7.85147982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.867105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:9.53, Z:7.85 [[ 9.62338906e-01 -2.49698719e-01 -1.07491301e-01 6.97137533e+01] [ 2.47773605e-01 9.68317891e-01 -3.11239756e-02 9.53439450e+00] [ 1.11857367e-01 3.31830548e-03 9.93718732e-01 7.84657210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.897105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:9.54, Z:7.85 [[ 9.62789025e-01 -2.47962039e-01 -1.07480791e-01 6.97422409e+01] [ 2.46022098e-01 9.68763215e-01 -3.11602292e-02 9.54193796e+00] [ 1.11849990e-01 3.55807706e-03 9.93718733e-01 7.84669204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:9.55, Z:7.85 [[ 9.63669020e-01 -2.44523992e-01 -1.07471096e-01 6.97691840e+01] [ 2.42559020e-01 9.69635024e-01 -3.11936307e-02 9.54790253e+00] [ 1.11835330e-01 3.99225187e-03 9.93718733e-01 7.84812195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.80, Y:9.55, Z:7.85 [[ 9.64058271e-01 -2.42990067e-01 -1.07459191e-01 6.97966650e+01] [ 2.41011045e-01 9.70019627e-01 -3.12345878e-02 9.55297019e+00] [ 1.11827219e-01 4.21311076e-03 9.93718734e-01 7.85213521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.83, Y:9.55, Z:7.86 [[ 9.64317266e-01 -2.41965415e-01 -1.07447424e-01 6.98258912e+01] [ 2.39975561e-01 9.70275014e-01 -3.12750152e-02 9.55305677e+00] [ 1.11821023e-01 4.37428133e-03 9.93718735e-01 7.86034397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:9.55, Z:7.87 [[ 9.63210004e-01 -2.46340857e-01 -1.07436821e-01 6.98539602e+01] [ 2.44374018e-01 9.69175389e-01 -3.13113980e-02 9.55466785e+00] [ 1.11838399e-01 3.90468420e-03 9.93718736e-01 7.86743110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:9.56, Z:7.87 [[ 9.62358545e-01 -2.49648080e-01 -1.07433077e-01 6.98815955e+01] [ 2.47700313e-01 9.68330185e-01 -3.13242374e-02 9.55945008e+00] [ 1.11850727e-01 3.53394072e-03 9.93718736e-01 7.87045735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.91, Y:9.56, Z:7.87 [[ 9.60650472e-01 -2.56147147e-01 -1.07421183e-01 6.99101194e+01] [ 2.54235235e-01 9.66633686e-01 -3.13649724e-02 9.55971979e+00] [ 1.11870983e-01 2.82052577e-03 9.93718737e-01 7.87016914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:9.56, Z:7.87 [[ 9.58487580e-01 -2.64127536e-01 -1.07416032e-01 6.99398039e+01] [ 2.62263474e-01 9.64485875e-01 -3.13826059e-02 9.56112776e+00] [ 1.11890256e-01 1.90853639e-03 9.93718737e-01 7.86720401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.97, Y:9.56, Z:7.87 [[ 9.55790050e-01 -2.73732319e-01 -1.07405766e-01 6.99701374e+01] [ 2.71924598e-01 9.61805563e-01 -3.14176999e-02 9.56130044e+00] [ 1.11903503e-01 8.22455202e-04 9.93718738e-01 7.86544450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.00, Y:9.56, Z:7.87 [[ 9.54144726e-01 -2.79417319e-01 -1.07395544e-01 6.99976569e+01] [ 2.77641512e-01 9.60169737e-01 -3.14526051e-02 9.56492274e+00] [ 1.11906354e-01 1.92876167e-04 9.93718738e-01 7.86836427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.197105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.03, Y:9.57, Z:7.87 [[ 9.51302907e-01 -2.88949017e-01 -1.07383635e-01 7.00261331e+01] [ 2.87228992e-01 9.57344078e-01 -3.14932127e-02 9.56940041e+00] [ 1.11903019e-01 -8.84108320e-04 9.93718739e-01 7.87468001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.227105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:9.58, Z:7.88 [[ 9.50099574e-01 -2.92885305e-01 -1.07373172e-01 7.00534140e+01] [ 2.91186280e-01 9.56146684e-01 -3.15288434e-02 9.57686899e+00] [ 1.11898837e-01 -1.31005395e-03 9.93718740e-01 7.88108926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.257105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.08, Y:9.58, Z:7.89 [[ 9.47963852e-01 -2.99729627e-01 -1.07362407e-01 7.00790999e+01] [ 2.98070112e-01 9.54021923e-01 -3.15654588e-02 9.58375997e+00] [ 1.11887193e-01 -2.07861080e-03 9.93718741e-01 7.89254730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.287105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:70.11, Y:9.59, Z:7.90 [[ 9.45676923e-01 -3.06870139e-01 -1.07358626e-01 7.01050215e+01] [ 3.05254900e-01 9.51746950e-01 -3.15783143e-02 9.59009822e+00] [ 1.11868686e-01 -2.90886340e-03 9.93718741e-01 7.90475490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31710568099999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:70.13, Y:9.60, Z:7.91 [[ 9.44236580e-01 -3.11278038e-01 -1.07346468e-01 7.01311377e+01] [ 3.09686442e-01 9.50312848e-01 -3.16195880e-02 9.59802951e+00] [ 1.11855211e-01 -3.38737425e-03 9.93718742e-01 7.90968650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:70.16, Y:9.61, Z:7.91 [[ 9.41347550e-01 -3.19912716e-01 -1.07334265e-01 7.01572000e+01] [ 3.18372127e-01 9.47436949e-01 -3.16609601e-02 9.60917912e+00] [ 1.11821192e-01 -4.36827100e-03 9.93718743e-01 7.91161127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:70.18, Y:9.62, Z:7.91 [[ 9.38786110e-01 -3.27354242e-01 -1.07330518e-01 7.01807480e+01] [ 3.25860455e-01 9.44887159e-01 -3.16736578e-02 9.62403033e+00] [ 1.11783734e-01 -5.23998138e-03 9.93718743e-01 7.91412764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40710568099999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:70.21, Y:9.64, Z:7.92 [[ 9.37699692e-01 -3.30456032e-01 -1.07322410e-01 7.02061644e+01] [ 3.28979290e-01 9.43804888e-01 -3.17011064e-02 9.63676719e+00] [ 1.11767237e-01 -5.58073244e-03 9.93718743e-01 7.91728182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:70.23, Y:9.65, Z:7.92 [[ 9.36548140e-01 -3.33709451e-01 -1.07310684e-01 7.02302616e+01] [ 3.32249385e-01 9.42657345e-01 -3.17407487e-02 9.65256386e+00] [ 1.11749393e-01 -5.92716968e-03 9.93718744e-01 7.91805982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:70.25, Y:9.67, Z:7.92 [[ 9.36766711e-01 -3.33099217e-01 -1.07298840e-01 7.02541002e+01] [ 3.31630604e-01 9.42873866e-01 -3.17807371e-02 9.66793820e+00] [ 1.11755411e-01 -5.81244263e-03 9.93718745e-01 7.91690024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.497105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.28, Y:9.69, Z:7.92 [[ 9.38991440e-01 -3.26777826e-01 -1.07290859e-01 7.02754586e+01] [ 3.25265015e-01 9.45087796e-01 -3.18076593e-02 9.68894770e+00] [ 1.11793319e-01 -5.03084302e-03 9.93718745e-01 7.92312022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.527105681 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:70.30, Y:9.71, Z:7.93 [[ 9.40821477e-01 -3.21473629e-01 -1.07283055e-01 7.02991683e+01] [ 3.19923444e-01 9.46908438e-01 -3.18339585e-02 9.70552770e+00] [ 1.11821008e-01 -4.37229263e-03 9.93718745e-01 7.92891906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.557105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.32, Y:9.73, Z:7.93 [[ 9.45659968e-01 -3.06952753e-01 -1.07271772e-01 7.03198764e+01] [ 3.05304745e-01 9.51721174e-01 -3.18719345e-02 9.73136257e+00] [ 1.11875995e-01 -2.61056855e-03 9.93718746e-01 7.93286876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.587105681 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:70.34, Y:9.75, Z:7.93 [[ 9.50648790e-01 -2.91136899e-01 -1.07266885e-01 7.03419075e+01] [ 2.89386167e-01 9.56681126e-01 -3.18883727e-02 9.75042369e+00] [ 1.11904087e-01 -7.26909908e-04 9.93718746e-01 7.93015555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.617105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:70.37, Y:9.76, Z:7.93 [[ 9.51124722e-01 -2.89694163e-01 -1.06953519e-01 7.03703341e+01] [ 2.87815817e-01 9.57119111e-01 -3.29402969e-02 9.76396089e+00] [ 1.11909869e-01 5.47416203e-04 9.93718210e-01 7.93223844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.647105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.40, Y:9.78, Z:7.93 [[ 9.51783322e-01 -2.87411264e-01 -1.07253319e-01 7.03950111e+01] [ 2.85631823e-01 9.57807239e-01 -3.19335945e-02 9.78019456e+00] [ 1.11906080e-01 -2.41098422e-04 9.93718759e-01 7.92962925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:70.42, Y:9.79, Z:7.93 [[ 9.51493352e-01 -2.88374353e-01 -1.07241003e-01 7.04205384e+01] [ 2.86596354e-01 9.57517695e-01 -3.19749029e-02 9.79266238e+00] [ 1.11905900e-01 -3.10972788e-04 9.93718759e-01 7.92972051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.45, Y:9.81, Z:7.93 [[ 9.51020557e-01 -2.89931174e-01 -1.07237184e-01 7.04468946e+01] [ 2.88161593e-01 9.57047378e-01 -3.19877046e-02 9.80701469e+00] [ 1.11905299e-01 -4.80673167e-04 9.93718760e-01 7.93089464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:70.47, Y:9.82, Z:7.93 [[ 9.50625993e-01 -2.91235037e-01 -1.07202496e-01 7.04741124e+01] [ 2.89460610e-01 9.56651395e-01 -3.21039583e-02 9.81743675e+00] [ 1.11905214e-01 -5.12042540e-04 9.93718753e-01 7.92971195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:70.50, Y:9.83, Z:7.93 [[ 9.50844182e-01 -2.90512335e-01 -1.07228376e-01 7.05005589e+01] [ 2.88743102e-01 9.56871107e-01 -3.20172845e-02 9.82661371e+00] [ 1.11905151e-01 -5.18005180e-04 9.93718757e-01 7.93430662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:70.53, Y:9.84, Z:7.94 [[ 9.51504259e-01 -2.88347589e-01 -1.07216202e-01 7.05258181e+01] [ 2.86560055e-01 9.57525780e-01 -3.20580017e-02 9.83896032e+00] [ 1.11906124e-01 -2.20555522e-04 9.93718758e-01 7.94098396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.55, Y:9.85, Z:7.94 [[ 9.51661436e-01 -2.87829820e-01 -1.07212434e-01 7.05521185e+01] [ 2.86037591e-01 9.57681562e-01 -3.20705949e-02 9.84976844e+00] [ 1.11906245e-01 -1.46438117e-04 9.93718758e-01 7.94275251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.857105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.58, Y:9.86, Z:7.95 [[ 9.51213486e-01 -2.89310650e-01 -1.07201919e-01 7.05798117e+01] [ 2.87523836e-01 9.57235220e-01 -3.21057055e-02 9.85805908e+00] [ 1.11905975e-01 -2.83727031e-04 9.93718759e-01 7.94688867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.887105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.61, Y:9.87, Z:7.95 [[ 9.49484182e-01 -2.94940360e-01 -1.07191292e-01 7.06067847e+01] [ 2.93185247e-01 9.55515231e-01 -3.21411483e-02 9.86578146e+00] [ 1.11902634e-01 -9.09393562e-04 9.93718760e-01 7.95386682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.917105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:70.63, Y:9.87, Z:7.96 [[ 9.47666911e-01 -3.00731985e-01 -1.07180688e-01 7.06323546e+01] [ 2.99009734e-01 9.53707426e-01 -3.21764713e-02 9.87417830e+00] [ 1.11895512e-01 -1.55549178e-03 9.93718760e-01 7.96212681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.947105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.66, Y:9.88, Z:7.97 [[ 9.47220720e-01 -3.02138732e-01 -1.07168537e-01 7.06564504e+01] [ 3.00420879e-01 9.53262486e-01 -3.22168924e-02 9.88183478e+00] [ 1.11893717e-01 -1.67915795e-03 9.93718761e-01 7.96524541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.977105681 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:70.68, Y:9.89, Z:7.97 [[ 9.46728545e-01 -3.03729195e-01 -1.07021675e-01 7.06837456e+01] [ 3.01966340e-01 9.52757441e-01 -3.27045663e-02 9.89299675e+00] [ 1.11899029e-01 -1.35459704e-03 9.93718659e-01 7.96762712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.007105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:70.71, Y:9.90, Z:7.97 [[ 9.48831624e-01 -2.97048605e-01 -1.07147912e-01 7.07082707e+01] [ 2.95290573e-01 9.54861830e-01 -3.22856564e-02 9.90319223e+00] [ 1.11901860e-01 -1.00611637e-03 9.93718754e-01 7.96576059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:70.74, Y:9.91, Z:7.97 [[ 9.49978629e-01 -2.93419684e-01 -1.06983612e-01 7.07368429e+01] [ 2.91577239e-01 9.55983728e-01 -3.28302450e-02 9.91378294e+00] [ 1.11907632e-01 -5.95500396e-06 9.93718613e-01 7.96663334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.76, Y:9.92, Z:7.97 [[ 9.53085420e-01 -2.83107319e-01 -1.07137424e-01 7.07630091e+01] [ 2.81257167e-01 9.59088002e-01 -3.23204339e-02 9.92408561e+00] [ 1.11904370e-01 6.70965885e-04 9.93718754e-01 7.96962770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.79, Y:9.94, Z:7.97 [[ 9.55773074e-01 -2.73901455e-01 -1.07125274e-01 7.07895527e+01] [ 2.71988985e-01 9.61756092e-01 -3.23606551e-02 9.93552721e+00] [ 1.11892016e-01 1.79254814e-03 9.93718755e-01 7.97472939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.82, Y:9.94, Z:7.98 [[ 9.56733301e-01 -2.70532591e-01 -1.07114462e-01 7.08154505e+01] [ 2.68595055e-01 9.62708247e-01 -3.23964036e-02 9.94374170e+00] [ 1.11884259e-01 2.22430323e-03 9.93718755e-01 7.97755479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15710568099999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:70.84, Y:9.95, Z:7.98 [[ 9.57772111e-01 -2.66833706e-01 -1.07109084e-01 7.08431994e+01] [ 2.64871110e-01 9.63738873e-01 -3.24141765e-02 9.94916067e+00] [ 1.11874383e-01 2.67529232e-03 9.93718756e-01 7.97860949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.87, Y:9.95, Z:7.98 [[ 9.58040249e-01 -2.65871593e-01 -1.07103586e-01 7.08718034e+01] [ 2.63900976e-01 9.64004366e-01 -3.24323334e-02 9.95342978e+00] [ 1.11871160e-01 2.80673996e-03 9.93718756e-01 7.97809334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:70.90, Y:9.96, Z:7.98 [[ 9.58316055e-01 -2.64880076e-01 -1.07092876e-01 7.09000607e+01] [ 2.62899344e-01 9.64276820e-01 -3.24676593e-02 9.95957180e+00] [ 1.11867214e-01 2.95963236e-03 9.93718756e-01 7.97903593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.247105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:70.93, Y:9.96, Z:7.98 [[ 9.59909268e-01 -2.59051329e-01 -1.07082240e-01 7.09289799e+01] [ 2.57030505e-01 9.65856560e-01 -3.25026995e-02 9.96311183e+00] [ 1.11845952e-01 3.67624012e-03 9.93718757e-01 7.98011330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:9.97, Z:7.98 [[ 9.62189308e-01 -2.50454351e-01 -1.07071721e-01 7.09565200e+01] [ 2.48376563e-01 9.68116938e-01 -3.25373163e-02 9.96745492e+00] [ 1.11807059e-01 4.71295189e-03 9.93718758e-01 7.98244896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:9.97, Z:7.99 [[ 9.63275549e-01 -2.46245921e-01 -1.07066163e-01 7.09847710e+01] [ 2.44140214e-01 9.69193319e-01 -3.25555945e-02 9.97423308e+00] [ 1.11784492e-01 5.22085220e-03 9.93718758e-01 7.98514672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:9.98, Z:7.99 [[ 9.63187405e-01 -2.46594938e-01 -1.07055867e-01 7.10117361e+01] [ 2.44487626e-01 9.69104603e-01 -3.25894158e-02 9.98271633e+00] [ 1.11784719e-01 5.21587996e-03 9.93718759e-01 7.98833327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.367105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.04, Y:9.98, Z:7.99 [[ 9.64736112e-01 -2.40469945e-01 -1.07044099e-01 7.10409374e+01] [ 2.38320807e-01 9.70638246e-01 -3.26280245e-02 9.98405377e+00] [ 1.11747156e-01 5.96659742e-03 9.93718759e-01 7.99236278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.397105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:9.99, Z:8.00 [[ 9.65225930e-01 -2.38501006e-01 -1.07033521e-01 7.10697119e+01] [ 2.36335998e-01 9.71122260e-01 -3.26626898e-02 9.98734360e+00] [ 1.11732719e-01 6.23100113e-03 9.93718760e-01 7.99736263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:9.98, Z:8.00 [[ 9.66109137e-01 -2.34902710e-01 -1.07022674e-01 7.11009674e+01] [ 2.32711828e-01 9.71995902e-01 -3.26981936e-02 9.98065350e+00] [ 1.11706494e-01 6.68458157e-03 9.93718761e-01 8.00275298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:9.98, Z:8.01 [[ 9.66018660e-01 -2.35276261e-01 -1.07018824e-01 7.11294813e+01] [ 2.33086265e-01 9.71905755e-01 -3.27107865e-02 9.98418414e+00] [ 1.11708283e-01 6.65461207e-03 9.93718761e-01 8.00524034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:9.98, Z:8.01 [[ 9.65443663e-01 -2.37630276e-01 -1.07006472e-01 7.11617233e+01] [ 2.35450180e-01 9.71334430e-01 -3.27511465e-02 9.97945602e+00] [ 1.11721734e-01 6.42469383e-03 9.93718762e-01 8.01211447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:9.98, Z:8.01 [[ 9.65270389e-01 -2.38291242e-01 -1.07099767e-01 7.11899239e+01] [ 2.36148868e-01 9.71175034e-01 -3.24463382e-02 9.98048437e+00] [ 1.11744298e-01 6.02800067e-03 9.93718710e-01 8.01108011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:9.98, Z:8.01 [[ 9.64566883e-01 -2.41170939e-01 -1.06992086e-01 7.12199003e+01] [ 2.39007331e-01 9.70463709e-01 -3.27976392e-02 9.97859068e+00] [ 1.11741774e-01 6.06362360e-03 9.93718777e-01 8.01457884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:9.98, Z:8.02 [[ 9.63328152e-01 -2.46095693e-01 -1.06938211e-01 7.12508002e+01] [ 2.43942775e-01 9.69228908e-01 -3.29734036e-02 9.97640900e+00] [ 1.11762219e-01 5.67740390e-03 9.93718760e-01 8.01744203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.28, Y:9.98, Z:8.02 [[ 9.63064668e-01 -2.47134846e-01 -1.06914979e-01 7.12792099e+01] [ 2.44979909e-01 9.68964705e-01 -3.30491333e-02 9.97856060e+00] [ 1.11764433e-01 5.63643080e-03 9.93718744e-01 8.01658754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:9.98, Z:8.01 [[ 9.62089272e-01 -2.50919990e-01 -1.06880267e-01 7.13095260e+01] [ 2.48775739e-01 9.67993234e-01 -3.31621766e-02 9.97646065e+00] [ 1.11780428e-01 5.31575699e-03 9.93718712e-01 8.01433347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.34, Y:9.98, Z:8.02 [[ 9.61727339e-01 -2.52358783e-01 -1.06750031e-01 7.13372183e+01] [ 2.50176498e-01 9.67617568e-01 -3.35851341e-02 9.97757694e+00] [ 1.11768709e-01 5.59339261e-03 9.93718506e-01 8.01752510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.697105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:9.97, Z:8.03 [[ 9.59956934e-01 -2.59069945e-01 -1.06608860e-01 7.13678159e+01] [ 2.56877882e-01 9.65844044e-01 -3.40446315e-02 9.97365615e+00] [ 1.11787473e-01 5.29592201e-03 9.93718025e-01 8.02689773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:9.98, Z:8.03 [[ 9.57648108e-01 -2.67477086e-01 -1.06611955e-01 7.13967751e+01] [ 2.65337846e-01 9.63554604e-01 -3.40345625e-02 9.97539881e+00] [ 1.11829906e-01 4.30494795e-03 9.93718038e-01 8.03029817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.757105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:9.98, Z:8.03 [[ 9.56352561e-01 -2.72051378e-01 -1.06666895e-01 7.14252012e+01] [ 2.69960283e-01 9.62276059e-01 -3.38560535e-02 9.98119279e+00] [ 1.11853585e-01 3.58249836e-03 9.93718240e-01 8.03448143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.45, Y:9.98, Z:8.04 [[ 9.53834625e-01 -2.80721271e-01 -1.06747723e-01 7.14541762e+01] [ 2.78713438e-01 9.59786603e-01 -3.35931001e-02 9.98017205e+00] [ 1.11885332e-01 2.29023712e-03 9.93718485e-01 8.03650245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:9.98, Z:8.04 [[ 9.51197913e-01 -2.89592817e-01 -1.06576411e-01 7.14868019e+01] [ 2.87578115e-01 9.57148179e-01 -3.41495323e-02 9.97945357e+00] [ 1.11898877e-01 1.83392055e-03 9.93717907e-01 8.04084568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.51, Y:9.98, Z:8.04 [[ 9.48325345e-01 -2.98750738e-01 -1.06897314e-01 7.15141764e+01] [ 2.96910855e-01 9.54331116e-01 -3.31068811e-02 9.98144631e+00] [ 1.11906138e-01 -3.42878398e-04 9.93718722e-01 8.04217359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.54, Y:9.99, Z:8.05 [[ 9.46327795e-01 -3.05041967e-01 -1.06832127e-01 7.15426264e+01] [ 3.03218091e-01 9.52338518e-01 -3.33186970e-02 9.98935504e+00] [ 1.11903950e-01 -8.63024498e-04 9.93718653e-01 8.04692944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.57, Y:9.99, Z:8.05 [[ 9.44207833e-01 -3.11500840e-01 -1.06952299e-01 7.15682482e+01] [ 3.09762246e-01 9.50243690e-01 -3.29284050e-02 9.99377183e+00] [ 1.11887974e-01 -2.03852654e-03 9.93718736e-01 8.04863826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.60, Y:10.00, Z:8.06 [[ 9.42609084e-01 -3.16399854e-01 -1.06673553e-01 7.15981963e+01] [ 3.14590184e-01 9.48624453e-01 -3.38328744e-02 1.00018764e+01] [ 1.11897858e-01 -1.66727800e-03 9.93718315e-01 8.05518731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.63, Y:10.01, Z:8.06 [[ 9.41432397e-01 -3.19818085e-01 -1.06871112e-01 7.16257490e+01] [ 3.18103004e-01 9.47474979e-01 -3.31910107e-02 1.00071367e+01] [ 1.11872790e-01 -2.74892917e-03 9.93718734e-01 8.06272651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:10.02, Z:8.07 [[ 9.40481604e-01 -3.22599921e-01 -1.06881442e-01 7.16521852e+01] [ 3.20906521e-01 9.46530289e-01 -3.31574594e-02 1.00174354e+01] [ 1.11863116e-01 -3.11497114e-03 9.93718743e-01 8.06752112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.68, Y:10.03, Z:8.07 [[ 9.40231301e-01 -3.23305382e-01 -1.06951999e-01 7.16794209e+01] [ 3.21642553e-01 9.46288431e-01 -3.29282998e-02 1.00283789e+01] [ 1.11853336e-01 -3.44009588e-03 9.93718772e-01 8.06844973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:10.04, Z:8.07 [[ 9.39598347e-01 -3.25153533e-01 -1.06911765e-01 7.17040747e+01] [ 3.23487775e-01 9.45654679e-01 -3.30588635e-02 1.00410078e+01] [ 1.11850817e-01 -3.52259530e-03 9.93718766e-01 8.07404662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.73, Y:10.05, Z:8.08 [[ 9.38491210e-01 -3.28327322e-01 -1.06936519e-01 7.17302180e+01] [ 3.26691174e-01 9.44555604e-01 -3.29785952e-02 1.00517717e+01] [ 1.11835262e-01 -3.98509534e-03 9.93718770e-01 8.07609973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:10.06, Z:8.08 [[ 9.37382805e-01 -3.31482668e-01 -1.06923889e-01 7.17538463e+01] [ 3.29862273e-01 9.43451426e-01 -3.30194962e-02 1.00632065e+01] [ 1.11822886e-01 -4.31824899e-03 9.93718771e-01 8.07584835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.147105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.78, Y:10.08, Z:8.08 [[ 9.35881468e-01 -3.35773695e-01 -1.06686002e-01 7.17820982e+01] [ 3.34093572e-01 9.41934102e-01 -3.37880436e-02 1.00764004e+01] [ 1.11836320e-01 -4.02150355e-03 9.93718504e-01 8.07749047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:10.09, Z:8.08 [[ 9.34402024e-01 -3.39801853e-01 -1.06899760e-01 7.18055964e+01] [ 3.38226535e-01 9.40482509e-01 -3.30977426e-02 1.00905855e+01] [ 1.11784029e-01 -5.22973771e-03 9.93718763e-01 8.08106411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:10.10, Z:8.09 [[ 9.33697418e-01 -3.41806604e-01 -1.06664789e-01 7.18290680e+01] [ 3.40157935e-01 9.39758700e-01 -3.38550687e-02 1.01017719e+01] [ 1.11811049e-01 -4.67248419e-03 9.93718500e-01 8.08527755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:10.12, Z:8.09 [[ 9.30787803e-01 -3.49705996e-01 -1.06488411e-01 7.18556731e+01] [ 3.48043940e-01 9.36846034e-01 -3.44227230e-02 1.01205232e+01] [ 1.11801078e-01 -5.02239525e-03 9.93717915e-01 8.09346564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:10.14, Z:8.10 [[ 9.30479900e-01 -3.50406062e-01 -1.06877255e-01 7.18791382e+01] [ 3.48891706e-01 9.36575848e-01 -3.31701551e-02 1.01395713e+01] [ 1.11721679e-01 -6.42442529e-03 9.93718770e-01 8.10007819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.90, Y:10.15, Z:8.10 [[ 9.31715534e-01 -3.47110496e-01 -1.06866586e-01 7.19029392e+01] [ 3.45570647e-01 9.37805091e-01 -3.32044951e-02 1.01530992e+01] [ 1.11745657e-01 -5.99281117e-03 9.93718770e-01 8.10257654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.93, Y:10.17, Z:8.10 [[ 9.32780372e-01 -3.44312456e-01 -1.06628845e-01 7.19280100e+01] [ 3.42667029e-01 9.38842579e-01 -3.39693725e-02 1.01746190e+01] [ 1.11803778e-01 -4.85222566e-03 9.93718457e-01 8.10466526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:10.19, Z:8.11 [[ 9.35481848e-01 -3.36827733e-01 -1.06868096e-01 7.19495387e+01] [ 3.35221494e-01 9.41554222e-01 -3.31993507e-02 1.01944398e+01] [ 1.11804569e-01 -4.76709284e-03 9.93718780e-01 8.10676883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:10.21, Z:8.11 [[ 9.36201668e-01 -3.34901232e-01 -1.06618955e-01 7.19762895e+01] [ 3.33191386e-01 9.42245997e-01 -3.39997182e-02 1.02115153e+01] [ 1.11847831e-01 -3.69392451e-03 9.93718480e-01 8.10818589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:10.23, Z:8.10 [[ 9.40145839e-01 -3.23586326e-01 -1.06853592e-01 7.19996527e+01] [ 3.21889249e-01 9.46193445e-01 -3.32456977e-02 1.02293574e+01] [ 1.11862022e-01 -3.13921829e-03 9.93718790e-01 8.10478283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.03, Y:10.25, Z:8.10 [[ 9.41945365e-01 -3.18402759e-01 -1.06576791e-01 7.20250050e+01] [ 3.16571792e-01 9.47954200e-01 -3.41340824e-02 1.02511696e+01] [ 1.11898303e-01 -1.58676509e-03 9.93718397e-01 8.10471358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.05, Y:10.26, Z:8.11 [[ 9.42931774e-01 -3.15377336e-01 -1.06849451e-01 7.20488192e+01] [ 3.13626174e-01 9.48963915e-01 -3.32582623e-02 1.02641411e+01] [ 1.11885175e-01 -2.15051213e-03 9.93718815e-01 8.10717347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.507105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:10.28, Z:8.11 [[ 9.44970050e-01 -3.09218273e-01 -1.06844116e-01 7.20734842e+01] [ 3.07425853e-01 9.50990059e-01 -3.32753937e-02 1.02814034e+01] [ 1.11897052e-01 -1.40239294e-03 9.93718815e-01 8.11126757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:10.30, Z:8.12 [[ 9.48422628e-01 -2.98464593e-01 -1.06833541e-01 7.20962463e+01] [ 2.96600088e-01 9.54420703e-01 -3.33093094e-02 1.02950292e+01] [ 1.11905793e-01 -9.55349808e-05 9.93718816e-01 8.11880820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:10.31, Z:8.12 [[ 9.49344723e-01 -2.95600146e-01 -1.06607461e-01 7.21232128e+01] [ 2.93636053e-01 9.55311227e-01 -3.40342107e-02 1.03090926e+01] [ 1.11903822e-01 1.00640425e-03 9.93718532e-01 8.12496679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:10.32, Z:8.13 [[ 9.52285951e-01 -2.85897917e-01 -1.06835615e-01 7.21446052e+01] [ 2.83955041e-01 9.58259091e-01 -3.33023940e-02 1.03217290e+01] [ 1.11897284e-01 1.37689064e-03 9.93718824e-01 8.13120696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:72.17, Y:10.33, Z:8.14 [[ 9.53113213e-01 -2.83267251e-01 -1.06465337e-01 7.21742848e+01] [ 2.81175401e-01 9.59036524e-01 -3.44868060e-02 1.03322369e+01] [ 1.11873129e-01 2.93439670e-03 9.93718165e-01 8.13667134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.20, Y:10.34, Z:8.14 [[ 9.54361469e-01 -2.78900589e-01 -1.06811268e-01 7.22001550e+01] [ 2.76905226e-01 9.60317272e-01 -3.33801297e-02 1.03397943e+01] [ 1.11882444e-01 2.28011121e-03 9.93718833e-01 8.14073624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:10.35, Z:8.14 [[ 9.54958169e-01 -2.76955422e-01 -1.06539144e-01 7.22277864e+01] [ 2.74850880e-01 9.60876666e-01 -3.42494733e-02 1.03533145e+01] [ 1.11856555e-01 3.42443684e-03 9.93718463e-01 8.13728352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:10.36, Z:8.13 [[ 9.55978037e-01 -2.73312587e-01 -1.06799920e-01 7.22562939e+01] [ 2.71278394e-01 9.61920679e-01 -3.34161615e-02 1.03613682e+01] [ 1.11866109e-01 2.97260574e-03 9.93718842e-01 8.13223689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.28, Y:10.37, Z:8.13 [[ 9.56500598e-01 -2.71482307e-01 -1.06789337e-01 7.22833044e+01] [ 2.69432974e-01 9.62438036e-01 -3.34499468e-02 1.03690600e+01] [ 1.11859189e-01 3.22232540e-03 9.93718843e-01 8.13096832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.31, Y:10.38, Z:8.13 [[ 9.57294917e-01 -2.68669458e-01 -1.06785602e-01 7.23098071e+01] [ 2.66601352e-01 9.63225842e-01 -3.34618668e-02 1.03772718e+01] [ 1.11848833e-01 3.56368912e-03 9.93718843e-01 8.12994504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:10.38, Z:8.14 [[ 9.58010599e-01 -2.66107713e-01 -1.06781909e-01 7.23367464e+01] [ 2.64022438e-01 9.63935510e-01 -3.34736467e-02 1.03838973e+01] [ 1.11838470e-01 3.87528820e-03 9.93718843e-01 8.13782020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.837105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.36, Y:10.39, Z:8.14 [[ 9.58563556e-01 -2.64110526e-01 -1.06777990e-01 7.23631211e+01] [ 2.62011517e-01 9.64483615e-01 -3.34861443e-02 1.03887563e+01] [ 1.11829665e-01 4.12153434e-03 9.93718843e-01 8.14168951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.867105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:10.39, Z:8.15 [[ 9.58331421e-01 -2.64999869e-01 -1.06658134e-01 7.23906954e+01] [ 2.62863868e-01 9.64238316e-01 -3.38682382e-02 1.03918836e+01] [ 1.11818938e-01 4.42042727e-03 9.93718766e-01 8.14829188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.897105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.42, Y:10.40, Z:8.15 [[ 9.57500274e-01 -2.68007421e-01 -1.06607912e-01 7.24189328e+01] [ 2.65872167e-01 9.63407526e-01 -3.40283686e-02 1.03972633e+01] [ 1.11826720e-01 4.23809568e-03 9.93718684e-01 8.15301550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:10.40, Z:8.16 [[ 9.54266311e-01 -2.79301605e-01 -1.06613416e-01 7.24484177e+01] [ 2.77238253e-01 9.60199050e-01 -3.40108257e-02 1.03989851e+01] [ 1.11869379e-01 2.89806792e-03 9.93718694e-01 8.15770335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:10.40, Z:8.16 [[ 9.51116521e-01 -2.89786951e-01 -1.06774934e-01 7.24768846e+01] [ 2.87846760e-01 9.57090518e-01 -3.34960107e-02 1.03971208e+01] [ 1.11899984e-01 1.12379024e-03 9.93718839e-01 8.16085628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:10.40, Z:8.16 [[ 9.48944110e-01 -2.96901629e-01 -1.06557487e-01 7.25073717e+01] [ 2.94928418e-01 9.54907530e-01 -3.41882619e-02 1.04029792e+01] [ 1.11903098e-01 1.01591859e-03 9.93718604e-01 8.16228097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:10.40, Z:8.16 [[ 9.45588143e-01 -3.07351762e-01 -1.06761223e-01 7.25377110e+01] [ 3.05517593e-01 9.51595544e-01 -3.35398325e-02 1.04045799e+01] [ 1.11902031e-01 -9.02564080e-04 9.93718834e-01 8.16268755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:10.41, Z:8.16 [[ 9.42255086e-01 -3.17426590e-01 -1.06750707e-01 7.25706893e+01] [ 3.15652856e-01 9.48280607e-01 -3.35732717e-02 1.04052128e+01] [ 1.11886674e-01 -2.06157940e-03 9.93718834e-01 8.16257957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:10.41, Z:8.17 [[ 9.40915903e-01 -3.21288746e-01 -1.07008435e-01 7.25954943e+01] [ 3.19632807e-01 9.46975228e-01 -3.27534202e-02 1.04094414e+01] [ 1.11857642e-01 -3.38519241e-03 9.93718475e-01 8.16569648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.62, Y:10.41, Z:8.17 [[ 9.38483170e-01 -3.28498649e-01 -1.06479937e-01 7.26239373e+01] [ 3.26699054e-01 9.44501191e-01 -3.44271499e-02 1.04146124e+01] [ 1.11879700e-01 -2.47759398e-03 9.93718670e-01 8.16759183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.65, Y:10.42, Z:8.17 [[ 9.37957476e-01 -3.29966675e-01 -1.06572824e-01 7.26512707e+01] [ 3.28209859e-01 9.43987932e-01 -3.41331693e-02 1.04204446e+01] [ 1.11866268e-01 -2.96279033e-03 9.93718854e-01 8.17457839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:10.43, Z:8.18 [[ 9.37730960e-01 -3.30630433e-01 -1.06508986e-01 7.26799383e+01] [ 3.28854962e-01 9.43756067e-01 -3.43351117e-02 1.04297256e+01] [ 1.11870735e-01 -2.82891130e-03 9.93718741e-01 8.17686193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.197105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.71, Y:10.44, Z:8.18 [[ 9.38564675e-01 -3.28194293e-01 -1.06699843e-01 7.27080876e+01] [ 3.26471690e-01 9.44604903e-01 -3.37314642e-02 1.04379171e+01] [ 1.11859669e-01 -3.17531750e-03 9.93718940e-01 8.18191271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.227105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.73, Y:10.45, Z:8.19 [[ 9.38443292e-01 -3.28547117e-01 -1.06681678e-01 7.27349786e+01] [ 3.26820265e-01 9.44482306e-01 -3.37888709e-02 1.04466991e+01] [ 1.11860193e-01 -3.15679485e-03 9.93718940e-01 8.18509931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.257105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.76, Y:10.46, Z:8.19 [[ 9.40301245e-01 -3.23195472e-01 -1.06668903e-01 7.27595760e+01] [ 3.21429672e-01 9.46328987e-01 -3.38291869e-02 1.04583750e+01] [ 1.11877315e-01 -2.47692415e-03 9.93718940e-01 8.18925314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.79, Y:10.47, Z:8.19 [[ 9.40922593e-01 -3.21396887e-01 -1.06624177e-01 7.27859191e+01] [ 3.19603590e-01 9.46942222e-01 -3.39701927e-02 1.04690943e+01] [ 1.11884850e-01 -2.11414809e-03 9.93718929e-01 8.19378843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:10.48, Z:8.20 [[ 9.40343917e-01 -3.23085245e-01 -1.06626650e-01 7.28104720e+01] [ 3.21303639e-01 9.46367015e-01 -3.39624015e-02 1.04818009e+01] [ 1.11880695e-01 -2.32319280e-03 9.93718931e-01 8.19984293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:10.50, Z:8.20 [[ 9.37489204e-01 -3.31267699e-01 -1.06656947e-01 7.28353596e+01] [ 3.29549492e-01 9.43530688e-01 -3.38669885e-02 1.04966621e+01] [ 1.11853142e-01 -3.39880655e-03 9.93718936e-01 8.20440814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.86, Y:10.51, Z:8.21 [[ 9.35646376e-01 -3.36440663e-01 -1.06646795e-01 7.28615392e+01] [ 3.34752215e-01 9.41696245e-01 -3.38989255e-02 1.05093081e+01] [ 1.11833864e-01 -3.98284415e-03 9.93718936e-01 8.20858626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:10.52, Z:8.21 [[ 9.32701112e-01 -3.44520153e-01 -1.06651303e-01 7.28868788e+01] [ 3.42885709e-01 9.38765793e-01 -3.38847483e-02 1.05224944e+01] [ 1.11794574e-01 -4.96486525e-03 9.93718936e-01 8.20971130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.91, Y:10.53, Z:8.21 [[ 9.31644313e-01 -3.47383987e-01 -1.06598496e-01 7.29140827e+01] [ 3.45749233e-01 9.37708919e-01 -3.40507280e-02 1.05324740e+01] [ 1.11787038e-01 -5.13318111e-03 9.93718928e-01 8.20971370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.94, Y:10.55, Z:8.21 [[ 9.31545266e-01 -3.47639541e-01 -1.06630985e-01 7.29389817e+01] [ 3.46018100e-01 9.37613439e-01 -3.39486851e-02 1.05519760e+01] [ 1.11780549e-01 -5.27151385e-03 9.93718934e-01 8.20696178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:10.57, Z:8.21 [[ 9.32506425e-01 -3.45065794e-01 -1.06589703e-01 7.29631740e+01] [ 3.43412817e-01 9.38566091e-01 -3.40782867e-02 1.05674821e+01] [ 1.11800732e-01 -4.82604902e-03 9.93718927e-01 8.20903395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:10.58, Z:8.21 [[ 9.33368983e-01 -3.42715483e-01 -1.06622882e-01 7.29896619e+01] [ 3.41059116e-01 9.39427717e-01 -3.39741634e-02 1.05837599e+01] [ 1.11807962e-01 -4.65427542e-03 9.93718933e-01 8.21257171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.557105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:10.61, Z:8.21 [[ 9.37162659e-01 -3.32189872e-01 -1.06658522e-01 7.30134295e+01] [ 3.30478137e-01 9.43205992e-01 -3.38623437e-02 1.06075560e+01] [ 1.11849685e-01 -3.51378573e-03 9.93718925e-01 8.21166589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.587105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:10.62, Z:8.22 [[ 9.38701253e-01 -3.27783409e-01 -1.06761389e-01 7.30373744e+01] [ 3.26079918e-01 9.44747033e-01 -3.35399917e-02 1.06199365e+01] [ 1.11856358e-01 -3.32871274e-03 9.93718811e-01 8.21920051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.617105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:10.64, Z:8.23 [[ 9.41317218e-01 -3.20248889e-01 -1.06595231e-01 7.30574810e+01] [ 3.18438075e-01 9.47331571e-01 -3.40600585e-02 1.06391020e+01] [ 1.11888724e-01 -1.88266076e-03 9.93718959e-01 8.22810970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.647105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:10.66, Z:8.23 [[ 9.43657413e-01 -3.13377739e-01 -1.06325344e-01 7.30836224e+01] [ 3.11427945e-01 9.49628539e-01 -3.49037689e-02 1.06586988e+01] [ 1.11907645e-01 -1.75483153e-04 9.93718596e-01 8.22918381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:73.11, Y:10.67, Z:8.23 [[ 9.44693644e-01 -3.10149573e-01 -1.06588754e-01 7.31103270e+01] [ 3.08272195e-01 9.50687542e-01 -3.40800657e-02 1.06704510e+01] [ 1.11902518e-01 -6.63127708e-04 9.93718968e-01 8.23007770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:73.14, Y:10.68, Z:8.23 [[ 9.46729027e-01 -3.03883758e-01 -1.06577725e-01 7.31351024e+01] [ 3.01962830e-01 9.52709110e-01 -3.41145228e-02 1.06845876e+01] [ 1.11904419e-01 1.14697661e-04 9.93718968e-01 8.22935232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:73.16, Y:10.70, Z:8.23 [[ 9.47596969e-01 -3.01167734e-01 -1.06573827e-01 7.31606088e+01] [ 2.99228298e-01 9.53571075e-01 -3.41266937e-02 1.06953871e+01] [ 1.11903578e-01 4.48446622e-04 9.93718968e-01 8.23327025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:73.19, Y:10.71, Z:8.24 [[ 9.49796538e-01 -2.94162041e-01 -1.06560926e-01 7.31862087e+01] [ 2.92174028e-01 9.55754654e-01 -3.41669313e-02 1.07071999e+01] [ 1.11896715e-01 1.31729811e-03 9.93718969e-01 8.23699875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79710568099999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:73.21, Y:10.72, Z:8.24 [[ 9.52407044e-01 -2.85598392e-01 -1.06556942e-01 7.32117949e+01] [ 2.83555425e-01 9.58346541e-01 -3.41793521e-02 1.07174670e+01] [ 1.11880045e-01 2.33785678e-03 9.93718969e-01 8.24007569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82710568099999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:73.24, Y:10.73, Z:8.24 [[ 9.53515554e-01 -2.81880182e-01 -1.06544127e-01 7.32375833e+01] [ 2.79809601e-01 9.59445481e-01 -3.42192520e-02 1.07276563e+01] [ 1.11869010e-01 2.81651935e-03 9.93718970e-01 8.24284890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.857105681 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:73.26, Y:10.74, Z:8.25 [[ 9.54888773e-01 -2.77197664e-01 -1.06531153e-01 7.32642341e+01] [ 2.75093512e-01 9.60806869e-01 -3.42595964e-02 1.07391982e+01] [ 1.11852543e-01 3.40807502e-03 9.93718971e-01 8.24533444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.887105681 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:73.29, Y:10.74, Z:8.25 [[ 9.55436138e-01 -2.75309603e-01 -1.06519521e-01 7.32920022e+01] [ 2.73189733e-01 9.61348622e-01 -3.42957239e-02 1.07429533e+01] [ 1.11844337e-01 3.66733445e-03 9.93718972e-01 8.24512723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.917105681 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:73.32, Y:10.75, Z:8.25 [[ 9.55270474e-01 -2.75886086e-01 -1.06513800e-01 7.33194204e+01] [ 2.73767806e-01 9.61183527e-01 -3.43134841e-02 1.07484648e+01] [ 1.11845922e-01 3.61860900e-03 9.93718972e-01 8.24818003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.947105681 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:73.35, Y:10.75, Z:8.25 [[ 9.54473364e-01 -2.78636388e-01 -1.06500522e-01 7.33483452e+01] [ 2.76530560e-01 9.60390862e-01 -3.43546440e-02 1.07523259e+01] [ 1.11854582e-01 3.33994350e-03 9.93718973e-01 8.25009659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.977105681 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:73.38, Y:10.76, Z:8.25 [[ 9.53587815e-01 -2.81656491e-01 -1.06488965e-01 7.33764640e+01] [ 2.79565412e-01 9.59510541e-01 -3.43904320e-02 1.07565688e+01] [ 1.11863573e-01 3.02366560e-03 9.93718974e-01 8.25096030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.007105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:73.40, Y:10.76, Z:8.25 [[ 9.53334158e-01 -2.82515420e-01 -1.06484843e-01 7.34047554e+01] [ 2.80428253e-01 9.59258263e-01 -3.44031901e-02 1.07594583e+01] [ 1.11865897e-01 2.93637776e-03 9.93718974e-01 8.25422670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:10.76, Z:8.27 [[ 9.51845296e-01 -2.87493274e-01 -1.06480747e-01 7.34337411e+01] [ 2.85435676e-01 9.57779736e-01 -3.44158626e-02 1.07627162e+01] [ 1.11879431e-01 2.36517290e-03 9.93718974e-01 8.26619121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.46, Y:10.76, Z:8.27 [[ 9.49166282e-01 -2.96211837e-01 -1.06498433e-01 7.34629863e+01] [ 2.94214894e-01 9.55121409e-01 -3.43611601e-02 1.07632110e+01] [ 1.11897116e-01 1.28102940e-03 9.93718972e-01 8.27012123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.49, Y:10.77, Z:8.27 [[ 9.46903788e-01 -3.03377647e-01 -1.06466991e-01 7.34918549e+01] [ 3.01414849e-01 9.52870250e-01 -3.44583113e-02 1.07678463e+01] [ 1.11903109e-01 5.37973668e-04 9.93718977e-01 8.27367484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.52, Y:10.77, Z:8.28 [[ 9.46627709e-01 -3.04200626e-01 -1.06573731e-01 7.35170555e+01] [ 3.02280095e-01 9.52607984e-01 -3.41287752e-02 1.07747265e+01] [ 1.11904982e-01 9.21266489e-05 9.93718907e-01 8.27814228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:10.78, Z:8.28 [[ 9.45792784e-01 -3.06880680e-01 -1.06302668e-01 7.35450109e+01] [ 3.04883082e-01 9.51747768e-01 -3.49641635e-02 1.07787812e+01] [ 1.11903154e-01 6.58968384e-04 9.93718899e-01 8.27936857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:10.78, Z:8.28 [[ 9.45107271e-01 -3.09009952e-01 -1.06231329e-01 7.35730109e+01] [ 3.07001073e-01 9.51058590e-01 -3.51838050e-02 1.07818399e+01] [ 1.11904364e-01 6.39337871e-04 9.93718775e-01 8.28088723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.60, Y:10.79, Z:8.28 [[ 9.44688439e-01 -3.10290720e-01 -1.06223452e-01 7.36012857e+01] [ 3.08287184e-01 9.50641576e-01 -3.52080488e-02 1.07920692e+01] [ 1.11905160e-01 5.13307767e-04 9.93718759e-01 8.28378579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.63, Y:10.80, Z:8.29 [[ 9.46610467e-01 -3.04303122e-01 -1.06434179e-01 7.36270123e+01] [ 3.02334818e-01 9.52575101e-01 -3.45591427e-02 1.08017766e+01] [ 1.11903004e-01 5.35288073e-04 9.93718990e-01 8.28662863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:10.81, Z:8.29 [[ 9.49647001e-01 -2.94691603e-01 -1.06430414e-01 7.36546143e+01] [ 2.92661638e-01 9.55590932e-01 -3.45707344e-02 1.08085438e+01] [ 1.11891643e-01 1.68189510e-03 9.93718990e-01 8.29255327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:10.82, Z:8.30 [[ 9.50887255e-01 -2.90668607e-01 -1.06419873e-01 7.36813257e+01] [ 2.88609869e-01 9.56821282e-01 -3.46031513e-02 1.08161058e+01] [ 1.11882849e-01 2.18986996e-03 9.93718991e-01 8.29574405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:10.82, Z:8.29 [[ 9.53752859e-01 -2.81127836e-01 -1.06407816e-01 7.37050336e+01] [ 2.79005625e-01 9.59664482e-01 -3.46401879e-02 1.08180776e+01] [ 1.11854123e-01 3.34979903e-03 9.93718991e-01 8.29385526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.367105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:10.83, Z:8.30 [[ 9.53868797e-01 -2.80992588e-01 -1.05723622e-01 7.37369082e+01] [ 2.78636924e-01 9.59693706e-01 -3.67349391e-02 1.08274881e+01] [ 1.11784540e-01 5.58180743e-03 9.93716791e-01 8.30210176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.76, Y:10.84, Z:8.30 [[ 9.54293318e-01 -2.79290784e-01 -1.06399819e-01 7.37637585e+01] [ 2.77154993e-01 9.60199872e-01 -3.46599984e-02 1.08352518e+01] [ 1.11845311e-01 3.58656390e-03 9.93719157e-01 8.30434089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.79, Y:10.84, Z:8.30 [[ 9.54413196e-01 -2.78885367e-01 -1.06387982e-01 7.37912941e+01] [ 2.76743026e-01 9.60317377e-01 -3.46962928e-02 1.08431126e+01] [ 1.11842516e-01 3.67246756e-03 9.93719158e-01 8.30482959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.82, Y:10.85, Z:8.30 [[ 9.54363580e-01 -2.79059391e-01 -1.06376754e-01 7.38192079e+01] [ 2.76914297e-01 9.60266761e-01 -3.47306849e-02 1.08489125e+01] [ 1.11841984e-01 3.68845688e-03 9.93719158e-01 8.30425159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:10.85, Z:8.31 [[ 9.53608683e-01 -2.81629742e-01 -1.06372781e-01 7.38488579e+01] [ 2.79499205e-01 9.59517133e-01 -3.47428475e-02 1.08496614e+01] [ 1.11851125e-01 3.39997316e-03 9.93719158e-01 8.30791486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:10.85, Z:8.32 [[ 9.53044665e-01 -2.83536962e-01 -1.06360978e-01 7.38725691e+01] [ 2.81414225e-01 9.58955921e-01 -3.47789432e-02 1.08505243e+01] [ 1.11856606e-01 3.21439391e-03 9.93719159e-01 8.31512287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:10.86, Z:8.33 [[ 9.49774206e-01 -2.94471686e-01 -1.05902709e-01 7.39032592e+01] [ 2.92260339e-01 9.55654109e-01 -3.61817537e-02 1.08594898e+01] [ 1.11860861e-01 3.41333478e-03 9.93718017e-01 8.32575318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:10.87, Z:8.33 [[ 9.48366574e-01 -2.98802298e-01 -1.06386225e-01 7.39296893e+01] [ 2.96783623e-01 9.54314103e-01 -3.46997783e-02 1.08660875e+01] [ 1.11894248e-01 1.33442053e-03 9.93719224e-01 8.32928085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:10.87, Z:8.33 [[ 9.45579805e-01 -3.07544171e-01 -1.06279894e-01 7.39586172e+01] [ 3.05543893e-01 9.51533586e-01 -3.50251859e-02 1.08698419e+01] [ 1.11900680e-01 6.45935838e-04 9.93719186e-01 8.33293714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:10.87, Z:8.34 [[ 9.44233056e-01 -3.11625451e-01 -1.06365007e-01 7.39878600e+01] [ 3.09680228e-01 9.50205012e-01 -3.47647902e-02 1.08721779e+01] [ 1.11902156e-01 -1.13075600e-04 9.93719223e-01 8.34043418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:10.88, Z:8.34 [[ 9.44336656e-01 -3.11315273e-01 -1.06353566e-01 7.40148793e+01] [ 3.09364150e-01 9.50306687e-01 -3.47997575e-02 1.08793568e+01] [ 1.11902201e-01 -3.92938399e-05 9.93719224e-01 8.34451644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.697105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:10.89, Z:8.35 [[ 9.46310003e-01 -3.05268933e-01 -1.06340287e-01 7.40419303e+01] [ 3.03275111e-01 9.52265909e-01 -3.48402881e-02 1.08898662e+01] [ 1.11899887e-01 7.19350792e-04 9.93719225e-01 8.34771928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.07, Y:10.90, Z:8.35 [[ 9.50120681e-01 -2.93197687e-01 -1.06328776e-01 7.40687030e+01] [ 2.91124282e-01 9.56049350e-01 -3.48753827e-02 1.08987633e+01] [ 1.11880939e-01 2.18093376e-03 9.93719225e-01 8.34886254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.757105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.10, Y:10.91, Z:8.35 [[ 9.51783426e-01 -2.87755743e-01 -1.06324698e-01 7.40967286e+01] [ 2.85647058e-01 9.57699639e-01 -3.48878120e-02 1.09058203e+01] [ 1.11866293e-01 2.83430419e-03 9.93719226e-01 8.35226053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:10.91, Z:8.36 [[ 9.54745207e-01 -2.77775246e-01 -1.06313233e-01 7.41236841e+01] [ 2.75600855e-01 9.60637587e-01 -3.49227141e-02 1.09107084e+01] [ 1.11829153e-01 4.04227603e-03 9.93719226e-01 8.35528627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:10.92, Z:8.36 [[ 9.56413199e-01 -2.71978832e-01 -1.06307606e-01 7.41517065e+01] [ 2.69766840e-01 9.62291567e-01 -3.49398347e-02 1.09169381e+01] [ 1.11801808e-01 4.73865218e-03 9.93719226e-01 8.35755325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:10.92, Z:8.36 [[ 9.56506086e-01 -2.71656364e-01 -1.06296416e-01 7.41791941e+01] [ 2.69438618e-01 9.62382284e-01 -3.49738431e-02 1.09231457e+01] [ 1.11798655e-01 4.81233423e-03 9.93719227e-01 8.36134830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.21, Y:10.92, Z:8.36 [[ 9.56112726e-01 -2.73042726e-01 -1.06283234e-01 7.42073409e+01] [ 2.70829061e-01 9.61990462e-01 -3.50138586e-02 1.09246494e+01] [ 1.11803737e-01 4.69260741e-03 9.93719228e-01 8.36479416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.24, Y:10.93, Z:8.37 [[ 9.55110938e-01 -2.76528183e-01 -1.06279166e-01 7.42359515e+01] [ 2.74334599e-01 9.60996198e-01 -3.50262017e-02 1.09270891e+01] [ 1.11819606e-01 4.29785598e-03 9.93719228e-01 8.36567130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:10.93, Z:8.37 [[ 9.54527541e-01 -2.78537594e-01 -1.06273148e-01 7.42639012e+01] [ 2.76354372e-01 9.60416653e-01 -3.50444504e-02 1.09329975e+01] [ 1.11827698e-01 4.08184389e-03 9.93719228e-01 8.36715202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:74.29, Y:10.94, Z:8.37 [[ 9.53668250e-01 -2.81469869e-01 -1.06261853e-01 7.42929991e+01] [ 2.79300950e-01 9.59562644e-01 -3.50786656e-02 1.09368724e+01] [ 1.11838492e-01 3.77437305e-03 9.93719229e-01 8.36868434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:10.94, Z:8.37 [[ 9.53060012e-01 -2.83526745e-01 -1.06250642e-01 7.43209623e+01] [ 2.81366769e-01 9.58957688e-01 -3.51125907e-02 1.09407650e+01] [ 1.11845229e-01 3.56900625e-03 9.93719229e-01 8.37201212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.35, Y:10.95, Z:8.38 [[ 9.52637316e-01 -2.84945233e-01 -1.06246688e-01 7.43488332e+01] [ 2.82792707e-01 9.58537715e-01 -3.51245520e-02 1.09458160e+01] [ 1.11850031e-01 3.41517047e-03 9.93719230e-01 8.37883819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.37, Y:10.95, Z:8.38 [[ 9.51649024e-01 -2.88232927e-01 -1.06235186e-01 7.43744979e+01] [ 2.86096911e-01 9.57555419e-01 -3.51593047e-02 1.09472836e+01] [ 1.11860148e-01 3.06575935e-03 9.93719230e-01 8.37751271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.40, Y:10.95, Z:8.39 [[ 9.48757637e-01 -2.97750553e-01 -1.05846849e-01 7.44048668e+01] [ 2.95542970e-01 9.54638390e-01 -3.63303953e-02 1.09541649e+01] [ 1.11862861e-01 3.18644779e-03 9.93718545e-01 8.38899309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.43, Y:10.96, Z:8.39 [[ 9.47520471e-01 -3.01533618e-01 -1.06218809e-01 7.44311520e+01] [ 2.99475023e-01 9.53454284e-01 -3.52084947e-02 1.09600980e+01] [ 1.11891324e-01 1.55088906e-03 9.93719239e-01 8.38941462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.46, Y:10.97, Z:8.39 [[ 9.47417858e-01 -3.01859006e-01 -1.06209898e-01 7.44579365e+01] [ 2.99799439e-01 9.53351334e-01 -3.52353571e-02 1.09692684e+01] [ 1.11891457e-01 1.54093886e-03 9.93719240e-01 8.39260180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.48, Y:10.98, Z:8.40 [[ 9.44754542e-01 -3.10098176e-01 -1.06197820e-01 7.44849382e+01] [ 3.08086271e-01 9.50704347e-01 -3.52717200e-02 1.09750174e+01] [ 1.11900426e-01 6.05027227e-04 9.93719240e-01 8.39745886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:10.98, Z:8.40 [[ 9.42773230e-01 -3.16075007e-01 -1.06184873e-01 7.45123529e+01] [ 3.14096436e-01 9.48734202e-01 -3.53106552e-02 1.09833464e+01] [ 1.11902036e-01 -6.23497837e-05 9.93719241e-01 8.40028443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:10.99, Z:8.40 [[ 9.42255430e-01 -3.17619212e-01 -1.06173162e-01 7.45400107e+01] [ 3.15646446e-01 9.48218326e-01 -3.53458348e-02 1.09912838e+01] [ 1.11901854e-01 -2.08376360e-04 9.93719242e-01 8.40235133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:11.00, Z:8.41 [[ 9.42684189e-01 -3.16348417e-01 -1.06161187e-01 7.45689065e+01] [ 3.14363567e-01 9.48643072e-01 -3.53817638e-02 1.09978996e+01] [ 1.11902040e-01 -1.93801923e-05 9.93719243e-01 8.41095148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.59, Y:11.01, Z:8.42 [[ 9.44076202e-01 -3.12129377e-01 -1.06279710e-01 7.45935260e+01] [ 3.10157901e-01 9.50039600e-01 -3.50262102e-02 1.10080747e+01] [ 1.11902643e-01 1.03919702e-04 9.93719169e-01 8.41500240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:11.02, Z:8.42 [[ 9.45176953e-01 -3.08826728e-01 -1.06144144e-01 7.46197572e+01] [ 3.06788777e-01 9.51117866e-01 -3.54323570e-02 1.10179459e+01] [ 1.11898050e-01 9.26015209e-04 9.93719261e-01 8.42340187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:11.03, Z:8.44 [[ 9.48521097e-01 -2.98401860e-01 -1.06132271e-01 7.46446444e+01] [ 2.96294650e-01 9.54437798e-01 -3.54678849e-02 1.10270802e+01] [ 1.11880334e-01 2.19561305e-03 9.93719261e-01 8.43601009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:11.04, Z:8.44 [[ 9.51108500e-01 -2.90095848e-01 -1.06004815e-01 7.46703202e+01] [ 2.87894532e-01 9.56990908e-01 -3.58488642e-02 1.10396130e+01] [ 1.11845250e-01 3.57795293e-03 9.93719195e-01 8.43693844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:11.05, Z:8.43 [[ 9.53530424e-01 -2.81991388e-01 -1.06115921e-01 7.46984441e+01] [ 2.79776953e-01 9.59407840e-01 -3.55169281e-02 1.10498158e+01] [ 1.11823914e-01 4.17768256e-03 9.93719256e-01 8.43401470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.73, Y:11.06, Z:8.44 [[ 9.54309122e-01 -2.79348896e-01 -1.06105111e-01 7.47265948e+01] [ 2.77114608e-01 9.60179019e-01 -3.55491933e-02 1.10582208e+01] [ 1.11810529e-01 4.52164332e-03 9.93719256e-01 8.43534349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:11.06, Z:8.44 [[ 9.55048014e-01 -2.76816391e-01 -1.06094185e-01 7.47543930e+01] [ 2.74562927e-01 9.60910577e-01 -3.55817713e-02 1.10635241e+01] [ 1.11796642e-01 4.85277009e-03 9.93719257e-01 8.43524647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.507105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:11.07, Z:8.43 [[ 9.55170221e-01 -2.76396006e-01 -1.06090036e-01 7.47830886e+01] [ 2.74138593e-01 9.61031264e-01 -3.55941360e-02 1.10710733e+01] [ 1.11793919e-01 4.91508558e-03 9.93719257e-01 8.43303286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.81, Y:11.08, Z:8.43 [[ 9.54954058e-01 -2.77146046e-01 -1.06079289e-01 7.48105290e+01] [ 2.74889688e-01 9.60815507e-01 -3.56261356e-02 1.10787430e+01] [ 1.11796269e-01 4.86121996e-03 9.93719258e-01 8.43487787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:11.08, Z:8.44 [[ 9.54312990e-01 -2.79349870e-01 -1.06067750e-01 7.48384552e+01] [ 2.77103242e-01 9.60178174e-01 -3.56604582e-02 1.10836450e+01] [ 1.11805683e-01 4.63952100e-03 9.93719258e-01 8.44183441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.87, Y:11.09, Z:8.45 [[ 9.53307543e-01 -2.82766310e-01 -1.06056320e-01 7.48655885e+01] [ 2.80536933e-01 9.59179304e-01 -3.56944194e-02 1.10886223e+01] [ 1.11820207e-01 4.27504454e-03 9.93719259e-01 8.45181175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:74.89, Y:11.09, Z:8.46 [[ 9.52452155e-01 -2.85635829e-01 -1.06052188e-01 7.48933768e+01] [ 2.83422779e-01 9.58330089e-01 -3.57066929e-02 1.10948101e+01] [ 1.11832114e-01 3.95131074e-03 9.93719259e-01 8.45608473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:11.10, Z:8.46 [[ 9.50133244e-01 -2.93261324e-01 -1.06040626e-01 7.49228737e+01] [ 2.91091636e-01 9.56027322e-01 -3.57409967e-02 1.10967380e+01] [ 1.11859188e-01 3.09116983e-03 9.93719260e-01 8.45772228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:11.10, Z:8.46 [[ 9.48566815e-01 -2.98293365e-01 -1.06028610e-01 7.49504435e+01] [ 2.96150971e-01 9.54470868e-01 -3.57766085e-02 1.11026549e+01] [ 1.11873144e-01 2.53602794e-03 9.93719260e-01 8.45807213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.98, Y:11.11, Z:8.46 [[ 9.45035489e-01 -3.09300437e-01 -1.06024353e-01 7.49783691e+01] [ 3.07225408e-01 9.50963554e-01 -3.57892196e-02 1.11059591e+01] [ 1.11894916e-01 1.24870770e-03 9.93719260e-01 8.45987938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.01, Y:11.11, Z:8.47 [[ 9.41621574e-01 -3.19547347e-01 -1.06010868e-01 7.50061948e+01] [ 3.17532340e-01 9.47570307e-01 -3.58291196e-02 1.11090065e+01] [ 1.11901850e-01 7.55931477e-05 9.93719261e-01 8.46602891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.03, Y:11.12, Z:8.47 [[ 9.40203118e-01 -3.23699124e-01 -1.06004596e-01 7.50332814e+01] [ 3.21708294e-01 9.46159986e-01 -3.58476661e-02 1.11155878e+01] [ 1.11901165e-01 -3.98470258e-04 9.93719261e-01 8.47105258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:11.12, Z:8.48 [[ 9.38889669e-01 -3.27493564e-01 -1.05991298e-01 7.50599826e+01] [ 3.25522374e-01 9.44853063e-01 -3.58869402e-02 1.11230483e+01] [ 1.11898945e-01 -8.08661608e-04 9.93719262e-01 8.47933300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.837105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:11.14, Z:8.49 [[ 9.40036264e-01 -3.24191693e-01 -1.05979092e-01 7.50854032e+01] [ 3.22195496e-01 9.45991334e-01 -3.59229507e-02 1.11353310e+01] [ 1.11901225e-01 -3.77109791e-04 9.93719263e-01 8.48702470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.867105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.11, Y:11.15, Z:8.49 [[ 9.41458284e-01 -3.20042657e-01 -1.05966967e-01 7.51108290e+01] [ 3.18016193e-01 9.47403121e-01 -3.59586828e-02 1.11474412e+01] [ 1.11901748e-01 1.54388316e-04 9.93719264e-01 8.49199112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.14, Y:11.16, Z:8.50 [[ 9.45009010e-01 -3.09405841e-01 -1.05952806e-01 7.51351643e+01] [ 3.07307797e-01 9.50928963e-01 -3.60003608e-02 1.11599156e+01] [ 1.11892314e-01 1.46054205e-03 9.93719265e-01 8.49534037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.16, Y:11.17, Z:8.50 [[ 9.48259240e-01 -2.99298698e-01 -1.05946697e-01 7.51618781e+01] [ 2.97135561e-01 9.54155720e-01 -3.60183289e-02 1.11716647e+01] [ 1.11869886e-01 2.67418187e-03 9.93719265e-01 8.50065826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:11.18, Z:8.50 [[ 9.50889120e-01 -2.90843281e-01 -1.05924820e-01 7.51882220e+01] [ 2.88620567e-01 9.56763403e-01 -3.60826642e-02 1.11838204e+01] [ 1.11839392e-01 3.73853107e-03 9.93719263e-01 8.50288319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:11.19, Z:8.50 [[ 9.52877269e-01 -2.84256719e-01 -1.05938790e-01 7.52160806e+01] [ 2.81997969e-01 9.58737789e-01 -3.60416023e-02 1.11941842e+01] [ 1.11812589e-01 4.46869984e-03 9.93719264e-01 8.50156836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:11.20, Z:8.50 [[ 9.53229502e-01 -2.83077444e-01 -1.05927696e-01 7.52424182e+01] [ 2.80807831e-01 9.59085823e-01 -3.60741786e-02 1.12031281e+01] [ 1.11805538e-01 4.64164457e-03 9.93719265e-01 8.50234067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:75.27, Y:11.21, Z:8.50 [[ 9.52835036e-01 -2.84403954e-01 -1.05923488e-01 7.52689279e+01] [ 2.82141124e-01 9.58693981e-01 -3.60865322e-02 1.12119883e+01] [ 1.11811363e-01 4.49914038e-03 9.93719265e-01 8.50297295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.30, Y:11.22, Z:8.51 [[ 9.52320263e-01 -2.86124464e-01 -1.05919349e-01 7.52963880e+01] [ 2.83870871e-01 9.58182767e-01 -3.60986770e-02 1.12201118e+01] [ 1.11818809e-01 4.31008386e-03 9.93719265e-01 8.50504304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:11.22, Z:8.51 [[ 9.50768103e-01 -2.91244860e-01 -1.05907728e-01 7.53257905e+01] [ 2.89019056e-01 9.56641213e-01 -3.61327384e-02 1.12242205e+01] [ 1.11839172e-01 3.74450357e-03 9.93719265e-01 8.50627263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:11.23, Z:8.51 [[ 9.48956355e-01 -2.97099168e-01 -1.05895805e-01 7.53527598e+01] [ 2.94905712e-01 9.54841622e-01 -3.61676483e-02 1.12310124e+01] [ 1.11859100e-01 3.09224200e-03 9.93719266e-01 8.51064868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.167105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:75.38, Y:11.24, Z:8.52 [[ 9.48261013e-01 -2.99315900e-01 -1.05882215e-01 7.53799142e+01] [ 2.97131768e-01 9.54149746e-01 -3.62073899e-02 1.12399268e+01] [ 1.11864936e-01 2.87308638e-03 9.93719267e-01 8.51519421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.197105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:11.24, Z:8.52 [[ 9.47498882e-01 -3.01723926e-01 -1.05870398e-01 7.54073140e+01] [ 2.99550906e-01 9.53391724e-01 -3.62419109e-02 1.12449715e+01] [ 1.11871013e-01 2.62559654e-03 9.93719268e-01 8.52422687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.227105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:11.25, Z:8.53 [[ 9.47048285e-01 -3.03136811e-01 -1.05866049e-01 7.54346256e+01] [ 3.00971163e-01 9.52943840e-01 -3.62546108e-02 1.12519715e+01] [ 1.11874506e-01 2.47223917e-03 9.93719268e-01 8.52845637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.257105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.46, Y:11.26, Z:8.53 [[ 9.45356279e-01 -3.08377129e-01 -1.05853919e-01 7.54616783e+01] [ 3.06240205e-01 9.51262305e-01 -3.62899920e-02 1.12577434e+01] [ 1.11885846e-01 1.89024593e-03 9.93719268e-01 8.53279016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.49, Y:11.26, Z:8.53 [[ 9.42779399e-01 -3.16169732e-01 -1.05847559e-01 7.54890486e+01] [ 3.14079548e-01 9.48702128e-01 -3.63085328e-02 1.12626453e+01] [ 1.11897463e-01 9.86383299e-04 9.93719269e-01 8.53429687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:11.27, Z:8.54 [[ 9.41591005e-01 -3.19694596e-01 -1.05838296e-01 7.55167906e+01] [ 3.17623552e-01 9.47520454e-01 -3.63355154e-02 1.12694072e+01] [ 1.11900218e-01 5.96459098e-04 9.93719269e-01 8.53712340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.54, Y:11.28, Z:8.54 [[ 9.40618483e-01 -3.22548718e-01 -1.05826245e-01 7.55444200e+01] [ 3.20491721e-01 9.46552818e-01 -3.63705800e-02 1.12756925e+01] [ 1.11901414e-01 2.94404612e-04 9.93719270e-01 8.53990059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:11.28, Z:8.55 [[ 9.42158030e-01 -3.18025090e-01 -1.05821971e-01 7.55705417e+01] [ 3.15938205e-01 9.48081920e-01 -3.63830099e-02 1.12833151e+01] [ 1.11898607e-01 8.45341421e-04 9.93719270e-01 8.54668210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:75.60, Y:11.29, Z:8.55 [[ 9.44113017e-01 -3.12175685e-01 -1.05815654e-01 7.55967934e+01] [ 3.10050042e-01 9.50023111e-01 -3.64013716e-02 1.12917462e+01] [ 1.11890940e-01 1.55886075e-03 9.93719270e-01 8.55070237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:75.62, Y:11.30, Z:8.56 [[ 9.46605370e-01 -3.04536752e-01 -1.05809451e-01 7.56227635e+01] [ 3.02361409e-01 9.52497352e-01 -3.64193945e-02 1.13036717e+01] [ 1.11874266e-01 2.48209970e-03 9.93719270e-01 8.55945285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:11.31, Z:8.56 [[ 9.49162210e-01 -2.96476057e-01 -1.05797196e-01 7.56487359e+01] [ 2.94246729e-01 9.55033978e-01 -3.64549608e-02 1.13130032e+01] [ 1.11847940e-01 3.47119232e-03 9.93719271e-01 8.56463244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:11.32, Z:8.57 [[ 9.50736538e-01 -2.91389585e-01 -1.05792931e-01 7.56770253e+01] [ 2.89127474e-01 9.56595754e-01 -3.64673347e-02 1.13205872e+01] [ 1.11827270e-01 4.08318477e-03 9.93719271e-01 8.56642870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.527105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:75.70, Y:11.33, Z:8.57 [[ 9.51140055e-01 -2.90074120e-01 -1.05780904e-01 7.57036153e+01] [ 2.87800036e-01 9.56994634e-01 -3.65021861e-02 1.13283267e+01] [ 1.11820097e-01 4.27494324e-03 9.93719272e-01 8.56718059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.557105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.73, Y:11.34, Z:8.57 [[ 9.51042630e-01 -2.90394927e-01 -1.05776664e-01 7.57317507e+01] [ 2.88121453e-01 9.56897446e-01 -3.65144708e-02 1.13352540e+01] [ 1.11821036e-01 4.25029234e-03 9.93719272e-01 8.56911379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.587105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:11.34, Z:8.57 [[ 9.49969229e-01 -2.93891566e-01 -1.05764889e-01 7.57595054e+01] [ 2.91635857e-01 9.55830911e-01 -3.65485457e-02 1.13410376e+01] [ 1.11834659e-01 3.87515987e-03 9.93719272e-01 8.57422981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.617105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:11.35, Z:8.57 [[ 9.49661491e-01 -2.94873997e-01 -1.05794041e-01 7.57862891e+01] [ 2.92633733e-01 9.55529099e-01 -3.64642251e-02 1.13480674e+01] [ 1.11841636e-01 3.66976536e-03 9.93719267e-01 8.57257695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:11.35, Z:8.58 [[ 9.49829315e-01 -2.94349360e-01 -1.05748416e-01 7.58140985e+01] [ 2.92091192e-01 9.55690046e-01 -3.65960669e-02 1.13522656e+01] [ 1.11834737e-01 3.87183638e-03 9.93719277e-01 8.57697507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:11.36, Z:8.58 [[ 9.50626451e-01 -2.91769632e-01 -1.05734725e-01 7.58431973e+01] [ 2.89491174e-01 9.56479323e-01 -3.66355806e-02 1.13556061e+01] [ 1.11822228e-01 4.21748243e-03 9.93719277e-01 8.58228231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:11.36, Z:8.59 [[ 9.50876399e-01 -2.90958351e-01 -1.05722807e-01 7.58698250e+01] [ 2.88671084e-01 9.56725833e-01 -3.66699421e-02 1.13630915e+01] [ 1.11817166e-01 4.34946529e-03 9.93719278e-01 8.58511279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:75.90, Y:11.37, Z:8.59 [[ 9.50709255e-01 -2.91505558e-01 -1.05718598e-01 7.58982297e+01] [ 2.89220312e-01 9.56559479e-01 -3.66820704e-02 1.13706066e+01] [ 1.11819155e-01 4.29801778e-03 9.93719278e-01 8.58659694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:11.37, Z:8.59 [[ 9.49186320e-01 -2.96431212e-01 -1.05706508e-01 7.59267665e+01] [ 2.94172460e-01 9.55046823e-01 -3.67168767e-02 1.13733341e+01] [ 1.11838693e-01 3.75521347e-03 9.93719279e-01 8.58636784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.96, Y:11.38, Z:8.59 [[ 9.47964778e-01 -3.00316192e-01 -1.05702247e-01 7.59550078e+01] [ 2.98080094e-01 9.53833962e-01 -3.67291394e-02 1.13788743e+01] [ 1.11852749e-01 3.31019459e-03 9.93719279e-01 8.58922224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:75.98, Y:11.38, Z:8.59 [[ 9.45107339e-01 -3.09195318e-01 -1.05689981e-01 7.59831731e+01] [ 3.07010433e-01 9.50995779e-01 -3.67644019e-02 1.13822413e+01] [ 1.11878107e-01 2.29837905e-03 9.93719280e-01 8.59147006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.857105681 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:76.01, Y:11.39, Z:8.59 [[ 9.42993391e-01 -3.15585184e-01 -1.05685646e-01 7.60098284e+01] [ 3.13438809e-01 9.48895977e-01 -3.67768602e-02 1.13885960e+01] [ 1.11890917e-01 1.55435309e-03 9.93719280e-01 8.59494932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.887105681 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:76.04, Y:11.40, Z:8.60 [[ 9.42157802e-01 -3.18072518e-01 -1.05681356e-01 7.60366862e+01] [ 3.15940344e-01 9.48065533e-01 -3.67891857e-02 1.13964141e+01] [ 1.11894480e-01 1.27221453e-03 9.93719280e-01 8.59845272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.917105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:76.06, Y:11.40, Z:8.60 [[ 9.40185077e-01 -3.23861637e-01 -1.05667694e-01 7.60632454e+01] [ 3.21761436e-01 9.46104248e-01 -3.68283836e-02 1.14030319e+01] [ 1.11899955e-01 6.25707749e-04 9.93719281e-01 8.60313357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.947105681 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:76.09, Y:11.41, Z:8.61 [[ 9.37481440e-01 -3.31610866e-01 -1.05654070e-01 7.60911648e+01] [ 3.29555193e-01 9.43416222e-01 -3.68674264e-02 1.14127087e+01] [ 1.11901403e-01 -2.56319465e-04 9.93719281e-01 8.61199773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.977105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:76.12, Y:11.42, Z:8.62 [[ 9.34493917e-01 -3.39933636e-01 -1.05670442e-01 7.61170173e+01] [ 3.37936118e-01 9.40448526e-01 -3.68205126e-02 1.14213473e+01] [ 1.11894142e-01 -1.30131402e-03 9.93719280e-01 8.61512293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.007105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:76.14, Y:11.43, Z:8.62 [[ 9.31949007e-01 -3.46858933e-01 -1.05640564e-01 7.61430955e+01] [ 3.44895966e-01 9.37915091e-01 -3.69060372e-02 1.14311081e+01] [ 1.11883068e-01 -2.04045971e-03 9.93719284e-01 8.61882077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:76.17, Y:11.44, Z:8.62 [[ 9.31823449e-01 -3.47197426e-01 -1.05636207e-01 7.61697771e+01] [ 3.45235213e-01 9.37789780e-01 -3.69185051e-02 1.14407008e+01] [ 1.11882565e-01 -2.06780962e-03 9.93719284e-01 8.62201161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:76.20, Y:11.45, Z:8.63 [[ 9.30396382e-01 -3.51007701e-01 -1.05622754e-01 7.61950792e+01] [ 3.49065557e-01 9.36369276e-01 -3.69569543e-02 1.14512750e+01] [ 1.11874077e-01 -2.48464878e-03 9.93719285e-01 8.62684560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:76.22, Y:11.46, Z:8.63 [[ 9.27911658e-01 -3.57528740e-01 -1.05608498e-01 7.62189032e+01] [ 3.55623936e-01 9.33896563e-01 -3.69976476e-02 1.14642905e+01] [ 1.11855135e-01 -3.22636111e-03 9.93719286e-01 8.63357868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:76.24, Y:11.48, Z:8.64 [[ 9.25041418e-01 -3.64892226e-01 -1.05603209e-01 7.62443774e+01] [ 3.63033328e-01 9.31040740e-01 -3.70127386e-02 1.14770946e+01] [ 1.11826550e-01 -4.09916806e-03 9.93719286e-01 8.64023922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:11.49, Z:8.64 [[ 9.23145696e-01 -3.69665565e-01 -1.05590689e-01 7.62699653e+01] [ 3.67833607e-01 9.29153299e-01 -3.70484198e-02 1.14875622e+01] [ 1.11805462e-01 -4.63871472e-03 9.93719287e-01 8.64485509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:76.29, Y:11.51, Z:8.65 [[ 9.19437564e-01 -3.78798341e-01 -1.05576429e-01 7.62927163e+01] [ 3.77021377e-01 9.25461661e-01 -3.70890129e-02 1.15054514e+01] [ 1.11756194e-01 -5.70353897e-03 9.93719288e-01 8.65063543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:11.53, Z:8.66 [[ 9.16474283e-01 -3.85916427e-01 -1.05562303e-01 7.63153315e+01] [ 3.84181620e-01 9.22510654e-01 -3.71291744e-02 1.15272587e+01] [ 1.11711108e-01 -6.52716318e-03 9.93719289e-01 8.65758695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.247105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.34, Y:11.54, Z:8.66 [[ 9.15595238e-01 -3.88000763e-01 -1.05549840e-01 7.63400444e+01] [ 3.86275631e-01 9.21634381e-01 -3.71645716e-02 1.15425705e+01] [ 1.11698243e-01 -6.74362617e-03 9.93719289e-01 8.66315667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:11.56, Z:8.67 [[ 9.14455273e-01 -3.90683248e-01 -1.05537451e-01 7.63610090e+01] [ 3.88971790e-01 9.20498304e-01 -3.71997196e-02 1.15643616e+01] [ 1.11680352e-01 -7.03361145e-03 9.93719290e-01 8.67158612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:11.59, Z:8.67 [[ 9.13325754e-01 -3.93317730e-01 -1.05533075e-01 7.63819982e+01] [ 3.91622271e-01 9.19373294e-01 -3.72121308e-02 1.15867786e+01] [ 1.11660481e-01 -7.34230489e-03 9.93719290e-01 8.67469221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.41, Y:11.60, Z:8.68 [[ 9.13012486e-01 -3.94045973e-01 -1.05527116e-01 7.64060512e+01] [ 3.92353396e-01 9.19060832e-01 -3.72290217e-02 1.16030573e+01] [ 1.11655785e-01 -7.41336055e-03 9.93719290e-01 8.67760825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.367105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.43, Y:11.63, Z:8.68 [[ 9.14909335e-01 -3.89625200e-01 -1.05513562e-01 7.64263377e+01] [ 3.87898980e-01 9.20948165e-01 -3.72673947e-02 1.16294824e+01] [ 1.11692838e-01 -6.83231588e-03 9.93719291e-01 8.68019735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:11.66, Z:8.68 [[ 9.19678135e-01 -3.78235176e-01 -1.05500145e-01 7.64463734e+01] [ 3.76429765e-01 9.25693763e-01 -3.73053405e-02 1.16577276e+01] [ 1.11771018e-01 -5.40448874e-03 9.93719292e-01 8.68049547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:11.68, Z:8.68 [[ 9.22538349e-01 -3.71208301e-01 -1.05486452e-01 7.64700064e+01] [ 3.69352638e-01 9.28538666e-01 -3.73440196e-02 1.16757405e+01] [ 1.11810659e-01 -4.51040904e-03 9.93719293e-01 8.68174315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.49, Y:11.70, Z:8.68 [[ 9.27707635e-01 -3.58095024e-01 -1.05482218e-01 7.64917574e+01] [ 3.56153140e-01 9.33680605e-01 -3.73559749e-02 1.17018662e+01] [ 1.11863690e-01 -2.91239998e-03 9.93719293e-01 8.68221762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:76.51, Y:11.73, Z:8.68 [[ 9.32254730e-01 -3.46088517e-01 -1.05469694e-01 7.65113820e+01] [ 3.44065688e-01 9.38200774e-01 -3.73913023e-02 1.17263743e+01] [ 1.11892449e-01 -1.43028425e-03 9.93719293e-01 8.68424185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.53, Y:11.75, Z:8.69 [[ 9.36009240e-01 -3.35803750e-01 -1.05463472e-01 7.65328933e+01] [ 3.33713603e-01 9.41931956e-01 -3.74088435e-02 1.17489079e+01] [ 1.11901444e-01 -1.79571959e-04 9.93719294e-01 8.68545850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:76.56, Y:11.76, Z:8.69 [[ 9.37002530e-01 -3.33026212e-01 -1.05450466e-01 7.65585520e+01] [ 3.30914386e-01 9.42917550e-01 -3.74454702e-02 1.17629819e+01] [ 1.11901418e-01 1.91424207e-04 9.93719294e-01 8.68621950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:76.58, Y:11.78, Z:8.68 [[ 9.37226771e-01 -3.32398614e-01 -1.05437854e-01 7.65832489e+01] [ 3.30278837e-01 9.43138945e-01 -3.74809482e-02 1.17792779e+01] [ 1.11901162e-01 3.04256332e-04 9.93719295e-01 8.68254671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.607105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:76.61, Y:11.79, Z:8.68 [[ 9.36531284e-01 -3.34354527e-01 -1.05433413e-01 7.66081630e+01] [ 3.32245690e-01 9.42447369e-01 -3.74934370e-02 1.17914180e+01] [ 1.11901543e-01 8.39796441e-05 9.93719295e-01 8.68345581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:11.81, Z:8.68 [[ 9.35415785e-01 -3.37467165e-01 -1.05419266e-01 7.66330760e+01] [ 3.35373536e-01 9.41337268e-01 -3.75331722e-02 1.18060999e+01] [ 1.11901297e-01 -2.45710137e-04 9.93719296e-01 8.68486282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:11.82, Z:8.69 [[ 9.34655633e-01 -3.39570674e-01 -1.05406851e-01 7.66577175e+01] [ 3.37486444e-01 9.40580430e-01 -3.75680042e-02 1.18192328e+01] [ 1.11900614e-01 -4.60236625e-04 9.93719297e-01 8.68987626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.697105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:11.83, Z:8.69 [[ 9.34674577e-01 -3.39522946e-01 -1.05392616e-01 7.66833226e+01] [ 3.37433914e-01 9.40597682e-01 -3.76078982e-02 1.18295724e+01] [ 1.11900795e-01 -4.11896456e-04 9.93719298e-01 8.69351652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:11.84, Z:8.70 [[ 9.34518622e-01 -3.39953328e-01 -1.05388234e-01 7.67092967e+01] [ 3.37865639e-01 9.40442200e-01 -3.76201745e-02 1.18391229e+01] [ 1.11900646e-01 -4.50309288e-04 9.93719298e-01 8.70136044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.757105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:11.85, Z:8.71 [[ 9.33441743e-01 -3.42902891e-01 -1.05376088e-01 7.67345367e+01] [ 3.40830083e-01 9.39370544e-01 -3.76541638e-02 1.18516351e+01] [ 1.11898915e-01 -7.67372588e-04 9.93719298e-01 8.70974961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:11.86, Z:8.71 [[ 9.32679341e-01 -3.44974935e-01 -1.05363853e-01 7.67606818e+01] [ 3.42911434e-01 9.38611387e-01 -3.76883687e-02 1.18612031e+01] [ 1.11897255e-01 -9.79307213e-04 9.93719299e-01 8.71376238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:11.87, Z:8.72 [[ 9.30348348e-01 -3.51214065e-01 -1.05359535e-01 7.67884056e+01] [ 3.49188976e-01 9.36293616e-01 -3.77004363e-02 1.18678723e+01] [ 1.11888384e-01 -1.71584956e-03 9.93719299e-01 8.71905400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:11.88, Z:8.72 [[ 9.28704057e-01 -3.55542777e-01 -1.05347560e-01 7.68153847e+01] [ 3.53541604e-01 9.34657418e-01 -3.77338707e-02 1.18765620e+01] [ 1.11879883e-01 -2.20114640e-03 9.93719300e-01 8.72033184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:11.88, Z:8.72 [[ 9.25517230e-01 -3.63761770e-01 -1.05333904e-01 7.68423708e+01] [ 3.61809122e-01 9.31486682e-01 -3.77719517e-02 1.18845374e+01] [ 1.11857121e-01 -3.15217533e-03 9.93719301e-01 8.71879588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:11.89, Z:8.72 [[ 9.25413978e-01 -3.64025578e-01 -1.05329713e-01 7.68669889e+01] [ 3.62073304e-01 9.31383551e-01 -3.77836360e-02 1.18911999e+01] [ 1.11856572e-01 -3.17157218e-03 9.93719301e-01 8.72333662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:11.90, Z:8.73 [[ 9.27842161e-01 -3.57894660e-01 -1.04977791e-01 7.68924561e+01] [ 3.55791641e-01 9.33760946e-01 -3.87660131e-02 1.19045913e+01] [ 1.11898310e-01 -1.38147900e-03 9.93718703e-01 8.73348427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:11.92, Z:8.74 [[ 9.32408969e-01 -3.45781493e-01 -1.05112676e-01 7.69179718e+01] [ 3.43643974e-01 9.38315007e-01 -3.83896681e-02 1.19190792e+01] [ 1.11903238e-01 -3.26466786e-04 9.93719054e-01 8.73949386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.997105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:76.94, Y:11.93, Z:8.74 [[ 9.34886148e-01 -3.38956047e-01 -1.05340823e-01 7.69438835e+01] [ 3.36847052e-01 9.40802191e-01 -3.77531559e-02 1.19296030e+01] [ 1.11901538e-01 -1.88843172e-04 9.93719281e-01 8.74440381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.027105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.97, Y:11.94, Z:8.75 [[ 9.38152131e-01 -3.29855029e-01 -1.05196195e-01 7.69690188e+01] [ 3.27643409e-01 9.44030663e-01 -3.81563092e-02 1.19424982e+01] [ 1.11894484e-01 1.32958271e-03 9.93719204e-01 8.74775787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:11.95, Z:8.75 [[ 9.40732152e-01 -3.22380244e-01 -1.05328039e-01 7.69941660e+01] [ 3.20163025e-01 9.46608494e-01 -3.77888491e-02 1.19547665e+01] [ 1.11886795e-01 1.82704177e-03 9.93719280e-01 8.75109678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.087105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.02, Y:11.96, Z:8.75 [[ 9.41815783e-01 -3.19205400e-01 -1.05313552e-01 7.70203013e+01] [ 3.16963865e-01 9.47682891e-01 -3.78291805e-02 1.19644276e+01] [ 1.11879130e-01 2.24752875e-03 9.93719281e-01 8.75070039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:11.97, Z:8.75 [[ 9.43511770e-01 -3.14161812e-01 -1.05299080e-01 7.70487358e+01] [ 3.11884430e-01 9.49365056e-01 -3.78694198e-02 1.19719648e+01] [ 1.11864393e-01 2.88909957e-03 9.93719282e-01 8.74758469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:11.98, Z:8.75 [[ 9.44902353e-01 -3.09958524e-01 -1.05286544e-01 7.70758331e+01] [ 3.07651232e-01 9.50743913e-01 -3.79042431e-02 1.19791277e+01] [ 1.11849284e-01 3.42427351e-03 9.93719282e-01 8.74573554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:11.99, Z:8.75 [[ 9.45728003e-01 -3.07431655e-01 -1.05282108e-01 7.71034921e+01] [ 3.05107387e-01 9.51562829e-01 -3.79165588e-02 1.19869978e+01] [ 1.11839291e-01 3.73640250e-03 9.93719282e-01 8.74790777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:11.99, Z:8.75 [[ 9.47879415e-01 -3.00737305e-01 -1.05269597e-01 7.71315755e+01] [ 2.98367994e-01 9.53696095e-01 -3.79512623e-02 1.19924374e+01] [ 1.11808564e-01 4.56414172e-03 9.93719283e-01 8.75144077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.16, Y:12.00, Z:8.75 [[ 9.48757868e-01 -2.97959102e-01 -1.05256270e-01 7.71587352e+01] [ 2.95568672e-01 9.54565900e-01 -3.79881891e-02 1.19992948e+01] [ 1.11792973e-01 4.93113729e-03 9.93719284e-01 8.75405474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.19, Y:12.00, Z:8.76 [[ 9.50208529e-01 -2.93305121e-01 -1.05241901e-01 7.71875975e+01] [ 2.90881859e-01 9.56002939e-01 -3.80279547e-02 1.20012154e+01] [ 1.11765361e-01 5.52152688e-03 9.93719285e-01 8.75894340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.22, Y:12.00, Z:8.77 [[ 9.50386838e-01 -2.92747511e-01 -1.05184379e-01 7.72158393e+01] [ 2.90303280e-01 9.56172448e-01 -3.81871176e-02 1.20042486e+01] [ 1.11753589e-01 5.75716367e-03 9.93719271e-01 8.76568672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:12.00, Z:8.77 [[ 9.49073432e-01 -2.96999459e-01 -1.05123465e-01 7.72456881e+01] [ 2.94562544e-01 9.54862170e-01 -3.83555000e-02 1.20042618e+01] [ 1.11769983e-01 5.43675070e-03 9.93719232e-01 8.76962173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:12.01, Z:8.78 [[ 9.48250402e-01 -2.99560997e-01 -1.05282400e-01 7.72740040e+01] [ 2.97188368e-01 9.54065744e-01 -3.79160854e-02 1.20061110e+01] [ 1.11804512e-01 4.66523844e-03 9.93719270e-01 8.77606772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.387105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.31, Y:12.00, Z:8.77 [[ 9.44683556e-01 -3.10693768e-01 -1.05082639e-01 7.73101452e+01] [ 3.08328344e-01 9.50501898e-01 -3.84678221e-02 1.20038532e+01] [ 1.11832960e-01 3.93996310e-03 9.93719209e-01 8.77335977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:12.01, Z:8.78 [[ 9.42806232e-01 -3.16172997e-01 -1.05598508e-01 7.73366457e+01] [ 3.14000437e-01 9.48699908e-01 -3.70433605e-02 1.20090169e+01] [ 1.11893405e-01 1.76673337e-03 9.93718645e-01 8.77550075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:12.01, Z:8.77 [[ 9.39773672e-01 -3.25175451e-01 -1.05291839e-01 7.73643041e+01] [ 3.22964491e-01 9.45652347e-01 -3.78890025e-02 1.20116627e+01] [ 1.11890049e-01 1.60156164e-03 9.93719302e-01 8.77277934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:12.01, Z:8.78 [[ 9.37946303e-01 -3.30454935e-01 -1.05148789e-01 7.73932157e+01] [ 3.28232874e-01 9.43820742e-01 -3.82829972e-02 1.20139111e+01] [ 1.11892414e-01 1.39410643e-03 9.93719349e-01 8.77973065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:12.02, Z:8.79 [[ 9.35727171e-01 -3.36697870e-01 -1.05115204e-01 7.74252750e+01] [ 3.34504612e-01 9.41612439e-01 -3.83755036e-02 1.20195398e+01] [ 1.11898733e-01 7.47481031e-04 9.93719334e-01 8.78806273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:12.03, Z:8.79 [[ 9.35110378e-01 -3.38247529e-01 -1.05627603e-01 7.74498367e+01] [ 3.36223246e-01 9.41056696e-01 -3.69624575e-02 1.20266695e+01] [ 1.11904023e-01 -9.50477894e-04 9.93718565e-01 8.79190193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:12.03, Z:8.80 [[ 9.35493516e-01 -3.37322328e-01 -1.05192814e-01 7.74760577e+01] [ 3.35157299e-01 9.41389107e-01 -3.81593183e-02 1.20326857e+01] [ 1.11899360e-01 4.41655315e-04 9.93719446e-01 8.79966628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:12.04, Z:8.81 [[ 9.37466480e-01 -3.31807834e-01 -1.05167297e-01 7.75045643e+01] [ 3.29600249e-01 9.43346267e-01 -3.82295274e-02 1.20433541e+01] [ 1.11894033e-01 1.17573334e-03 9.93719449e-01 8.80554740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:12.05, Z:8.81 [[ 9.38837365e-01 -3.27802902e-01 -1.05497203e-01 7.75306441e+01] [ 3.25672052e-01 9.44745888e-01 -3.73218699e-02 1.20524333e+01] [ 1.11902266e-01 6.81675455e-04 9.93718984e-01 8.80870328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:12.06, Z:8.81 [[ 9.41353337e-01 -3.20511925e-01 -1.05479861e-01 7.75572124e+01] [ 3.18329978e-01 9.47243129e-01 -3.73695147e-02 1.20618624e+01] [ 1.11892449e-01 1.60051551e-03 9.93719034e-01 8.81174935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:12.07, Z:8.81 [[ 9.42628678e-01 -3.16751032e-01 -1.05451212e-01 7.75825629e+01] [ 3.14536802e-01 9.48506321e-01 -3.74480910e-02 1.20712559e+01] [ 1.11882863e-01 2.13135757e-03 9.93719116e-01 8.81364996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:12.08, Z:8.81 [[ 9.42476875e-01 -3.17218311e-01 -1.05403429e-01 7.76096824e+01] [ 3.14992342e-01 9.48349952e-01 -3.75791504e-02 1.20815121e+01] [ 1.11880132e-01 2.21620723e-03 9.93719238e-01 8.81493257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:12.09, Z:8.82 [[ 9.43055217e-01 -3.15482353e-01 -1.05440709e-01 7.76360587e+01] [ 3.13256981e-01 9.48928625e-01 -3.74770401e-02 1.20889799e+01] [ 1.11879052e-01 2.31287998e-03 9.93719140e-01 8.81715090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.777105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:77.66, Y:12.10, Z:8.82 [[ 9.44163133e-01 -3.12171337e-01 -1.05380433e-01 7.76636950e+01] [ 3.09906985e-01 9.50021448e-01 -3.76418560e-02 1.20970756e+01] [ 1.11864380e-01 2.88192038e-03 9.93719304e-01 8.81768850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:12.10, Z:8.82 [[ 9.45476645e-01 -3.08191699e-01 -1.05317573e-01 7.76928992e+01] [ 3.05883589e-01 9.51317700e-01 -3.78135351e-02 1.21036425e+01] [ 1.11844289e-01 3.53689717e-03 9.93719450e-01 8.82272528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.837105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:12.11, Z:8.82 [[ 9.46298719e-01 -3.05599343e-01 -1.05488276e-01 7.77192571e+01] [ 3.03327076e-01 9.52154324e-01 -3.73473983e-02 1.21114871e+01] [ 1.11854459e-01 3.34434470e-03 9.93718972e-01 8.82076071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.867105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.75, Y:12.12, Z:8.82 [[ 9.46191356e-01 -3.05993833e-01 -1.05307603e-01 7.77465657e+01] [ 3.03669269e-01 9.52025811e-01 -3.78395299e-02 1.21210148e+01] [ 1.11834219e-01 3.82475329e-03 9.93719517e-01 8.82496971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.77, Y:12.12, Z:8.81 [[ 9.48632151e-01 -2.98323844e-01 -1.05356185e-01 7.77744277e+01] [ 2.95966755e-01 9.54453681e-01 -3.77074405e-02 1.21223906e+01] [ 1.11806627e-01 4.58856222e-03 9.93719389e-01 8.81185107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:12.13, Z:8.83 [[ 9.47752787e-01 -3.01231687e-01 -1.04995832e-01 7.78016748e+01] [ 2.98784153e-01 9.53536287e-01 -3.86856421e-02 1.21299915e+01] [ 1.11770677e-01 5.29333440e-03 9.93719929e-01 8.82887600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.83, Y:12.14, Z:8.83 [[ 9.47661645e-01 -3.01480910e-01 -1.05103125e-01 7.78272559e+01] [ 2.99067085e-01 9.53459353e-01 -3.83945483e-02 1.21396205e+01] [ 1.11786781e-01 4.95215549e-03 9.93719876e-01 8.83197205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.86, Y:12.14, Z:8.84 [[ 9.47125596e-01 -3.03170564e-01 -1.05074805e-01 7.78577258e+01] [ 3.00758590e-01 9.52924043e-01 -3.84712645e-02 1.21422099e+01] [ 1.11791663e-01 4.83496903e-03 9.93719904e-01 8.83696122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:12.15, Z:8.84 [[ 9.46490055e-01 -3.05068993e-01 -1.05306622e-01 7.78822983e+01] [ 3.02738276e-01 9.52322109e-01 -3.78435754e-02 1.21473504e+01] [ 1.11830726e-01 3.93822254e-03 9.93719467e-01 8.84399836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.91, Y:12.15, Z:8.85 [[ 9.43548439e-01 -3.14123328e-01 -1.05085095e-01 7.79123307e+01] [ 3.11781861e-01 9.49375701e-01 -3.84428093e-02 1.21497371e+01] [ 1.11841019e-01 3.50902626e-03 9.93719917e-01 8.84627530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:12.16, Z:8.85 [[ 9.41626194e-01 -3.19803824e-01 -1.05193275e-01 7.79383533e+01] [ 3.17530133e-01 9.47480425e-01 -3.81504733e-02 1.21557702e+01] [ 1.11869236e-01 2.52145051e-03 9.93719737e-01 8.84898271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:12.16, Z:8.85 [[ 9.37098788e-01 -3.32889743e-01 -1.05025142e-01 7.79674220e+01] [ 3.30646959e-01 9.42964643e-01 -3.86040183e-02 1.21562366e+01] [ 1.11885877e-01 1.44953483e-03 9.93720005e-01 8.84810959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:12.16, Z:8.85 [[ 9.30691513e-01 -3.50441240e-01 -1.04901124e-01 7.80009472e+01] [ 3.48271402e-01 9.36584674e-01 -3.89381500e-02 1.21594051e+01] [ 1.11894318e-01 -2.94655682e-04 9.93720069e-01 8.85240780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.167105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:78.03, Y:12.17, Z:8.85 [[ 9.28847703e-01 -3.55208874e-01 -1.05207417e-01 7.80264278e+01] [ 3.53162211e-01 9.34785318e-01 -3.81164386e-02 1.21651003e+01] [ 1.11885646e-01 -1.75091764e-03 9.93719546e-01 8.85261661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.197105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:12.17, Z:8.86 [[ 9.26082457e-01 -3.62495115e-01 -1.04730963e-01 7.80538386e+01] [ 3.60350610e-01 9.31984820e-01 -3.93920342e-02 1.21743740e+01] [ 1.11887088e-01 -1.25959474e-03 9.93720128e-01 8.85877395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.227105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:12.18, Z:8.86 [[ 9.26167946e-01 -3.62209874e-01 -1.04961628e-01 7.80794407e+01] [ 3.60133402e-01 9.32094653e-01 -3.87748717e-02 1.21842227e+01] [ 1.11878814e-01 -1.88814499e-03 9.93720064e-01 8.86038178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:78.11, Y:12.20, Z:8.87 [[ 9.26962213e-01 -3.60230669e-01 -1.04761257e-01 7.81061923e+01] [ 3.58080995e-01 9.32862643e-01 -3.93101713e-02 1.21975329e+01] [ 1.11888593e-01 -1.07397182e-03 9.93720177e-01 8.86629485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:12.21, Z:8.88 [[ 9.28881985e-01 -3.55209785e-01 -1.04901225e-01 7.81314578e+01] [ 3.53070402e-01 9.34786206e-01 -3.89363644e-02 1.22109906e+01] [ 1.11890795e-01 -8.70230023e-04 9.93720128e-01 8.87688634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:12.22, Z:8.88 [[ 9.31876207e-01 -3.47227476e-01 -1.05070519e-01 7.81548616e+01] [ 3.45088483e-01 9.37780850e-01 -3.84839746e-02 1.22236149e+01] [ 1.11895814e-01 -3.96325812e-04 9.93719865e-01 8.88345223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:12.24, Z:8.89 [[ 9.33235359e-01 -3.43648825e-01 -1.04772369e-01 7.81796003e+01] [ 3.41397766e-01 9.39097810e-01 -3.92793651e-02 1.22360554e+01] [ 1.11889810e-01 8.87839650e-04 9.93720223e-01 8.88669059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:12.25, Z:8.89 [[ 9.36726065e-01 -3.34021382e-01 -1.04756836e-01 7.82061389e+01] [ 3.31705453e-01 9.42563192e-01 -3.93207478e-02 1.22495847e+01] [ 1.11873908e-01 2.08435571e-03 9.93720224e-01 8.88976251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:12.26, Z:8.89 [[ 9.39065994e-01 -3.27330048e-01 -1.04929017e-01 7.82295671e+01] [ 3.25023662e-01 9.44907047e-01 -3.88624691e-02 1.22622240e+01] [ 1.11869021e-01 2.39000979e-03 9.93720086e-01 8.89267158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:12.27, Z:8.90 [[ 9.40385151e-01 -3.23571047e-01 -1.04773781e-01 7.82550434e+01] [ 3.21195322e-01 9.46198188e-01 -3.92753562e-02 1.22722166e+01] [ 1.11845130e-01 3.28111334e-03 9.93720233e-01 8.89644591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.28, Y:12.28, Z:8.89 [[ 9.42340527e-01 -3.17847760e-01 -1.04724077e-01 7.82841120e+01] [ 3.15422075e-01 9.48132885e-01 -3.94074460e-02 1.22835642e+01] [ 1.11817910e-01 4.10294762e-03 9.93720243e-01 8.89111648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:12.29, Z:8.89 [[ 9.44141247e-01 -3.12389251e-01 -1.04929798e-01 7.83119403e+01] [ 3.09990627e-01 9.49945064e-01 -3.88611230e-02 1.22941867e+01] [ 1.11817340e-01 4.16313537e-03 9.93720057e-01 8.88865335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:12.30, Z:8.89 [[ 9.44996104e-01 -3.09799807e-01 -1.04911595e-01 7.83370972e+01] [ 3.07379929e-01 9.50791058e-01 -3.89094270e-02 1.23045368e+01] [ 1.11803139e-01 4.52153838e-03 9.93720088e-01 8.89110825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.557105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:12.31, Z:8.89 [[ 9.46760960e-01 -3.04441119e-01 -1.04686624e-01 7.83664915e+01] [ 3.01922633e-01 9.52513528e-01 -3.95057355e-02 1.23144105e+01] [ 1.11742596e-01 5.79522693e-03 9.93720286e-01 8.88743713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.587105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.39, Y:12.32, Z:8.89 [[ 9.47821307e-01 -3.01046891e-01 -1.04907290e-01 7.83915757e+01] [ 2.98572242e-01 9.53593084e-01 -3.89210309e-02 1.23211382e+01] [ 1.11755921e-01 5.56777765e-03 9.93720088e-01 8.88999352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.617105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.42, Y:12.33, Z:8.89 [[ 9.47581039e-01 -3.01913763e-01 -1.04586108e-01 7.84181030e+01] [ 2.99350810e-01 9.53313906e-01 -3.97704544e-02 1.23291294e+01] [ 1.11710639e-01 6.37779241e-03 9.93720311e-01 8.89461234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.45, Y:12.33, Z:8.90 [[ 9.45877521e-01 -3.07186402e-01 -1.04652901e-01 7.84458912e+01] [ 3.04674886e-01 9.51633089e-01 -3.95939168e-02 1.23325456e+01] [ 1.11753876e-01 5.56588530e-03 9.93720329e-01 8.90171768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.48, Y:12.34, Z:8.91 [[ 9.42395963e-01 -3.17708278e-01 -1.04648457e-01 7.84759322e+01] [ 3.15259757e-01 9.48178610e-01 -3.96056579e-02 1.23370676e+01] [ 1.11808474e-01 4.33276495e-03 9.93720329e-01 8.91303563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:12.34, Z:8.91 [[ 9.41215592e-01 -3.21119544e-01 -1.04859184e-01 7.85028009e+01] [ 3.18753814e-01 9.47032815e-01 -3.90493786e-02 1.23433202e+01] [ 1.11844607e-01 3.32961923e-03 9.93720130e-01 8.91380013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.53, Y:12.35, Z:8.92 [[ 9.37395234e-01 -3.32192909e-01 -1.04585114e-01 7.85326115e+01] [ 3.29815257e-01 9.43207346e-01 -3.97718303e-02 1.23454493e+01] [ 1.11857368e-01 2.78815779e-03 9.93720361e-01 8.91675326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:12.35, Z:8.92 [[ 9.33138009e-01 -3.43948406e-01 -1.04656342e-01 7.85608036e+01] [ 3.41665020e-01 9.38987807e-01 -3.95842504e-02 1.23479876e+01] [ 1.11885969e-01 1.18015743e-03 9.93720352e-01 8.92126110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:78.60, Y:12.36, Z:8.93 [[ 9.26879056e-01 -3.60464530e-01 -1.04692589e-01 7.86004856e+01] [ 3.58296161e-01 9.32772478e-01 -3.94888075e-02 1.23597666e+01] [ 1.11888680e-01 -9.09603944e-04 9.93720331e-01 8.92620484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:78.61, Y:12.36, Z:8.93 [[ 9.28310858e-01 -3.56080805e-01 -1.06983227e-01 7.86143295e+01] [ 3.54584409e-01 9.34429121e-01 -3.33483751e-02 1.23550509e+01] [ 1.11842959e-01 -6.97692571e-03 9.93701401e-01 8.92663152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.857105681 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:78.65, Y:12.37, Z:8.93 [[ 9.26252738e-01 -3.62062802e-01 -1.04720549e-01 7.86453143e+01] [ 3.59917671e-01 9.32152904e-01 -3.93730124e-02 1.23685011e+01] [ 1.11871067e-01 -1.22141550e-03 9.93721980e-01 8.93441780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.887105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:78.67, Y:12.38, Z:8.94 [[ 9.27144065e-01 -3.59615469e-01 -1.05264417e-01 7.86682160e+01] [ 3.57618424e-01 9.33097295e-01 -3.79275602e-02 1.23769162e+01] [ 1.11861280e-01 -2.48018261e-03 9.93720737e-01 8.93758693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.917105681 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:78.69, Y:12.39, Z:8.95 [[ 9.29817447e-01 -3.52820560e-01 -1.04676492e-01 7.86922827e+01] [ 3.50603993e-01 9.35691002e-01 -3.94865542e-02 1.23892327e+01] [ 1.11876520e-01 1.52908466e-05 9.93722116e-01 8.94670643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.947105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:12.40, Z:8.95 [[ 9.33477232e-01 -3.43025157e-01 -1.04661350e-01 7.87162585e+01] [ 3.40742464e-01 9.39325405e-01 -3.95266490e-02 1.24040043e+01] [ 1.11869700e-01 1.23466066e-03 9.93722117e-01 8.95117003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.977105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.74, Y:12.42, Z:8.95 [[ 9.36883470e-01 -3.33611060e-01 -1.04656695e-01 7.87434120e+01] [ 3.31268237e-01 9.42707815e-01 -3.95389708e-02 1.24183824e+01] [ 1.11851322e-01 2.37396935e-03 9.93722117e-01 8.95164525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.77, Y:12.43, Z:8.95 [[ 9.37882741e-01 -3.30727464e-01 -1.04858516e-01 7.87660774e+01] [ 3.28426362e-01 9.43723873e-01 -3.90048142e-02 1.24311542e+01] [ 1.11857448e-01 2.14364125e-03 9.93721951e-01 8.95341490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:12.45, Z:8.96 [[ 9.39847162e-01 -3.25175909e-01 -1.04632407e-01 7.87917927e+01] [ 3.22773786e-01 9.45647261e-01 -3.96022750e-02 1.24469228e+01] [ 1.11823055e-01 3.44748754e-03 9.93722154e-01 8.95598689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:12.46, Z:8.96 [[ 9.41152478e-01 -3.21363869e-01 -1.04677012e-01 7.88180898e+01] [ 3.18951335e-01 9.46948267e-01 -3.94844997e-02 1.24581885e+01] [ 1.11812606e-01 3.77406210e-03 9.93722143e-01 8.95803145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.84, Y:12.47, Z:8.96 [[ 9.41506244e-01 -3.20346144e-01 -1.04615201e-01 7.88437799e+01] [ 3.17909244e-01 9.47291814e-01 -3.96475993e-02 1.24683639e+01] [ 1.11802079e-01 4.07032279e-03 9.93722158e-01 8.96058042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:12.48, Z:8.96 [[ 9.41874828e-01 -3.19265633e-01 -1.04600496e-01 7.88707477e+01] [ 3.16817798e-01 9.47655779e-01 -3.96863580e-02 1.24823377e+01] [ 1.11795755e-01 4.24028283e-03 9.93722159e-01 8.96147526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.90, Y:12.49, Z:8.96 [[ 9.42430479e-01 -3.17574540e-01 -1.04743514e-01 7.88950380e+01] [ 3.15158117e-01 9.48224723e-01 -3.93094997e-02 1.24925074e+01] [ 1.11804086e-01 4.03570202e-03 9.93722074e-01 8.96280425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:78.92, Y:12.50, Z:8.97 [[ 9.43172753e-01 -3.15415046e-01 -1.04587321e-01 7.89207332e+01] [ 3.12939803e-01 9.48942010e-01 -3.97207960e-02 1.25025539e+01] [ 1.11775839e-01 4.73403687e-03 9.93722170e-01 8.96599397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.95, Y:12.51, Z:8.97 [[ 9.43564221e-01 -3.14246969e-01 -1.04572477e-01 7.89494358e+01] [ 3.11760267e-01 9.49328547e-01 -3.97598373e-02 1.25136358e+01] [ 1.11768046e-01 4.91441648e-03 9.93722171e-01 8.96850468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:12.52, Z:8.97 [[ 9.44591346e-01 -3.11055083e-01 -1.04842376e-01 7.89746827e+01] [ 3.08627398e-01 9.50381093e-01 -3.90500538e-02 1.25222322e+01] [ 1.11786930e-01 4.52911326e-03 9.93721877e-01 8.97048575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.277105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:79.00, Y:12.53, Z:8.97 [[ 9.44666093e-01 -3.10878896e-01 -1.04691378e-01 7.90027184e+01] [ 3.08406280e-01 9.50436505e-01 -3.94463819e-02 1.25309657e+01] [ 1.11765555e-01 4.97618118e-03 9.93722143e-01 8.97432058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:12.54, Z:8.98 [[ 9.45286926e-01 -3.08903359e-01 -1.04934943e-01 7.90271925e+01] [ 3.06489225e-01 9.51082673e-01 -3.88085618e-02 1.25357184e+01] [ 1.11789901e-01 4.52379676e-03 9.93721567e-01 8.97578541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.05, Y:12.54, Z:8.98 [[ 9.44986613e-01 -3.09972675e-01 -1.04485606e-01 7.90547425e+01] [ 3.07435297e-01 9.50728613e-01 -3.99830369e-02 1.25426929e+01] [ 1.11731104e-01 5.66087119e-03 9.93722353e-01 8.97668061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.367105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:12.55, Z:8.98 [[ 9.44556185e-01 -3.11286956e-01 -1.04470302e-01 7.90815504e+01] [ 3.08753161e-01 9.50299766e-01 -4.00229859e-02 1.25500878e+01] [ 1.11736737e-01 5.54842290e-03 9.93722354e-01 8.97812853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:79.11, Y:12.55, Z:8.98 [[ 9.43034795e-01 -3.15867563e-01 -1.04465586e-01 7.91119619e+01] [ 3.13360314e-01 9.48790013e-01 -4.00352919e-02 1.25520696e+01] [ 1.11761755e-01 5.01930458e-03 9.93722354e-01 8.97850546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42710568099999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:79.14, Y:12.55, Z:8.98 [[ 9.40498899e-01 -3.23344245e-01 -1.04452482e-01 7.91417143e+01] [ 3.20878976e-01 9.46272224e-01 -4.00694513e-02 1.25541204e+01] [ 1.11796709e-01 4.16866940e-03 9.93722355e-01 8.98284486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45710568099999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:79.17, Y:12.56, Z:8.99 [[ 9.39246104e-01 -3.26969664e-01 -1.04439432e-01 7.91697989e+01] [ 3.24522909e-01 9.45027299e-01 -4.01034356e-02 1.25610414e+01] [ 1.11810721e-01 3.77400725e-03 9.93722355e-01 8.98885488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:79.20, Y:12.57, Z:9.00 [[ 9.36579932e-01 -3.34534248e-01 -1.04426376e-01 7.91972419e+01] [ 3.32130415e-01 9.42379104e-01 -4.01374058e-02 1.25651449e+01] [ 1.11836571e-01 2.90871334e-03 9.93722356e-01 8.99604806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51710568099999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:79.23, Y:12.57, Z:9.00 [[ 9.32775239e-01 -3.45002783e-01 -1.04419504e-01 7.92261788e+01] [ 3.42662051e-01 9.38600167e-01 -4.01552741e-02 1.25696889e+01] [ 1.11861845e-01 1.67524392e-03 9.93722356e-01 9.00191203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54710568099999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:79.25, Y:12.58, Z:9.01 [[ 9.30165139e-01 -3.51983157e-01 -1.04406279e-01 7.92535874e+01] [ 3.49682285e-01 9.36005926e-01 -4.01896314e-02 1.25766212e+01] [ 1.11870969e-01 8.73967929e-04 9.93722357e-01 9.00508930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57710568099999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:79.28, Y:12.58, Z:9.01 [[ 9.24952625e-01 -3.65465612e-01 -1.04391224e-01 7.92816796e+01] [ 3.63245467e-01 9.30824571e-01 -4.02286996e-02 1.25797388e+01] [ 1.11872122e-01 -7.09997488e-04 9.93722358e-01 9.00998473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.607105681 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:79.31, Y:12.59, Z:9.01 [[ 9.22531519e-01 -3.71542079e-01 -1.04365123e-01 7.93083521e+01] [ 3.69352955e-01 9.28415100e-01 -4.02963577e-02 1.25873628e+01] [ 1.11865949e-01 -1.37290641e-03 9.93722358e-01 9.01308480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.637105681 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:79.33, Y:12.60, Z:9.02 [[ 9.18711601e-01 -3.80887743e-01 -1.04372031e-01 7.93341271e+01] [ 3.78760489e-01 9.24617834e-01 -4.02784562e-02 1.25966629e+01] [ 1.11845812e-01 -2.52771659e-03 9.93722358e-01 9.01985836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.667105681 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:79.36, Y:12.61, Z:9.03 [[ 9.15529469e-01 -3.88475532e-01 -1.04367387e-01 7.93585221e+01] [ 3.86395846e-01 9.21452618e-01 -4.02904858e-02 1.26102434e+01] [ 1.11821470e-01 -3.43999779e-03 9.93722358e-01 9.02622461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.697105681 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:79.39, Y:12.62, Z:9.03 [[ 9.13420198e-01 -3.93413425e-01 -1.04352384e-01 7.93850853e+01] [ 3.91361322e-01 9.19352959e-01 -4.03293074e-02 1.26240730e+01] [ 1.11802764e-01 -4.00188311e-03 9.93722359e-01 9.02931105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.727105681 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:79.41, Y:12.64, Z:9.03 [[ 9.11777028e-01 -3.97146332e-01 -1.04582230e-01 7.94080651e+01] [ 3.95186533e-01 9.17741127e-01 -3.97344686e-02 1.26376428e+01] [ 1.11759812e-01 -5.10051315e-03 9.93722159e-01 9.03004455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75710568099998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:79.43, Y:12.65, Z:9.03 [[ 9.10361564e-01 -4.00444062e-01 -1.04337797e-01 7.94317297e+01] [ 3.98433524e-01 9.16308510e-01 -4.03663418e-02 1.26532123e+01] [ 1.11770074e-01 -4.82371031e-03 9.93722387e-01 9.03239007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78710568099999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:79.46, Y:12.67, Z:9.03 [[ 9.09525229e-01 -4.02341200e-01 -1.04333197e-01 7.94558951e+01] [ 4.00341705e-01 9.15475897e-01 -4.03782283e-02 1.26683933e+01] [ 1.11760352e-01 -5.04391275e-03 9.93722387e-01 9.03376553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81710568099999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:79.48, Y:12.69, Z:9.03 [[ 9.07546754e-01 -4.06788080e-01 -1.04318490e-01 7.94784358e+01] [ 4.04813383e-01 9.13505696e-01 -4.04161906e-02 1.26908783e+01] [ 1.11736359e-01 -5.54993815e-03 9.93722388e-01 9.03017405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84710568099999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:79.50, Y:12.70, Z:9.03 [[ 9.07401616e-01 -4.07114993e-01 -1.04305751e-01 7.95047775e+01] [ 4.05138678e-01 9.13360020e-01 -4.04490396e-02 1.27013712e+01] [ 1.11736113e-01 -5.55477009e-03 9.93722389e-01 9.03336117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.53, Y:12.72, Z:9.04 [[ 9.04660077e-01 -4.13174882e-01 -1.04291239e-01 7.95265443e+01] [ 4.11234169e-01 9.10630171e-01 -4.04864229e-02 1.27221408e+01] [ 1.11698722e-01 -6.26167042e-03 9.93722389e-01 9.03627741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.55, Y:12.74, Z:9.04 [[ 9.00460045e-01 -4.22253666e-01 -1.04276311e-01 7.95476286e+01] [ 4.20368676e-01 9.06447966e-01 -4.05248341e-02 1.27432937e+01] [ 1.11632810e-01 -7.34350083e-03 9.93722390e-01 9.04352530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.57, Y:12.76, Z:9.05 [[ 8.98518939e-01 -4.26369710e-01 -1.04271698e-01 7.95707903e+01] [ 4.24510770e-01 9.04514998e-01 -4.05367009e-02 1.27596526e+01] [ 1.11598936e-01 -7.84146519e-03 9.93722390e-01 9.04862321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:12.78, Z:9.05 [[ 8.96320122e-01 -4.30976417e-01 -1.04257217e-01 7.95915147e+01] [ 4.29143981e-01 9.02324333e-01 -4.05739106e-02 1.27834946e+01] [ 1.11560222e-01 -8.37414458e-03 9.93722391e-01 9.05379609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.997105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.61, Y:12.81, Z:9.06 [[ 8.96866089e-01 -4.29842751e-01 -1.04242156e-01 7.96121952e+01] [ 4.27998259e-01 9.02866607e-01 -4.06125672e-02 1.28099076e+01] [ 1.11573780e-01 -8.19142714e-03 9.93722392e-01 9.05745433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.63, Y:12.83, Z:9.06 [[ 8.96904702e-01 -4.29745689e-01 -1.04310103e-01 7.96328830e+01] [ 4.27920681e-01 9.02911199e-01 -4.04383114e-02 1.28293184e+01] [ 1.11560950e-01 -8.36713852e-03 9.93722368e-01 9.06318447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.65, Y:12.86, Z:9.06 [[ 8.96628047e-01 -4.30344318e-01 -1.04220508e-01 7.96509869e+01] [ 4.28496786e-01 9.02627622e-01 -4.06679262e-02 1.28575486e+01] [ 1.11573520e-01 -8.19414962e-03 9.93722399e-01 9.06469690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.67, Y:12.88, Z:9.07 [[ 8.94698686e-01 -4.34342822e-01 -1.04214081e-01 7.96740086e+01] [ 4.32520188e-01 9.00705872e-01 -4.06843891e-02 1.28837239e+01] [ 1.11537207e-01 -8.67442464e-03 9.93722399e-01 9.06844828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.117105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.70, Y:12.90, Z:9.07 [[ 8.94105387e-01 -4.35511980e-01 -1.04426397e-01 7.96967063e+01] [ 4.33760200e-01 9.00133788e-01 -4.01404028e-02 1.29002740e+01] [ 1.11479355e-01 -9.40626466e-03 9.93722233e-01 9.06876577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:12.93, Z:9.08 [[ 8.92636051e-01 -4.38568461e-01 -1.04204539e-01 7.97163030e+01] [ 4.36771501e-01 8.98650936e-01 -4.07081149e-02 1.29261712e+01] [ 1.11496802e-01 -9.17604195e-03 9.93722428e-01 9.07524782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:12.95, Z:9.08 [[ 8.92415210e-01 -4.39028946e-01 -1.04156987e-01 7.97383404e+01] [ 4.37221008e-01 8.98426807e-01 -4.08296795e-02 1.29458360e+01] [ 1.11502840e-01 -9.10259584e-03 9.93722426e-01 9.07948993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.76, Y:12.98, Z:9.08 [[ 8.92965835e-01 -4.37902635e-01 -1.04179175e-01 7.97572662e+01] [ 4.36093677e-01 8.98977123e-01 -4.07729878e-02 1.29752736e+01] [ 1.11509294e-01 -9.02299435e-03 9.93722428e-01 9.08191504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.78, Y:13.00, Z:9.08 [[ 8.93008073e-01 -4.37819850e-01 -1.04165060e-01 7.97770669e+01] [ 4.36006164e-01 8.99017936e-01 -4.08090165e-02 1.30025655e+01] [ 1.11513255e-01 -8.97382697e-03 9.93722428e-01 9.08315224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:13.03, Z:9.09 [[ 8.92184203e-01 -4.39499597e-01 -1.04151107e-01 7.97970219e+01] [ 4.37693102e-01 8.98196230e-01 -4.08445947e-02 1.30270983e+01] [ 1.11499315e-01 -9.14531915e-03 9.93722429e-01 9.08612289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:13.04, Z:9.09 [[ 8.91474107e-01 -4.40941703e-01 -1.04136122e-01 7.98196106e+01] [ 4.39140508e-01 8.97487723e-01 -4.08827663e-02 1.30441334e+01] [ 1.11487807e-01 -9.28446182e-03 9.93722430e-01 9.08901604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.84, Y:13.07, Z:9.09 [[ 8.88941561e-01 -4.46026812e-01 -1.04129650e-01 7.98402964e+01] [ 4.44258085e-01 8.94964807e-01 -4.08992442e-02 1.30700647e+01] [ 1.11434531e-01 -9.90340084e-03 9.93722430e-01 9.09103116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:13.10, Z:9.09 [[ 8.85516947e-01 -4.52790701e-01 -1.04116847e-01 7.98609990e+01] [ 4.51064155e-01 8.91552418e-01 -4.09318113e-02 1.30959053e+01] [ 1.11359170e-01 -1.07175649e-02 9.93722431e-01 9.09247386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:13.11, Z:9.10 [[ 8.84015192e-01 -4.55718658e-01 -1.04104008e-01 7.98841468e+01] [ 4.54008295e-01 8.90055269e-01 -4.09644389e-02 1.31132852e+01] [ 1.11326580e-01 -1.10508968e-02 9.93722431e-01 9.09598055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:13.14, Z:9.10 [[ 8.81714607e-01 -4.60157328e-01 -1.04089315e-01 7.99043705e+01] [ 4.58473005e-01 8.87761996e-01 -4.10017381e-02 1.31383205e+01] [ 1.11273789e-01 -1.15703099e-02 9.93722432e-01 9.10045067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.447105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.92, Y:13.16, Z:9.10 [[ 8.80762627e-01 -4.61977896e-01 -1.04084666e-01 7.99238133e+01] [ 4.60304694e-01 8.86813103e-01 -4.10135366e-02 1.31630332e+01] [ 1.11250993e-01 -1.17874703e-02 9.93722432e-01 9.09696509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:13.18, Z:9.10 [[ 8.79807234e-01 -4.63824049e-01 -1.03954236e-01 7.99486139e+01] [ 4.62124951e-01 8.85850542e-01 -4.13442542e-02 1.31810601e+01] [ 1.11264375e-01 -1.16648722e-02 9.93722381e-01 9.09981781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:79.97, Y:13.20, Z:9.10 [[ 8.80634388e-01 -4.62225743e-01 -1.04069383e-01 7.99678329e+01] [ 4.60549713e-01 8.86684084e-01 -4.10523668e-02 1.32027117e+01] [ 1.11252126e-01 -1.17769985e-02 9.93722429e-01 9.09602378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:79.99, Y:13.23, Z:9.10 [[ 8.81701971e-01 -4.60259328e-01 -1.03744810e-01 7.99933668e+01] [ 4.58473826e-01 8.87720737e-01 -4.18765383e-02 1.32258549e+01] [ 1.11370486e-01 -1.06416535e-02 9.93721978e-01 9.09731969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56710568099999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:80.02, Y:13.24, Z:9.10 [[ 8.82829686e-01 -4.57981563e-01 -1.04233549e-01 8.00196050e+01] [ 4.56325061e-01 8.88884819e-01 -4.06351726e-02 1.32406419e+01] [ 1.11261779e-01 -1.16904440e-02 9.93722371e-01 9.09904559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:80.04, Y:13.26, Z:9.10 [[ 8.82402872e-01 -4.58768274e-01 -1.04387944e-01 8.00389619e+01] [ 4.57162924e-01 8.88472030e-01 -4.02431759e-02 1.32625161e+01] [ 1.11208061e-01 -1.22116040e-02 9.93722116e-01 9.10188527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62710568099999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:80.06, Y:13.28, Z:9.11 [[ 8.83196225e-01 -4.57312260e-01 -1.04066929e-01 8.00636358e+01] [ 4.55602008e-01 8.89236265e-01 -4.10569681e-02 1.32834088e+01] [ 1.11315942e-01 -1.11517427e-02 9.93722496e-01 9.11158913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:80.08, Y:13.30, Z:9.12 [[ 8.83441074e-01 -4.56782859e-01 -1.04313411e-01 8.00845892e+01] [ 4.55141998e-01 8.89500498e-01 -4.04305122e-02 1.33000745e+01] [ 1.11254796e-01 -1.17594391e-02 9.93722338e-01 9.11763363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:80.11, Y:13.32, Z:9.12 [[ 8.85020789e-01 -4.53812940e-01 -1.03884644e-01 8.01075093e+01] [ 4.52025257e-01 8.91038425e-01 -4.15173680e-02 1.33222035e+01] [ 1.11406328e-01 -1.02147491e-02 9.93722441e-01 9.11841176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71710568099999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:80.13, Y:13.34, Z:9.12 [[ 8.85889186e-01 -4.52071517e-01 -1.04075423e-01 8.01309292e+01] [ 4.50328177e-01 8.91919697e-01 -4.10339737e-02 1.33434308e+01] [ 1.11377210e-01 -1.05165418e-02 9.93722557e-01 9.11670945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.747105681 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:80.15, Y:13.36, Z:9.12 [[ 8.86233321e-01 -4.51393951e-01 -1.04086511e-01 8.01516302e+01] [ 4.49649266e-01 8.92263445e-01 -4.10058845e-02 1.33587578e+01] [ 1.11382397e-01 -1.04616422e-02 9.93722555e-01 9.11854403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.777105681 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:80.17, Y:13.38, Z:9.12 [[ 8.88287261e-01 -4.47419674e-01 -1.03737059e-01 8.01736788e+01] [ 4.45545504e-01 8.94278739e-01 -4.18896255e-02 1.33817627e+01] [ 1.11512089e-01 -9.00955964e-03 9.93722236e-01 9.12071524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.807105681 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:80.20, Y:13.40, Z:9.12 [[ 8.89884157e-01 -4.44240273e-01 -1.03714833e-01 8.01969576e+01] [ 4.42338192e-01 8.95866885e-01 -4.19457880e-02 1.34023028e+01] [ 1.11548692e-01 -8.55013937e-03 9.93722187e-01 9.12012044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.837105681 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:80.22, Y:13.42, Z:9.12 [[ 8.89044105e-01 -4.45911754e-01 -1.03746268e-01 8.02190360e+01] [ 4.44030109e-01 8.95033221e-01 -4.18663991e-02 1.34219662e+01] [ 1.11525076e-01 -8.84539137e-03 9.93722253e-01 9.12236475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86710568099998 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:80.25, Y:13.44, Z:9.13 [[ 8.86929670e-01 -4.50144527e-01 -1.03564789e-01 8.02472814e+01] [ 4.48238382e-01 8.92911529e-01 -4.23243967e-02 1.34393405e+01] [ 1.11526290e-01 -8.88295030e-03 9.93721782e-01 9.12572671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89710568099999 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:80.27, Y:13.46, Z:9.13 [[ 8.86718998e-01 -4.50454833e-01 -1.04018567e-01 8.02667325e+01] [ 4.48683719e-01 8.92741431e-01 -4.11783617e-02 1.34568422e+01] [ 1.11410677e-01 -1.01578019e-02 9.93722537e-01 9.13349132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92710568099999 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:80.29, Y:13.48, Z:9.14 [[ 8.86005381e-01 -4.51945913e-01 -1.03630865e-01 8.02941344e+01] [ 4.50071010e-01 8.91996993e-01 -4.21598136e-02 1.34750318e+01] [ 1.11492375e-01 -9.28742632e-03 9.93721890e-01 9.13733960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95710568099999 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:80.32, Y:13.49, Z:9.14 [[ 8.86129669e-01 -4.51577394e-01 -1.04173251e-01 8.03180433e+01] [ 4.49859467e-01 8.92167537e-01 -4.07865841e-02 1.34899070e+01] [ 1.11358292e-01 -1.07211208e-02 9.93722491e-01 9.13849640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98710568099999 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:80.34, Y:13.51, Z:9.14 [[ 8.85602561e-01 -4.52724518e-01 -1.03675527e-01 8.03446229e+01] [ 4.50868301e-01 8.91599729e-01 -4.20440180e-02 1.35099038e+01] [ 1.11471430e-01 -9.50971885e-03 9.93722137e-01 9.14046355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01710568099999 meters Centerline goodness : 0.997628 Centerline is valid? [True, True] Translation: X:80.37, Y:13.53, Z:9.14 [[ 8.85275456e-01 -4.53258607e-01 -1.04134543e-01 8.03685380e+01] [ 4.51540805e-01 8.91313302e-01 -4.08839689e-02 1.35275982e+01] [ 1.11347514e-01 -1.08274210e-02 9.93722546e-01 9.14353547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04710568099999 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:80.39, Y:13.54, Z:9.15 [[ 8.86839187e-01 -4.50219102e-01 -1.04014499e-01 8.03896894e+01] [ 4.48445362e-01 8.92860782e-01 -4.11871448e-02 1.35390702e+01] [ 1.11413706e-01 -1.01184456e-02 9.93722599e-01 9.14522658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07710568099999 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:80.41, Y:13.56, Z:9.15 [[ 8.86201029e-01 -4.51593739e-01 -1.03493143e-01 8.04132804e+01] [ 4.49676968e-01 8.92179543e-01 -4.25004339e-02 1.35609134e+01] [ 1.11527395e-01 -8.87455434e-03 9.93721733e-01 9.15170948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.107105681 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:80.44, Y:13.58, Z:9.16 [[ 8.87265597e-01 -4.49382906e-01 -1.03994060e-01 8.04355778e+01] [ 4.47597638e-01 8.93283731e-01 -4.12374842e-02 1.35786549e+01] [ 1.11427622e-01 -9.95889454e-03 9.93722650e-01 9.15602141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.137105681 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:80.46, Y:13.59, Z:9.16 [[ 8.89244994e-01 -4.45454782e-01 -1.03987387e-01 8.04583758e+01] [ 4.43640967e-01 8.95254586e-01 -4.12543044e-02 1.35897627e+01] [ 1.11472112e-01 -9.44788130e-03 9.93722650e-01 9.15947536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.167105681 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:80.49, Y:13.61, Z:9.16 [[ 8.88310703e-01 -4.47441540e-01 -1.03441596e-01 8.04859563e+01] [ 4.45482132e-01 8.94275450e-01 -4.26273346e-02 1.36084949e+01] [ 1.11578520e-01 -8.21506524e-03 9.93721665e-01 9.16449921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.197105681 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:80.51, Y:13.63, Z:9.17 [[ 8.89191710e-01 -4.45564461e-01 -1.03973141e-01 8.05105551e+01] [ 4.43747345e-01 8.95200258e-01 -4.12891276e-02 1.36256401e+01] [ 1.11473750e-01 -9.42385527e-03 9.93722695e-01 9.16822288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.227105681 meters Centerline goodness : 0.996138 Centerline is valid? [True, True] Translation: X:80.54, Y:13.64, Z:9.17 [[ 8.90076385e-01 -4.43794763e-01 -1.03972292e-01 8.05356010e+01] [ 4.41965451e-01 8.96081231e-01 -4.12912640e-02 1.36392921e+01] [ 1.11492467e-01 -9.19978207e-03 9.93722695e-01 9.17049383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25710568099998 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:80.56, Y:13.66, Z:9.18 [[ 8.92878364e-01 -4.38131702e-01 -1.03965563e-01 8.05619420e+01] [ 4.36262322e-01 8.98870858e-01 -4.13081999e-02 1.36575724e+01] [ 1.11550047e-01 -8.47306013e-03 9.93722695e-01 9.17651154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28710568099999 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:80.59, Y:13.67, Z:9.18 [[ 8.96640447e-01 -4.30379291e-01 -1.03969104e-01 8.05899578e+01] [ 4.28459090e-01 9.02616850e-01 -4.12992869e-02 1.36743922e+01] [ 1.11618623e-01 -7.51589657e-03 9.93722695e-01 9.18173878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31710568099999 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:80.62, Y:13.69, Z:9.18 [[ 9.01756053e-01 -4.19553626e-01 -1.03974877e-01 8.06186095e+01] [ 4.17563286e-01 9.07709464e-01 -4.12847473e-02 1.36901983e+01] [ 1.11700145e-01 -6.18732057e-03 9.93722695e-01 9.18401326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34710568099999 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:80.65, Y:13.70, Z:9.19 [[ 9.04706488e-01 -4.13149400e-01 -1.03989150e-01 8.06479537e+01] [ 4.11121023e-01 9.10647047e-01 -4.12487641e-02 1.37045862e+01] [ 1.11739315e-01 -5.43410137e-03 9.93722696e-01 9.18800335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37710568099999 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:80.68, Y:13.72, Z:9.20 [[ 9.10658314e-01 -3.99858146e-01 -1.03994707e-01 8.06753372e+01] [ 3.97744601e-01 9.16569107e-01 -4.12347500e-02 1.37218064e+01] [ 1.11806386e-01 -3.81256542e-03 9.93722696e-01 9.19548293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40710568099999 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:80.70, Y:13.74, Z:9.20 [[ 9.17446111e-01 -3.84027279e-01 -1.03998472e-01 8.07016880e+01] [ 3.81812764e-01 9.23319821e-01 -4.12252533e-02 1.37369398e+01] [ 1.11855472e-01 -1.88599562e-03 9.93722696e-01 9.20171143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43710568099999 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:80.73, Y:13.75, Z:9.21 [[ 9.19879594e-01 -3.78239270e-01 -1.03713969e-01 8.07333891e+01] [ 3.75906754e-01 9.25707778e-01 -4.19430706e-02 1.37515217e+01] [ 1.11873344e-01 -4.04206737e-04 9.93722392e-01 9.20599353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46710568099999 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:80.76, Y:13.76, Z:9.21 [[ 9.25998361e-01 -3.62913070e-01 -1.04024703e-01 8.07636322e+01] [ 3.60572178e-01 9.31822805e-01 -4.11578110e-02 1.37631241e+01] [ 1.11869298e-01 6.03651723e-04 9.93722746e-01 9.20660065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.497105681 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:80.79, Y:13.77, Z:9.21 [[ 9.28363210e-01 -3.56816190e-01 -1.04038243e-01 8.07945505e+01] [ 3.54440887e-01 9.34173705e-01 -4.11235584e-02 1.37743338e+01] [ 1.11863342e-01 1.30219173e-03 9.93722747e-01 9.20669199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.527105681 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:80.83, Y:13.78, Z:9.20 [[ 9.30800310e-01 -3.50408059e-01 -1.04043139e-01 8.08263073e+01] [ 3.47994142e-01 9.36594869e-01 -4.11111673e-02 1.37814752e+01] [ 1.11851954e-01 2.05988449e-03 9.93722747e-01 9.20391527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.557105681 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:80.86, Y:13.78, Z:9.20 [[ 9.31529321e-01 -3.48461644e-01 -1.04055785e-01 8.08593463e+01] [ 3.46039196e-01 9.37320318e-01 -4.10791349e-02 1.37829837e+01] [ 1.11848104e-01 2.25903859e-03 9.93722747e-01 9.20385424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.587105681 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:80.89, Y:13.79, Z:9.21 [[ 9.31829737e-01 -3.47653743e-01 -1.04068327e-01 8.08907874e+01] [ 3.45229824e-01 9.37620117e-01 -4.10473362e-02 1.37898529e+01] [ 1.11846817e-01 2.32163826e-03 9.93722748e-01 9.20814826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61710568099998 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:80.93, Y:13.79, Z:9.21 [[ 9.32836713e-01 -3.44941504e-01 -1.04072214e-01 8.09254512e+01] [ 3.42501849e-01 9.38620482e-01 -4.10374778e-02 1.37923931e+01] [ 1.11839841e-01 2.63634004e-03 9.93722748e-01 9.21331214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64710568099999 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:80.96, Y:13.79, Z:9.21 [[ 9.33975724e-01 -3.41843638e-01 -1.04078209e-01 8.09608301e+01] [ 3.39386495e-01 9.39752085e-01 -4.10222673e-02 1.37906544e+01] [ 1.11830915e-01 2.99106310e-03 9.93722748e-01 9.21428958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67710568099999 meters Centerline goodness : 0.995947 Centerline is valid? [True, True] Translation: X:81.00, Y:13.79, Z:9.22 [[ 9.33397768e-01 -3.43417403e-01 -1.04082151e-01 8.09964998e+01] [ 3.40971114e-01 9.39178734e-01 -4.10122641e-02 1.37857206e+01] [ 1.11836068e-01 2.79174875e-03 9.93722748e-01 9.21838706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70710568099999 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:81.03, Y:13.79, Z:9.22 [[ 9.32009915e-01 -3.47165396e-01 -1.04085089e-01 8.10285469e+01] [ 3.44743190e-01 9.37801012e-01 -4.10048069e-02 1.37897776e+01] [ 1.11846552e-01 2.33426101e-03 9.93722748e-01 9.22399693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73710568099999 meters Centerline goodness : 0.995828 Centerline is valid? [True, True] Translation: X:81.06, Y:13.79, Z:9.23 [[ 9.30124436e-01 -3.52185216e-01 -1.04087021e-01 8.10606811e+01] [ 3.49794816e-01 9.35928734e-01 -4.09999020e-02 1.37939836e+01] [ 1.11857593e-01 1.72591040e-03 9.93722748e-01 9.22925557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76710568099999 meters Centerline goodness : 0.995828 Centerline is valid? [True, True] Translation: X:81.09, Y:13.81, Z:9.23 [[ 9.30141016e-01 -3.52140847e-01 -1.04088973e-01 8.10901459e+01] [ 3.49750724e-01 9.35945429e-01 -4.09949466e-02 1.38055366e+01] [ 1.11857593e-01 1.72588771e-03 9.93722748e-01 9.23281689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79710568099999 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:81.13, Y:13.79, Z:9.24 [[ 9.22609095e-01 -3.71426358e-01 -1.04090916e-01 8.11252428e+01] [ 3.69158135e-01 9.28462218e-01 -4.09900123e-02 1.37920362e+01] [ 1.11869253e-01 -6.08250102e-04 9.93722748e-01 9.23538641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82710568099999 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:81.15, Y:13.79, Z:9.24 [[ 9.19905994e-01 -3.78075739e-01 -1.04075446e-01 8.11544951e+01] [ 3.75845381e-01 9.25773650e-01 -4.10292537e-02 1.37944298e+01] [ 1.11862471e-01 -1.37321910e-03 9.93722749e-01 9.23846164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.857105681 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:81.19, Y:13.79, Z:9.24 [[ 9.15442181e-01 -3.88763557e-01 -1.04060126e-01 8.11858279e+01] [ 3.86597277e-01 9.21333793e-01 -4.10680727e-02 1.37896370e+01] [ 1.11839880e-01 -2.63391519e-03 9.93722750e-01 9.24135172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.887105681 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:81.21, Y:13.79, Z:9.25 [[ 9.14486664e-01 -3.91009977e-01 -1.04044887e-01 8.12142630e+01] [ 3.88853783e-01 9.20381975e-01 -4.11066436e-02 1.37936598e+01] [ 1.11834146e-01 -2.86677049e-03 9.93722751e-01 9.24587441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.917105681 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:81.24, Y:13.80, Z:9.26 [[ 9.16126794e-01 -3.87152850e-01 -1.04040226e-01 8.12423304e+01] [ 3.84970494e-01 9.22012469e-01 -4.11184370e-02 1.37951318e+01] [ 1.11845506e-01 -2.38271527e-03 9.93722751e-01 9.25653948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.947105681 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:81.27, Y:13.80, Z:9.27 [[ 9.21150817e-01 -3.75046601e-01 -1.04025092e-01 8.12689645e+01] [ 3.72782553e-01 9.27005553e-01 -4.11566889e-02 1.37966453e+01] [ 1.11867514e-01 -8.67221845e-04 9.93722752e-01 9.26573542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.977105681 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:81.30, Y:13.80, Z:9.27 [[ 9.22413039e-01 -3.72042766e-01 -1.03626090e-01 8.12983537e+01] [ 3.69646200e-01 9.28215403e-01 -4.21645881e-02 1.38047391e+01] [ 1.11874362e-01 5.88175597e-04 9.93722185e-01 9.26973460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00710568099998 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:81.33, Y:13.81, Z:9.27 [[ 9.25849882e-01 -3.63291846e-01 -1.04024183e-01 8.13275466e+01] [ 3.60953245e-01 9.31675224e-01 -4.11586247e-02 1.38069022e+01] [ 1.11869347e-01 5.58841253e-04 9.93722767e-01 9.26887754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03710568099999 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:81.35, Y:13.81, Z:9.27 [[ 9.27512813e-01 -3.59026406e-01 -1.04019330e-01 8.13544784e+01] [ 3.56659641e-01 9.33326769e-01 -4.11708866e-02 1.38139749e+01] [ 1.11865461e-01 1.08702783e-03 9.93722767e-01 9.26983875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06710568099999 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:81.38, Y:13.82, Z:9.27 [[ 9.30070453e-01 -3.52349151e-01 -1.04014556e-01 8.13828357e+01] [ 3.49939302e-01 9.35866684e-01 -4.11829453e-02 1.38181820e+01] [ 1.11854533e-01 1.90425958e-03 9.93722767e-01 9.27339725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09710568099999 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:81.41, Y:13.82, Z:9.28 [[ 9.31993092e-01 -3.47236309e-01 -1.03999146e-01 8.14098509e+01] [ 3.44790331e-01 9.37774167e-01 -4.12218229e-02 1.38213100e+01] [ 1.11841426e-01 2.56055424e-03 9.93722768e-01 9.27678498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12710568099999 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:81.44, Y:13.83, Z:9.28 [[ 9.31807889e-01 -3.47827357e-01 -1.03683116e-01 8.14382605e+01] [ 3.45296382e-01 9.37552611e-01 -4.20179712e-02 1.38308215e+01] [ 1.11823376e-01 3.35127232e-03 9.93722447e-01 9.27637757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15710568099999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:81.47, Y:13.84, Z:9.27 [[ 9.32848948e-01 -3.44935850e-01 -1.03981247e-01 8.14685084e+01] [ 3.42470599e-01 9.38621828e-01 -4.12668605e-02 1.38351151e+01] [ 1.11833488e-01 2.88522749e-03 9.93722771e-01 9.27423185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18710568099999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:81.50, Y:13.84, Z:9.27 [[ 9.33110475e-01 -3.44231448e-01 -1.03968990e-01 8.14981876e+01] [ 3.41758404e-01 9.38880020e-01 -4.12977173e-02 1.38364767e+01] [ 1.11830381e-01 3.00305646e-03 9.93722772e-01 9.27197427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21710568099999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:81.53, Y:13.84, Z:9.28 [[ 9.31812745e-01 -3.47731070e-01 -1.03962065e-01 8.15267242e+01] [ 3.45277754e-01 9.37590706e-01 -4.13151428e-02 1.38368542e+01] [ 1.11840425e-01 2.60218823e-03 9.93722772e-01 9.28342393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.247105681 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:81.56, Y:13.84, Z:9.29 [[ 9.30636836e-01 -3.50868074e-01 -1.03955152e-01 8.15555046e+01] [ 3.48432295e-01 9.36422211e-01 -4.13325299e-02 1.38416231e+01] [ 1.11848179e-01 2.24424265e-03 9.93722772e-01 9.29115884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.277105681 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:81.59, Y:13.84, Z:9.30 [[ 9.28315939e-01 -3.56967197e-01 -1.03941994e-01 8.15864746e+01] [ 3.54565731e-01 9.34115640e-01 -4.13655939e-02 1.38384516e+01] [ 1.11860002e-01 1.54607101e-03 9.93722773e-01 9.29656573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.307105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:81.61, Y:13.84, Z:9.30 [[ 9.27314612e-01 -3.59564855e-01 -1.03926536e-01 8.16139261e+01] [ 3.57175288e-01 9.33119226e-01 -4.14043939e-02 1.38419913e+01] [ 1.11863414e-01 1.27490910e-03 9.93722774e-01 9.29747323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.64, Y:13.84, Z:9.30 [[ 9.25712467e-01 -3.63671673e-01 -1.03919883e-01 8.16442374e+01] [ 3.61305985e-01 9.31526853e-01 -4.14210854e-02 1.38408165e+01] [ 1.11867837e-01 7.97139424e-04 9.93722774e-01 9.30003405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:13.85, Z:9.30 [[ 9.24619993e-01 -3.66473646e-01 -1.03802386e-01 8.16718659e+01] [ 3.64092509e-01 9.30428107e-01 -4.17154960e-02 1.38460846e+01] [ 1.11868287e-01 7.77310511e-04 9.93722739e-01 9.30127330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:13.84, Z:9.31 [[ 9.26328076e-01 -3.62106923e-01 -1.03898373e-01 8.16984686e+01] [ 3.59725361e-01 9.32135980e-01 -4.14750513e-02 1.38425510e+01] [ 1.11865815e-01 1.04462482e-03 9.93722772e-01 9.30831377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:13.85, Z:9.31 [[ 9.27077199e-01 -3.60370508e-01 -1.03251942e-01 8.17312420e+01] [ 3.57797229e-01 9.32804399e-01 -4.30940292e-02 1.38483979e+01] [ 1.11843683e-01 3.00823322e-03 9.93721259e-01 9.31327900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.76, Y:13.85, Z:9.31 [[ 9.29924356e-01 -3.52765049e-01 -1.03911074e-01 8.17554656e+01] [ 3.50328865e-01 9.35709497e-01 -4.14418010e-02 1.38520968e+01] [ 1.11849798e-01 2.13469155e-03 9.93722832e-01 9.31322474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:81.79, Y:13.86, Z:9.31 [[ 9.31724115e-01 -3.48125507e-01 -1.03435030e-01 8.17872785e+01] [ 3.45527757e-01 9.37439465e-01 -4.26358935e-02 1.38575926e+01] [ 1.11806721e-01 3.98521627e-03 9.93721981e-01 9.31496675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.82, Y:13.86, Z:9.32 [[ 9.33727102e-01 -3.42568097e-01 -1.03926891e-01 8.18166646e+01] [ 3.40073238e-01 9.39487153e-01 -4.14014803e-02 1.38594258e+01] [ 1.11820805e-01 3.31492998e-03 9.93722858e-01 9.31719196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:81.85, Y:13.86, Z:9.32 [[ 9.34724823e-01 -3.39875734e-01 -1.03797838e-01 8.18480781e+01] [ 3.37328365e-01 9.40461899e-01 -4.17251721e-02 1.38600684e+01] [ 1.11799285e-01 3.98759914e-03 9.93722808e-01 9.31814557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:13.87, Z:9.32 [[ 9.35144970e-01 -3.38683047e-01 -1.03911878e-01 8.18760090e+01] [ 3.36160072e-01 9.40892766e-01 -4.14392225e-02 1.38661125e+01] [ 1.11804696e-01 3.82065605e-03 9.93722855e-01 9.32094547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.90, Y:13.87, Z:9.32 [[ 9.35555346e-01 -3.37552921e-01 -1.03895236e-01 8.19046187e+01] [ 3.35018381e-01 9.41298050e-01 -4.14809041e-02 1.38709431e+01] [ 1.11798384e-01 4.00086763e-03 9.93722856e-01 9.32127629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.637105681 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:81.93, Y:13.87, Z:9.32 [[ 9.36585374e-01 -3.34685937e-01 -1.03890138e-01 8.19329077e+01] [ 3.32132407e-01 9.42319659e-01 -4.14936692e-02 1.38730667e+01] [ 1.11785067e-01 4.35708201e-03 9.93722856e-01 9.32255974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.96, Y:13.88, Z:9.33 [[ 9.36159839e-01 -3.35945159e-01 -1.03661013e-01 8.19626409e+01] [ 3.33335831e-01 9.41869174e-01 -4.20676058e-02 1.38803015e+01] [ 1.11767521e-01 4.82807305e-03 9.93722653e-01 9.32635031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.697105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.99, Y:13.88, Z:9.33 [[ 9.35134200e-01 -3.38717223e-01 -1.03897405e-01 8.19927829e+01] [ 3.36190434e-01 9.40880319e-01 -4.14754984e-02 1.38794619e+01] [ 1.11803489e-01 3.85584340e-03 9.93722855e-01 9.32978592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.727105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:13.88, Z:9.34 [[ 9.33066694e-01 -3.44373237e-01 -1.03892339e-01 8.20211912e+01] [ 3.41879876e-01 9.38827397e-01 -4.14881837e-02 1.38794142e+01] [ 1.11824395e-01 3.19254243e-03 9.93722855e-01 9.33953510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:82.05, Y:13.89, Z:9.34 [[ 9.32011527e-01 -3.47220584e-01 -1.03886379e-01 8.20475977e+01] [ 3.44743161e-01 9.37779103e-01 -4.15031020e-02 1.38865572e+01] [ 1.11833207e-01 2.86725062e-03 9.93722855e-01 9.34351314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:13.89, Z:9.35 [[ 9.29842132e-01 -3.52990437e-01 -1.03881479e-01 8.20767229e+01] [ 3.50547440e-01 9.35624373e-01 -4.15153628e-02 1.38913543e+01] [ 1.11848570e-01 2.18734670e-03 9.93722855e-01 9.34833846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:13.90, Z:9.35 [[ 9.28961145e-01 -3.55306487e-01 -1.03867659e-01 8.21044657e+01] [ 3.52874045e-01 9.34747834e-01 -4.15499128e-02 1.38971144e+01] [ 1.11853022e-01 1.94605371e-03 9.93722856e-01 9.35142673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:82.13, Y:13.90, Z:9.35 [[ 9.27003894e-01 -3.60386845e-01 -1.03851346e-01 8.21342201e+01] [ 3.57981556e-01 9.32801921e-01 -4.15906463e-02 1.38972857e+01] [ 1.11861457e-01 1.37782478e-03 9.93722857e-01 9.35122820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.16, Y:13.90, Z:9.35 [[ 9.24771243e-01 -3.66082498e-01 -1.03835216e-01 8.21639607e+01] [ 3.63708404e-01 9.30582112e-01 -4.16308768e-02 1.39008205e+01] [ 1.11867530e-01 7.33296921e-04 9.93722858e-01 9.35126024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.19, Y:13.91, Z:9.35 [[ 9.23090623e-01 -3.70303693e-01 -1.03821373e-01 8.21929226e+01] [ 3.67952292e-01 9.28910710e-01 -4.16653702e-02 1.39077271e+01] [ 1.11869626e-01 2.59600256e-04 9.93722858e-01 9.35006254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.22, Y:13.91, Z:9.35 [[ 9.22397854e-01 -3.72029837e-01 -1.03807511e-01 8.22203230e+01] [ 3.69685443e-01 9.28220767e-01 -4.16998796e-02 1.39149030e+01] [ 1.11869887e-01 8.77537763e-05 9.93722859e-01 9.35230014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.25, Y:13.92, Z:9.36 [[ 9.20925946e-01 -3.75663154e-01 -1.03791122e-01 8.22486189e+01] [ 3.73337141e-01 9.26756224e-01 -4.17406311e-02 1.39180246e+01] [ 1.11869486e-01 -3.09050667e-04 9.93722860e-01 9.35872052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:13.93, Z:9.37 [[ 9.19346991e-01 -3.79512270e-01 -1.03786062e-01 8.22765130e+01] [ 3.77209246e-01 9.25186389e-01 -4.17532102e-02 1.39250321e+01] [ 1.11867307e-01 -7.63374027e-04 9.93722860e-01 9.36733441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.30, Y:13.94, Z:9.37 [[ 9.18263980e-01 -3.82128955e-01 -1.03772465e-01 8.23048774e+01] [ 3.79838755e-01 9.24108418e-01 -4.17869774e-02 1.39354157e+01] [ 1.11865022e-01 -1.04532748e-03 9.93722861e-01 9.37036705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:13.94, Z:9.37 [[ 9.16593181e-01 -3.86028395e-01 -1.04110607e-01 8.23285634e+01] [ 3.83858230e-01 9.22483694e-01 -4.09474500e-02 1.39448049e+01] [ 1.11847216e-01 -2.43155984e-03 9.93722440e-01 9.37350702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.35, Y:13.95, Z:9.38 [[ 9.12639287e-01 -3.95380544e-01 -1.03748527e-01 8.23541989e+01] [ 3.93168552e-01 9.18513723e-01 -4.18453075e-02 1.39500737e+01] [ 1.11839266e-01 -2.60098656e-03 9.93722906e-01 9.37610407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.38, Y:13.96, Z:9.38 [[ 9.09069338e-01 -4.03588813e-01 -1.03484339e-01 8.23825902e+01] [ 4.01355257e-01 9.14935883e-01 -4.25004352e-02 1.39611463e+01] [ 1.11834235e-01 -2.89814111e-03 9.93722650e-01 9.37971485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.41, Y:13.97, Z:9.38 [[ 9.04253867e-01 -4.14199401e-01 -1.03748738e-01 8.24079873e+01] [ 4.12109601e-01 9.10172882e-01 -4.18449699e-02 1.39713184e+01] [ 1.11761449e-01 -4.91737524e-03 9.93722898e-01 9.38336251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.43, Y:13.98, Z:9.39 [[ 9.02395849e-01 -4.18235921e-01 -1.03732569e-01 8.24332717e+01] [ 4.16168000e-01 9.08322543e-01 -4.18850133e-02 1.39832312e+01] [ 1.11740448e-01 -5.37331378e-03 9.93722899e-01 9.38575742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.46, Y:14.00, Z:9.39 [[ 9.02067082e-01 -4.18945778e-01 -1.03727598e-01 8.24576907e+01] [ 4.16881109e-01 9.07994909e-01 -4.18973205e-02 1.39952657e+01] [ 1.11736837e-01 -5.44788266e-03 9.93722899e-01 9.38900629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:82.48, Y:14.01, Z:9.39 [[ 9.03269402e-01 -4.16348862e-01 -1.03720838e-01 8.24808866e+01] [ 4.14265231e-01 9.09190591e-01 -4.19140494e-02 1.40119477e+01] [ 1.11752877e-01 -5.10825865e-03 9.93722899e-01 9.39363906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:14.03, Z:9.40 [[ 9.04497994e-01 -4.13674218e-01 -1.03716056e-01 8.25035945e+01] [ 4.11571721e-01 9.10412510e-01 -4.19258797e-02 1.40261157e+01] [ 1.11768050e-01 -4.76472154e-03 9.93722899e-01 9.39654647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.53, Y:14.04, Z:9.40 [[ 9.08739081e-01 -4.04275084e-01 -1.03706019e-01 8.25254381e+01] [ 4.02108557e-01 9.14630443e-01 -4.19506913e-02 1.40421077e+01] [ 1.11812302e-01 -3.57884511e-03 9.93722900e-01 9.39690819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:82.55, Y:14.06, Z:9.40 [[ 9.12490915e-01 -3.95824722e-01 -1.03359181e-01 8.25528815e+01] [ 3.93506302e-01 9.18324669e-01 -4.28087900e-02 1.40590319e+01] [ 1.11862063e-01 -1.60985704e-03 9.93722440e-01 9.39801878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.357105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:82.58, Y:14.07, Z:9.41 [[ 9.13725562e-01 -3.92850581e-01 -1.03797966e-01 8.25752893e+01] [ 3.90636186e-01 9.19599123e-01 -4.17231829e-02 1.40742224e+01] [ 1.11843495e-01 -2.42370282e-03 9.93722878e-01 9.40539579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.387105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:14.09, Z:9.41 [[ 9.17201635e-01 -3.84689026e-01 -1.03708799e-01 8.25962562e+01] [ 3.82397418e-01 9.23045472e-01 -4.19436645e-02 1.40928734e+01] [ 1.11863205e-01 -1.18717923e-03 9.93722906e-01 9.41006886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.417105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.62, Y:14.11, Z:9.41 [[ 9.19520403e-01 -3.79176152e-01 -1.03477896e-01 8.26196909e+01] [ 3.76785271e-01 9.25324503e-01 -4.25138209e-02 1.41101783e+01] [ 1.11870860e-01 1.03378646e-04 9.93722748e-01 9.41356714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.64, Y:14.12, Z:9.41 [[ 9.21683283e-01 -3.73829150e-01 -1.03690369e-01 8.26447283e+01] [ 3.71463559e-01 9.27497565e-01 -4.19891754e-02 1.41212345e+01] [ 1.11869343e-01 1.83527253e-04 9.93722907e-01 9.41390126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.477105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.67, Y:14.13, Z:9.42 [[ 9.22211614e-01 -3.72534679e-01 -1.03651589e-01 8.26710955e+01] [ 3.70150172e-01 9.28018165e-01 -4.20848534e-02 1.41321086e+01] [ 1.11868625e-01 4.44487067e-04 9.93722906e-01 9.41711979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.69, Y:14.15, Z:9.42 [[ 9.23107252e-01 -3.70292937e-01 -1.03711825e-01 8.26941255e+01] [ 3.67911009e-01 9.28914868e-01 -4.19363424e-02 1.41457335e+01] [ 1.11868187e-01 5.55019811e-04 9.93722899e-01 9.42415459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.72, Y:14.16, Z:9.43 [[ 9.24964737e-01 -3.65643470e-01 -1.03658518e-01 8.27200914e+01] [ 3.63217627e-01 9.30754137e-01 -4.20676970e-02 1.41603603e+01] [ 1.11862373e-01 1.26053523e-03 9.93722909e-01 9.42761383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:82.75, Y:14.17, Z:9.43 [[ 9.26139797e-01 -3.62627789e-01 -1.03760122e-01 8.27459288e+01] [ 3.60211121e-01 9.31933075e-01 -4.18173712e-02 1.41710929e+01] [ 1.11861630e-01 1.35318187e-03 9.93722871e-01 9.43195342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:14.18, Z:9.43 [[ 9.29616017e-01 -3.53632791e-01 -1.03720349e-01 8.27736983e+01] [ 3.51149154e-01 9.35380873e-01 -4.19153146e-02 1.41818665e+01] [ 1.11840661e-01 2.54383489e-03 9.93722897e-01 9.42828704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.80, Y:14.19, Z:9.43 [[ 9.30999566e-01 -3.49971055e-01 -1.03730752e-01 8.27995676e+01] [ 3.47467596e-01 9.36755849e-01 -4.18897166e-02 1.41925284e+01] [ 1.11830577e-01 2.95623294e-03 9.93722890e-01 9.42849413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:14.20, Z:9.43 [[ 9.30867864e-01 -3.50353913e-01 -1.03620248e-01 8.28256658e+01] [ 3.47822600e-01 9.36611906e-01 -4.21613163e-02 1.42034656e+01] [ 1.11823340e-01 3.20515049e-03 9.93722933e-01 9.43168492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:14.21, Z:9.43 [[ 9.33945658e-01 -3.42069706e-01 -1.03604169e-01 8.28540202e+01] [ 3.39483087e-01 9.39665008e-01 -4.22007908e-02 1.42129461e+01] [ 1.11788824e-01 4.24138230e-03 9.93722934e-01 9.42810527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:82.88, Y:14.22, Z:9.43 [[ 9.36334710e-01 -3.35479070e-01 -1.03591043e-01 8.28815518e+01] [ 3.32848653e-01 9.42034049e-01 -4.22329864e-02 1.42208839e+01] [ 1.11754573e-01 5.06407187e-03 9.93722935e-01 9.42727504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.747105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:82.91, Y:14.23, Z:9.43 [[ 9.36623475e-01 -3.34674300e-01 -1.03583678e-01 8.29078451e+01] [ 3.32036994e-01 9.42319629e-01 -4.22510433e-02 1.42295171e+01] [ 1.11749271e-01 5.17970595e-03 9.93722935e-01 9.43022315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.777105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:82.94, Y:14.23, Z:9.44 [[ 9.34902685e-01 -3.39453080e-01 -1.03578837e-01 8.29354683e+01] [ 3.36843586e-01 9.40611634e-01 -4.22629069e-02 1.42330120e+01] [ 1.11773733e-01 4.62183821e-03 9.93722935e-01 9.43501289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.97, Y:14.23, Z:9.44 [[ 9.31463056e-01 -3.48782722e-01 -1.03572140e-01 8.29666391e+01] [ 3.46228611e-01 9.37196996e-01 -4.22793138e-02 1.42324403e+01] [ 1.11813792e-01 3.52198081e-03 9.93722935e-01 9.44288503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.837105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:14.23, Z:9.45 [[ 9.27195402e-01 -3.59953530e-01 -1.03644308e-01 8.29957484e+01] [ 3.57488255e-01 9.32968120e-01 -4.21026684e-02 1.42317461e+01] [ 1.11851839e-01 1.98577784e-03 9.93722910e-01 9.45266952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.02, Y:14.24, Z:9.46 [[ 9.24481351e-01 -3.66849130e-01 -1.03710887e-01 8.30219581e+01] [ 3.64445187e-01 9.30279939e-01 -4.19397376e-02 1.42393098e+01] [ 1.11865714e-01 9.75571607e-04 9.93722854e-01 9.46139951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:14.24, Z:9.47 [[ 9.21285296e-01 -3.74792358e-01 -1.03750144e-01 8.30516906e+01] [ 3.72449217e-01 9.27108774e-01 -4.18437688e-02 1.42401700e+01] [ 1.11870393e-01 -9.16108630e-05 9.93722802e-01 9.46703338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:14.24, Z:9.47 [[ 9.19682974e-01 -3.78710635e-01 -1.03737564e-01 8.30784962e+01] [ 3.76388840e-01 9.25514975e-01 -4.18744836e-02 1.42442721e+01] [ 1.11868981e-01 -5.34411829e-04 9.93722821e-01 9.46958197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:14.25, Z:9.47 [[ 9.18238931e-01 -3.82265158e-01 -1.03492099e-01 8.31081135e+01] [ 3.79898394e-01 9.24052623e-01 -4.24730637e-02 1.42463895e+01] [ 1.11868118e-01 -3.16061421e-04 9.93723012e-01 9.47499510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:14.25, Z:9.47 [[ 9.19622320e-01 -3.78923597e-01 -1.03497323e-01 8.31366132e+01] [ 3.76537142e-01 9.25427956e-01 -4.24603295e-02 1.42548114e+01] [ 1.11868537e-01 7.68805628e-05 9.93723012e-01 9.47480841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:14.26, Z:9.48 [[ 9.20749554e-01 -3.76149620e-01 -1.03594030e-01 8.31615115e+01] [ 3.73772156e-01 9.26558923e-01 -4.22248358e-02 1.42642503e+01] [ 1.11868829e-01 1.57934731e-04 9.93722970e-01 9.47761514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:83.19, Y:14.27, Z:9.48 [[ 9.23980608e-01 -3.68178049e-01 -1.03463814e-01 8.31895459e+01] [ 3.65714986e-01 9.29754143e-01 -4.25415466e-02 1.42704869e+01] [ 1.11858773e-01 1.46929667e-03 9.93723028e-01 9.48020175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.22, Y:14.28, Z:9.48 [[ 9.26911212e-01 -3.60741143e-01 -1.03447731e-01 8.32187486e+01] [ 3.58227406e-01 9.32662863e-01 -4.25806212e-02 1.42757829e+01] [ 1.11842439e-01 2.41064308e-03 9.93723029e-01 9.48226818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:14.28, Z:9.49 [[ 9.28430178e-01 -3.56817677e-01 -1.03433798e-01 8.32454879e+01] [ 3.54275871e-01 9.34169480e-01 -4.26144376e-02 1.42841594e+01] [ 1.11830282e-01 2.92043078e-03 9.93723029e-01 9.48665773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:14.29, Z:9.49 [[ 9.31182133e-01 -3.49577751e-01 -1.03417750e-01 8.32722898e+01] [ 3.46987019e-01 9.36899515e-01 -4.26533486e-02 1.42913916e+01] [ 1.11802702e-01 3.83341934e-03 9.93723030e-01 9.48743272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:14.30, Z:9.49 [[ 9.33121989e-01 -3.44369526e-01 -1.03406887e-01 8.33006820e+01] [ 3.41743978e-01 9.38823466e-01 -4.26796691e-02 1.42980620e+01] [ 1.11778389e-01 4.48665688e-03 9.93723031e-01 9.48909646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.197105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:14.31, Z:9.49 [[ 9.33635393e-01 -3.42979397e-01 -1.03392873e-01 8.33272697e+01] [ 3.40341611e-01 9.39331218e-01 -4.27135923e-02 1.43062774e+01] [ 1.11770035e-01 4.69002471e-03 9.93723031e-01 9.49117556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.227105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:14.31, Z:9.49 [[ 9.32847393e-01 -3.45118350e-01 -1.03387942e-01 8.33570757e+01] [ 3.42492305e-01 9.38548640e-01 -4.27255235e-02 1.43099351e+01] [ 1.11779975e-01 4.44681858e-03 9.93723031e-01 9.49324842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:14.31, Z:9.49 [[ 9.31585673e-01 -3.48513969e-01 -1.03373825e-01 8.33875763e+01] [ 3.45904927e-01 9.37294721e-01 -4.27596528e-02 1.43118929e+01] [ 1.11794077e-01 4.07676456e-03 9.93723032e-01 9.49467772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.42, Y:14.32, Z:9.50 [[ 9.31044614e-01 -3.49961075e-01 -1.03359434e-01 8.34152474e+01] [ 3.47357054e-01 9.36755953e-01 -4.27944099e-02 1.43187818e+01] [ 1.11798943e-01 3.94087625e-03 9.93723033e-01 9.49853524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:14.32, Z:9.51 [[ 9.30123536e-01 -3.52406627e-01 -1.03343006e-01 8.34434254e+01] [ 3.49813226e-01 9.35839704e-01 -4.28340453e-02 1.43210302e+01] [ 1.11807490e-01 3.69020338e-03 9.93723034e-01 9.50505421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.48, Y:14.32, Z:9.51 [[ 9.29179602e-01 -3.54889471e-01 -1.03337946e-01 8.34752031e+01] [ 3.52309989e-01 9.34902065e-01 -4.28462487e-02 1.43236448e+01] [ 1.11816542e-01 3.40486956e-03 9.93723034e-01 9.51098153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.50, Y:14.33, Z:9.51 [[ 9.28295821e-01 -3.57098730e-01 -1.03669504e-01 8.35023601e+01] [ 3.54621971e-01 9.34063891e-01 -4.20464610e-02 1.43264544e+01] [ 1.11848678e-01 2.26807025e-03 9.93722662e-01 9.50997396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:83.53, Y:14.33, Z:9.51 [[ 9.27321549e-01 -3.59722446e-01 -1.03317504e-01 8.35307171e+01] [ 3.57167431e-01 9.33054926e-01 -4.28944283e-02 1.43349375e+01] [ 1.11830994e-01 2.87528037e-03 9.93723081e-01 9.51075834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43710568099999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:83.56, Y:14.34, Z:9.51 [[ 9.25022246e-01 -3.65598196e-01 -1.03304424e-01 8.35588451e+01] [ 3.63076091e-01 9.30770175e-01 -4.29259062e-02 1.43394026e+01] [ 1.11846310e-01 2.20005183e-03 9.93723081e-01 9.51233190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:83.59, Y:14.34, Z:9.52 [[ 9.22297846e-01 -3.72422169e-01 -1.03287999e-01 8.35878146e+01] [ 3.69938177e-01 9.28062347e-01 -4.29653900e-02 1.43412711e+01] [ 1.11858967e-01 1.41671248e-03 9.93723082e-01 9.52003620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.497105681 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:83.62, Y:14.35, Z:9.53 [[ 9.20865644e-01 -3.75950935e-01 -1.03282912e-01 8.36150251e+01] [ 3.73487662e-01 9.26639029e-01 -4.29776156e-02 1.43486598e+01] [ 1.11863452e-01 1.00171621e-03 9.93723082e-01 9.52695147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.527105681 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:83.64, Y:14.36, Z:9.53 [[ 9.19352819e-01 -3.79639178e-01 -1.03269011e-01 8.36428759e+01] [ 3.77195317e-01 9.25134448e-01 -4.30109932e-02 1.43568589e+01] [ 1.11866377e-01 5.89690568e-04 9.93723083e-01 9.53042357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.557105681 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:83.67, Y:14.36, Z:9.53 [[ 9.19406227e-01 -3.79513777e-01 -1.03254460e-01 8.36701798e+01] [ 3.77065208e-01 9.25185862e-01 -4.30458954e-02 1.43646902e+01] [ 1.11866077e-01 6.42999656e-04 9.93723084e-01 9.53198608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.587105681 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:83.70, Y:14.37, Z:9.54 [[ 9.19695345e-01 -3.78814006e-01 -1.03249314e-01 8.36961988e+01] [ 3.76359655e-01 9.25472527e-01 -4.30582364e-02 1.43730011e+01] [ 1.11865466e-01 7.41583485e-04 9.93723084e-01 9.53784300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61710568099998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:83.72, Y:14.38, Z:9.55 [[ 9.19858773e-01 -3.78421576e-01 -1.03232498e-01 8.37230411e+01] [ 3.75960239e-01 9.25632982e-01 -4.30985160e-02 1.43811429e+01] [ 1.11864813e-01 8.33233596e-04 9.93723085e-01 9.54531757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64710568099999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:83.75, Y:14.39, Z:9.55 [[ 9.20059385e-01 -3.77894519e-01 -1.03375340e-01 8.37493775e+01] [ 3.75468287e-01 9.25848507e-01 -4.27563714e-02 1.43886421e+01] [ 1.11867302e-01 5.24238961e-04 9.93723016e-01 9.55080338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67710568099999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:83.78, Y:14.40, Z:9.55 [[ 9.19695660e-01 -3.78822364e-01 -1.03215843e-01 8.37757492e+01] [ 3.76359110e-01 9.25469033e-01 -4.31380235e-02 1.43990150e+01] [ 1.11864714e-01 8.27630345e-04 9.93723101e-01 9.55350651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:83.80, Y:14.41, Z:9.56 [[ 9.18830759e-01 -3.80919837e-01 -1.03199386e-01 8.38024155e+01] [ 3.78465344e-01 9.24607862e-01 -4.31773568e-02 1.44077262e+01] [ 1.11866075e-01 6.15292372e-04 9.93723102e-01 9.55540712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73710568099999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:83.83, Y:14.41, Z:9.56 [[ 9.18555359e-01 -3.81587900e-01 -1.03182974e-01 8.38289163e+01] [ 3.79133207e-01 9.24332376e-01 -4.32165422e-02 1.44147373e+01] [ 1.11866273e-01 5.76694567e-04 9.93723102e-01 9.55946116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76710568099999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:83.85, Y:14.43, Z:9.56 [[ 9.20074371e-01 -3.77912545e-01 -1.03175866e-01 8.38546254e+01] [ 3.75432873e-01 9.25840711e-01 -4.32335045e-02 1.44262795e+01] [ 1.11862901e-01 1.04242750e-03 9.93723103e-01 9.56345762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79710568099999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:83.88, Y:14.44, Z:9.57 [[ 9.21463892e-01 -3.74516098e-01 -1.03160015e-01 8.38794232e+01] [ 3.72010943e-01 9.27219205e-01 -4.32712943e-02 1.44398535e+01] [ 1.11857744e-01 1.49628067e-03 9.93723103e-01 9.56639002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:83.90, Y:14.45, Z:9.57 [[ 9.25144787e-01 -3.65333408e-01 -1.03143701e-01 8.39034372e+01] [ 3.62766810e-01 9.30872963e-01 -4.33101462e-02 1.44537048e+01] [ 1.11836326e-01 2.65104442e-03 9.93723104e-01 9.56876237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.857105681 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:83.93, Y:14.46, Z:9.57 [[ 9.27195838e-01 -3.60100930e-01 -1.03127095e-01 8.39288791e+01] [ 3.57497622e-01 9.32907422e-01 -4.33496532e-02 1.44643094e+01] [ 1.11818282e-01 3.32592697e-03 9.93723105e-01 9.57306602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.887105681 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:83.95, Y:14.48, Z:9.57 [[ 9.31787641e-01 -3.48051719e-01 -1.03110582e-01 8.39547040e+01] [ 3.45370258e-01 9.37462953e-01 -4.33888947e-02 1.44757041e+01] [ 1.11763930e-01 4.81790758e-03 9.93723106e-01 9.57457628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.917105681 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:83.98, Y:14.49, Z:9.58 [[ 9.32367740e-01 -3.46496255e-01 -1.03105490e-01 8.39817852e+01] [ 3.43803993e-01 9.38037936e-01 -4.34009906e-02 1.44864405e+01] [ 1.11755142e-01 5.01760424e-03 9.93723106e-01 9.57592439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.947105681 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:84.01, Y:14.50, Z:9.58 [[ 9.32959765e-01 -3.44903106e-01 -1.03091820e-01 8.40106156e+01] [ 3.42197585e-01 9.38623646e-01 -4.34334390e-02 1.44957579e+01] [ 1.11744748e-01 5.24387926e-03 9.93723107e-01 9.58053906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97710568099998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:84.04, Y:14.51, Z:9.58 [[ 9.33602902e-01 -3.43113256e-01 -1.03242022e-01 8.40373933e+01] [ 3.40436156e-01 9.39280359e-01 -4.30770299e-02 1.45050311e+01] [ 1.11753504e-01 5.06952299e-03 9.93723027e-01 9.58100538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00710568099998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:84.07, Y:14.51, Z:9.58 [[ 9.33819774e-01 -3.42572652e-01 -1.03075737e-01 8.40656563e+01] [ 3.39848828e-01 9.39474862e-01 -4.34713383e-02 1.45112285e+01] [ 1.11729155e-01 5.56422689e-03 9.93723118e-01 9.58148884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:84.10, Y:14.51, Z:9.59 [[ 9.32878501e-01 -3.45129100e-01 -1.03070883e-01 8.40956274e+01] [ 3.42419507e-01 9.38540422e-01 -4.34828436e-02 1.45138330e+01] [ 1.11743385e-01 5.27072893e-03 9.93723118e-01 9.58601275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06710568099999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:84.12, Y:14.52, Z:9.59 [[ 9.32435676e-01 -3.46335510e-01 -1.03031188e-01 8.41233643e+01] [ 3.43622875e-01 9.38096144e-01 -4.35768908e-02 1.45210575e+01] [ 1.11745385e-01 5.22877454e-03 9.93723115e-01 9.59180283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:84.15, Y:14.52, Z:9.60 [[ 9.31646469e-01 -3.48445492e-01 -1.03056278e-01 8.41506831e+01] [ 3.45752235e-01 9.37316180e-01 -4.35174749e-02 1.45247577e+01] [ 1.11759785e-01 4.91096339e-03 9.93723117e-01 9.59732152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:84.18, Y:14.53, Z:9.60 [[ 9.30457314e-01 -3.51668545e-01 -1.02851448e-01 8.41810201e+01] [ 3.48941448e-01 9.36110947e-01 -4.40018335e-02 1.45320792e+01] [ 1.11754427e-01 5.05269472e-03 9.93723009e-01 9.59923729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:84.21, Y:14.54, Z:9.60 [[ 9.29424194e-01 -3.54336133e-01 -1.03036750e-01 8.42073934e+01] [ 3.51673717e-01 9.35108449e-01 -4.35635879e-02 1.45404272e+01] [ 1.11786689e-01 4.25373563e-03 9.93723121e-01 9.60434956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:84.24, Y:14.55, Z:9.61 [[ 9.26933253e-01 -3.60806864e-01 -1.03020148e-01 8.42358206e+01] [ 3.58179785e-01 9.32633924e-01 -4.36028139e-02 1.45463398e+01] [ 1.11812280e-01 3.51716373e-03 9.93723122e-01 9.60926586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:84.26, Y:14.55, Z:9.61 [[ 9.25197903e-01 -3.65237814e-01 -1.03005728e-01 8.42628903e+01] [ 3.62634254e-01 9.30909353e-01 -4.36368524e-02 1.45546065e+01] [ 1.11826824e-01 3.01931886e-03 9.93723123e-01 9.61324384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.247105681 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:84.29, Y:14.56, Z:9.62 [[ 9.22427397e-01 -3.72183965e-01 -1.02989285e-01 8.42893482e+01] [ 3.69619095e-01 9.28156325e-01 -4.36756276e-02 1.45598741e+01] [ 1.11845524e-01 2.22078936e-03 9.93723124e-01 9.61632109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.277105681 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:84.32, Y:14.57, Z:9.62 [[ 9.21427210e-01 -3.74655274e-01 -1.02982142e-01 8.43161981e+01] [ 3.72103890e-01 9.27162156e-01 -4.36924617e-02 1.45681163e+01] [ 1.11850756e-01 1.93936735e-03 9.93723124e-01 9.62003419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.307105681 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:84.34, Y:14.58, Z:9.63 [[ 9.21561104e-01 -3.74330247e-01 -1.02966001e-01 8.43424041e+01] [ 3.71772594e-01 9.27293257e-01 -4.37304688e-02 1.45780622e+01] [ 1.11849315e-01 2.02036201e-03 9.93723125e-01 9.62546906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.337105681 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:84.37, Y:14.59, Z:9.63 [[ 9.23212226e-01 -3.70243325e-01 -1.02951768e-01 8.43690098e+01] [ 3.67656568e-01 9.28931303e-01 -4.37639495e-02 1.45873277e+01] [ 1.11838430e-01 2.55251943e-03 9.93723125e-01 9.63175258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:84.39, Y:14.60, Z:9.63 [[ 9.24808383e-01 -3.66242156e-01 -1.02937542e-01 8.43940103e+01] [ 3.63626939e-01 9.30514502e-01 -4.37973861e-02 1.45972557e+01] [ 1.11825325e-01 3.07332649e-03 9.93723126e-01 9.63243376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:84.42, Y:14.60, Z:9.63 [[ 9.25581605e-01 -3.64285596e-01 -1.02930540e-01 8.44224386e+01] [ 3.61656491e-01 9.31281338e-01 -4.38138348e-02 1.46047302e+01] [ 1.11818040e-01 3.32778150e-03 9.93723126e-01 9.63256488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42710568099999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:84.45, Y:14.61, Z:9.63 [[ 9.25261842e-01 -3.65100890e-01 -1.02916787e-01 8.44499597e+01] [ 3.62473220e-01 9.30962235e-01 -4.38461179e-02 1.46134213e+01] [ 1.11819898e-01 3.26456075e-03 9.93723127e-01 9.63275950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45710568099999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:84.48, Y:14.62, Z:9.63 [[ 9.24684735e-01 -3.66563891e-01 -1.02903135e-01 8.44770050e+01] [ 3.63941681e-01 9.30387641e-01 -4.38781334e-02 1.46247041e+01] [ 1.11823945e-01 3.12270016e-03 9.93723128e-01 9.63330559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:84.50, Y:14.63, Z:9.63 [[ 9.24934807e-01 -3.65936240e-01 -1.02889611e-01 8.45039594e+01] [ 3.63306638e-01 9.30634308e-01 -4.39098239e-02 1.46344438e+01] [ 1.11820798e-01 3.23324593e-03 9.93723128e-01 9.63298973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:84.53, Y:14.64, Z:9.64 [[ 9.26445277e-01 -3.62098934e-01 -1.02876196e-01 8.45313654e+01] [ 3.59442244e-01 9.32132202e-01 -4.39412307e-02 1.46425510e+01] [ 1.11805288e-01 3.73109472e-03 9.93723129e-01 9.63535456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54710568099999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:84.56, Y:14.65, Z:9.64 [[ 9.27582456e-01 -3.59179649e-01 -1.02862857e-01 8.45575457e+01] [ 3.56501609e-01 9.33259357e-01 -4.39724353e-02 1.46522228e+01] [ 1.11791728e-01 4.11728547e-03 9.93723129e-01 9.64183538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57710568099999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:84.58, Y:14.66, Z:9.65 [[ 9.27449360e-01 -3.59525374e-01 -1.02855188e-01 8.45835700e+01] [ 3.56847465e-01 9.33126323e-01 -4.39903670e-02 1.46635785e+01] [ 1.11792536e-01 4.09522478e-03 9.93723129e-01 9.64502690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.607105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:84.61, Y:14.67, Z:9.65 [[ 9.27845551e-01 -3.58506376e-01 -1.02838768e-01 8.46088927e+01] [ 3.55817988e-01 9.33517558e-01 -4.40287179e-02 1.46743950e+01] [ 1.11786372e-01 4.25996630e-03 9.93723130e-01 9.64652107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.637105681 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:84.64, Y:14.69, Z:9.65 [[ 9.27888611e-01 -3.58396367e-01 -1.02833704e-01 8.46351584e+01] [ 3.55705999e-01 9.33559678e-01 -4.40405436e-02 1.46850998e+01] [ 1.11785370e-01 4.28615353e-03 9.93723130e-01 9.64808644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.667105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:84.66, Y:14.70, Z:9.65 [[ 9.27463526e-01 -3.59499297e-01 -1.02818594e-01 8.46610703e+01] [ 3.56811772e-01 9.33135941e-01 -4.40757913e-02 1.46954500e+01] [ 1.11788942e-01 4.19180408e-03 9.93723131e-01 9.65139436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.697105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:84.69, Y:14.70, Z:9.65 [[ 9.25721467e-01 -3.63966311e-01 -1.02802191e-01 8.46899096e+01] [ 3.61301923e-01 9.31404785e-01 -4.41140180e-02 1.47024764e+01] [ 1.11806469e-01 3.69466437e-03 9.93723132e-01 9.65292096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:84.72, Y:14.71, Z:9.65 [[ 9.22829072e-01 -3.71242696e-01 -1.02787955e-01 8.47177715e+01] [ 3.68619443e-01 9.28531494e-01 -4.41471628e-02 1.47094359e+01] [ 1.11831165e-01 2.85064664e-03 9.93723133e-01 9.65236770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75710568099998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:84.74, Y:14.72, Z:9.66 [[ 9.21259876e-01 -3.75121196e-01 -1.02782923e-01 8.47440718e+01] [ 3.72520646e-01 9.26972687e-01 -4.41588742e-02 1.47187989e+01] [ 1.11841892e-01 2.39303791e-03 9.93723133e-01 9.65833401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.77, Y:14.73, Z:9.67 [[ 9.18891705e-01 -3.80886748e-01 -1.02778007e-01 8.47704612e+01] [ 3.78320769e-01 9.24620127e-01 -4.41703140e-02 1.47276184e+01] [ 1.11854501e-01 1.70468048e-03 9.93723133e-01 9.66530491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:84.80, Y:14.74, Z:9.67 [[ 9.17766973e-01 -3.83590295e-01 -1.02772897e-01 8.47971298e+01] [ 3.81039861e-01 9.23502332e-01 -4.41822014e-02 1.47374051e+01] [ 1.11858873e-01 1.38839508e-03 9.93723133e-01 9.66772386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.82, Y:14.75, Z:9.67 [[ 9.17499465e-01 -3.84234091e-01 -1.02756488e-01 8.48237784e+01] [ 3.81683410e-01 9.23234714e-01 -4.42203316e-02 1.47453647e+01] [ 1.11859315e-01 1.35168387e-03 9.93723134e-01 9.67029785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:14.76, Z:9.67 [[ 9.17612944e-01 -3.83967376e-01 -1.02740151e-01 8.48485781e+01] [ 3.81410784e-01 9.23345559e-01 -4.42582554e-02 1.47553617e+01] [ 1.11858388e-01 1.42574647e-03 9.93723135e-01 9.67321810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:14.77, Z:9.67 [[ 9.17341660e-01 -3.84618014e-01 -1.02729074e-01 8.48758318e+01] [ 3.82062609e-01 9.23074804e-01 -4.42839519e-02 1.47664513e+01] [ 1.11859025e-01 1.37457583e-03 9.93723135e-01 9.67392161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.90, Y:14.78, Z:9.68 [[ 9.17620407e-01 -3.83956303e-01 -1.02714879e-01 8.49023303e+01] [ 3.81393082e-01 9.23350060e-01 -4.43168525e-02 1.47775061e+01] [ 1.11857524e-01 1.49130396e-03 9.93723136e-01 9.67984640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:84.93, Y:14.79, Z:9.68 [[ 9.18007752e-01 -3.83025349e-01 -1.02729494e-01 8.49264024e+01] [ 3.80460106e-01 9.23736502e-01 -4.42829885e-02 1.47882589e+01] [ 1.11856491e-01 1.56765255e-03 9.93723134e-01 9.68259528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.997105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:84.95, Y:14.80, Z:9.69 [[ 9.18594217e-01 -3.81623781e-01 -1.02703236e-01 8.49540465e+01] [ 3.79043000e-01 9.24315980e-01 -4.43438037e-02 1.47997715e+01] [ 1.11852893e-01 1.80501889e-03 9.93723137e-01 9.68608770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.027105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:84.98, Y:14.81, Z:9.69 [[ 9.20285044e-01 -3.77512610e-01 -1.02760245e-01 8.49789422e+01] [ 3.74920993e-01 9.26001923e-01 -4.42118486e-02 1.48103295e+01] [ 1.11846715e-01 2.16053012e-03 9.93723123e-01 9.69270054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.057105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.00, Y:14.82, Z:9.70 [[ 9.21844090e-01 -3.73710707e-01 -1.02682917e-01 8.50040381e+01] [ 3.71075596e-01 9.27541032e-01 -4.43907249e-02 1.48238622e+01] [ 1.11831908e-01 2.81820268e-03 9.93723142e-01 9.69586702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.03, Y:14.83, Z:9.70 [[ 9.22011230e-01 -3.73302123e-01 -1.02668479e-01 8.50294788e+01] [ 3.70660775e-01 9.27705282e-01 -4.44240935e-02 1.48347214e+01] [ 1.11829699e-01 2.90433523e-03 9.93723142e-01 9.70087386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.06, Y:14.85, Z:9.71 [[ 9.20959450e-01 -3.75909159e-01 -1.02596280e-01 8.50567027e+01] [ 3.73265358e-01 9.26652377e-01 -4.45908656e-02 1.48452952e+01] [ 1.11833202e-01 2.77074183e-03 9.93723129e-01 9.70783179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.08, Y:14.86, Z:9.71 [[ 9.19592469e-01 -3.79225789e-01 -1.02652286e-01 8.50824940e+01] [ 3.76616945e-01 9.25301489e-01 -4.44615638e-02 1.48558869e+01] [ 1.11845284e-01 2.22592898e-03 9.93723139e-01 9.71217279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:85.11, Y:14.87, Z:9.72 [[ 9.15516463e-01 -3.88967280e-01 -1.02635578e-01 8.51086367e+01] [ 3.86414872e-01 9.21250936e-01 -4.45000992e-02 1.48671856e+01] [ 1.11862205e-01 1.08065967e-03 9.93723140e-01 9.71713190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:14.88, Z:9.72 [[ 9.10253403e-01 -4.01132970e-01 -1.02621061e-01 8.51334334e+01] [ 3.98653435e-01 9.16019760e-01 -4.45335508e-02 1.48785361e+01] [ 1.11866795e-01 -3.73422430e-04 9.93723141e-01 9.72364569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23710568099999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:85.16, Y:14.89, Z:9.73 [[ 9.07011088e-01 -4.08412611e-01 -1.02615914e-01 8.51576489e+01] [ 4.05978012e-01 9.12796560e-01 -4.45454072e-02 1.48911222e+01] [ 1.11860360e-01 -1.25662668e-03 9.93723141e-01 9.72988231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:85.18, Y:14.90, Z:9.73 [[ 9.06705567e-01 -4.09094527e-01 -1.02599624e-01 8.51820749e+01] [ 4.06660038e-01 9.12491084e-01 -4.45828971e-02 1.49041080e+01] [ 1.11859861e-01 -1.29960588e-03 9.93723142e-01 9.73193051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:85.21, Y:14.92, Z:9.73 [[ 9.07994444e-01 -4.06230069e-01 -1.02582750e-01 8.52061898e+01] [ 4.03772944e-01 9.13770384e-01 -4.46216891e-02 1.49202374e+01] [ 1.11863751e-01 -9.03893238e-04 9.93723143e-01 9.73042558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32710568099999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:85.23, Y:14.93, Z:9.73 [[ 9.09197991e-01 -4.03533463e-01 -1.02565867e-01 8.52312797e+01] [ 4.01054833e-01 9.14964734e-01 -4.46604620e-02 1.49337175e+01] [ 1.11866142e-01 -5.29334413e-04 9.93723144e-01 9.73285209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.357105681 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:85.25, Y:14.95, Z:9.74 [[ 9.12435717e-01 -3.96162526e-01 -1.02549085e-01 8.52542878e+01] [ 3.93632982e-01 9.18180308e-01 -4.46989649e-02 1.49501598e+01] [ 1.11866605e-01 4.18230084e-04 9.93723144e-01 9.73653855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.387105681 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:85.28, Y:14.97, Z:9.74 [[ 9.14974992e-01 -3.90266512e-01 -1.02532014e-01 8.52777366e+01] [ 3.87695567e-01 9.20701173e-01 -4.47380887e-02 1.49673871e+01] [ 1.11861123e-01 1.18302507e-03 9.93723145e-01 9.73745770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.417105681 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:85.30, Y:14.98, Z:9.74 [[ 9.15883752e-01 -3.88133529e-01 -1.02514953e-01 8.53028425e+01] [ 3.85544878e-01 9.21601950e-01 -4.47771483e-02 1.49812474e+01] [ 1.11857493e-01 1.48654734e-03 9.93723146e-01 9.73767885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.447105681 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:85.33, Y:15.00, Z:9.74 [[ 9.17977993e-01 -3.83158720e-01 -1.02497804e-01 8.53276561e+01] [ 3.80534706e-01 9.23680048e-01 -4.48163690e-02 1.49965713e+01] [ 1.11846960e-01 2.13646864e-03 9.93723147e-01 9.73539123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47710568099998 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:85.35, Y:15.01, Z:9.74 [[ 9.20281977e-01 -3.77595454e-01 -1.02482957e-01 8.53527049e+01] [ 3.74933199e-01 9.25966278e-01 -4.48502955e-02 1.50105809e+01] [ 1.11831030e-01 2.85065567e-03 9.93723148e-01 9.73534204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:85.38, Y:15.02, Z:9.74 [[ 9.21495547e-01 -3.74628074e-01 -1.02468356e-01 8.53776768e+01] [ 3.71943813e-01 9.27169488e-01 -4.48836287e-02 1.50228188e+01] [ 1.11820201e-01 3.24759271e-03 9.93723148e-01 9.73867808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53710568099999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:85.40, Y:15.04, Z:9.74 [[ 9.24443706e-01 -3.67297559e-01 -1.02451634e-01 8.54019013e+01] [ 3.64564100e-01 9.30094109e-01 -4.49217677e-02 1.50358645e+01] [ 1.11789317e-01 4.17745782e-03 9.93723149e-01 9.74098051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56710568099999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:85.43, Y:15.05, Z:9.74 [[ 9.26790614e-01 -3.61336865e-01 -1.02444264e-01 8.54268463e+01] [ 3.58565223e-01 9.32422386e-01 -4.49385676e-02 1.50496525e+01] [ 1.11759286e-01 4.91569219e-03 9.93723150e-01 9.74250353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59710568099999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:85.45, Y:15.06, Z:9.75 [[ 9.28973234e-01 -3.55709281e-01 -1.02370106e-01 8.54526453e+01] [ 3.52884965e-01 9.34578789e-01 -4.51075304e-02 1.50596962e+01] [ 1.11718097e-01 5.77881716e-03 9.93723137e-01 9.74766747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:85.48, Y:15.07, Z:9.75 [[ 9.29544310e-01 -3.54198261e-01 -1.02425423e-01 8.54789759e+01] [ 3.51378663e-01 9.35152230e-01 -4.49815730e-02 1.50700304e+01] [ 1.11715758e-01 5.82225699e-03 9.93723146e-01 9.75076830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65710568099999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:85.50, Y:15.08, Z:9.75 [[ 9.30442997e-01 -3.51835680e-01 -1.02408412e-01 8.55047235e+01] [ 3.48997601e-01 9.36041586e-01 -4.50202677e-02 1.50775937e+01] [ 1.11698269e-01 6.14850266e-03 9.93723147e-01 9.75412314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68710568099999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:85.53, Y:15.09, Z:9.76 [[ 9.30459697e-01 -3.51793644e-01 -1.02401093e-01 8.55311018e+01] [ 3.48953487e-01 9.36057232e-01 -4.50369092e-02 1.50870538e+01] [ 1.11696982e-01 6.17181042e-03 9.93723147e-01 9.75724002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71710568099999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:85.56, Y:15.09, Z:9.76 [[ 9.29446144e-01 -3.54467553e-01 -1.02384667e-01 8.55591339e+01] [ 3.51639406e-01 9.35049754e-01 -4.50742204e-02 1.50936893e+01] [ 1.11712107e-01 5.89157678e-03 9.93723148e-01 9.75991462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.747105681 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:85.59, Y:15.10, Z:9.76 [[ 9.27418847e-01 -3.59742968e-01 -1.02368346e-01 8.55872669e+01] [ 3.56942629e-01 9.33036406e-01 -4.51112577e-02 1.51006427e+01] [ 1.11741851e-01 5.29740417e-03 9.93723149e-01 9.76340994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.777105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:85.61, Y:15.11, Z:9.77 [[ 9.25928285e-01 -3.63566296e-01 -1.02354084e-01 8.56133553e+01] [ 3.60785591e-01 9.31555588e-01 -4.51435935e-02 1.51101360e+01] [ 1.11761208e-01 4.87185131e-03 9.93723149e-01 9.76504077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.64, Y:15.12, Z:9.77 [[ 9.22977228e-01 -3.70958665e-01 -1.02482711e-01 8.56429655e+01] [ 3.68255344e-01 9.28642176e-01 -4.48521044e-02 1.51167575e+01] [ 1.11808044e-01 3.65766499e-03 9.93723092e-01 9.77247020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.837105681 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:85.67, Y:15.12, Z:9.78 [[ 9.19465800e-01 -3.79545788e-01 -1.02604273e-01 8.56692714e+01] [ 3.76926014e-01 9.25170062e-01 -4.45773039e-02 1.51186277e+01] [ 1.11845529e-01 2.31308701e-03 9.93722913e-01 9.77679506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:15.12, Z:9.79 [[ 9.14685334e-01 -3.91010363e-01 -1.02282139e-01 8.56984854e+01] [ 3.88380655e-01 9.20384677e-01 -4.53046572e-02 1.51227120e+01] [ 1.11853504e-01 1.71510138e-03 9.93723227e-01 9.78528160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.72, Y:15.13, Z:9.79 [[ 9.12301437e-01 -3.96518023e-01 -1.02369652e-01 8.57240830e+01] [ 3.93944869e-01 9.18026568e-01 -4.51072103e-02 1.51319602e+01] [ 1.11863882e-01 8.23373605e-04 9.93723198e-01 9.78652073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:85.75, Y:15.14, Z:9.78 [[ 9.06766858e-01 -4.09043222e-01 -1.02261961e-01 8.57518259e+01] [ 4.06521748e-01 9.12514899e-01 -4.53500567e-02 1.51419774e+01] [ 1.11865697e-01 -4.49782908e-04 9.93723233e-01 9.78391287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:85.78, Y:15.15, Z:9.79 [[ 9.01565553e-01 -4.20386604e-01 -1.02248015e-01 8.57834166e+01] [ 4.17933876e-01 9.07343263e-01 -4.53814798e-02 1.51501717e+01] [ 1.11851813e-01 -1.81853022e-03 9.93723233e-01 9.79305476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:85.81, Y:15.16, Z:9.80 [[ 9.01743809e-01 -4.19857402e-01 -1.02848749e-01 8.58054948e+01] [ 4.17555334e-01 9.07584285e-01 -4.40262310e-02 1.51573775e+01] [ 1.11828647e-01 -3.24466238e-03 9.93722208e-01 9.79807945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:85.83, Y:15.17, Z:9.81 [[ 9.01873131e-01 -4.19731019e-01 -1.02228802e-01 8.58284307e+01] [ 4.17269515e-01 9.07646962e-01 -4.54218368e-02 1.51743106e+01] [ 1.11852616e-01 -1.69222854e-03 9.93723366e-01 9.80659221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.85, Y:15.19, Z:9.81 [[ 9.02176580e-01 -4.19081756e-01 -1.02214972e-01 8.58528861e+01] [ 4.16612574e-01 9.07947131e-01 -4.54529387e-02 1.51870482e+01] [ 1.11854288e-01 -1.57746578e-03 9.93723367e-01 9.80991235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:85.88, Y:15.20, Z:9.81 [[ 9.02857105e-01 -4.17617499e-01 -1.02199182e-01 8.58772432e+01] [ 4.15134943e-01 9.08621915e-01 -4.54884145e-02 1.52011525e+01] [ 1.11857174e-01 -1.35691321e-03 9.93723368e-01 9.81448205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:15.22, Z:9.82 [[ 9.03254652e-01 -4.16758157e-01 -1.02194286e-01 8.59016092e+01] [ 4.14268872e-01 9.09016559e-01 -4.54994106e-02 1.52157975e+01] [ 1.11858549e-01 -1.23835735e-03 9.93723368e-01 9.81735968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.137105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:85.92, Y:15.24, Z:9.82 [[ 9.06533021e-01 -4.09582406e-01 -1.02176978e-01 8.59213745e+01] [ 4.07043131e-01 9.12273072e-01 -4.55382454e-02 1.52395669e+01] [ 1.11864970e-01 -3.08514052e-04 9.93723369e-01 9.81870214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.167105681 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:85.94, Y:15.26, Z:9.82 [[ 9.08044202e-01 -4.06225509e-01 -1.02159498e-01 8.59443408e+01] [ 4.03660605e-01 9.13772846e-01 -4.55774269e-02 1.52558263e+01] [ 1.11865289e-01 1.48553420e-04 9.93723370e-01 9.81819713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.197105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:85.97, Y:15.27, Z:9.82 [[ 9.09576530e-01 -4.02785788e-01 -1.02147664e-01 8.59691513e+01] [ 4.00196244e-01 9.15294077e-01 -4.56039349e-02 1.52727644e+01] [ 1.11863768e-01 6.01157598e-04 9.93723370e-01 9.81821946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22710568099998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:85.99, Y:15.29, Z:9.81 [[ 9.12498230e-01 -3.96124122e-01 -1.02140397e-01 8.59919819e+01] [ 3.93491019e-01 9.18195848e-01 -4.56202040e-02 1.52930063e+01] [ 1.11856152e-01 1.43702644e-03 9.93723370e-01 9.81458280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25710568099998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:86.02, Y:15.31, Z:9.82 [[ 9.14421723e-01 -3.91666900e-01 -1.02127138e-01 8.60150594e+01] [ 3.89002716e-01 9.20104873e-01 -4.56498678e-02 1.53121835e+01] [ 1.11847219e-01 2.01549684e-03 9.93723371e-01 9.81749041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:86.04, Y:15.33, Z:9.82 [[ 9.14372395e-01 -3.91785791e-01 -1.02112763e-01 8.60392260e+01] [ 3.89118758e-01 9.20054209e-01 -4.56819990e-02 1.53271865e+01] [ 1.11846836e-01 2.03636715e-03 9.93723371e-01 9.82146947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:86.06, Y:15.34, Z:9.83 [[ 9.12521837e-01 -3.96080571e-01 -1.02098379e-01 8.60629802e+01] [ 3.93436688e-01 9.18214458e-01 -4.57141256e-02 1.53435559e+01] [ 1.11854685e-01 1.54588985e-03 9.93723372e-01 9.82849026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:86.09, Y:15.36, Z:9.83 [[ 9.11118701e-01 -3.99301613e-01 -1.02082981e-01 8.60876875e+01] [ 3.96674006e-01 9.16818853e-01 -4.57484850e-02 1.53575960e+01] [ 1.11859045e-01 1.18863530e-03 9.93723373e-01 9.82922703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37710568099999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:86.11, Y:15.37, Z:9.84 [[ 9.08506306e-01 -4.05211630e-01 -1.02077554e-01 8.61110642e+01] [ 4.02619746e-01 9.14222789e-01 -4.57605897e-02 1.53738105e+01] [ 1.11864350e-01 4.75345238e-04 9.93723373e-01 9.83598069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:86.14, Y:15.39, Z:9.84 [[ 9.05745051e-01 -4.11350961e-01 -1.02060230e-01 8.61359570e+01] [ 4.08793473e-01 9.11477005e-01 -4.57991967e-02 1.53897602e+01] [ 1.11865096e-01 -2.39160014e-04 9.93723374e-01 9.84176445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43710568099999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:86.16, Y:15.40, Z:9.84 [[ 9.04015321e-01 -4.15106629e-01 -1.02189948e-01 8.61597872e+01] [ 4.12605601e-01 9.09772192e-01 -4.55101777e-02 1.54024891e+01] [ 1.11861149e-01 -1.02224689e-03 9.93723321e-01 9.84412686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46710568099999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:86.19, Y:15.41, Z:9.85 [[ 9.03860971e-01 -4.15479647e-01 -1.02039248e-01 8.61855680e+01] [ 4.12943101e-01 9.09602207e-01 -4.58456100e-02 1.54143852e+01] [ 1.11863043e-01 -6.98346010e-04 9.93723388e-01 9.84724392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.497105681 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:86.21, Y:15.43, Z:9.85 [[ 8.98519309e-01 -4.26912802e-01 -1.02022113e-01 8.62093440e+01] [ 4.24444970e-01 9.04290414e-01 -4.58837114e-02 1.54304146e+01] [ 1.11845962e-01 -2.07537183e-03 9.93723389e-01 9.85219420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.527105681 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:86.23, Y:15.45, Z:9.86 [[ 8.93254146e-01 -4.37825724e-01 -1.02008172e-01 8.62322686e+01] [ 4.35424838e-01 8.99053420e-01 -4.59146842e-02 1.54462358e+01] [ 1.11813425e-01 -3.40340957e-03 9.93723389e-01 9.85881222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.557105681 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:86.26, Y:15.46, Z:9.86 [[ 8.90260519e-01 -4.43885208e-01 -1.01990831e-01 8.62563117e+01] [ 4.41519381e-01 8.96074184e-01 -4.59531706e-02 1.54611520e+01] [ 1.11789283e-01 -4.12063508e-03 9.93723390e-01 9.86212511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.587105681 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:86.28, Y:15.48, Z:9.86 [[ 8.84688374e-01 -4.54893250e-01 -1.01973583e-01 8.62783933e+01] [ 4.52595317e-01 8.90529207e-01 -4.59914143e-02 1.54797857e+01] [ 1.11731638e-01 -5.46469657e-03 9.93723391e-01 9.86274732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61710568099998 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:86.30, Y:15.50, Z:9.86 [[ 8.80637821e-01 -4.62689890e-01 -1.01956332e-01 8.62997868e+01] [ 4.60439232e-01 8.86497032e-01 -4.60296265e-02 1.54980518e+01] [ 1.11681428e-01 -6.40926495e-03 9.93723392e-01 9.86475427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:86.32, Y:15.52, Z:9.87 [[ 8.79244706e-01 -4.65333405e-01 -1.01948858e-01 8.63204336e+01] [ 4.63098449e-01 8.85109923e-01 -4.60461744e-02 1.55190750e+01] [ 1.11662769e-01 -6.72650278e-03 9.93723392e-01 9.86596810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67710568099999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:86.34, Y:15.54, Z:9.87 [[ 8.79443761e-01 -4.64959624e-01 -1.01937333e-01 8.63432999e+01] [ 4.62719231e-01 8.85306904e-01 -4.60716728e-02 1.55374272e+01] [ 1.11667293e-01 -6.65091930e-03 9.93723393e-01 9.86760755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70710568099999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:86.36, Y:15.56, Z:9.86 [[ 8.82274679e-01 -4.59568999e-01 -1.01920193e-01 8.63640845e+01] [ 4.57288406e-01 8.88122302e-01 -4.61095593e-02 1.55621961e+01] [ 1.11708121e-01 -5.92562599e-03 9.93723393e-01 9.86480337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:86.39, Y:15.58, Z:9.87 [[ 8.86710796e-01 -4.50947520e-01 -1.01932810e-01 8.63850970e+01] [ 4.48613235e-01 8.92537195e-01 -4.60816802e-02 1.55841646e+01] [ 1.11759244e-01 -4.86728457e-03 9.93723393e-01 9.86606876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:86.41, Y:15.60, Z:9.87 [[ 8.89084131e-01 -4.46258225e-01 -1.01897034e-01 8.64080585e+01] [ 4.43884164e-01 8.94894431e-01 -4.61606560e-02 1.56017398e+01] [ 1.11786661e-01 -4.18977302e-03 9.93723396e-01 9.86878525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:86.43, Y:15.63, Z:9.87 [[ 8.94973834e-01 -4.34329925e-01 -1.01879113e-01 8.64272825e+01] [ 4.31873888e-01 9.00749959e-01 -4.62001746e-02 1.56272997e+01] [ 1.11833725e-01 -2.65098130e-03 9.93723397e-01 9.87150340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.45, Y:15.65, Z:9.87 [[ 8.98339836e-01 -4.27325763e-01 -1.01873603e-01 8.64501948e+01] [ 4.24823305e-01 9.04096002e-01 -4.62123207e-02 1.56467854e+01] [ 1.11851233e-01 -1.76391230e-03 9.93723397e-01 9.87454585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:15.67, Z:9.88 [[ 9.05691436e-01 -4.11519019e-01 -1.01858335e-01 8.64688860e+01] [ 4.08912301e-01 9.11401143e-01 -4.62459496e-02 1.56709066e+01] [ 1.11864891e-01 2.33434364e-04 9.93723398e-01 9.88065070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.887105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.49, Y:15.70, Z:9.89 [[ 9.09979703e-01 -4.02012363e-01 -1.01602167e-01 8.64902528e+01] [ 3.99282999e-01 9.15631994e-01 -4.68095999e-02 1.56953491e+01] [ 1.11848233e-01 2.02776780e-03 9.93723232e-01 9.88502790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.917105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.51, Y:15.71, Z:9.89 [[ 9.11392806e-01 -3.98737511e-01 -1.01840809e-01 8.65137308e+01] [ 3.96046416e-01 9.17063234e-01 -4.62845571e-02 1.57112037e+01] [ 1.11849851e-01 1.84972500e-03 9.93723397e-01 9.88796933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.947105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:86.54, Y:15.73, Z:9.89 [[ 9.13353655e-01 -3.94229593e-01 -1.01824015e-01 8.65370318e+01] [ 3.91506401e-01 9.19008737e-01 -4.63214724e-02 1.57305583e+01] [ 1.11838455e-01 2.44313232e-03 9.93723398e-01 9.88807932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.56, Y:15.75, Z:9.89 [[ 9.15188462e-01 -3.89955011e-01 -1.01809475e-01 8.65590374e+01] [ 3.87201859e-01 9.20829019e-01 -4.63534082e-02 1.57493744e+01] [ 1.11824863e-01 3.00128618e-03 9.93723398e-01 9.89083741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.58, Y:15.76, Z:9.89 [[ 9.15928454e-01 -3.88215076e-01 -1.01804335e-01 8.65834021e+01] [ 3.85449957e-01 9.21563154e-01 -4.63646942e-02 1.57644156e+01] [ 1.11818598e-01 3.22626597e-03 9.93723398e-01 9.89321578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.61, Y:15.78, Z:9.89 [[ 9.17326222e-01 -3.84904908e-01 -1.01788085e-01 8.66080876e+01] [ 3.82115508e-01 9.22948940e-01 -4.64003424e-02 1.57795229e+01] [ 1.11804925e-01 3.66944488e-03 9.93723399e-01 9.89348599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:86.64, Y:15.79, Z:9.89 [[ 9.17281128e-01 -3.85022652e-01 -1.01749151e-01 8.66353152e+01] [ 3.82224513e-01 9.22899506e-01 -4.64857285e-02 1.57913586e+01] [ 1.11802299e-01 3.74946197e-03 9.93723396e-01 9.89499025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.66, Y:15.80, Z:9.90 [[ 9.16727088e-01 -3.86332520e-01 -1.01777355e-01 8.66598890e+01] [ 3.83549264e-01 9.22352852e-01 -4.64238956e-02 1.58023748e+01] [ 1.11809694e-01 3.52141304e-03 9.93723398e-01 9.89504100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:15.81, Z:9.90 [[ 9.15218684e-01 -3.89894457e-01 -1.01769702e-01 8.66849170e+01] [ 3.87131236e-01 9.20854316e-01 -4.64406668e-02 1.58129553e+01] [ 1.11822028e-01 3.10513559e-03 9.93723398e-01 9.89810059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:15.82, Z:9.91 [[ 9.14136706e-01 -3.92426047e-01 -1.01763847e-01 8.67110235e+01] [ 3.89677008e-01 9.19779268e-01 -4.64534929e-02 1.58238032e+01] [ 1.11829837e-01 2.80981166e-03 9.93723398e-01 9.90564739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:15.83, Z:9.91 [[ 9.11501333e-01 -3.98512900e-01 -1.01748658e-01 8.67377116e+01] [ 3.95797837e-01 9.17160322e-01 -4.64867384e-02 1.58312464e+01] [ 1.11845397e-01 2.10082535e-03 9.93723399e-01 9.91110305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:15.84, Z:9.91 [[ 9.06787469e-01 -4.09127521e-01 -1.01740635e-01 8.67642520e+01] [ 4.06476743e-01 9.12476854e-01 -4.65042901e-02 1.58386768e+01] [ 1.11862159e-01 8.14305555e-04 9.93723399e-01 9.91406174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:15.85, Z:9.92 [[ 9.04254103e-01 -4.14697996e-01 -1.01735390e-01 8.67909110e+01] [ 4.12080976e-01 9.09959094e-01 -4.65157615e-02 1.58486185e+01] [ 1.11865036e-01 1.38849374e-04 9.93723399e-01 9.91681572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.82, Y:15.86, Z:9.92 [[ 8.99054339e-01 -4.25856088e-01 -1.01724572e-01 8.68178838e+01] [ 4.23307191e-01 9.04790089e-01 -4.65394073e-02 1.58572217e+01] [ 1.11858475e-01 -1.21928677e-03 9.93723400e-01 9.91759857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.307105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:86.84, Y:15.87, Z:9.92 [[ 8.94461996e-01 -4.35420416e-01 -1.01719212e-01 8.68445386e+01] [ 4.32931505e-01 9.00224030e-01 -4.65511190e-02 1.58678857e+01] [ 1.11839387e-01 -2.39924486e-03 9.93723400e-01 9.92003774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.87, Y:15.88, Z:9.92 [[ 8.92492718e-01 -4.39446299e-01 -1.01703973e-01 8.68696145e+01] [ 4.36979588e-01 8.98264290e-01 -4.65843893e-02 1.58791988e+01] [ 1.11828385e-01 -2.86633205e-03 9.93723400e-01 9.92192932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:15.89, Z:9.93 [[ 8.89244624e-01 -4.45983629e-01 -1.01698581e-01 8.68966738e+01] [ 4.43557992e-01 8.95033578e-01 -4.65961589e-02 1.58898635e+01] [ 1.11804769e-01 -3.67383452e-03 9.93723400e-01 9.92596290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:86.92, Y:15.90, Z:9.93 [[ 8.86434984e-01 -4.51545606e-01 -1.01683744e-01 8.69203315e+01] [ 4.49152577e-01 8.92237493e-01 -4.66285137e-02 1.59034373e+01] [ 1.11780949e-01 -4.33836992e-03 9.93723401e-01 9.93067828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:15.92, Z:9.93 [[ 8.83244996e-01 -4.57757860e-01 -1.01666217e-01 8.69428962e+01] [ 4.55401243e-01 8.89062387e-01 -4.66666976e-02 1.59204581e+01] [ 1.11749657e-01 -5.08079448e-03 9.93723402e-01 9.93488266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:15.93, Z:9.94 [[ 8.82213783e-01 -4.59745970e-01 -1.01648825e-01 8.69674121e+01] [ 4.57398112e-01 8.88034714e-01 -4.67045500e-02 1.59339871e+01] [ 1.11739914e-01 -5.29058294e-03 9.93723403e-01 9.93838515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:15.95, Z:9.95 [[ 8.80599003e-01 -4.62832581e-01 -1.01643490e-01 8.69917475e+01] [ 4.60503785e-01 8.86427586e-01 -4.67161578e-02 1.59493365e+01] [ 1.11721353e-01 -5.66900996e-03 9.93723403e-01 9.94569922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.01, Y:15.97, Z:9.95 [[ 8.80112640e-01 -4.63760029e-01 -1.01628619e-01 8.70124956e+01] [ 4.61433653e-01 8.85942189e-01 -4.67484858e-02 1.59650450e+01] [ 1.11717161e-01 -5.75093185e-03 9.93723404e-01 9.95094544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.04, Y:15.98, Z:9.95 [[ 8.78872368e-01 -4.66185018e-01 -1.01266428e-01 8.70384306e+01] [ 4.63784257e-01 8.84672033e-01 -4.75347997e-02 1.59821544e+01] [ 1.11747588e-01 -5.18875326e-03 9.93723077e-01 9.95252593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.06, Y:16.00, Z:9.96 [[ 8.79097557e-01 -4.65685726e-01 -1.01608517e-01 8.70607346e+01] [ 4.63367100e-01 8.84930186e-01 -4.67920460e-02 1.60002588e+01] [ 1.11706832e-01 -5.94727070e-03 9.93723409e-01 9.95505256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:16.02, Z:9.95 [[ 8.80284290e-01 -4.63442372e-01 -1.01591028e-01 8.70832447e+01] [ 4.61104514e-01 8.86109237e-01 -4.68299864e-02 1.60196409e+01] [ 1.11723748e-01 -5.62038035e-03 9.93723410e-01 9.95311234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.11, Y:16.03, Z:9.96 [[ 8.81646001e-01 -4.60847792e-01 -1.01585636e-01 8.71065851e+01] [ 4.58491445e-01 8.87463493e-01 -4.68416812e-02 1.60349127e+01] [ 1.11740428e-01 -5.27836395e-03 9.93723410e-01 9.95587855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.667105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:87.13, Y:16.05, Z:9.95 [[ 8.86341994e-01 -4.51781820e-01 -1.01444844e-01 8.71264332e+01] [ 4.49331056e-01 8.92120390e-01 -4.71466990e-02 1.60533350e+01] [ 1.11801036e-01 -3.79421985e-03 9.93723368e-01 9.95227967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.697105681 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:87.15, Y:16.08, Z:9.96 [[ 8.90619029e-01 -4.43383778e-01 -1.01037476e-01 8.71503763e+01] [ 4.40778269e-01 8.96330146e-01 -4.80290322e-02 1.60768408e+01] [ 1.11858230e-01 -1.75955384e-03 9.93722617e-01 9.95711516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:87.18, Y:16.09, Z:9.96 [[ 8.94115843e-01 -4.36163684e-01 -1.01578050e-01 8.71767543e+01] [ 4.33644761e-01 8.99864771e-01 -4.68573929e-02 1.60933451e+01] [ 1.11844001e-01 -2.15285171e-03 9.93723445e-01 9.96011450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:87.20, Y:16.11, Z:9.97 [[ 9.00699240e-01 -4.22348198e-01 -1.01798224e-01 8.71965673e+01] [ 4.19794967e-01 9.06433162e-01 -4.63800356e-02 1.61124603e+01] [ 1.11861810e-01 -9.59919140e-04 9.93723309e-01 9.96926736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.22, Y:16.13, Z:9.98 [[ 9.04283770e-01 -4.14674448e-01 -1.01567544e-01 8.72189372e+01] [ 4.12016352e-01 9.09969673e-01 -4.68798543e-02 1.61311027e+01] [ 1.11863263e-01 5.45202218e-04 9.93723459e-01 9.98050685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:16.15, Z:9.99 [[ 9.04388544e-01 -4.14449649e-01 -1.01552198e-01 8.72433465e+01] [ 4.11786410e-01 9.10072039e-01 -4.69130749e-02 1.61457149e+01] [ 1.11862923e-01 6.09832580e-04 9.93723460e-01 9.98655822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:16.16, Z:9.99 [[ 9.02651008e-01 -4.18224141e-01 -1.01536822e-01 8.72696659e+01] [ 4.15580926e-01 9.08343842e-01 -4.69463300e-02 1.61604884e+01] [ 1.11864436e-01 1.79385477e-04 9.93723460e-01 9.98929944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:87.29, Y:16.17, Z:10.00 [[ 8.99403242e-01 -4.25105101e-01 -1.01781441e-01 8.72924405e+01] [ 4.22565217e-01 9.05143117e-01 -4.64174049e-02 1.61727010e+01] [ 1.11859047e-01 -1.26133244e-03 9.93723283e-01 9.99628604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.32, Y:16.18, Z:10.00 [[ 8.98406332e-01 -4.27272280e-01 -1.01510894e-01 8.73171166e+01] [ 4.24680132e-01 9.04122569e-01 -4.70017681e-02 1.61839621e+01] [ 1.11860843e-01 -8.82973842e-04 9.93723489e-01 9.99999556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:16.20, Z:10.00 [[ 8.97544037e-01 -4.29126417e-01 -1.01317421e-01 8.73452725e+01] [ 4.26498885e-01 9.03244206e-01 -4.74194677e-02 1.61970533e+01] [ 1.11863319e-01 -6.50706553e-04 9.93723389e-01 1.00040682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:16.21, Z:10.01 [[ 8.99590655e-01 -4.24718255e-01 -1.01740149e-01 8.73705136e+01] [ 4.22165727e-01 9.05324894e-01 -4.65073700e-02 1.62086830e+01] [ 1.11860418e-01 -1.11360850e-03 9.93723305e-01 1.00074411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.40, Y:16.22, Z:10.01 [[ 9.01461073e-01 -4.20742486e-01 -1.01703951e-01 8.73966290e+01] [ 4.18155863e-01 9.07179958e-01 -4.65853886e-02 1.62216477e+01] [ 1.11864239e-01 -5.33189123e-04 9.93723356e-01 1.00078383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:16.23, Z:10.00 [[ 9.05912185e-01 -4.11083950e-01 -1.01651846e-01 8.74228021e+01] [ 4.08423760e-01 9.11597151e-01 -4.66975996e-02 1.62345624e+01] [ 1.11862167e-01 7.86895243e-04 9.93723420e-01 1.00013960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.057105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:87.45, Y:16.25, Z:10.00 [[ 9.07892424e-01 -4.06694820e-01 -1.01639906e-01 8.74479916e+01] [ 4.04004270e-01 9.13563070e-01 -4.67233040e-02 1.62458304e+01] [ 1.11856590e-01 1.35677767e-03 9.93723434e-01 1.00032947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:16.25, Z:10.01 [[ 9.11014528e-01 -3.99669090e-01 -1.01573365e-01 8.74736544e+01] [ 3.96918860e-01 9.16656400e-01 -4.68664350e-02 1.62540560e+01] [ 1.11838940e-01 2.37961899e-03 9.93723497e-01 1.00061275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:87.50, Y:16.26, Z:10.00 [[ 9.11012532e-01 -3.99713549e-01 -1.01416203e-01 8.75030398e+01] [ 3.96925999e-01 9.16635982e-01 -4.72041099e-02 1.62592057e+01] [ 1.11829863e-01 2.74880798e-03 9.93723566e-01 1.00033249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:87.53, Y:16.27, Z:10.01 [[ 9.10088258e-01 -4.01817448e-01 -1.01400700e-01 8.75298039e+01] [ 3.99039193e-01 9.15716305e-01 -4.72373892e-02 1.62661996e+01] [ 1.11835081e-01 2.52733984e-03 9.93723567e-01 1.00094046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:87.56, Y:16.27, Z:10.02 [[ 9.08175399e-01 -4.06126826e-01 -1.01382666e-01 8.75587476e+01] [ 4.03370964e-01 9.13814445e-01 -4.72760616e-02 1.62706190e+01] [ 1.11845022e-01 2.04013226e-03 9.93723568e-01 1.00154364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:87.59, Y:16.27, Z:10.02 [[ 9.07443035e-01 -4.07745837e-01 -1.01441956e-01 8.75859793e+01] [ 4.05014237e-01 9.13093886e-01 -4.71489495e-02 1.62748415e+01] [ 1.11850818e-01 1.69954936e-03 9.93723556e-01 1.00201249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.62, Y:16.28, Z:10.02 [[ 9.07657648e-01 -4.07286633e-01 -1.01366621e-01 8.76151113e+01] [ 4.04534148e-01 9.13298337e-01 -4.73103663e-02 1.62797382e+01] [ 1.11846846e-01 1.93535627e-03 9.93723572e-01 1.00212923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.64, Y:16.29, Z:10.02 [[ 9.07721604e-01 -4.07148005e-01 -1.01350834e-01 8.76414328e+01] [ 4.04390886e-01 9.13360029e-01 -4.73441607e-02 1.62887201e+01] [ 1.11845882e-01 1.98996374e-03 9.93723573e-01 1.00239593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:87.67, Y:16.30, Z:10.03 [[ 9.07324773e-01 -4.08032957e-01 -1.01345265e-01 8.76691864e+01] [ 4.05280006e-01 9.12965234e-01 -4.73560794e-02 1.62951288e+01] [ 1.11847545e-01 1.89413425e-03 9.93723573e-01 1.00321104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:16.30, Z:10.04 [[ 9.06620545e-01 -4.09599062e-01 -1.01330130e-01 8.76977368e+01] [ 4.06852238e-01 9.12263992e-01 -4.73884426e-02 1.63010313e+01] [ 1.11850091e-01 1.73694544e-03 9.93723573e-01 1.00414232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.357105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.73, Y:16.31, Z:10.05 [[ 9.05516647e-01 -4.12037608e-01 -1.01314422e-01 8.77251977e+01] [ 4.09302229e-01 9.11165649e-01 -4.74220022e-02 1.63092179e+01] [ 1.11853869e-01 1.47319367e-03 9.93723574e-01 1.00455217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.387105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.75, Y:16.32, Z:10.05 [[ 9.05367304e-01 -4.12363465e-01 -1.01323333e-01 8.77507451e+01] [ 4.09632249e-01 9.11018320e-01 -4.74029689e-02 1.63214480e+01] [ 1.11854665e-01 1.41179330e-03 9.93723574e-01 1.00487111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.417105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:16.33, Z:10.05 [[ 9.04888319e-01 -4.13417867e-01 -1.01305469e-01 8.77770529e+01] [ 4.10688968e-01 9.10540452e-01 -4.74410890e-02 1.63317477e+01] [ 1.11855721e-01 1.32384892e-03 9.93723576e-01 1.00517933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.447105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:16.34, Z:10.06 [[ 9.04599359e-01 -4.14056702e-01 -1.01277083e-01 8.78035229e+01] [ 4.11325019e-01 9.10250144e-01 -4.75016112e-02 1.63412041e+01] [ 1.11855840e-01 1.31212904e-03 9.93723578e-01 1.00571291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.83, Y:16.35, Z:10.06 [[ 9.06415145e-01 -4.10054174e-01 -1.01326988e-01 8.78303247e+01] [ 4.07309423e-01 9.12059605e-01 -4.73952598e-02 1.63513906e+01] [ 1.11850877e-01 1.68834423e-03 9.93723569e-01 1.00567110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:87.86, Y:16.36, Z:10.06 [[ 9.07239740e-01 -4.08243928e-01 -1.01256847e-01 8.78567473e+01] [ 4.05471242e-01 9.12870516e-01 -4.75446458e-02 1.63620174e+01] [ 1.11844203e-01 2.07765280e-03 9.93723582e-01 1.00588342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:87.88, Y:16.37, Z:10.06 [[ 9.09220814e-01 -4.03816718e-01 -1.01240154e-01 8.78819064e+01] [ 4.01012665e-01 9.14836035e-01 -4.75801635e-02 1.63716278e+01] [ 1.11831807e-01 2.66229088e-03 9.93723583e-01 1.00604475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:87.91, Y:16.38, Z:10.06 [[ 9.10084459e-01 -4.01869563e-01 -1.01228114e-01 8.79086801e+01] [ 3.99050652e-01 9.15692235e-01 -4.76057658e-02 1.63815390e+01] [ 1.11825106e-01 2.93012282e-03 9.93723583e-01 1.00639022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:87.94, Y:16.39, Z:10.07 [[ 9.11125398e-01 -3.99518872e-01 -1.01169063e-01 8.79378644e+01] [ 3.96671570e-01 9.16718819e-01 -4.77312539e-02 1.63873791e+01] [ 1.11813120e-01 3.35826679e-03 9.93723577e-01 1.00695606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:16.39, Z:10.07 [[ 9.12531272e-01 -3.96239395e-01 -1.01395365e-01 8.79651018e+01] [ 3.93425285e-01 9.18141565e-01 -4.72505089e-02 1.63933660e+01] [ 1.11817812e-01 3.22606671e-03 9.93723487e-01 1.00731078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:16.40, Z:10.07 [[ 9.12849608e-01 -3.95558903e-01 -1.01186695e-01 8.79909218e+01] [ 3.92691547e-01 9.18432742e-01 -4.76932567e-02 1.64035429e+01] [ 1.11798666e-01 3.80161087e-03 9.93723606e-01 1.00741891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:16.41, Z:10.07 [[ 9.13493221e-01 -3.94071662e-01 -1.01181325e-01 8.80184929e+01] [ 3.91193958e-01 9.19071028e-01 -4.77046476e-02 1.64120254e+01] [ 1.11791874e-01 3.99634938e-03 9.93723607e-01 1.00748346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.05, Y:16.42, Z:10.08 [[ 9.12836272e-01 -3.95594694e-01 -1.01167080e-01 8.80489148e+01] [ 3.92722955e-01 9.18417152e-01 -4.77348379e-02 1.64203939e+01] [ 1.11797230e-01 3.84345704e-03 9.93723607e-01 1.00823984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:16.43, Z:10.09 [[ 9.13727958e-01 -3.93388749e-01 -1.01717797e-01 8.80747589e+01] [ 3.90633011e-01 9.19367917e-01 -4.65669839e-02 1.64266984e+01] [ 1.11835007e-01 2.81522559e-03 9.93722801e-01 1.00852373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:16.43, Z:10.09 [[ 9.13635547e-01 -3.93747011e-01 -1.01160160e-01 8.81034859e+01] [ 3.90862541e-01 9.19209774e-01 -4.77479398e-02 1.64347206e+01] [ 1.11788017e-01 4.08449773e-03 9.93723682e-01 1.00902979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:16.44, Z:10.10 [[ 9.11733841e-01 -3.98097487e-01 -1.01290636e-01 8.81296265e+01] [ 3.95270241e-01 9.17337377e-01 -4.74718101e-02 1.64431596e+01] [ 1.11816095e-01 3.24448167e-03 9.93723621e-01 1.00965258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.16, Y:16.45, Z:10.10 [[ 9.09004034e-01 -4.04302648e-01 -1.01247397e-01 8.81569400e+01] [ 4.01503483e-01 9.14621611e-01 -4.75632341e-02 1.64510447e+01] [ 1.11832999e-01 2.58398908e-03 9.93723655e-01 1.00979195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.18, Y:16.46, Z:10.10 [[ 9.07145401e-01 -4.08491538e-01 -1.01103339e-01 8.81837742e+01] [ 4.05684396e-01 9.12758934e-01 -4.78675208e-02 1.64596136e+01] [ 1.11836453e-01 2.40675423e-03 9.93723712e-01 1.00998498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:88.21, Y:16.46, Z:10.10 [[ 9.04137394e-01 -4.15111251e-01 -1.01085224e-01 8.82128894e+01] [ 4.12340943e-01 9.09769194e-01 -4.79057465e-02 1.64627830e+01] [ 1.11850437e-01 1.63180032e-03 9.93723713e-01 1.00997307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:88.24, Y:16.47, Z:10.10 [[ 9.03140725e-01 -4.17276580e-01 -1.01079609e-01 8.82395891e+01] [ 4.14518449e-01 9.08778499e-01 -4.79175901e-02 1.64717246e+01] [ 1.11853864e-01 1.37696423e-03 9.93723713e-01 1.01021154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:88.26, Y:16.48, Z:10.10 [[ 9.02973993e-01 -4.17641582e-01 -1.01061751e-01 8.82649489e+01] [ 4.14881518e-01 9.08610820e-01 -4.79552239e-02 1.64840221e+01] [ 1.11853896e-01 1.37366707e-03 9.93723714e-01 1.01013039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:88.29, Y:16.50, Z:10.10 [[ 9.03514870e-01 -4.16471514e-01 -1.01056216e-01 8.82922256e+01] [ 4.13702846e-01 9.09147476e-01 -4.79668859e-02 1.64979566e+01] [ 1.11851845e-01 1.53155048e-03 9.93723714e-01 1.01044757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:88.32, Y:16.51, Z:10.10 [[ 9.06215304e-01 -4.10514512e-01 -1.01250472e-01 8.83195369e+01] [ 4.07754492e-01 9.11852264e-01 -4.75575697e-02 1.65051749e+01] [ 1.11848545e-01 1.81206275e-03 9.93723613e-01 1.01049714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:88.35, Y:16.51, Z:10.11 [[ 9.07109886e-01 -4.08585067e-01 -1.01044037e-01 8.83472988e+01] [ 4.05764617e-01 9.12716726e-01 -4.79922325e-02 1.65118945e+01] [ 1.11833492e-01 2.53413349e-03 9.93723728e-01 1.01090159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:88.38, Y:16.52, Z:10.11 [[ 9.06631725e-01 -4.09646373e-01 -1.01038433e-01 8.83752375e+01] [ 4.06831173e-01 9.12241202e-01 -4.80040293e-02 1.65249331e+01] [ 1.11836098e-01 2.41639185e-03 9.93723728e-01 1.01148503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.107105681 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:88.40, Y:16.53, Z:10.12 [[ 9.06694328e-01 -4.09432519e-01 -1.01343026e-01 8.84006586e+01] [ 4.06687512e-01 9.12338766e-01 -4.73628917e-02 1.65334592e+01] [ 1.11851079e-01 1.72872217e-03 9.93723476e-01 1.01235787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.137105681 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:88.43, Y:16.55, Z:10.13 [[ 9.05780948e-01 -4.11530764e-01 -1.01011406e-01 8.84269020e+01] [ 4.08721000e-01 9.11393101e-01 -4.80599611e-02 1.65450155e+01] [ 1.11839251e-01 2.24631428e-03 9.93723773e-01 1.01281835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.167105681 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:88.45, Y:16.55, Z:10.14 [[ 9.01234304e-01 -4.21415075e-01 -1.00926033e-01 8.84530277e+01] [ 4.18646784e-01 9.06867047e-01 -4.82392987e-02 1.65514192e+01] [ 1.11855261e-01 1.22255180e-03 9.93723757e-01 1.01400999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.197105681 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:88.48, Y:16.56, Z:10.14 [[ 8.98914463e-01 -4.26326304e-01 -1.00988469e-01 8.84786565e+01] [ 4.23603508e-01 9.04569326e-01 -4.81082346e-02 1.65620430e+01] [ 1.11860877e-01 4.66118013e-04 9.93723768e-01 1.01430346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22710568099998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:88.51, Y:16.57, Z:10.15 [[ 8.94836421e-01 -4.34824756e-01 -1.00971339e-01 8.85060025e+01] [ 4.32151611e-01 9.00514922e-01 -4.81441610e-02 1.65705144e+01] [ 1.11860471e-01 -5.53778149e-04 9.93723769e-01 1.01454261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25710568099998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:88.53, Y:16.58, Z:10.15 [[ 8.93141876e-01 -4.38298825e-01 -1.00954099e-01 8.85311733e+01] [ 4.35643684e-01 8.98828816e-01 -4.81802866e-02 1.65826086e+01] [ 1.11857816e-01 -9.48183846e-04 9.93723769e-01 1.01463965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28710568099999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:88.56, Y:16.60, Z:10.15 [[ 8.91201232e-01 -4.42235344e-01 -1.00936938e-01 8.85562485e+01] [ 4.39601252e-01 8.96897952e-01 -4.82162118e-02 1.65973442e+01] [ 1.11853046e-01 -1.40165681e-03 9.93723770e-01 1.01461796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31710568099999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:88.58, Y:16.61, Z:10.15 [[ 8.88746196e-01 -4.47152151e-01 -1.00921519e-01 8.85843136e+01] [ 4.44545910e-01 8.94455711e-01 -4.82484634e-02 1.66116435e+01] [ 1.11844233e-01 -1.98361013e-03 9.93723771e-01 1.01467258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:88.61, Y:16.62, Z:10.15 [[ 8.88959659e-01 -4.46624351e-01 -1.01377581e-01 8.86080325e+01] [ 4.44123295e-01 8.94716602e-01 -4.72937768e-02 1.66212173e+01] [ 1.11826757e-01 -2.98188568e-03 9.93723244e-01 1.01472549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37710568099999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:88.63, Y:16.64, Z:10.15 [[ 8.87285664e-01 -4.50046394e-01 -1.00907848e-01 8.86313045e+01] [ 4.47455669e-01 8.93002169e-01 -4.82757848e-02 1.66375508e+01] [ 1.11837270e-01 -2.31737665e-03 9.93723832e-01 1.01467966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40710568099999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:88.66, Y:16.65, Z:10.15 [[ 8.87615296e-01 -4.49397123e-01 -1.00902486e-01 8.86555041e+01] [ 4.46800943e-01 8.93329326e-01 -4.82869897e-02 1.66517741e+01] [ 1.11839184e-01 -2.22305505e-03 9.93723832e-01 1.01517312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43710568099999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:88.68, Y:16.67, Z:10.16 [[ 8.90640685e-01 -4.43372265e-01 -1.00896995e-01 8.86797852e+01] [ 4.40736127e-01 8.96336390e-01 -4.82984587e-02 1.66658597e+01] [ 1.11851846e-01 -1.45237870e-03 9.93723832e-01 1.01559680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:88.70, Y:16.68, Z:10.16 [[ 8.93799853e-01 -4.36969925e-01 -1.00891557e-01 8.87045145e+01] [ 4.34291703e-01 8.99475891e-01 -4.83098170e-02 1.66796845e+01] [ 1.11859460e-01 -6.37058680e-04 9.93723833e-01 1.01639529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.497105681 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:88.73, Y:16.69, Z:10.17 [[ 8.94889083e-01 -4.34738503e-01 -1.00875982e-01 8.87277439e+01] [ 4.32042463e-01 9.00556678e-01 -4.83423166e-02 1.66928261e+01] [ 1.11860806e-01 -3.21696454e-04 9.93723833e-01 1.01671620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.527105681 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:88.75, Y:16.71, Z:10.17 [[ 8.95700907e-01 -4.33065205e-01 -1.00868295e-01 8.87510686e+01] [ 4.30356772e-01 9.01362590e-01 -4.83583503e-02 1.67087798e+01] [ 1.11861227e-01 -9.47356991e-05 9.93723833e-01 1.01735178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.557105681 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:88.78, Y:16.72, Z:10.18 [[ 8.95780691e-01 -4.32905997e-01 -1.00843199e-01 8.87758335e+01] [ 4.30190668e-01 9.01439070e-01 -4.84106544e-02 1.67207576e+01] [ 1.11861263e-01 -1.64738784e-05 9.93723834e-01 1.01778240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58710568099998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:88.80, Y:16.73, Z:10.19 [[ 8.96912275e-01 -4.30556067e-01 -1.00845649e-01 8.88012280e+01] [ 4.27826487e-01 9.02563793e-01 -4.84055502e-02 1.67330493e+01] [ 1.11860935e-01 2.71092218e-04 9.93723834e-01 1.01889802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:88.82, Y:16.75, Z:10.20 [[ 8.97742455e-01 -4.28813320e-01 -1.00884200e-01 8.88245584e+01] [ 4.26081788e-01 9.03393036e-01 -4.83252776e-02 1.67471730e+01] [ 1.11860607e-01 3.98732958e-04 9.93723828e-01 1.01963687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:88.85, Y:16.77, Z:10.20 [[ 9.00029500e-01 -4.24006886e-01 -1.00821917e-01 8.88467984e+01] [ 4.21230659e-01 9.05658245e-01 -4.84548750e-02 1.67652886e+01] [ 1.11855401e-01 1.14153427e-03 9.93723838e-01 1.01952009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:88.87, Y:16.78, Z:10.20 [[ 9.01618791e-01 -4.20618173e-01 -1.00816207e-01 8.88711746e+01] [ 4.17819463e-01 9.07236392e-01 -4.84667527e-02 1.67797000e+01] [ 1.11850129e-01 1.57556144e-03 9.93723838e-01 1.01951975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:88.89, Y:16.79, Z:10.19 [[ 9.06548669e-01 -4.09889545e-01 -1.00797182e-01 8.88942086e+01] [ 4.07019979e-01 9.12130406e-01 -4.85062882e-02 1.67928228e+01] [ 1.11822395e-01 2.94684426e-03 9.93723839e-01 1.01943073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.92, Y:16.81, Z:10.19 [[ 9.09588414e-01 -4.03189681e-01 -1.00434052e-01 8.89204125e+01] [ 4.00195812e-01 9.15104805e-01 -4.92595981e-02 1.68102849e+01] [ 1.11768645e-01 4.61267291e-03 9.93723550e-01 1.01945080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:88.95, Y:16.82, Z:10.20 [[ 9.10648046e-01 -4.00705827e-01 -1.00771905e-01 8.89456044e+01] [ 3.97774218e-01 9.16197435e-01 -4.85585401e-02 1.68236593e+01] [ 1.11784651e-01 4.13527389e-03 9.93723851e-01 1.01956582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:88.97, Y:16.83, Z:10.20 [[ 9.12724338e-01 -3.95957736e-01 -1.00755915e-01 8.89711432e+01] [ 3.92993614e-01 9.18256428e-01 -4.85916961e-02 1.68337847e+01] [ 1.11760025e-01 4.75439253e-03 9.93723851e-01 1.01987724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.00, Y:16.84, Z:10.20 [[ 9.13417479e-01 -3.94445331e-01 -1.00406123e-01 8.89964885e+01] [ 3.91392475e-01 9.18901431e-01 -4.93162305e-02 1.68433659e+01] [ 1.11715887e-01 5.74810608e-03 9.93723563e-01 1.02010508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.857105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:89.03, Y:16.85, Z:10.20 [[ 9.13110311e-01 -3.95177818e-01 -1.00319750e-01 8.90279681e+01] [ 3.92109762e-01 9.18585965e-01 -4.94950451e-02 1.68507781e+01] [ 1.11711658e-01 5.85808268e-03 9.93723396e-01 1.02013047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.887105681 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:89.06, Y:16.86, Z:10.21 [[ 9.12989995e-01 -3.95351117e-01 -1.00731141e-01 8.90570231e+01] [ 3.92377643e-01 9.18517076e-01 -4.86432461e-02 1.68552838e+01] [ 1.11754435e-01 4.88614928e-03 9.93723841e-01 1.02057910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.917105681 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:89.09, Y:16.86, Z:10.21 [[ 9.11708783e-01 -3.98346006e-01 -1.00536339e-01 8.90875012e+01] [ 3.95346277e-01 9.17221764e-01 -4.90464766e-02 1.68631379e+01] [ 1.11751586e-01 4.96943626e-03 9.93723748e-01 1.02082769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.947105681 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:89.11, Y:16.87, Z:10.21 [[ 9.11125276e-01 -3.99632594e-01 -1.00720011e-01 8.91141571e+01] [ 3.96682547e-01 9.16664901e-01 -4.86663714e-02 1.68720197e+01] [ 1.11775167e-01 4.38729076e-03 9.93723837e-01 1.02087436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97710568099998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:89.14, Y:16.87, Z:10.21 [[ 9.08970656e-01 -4.04597338e-01 -1.00366036e-01 8.91431042e+01] [ 4.01596759e-01 9.14483397e-01 -4.93979743e-02 1.68729041e+01] [ 1.11769363e-01 4.59463421e-03 9.93723553e-01 1.02128121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:89.17, Y:16.88, Z:10.22 [[ 9.03394433e-01 -4.16975136e-01 -1.00051154e-01 8.91740602e+01] [ 4.13978007e-01 9.08909971e-01 -5.00487217e-02 1.68794351e+01] [ 1.11806564e-01 3.79475928e-03 9.93722744e-01 1.02235676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03710568099999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:89.20, Y:16.89, Z:10.23 [[ 8.99825901e-01 -4.24464466e-01 -1.00713776e-01 8.92003122e+01] [ 4.21666110e-01 9.05443613e-01 -4.86780707e-02 1.68868418e+01] [ 1.11852756e-01 1.33420267e-03 9.93723896e-01 1.02300416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06710568099999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:89.23, Y:16.90, Z:10.23 [[ 8.98744191e-01 -4.26752083e-01 -1.00705206e-01 8.92255470e+01] [ 4.23966041e-01 9.04368020e-01 -4.86957946e-02 1.68978817e+01] [ 1.11855599e-01 1.06947518e-03 9.93723896e-01 1.02347534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:89.25, Y:16.91, Z:10.24 [[ 8.97577743e-01 -4.29201952e-01 -1.00696965e-01 8.92502561e+01] [ 4.26429349e-01 9.03208210e-01 -4.87128291e-02 1.69106720e+01] [ 1.11857967e-01 7.83410031e-04 9.93723896e-01 1.02429826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12710568099999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:89.28, Y:16.92, Z:10.24 [[ 8.98838845e-01 -4.26576065e-01 -1.00606122e-01 8.92766003e+01] [ 4.23765999e-01 9.04450727e-01 -4.89005177e-02 1.69220314e+01] [ 1.11853071e-01 1.32023086e-03 9.93723879e-01 1.02432771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15710568099999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:89.30, Y:16.93, Z:10.24 [[ 9.00238868e-01 -4.23595385e-01 -1.00682322e-01 8.93008328e+01] [ 4.20784330e-01 9.05850239e-01 -4.87431257e-02 1.69343790e+01] [ 1.11850469e-01 1.51491275e-03 9.93723894e-01 1.02444862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18710568099999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:89.33, Y:16.94, Z:10.24 [[ 9.02397615e-01 -4.19046375e-01 -1.00392628e-01 8.93254987e+01] [ 4.16140461e-01 9.07960674e-01 -4.93409722e-02 1.69448212e+01] [ 1.11828713e-01 2.74774126e-03 9.93723698e-01 1.02448593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21710568099999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:89.35, Y:16.96, Z:10.25 [[ 9.03460173e-01 -4.16764941e-01 -1.00332944e-01 8.93511916e+01] [ 4.13831297e-01 9.09008772e-01 -4.94642294e-02 1.69579422e+01] [ 1.11818483e-01 3.16804889e-03 9.93723599e-01 1.02475691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.247105681 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:89.38, Y:16.97, Z:10.24 [[ 9.05483120e-01 -4.12342853e-01 -1.00367778e-01 8.93760528e+01] [ 4.09390078e-01 9.11021495e-01 -4.93923102e-02 1.69692313e+01] [ 1.11803769e-01 3.63433073e-03 9.93723658e-01 1.02445632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.277105681 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:89.40, Y:16.98, Z:10.25 [[ 9.05511436e-01 -4.12342766e-01 -1.00112346e-01 8.94006102e+01] [ 4.09331756e-01 9.11018995e-01 -4.99189835e-02 1.69812060e+01] [ 1.11787981e-01 4.22304806e-03 9.93723107e-01 1.02475334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.307105681 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:89.43, Y:16.99, Z:10.25 [[ 9.05948435e-01 -4.11361863e-01 -1.00194066e-01 8.94286045e+01] [ 4.08363536e-01 9.11462643e-01 -4.97500950e-02 1.69921473e+01] [ 1.11788440e-01 4.15541752e-03 9.93723340e-01 1.02505611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33710568099998 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:89.46, Y:17.00, Z:10.26 [[ 9.04878080e-01 -4.13617351e-01 -1.00580054e-01 8.94566309e+01] [ 4.10721238e-01 9.10445922e-01 -4.89519034e-02 1.70000694e+01] [ 1.11820057e-01 2.98513996e-03 9.93723988e-01 1.02573861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36710568099998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:89.48, Y:17.01, Z:10.26 [[ 9.03762882e-01 -4.16018317e-01 -1.00704586e-01 8.94818775e+01] [ 4.13165657e-01 9.09353065e-01 -4.86943716e-02 1.70105853e+01] [ 1.11833774e-01 2.40048926e-03 9.93724028e-01 1.02591844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39710568099999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:89.51, Y:17.02, Z:10.26 [[ 8.97153875e-01 -4.30143455e-01 -1.00456617e-01 8.95104309e+01] [ 4.27321413e-01 9.02759726e-01 -4.92065764e-02 1.70179206e+01] [ 1.11854074e-01 1.21860741e-03 9.93723896e-01 1.02615728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:89.54, Y:17.03, Z:10.26 [[ 8.95553470e-01 -4.33428270e-01 -1.00617675e-01 8.95367687e+01] [ 4.30664151e-01 9.01187963e-01 -4.88737666e-02 1.70288167e+01] [ 1.11858709e-01 4.36645862e-04 9.93724025e-01 1.02632794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45710568099999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:89.56, Y:17.04, Z:10.27 [[ 8.94534608e-01 -4.35546910e-01 -1.00532210e-01 8.95623991e+01] [ 4.32776290e-01 9.00165959e-01 -4.90502799e-02 1.70422058e+01] [ 1.11859371e-01 3.69216118e-04 9.93723978e-01 1.02676233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48710568099999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:89.59, Y:17.06, Z:10.27 [[ 8.95437943e-01 -4.33653335e-01 -1.00676093e-01 8.95868442e+01] [ 4.30904186e-01 9.01079747e-01 -4.87531719e-02 1.70565644e+01] [ 1.11859164e-01 2.73689937e-04 9.93724032e-01 1.02700461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:89.61, Y:17.07, Z:10.27 [[ 8.99740411e-01 -4.24658880e-01 -1.00657974e-01 8.96098379e+01] [ 4.21849155e-01 9.05352292e-01 -4.87905530e-02 1.70732186e+01] [ 1.11850269e-01 1.43635086e-03 9.93724033e-01 1.02733179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54710568099999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:89.63, Y:17.09, Z:10.28 [[ 9.05150591e-01 -4.13006209e-01 -1.00639349e-01 8.96328970e+01] [ 4.10119993e-01 9.10723518e-01 -4.88289419e-02 1.70878901e+01] [ 1.11821278e-01 2.92333669e-03 9.93724034e-01 1.02796931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57710568099999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:89.66, Y:17.10, Z:10.28 [[ 9.07021399e-01 -4.08897907e-01 -1.00571784e-01 8.96572341e+01] [ 4.05971031e-01 9.12573089e-01 -4.89681439e-02 1.71014452e+01] [ 1.11802075e-01 3.58592364e-03 9.93724025e-01 1.02806959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.607105681 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:89.68, Y:17.12, Z:10.28 [[ 9.10221546e-01 -4.01711440e-01 -1.00621349e-01 8.96821509e+01] [ 3.98752005e-01 9.15755941e-01 -4.88660856e-02 1.71171410e+01] [ 1.11774663e-01 4.35599952e-03 9.93724031e-01 1.02804996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.637105681 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:89.71, Y:17.13, Z:10.27 [[ 9.11796203e-01 -3.98128433e-01 -1.00605348e-01 8.97088328e+01] [ 3.95143629e-01 9.17316957e-01 -4.88990061e-02 1.71299758e+01] [ 1.11755076e-01 4.83236592e-03 9.93724032e-01 1.02697680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.667105681 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:89.74, Y:17.14, Z:10.27 [[ 9.12225577e-01 -3.97147396e-01 -1.00590469e-01 8.97350861e+01] [ 3.94153291e-01 9.17741291e-01 -4.89295943e-02 1.71403754e+01] [ 1.11748288e-01 4.98676299e-03 9.93724032e-01 1.02722449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.697105681 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:89.76, Y:17.15, Z:10.28 [[ 9.12734542e-01 -3.95998157e-01 -1.00504307e-01 8.97596937e+01] [ 3.92977657e-01 9.18235863e-01 -4.91066342e-02 1.71471725e+01] [ 1.11732796e-01 5.32537408e-03 9.93724017e-01 1.02763831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72710568099998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:89.79, Y:17.16, Z:10.29 [[ 9.12424768e-01 -3.96837210e-01 -1.00006360e-01 8.97897529e+01] [ 3.93709666e-01 9.17866929e-01 -5.01298237e-02 1.71564095e+01] [ 1.11685910e-01 6.36622231e-03 9.93723165e-01 1.02853429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75710568099998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:89.82, Y:17.17, Z:10.29 [[ 9.12650806e-01 -3.96174811e-01 -1.00568515e-01 8.98156150e+01] [ 3.93169960e-01 9.18160629e-01 -4.89739001e-02 1.71658900e+01] [ 1.11740277e-01 5.15555028e-03 9.93724072e-01 1.02879042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:89.84, Y:17.17, Z:10.29 [[ 9.14171939e-01 -3.92646256e-01 -1.00591171e-01 8.98427913e+01] [ 3.89625252e-01 9.19672920e-01 -4.89273219e-02 1.71741002e+01] [ 1.11722106e-01 5.53512441e-03 9.93724073e-01 1.02944548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:89.87, Y:17.19, Z:10.30 [[ 9.14364161e-01 -3.92165000e-01 -1.00721364e-01 8.98685121e+01] [ 3.89170483e-01 9.19879654e-01 -4.86596168e-02 1.71850210e+01] [ 1.11734132e-01 5.29482789e-03 9.93724030e-01 1.02992550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:89.90, Y:17.19, Z:10.30 [[ 9.15149322e-01 -3.90311455e-01 -1.00790310e-01 8.98970307e+01] [ 3.87321316e-01 9.20667262e-01 -4.85179494e-02 1.71904433e+01] [ 1.11731450e-01 5.36293289e-03 9.93723967e-01 1.03001560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:89.93, Y:17.20, Z:10.31 [[ 9.13281266e-01 -3.94721867e-01 -1.00558326e-01 8.99283714e+01] [ 3.91706032e-01 9.18785046e-01 -4.89941236e-02 1.71991870e+01] [ 1.11730538e-01 5.35611242e-03 9.93724106e-01 1.03076112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90710568099999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:89.95, Y:17.21, Z:10.31 [[ 9.13003641e-01 -3.95225219e-01 -1.01100828e-01 8.99534083e+01] [ 3.92335007e-01 9.18575321e-01 -4.78813405e-02 1.72064253e+01] [ 1.11792638e-01 4.05044430e-03 9.93723301e-01 1.03094591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93710568099999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:89.98, Y:17.21, Z:10.31 [[ 9.10066093e-01 -4.02090774e-01 -1.00512263e-01 8.99815595e+01] [ 3.99109317e-01 9.15588469e-01 -4.90867412e-02 1.72127601e+01] [ 1.11765195e-01 4.55679804e-03 9.93724196e-01 1.03131217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:90.01, Y:17.22, Z:10.32 [[ 9.06261377e-01 -4.10598611e-01 -1.00494263e-01 9.00087112e+01] [ 4.07664939e-01 9.11809285e-01 -4.91235661e-02 1.72193467e+01] [ 1.11801670e-01 3.55080322e-03 9.93724196e-01 1.03175773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.997105681 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:90.03, Y:17.23, Z:10.32 [[ 9.04353689e-01 -4.14787945e-01 -1.00475693e-01 9.00334086e+01] [ 4.11875765e-01 9.09912908e-01 -4.91615181e-02 1.72294237e+01] [ 1.11815735e-01 3.07589724e-03 9.93724197e-01 1.03195372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.027105681 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:90.06, Y:17.24, Z:10.32 [[ 9.00949336e-01 -4.22133329e-01 -1.00467639e-01 9.00614414e+01] [ 4.19264649e-01 9.06531125e-01 -4.91779725e-02 1.72386386e+01] [ 1.11836703e-01 2.18433222e-03 9.93724197e-01 1.03216602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.057105681 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:90.09, Y:17.25, Z:10.32 [[ 8.99197820e-01 -4.25856485e-01 -1.00446674e-01 9.00880386e+01] [ 4.23006137e-01 9.04788993e-01 -4.92207849e-02 1.72493699e+01] [ 1.11844036e-01 1.76966286e-03 9.93724197e-01 1.03239159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08710568099998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:90.12, Y:17.26, Z:10.33 [[ 8.96192530e-01 -4.32143506e-01 -1.00453669e-01 9.01152310e+01] [ 4.29333985e-01 9.01804330e-01 -4.92065040e-02 1.72569910e+01] [ 1.11853825e-01 9.70327005e-04 9.93724197e-01 1.03262969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:90.14, Y:17.27, Z:10.32 [[ 8.93078317e-01 -4.38545096e-01 -1.00445598e-01 9.01429965e+01] [ 4.35773950e-01 8.98709165e-01 -4.92229756e-02 1.72672050e+01] [ 1.11857874e-01 1.88397448e-04 9.93724197e-01 1.03239620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:90.17, Y:17.28, Z:10.33 [[ 8.91375219e-01 -4.42000100e-01 -1.00429734e-01 9.01679490e+01] [ 4.39247134e-01 8.97014977e-01 -4.92553221e-02 1.72794506e+01] [ 1.11857832e-01 -2.08499102e-04 9.93724198e-01 1.03255675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17710568099999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:90.19, Y:17.29, Z:10.33 [[ 8.88469556e-01 -4.47816329e-01 -1.00411075e-01 9.01929041e+01] [ 4.45095986e-01 8.94125120e-01 -4.92933303e-02 1.72914296e+01] [ 1.11854423e-01 -8.96943129e-04 9.93724199e-01 1.03310138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:90.22, Y:17.30, Z:10.34 [[ 8.86110962e-01 -4.52471169e-01 -1.00385281e-01 9.02166932e+01] [ 4.49774586e-01 8.91777893e-01 -4.93458321e-02 1.73047462e+01] [ 1.11848941e-01 -1.42486549e-03 9.93724199e-01 1.03447513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:90.24, Y:17.32, Z:10.35 [[ 8.85554578e-01 -4.53558005e-01 -1.00390369e-01 9.02403303e+01] [ 4.50869549e-01 8.91225370e-01 -4.93354792e-02 1.73183318e+01] [ 1.11846945e-01 -1.57370089e-03 9.93724199e-01 1.03514456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:90.26, Y:17.33, Z:10.36 [[ 8.84448901e-01 -4.55714447e-01 -1.00371726e-01 9.02630110e+01] [ 4.53035518e-01 8.90124199e-01 -4.93733795e-02 1.73343275e+01] [ 1.11843464e-01 -1.80372540e-03 9.93724200e-01 1.03572971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:90.29, Y:17.35, Z:10.36 [[ 8.82988503e-01 -4.58541776e-01 -1.00353089e-01 9.02860584e+01] [ 4.55876717e-01 8.88670326e-01 -4.94112298e-02 1.73520733e+01] [ 1.11837926e-01 -2.11908904e-03 9.93724201e-01 1.03577629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32710568099999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:90.31, Y:17.37, Z:10.36 [[ 8.81946101e-01 -4.60547712e-01 -1.00333843e-01 9.03081875e+01] [ 4.57891135e-01 8.87631894e-01 -4.94502796e-02 1.73674469e+01] [ 1.11833733e-01 -2.32949614e-03 9.93724202e-01 1.03598065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.357105681 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:90.33, Y:17.39, Z:10.36 [[ 8.79222494e-01 -4.65728018e-01 -1.00325566e-01 9.03292351e+01] [ 4.63103021e-01 8.84922935e-01 -4.94670663e-02 1.73871224e+01] [ 1.11818594e-01 -2.96851556e-03 9.93724202e-01 1.03616504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.387105681 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:90.35, Y:17.40, Z:10.36 [[ 8.77892949e-01 -4.68233483e-01 -1.00306415e-01 9.03517342e+01] [ 4.65620323e-01 8.83598825e-01 -4.95058713e-02 1.74022809e+01] [ 1.11810937e-01 -3.24384989e-03 9.93724203e-01 1.03629775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.417105681 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:90.37, Y:17.42, Z:10.36 [[ 8.75291628e-01 -4.73080169e-01 -1.00298157e-01 9.03746092e+01] [ 4.70496684e-01 8.81011001e-01 -4.95225949e-02 1.74216471e+01] [ 1.11791937e-01 -3.84323760e-03 9.93724203e-01 1.03613088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:90.40, Y:17.44, Z:10.36 [[ 8.73241823e-01 -4.76856684e-01 -1.00281708e-01 9.03962453e+01] [ 4.74294113e-01 8.78970596e-01 -4.95558821e-02 1.74433754e+01] [ 1.11775726e-01 -4.28875478e-03 9.93724204e-01 1.03618332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47710568099998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:90.42, Y:17.47, Z:10.36 [[ 8.73751724e-01 -4.75925293e-01 -1.00264848e-01 9.04154857e+01] [ 4.73352709e-01 8.79476007e-01 -4.95899716e-02 1.74674515e+01] [ 1.11781650e-01 -4.13131412e-03 9.93724205e-01 1.03625209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:90.44, Y:17.48, Z:10.36 [[ 8.75253681e-01 -4.73161527e-01 -1.00245513e-01 9.04393863e+01] [ 4.70566398e-01 8.80967778e-01 -4.96290266e-02 1.74842211e+01] [ 1.11795612e-01 -3.73418154e-03 9.93724206e-01 1.03607889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53710568099999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:90.46, Y:17.50, Z:10.37 [[ 8.76420851e-01 -4.70999550e-01 -1.00229314e-01 9.04595318e+01] [ 4.68386588e-01 8.82126815e-01 -4.96617201e-02 1.75047601e+01] [ 1.11805613e-01 -3.42149927e-03 9.93724206e-01 1.03693397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56710568099999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:90.48, Y:17.52, Z:10.37 [[ 8.77399326e-01 -4.69175612e-01 -1.00223090e-01 9.04826563e+01] [ 4.66549355e-01 8.83099182e-01 -4.96742761e-02 1.75217899e+01] [ 1.11812888e-01 -3.17484191e-03 9.93724206e-01 1.03731441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:90.50, Y:17.54, Z:10.38 [[ 8.79742987e-01 -4.64770366e-01 -1.00203716e-01 9.05016375e+01] [ 4.62111117e-01 8.85427524e-01 -4.97133280e-02 1.75442189e+01] [ 1.11828410e-01 -2.57029947e-03 9.93724207e-01 1.03780426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62710568099999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:90.52, Y:17.57, Z:10.38 [[ 8.82197364e-01 -4.60096893e-01 -1.00193113e-01 9.05211324e+01] [ 4.57405101e-01 8.87866563e-01 -4.97346876e-02 1.75666366e+01] [ 1.11840891e-01 -1.95303095e-03 9.93724208e-01 1.03827205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65710568099999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:90.54, Y:17.59, Z:10.39 [[ 8.83831902e-01 -4.56984777e-01 -1.00030410e-01 9.05431306e+01] [ 4.54235921e-01 8.89473718e-01 -5.00622830e-02 1.75855465e+01] [ 1.11852122e-01 -1.19076281e-03 9.93724149e-01 1.03908165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:90.57, Y:17.60, Z:10.40 [[ 8.83944574e-01 -4.56734703e-01 -1.00176851e-01 9.05667985e+01] [ 4.54017625e-01 8.89601703e-01 -4.97675261e-02 1.76022231e+01] [ 1.11848054e-01 -1.49032150e-03 9.93724203e-01 1.03962625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:90.59, Y:17.62, Z:10.40 [[ 8.86302578e-01 -4.52125349e-01 -1.00251731e-01 9.05872103e+01] [ 4.49395879e-01 8.91953759e-01 -4.96168845e-02 1.76214191e+01] [ 1.11852959e-01 -1.07714195e-03 9.93724185e-01 1.03983089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.747105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.61, Y:17.64, Z:10.40 [[ 8.89242126e-01 -4.46338579e-01 -1.00151454e-01 9.06072639e+01] [ 4.43549615e-01 8.94864156e-01 -4.98184804e-02 1.76448049e+01] [ 1.11857856e-01 -1.21447316e-04 9.93724210e-01 1.03994439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:17.66, Z:10.40 [[ 8.91661845e-01 -4.41489052e-01 -1.00132768e-01 9.06292440e+01] [ 4.38665297e-01 8.97266480e-01 -4.98560092e-02 1.76605595e+01] [ 1.11856659e-01 5.29930647e-04 9.93724211e-01 1.04005029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:17.68, Z:10.40 [[ 8.94226705e-01 -4.36340450e-01 -9.98279169e-02 9.06523057e+01] [ 4.33416054e-01 8.99779719e-01 -5.04676258e-02 1.76809506e+01] [ 1.11844202e-01 1.86247693e-03 9.93724009e-01 1.03995433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:17.70, Z:10.40 [[ 8.95651800e-01 -4.33343214e-01 -1.00107503e-01 9.06756547e+01] [ 4.30462807e-01 9.01227539e-01 -4.99068573e-02 1.76955794e+01] [ 1.11846436e-01 1.60660989e-03 9.93724204e-01 1.04034753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86710568099998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:90.70, Y:17.71, Z:10.41 [[ 8.95629022e-01 -4.33435003e-01 -9.99137235e-02 9.07017331e+01] [ 4.30511770e-01 9.01182539e-01 -5.02956039e-02 1.77137032e+01] [ 1.11840378e-01 2.03216865e-03 9.93724107e-01 1.04057475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.72, Y:17.73, Z:10.41 [[ 8.94599216e-01 -4.35422651e-01 -1.00495555e-01 9.07224967e+01] [ 4.32642373e-01 9.00226023e-01 -4.91292712e-02 1.77298925e+01] [ 1.11860712e-01 4.72371974e-04 9.93723784e-01 1.04078040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:17.74, Z:10.41 [[ 8.94411883e-01 -4.35905181e-01 -1.00070257e-01 9.07495469e+01] [ 4.33032461e-01 8.99991554e-01 -4.99809041e-02 1.77426827e+01] [ 1.11849321e-01 1.36984480e-03 9.93724234e-01 1.04063840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:90.78, Y:17.75, Z:10.41 [[ 8.92193811e-01 -4.40384508e-01 -1.00258112e-01 9.07763946e+01] [ 4.37581998e-01 8.97809187e-01 -4.96050310e-02 1.77547620e+01] [ 1.11857941e-01 3.86156756e-04 9.93724133e-01 1.04069998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.80, Y:17.77, Z:10.41 [[ 8.89880118e-01 -4.45049366e-01 -1.00221941e-01 9.08016606e+01] [ 4.42268146e-01 8.95506029e-01 -4.96773491e-02 1.77665306e+01] [ 1.11858225e-01 -1.18086558e-04 9.93724169e-01 1.04091249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:90.83, Y:17.78, Z:10.42 [[ 8.88072168e-01 -4.48634946e-01 -1.00272179e-01 9.08280939e+01] [ 4.45887774e-01 8.93714843e-01 -4.95769373e-02 1.77763643e+01] [ 1.11856682e-01 -6.82240665e-04 9.93724115e-01 1.04170878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:17.79, Z:10.43 [[ 8.86333812e-01 -4.52075268e-01 -1.00201426e-01 9.08524179e+01] [ 4.49334021e-01 8.91979280e-01 -4.97182220e-02 1.77856894e+01] [ 1.11853975e-01 -9.56968511e-04 9.93724193e-01 1.04270347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.88, Y:17.80, Z:10.43 [[ 8.85586647e-01 -4.53601952e-01 -9.99077586e-02 9.08780503e+01] [ 4.50804267e-01 8.91204258e-01 -5.03039175e-02 1.77978621e+01] [ 1.11856175e-01 -4.90366182e-04 9.93724286e-01 1.04279167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.90, Y:17.81, Z:10.43 [[ 8.83370554e-01 -4.57887551e-01 -9.99772771e-02 9.09024013e+01] [ 4.55132790e-01 8.89009324e-01 -5.01653733e-02 1.78105081e+01] [ 1.11850832e-01 -1.18832347e-03 9.93724297e-01 1.04309864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:17.82, Z:10.44 [[ 8.82672011e-01 -4.59236947e-01 -9.99577312e-02 9.09272716e+01] [ 4.56486400e-01 8.88312837e-01 -5.02042899e-02 1.78232592e+01] [ 1.11849401e-01 -1.31542335e-03 9.93724298e-01 1.04371718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:17.84, Z:10.44 [[ 8.83947154e-01 -4.56781500e-01 -9.99404325e-02 9.09508531e+01] [ 4.54011392e-01 8.89578399e-01 -5.02387026e-02 1.78358533e+01] [ 1.11852960e-01 -9.65736685e-04 9.93724299e-01 1.04432817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.98, Y:17.85, Z:10.45 [[ 8.83773804e-01 -4.57119738e-01 -9.99270170e-02 9.09760659e+01] [ 4.54348770e-01 8.89404625e-01 -5.02653726e-02 1.78488087e+01] [ 1.11852845e-01 -9.78497719e-04 9.93724300e-01 1.04464692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:17.87, Z:10.45 [[ 8.87590812e-01 -4.49667632e-01 -9.99078161e-02 9.09997459e+01] [ 4.46845092e-01 8.93195959e-01 -5.03035076e-02 1.78675511e+01] [ 1.11857117e-01 5.61391009e-06 9.93724300e-01 1.04484579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:17.88, Z:10.45 [[ 8.91245803e-01 -4.42332816e-01 -1.00112929e-01 9.10229875e+01] [ 4.39509843e-01 8.96850857e-01 -4.98962701e-02 1.78806336e+01] [ 1.11857124e-01 4.69223425e-04 9.93724189e-01 1.04515865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:17.89, Z:10.45 [[ 8.96760207e-01 -4.31096755e-01 -9.98835296e-02 9.10438993e+01] [ 4.28152839e-01 9.02302547e-01 -5.03513697e-02 1.78933838e+01] [ 1.11831475e-01 2.38768794e-03 9.93724318e-01 1.04531536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.07, Y:17.91, Z:10.45 [[ 8.98381922e-01 -4.27854903e-01 -9.92476964e-02 9.10727475e+01] [ 4.24751443e-01 9.03837622e-01 -5.16116774e-02 1.79107854e+01] [ 1.11786111e-01 4.21139565e-03 9.93723367e-01 1.04529966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.10, Y:17.92, Z:10.46 [[ 8.98981848e-01 -4.26347640e-01 -1.00296193e-01 9.10953673e+01] [ 4.23465679e-01 9.04557054e-01 -4.95313599e-02 1.79202467e+01] [ 1.11841207e-01 2.05579801e-03 9.93723965e-01 1.04598008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.12, Y:17.93, Z:10.46 [[ 8.98211877e-01 -4.28109494e-01 -9.96879408e-02 9.11222256e+01] [ 4.25104377e-01 9.03721227e-01 -5.07367007e-02 1.79335050e+01] [ 1.11810971e-01 3.19452718e-03 9.93724359e-01 1.04609805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.15, Y:17.94, Z:10.46 [[ 8.97816152e-01 -4.28883920e-01 -9.99236723e-02 9.11492072e+01] [ 4.25935430e-01 9.03355948e-01 -5.02696806e-02 1.79434574e+01] [ 1.11826501e-01 2.57189882e-03 9.93724418e-01 1.04585707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:17.95, Z:10.46 [[ 8.97174698e-01 -4.30242798e-01 -9.98433594e-02 9.11758906e+01] [ 4.27285007e-01 9.02709515e-01 -5.04286954e-02 1.79537780e+01] [ 1.11826134e-01 2.58177905e-03 9.93724434e-01 1.04607694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.20, Y:17.96, Z:10.46 [[ 8.95267711e-01 -4.34200850e-01 -9.98265841e-02 9.12042402e+01] [ 4.31263833e-01 9.00813579e-01 -5.04618814e-02 1.79607784e+01] [ 1.11835734e-01 2.12529773e-03 9.93724434e-01 1.04637796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.497105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:91.23, Y:17.97, Z:10.47 [[ 8.93737912e-01 -4.37345004e-01 -9.98092774e-02 9.12305546e+01] [ 4.34423679e-01 8.99292062e-01 -5.04960896e-02 1.79685008e+01] [ 1.11841903e-01 1.77075616e-03 9.93724435e-01 1.04696769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:17.98, Z:10.48 [[ 8.93639793e-01 -4.37546855e-01 -9.98031523e-02 9.12571507e+01] [ 4.34625434e-01 8.99193892e-01 -5.05081927e-02 1.79798504e+01] [ 1.11842086e-01 1.75914256e-03 9.93724435e-01 1.04762905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.557105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:17.99, Z:10.49 [[ 8.94105559e-01 -4.36582282e-01 -9.98556990e-02 9.12818120e+01] [ 4.33666457e-01 8.99662605e-01 -5.04043700e-02 1.79906968e+01] [ 1.11842093e-01 1.76276018e-03 9.93724428e-01 1.04873502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.31, Y:18.00, Z:10.49 [[ 8.92930848e-01 -4.38969680e-01 -9.99005531e-02 9.13075578e+01] [ 4.36078622e-01 8.98500840e-01 -5.03157611e-02 1.80010192e+01] [ 1.11847824e-01 1.36399967e-03 9.93724410e-01 1.04903952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.33, Y:18.01, Z:10.49 [[ 8.90993554e-01 -4.42910630e-01 -9.98031111e-02 9.13338336e+01] [ 4.40022652e-01 8.96565108e-01 -5.05081502e-02 1.80116249e+01] [ 1.11850584e-01 1.08680663e-03 9.93724442e-01 1.04914476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:18.02, Z:10.49 [[ 8.86380817e-01 -4.52078879e-01 -9.97684013e-02 9.13600014e+01] [ 4.49240825e-01 8.91977963e-01 -5.05766201e-02 1.80202018e+01] [ 1.11855837e-01 1.01070356e-05 9.93724445e-01 1.04939609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.39, Y:18.03, Z:10.50 [[ 8.83303967e-01 -4.58063328e-01 -9.97601648e-02 9.13863404e+01] [ 4.55261359e-01 8.88919264e-01 -5.05928611e-02 1.80335735e+01] [ 1.11853467e-01 -7.28073333e-04 9.93724445e-01 1.04963942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:18.04, Z:10.50 [[ 8.80336067e-01 -4.63675271e-01 -1.00068232e-01 9.14114915e+01] [ 4.60978028e-01 8.86002667e-01 -4.99853215e-02 1.80440906e+01] [ 1.11837678e-01 -2.12537483e-03 9.93724216e-01 1.04976231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73710568099999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:91.44, Y:18.06, Z:10.50 [[ 8.78717848e-01 -4.66804542e-01 -9.97419824e-02 9.14363463e+01] [ 4.64054421e-01 8.84358687e-01 -5.06281266e-02 1.80550648e+01] [ 1.11841128e-01 -1.79786945e-03 9.93724474e-01 1.05038791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:91.46, Y:18.07, Z:10.51 [[ 8.78668785e-01 -4.66898116e-01 -9.97362323e-02 9.14607859e+01] [ 4.64147310e-01 8.84309290e-01 -5.06394516e-02 1.80682456e+01] [ 1.11841141e-01 -1.79699855e-03 9.93724474e-01 1.05103378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:18.09, Z:10.52 [[ 8.80392331e-01 -4.63643929e-01 -9.97178547e-02 9.14832051e+01] [ 4.60868178e-01 8.86020601e-01 -5.06756148e-02 1.80850196e+01] [ 1.11847515e-01 -1.34236336e-03 9.93724475e-01 1.05200258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:18.10, Z:10.53 [[ 8.82574490e-01 -4.59479989e-01 -9.97016033e-02 9.15051038e+01] [ 4.56674072e-01 8.88187781e-01 -5.07075685e-02 1.81012253e+01] [ 1.11852859e-01 -7.77930746e-04 9.93724475e-01 1.05263448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:18.12, Z:10.53 [[ 8.83709413e-01 -4.57294660e-01 -9.96958746e-02 9.15289867e+01] [ 4.54473591e-01 8.89315105e-01 -5.07188293e-02 1.81152770e+01] [ 1.11854497e-01 -4.88435263e-04 9.93724475e-01 1.05275797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.887105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.55, Y:18.13, Z:10.53 [[ 8.86085606e-01 -4.52677187e-01 -9.96777991e-02 9.15535545e+01] [ 4.49822912e-01 8.91674462e-01 -5.07543283e-02 1.81316611e+01] [ 1.11855474e-01 1.35321921e-04 9.93724476e-01 1.05269170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.917105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.58, Y:18.15, Z:10.53 [[ 8.89018201e-01 -4.46893840e-01 -9.96621004e-02 9.15760425e+01] [ 4.43999755e-01 8.94586546e-01 -5.07851361e-02 1.81482706e+01] [ 1.11851939e-01 8.98962238e-04 9.93724477e-01 1.05308852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:18.16, Z:10.53 [[ 8.91800520e-01 -4.41319554e-01 -9.96437845e-02 9.15994494e+01] [ 4.38386654e-01 8.97348518e-01 -5.08210479e-02 1.81644488e+01] [ 1.11843525e-01 1.63973159e-03 9.93724478e-01 1.05331998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.62, Y:18.18, Z:10.53 [[ 8.92926366e-01 -4.39041308e-01 -9.96254787e-02 9.16235551e+01] [ 4.36090253e-01 8.98464727e-01 -5.08569081e-02 1.81797920e+01] [ 1.11838262e-01 1.96577390e-03 9.93724478e-01 1.05347256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:91.65, Y:18.20, Z:10.53 [[ 8.95409188e-01 -4.33959107e-01 -9.96086319e-02 9.16461903e+01] [ 4.30972956e-01 9.00928705e-01 -5.08898830e-02 1.81973944e+01] [ 1.11824404e-01 2.63864233e-03 9.93724479e-01 1.05325574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:91.67, Y:18.21, Z:10.53 [[ 8.96056150e-01 -4.32623684e-01 -9.95998194e-02 9.16703181e+01] [ 4.29627392e-01 9.01570168e-01 -5.09071248e-02 1.82117268e+01] [ 1.11819854e-01 2.82483163e-03 9.93724479e-01 1.05338927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:91.70, Y:18.23, Z:10.54 [[ 8.96970137e-01 -4.30729619e-01 -9.95819710e-02 9.16955745e+01] [ 4.27717814e-01 9.02475696e-01 -5.09420151e-02 1.82254878e+01] [ 1.11812543e-01 3.10048326e-03 9.93724480e-01 1.05378102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:91.72, Y:18.24, Z:10.54 [[ 8.97507850e-01 -4.29613689e-01 -9.95577089e-02 9.17201119e+01] [ 4.26589787e-01 9.03006774e-01 -5.09894066e-02 1.82390772e+01] [ 1.11807033e-01 3.29309083e-03 9.93724480e-01 1.05366058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.74, Y:18.25, Z:10.54 [[ 8.97161536e-01 -4.30336098e-01 -9.95591315e-02 9.17443207e+01] [ 4.27316932e-01 9.02663062e-01 -5.09866287e-02 1.82523618e+01] [ 1.11809737e-01 3.19993950e-03 9.93724480e-01 1.05402276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:91.77, Y:18.26, Z:10.55 [[ 8.95304872e-01 -4.34189913e-01 -9.95404673e-02 9.17703448e+01] [ 4.31190386e-01 9.00817129e-01 -5.10230408e-02 1.82636824e+01] [ 1.11821448e-01 2.76028449e-03 9.93724481e-01 1.05493837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:91.80, Y:18.27, Z:10.56 [[ 8.92285026e-01 -4.40366172e-01 -9.95242081e-02 9.17962547e+01] [ 4.37401272e-01 8.97815984e-01 -5.10547360e-02 1.82738343e+01] [ 1.11837203e-01 2.02336113e-03 9.93724482e-01 1.05572483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:91.82, Y:18.29, Z:10.56 [[ 8.90800275e-01 -4.43363224e-01 -9.95184463e-02 9.18217866e+01] [ 4.40415680e-01 8.96340502e-01 -5.10659648e-02 1.82868220e+01] [ 1.11843185e-01 1.66009127e-03 9.93724482e-01 1.05617547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.247105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.85, Y:18.30, Z:10.57 [[ 8.88732573e-01 -4.47497145e-01 -9.95023588e-02 9.18479616e+01] [ 4.44571867e-01 8.94284587e-01 -5.10972922e-02 1.82988733e+01] [ 1.11849318e-01 1.17587857e-03 9.93724483e-01 1.05678150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.277105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.87, Y:18.31, Z:10.57 [[ 8.87308848e-01 -4.50317094e-01 -9.94862935e-02 9.18724003e+01] [ 4.47405955e-01 8.92868289e-01 -5.11285524e-02 1.83109535e+01] [ 1.11852218e-01 8.56056732e-04 9.93724483e-01 1.05715067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.307105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:91.90, Y:18.32, Z:10.57 [[ 8.86799683e-01 -4.51320703e-01 -9.94783637e-02 9.18964231e+01] [ 4.48414126e-01 8.92361510e-01 -5.11439765e-02 1.83242437e+01] [ 1.11852998e-01 7.46958577e-04 9.93724483e-01 1.05744058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:18.34, Z:10.58 [[ 8.85574405e-01 -4.53724193e-01 -9.94601901e-02 9.19199679e+01] [ 4.50828745e-01 8.91142033e-01 -5.11792946e-02 1.83387272e+01] [ 1.11854440e-01 4.83560675e-04 9.93724484e-01 1.05788438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.94, Y:18.35, Z:10.58 [[ 8.84861678e-01 -4.55113830e-01 -9.94545777e-02 9.19439968e+01] [ 4.52225900e-01 8.90433209e-01 -5.11901986e-02 1.83533554e+01] [ 1.11855026e-01 3.20309115e-04 9.93724484e-01 1.05812722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:18.37, Z:10.58 [[ 8.84752484e-01 -4.55329954e-01 -9.94367911e-02 9.19676088e+01] [ 4.52439504e-01 8.90322707e-01 -5.12247259e-02 1.83658129e+01] [ 1.11854985e-01 3.32071099e-04 9.93724485e-01 1.05840618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.99, Y:18.38, Z:10.59 [[ 8.85549666e-01 -4.53780239e-01 -9.94247648e-02 9.19924839e+01] [ 4.50877421e-01 8.91113454e-01 -5.12480579e-02 1.83785995e+01] [ 1.11854102e-01 5.54318941e-04 9.93724485e-01 1.05936031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:92.02, Y:18.39, Z:10.60 [[ 8.87926546e-01 -4.49115014e-01 -9.94090191e-02 9.20158754e+01] [ 4.46179548e-01 8.93473177e-01 -5.12785828e-02 1.83930911e+01] [ 1.11849274e-01 1.17734375e-03 9.93724486e-01 1.06006703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:18.41, Z:10.60 [[ 8.89176671e-01 -4.46638848e-01 -9.93910835e-02 9.20391691e+01] [ 4.43684054e-01 8.94713029e-01 -5.13133232e-02 1.84066331e+01] [ 1.11845021e-01 1.52837107e-03 9.93724487e-01 1.06036143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:18.42, Z:10.60 [[ 8.91460828e-01 -4.42063956e-01 -9.93833550e-02 9.20633439e+01] [ 4.39079084e-01 8.96981028e-01 -5.13282874e-02 1.84219485e+01] [ 1.11835370e-01 2.12000503e-03 9.93724487e-01 1.06042973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:18.43, Z:10.61 [[ 8.92780979e-01 -4.39395674e-01 -9.93658202e-02 9.20891526e+01] [ 4.36390532e-01 8.98290169e-01 -5.13622107e-02 1.84339334e+01] [ 1.11827673e-01 2.49290160e-03 9.93724488e-01 1.06058610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:18.45, Z:10.61 [[ 8.93197535e-01 -4.38552238e-01 -9.93483638e-02 9.21150332e+01] [ 4.35538143e-01 8.98701832e-01 -5.13959540e-02 1.84453281e+01] [ 1.11824367e-01 2.63673757e-03 9.93724488e-01 1.06075290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.607105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.14, Y:18.46, Z:10.60 [[ 8.94349340e-01 -4.36202468e-01 -9.93310909e-02 9.21419551e+01] [ 4.33170210e-01 8.99843650e-01 -5.14293151e-02 1.84555493e+01] [ 1.11816046e-01 2.96850450e-03 9.93724489e-01 1.06039418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.637105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:92.17, Y:18.47, Z:10.60 [[ 8.95854261e-01 -4.33104535e-01 -9.93257565e-02 9.21693840e+01] [ 4.30052138e-01 9.01337409e-01 -5.14396154e-02 1.84665774e+01] [ 1.11804751e-01 3.36714466e-03 9.93724489e-01 1.06034396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:18.48, Z:10.61 [[ 8.96617087e-01 -4.31526994e-01 -9.93088788e-02 9.21953670e+01] [ 4.28461349e-01 9.02092838e-01 -5.14721791e-02 1.84777201e+01] [ 1.11797463e-01 3.60081912e-03 9.93724490e-01 1.06067526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:18.49, Z:10.61 [[ 8.98781097e-01 -4.27006024e-01 -9.92894509e-02 9.22222746e+01] [ 4.23908711e-01 9.04238997e-01 -5.15096282e-02 1.84858902e+01] [ 1.11776315e-01 4.20621696e-03 9.93724491e-01 1.06099882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.25, Y:18.49, Z:10.62 [[ 9.01564576e-01 -4.21098695e-01 -9.92834568e-02 9.22499847e+01] [ 4.17964362e-01 9.07001301e-01 -5.15211791e-02 1.84920928e+01] [ 1.11745726e-01 4.95272326e-03 9.93724491e-01 1.06159535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:18.50, Z:10.62 [[ 9.03011994e-01 -4.17990399e-01 -9.92641208e-02 9.22756447e+01] [ 4.14833275e-01 9.08435515e-01 -5.15584066e-02 1.85004848e+01] [ 1.11725972e-01 5.37979917e-03 9.93724492e-01 1.06182815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:92.30, Y:18.51, Z:10.62 [[ 9.05264969e-01 -4.13091478e-01 -9.92510329e-02 9.23046131e+01] [ 4.09902264e-01 9.10669681e-01 -5.15835888e-02 1.85060140e+01] [ 1.11693647e-01 6.01359279e-03 9.93724492e-01 1.06223539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:92.33, Y:18.52, Z:10.63 [[ 9.05682478e-01 -4.12179318e-01 -9.92343648e-02 9.23318597e+01] [ 4.08981163e-01 9.11081903e-01 -5.16156344e-02 1.85150345e+01] [ 1.11685531e-01 6.16238971e-03 9.93724493e-01 1.06252985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84710568099999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:92.36, Y:18.52, Z:10.63 [[ 9.05813899e-01 -4.11894967e-01 -9.92155033e-02 9.23621042e+01] [ 4.08691164e-01 9.11209974e-01 -5.16518647e-02 1.85170570e+01] [ 1.11681299e-01 6.23847748e-03 9.93724493e-01 1.06257928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87710568099999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:92.39, Y:18.52, Z:10.62 [[ 9.05259504e-01 -4.13113382e-01 -9.92096940e-02 9.23923100e+01] [ 4.09915624e-01 9.10659164e-01 -5.16630205e-02 1.85195676e+01] [ 1.11688902e-01 6.10083663e-03 9.93724493e-01 1.06240305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90710568099999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:92.42, Y:18.53, Z:10.63 [[ 9.04640794e-01 -4.14467867e-01 -9.92039424e-02 9.24194318e+01] [ 4.11276988e-01 9.10044521e-01 -5.16740624e-02 1.85281789e+01] [ 1.11697243e-01 5.94616626e-03 9.93724494e-01 1.06266545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93710568099999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:92.45, Y:18.53, Z:10.63 [[ 9.03947301e-01 -4.15982561e-01 -9.91856115e-02 9.24502771e+01] [ 4.12796892e-01 9.09354102e-01 -5.17092238e-02 1.85286774e+01] [ 1.11704978e-01 5.79890117e-03 9.93724494e-01 1.06314954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:92.48, Y:18.53, Z:10.64 [[ 9.01620060e-01 -4.21004944e-01 -9.91771418e-02 9.24815079e+01] [ 4.17847622e-01 9.07043461e-01 -5.17254635e-02 1.85298758e+01] [ 1.11734654e-01 5.19578263e-03 9.93724495e-01 1.06356189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.997105681 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:92.51, Y:18.54, Z:10.64 [[ 8.99870352e-01 -4.24736149e-01 -9.91592338e-02 9.25083279e+01] [ 4.21597547e-01 9.05304608e-01 -5.17597711e-02 1.85385030e+01] [ 1.11753557e-01 4.77179364e-03 9.93724495e-01 1.06376881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.027105681 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:92.54, Y:18.54, Z:10.64 [[ 8.96457442e-01 -4.31897066e-01 -9.91412064e-02 9.25382732e+01] [ 4.28798080e-01 9.01914386e-01 -5.17942782e-02 1.85435896e+01] [ 1.11786677e-01 3.91980729e-03 9.93724496e-01 1.06401022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.057105681 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:92.57, Y:18.55, Z:10.64 [[ 8.94600171e-01 -4.35734869e-01 -9.91244557e-02 9.25650245e+01] [ 4.32655751e-01 9.00068349e-01 -5.18263162e-02 1.85523999e+01] [ 1.11801318e-01 3.47706551e-03 9.93724497e-01 1.06426545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:92.59, Y:18.57, Z:10.65 [[ 8.94438295e-01 -4.36071487e-01 -9.91049641e-02 9.25900738e+01] [ 4.32990305e-01 8.99905310e-01 -5.18635624e-02 1.85657480e+01] [ 1.11801304e-01 3.47726773e-03 9.93724498e-01 1.06458401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:92.62, Y:18.57, Z:10.65 [[ 8.90913954e-01 -4.43231745e-01 -9.90855532e-02 9.26195549e+01] [ 4.40190393e-01 8.96403226e-01 -5.19006208e-02 1.85703762e+01] [ 1.11824612e-01 2.62247863e-03 9.93724498e-01 1.06497853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14710568099999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:92.65, Y:18.58, Z:10.65 [[ 8.87964754e-01 -4.49115249e-01 -9.90660812e-02 9.26476727e+01] [ 4.46106132e-01 8.93471761e-01 -5.19377619e-02 1.85763534e+01] [ 1.11838787e-01 1.92491567e-03 9.93724499e-01 1.06521069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:92.68, Y:18.59, Z:10.66 [[ 8.85420331e-01 -4.54112254e-01 -9.90600724e-02 9.26751643e+01] [ 4.51132938e-01 8.90943517e-01 -5.19492198e-02 1.85851945e+01] [ 1.11847707e-01 1.30763387e-03 9.93724499e-01 1.06564527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:92.70, Y:18.60, Z:10.66 [[ 8.83866160e-01 -4.57133097e-01 -9.90451553e-02 9.26998566e+01] [ 4.54169473e-01 8.89397782e-01 -5.19776450e-02 1.85970522e+01] [ 1.11851243e-01 9.57995564e-04 9.93724500e-01 1.06618475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:92.72, Y:18.61, Z:10.66 [[ 8.81704755e-01 -4.61292401e-01 -9.90254858e-02 9.27243174e+01] [ 4.58350666e-01 8.87248047e-01 -5.20150918e-02 1.86099966e+01] [ 1.11854335e-01 4.73556354e-04 9.93724501e-01 1.06619294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:92.75, Y:18.62, Z:10.66 [[ 8.80834342e-01 -4.62953578e-01 -9.90194254e-02 9.27485670e+01] [ 4.60021001e-01 8.86382484e-01 -5.20266261e-02 1.86217653e+01] [ 1.11854997e-01 2.75823718e-04 9.93724501e-01 1.06648570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29710568099999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:92.78, Y:18.63, Z:10.67 [[ 8.78402503e-01 -4.67554060e-01 -9.90062816e-02 9.27751968e+01] [ 4.64647723e-01 8.83964435e-01 -5.20516268e-02 1.86319320e+01] [ 1.11854981e-01 -2.80763998e-04 9.93724501e-01 1.06747859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32710568099999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:92.80, Y:18.64, Z:10.68 [[ 8.75612250e-01 -4.72762388e-01 -9.89894575e-02 9.28003612e+01] [ 4.69885517e-01 8.81189480e-01 -5.20836026e-02 1.86441447e+01] [ 1.11851637e-01 -9.08671970e-04 9.93724502e-01 1.06845778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.357105681 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:92.82, Y:18.66, Z:10.69 [[ 8.74124253e-01 -4.75511537e-01 -9.89725639e-02 9.28243408e+01] [ 4.72648574e-01 8.79708634e-01 -5.21156854e-02 1.86585720e+01] [ 1.11848629e-01 -1.22365665e-03 9.93724503e-01 1.06883306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.387105681 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:92.85, Y:18.68, Z:10.69 [[ 8.71192742e-01 -4.80865415e-01 -9.89528132e-02 9.28471831e+01] [ 4.78032511e-01 8.76792431e-01 -5.21531596e-02 1.86755176e+01] [ 1.11839728e-01 -1.86720763e-03 9.93724503e-01 1.06888070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.417105681 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:92.87, Y:18.69, Z:10.69 [[ 8.67563416e-01 -4.87386883e-01 -9.89330353e-02 9.28700779e+01] [ 4.84591791e-01 8.73182073e-01 -5.21906510e-02 1.86906336e+01] [ 1.11823592e-01 -2.66343726e-03 9.93724504e-01 1.06900858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:92.89, Y:18.70, Z:10.69 [[ 8.65487130e-01 -4.91066157e-01 -9.89245013e-02 9.28938795e+01] [ 4.88293100e-01 8.71116695e-01 -5.22068218e-02 1.87042710e+01] [ 1.11811788e-01 -3.11981900e-03 9.93724504e-01 1.06934444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47710568099998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:92.92, Y:18.72, Z:10.69 [[ 8.62395469e-01 -4.96479610e-01 -9.89042524e-02 9.29180082e+01] [ 4.93737492e-01 8.68040168e-01 -5.22451546e-02 1.87196754e+01] [ 1.11791518e-01 -3.77675295e-03 9.93724505e-01 1.06928087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50710568099998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:92.94, Y:18.74, Z:10.69 [[ 8.59422741e-01 -5.01609148e-01 -9.88980029e-02 9.29409758e+01] [ 4.98899353e-01 8.65083027e-01 -5.22569821e-02 1.87382874e+01] [ 1.11767564e-01 -4.42931084e-03 9.93724506e-01 1.06918307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:92.96, Y:18.76, Z:10.69 [[ 8.57140500e-01 -5.05502597e-01 -9.88801641e-02 9.29622520e+01] [ 5.02814624e-01 8.62811181e-01 -5.22907149e-02 1.87569352e+01] [ 1.11748003e-01 -4.89790309e-03 9.93724506e-01 1.06932825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:92.99, Y:18.77, Z:10.70 [[ 8.55882567e-01 -5.07630766e-01 -9.88738482e-02 9.29854208e+01] [ 5.04955515e-01 8.61559261e-01 -5.23026546e-02 1.87724198e+01] [ 1.11736116e-01 -5.16196476e-03 9.93724506e-01 1.06973828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59710568099999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:93.01, Y:18.79, Z:10.70 [[ 8.54073532e-01 -5.10672427e-01 -9.88538039e-02 9.30068771e+01] [ 5.08013021e-01 8.59757664e-01 -5.23405119e-02 1.87892674e+01] [ 1.11719172e-01 -5.51637367e-03 9.93724507e-01 1.07041844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62710568099999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:93.03, Y:18.81, Z:10.71 [[ 8.53750007e-01 -5.11214918e-01 -9.88444896e-02 9.30269081e+01] [ 5.08557093e-01 8.59434880e-01 -5.23580960e-02 1.88101333e+01] [ 1.11716642e-01 -5.56734146e-03 9.93724507e-01 1.07096048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65710568099999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:93.05, Y:18.83, Z:10.71 [[ 8.54642477e-01 -5.09722684e-01 -9.88383601e-02 9.30492267e+01] [ 5.07053599e-01 8.60322071e-01 -5.23696643e-02 1.88271803e+01] [ 1.11726829e-01 -5.35900661e-03 9.93724508e-01 1.07117967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:93.07, Y:18.85, Z:10.71 [[ 8.57476538e-01 -5.04944399e-01 -9.88187251e-02 9.30708124e+01] [ 5.02239396e-01 8.63139113e-01 -5.24066885e-02 1.88487811e+01] [ 1.11756771e-01 -4.69315095e-03 9.93724508e-01 1.07122144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71710568099999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:93.09, Y:18.87, Z:10.71 [[ 8.60412741e-01 -4.99928265e-01 -9.88010425e-02 9.30881371e+01] [ 4.97186419e-01 8.66057568e-01 -5.24400041e-02 1.88715111e+01] [ 1.11783631e-01 -4.00248892e-03 9.93724509e-01 1.07136110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.747105681 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:93.11, Y:18.89, Z:10.72 [[ 8.59446499e-01 -5.01652807e-01 -9.84691622e-02 9.31118890e+01] [ 4.98850756e-01 8.65061907e-01 -5.30643070e-02 1.88916093e+01] [ 1.11801780e-01 -3.51548318e-03 9.93724310e-01 1.07195262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.777105681 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:93.13, Y:18.91, Z:10.72 [[ 8.59093142e-01 -5.02189488e-01 -9.88164503e-02 9.31336050e+01] [ 4.99465843e-01 8.64746768e-01 -5.24108705e-02 1.89101480e+01] [ 1.11771394e-01 -4.32962219e-03 9.93724514e-01 1.07219611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80710568099998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:93.15, Y:18.93, Z:10.73 [[ 8.56486927e-01 -5.06642603e-01 -9.87087426e-02 9.31539885e+01] [ 5.03925036e-01 8.62143479e-01 -5.26134852e-02 1.89319692e+01] [ 1.11757332e-01 -4.67904437e-03 9.93724512e-01 1.07250386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83710568099998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:93.18, Y:18.95, Z:10.73 [[ 8.55587213e-01 -5.08151035e-01 -9.87575156e-02 9.31754935e+01] [ 5.05453995e-01 8.61253576e-01 -5.25217778e-02 1.89496408e+01] [ 1.11744259e-01 -4.98041928e-03 9.93724517e-01 1.07298578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:93.20, Y:18.97, Z:10.73 [[ 8.55212424e-01 -5.08782711e-01 -9.87515195e-02 9.31953181e+01] [ 5.06088559e-01 8.60880160e-01 -5.25330493e-02 1.89721098e+01] [ 1.11741131e-01 -5.05009766e-03 9.93724517e-01 1.07348634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:93.22, Y:18.99, Z:10.74 [[ 8.55514874e-01 -5.08277188e-01 -9.87349984e-02 9.32180019e+01] [ 5.05576114e-01 8.61179314e-01 -5.25640822e-02 1.89907259e+01] [ 1.11745662e-01 -4.94870259e-03 9.93724518e-01 1.07403738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.24, Y:19.02, Z:10.75 [[ 8.56737784e-01 -5.06216371e-01 -9.87185610e-02 9.32369239e+01] [ 5.03498122e-01 8.62394001e-01 -5.25949347e-02 1.90156745e+01] [ 1.11758712e-01 -4.64454228e-03 9.93724518e-01 1.07495492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:19.04, Z:10.76 [[ 8.58796566e-01 -5.02718922e-01 -9.87022979e-02 9.32548345e+01] [ 4.99974133e-01 8.64439951e-01 -5.26254374e-02 1.90394219e+01] [ 1.11778013e-01 -4.15405094e-03 9.93724519e-01 1.07569242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:93.27, Y:19.06, Z:10.76 [[ 8.61201369e-01 -4.98589197e-01 -9.86965746e-02 9.32744778e+01] [ 4.95816113e-01 8.66830904e-01 -5.26361690e-02 1.90635569e+01] [ 1.11797066e-01 -3.60501116e-03 9.93724519e-01 1.07566417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:19.08, Z:10.76 [[ 8.62964294e-01 -4.95535295e-01 -9.86782613e-02 9.32958676e+01] [ 4.92738365e-01 8.68582019e-01 -5.26704791e-02 1.90808571e+01] [ 1.11810245e-01 -3.16982239e-03 9.93724520e-01 1.07578042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:19.11, Z:10.76 [[ 8.65532829e-01 -4.91097073e-01 -9.83696434e-02 9.33164449e+01] [ 4.88205600e-01 8.71102700e-01 -5.32482654e-02 1.91052008e+01] [ 1.11840129e-01 -1.93648899e-03 9.93724326e-01 1.07586163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:93.34, Y:19.13, Z:10.76 [[ 8.70303763e-01 -4.82531089e-01 -9.86666487e-02 9.33358747e+01] [ 4.79647724e-01 8.75877615e-01 -5.26921670e-02 1.91251671e+01] [ 1.11845518e-01 -1.46704228e-03 9.93724523e-01 1.07646564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.107105681 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:93.36, Y:19.14, Z:10.77 [[ 8.72719755e-01 -4.78149184e-01 -9.86589393e-02 9.33583908e+01] [ 4.75236200e-01 8.78278184e-01 -5.27065979e-02 1.91420600e+01] [ 1.11851611e-01 -8.88210233e-04 9.93724523e-01 1.07682076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.38, Y:19.16, Z:10.77 [[ 8.77878583e-01 -4.68613990e-01 -9.86413790e-02 9.33800041e+01] [ 4.65636938e-01 8.83402962e-01 -5.27394421e-02 1.91625959e+01] [ 1.11854527e-01 3.67756997e-04 9.93724524e-01 1.07680002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.167105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.40, Y:19.18, Z:10.77 [[ 8.80245335e-01 -4.64156465e-01 -9.86251798e-02 9.34042697e+01] [ 4.61148046e-01 8.85752695e-01 -5.27697179e-02 1.91780551e+01] [ 1.11850925e-01 9.69489050e-04 9.93724525e-01 1.07697347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:19.19, Z:10.77 [[ 8.83796878e-01 -4.57361388e-01 -9.86085100e-02 9.34277742e+01] [ 4.54307158e-01 8.89278964e-01 -5.28008523e-02 1.91934898e+01] [ 1.11839545e-01 1.86667650e-03 9.93724525e-01 1.07683594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:19.21, Z:10.77 [[ 8.85638849e-01 -4.53813231e-01 -9.84752778e-02 9.34515703e+01] [ 4.50709398e-01 8.91093035e-01 -5.30494245e-02 1.92087223e+01] [ 1.11825165e-01 2.59889808e-03 9.93724498e-01 1.07683497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:93.48, Y:19.22, Z:10.77 [[ 8.86253264e-01 -4.52588612e-01 -9.85834715e-02 9.34763259e+01] [ 4.49499665e-01 8.91715864e-01 -5.28476029e-02 1.92219837e+01] [ 1.11826669e-01 2.52312310e-03 9.93724524e-01 1.07709777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.50, Y:19.23, Z:10.77 [[ 8.86157683e-01 -4.52780087e-01 -9.85634533e-02 9.35024026e+01] [ 4.49688173e-01 8.91618603e-01 -5.28849117e-02 1.92325620e+01] [ 1.11826244e-01 2.54155154e-03 9.93724525e-01 1.07691644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31710568099999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:93.53, Y:19.24, Z:10.77 [[ 8.84378230e-01 -4.56247310e-01 -9.85572842e-02 9.35283644e+01] [ 4.53175527e-01 8.89850500e-01 -5.28964062e-02 1.92440884e+01] [ 1.11835092e-01 2.11668095e-03 9.93724525e-01 1.07720913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.55, Y:19.26, Z:10.78 [[ 8.82250333e-01 -4.60352247e-01 -9.85401321e-02 9.35541135e+01] [ 4.57302362e-01 8.87734837e-01 -5.29283395e-02 1.92550620e+01] [ 1.11843188e-01 1.63341001e-03 9.93724526e-01 1.07809204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.58, Y:19.27, Z:10.79 [[ 8.81078893e-01 -4.62593993e-01 -9.85229998e-02 9.35801629e+01] [ 4.59554499e-01 8.86569162e-01 -5.29602112e-02 1.92660257e+01] [ 1.11846529e-01 1.38543649e-03 9.93724526e-01 1.07868164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.61, Y:19.27, Z:10.79 [[ 8.77839287e-01 -4.68716182e-01 -9.85054675e-02 9.36078799e+01] [ 4.65711324e-01 8.83348587e-01 -5.29928012e-02 1.92745525e+01] [ 1.11853249e-01 6.44051088e-04 9.93724527e-01 1.07904129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:19.29, Z:10.79 [[ 8.75998404e-01 -4.72151425e-01 -9.84877012e-02 9.36329122e+01] [ 4.69164462e-01 8.81517426e-01 -5.30257997e-02 1.92860086e+01] [ 1.11854832e-01 2.43586605e-04 9.93724528e-01 1.07926411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.66, Y:19.29, Z:10.79 [[ 8.71882890e-01 -4.79712869e-01 -9.84672004e-02 9.36598142e+01] [ 4.76769472e-01 8.77425267e-01 -5.30638420e-02 1.92934419e+01] [ 1.11853018e-01 -6.80699257e-04 9.93724529e-01 1.07943563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:19.30, Z:10.80 [[ 8.68090274e-01 -4.86544181e-01 -9.84582965e-02 9.36868969e+01] [ 4.83642521e-01 8.73654616e-01 -5.30803577e-02 1.93009778e+01] [ 1.11844484e-01 -1.54007651e-03 9.93724529e-01 1.07971149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:19.31, Z:10.80 [[ 8.66648990e-01 -4.89108092e-01 -9.84520268e-02 9.37117655e+01] [ 4.86221572e-01 8.72221201e-01 -5.30919841e-02 1.93137664e+01] [ 1.11839664e-01 -1.85738489e-03 9.93724529e-01 1.08012967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:19.33, Z:10.81 [[ 8.65991677e-01 -4.90275059e-01 -9.84316128e-02 9.37359760e+01] [ 4.87391749e-01 8.71565549e-01 -5.31298046e-02 1.93275903e+01] [ 1.11837821e-01 -1.96478740e-03 9.93724530e-01 1.08107007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.76, Y:19.34, Z:10.82 [[ 8.67590432e-01 -4.87446031e-01 -9.84032965e-02 9.37626685e+01] [ 4.84538600e-01 8.73151760e-01 -5.31822302e-02 1.93398919e+01] [ 1.11844479e-01 -1.53980142e-03 9.93724530e-01 1.08157410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:19.35, Z:10.82 [[ 8.70850737e-01 -4.81584173e-01 -9.84666338e-02 9.37871894e+01] [ 4.78652551e-01 8.76399360e-01 -5.30650251e-02 1.93525350e+01] [ 1.11851371e-01 -9.19589226e-04 9.93724522e-01 1.08219397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:93.81, Y:19.37, Z:10.82 [[ 8.72361073e-01 -4.78858495e-01 -9.83905492e-02 9.38103381e+01] [ 4.75893660e-01 8.77892006e-01 -5.32057273e-02 1.93666174e+01] [ 1.11854291e-01 -4.08833222e-04 9.93724534e-01 1.08242452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:19.38, Z:10.82 [[ 8.74823153e-01 -4.74347455e-01 -9.83816165e-02 9.38347059e+01] [ 4.71352242e-01 8.80337695e-01 -5.32222395e-02 1.93812441e+01] [ 1.11854879e-01 1.87651812e-04 9.93724535e-01 1.08243464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:93.86, Y:19.39, Z:10.82 [[ 8.77141962e-01 -4.70049940e-01 -9.83617423e-02 9.38615131e+01] [ 4.67023593e-01 8.82639478e-01 -5.32589445e-02 1.93922522e+01] [ 1.11852321e-01 7.78400775e-04 9.93724536e-01 1.08241802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:19.41, Z:10.82 [[ 8.77884334e-01 -4.68665702e-01 -9.83440635e-02 9.38869247e+01] [ 4.65627033e-01 8.83375048e-01 -5.32915691e-02 1.94054134e+01] [ 1.11850622e-01 9.92179139e-04 9.93724536e-01 1.08246105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.91, Y:19.42, Z:10.82 [[ 8.79425722e-01 -4.65770732e-01 -9.83261155e-02 9.39126634e+01] [ 4.62710288e-01 8.84904328e-01 -5.33246640e-02 1.94203371e+01] [ 1.11846273e-01 1.39857591e-03 9.93724537e-01 1.08200139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:19.43, Z:10.82 [[ 8.80445224e-01 -4.63852734e-01 -9.82692644e-02 9.39353451e+01] [ 4.60768662e-01 8.85910568e-01 -5.34294356e-02 1.94327995e+01] [ 1.11841170e-01 1.76229394e-03 9.93724533e-01 1.08177503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:19.45, Z:10.83 [[ 8.79974532e-01 -4.64832967e-01 -9.78526209e-02 9.39611462e+01] [ 4.61669557e-01 8.85394818e-01 -5.41962774e-02 1.94476959e+01] [ 1.11830420e-01 2.51576775e-03 9.93724121e-01 1.08255515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:19.46, Z:10.83 [[ 8.78492199e-01 -4.67537518e-01 -9.82859401e-02 9.39857517e+01] [ 4.64479797e-01 8.83972333e-01 -5.33988059e-02 1.94599292e+01] [ 1.11847997e-01 1.25860085e-03 9.93724530e-01 1.08303279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.887105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:19.47, Z:10.84 [[ 8.76851063e-01 -4.70609480e-01 -9.82798617e-02 9.40104726e+01] [ 4.67569706e-01 8.82341172e-01 -5.34099908e-02 1.94727355e+01] [ 1.11851616e-01 8.79921127e-04 9.93724530e-01 1.08362794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.917105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:19.48, Z:10.85 [[ 8.72789507e-01 -4.78101218e-01 -9.82736091e-02 9.40351123e+01] [ 4.75107275e-01 8.78304743e-01 -5.34214929e-02 1.94840683e+01] [ 1.11855058e-01 -6.47882187e-05 9.93724530e-01 1.08464077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:19.50, Z:10.85 [[ 8.67633780e-01 -4.87394108e-01 -9.82782194e-02 9.40606583e+01] [ 4.84460191e-01 8.73181180e-01 -5.34130144e-02 1.94962545e+01] [ 1.11847880e-01 -1.26894930e-03 9.93724530e-01 1.08520276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:19.51, Z:10.86 [[ 8.63241852e-01 -4.95136831e-01 -9.82498004e-02 9.40856795e+01] [ 4.92246719e-01 8.68812198e-01 -5.34652388e-02 1.95103443e+01] [ 1.11833234e-01 -2.20971015e-03 9.93724532e-01 1.08582558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.11, Y:19.52, Z:10.86 [[ 8.63056924e-01 -4.95462564e-01 -9.82323412e-02 9.41104487e+01] [ 4.92570907e-01 8.68626468e-01 -5.34972977e-02 1.95241221e+01] [ 1.11833120e-01 -2.21518020e-03 9.93724532e-01 1.08614424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:19.54, Z:10.86 [[ 8.61166448e-01 -4.98745132e-01 -9.82122349e-02 9.41330365e+01] [ 4.95870498e-01 8.66744795e-01 -5.35341843e-02 1.95376544e+01] [ 1.11824857e-01 -2.59870652e-03 9.93724533e-01 1.08649992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:19.55, Z:10.87 [[ 8.57731696e-01 -5.04630954e-01 -9.82035524e-02 9.41568570e+01] [ 5.01792769e-01 8.63328676e-01 -5.35501069e-02 1.95521144e+01] [ 1.11804984e-01 -3.34620850e-03 9.93724533e-01 1.08670606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:19.57, Z:10.87 [[ 8.56337626e-01 -5.06996875e-01 -9.81837030e-02 9.41800602e+01] [ 5.04169987e-01 8.61940319e-01 -5.35864761e-02 1.95651278e+01] [ 1.11796668e-01 -3.61316048e-03 9.93724534e-01 1.08687678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:19.58, Z:10.87 [[ 8.55198692e-01 -5.08917326e-01 -9.81751074e-02 9.42028646e+01] [ 5.06101214e-01 8.60806810e-01 -5.36022194e-02 1.95810559e+01] [ 1.11788899e-01 -3.84599301e-03 9.93724534e-01 1.08711471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:19.60, Z:10.88 [[ 8.55535922e-01 -5.08354195e-01 -9.81544597e-02 9.42231959e+01] [ 5.05530062e-01 8.61140004e-01 -5.36400024e-02 1.96005991e+01] [ 1.11792852e-01 -3.72908120e-03 9.93724535e-01 1.08752223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.25, Y:19.62, Z:10.88 [[ 8.56678997e-01 -5.06427234e-01 -9.81455675e-02 9.42452333e+01] [ 5.03588633e-01 8.62275764e-01 -5.36562676e-02 1.96184172e+01] [ 1.11801539e-01 -3.45879461e-03 9.93724536e-01 1.08821655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:19.64, Z:10.89 [[ 8.60606509e-01 -4.99727625e-01 -9.81261294e-02 9.42666404e+01] [ 4.96841394e-01 8.66178862e-01 -5.36917924e-02 1.96422500e+01] [ 1.11826051e-01 -2.54561688e-03 9.93724536e-01 1.08898746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:19.66, Z:10.89 [[ 8.62725110e-01 -4.96024227e-01 -9.83125186e-02 9.42891455e+01] [ 4.93152826e-01 8.68305209e-01 -5.33512305e-02 1.96590428e+01] [ 1.11828775e-01 -2.45565017e-03 9.93724456e-01 1.08897569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:19.68, Z:10.89 [[ 8.67307534e-01 -4.88009460e-01 -9.81040645e-02 9.43109219e+01] [ 4.85043387e-01 8.72837786e-01 -5.37318497e-02 1.96793368e+01] [ 1.11850585e-01 -9.82689676e-04 9.93724550e-01 1.08861292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:19.70, Z:10.89 [[ 8.68115812e-01 -4.86574183e-01 -9.80841542e-02 9.43344650e+01] [ 4.83594863e-01 8.73638937e-01 -5.37681704e-02 1.96954964e+01] [ 1.11852340e-01 -7.55994218e-04 9.93724551e-01 1.08866993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:19.71, Z:10.89 [[ 8.70235697e-01 -4.82776530e-01 -9.80645409e-02 9.43574643e+01] [ 4.79769077e-01 8.75743553e-01 -5.38039185e-02 1.97145554e+01] [ 1.11854659e-01 -2.26243819e-04 9.93724551e-01 1.08858504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:19.73, Z:10.89 [[ 8.71731463e-01 -4.80074098e-01 -9.80465082e-02 9.43820601e+01] [ 4.77045876e-01 8.77227927e-01 -5.38367593e-02 1.97295547e+01] [ 1.11854769e-01 1.58514499e-04 9.93724552e-01 1.08865953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:19.74, Z:10.88 [[ 8.74294965e-01 -4.75393232e-01 -9.80285082e-02 9.44074616e+01] [ 4.72331911e-01 8.79773062e-01 -5.38695148e-02 1.97448799e+01] [ 1.11852044e-01 7.95853019e-04 9.93724553e-01 1.08828761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:94.43, Y:19.76, Z:10.88 [[ 8.77407569e-01 -4.69627406e-01 -9.80104972e-02 9.44319214e+01] [ 4.66526431e-01 8.82863316e-01 -5.39022644e-02 1.97608943e+01] [ 1.11843853e-01 1.56976736e-03 9.93724554e-01 1.08835565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:19.78, Z:10.89 [[ 8.79039844e-01 -4.66568724e-01 -9.79927489e-02 9.44565402e+01] [ 4.63445172e-01 8.84482697e-01 -5.39345112e-02 1.97758177e+01] [ 1.11837047e-01 1.99631789e-03 9.93724554e-01 1.08887653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:19.79, Z:10.90 [[ 8.81991038e-01 -4.60969384e-01 -9.79746671e-02 9.44810466e+01] [ 4.57807640e-01 8.87411793e-01 -5.39673378e-02 1.97884488e+01] [ 1.11821166e-01 2.74515715e-03 9.93724555e-01 1.08955096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.51, Y:19.80, Z:10.90 [[ 8.83091010e-01 -4.58859980e-01 -9.79682962e-02 9.45073706e+01] [ 4.55684007e-01 8.88503440e-01 -5.39789006e-02 1.97995459e+01] [ 1.11813926e-01 3.02569607e-03 9.93724555e-01 1.09028506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:19.81, Z:10.91 [[ 8.82751950e-01 -4.59515847e-01 -9.79498870e-02 9.45326829e+01] [ 4.56340195e-01 8.88164568e-01 -5.40122854e-02 1.98128376e+01] [ 1.11815120e-01 2.98097974e-03 9.93724556e-01 1.09067806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:19.82, Z:10.91 [[ 8.81265992e-01 -4.62363209e-01 -9.79311724e-02 9.45536342e+01] [ 4.59201280e-01 8.86686637e-01 -5.40461963e-02 1.98196802e+01] [ 1.11823235e-01 2.65895498e-03 9.93724556e-01 1.09107652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:19.83, Z:10.92 [[ 8.76396664e-01 -4.71800750e-01 -9.66071392e-02 9.45859026e+01] [ 4.68432396e-01 8.81695173e-01 -5.64332530e-02 1.98291983e+01] [ 1.11803299e-01 4.20400102e-03 9.93721464e-01 1.09194875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:19.84, Z:10.92 [[ 8.73220915e-01 -4.77474616e-01 -9.74844865e-02 9.46142512e+01] [ 4.74316782e-01 8.78643983e-01 -5.48483535e-02 1.98399702e+01] [ 1.11842854e-01 1.65620146e-03 9.93724526e-01 1.09240767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.667105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:19.85, Z:10.93 [[ 8.68882728e-01 -4.85245356e-01 -9.78761958e-02 9.46419001e+01] [ 4.82215625e-01 8.74378019e-01 -5.41402870e-02 1.98465002e+01] [ 1.11852117e-01 -1.55870601e-04 9.93724851e-01 1.09271275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:19.85, Z:10.93 [[ 8.68907119e-01 -4.85205981e-01 -9.78548661e-02 9.46700998e+01] [ 4.82171662e-01 8.74399877e-01 -5.41788119e-02 1.98533961e+01] [ 1.11852166e-01 -1.06488037e-04 9.93724852e-01 1.09281190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:19.86, Z:10.93 [[ 8.70279140e-01 -4.82749490e-01 -9.78117969e-02 9.46963195e+01] [ 4.79690928e-01 8.75758437e-01 -5.42565470e-02 1.98644091e+01] [ 1.11851827e-01 2.98909384e-04 9.93724851e-01 1.09296356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:19.87, Z:10.93 [[ 8.74187394e-01 -4.75650874e-01 -9.77376426e-02 9.47230079e+01] [ 4.72532864e-01 8.79633098e-01 -5.43902946e-02 1.98737853e+01] [ 1.11844057e-01 1.36306162e-03 9.93724836e-01 1.09278653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:19.88, Z:10.93 [[ 8.77540733e-01 -4.69420531e-01 -9.78091382e-02 9.47507019e+01] [ 4.66278215e-01 8.82972437e-01 -5.42614226e-02 1.98824389e+01] [ 1.11834199e-01 2.01033814e-03 9.93724846e-01 1.09304213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.78, Y:19.89, Z:10.93 [[ 8.78813750e-01 -4.67036863e-01 -9.77903954e-02 9.47793373e+01] [ 4.63876061e-01 8.84234716e-01 -5.42951800e-02 1.98910451e+01] [ 1.11827513e-01 2.35272735e-03 9.93724847e-01 1.09328067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:94.81, Y:19.90, Z:10.94 [[ 8.79011147e-01 -4.66668955e-01 -9.77726446e-02 9.48053182e+01] [ 4.63502332e-01 8.84428715e-01 -5.43271263e-02 1.99026137e+01] [ 1.11825718e-01 2.43630079e-03 9.93724848e-01 1.09350499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:94.83, Y:19.91, Z:10.94 [[ 8.79661557e-01 -4.65446011e-01 -9.77525204e-02 9.48320618e+01] [ 4.62267839e-01 8.85072356e-01 -5.43633125e-02 1.99116575e+01] [ 1.11821241e-01 2.63346980e-03 9.93724849e-01 1.09406867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:19.92, Z:10.95 [[ 8.78606608e-01 -4.67436290e-01 -9.77432578e-02 9.48593936e+01] [ 4.64268524e-01 8.84023505e-01 -5.43799614e-02 1.99212579e+01] [ 1.11826505e-01 2.39947539e-03 9.93724849e-01 1.09460212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:94.89, Y:19.93, Z:10.95 [[ 8.76839095e-01 -4.70747070e-01 -9.77261320e-02 9.48852871e+01] [ 4.67596332e-01 8.82265914e-01 -5.44107209e-02 1.99325604e+01] [ 1.11834123e-01 2.01306639e-03 9.93724850e-01 1.09502435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.91, Y:19.94, Z:10.95 [[ 8.71815569e-01 -4.79990685e-01 -9.77064761e-02 9.49122329e+01] [ 4.76893542e-01 8.77273152e-01 -5.44459947e-02 1.99419094e+01] [ 1.11848839e-01 8.71278392e-04 9.93724850e-01 1.09535324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.997105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:94.94, Y:19.95, Z:10.95 [[ 8.66849265e-01 -4.88903860e-01 -9.77004013e-02 9.49375978e+01] [ 4.85861606e-01 8.72337634e-01 -5.44568934e-02 1.99531223e+01] [ 1.11851922e-01 -2.62955814e-04 9.93724850e-01 1.09534410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.027105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:94.96, Y:19.97, Z:10.95 [[ 8.64627312e-01 -4.92824516e-01 -9.76913920e-02 9.49633646e+01] [ 4.89805323e-01 8.70128400e-01 -5.44730506e-02 1.99660084e+01] [ 1.11849709e-01 -7.50876508e-04 9.93724851e-01 1.09543175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:94.99, Y:19.98, Z:10.95 [[ 8.61472364e-01 -4.98322215e-01 -9.76746422e-02 9.49891794e+01] [ 4.95334722e-01 8.66990732e-01 -5.45030681e-02 1.99772212e+01] [ 1.11843099e-01 -1.42875484e-03 9.93724851e-01 1.09544598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:95.01, Y:19.99, Z:10.96 [[ 8.60297204e-01 -5.00349420e-01 -9.76687215e-02 9.50130823e+01] [ 4.97373726e-01 8.65821943e-01 -5.45136758e-02 1.99902788e+01] [ 1.11839608e-01 -1.67989302e-03 9.93724851e-01 1.09594857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11710568099998 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:95.04, Y:20.00, Z:10.97 [[ 8.59010488e-01 -5.02558983e-01 -9.76496295e-02 9.50370830e+01] [ 4.99593615e-01 8.64540775e-01 -5.45478538e-02 2.00029059e+01] [ 1.11835600e-01 -1.92795285e-03 9.93724852e-01 1.09663908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:20.02, Z:10.97 [[ 8.61364221e-01 -4.98515172e-01 -9.76437487e-02 9.50620379e+01] [ 4.95522646e-01 8.66879859e-01 -5.45583787e-02 2.00154143e+01] [ 1.11843579e-01 -1.39005341e-03 9.93724852e-01 1.09711266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:95.09, Y:20.03, Z:10.97 [[ 8.64165875e-01 -4.93646618e-01 -9.76235454e-02 9.50860161e+01] [ 4.90618933e-01 8.69662292e-01 -5.45945055e-02 2.00296884e+01] [ 1.11849909e-01 -7.17251077e-04 9.93724853e-01 1.09721223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.11, Y:20.04, Z:10.98 [[ 8.69932147e-01 -4.83413812e-01 -9.76173450e-02 9.51095336e+01] [ 4.80320229e-01 8.75391745e-01 -5.46055899e-02 2.00443246e+01] [ 1.11850514e-01 6.15572542e-04 9.93724853e-01 1.09757642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:20.06, Z:10.98 [[ 8.74786962e-01 -4.74573808e-01 -9.76087706e-02 9.51354499e+01] [ 4.71423351e-01 8.80213940e-01 -5.46209125e-02 2.00556061e+01] [ 1.11838255e-01 1.76660835e-03 9.93724853e-01 1.09815046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.16, Y:20.07, Z:10.98 [[ 8.76091280e-01 -4.72165286e-01 -9.75910443e-02 9.51615278e+01] [ 4.68996386e-01 8.81507508e-01 -5.46525659e-02 2.00669757e+01] [ 1.11832283e-01 2.11078925e-03 9.93724854e-01 1.09843237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:95.19, Y:20.08, Z:10.99 [[ 8.76066284e-01 -4.72215957e-01 -9.75702684e-02 9.51896410e+01] [ 4.69043243e-01 8.81480278e-01 -5.46896319e-02 2.00769877e+01] [ 1.11831584e-01 2.14706744e-03 9.93724855e-01 1.09860376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32710568099999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:95.22, Y:20.09, Z:10.98 [[ 8.76142338e-01 -4.72024221e-01 -9.78148209e-02 9.52163471e+01] [ 4.68898937e-01 8.81584001e-01 -5.42534367e-02 2.00863252e+01] [ 1.11840917e-01 1.66846732e-03 9.93724723e-01 1.09846899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.357105681 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:95.24, Y:20.10, Z:10.99 [[ 8.76194232e-01 -4.71985460e-01 -9.75366271e-02 9.52423824e+01] [ 4.68804710e-01 8.81603474e-01 -5.47490554e-02 2.00973718e+01] [ 1.11829387e-01 2.24517638e-03 9.93724885e-01 1.09872279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.387105681 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:95.27, Y:20.11, Z:10.99 [[ 8.77892777e-01 -4.68823203e-01 -9.75144950e-02 9.52694398e+01] [ 4.65618597e-01 8.83287919e-01 -5.47884471e-02 2.01067476e+01] [ 1.11819471e-01 2.69381965e-03 9.93724886e-01 1.09896354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.417105681 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:95.29, Y:20.12, Z:10.99 [[ 8.81028923e-01 -4.62904791e-01 -9.75048266e-02 9.52949501e+01] [ 4.59662050e-01 8.86401230e-01 -5.48056483e-02 2.01193769e+01] [ 1.11798195e-01 3.46609284e-03 9.93724886e-01 1.09917461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44710568099998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:95.32, Y:20.13, Z:11.00 [[ 8.83515076e-01 -4.58146185e-01 -9.74842791e-02 9.53214863e+01] [ 4.54870492e-01 8.88867353e-01 -5.48421725e-02 2.01329423e+01] [ 1.11776325e-01 4.11116424e-03 9.93724887e-01 1.09982358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:95.34, Y:20.14, Z:11.00 [[ 8.86836878e-01 -4.51632169e-01 -9.77176296e-02 9.53449719e+01] [ 4.48362690e-01 8.92193103e-01 -5.44276123e-02 2.01445960e+01] [ 1.11764256e-01 4.45547449e-03 9.93724761e-01 1.09984967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:95.37, Y:20.15, Z:11.00 [[ 8.88751969e-01 -4.47911772e-01 -9.74422002e-02 9.53723538e+01] [ 4.44566374e-01 8.94060922e-01 -5.49163630e-02 2.01527950e+01] [ 1.11716949e-01 5.48750014e-03 9.93724917e-01 1.10027772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53710568099999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:95.40, Y:20.16, Z:11.01 [[ 8.89106972e-01 -4.47211038e-01 -9.74221747e-02 9.53981692e+01] [ 4.43857579e-01 8.94410835e-01 -5.49518657e-02 2.01647759e+01] [ 1.11710530e-01 5.61651628e-03 9.93724918e-01 1.10068157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:95.42, Y:20.18, Z:11.01 [[ 8.89141288e-01 -4.47146634e-01 -9.74046038e-02 9.54238390e+01] [ 4.43789392e-01 8.94442757e-01 -5.49829934e-02 2.01751636e+01] [ 1.11708303e-01 5.66051967e-03 9.93724918e-01 1.10102337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59710568099999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:95.45, Y:20.18, Z:11.01 [[ 8.88428097e-01 -4.48564015e-01 -9.73952785e-02 9.54522474e+01] [ 4.45213427e-01 8.93733774e-01 -5.49995071e-02 2.01810156e+01] [ 1.11716250e-01 5.50142172e-03 9.93724919e-01 1.10119767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62710568099999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:95.48, Y:20.19, Z:11.02 [[ 8.87780081e-01 -4.49846513e-01 -9.73891283e-02 9.54796129e+01] [ 4.46502399e-01 8.93089841e-01 -5.50103952e-02 2.01905889e+01] [ 1.11723476e-01 5.35265369e-03 9.93724919e-01 1.10153305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65710568099999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:95.51, Y:20.20, Z:11.02 [[ 8.88495599e-01 -4.48395048e-01 -9.75574263e-02 9.55088338e+01] [ 4.45074816e-01 8.93820411e-01 -5.47127051e-02 2.01958564e+01] [ 1.11731725e-01 5.19164413e-03 9.93724845e-01 1.10184456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68710568099999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:95.54, Y:20.20, Z:11.02 [[ 8.89646123e-01 -4.46153361e-01 -9.73496481e-02 9.55369435e+01] [ 4.42779626e-01 8.94937094e-01 -5.50799574e-02 2.02014352e+01] [ 1.11695919e-01 5.89722985e-03 9.93724934e-01 1.10223942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71710568099999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:95.57, Y:20.21, Z:11.03 [[ 8.90860649e-01 -4.43724671e-01 -9.73433093e-02 9.55652257e+01] [ 4.40335296e-01 8.96141614e-01 -5.50911578e-02 2.02070875e+01] [ 1.11678696e-01 6.21484973e-03 9.93724934e-01 1.10268101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.747105681 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:95.59, Y:20.22, Z:11.03 [[ 8.90941487e-01 -4.43566729e-01 -9.73232957e-02 9.55927006e+01] [ 4.40172573e-01 8.96219380e-01 -5.51264911e-02 2.02172557e+01] [ 1.11675301e-01 6.27543247e-03 9.93724935e-01 1.10326617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.777105681 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:95.62, Y:20.22, Z:11.04 [[ 8.90410440e-01 -4.44594577e-01 -9.74931300e-02 9.56204063e+01] [ 4.41239176e-01 8.95713133e-01 -5.48267643e-02 2.02214961e+01] [ 1.11701559e-01 5.80053498e-03 9.93724869e-01 1.10360713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80710568099998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:95.65, Y:20.23, Z:11.04 [[ 8.89059681e-01 -4.47331687e-01 -9.72997705e-02 9.56497419e+01] [ 4.43955382e-01 8.94348999e-01 -5.51678110e-02 2.02322636e+01] [ 1.11698262e-01 5.85071964e-03 9.93724945e-01 1.10426152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:95.68, Y:20.24, Z:11.05 [[ 8.88797769e-01 -4.47770989e-01 -9.76712209e-02 9.56796355e+01] [ 4.44468939e-01 8.94134079e-01 -5.45124781e-02 2.02368439e+01] [ 1.11740273e-01 5.03874499e-03 9.93724671e-01 1.10452643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:95.71, Y:20.24, Z:11.05 [[ 8.87654422e-01 -4.50022208e-01 -9.77222597e-02 9.57068143e+01] [ 4.46743551e-01 8.93005249e-01 -5.44226556e-02 2.02447566e+01] [ 1.11757894e-01 4.65172161e-03 9.93724577e-01 1.10476037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:95.73, Y:20.26, Z:11.05 [[ 8.87459384e-01 -4.50468508e-01 -9.74369834e-02 9.57313624e+01] [ 4.47137572e-01 8.92777319e-01 -5.49240360e-02 2.02591108e+01] [ 1.11731077e-01 5.17511492e-03 9.93725004e-01 1.10506543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:95.76, Y:20.27, Z:11.05 [[ 8.85343660e-01 -4.54616489e-01 -9.74189438e-02 9.57609117e+01] [ 4.51306999e-01 8.90674948e-01 -5.49557103e-02 2.02663795e+01] [ 1.11752385e-01 4.68883851e-03 9.93725022e-01 1.10508269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95710568099999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:95.79, Y:20.27, Z:11.05 [[ 8.85347017e-01 -4.54550216e-01 -9.76972898e-02 9.57850019e+01] [ 4.51294123e-01 8.90711531e-01 -5.44663431e-02 2.02747704e+01] [ 1.11777791e-01 4.13140169e-03 9.93724638e-01 1.10522661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.81, Y:20.28, Z:11.05 [[ 8.84186979e-01 -4.56911140e-01 -9.71884553e-02 9.58115237e+01] [ 4.53571130e-01 8.89499032e-01 -5.53597620e-02 2.02817708e+01] [ 1.11743529e-01 4.86650327e-03 9.93725164e-01 1.10546241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:95.84, Y:20.29, Z:11.06 [[ 8.83175623e-01 -4.58865746e-01 -9.71753428e-02 9.58389659e+01] [ 4.55534967e-01 8.88493468e-01 -5.53827693e-02 2.02889092e+01] [ 1.11752913e-01 4.64594518e-03 9.93725164e-01 1.10598269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:95.87, Y:20.30, Z:11.06 [[ 8.81344469e-01 -4.62377137e-01 -9.71561123e-02 9.58675877e+01] [ 4.59063839e-01 8.86673223e-01 -5.54164844e-02 2.03036786e+01] [ 1.11769039e-01 4.24015404e-03 9.93725165e-01 1.10622021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:95.89, Y:20.31, Z:11.07 [[ 8.81457603e-01 -4.62055681e-01 -9.76577788e-02 9.58931555e+01] [ 4.58837388e-01 8.86844911e-01 -5.45376507e-02 2.03114952e+01] [ 1.11806735e-01 3.26358682e-03 9.93724611e-01 1.10664416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.107105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:95.92, Y:20.32, Z:11.07 [[ 8.79439802e-01 -4.66000898e-01 -9.71019952e-02 9.59211882e+01] [ 4.62699253e-01 8.84775701e-01 -5.55100076e-02 2.03190604e+01] [ 1.11781199e-01 3.88868948e-03 9.93725234e-01 1.10733255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.137105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.95, Y:20.33, Z:11.08 [[ 8.76460695e-01 -4.71583780e-01 -9.70844389e-02 9.59488052e+01] [ 4.68312736e-01 8.81815407e-01 -5.55406959e-02 2.03319656e+01] [ 1.11802645e-01 3.21335773e-03 9.93725235e-01 1.10790461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.167105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:20.34, Z:11.08 [[ 8.72936089e-01 -4.77963566e-01 -9.76392026e-02 9.59744094e+01] [ 4.74839749e-01 8.78378737e-01 -5.45711162e-02 2.03396705e+01] [ 1.11847205e-01 1.27412231e-03 9.93724599e-01 1.10822326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:20.35, Z:11.09 [[ 8.68090412e-01 -4.86827293e-01 -9.70475336e-02 9.59999782e+01] [ 4.83643249e-01 8.73497230e-01 -5.56039366e-02 2.03515367e+01] [ 1.11840266e-01 1.33285976e-03 9.93725303e-01 1.10853327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:20.36, Z:11.09 [[ 8.65433689e-01 -4.91538720e-01 -9.70268806e-02 9.60254905e+01] [ 4.88380074e-01 8.70855383e-01 -5.56399521e-02 2.03648979e+01] [ 1.11845572e-01 7.66693884e-04 9.93725304e-01 1.10906529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:20.38, Z:11.10 [[ 8.60878195e-01 -4.99477807e-01 -9.70085278e-02 9.60498780e+01] [ 4.96365557e-01 8.66326653e-01 -5.56719321e-02 2.03769094e+01] [ 1.11847968e-01 -2.24939600e-04 9.93725305e-01 1.10990053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:20.39, Z:11.11 [[ 8.57246678e-01 -5.05686402e-01 -9.70020380e-02 9.60736737e+01] [ 5.02612330e-01 8.62716768e-01 -5.56832375e-02 2.03902859e+01] [ 1.11843541e-01 -1.02014997e-03 9.93725305e-01 1.11051612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:20.41, Z:11.11 [[ 8.54694212e-01 -5.09992658e-01 -9.69808916e-02 9.60966734e+01] [ 5.06941969e-01 8.60177375e-01 -5.57200432e-02 2.04050836e+01] [ 1.11837582e-01 -1.54008579e-03 9.93725306e-01 1.11101336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:20.42, Z:11.11 [[ 8.54200017e-01 -5.10824027e-01 -9.69594999e-02 9.61196666e+01] [ 5.07774453e-01 8.59683800e-01 -5.57572426e-02 2.04211005e+01] [ 1.11836651e-01 -1.60571938e-03 9.93725307e-01 1.11132687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.14, Y:20.44, Z:11.11 [[ 8.54469084e-01 -5.10377974e-01 -9.69376488e-02 9.61410694e+01] [ 5.07321231e-01 8.59948873e-01 -5.57952066e-02 2.04401755e+01] [ 1.11838066e-01 -1.50324821e-03 9.93725308e-01 1.11125072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:20.46, Z:11.11 [[ 8.55908308e-01 -5.07964850e-01 -9.69158383e-02 9.61655752e+01] [ 5.04888370e-01 8.61377039e-01 -5.58330659e-02 2.04571509e+01] [ 1.11842313e-01 -1.14369466e-03 9.93725309e-01 1.11109879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.19, Y:20.47, Z:11.11 [[ 8.56119496e-01 -5.07612440e-01 -9.68969545e-02 9.61893916e+01] [ 5.04530001e-01 8.61584870e-01 -5.58658191e-02 2.04730972e+01] [ 1.11843135e-01 -1.05960368e-03 9.93725309e-01 1.11118456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:20.49, Z:11.11 [[ 8.56795075e-01 -5.06474953e-01 -9.68778671e-02 9.62106637e+01] [ 5.03381518e-01 8.62254232e-01 -5.58988996e-02 2.04921776e+01] [ 1.11844743e-01 -8.72625966e-04 9.93725310e-01 1.11106823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:20.51, Z:11.11 [[ 8.56613971e-01 -5.06782490e-01 -9.68711117e-02 9.62333938e+01] [ 5.03689691e-01 8.62073488e-01 -5.59106040e-02 2.05089399e+01] [ 1.11844532e-01 -8.99175797e-04 9.93725310e-01 1.11109554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.527105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.26, Y:20.53, Z:11.11 [[ 8.56895239e-01 -5.06308039e-01 -9.68644405e-02 9.62568172e+01] [ 5.03210911e-01 8.62352301e-01 -5.59221593e-02 2.05258395e+01] [ 1.11845112e-01 -8.23811309e-04 9.93725310e-01 1.11125154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:20.54, Z:11.12 [[ 8.55618101e-01 -5.08466794e-01 -9.68461960e-02 9.62795002e+01] [ 5.05379860e-01 8.61080935e-01 -5.59537376e-02 2.05411486e+01] [ 1.11843031e-01 -1.06908619e-03 9.93725311e-01 1.11155091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:96.30, Y:20.56, Z:11.12 [[ 8.54015197e-01 -5.11156255e-01 -9.68365978e-02 9.63028753e+01] [ 5.08084641e-01 8.59486660e-01 -5.59703439e-02 2.05568368e+01] [ 1.11839355e-01 -1.40166366e-03 9.93725311e-01 1.11211638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:96.32, Y:20.58, Z:11.13 [[ 8.49527534e-01 -5.18583918e-01 -9.68178168e-02 9.63240448e+01] [ 5.15556434e-01 8.55023537e-01 -5.60028126e-02 2.05757771e+01] [ 1.11823670e-01 -2.33911707e-03 9.93725312e-01 1.11276295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:96.35, Y:20.60, Z:11.13 [[ 8.43882140e-01 -5.27722024e-01 -9.68111542e-02 9.63451033e+01] [ 5.24752711e-01 8.49409787e-01 -5.60143278e-02 2.05950240e+01] [ 1.11792336e-01 -3.53242488e-03 9.93725312e-01 1.11289422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:96.37, Y:20.61, Z:11.13 [[ 8.37720501e-01 -5.37453310e-01 -9.67899896e-02 9.63684787e+01] [ 5.34543957e-01 8.43279940e-01 -5.60508756e-02 2.06129904e+01] [ 1.11745785e-01 -4.78353646e-03 9.93725313e-01 1.11296274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:96.39, Y:20.63, Z:11.13 [[ 8.35541745e-01 -5.40837569e-01 -9.67714682e-02 9.63900432e+01] [ 5.37947037e-01 8.41110992e-01 -5.60828345e-02 2.06285531e+01] [ 1.11727250e-01 -5.19837523e-03 9.93725313e-01 1.11322249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73710568099999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:96.41, Y:20.65, Z:11.14 [[ 8.33410587e-01 -5.44117504e-01 -9.67622654e-02 9.64090986e+01] [ 5.41247048e-01 8.38990207e-01 -5.60987081e-02 2.06521264e+01] [ 1.11706882e-01 -5.61903323e-03 9.93725314e-01 1.11368743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76710568099999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:96.43, Y:20.68, Z:11.14 [[ 8.34557888e-01 -5.42359578e-01 -9.67430629e-02 9.64266602e+01] [ 5.39473542e-01 8.40129465e-01 -5.61318039e-02 2.06766999e+01] [ 1.11720319e-01 -5.34508310e-03 9.93725314e-01 1.11397762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79710568099999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:96.45, Y:20.70, Z:11.15 [[ 8.35315240e-01 -5.41193627e-01 -9.67362784e-02 9.64488636e+01] [ 5.38298463e-01 8.40882080e-01 -5.61434936e-02 2.06959036e+01] [ 1.11728304e-01 -5.17547409e-03 9.93725314e-01 1.11450431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82710568099999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:96.47, Y:20.72, Z:11.15 [[ 8.36808322e-01 -5.38885552e-01 -9.67170844e-02 9.64670391e+01] [ 5.35971221e-01 8.42365151e-01 -5.61765394e-02 2.07199033e+01] [ 1.11743827e-01 -4.82857807e-03 9.93725315e-01 1.11519033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.857105681 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:96.49, Y:20.75, Z:11.16 [[ 8.37871610e-01 -5.37232065e-01 -9.67102578e-02 9.64851249e+01] [ 5.34305414e-01 8.43421959e-01 -5.61882891e-02 2.07460715e+01] [ 1.11753706e-01 -4.59424207e-03 9.93725315e-01 1.11583113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.887105681 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:96.51, Y:20.77, Z:11.16 [[ 8.37501463e-01 -5.37812328e-01 -9.66912541e-02 9.65051112e+01] [ 5.34885757e-01 8.43051854e-01 -5.62209728e-02 2.07668996e+01] [ 1.11752073e-01 -4.63362761e-03 9.93725316e-01 1.11618771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91710568099998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:96.52, Y:20.79, Z:11.16 [[ 8.35445674e-01 -5.41004302e-01 -9.66688732e-02 9.65219437e+01] [ 5.38094494e-01 8.41004870e-01 -5.62594294e-02 2.07937408e+01] [ 1.11735587e-01 -5.01529159e-03 9.93725317e-01 1.11588181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94710568099998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:96.54, Y:20.82, Z:11.16 [[ 8.32362206e-01 -5.45738275e-01 -9.66586416e-02 9.65398265e+01] [ 5.42858038e-01 8.37936781e-01 -5.62770028e-02 2.08182254e+01] [ 1.11706345e-01 -5.62907039e-03 9.93725317e-01 1.11616220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:96.56, Y:20.84, Z:11.17 [[ 8.31029169e-01 -5.47769895e-01 -9.66367572e-02 9.65614216e+01] [ 5.44898933e-01 8.36608524e-01 -5.63145570e-02 2.08384567e+01] [ 1.11694554e-01 -5.85822649e-03 9.93725318e-01 1.11661469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:96.58, Y:20.86, Z:11.17 [[ 8.29280558e-01 -5.50416919e-01 -9.66176523e-02 9.65780557e+01] [ 5.47559961e-01 8.34867097e-01 -5.63473160e-02 2.08646692e+01] [ 1.11677415e-01 -6.17622423e-03 9.93725319e-01 1.11703193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:96.60, Y:20.89, Z:11.17 [[ 8.28875209e-01 -5.51028326e-01 -9.66109328e-02 9.65962537e+01] [ 5.48174151e-01 8.34463170e-01 -5.63588346e-02 2.08919675e+01] [ 1.11673580e-01 -6.24517536e-03 9.93725319e-01 1.11699786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06710568099999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:96.62, Y:20.91, Z:11.17 [[ 8.28794346e-01 -5.51153275e-01 -9.65919236e-02 9.66166407e+01] [ 5.48296163e-01 8.34380805e-01 -5.63913953e-02 2.09122006e+01] [ 1.11674749e-01 -6.22411150e-03 9.93725320e-01 1.11711448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:96.63, Y:20.94, Z:11.17 [[ 8.27470315e-01 -5.53140289e-01 -9.65851867e-02 9.66349367e+01] [ 5.50295249e-01 8.33062932e-01 -5.64029317e-02 2.09396673e+01] [ 1.11660273e-01 -6.47861764e-03 9.93725320e-01 1.11705007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:96.66, Y:20.96, Z:11.17 [[ 8.26361946e-01 -5.54797726e-01 -9.65682075e-02 9.66563963e+01] [ 5.51960521e-01 8.31958541e-01 -5.64319871e-02 2.09611037e+01] [ 1.11649083e-01 -6.66859151e-03 9.93725320e-01 1.11716019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15710568099999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:96.67, Y:20.99, Z:11.17 [[ 8.23918251e-01 -5.58422020e-01 -9.65586035e-02 9.66744290e+01] [ 5.55607510e-01 8.29526293e-01 -5.64484154e-02 2.09874876e+01] [ 1.11619939e-01 -7.13980564e-03 9.93725320e-01 1.11732193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18710568099999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:96.69, Y:21.01, Z:11.18 [[ 8.22316553e-01 -5.60781117e-01 -9.65402793e-02 9.66917582e+01] [ 5.57979036e-01 8.27930815e-01 -5.64797370e-02 2.10136905e+01] [ 1.11601442e-01 -7.42322938e-03 9.93725321e-01 1.11808834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21710568099999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:96.71, Y:21.04, Z:11.19 [[ 8.22381026e-01 -5.60689847e-01 -9.65212120e-02 9.67079002e+01] [ 5.57883342e-01 8.27993077e-01 -5.65123035e-02 2.10425693e+01] [ 1.11604770e-01 -7.37293024e-03 9.93725322e-01 1.11892291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.247105681 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:96.73, Y:21.06, Z:11.19 [[ 8.22356677e-01 -5.60741674e-01 -9.64275431e-02 9.67283141e+01] [ 5.57916869e-01 8.27959555e-01 -5.66722386e-02 2.10638311e+01] [ 1.11616592e-01 -7.19375914e-03 9.93725307e-01 1.11935808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.277105681 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:96.74, Y:21.09, Z:11.20 [[ 8.21341378e-01 -5.62234144e-01 -9.63903960e-02 9.67446720e+01] [ 5.59412122e-01 8.26945673e-01 -5.67356237e-02 2.10923931e+01] [ 1.11608326e-01 -7.32264060e-03 9.93725294e-01 1.11982198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30710568099998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:96.76, Y:21.12, Z:11.20 [[ 8.20631382e-01 -5.63251333e-01 -9.64990658e-02 9.67617197e+01] [ 5.60457914e-01 8.26249964e-01 -5.65501912e-02 2.11201265e+01] [ 1.11584320e-01 -7.67680358e-03 9.93725317e-01 1.12022787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:96.78, Y:21.14, Z:11.20 [[ 8.20656895e-01 -5.63217389e-01 -9.64802219e-02 9.67819306e+01] [ 5.60419984e-01 8.26273491e-01 -5.65823226e-02 2.11403181e+01] [ 1.11587198e-01 -7.63477126e-03 9.93725318e-01 1.12049379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:96.80, Y:21.17, Z:11.21 [[ 8.20482977e-01 -5.63497167e-01 -9.63256320e-02 9.67996189e+01] [ 5.60670911e-01 8.26085156e-01 -5.68458015e-02 2.11681921e+01] [ 1.11605623e-01 -7.36596739e-03 9.93725278e-01 1.12061293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:96.82, Y:21.19, Z:11.21 [[ 8.20533202e-01 -5.63402515e-01 -9.64513891e-02 9.68192730e+01] [ 5.60600617e-01 8.26147570e-01 -5.66316267e-02 2.11885533e+01] [ 1.11589482e-01 -7.60257827e-03 9.93725308e-01 1.12083507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:96.84, Y:21.22, Z:11.21 [[ 8.20522222e-01 -5.63420128e-01 -9.64419107e-02 9.68353724e+01] [ 5.60616466e-01 8.26135709e-01 -5.66477636e-02 2.12157674e+01] [ 1.11590596e-01 -7.58617423e-03 9.93725309e-01 1.12113622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.85, Y:21.24, Z:11.22 [[ 8.17584040e-01 -5.67688026e-01 -9.63672265e-02 9.68505639e+01] [ 5.64898773e-01 8.23204709e-01 -5.67748519e-02 2.12447589e+01] [ 1.11560358e-01 -8.01951527e-03 9.93725301e-01 1.12180011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:96.87, Y:21.26, Z:11.22 [[ 8.15711799e-01 -5.70365485e-01 -9.64234145e-02 9.68712847e+01] [ 5.67605883e-01 8.21347078e-01 -5.66792656e-02 2.12648501e+01] [ 1.11524987e-01 -8.49655162e-03 9.93725307e-01 1.12205238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:96.89, Y:21.29, Z:11.22 [[ 8.12436925e-01 -5.75024250e-01 -9.64020512e-02 9.68889087e+01] [ 5.72292672e-01 8.18085840e-01 -5.67155781e-02 2.12878092e+01] [ 1.11477986e-01 -9.09235762e-03 9.93725308e-01 1.12228141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:21.32, Z:11.22 [[ 8.08066332e-01 -5.81187236e-01 -9.61779576e-02 9.69064637e+01] [ 5.78453817e-01 8.13714449e-01 -5.70962113e-02 2.13170905e+01] [ 1.11444983e-01 -9.49698066e-03 9.93725225e-01 1.12247660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:21.34, Z:11.23 [[ 8.06832416e-01 -5.82866015e-01 -9.63777038e-02 9.69257083e+01] [ 5.80184378e-01 8.12505216e-01 -5.67570445e-02 2.13385884e+01] [ 1.11389139e-01 -1.01234148e-02 9.93725302e-01 1.12253113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:21.37, Z:11.22 [[ 8.05324234e-01 -5.84949626e-01 -9.63681106e-02 9.69430088e+01] [ 5.82280736e-01 8.11003042e-01 -5.67733281e-02 2.13668716e+01] [ 1.11364368e-01 -1.03923574e-02 9.93725302e-01 1.12240541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.637105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:21.39, Z:11.23 [[ 8.05148463e-01 -5.85194467e-01 -9.63503480e-02 9.69606233e+01] [ 5.82523739e-01 8.10826406e-01 -5.68034574e-02 2.13923856e+01] [ 1.11364475e-01 -1.03911486e-02 9.93725303e-01 1.12251074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:21.41, Z:11.23 [[ 8.06575063e-01 -5.83229935e-01 -9.63302144e-02 9.69777582e+01] [ 5.80541343e-01 8.12244568e-01 -5.68375807e-02 2.14097147e+01] [ 1.11393072e-01 -1.00798968e-02 9.93725304e-01 1.12265165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:97.00, Y:21.44, Z:11.23 [[ 8.07176058e-01 -5.82476838e-01 -9.58516813e-02 9.70005454e+01] [ 5.79687228e-01 8.12797138e-01 -5.76500642e-02 2.14376260e+01] [ 1.11487799e-01 -9.03024388e-03 9.93724773e-01 1.12294762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:97.02, Y:21.46, Z:11.23 [[ 8.07605557e-01 -5.81700468e-01 -9.69424034e-02 9.70158805e+01] [ 5.79124276e-01 8.13327609e-01 -5.57967152e-02 2.14624109e+01] [ 1.11302909e-01 -1.10799619e-02 9.93724759e-01 1.12302715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:97.04, Y:21.48, Z:11.23 [[ 8.08178201e-01 -5.81001332e-01 -9.63610307e-02 9.70369776e+01] [ 5.78303476e-01 8.13843185e-01 -5.67834444e-02 2.14832182e+01] [ 1.11414025e-01 -9.83477714e-03 9.93725411e-01 1.12328496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78710568099999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:97.05, Y:21.51, Z:11.24 [[ 8.10529259e-01 -5.77719753e-01 -9.63442113e-02 9.70532649e+01] [ 5.74995592e-01 8.16181640e-01 -5.68119676e-02 2.15097953e+01] [ 1.11455772e-01 -9.34973491e-03 9.93725411e-01 1.12417661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81710568099999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:97.08, Y:21.52, Z:11.24 [[ 8.10321977e-01 -5.78011519e-01 -9.63378327e-02 9.70774933e+01] [ 5.75288119e-01 8.15974725e-01 -5.68227819e-02 2.15243208e+01] [ 1.11453459e-01 -9.37726164e-03 9.93725411e-01 1.12449474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:97.09, Y:21.55, Z:11.25 [[ 8.16118071e-01 -5.69801956e-01 -9.63173191e-02 9.70931094e+01] [ 5.67017560e-01 8.21741023e-01 -5.68575324e-02 2.15456724e+01] [ 1.11545425e-01 -8.21115158e-03 9.93725412e-01 1.12544388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:97.12, Y:21.57, Z:11.26 [[ 8.17328568e-01 -5.68167803e-01 -9.57045419e-02 9.71161945e+01] [ 5.65251159e-01 8.22884803e-01 -5.78941153e-02 2.15684872e+01] [ 1.11647385e-01 -6.77858877e-03 9.93724767e-01 1.12579473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90710568099999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:97.13, Y:21.59, Z:11.26 [[ 8.25348971e-01 -5.56350185e-01 -9.62992615e-02 9.71315002e+01] [ 5.53470523e-01 8.30923697e-01 -5.68875235e-02 2.15934012e+01] [ 1.11666723e-01 -6.34674363e-03 9.93725446e-01 1.12607506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93710568099999 meters Centerline goodness : 0.998172 Centerline is valid? [True, True] Translation: X:97.15, Y:21.62, Z:11.26 [[ 8.32571574e-01 -5.45577384e-01 -9.57595543e-02 9.71497229e+01] [ 5.42520459e-01 8.38051705e-01 -5.78004462e-02 2.16240987e+01] [ 1.11786074e-01 -3.82850885e-03 9.93724920e-01 1.12616132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96710568099999 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:97.17, Y:21.64, Z:11.26 [[ 8.38044701e-01 -5.37037653e-01 -9.62893500e-02 9.71660756e+01] [ 5.34027435e-01 8.43550013e-01 -5.69040800e-02 2.16401895e+01] [ 1.11784516e-01 -3.73299192e-03 9.93725458e-01 1.12624569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.997105681 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:97.19, Y:21.67, Z:11.26 [[ 8.42550758e-01 -5.30126557e-01 -9.52578303e-02 9.71875770e+01] [ 5.26873363e-01 8.47918174e-01 -5.86449533e-02 2.16659289e+01] [ 1.11860093e-01 -7.77463454e-04 9.93723661e-01 1.12612206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.027105681 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:97.21, Y:21.69, Z:11.26 [[ 8.42882369e-01 -5.29524820e-01 -9.56701510e-02 9.72112305e+01] [ 5.26346594e-01 8.48293098e-01 -5.79489636e-02 2.16904468e+01] [ 1.11841743e-01 -1.51149847e-03 9.93724881e-01 1.12585975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05710568099998 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:97.23, Y:21.71, Z:11.26 [[ 8.42750782e-01 -5.29630493e-01 -9.62427140e-02 9.72344829e+01] [ 5.26562970e-01 8.48224313e-01 -5.69820429e-02 2.17080226e+01] [ 1.11814837e-01 -2.65618810e-03 9.93725509e-01 1.12594788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08710568099998 meters Centerline goodness : 0.997528 Centerline is valid? [True, True] Translation: X:97.26, Y:21.72, Z:11.26 [[ 8.41861183e-01 -5.31046633e-01 -9.62248558e-02 9.72569361e+01] [ 5.27984874e-01 8.47337939e-01 -5.70121840e-02 2.17234123e+01] [ 1.11811099e-01 -2.80892371e-03 9.93725509e-01 1.12621367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11710568099998 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:97.28, Y:21.74, Z:11.27 [[ 8.38939700e-01 -5.35718017e-01 -9.58456332e-02 9.72826683e+01] [ 5.32613650e-01 8.44392687e-01 -5.76514539e-02 2.17381208e+01] [ 1.11816274e-01 -2.68259906e-03 9.93725276e-01 1.12665536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14710568099999 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:97.31, Y:21.75, Z:11.27 [[ 8.38804138e-01 -5.35888587e-01 -9.60782985e-02 9.73096059e+01] [ 5.32830140e-01 8.44282779e-01 -5.72593376e-02 2.17500866e+01] [ 1.11801878e-01 -3.16404387e-03 9.93725480e-01 1.12707085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17710568099999 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:97.33, Y:21.76, Z:11.28 [[ 8.34726306e-01 -5.42196179e-01 -9.62044585e-02 9.73329516e+01] [ 5.39203559e-01 8.40241153e-01 -5.70467048e-02 2.17629633e+01] [ 1.11765451e-01 -4.25540124e-03 9.93725503e-01 1.12770867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20710568099999 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:97.36, Y:21.78, Z:11.28 [[ 8.33521430e-01 -5.44092087e-01 -9.59469946e-02 9.73591877e+01] [ 5.41062152e-01 8.39015960e-01 -5.74801366e-02 2.17750181e+01] [ 1.11775547e-01 -4.00236173e-03 9.93725419e-01 1.12797089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23710568099999 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:97.38, Y:21.79, Z:11.28 [[ 8.33923362e-01 -5.43437361e-01 -9.61647608e-02 9.73837276e+01] [ 5.40445262e-01 8.39438484e-01 -5.71134929e-02 2.17872556e+01] [ 1.11762007e-01 -4.34351334e-03 9.93725509e-01 1.12824023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26710568099999 meters Centerline goodness : 0.997844 Centerline is valid? [True, True] Translation: X:97.41, Y:21.80, Z:11.29 [[ 8.36925430e-01 -5.38806165e-01 -9.61443740e-02 9.74092884e+01] [ 5.35779603e-01 8.42421715e-01 -5.71477914e-02 2.17981589e+01] [ 1.11785691e-01 -3.68375460e-03 9.93725510e-01 1.12850503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29710568099999 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:97.44, Y:21.81, Z:11.29 [[ 8.41504651e-01 -5.31629682e-01 -9.61238963e-02 9.74355726e+01] [ 5.28552301e-01 8.46972644e-01 -5.71822149e-02 2.18103236e+01] [ 1.11814073e-01 -2.68740686e-03 9.93725511e-01 1.12901145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32710568099999 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:97.46, Y:21.82, Z:11.29 [[ 8.43797611e-01 -5.27986079e-01 -9.61056287e-02 9.74588462e+01] [ 5.24881590e-01 8.49250258e-01 -5.72129006e-02 2.18221900e+01] [ 1.11825345e-01 -2.16796640e-03 9.93725511e-01 1.12925594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.357105681 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:97.49, Y:21.83, Z:11.29 [[ 8.44605446e-01 -5.26748706e-01 -9.57989628e-02 9.74855869e+01] [ 5.23577814e-01 8.50019904e-01 -5.77272588e-02 2.18349277e+01] [ 1.11838784e-01 -1.40145429e-03 9.93725376e-01 1.12948352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.387105681 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:97.51, Y:21.84, Z:11.29 [[ 8.44570325e-01 -5.26756012e-01 -9.60680502e-02 9.75143615e+01] [ 5.23636411e-01 8.50014338e-01 -5.72759529e-02 2.18441137e+01] [ 1.11829673e-01 -1.93115882e-03 9.93725513e-01 1.12935010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41710568099998 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:97.54, Y:21.85, Z:11.30 [[ 8.44723627e-01 -5.26513420e-01 -9.60500488e-02 9.75404775e+01] [ 5.23388826e-01 8.50164775e-01 -5.73061248e-02 2.18545131e+01] [ 1.11830812e-01 -1.86368470e-03 9.93725514e-01 1.12961376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44710568099998 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:97.57, Y:21.86, Z:11.30 [[ 8.45208776e-01 -5.25735424e-01 -9.60436840e-02 9.75670635e+01] [ 5.22604610e-01 8.50646347e-01 -5.73167901e-02 2.18638916e+01] [ 1.11832676e-01 -1.74821799e-03 9.93725514e-01 1.13038679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47710568099998 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] Translation: X:97.59, Y:21.87, Z:11.31 [[ 8.46827239e-01 -5.23128342e-01 -9.60227344e-02 9.75937326e+01] [ 5.19976809e-01 8.52252827e-01 -5.73518656e-02 2.18737186e+01] [ 1.11838033e-01 -1.36247307e-03 9.93725514e-01 1.13095846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50710568099998 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:97.62, Y:21.88, Z:11.31 [[ 8.49431426e-01 -5.18892971e-01 -9.60017556e-02 9.76216135e+01] [ 5.15710417e-01 8.54838875e-01 -5.73869609e-02 2.18808420e+01] [ 1.11843723e-01 -7.62817400e-04 9.93725515e-01 1.13133206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53710568099999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:97.65, Y:21.89, Z:11.32 [[ 8.50819032e-01 -5.16618668e-01 -9.59798225e-02 9.76459731e+01] [ 5.13417523e-01 8.56215496e-01 -5.74236210e-02 2.18915397e+01] [ 1.11845526e-01 -4.20613047e-04 9.93725516e-01 1.13173291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56710568099999 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:97.67, Y:21.90, Z:11.33 [[ 8.53179184e-01 -5.12713346e-01 -9.59703374e-02 9.76736615e+01] [ 5.09485716e-01 8.58559848e-01 -5.74394687e-02 2.18997788e+01] [ 1.11846261e-01 1.10643009e-04 9.93725516e-01 1.13250651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59710568099999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:97.70, Y:21.91, Z:11.33 [[ 8.54699533e-01 -5.10178575e-01 -9.59506642e-02 9.77009661e+01] [ 5.06931300e-01 8.60068364e-01 -5.74723136e-02 2.19064632e+01] [ 1.11845274e-01 4.81164651e-04 9.93725517e-01 1.13279781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:97.73, Y:21.92, Z:11.33 [[ 8.54715607e-01 -5.10154502e-01 -9.59354712e-02 9.77269581e+01] [ 5.06904231e-01 8.60082624e-01 -5.74976634e-02 2.19167626e+01] [ 1.11845124e-01 5.14054021e-04 9.93725517e-01 1.13310559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:97.76, Y:21.92, Z:11.33 [[ 8.53338807e-01 -5.12458323e-01 -9.59132282e-02 9.77570964e+01] [ 5.09218373e-01 8.58712060e-01 -5.75347438e-02 2.19236542e+01] [ 1.11846004e-01 2.55851625e-04 9.93725518e-01 1.13317000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.78, Y:21.93, Z:11.33 [[ 8.51707952e-01 -5.15167613e-01 -9.58952344e-02 9.77839660e+01] [ 5.11941380e-01 8.57089451e-01 -5.75647191e-02 2.19334597e+01] [ 1.11846273e-01 -6.44096952e-05 9.93725519e-01 1.13348589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:97.81, Y:21.94, Z:11.34 [[ 8.46260139e-01 -5.24072655e-01 -9.58729914e-02 9.78123332e+01] [ 5.20898851e-01 8.51672723e-01 -5.76017409e-02 2.19398403e+01] [ 1.11839909e-01 -1.19407381e-03 9.93725520e-01 1.13357577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.747105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:97.84, Y:21.95, Z:11.34 [[ 8.38767685e-01 -5.35983637e-01 -9.58661099e-02 9.78419772e+01] [ 5.32885359e-01 8.44223853e-01 -5.76131914e-02 2.19467917e+01] [ 1.11812185e-01 -2.76156325e-03 9.93725520e-01 1.13367492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.777105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.87, Y:21.96, Z:11.34 [[ 8.34527224e-01 -5.42565797e-01 -9.58471068e-02 9.78678940e+01] [ 5.39506915e-01 8.40005575e-01 -5.76447884e-02 2.19576111e+01] [ 1.11788195e-01 -3.60403163e-03 9.93725521e-01 1.13397455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:21.96, Z:11.34 [[ 8.25198270e-01 -5.56655503e-01 -9.58251838e-02 9.78952051e+01] [ 5.53685853e-01 8.30725499e-01 -5.76812090e-02 2.19648650e+01] [ 1.11712986e-01 -5.45861474e-03 9.93725522e-01 1.13448407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:21.97, Z:11.35 [[ 8.18982970e-01 -5.65761186e-01 -9.58184516e-02 9.79218345e+01] [ 5.62851636e-01 8.24542070e-01 -5.76923902e-02 2.19739520e+01] [ 1.11646460e-01 -6.68248712e-03 9.93725522e-01 1.13545320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:21.99, Z:11.36 [[ 8.17618694e-01 -5.67734149e-01 -9.57998276e-02 9.79461172e+01] [ 5.64834407e-01 8.23182916e-01 -5.77232995e-02 2.19871409e+01] [ 1.11632270e-01 -6.91539012e-03 9.93725522e-01 1.13607368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:22.00, Z:11.37 [[ 8.16445026e-01 -5.69421785e-01 -9.57932649e-02 9.79717906e+01] [ 5.66532272e-01 8.22014567e-01 -5.77341883e-02 2.20042828e+01] [ 1.11618564e-01 -7.13318510e-03 9.93725522e-01 1.13691989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:22.02, Z:11.37 [[ 8.18900524e-01 -5.65747947e-01 -9.65980946e-02 9.79933906e+01] [ 5.62989507e-01 8.24537468e-01 -5.63983895e-02 2.20163995e+01] [ 1.11556021e-01 -8.19904294e-03 9.93724323e-01 1.13729292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.02, Y:22.03, Z:11.37 [[ 8.19873810e-01 -5.64479651e-01 -9.57583342e-02 9.80161462e+01] [ 5.61550032e-01 8.25422231e-01 -5.77901590e-02 2.20343060e+01] [ 1.11662427e-01 -6.39245774e-03 9.93725636e-01 1.13711212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:22.05, Z:11.37 [[ 8.18567605e-01 -5.66375635e-01 -9.57377473e-02 9.80418216e+01] [ 5.63454896e-01 8.24120705e-01 -5.78242443e-02 2.20523361e+01] [ 1.11649703e-01 -6.61084934e-03 9.93725636e-01 1.13739743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:98.06, Y:22.07, Z:11.37 [[ 8.17907974e-01 -5.67229366e-01 -9.63192187e-02 9.80625983e+01] [ 5.64426828e-01 8.23522377e-01 -5.68616731e-02 2.20701970e+01] [ 1.11574643e-01 -7.85753525e-03 9.93724991e-01 1.13718022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:22.09, Z:11.37 [[ 8.16947741e-01 -5.68678854e-01 -9.59205355e-02 9.80847518e+01] [ 5.65809167e-01 8.22527413e-01 -5.75207916e-02 2.20872823e+01] [ 1.11608128e-01 -7.28123752e-03 9.93725621e-01 1.13727215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:22.10, Z:11.38 [[ 8.15240982e-01 -5.71117439e-01 -9.59531801e-02 9.81054973e+01] [ 5.68270747e-01 8.20832455e-01 -5.74668541e-02 2.21043839e+01] [ 1.11581807e-01 -7.67805074e-03 9.93725590e-01 1.13767756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:22.12, Z:11.38 [[ 8.11955848e-01 -5.75829671e-01 -9.56446135e-02 9.81267293e+01] [ 5.72955727e-01 8.17533179e-01 -5.79761675e-02 2.21236984e+01] [ 1.11577042e-01 -7.72604084e-03 9.93725753e-01 1.13823505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.137105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:22.14, Z:11.39 [[ 8.10928749e-01 -5.77274369e-01 -9.56497087e-02 9.81486472e+01] [ 5.74411344e-01 8.16511694e-01 -5.79677601e-02 2.21408568e+01] [ 1.11562408e-01 -7.93455460e-03 9.93725753e-01 1.13856729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:98.17, Y:22.16, Z:11.38 [[ 8.09189461e-01 -5.79713318e-01 -9.56288956e-02 9.81691194e+01] [ 5.76863090e-01 8.14778948e-01 -5.80020752e-02 2.21634581e+01] [ 1.11540986e-01 -8.23011228e-03 9.93725754e-01 1.13842710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:98.19, Y:22.18, Z:11.39 [[ 8.08691474e-01 -5.80410765e-01 -9.56109014e-02 9.81909932e+01] [ 5.77561879e-01 8.14281644e-01 -5.80317219e-02 2.21816433e+01] [ 1.11536438e-01 -8.29145318e-03 9.93725754e-01 1.13851559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:98.21, Y:22.20, Z:11.39 [[ 8.08128014e-01 -5.81196078e-01 -9.56045629e-02 9.82101420e+01] [ 5.78351397e-01 8.13720326e-01 -5.80421623e-02 2.22034934e+01] [ 1.11529253e-01 -8.38753519e-03 9.93725754e-01 1.13861403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25710568099998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:98.23, Y:22.22, Z:11.39 [[ 8.08256503e-01 -5.81020685e-01 -9.55844578e-02 9.82297008e+01] [ 5.78170908e-01 8.13846218e-01 -5.80752529e-02 2.22249744e+01] [ 1.11533973e-01 -8.32445190e-03 9.93725755e-01 1.13895170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28710568099999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:98.25, Y:22.24, Z:11.39 [[ 8.08787610e-01 -5.80284442e-01 -9.55644787e-02 9.82518384e+01] [ 5.77425721e-01 8.14372755e-01 -5.81081108e-02 2.22421913e+01] [ 1.11544340e-01 -8.18426789e-03 9.93725756e-01 1.13922313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31710568099999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:98.27, Y:22.26, Z:11.39 [[ 8.09873930e-01 -5.78768373e-01 -9.55582952e-02 9.82719267e+01] [ 5.75898004e-01 8.15453098e-01 -5.81182778e-02 2.22630815e+01] [ 1.11560329e-01 -7.96335341e-03 9.93725756e-01 1.13946865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34710568099999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:98.29, Y:22.29, Z:11.40 [[ 8.11899419e-01 -5.75926828e-01 -9.55385897e-02 9.82905038e+01] [ 5.73033139e-01 8.17466527e-01 -5.81506530e-02 2.22851079e+01] [ 1.11590120e-01 -7.53429655e-03 9.93725757e-01 1.14006526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37710568099999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:98.31, Y:22.30, Z:11.41 [[ 8.13019587e-01 -5.74347904e-01 -9.55177269e-02 9.83111501e+01] [ 5.71439401e-01 8.18578969e-01 -5.81849020e-02 2.23034877e+01] [ 1.11607179e-01 -7.27712764e-03 9.93725757e-01 1.14061090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:98.33, Y:22.32, Z:11.42 [[ 8.17014129e-01 -5.68652900e-01 -9.55080688e-02 9.83299186e+01] [ 5.65703777e-01 8.22552071e-01 -5.82007512e-02 2.23249736e+01] [ 1.11656386e-01 -6.47843924e-03 9.93725758e-01 1.14157940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43710568099999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:98.35, Y:22.34, Z:11.42 [[ 8.23648501e-01 -5.59001336e-01 -9.55021066e-02 9.83518287e+01] [ 5.55986132e-01 8.29150743e-01 -5.82105329e-02 2.23437983e+01] [ 1.11725408e-01 -5.15282875e-03 9.93725758e-01 1.14167491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46710568099999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:98.37, Y:22.36, Z:11.42 [[ 8.27368270e-01 -5.53464362e-01 -9.55978395e-02 9.83733023e+01] [ 5.50430409e-01 8.32860221e-01 -5.80535664e-02 2.23605446e+01] [ 1.11750218e-01 -4.58827918e-03 9.93725735e-01 1.14197861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.497105681 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:98.39, Y:22.38, Z:11.42 [[ 8.36472181e-01 -5.39628943e-01 -9.54719577e-02 9.83920832e+01] [ 5.36480537e-01 8.41899295e-01 -5.82598585e-02 2.23827409e+01] [ 1.11816480e-01 -2.48609621e-03 9.93725764e-01 1.14216266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.527105681 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:98.41, Y:22.40, Z:11.42 [[ 8.41327524e-01 -5.32031295e-01 -9.54499847e-02 9.84123433e+01] [ 5.28829785e-01 8.46723481e-01 -5.82958358e-02 2.24019057e+01] [ 1.11834952e-01 -1.43090371e-03 9.93725765e-01 1.14247681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55710568099998 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:98.43, Y:22.42, Z:11.42 [[ 8.50168127e-01 -5.17791127e-01 -9.54280126e-02 9.84336028e+01] [ 5.14495188e-01 8.55506928e-01 -5.83317814e-02 2.24230241e+01] [ 1.11843005e-01 4.94567941e-04 9.93725766e-01 1.14238209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58710568099998 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:98.46, Y:22.44, Z:11.42 [[ 8.53686120e-01 -5.11973813e-01 -9.54087150e-02 9.84601176e+01] [ 5.08637971e-01 8.59000079e-01 -5.83633280e-02 2.24353586e+01] [ 1.11836589e-01 1.29546781e-03 9.93725767e-01 1.14185106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61710568099998 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:98.49, Y:22.45, Z:11.42 [[ 8.53370213e-01 -5.12503794e-01 -9.53894185e-02 9.84851513e+01] [ 5.09167729e-01 8.58684031e-01 -5.83948496e-02 2.24478669e+01] [ 1.11836952e-01 1.26321167e-03 9.93725767e-01 1.14218041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64710568099999 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:98.51, Y:22.46, Z:11.43 [[ 8.52480313e-01 -5.13986805e-01 -9.53670822e-02 9.85115078e+01] [ 5.10655906e-01 8.57797370e-01 -5.84313053e-02 2.24587920e+01] [ 1.11838552e-01 1.11177363e-03 9.93725768e-01 1.14288375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67710568099999 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:98.54, Y:22.47, Z:11.43 [[ 8.51115511e-01 -5.16247305e-01 -9.53472961e-02 9.85378696e+01] [ 5.12926913e-01 8.56439135e-01 -5.84635743e-02 2.24686532e+01] [ 1.11840818e-01 8.53060659e-04 9.93725769e-01 1.14303095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70710568099999 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:98.56, Y:22.48, Z:11.43 [[ 8.50919773e-01 -5.16571163e-01 -9.53403029e-02 9.85618166e+01] [ 5.13251520e-01 8.56243864e-01 -5.84749763e-02 2.24836026e+01] [ 1.11841036e-01 8.23958187e-04 9.93725769e-01 1.14334894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73710568099999 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:98.59, Y:22.49, Z:11.44 [[ 8.48957539e-01 -5.19793785e-01 -9.53179840e-02 9.85892800e+01] [ 5.16490270e-01 8.54291651e-01 -5.85113352e-02 2.24926264e+01] [ 1.11843186e-01 4.42827901e-04 9.93725770e-01 1.14366646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76710568099999 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:98.62, Y:22.50, Z:11.44 [[ 8.47868558e-01 -5.21572255e-01 -9.52958044e-02 9.86160906e+01] [ 5.18275871e-01 8.53207079e-01 -5.85474363e-02 2.25031663e+01] [ 1.11843773e-01 2.51014438e-04 9.93725771e-01 1.14416803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79710568099999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:98.65, Y:22.51, Z:11.45 [[ 8.45421309e-01 -5.25533264e-01 -9.52764355e-02 9.86465262e+01] [ 5.22258341e-01 8.50773021e-01 -5.85789393e-02 2.25072561e+01] [ 1.11843802e-01 -2.35029691e-04 9.93725771e-01 1.14485109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82710568099999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:98.67, Y:22.51, Z:11.45 [[ 8.42331779e-01 -5.30474544e-01 -9.52571887e-02 9.86743747e+01] [ 5.27227476e-01 8.47700437e-01 -5.86102207e-02 2.25125714e+01] [ 1.11840791e-01 -8.52955640e-04 9.93725772e-01 1.14518234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.857105681 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:98.70, Y:22.52, Z:11.45 [[ 8.40120920e-01 -5.33970705e-01 -9.52477063e-02 9.87001259e+01] [ 5.30744231e-01 8.45501979e-01 -5.86256266e-02 2.25237373e+01] [ 1.11836491e-01 -1.29955530e-03 9.93725772e-01 1.14548248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.887105681 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:98.73, Y:22.53, Z:11.46 [[ 8.36661614e-01 -5.39378669e-01 -9.52260223e-02 9.87293113e+01] [ 5.36182967e-01 8.42061003e-01 -5.86608270e-02 2.25312340e+01] [ 1.11826519e-01 -1.97930902e-03 9.93725773e-01 1.14566479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91710568099998 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:98.76, Y:22.54, Z:11.46 [[ 8.35396537e-01 -5.41339321e-01 -9.52069635e-02 9.87591368e+01] [ 5.38152768e-01 8.40801330e-01 -5.86917434e-02 2.25374777e+01] [ 1.11822290e-01 -2.20501182e-03 9.93725774e-01 1.14569664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94710568099998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:98.79, Y:22.55, Z:11.46 [[ 8.35992212e-01 -5.40422360e-01 -9.51876796e-02 9.87857406e+01] [ 5.37226321e-01 8.41391401e-01 -5.87230021e-02 2.25480475e+01] [ 1.11825318e-01 -2.04535453e-03 9.93725774e-01 1.14600665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:98.81, Y:22.56, Z:11.47 [[ 8.40021227e-01 -5.34142246e-01 -9.51651135e-02 9.88138546e+01] [ 5.30901694e-01 8.45393817e-01 -5.87595496e-02 2.25556401e+01] [ 1.11837956e-01 -1.16405103e-03 9.93725775e-01 1.14655609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00710568099998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:98.84, Y:22.57, Z:11.47 [[ 8.43124306e-01 -5.29231848e-01 -9.51580504e-02 9.88381835e+01] [ 5.25958714e-01 8.48477108e-01 -5.87709857e-02 2.25675879e+01] [ 1.11842905e-01 -4.97959223e-04 9.93725775e-01 1.14712154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:98.86, Y:22.58, Z:11.48 [[ 8.49984969e-01 -5.18142677e-01 -9.51510332e-02 9.88634348e+01] [ 5.14798438e-01 8.55293636e-01 -5.87823444e-02 2.25788388e+01] [ 1.11839715e-01 9.80505954e-04 9.93725775e-01 1.14783618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:98.89, Y:22.59, Z:11.49 [[ 8.54590912e-01 -5.10511488e-01 -9.51440652e-02 9.88898538e+01] [ 5.07118596e-01 8.59868618e-01 -5.87936206e-02 2.25879411e+01] [ 1.11826215e-01 1.99516913e-03 9.93725776e-01 1.14872437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:98.91, Y:22.60, Z:11.49 [[ 8.55134185e-01 -5.09602246e-01 -9.51371457e-02 9.89147549e+01] [ 5.06202498e-01 8.60407476e-01 -5.88048154e-02 2.25988829e+01] [ 1.11823777e-01 2.12734710e-03 9.93725776e-01 1.14938964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:22.61, Z:11.50 [[ 8.54452366e-01 -5.10748782e-01 -9.51148623e-02 9.89417907e+01] [ 5.07352101e-01 8.59727632e-01 -5.88408361e-02 2.26056791e+01] [ 1.11825761e-01 2.01996635e-03 9.93725777e-01 1.15012785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:22.62, Z:11.50 [[ 8.52816972e-01 -5.13476595e-01 -9.51052005e-02 9.89675762e+01] [ 5.10095048e-01 8.58101952e-01 -5.88564485e-02 2.26164522e+01] [ 1.11831367e-01 1.68108628e-03 9.93725777e-01 1.15040883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.00, Y:22.62, Z:11.51 [[ 8.46327854e-01 -5.24107383e-01 -9.50821438e-02 9.89989838e+01] [ 5.20788047e-01 8.51652127e-01 -5.88936731e-02 2.26169319e+01] [ 1.11843519e-01 3.25711955e-04 9.93725778e-01 1.15050615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:22.63, Z:11.51 [[ 8.44177160e-01 -5.27566290e-01 -9.50722510e-02 9.90255433e+01] [ 5.24266972e-01 8.49513859e-01 -5.89096387e-02 2.26259756e+01] [ 1.11843934e-01 -1.13069682e-04 9.93725778e-01 1.15084324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:22.63, Z:11.51 [[ 8.40632739e-01 -5.33200006e-01 -9.50492007e-02 9.90542843e+01] [ 5.29932249e-01 8.45988821e-01 -5.89468066e-02 2.26316287e+01] [ 1.11840999e-01 -8.17021119e-04 9.93725779e-01 1.15128729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:99.08, Y:22.64, Z:11.51 [[ 8.38026914e-01 -5.37290301e-01 -9.50264393e-02 9.90808470e+01] [ 5.34044526e-01 8.43396344e-01 -5.89834769e-02 2.26417617e+01] [ 1.11836202e-01 -1.31860865e-03 9.93725780e-01 1.15131219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:99.11, Y:22.65, Z:11.51 [[ 8.37070619e-01 -5.38782919e-01 -9.50039190e-02 9.91066260e+01] [ 5.35542604e-01 8.42443346e-01 -5.90197281e-02 2.26544868e+01] [ 1.11834241e-01 -1.47496578e-03 9.93725781e-01 1.15134872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:99.14, Y:22.66, Z:11.51 [[ 8.37023193e-01 -5.38860299e-01 -9.49829030e-02 9.91353261e+01] [ 5.35616646e-01 8.42393904e-01 -5.90535307e-02 2.26614038e+01] [ 1.11834622e-01 -1.44524911e-03 9.93725781e-01 1.15115795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:99.16, Y:22.67, Z:11.51 [[ 8.37823766e-01 -5.37615942e-01 -9.49759777e-02 9.91612956e+01] [ 5.34363050e-01 8.43188885e-01 -5.90646667e-02 2.26721952e+01] [ 1.11836795e-01 -1.26587163e-03 9.93725782e-01 1.15142031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:22.68, Z:11.52 [[ 8.40628677e-01 -5.33223387e-01 -9.49539238e-02 9.91879239e+01] [ 5.29938455e-01 8.45974239e-01 -5.91001000e-02 2.26810264e+01] [ 1.11842129e-01 -6.38496746e-04 9.93725782e-01 1.15199782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.21, Y:22.69, Z:11.53 [[ 8.46860264e-01 -5.23271190e-01 -9.49471179e-02 9.92132224e+01] [ 5.19922211e-01 8.52165935e-01 -5.91110320e-02 2.26920072e+01] [ 1.11841800e-01 6.93668715e-04 9.93725782e-01 1.15267204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.24, Y:22.71, Z:11.53 [[ 8.50443983e-01 -5.17427639e-01 -9.49403472e-02 9.92371153e+01] [ 5.14040993e-01 8.55725691e-01 -5.91219048e-02 2.27052203e+01] [ 1.11834202e-01 1.47663786e-03 9.93725783e-01 1.15302988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:22.72, Z:11.54 [[ 8.55496629e-01 -5.09034320e-01 -9.49188062e-02 9.92630635e+01] [ 5.05592034e-01 8.60742242e-01 -5.91564682e-02 2.27190456e+01] [ 1.11813299e-01 2.61796686e-03 9.93725783e-01 1.15354863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:22.73, Z:11.54 [[ 8.60906432e-01 -4.99748504e-01 -9.53496128e-02 9.92883590e+01] [ 4.96325942e-01 8.66165331e-01 -5.84651916e-02 2.27269800e+01] [ 1.11806421e-01 3.00857310e-03 9.93725451e-01 1.15362791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:22.74, Z:11.54 [[ 8.62311198e-01 -4.97432632e-01 -9.47637765e-02 9.93145009e+01] [ 4.93892618e-01 8.67491340e-01 -5.94041909e-02 2.27394463e+01] [ 1.11756338e-01 4.42176944e-03 9.93725802e-01 1.15380591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:99.34, Y:22.75, Z:11.53 [[ 8.63377539e-01 -4.95579506e-01 -9.47638049e-02 9.93426450e+01] [ 4.92028379e-01 8.68550069e-01 -5.94041453e-02 2.27495447e+01] [ 1.11746586e-01 4.66172345e-03 9.93725802e-01 1.15339279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:22.76, Z:11.54 [[ 8.63666548e-01 -4.95052902e-01 -9.48826581e-02 9.93687828e+01] [ 4.91519482e-01 8.68851159e-01 -5.92137031e-02 2.27618638e+01] [ 1.11752823e-01 4.50421959e-03 9.93725827e-01 1.15362186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.637105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:99.40, Y:22.77, Z:11.54 [[ 8.63226172e-01 -4.95824186e-01 -9.48628079e-02 9.93985267e+01] [ 4.92291913e-01 8.68411564e-01 -5.92454870e-02 2.27694339e+01] [ 1.11755305e-01 4.44206176e-03 9.93725827e-01 1.15381211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:99.43, Y:22.77, Z:11.54 [[ 8.61148008e-01 -4.99428324e-01 -9.48443857e-02 9.94273888e+01] [ 4.95914517e-01 8.66345930e-01 -5.92749640e-02 2.27749518e+01] [ 1.11771643e-01 4.00980946e-03 9.93725828e-01 1.15422825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:99.46, Y:22.78, Z:11.55 [[ 8.58632844e-01 -5.03741503e-01 -9.48374258e-02 9.94569387e+01] [ 5.00252585e-01 8.63847504e-01 -5.92860975e-02 2.27803943e+01] [ 1.11789941e-01 3.46232311e-03 9.93725828e-01 1.15511348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:22.79, Z:11.55 [[ 8.57291323e-01 -5.06040932e-01 -9.47320590e-02 9.94839655e+01] [ 5.02547395e-01 8.62502909e-01 -5.94545818e-02 2.27899574e+01] [ 1.11793129e-01 3.36254757e-03 9.93725812e-01 1.15542439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:22.79, Z:11.56 [[ 8.54674008e-01 -5.10431331e-01 -9.48271936e-02 9.95143273e+01] [ 5.06981426e-01 8.59914561e-01 -5.93024609e-02 2.27941547e+01] [ 1.11813119e-01 2.60864607e-03 9.93725828e-01 1.15642905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.55, Y:22.80, Z:11.57 [[ 8.52257518e-01 -5.14463794e-01 -9.47846371e-02 9.95455423e+01] [ 5.11031127e-01 8.57509379e-01 -5.93704691e-02 2.28002184e+01] [ 1.11822672e-01 2.16102870e-03 9.93725827e-01 1.15661958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:99.57, Y:22.81, Z:11.57 [[ 8.50678073e-01 -5.17045066e-01 -9.49274265e-02 9.95697661e+01] [ 5.13653765e-01 8.55956771e-01 -5.91423366e-02 2.28103139e+01] [ 1.11833027e-01 1.55125891e-03 9.93725801e-01 1.15739149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:22.82, Z:11.58 [[ 8.47934343e-01 -5.21557319e-01 -9.47908906e-02 9.95978172e+01] [ 5.18169723e-01 8.53215380e-01 -5.93603739e-02 2.28170537e+01] [ 1.11836883e-01 1.21593008e-03 9.93725834e-01 1.15764598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:99.62, Y:22.83, Z:11.58 [[ 8.46262649e-01 -5.24268143e-01 -9.47757512e-02 9.96242261e+01] [ 5.20894758e-01 8.51552775e-01 -5.93845359e-02 2.28287573e+01] [ 1.11839974e-01 8.86722741e-04 9.93725834e-01 1.15781341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:22.84, Z:11.58 [[ 8.43207525e-01 -5.29171376e-01 -9.47561291e-02 9.96510165e+01] [ 5.25825237e-01 8.48514926e-01 -5.94158293e-02 2.28380480e+01] [ 1.11843146e-01 2.74710288e-04 9.93725835e-01 1.15782956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:22.85, Z:11.58 [[ 8.41546500e-01 -5.31810187e-01 -9.47492143e-02 9.96765848e+01] [ 5.28479449e-01 8.46863579e-01 -5.94268541e-02 2.28483667e+01] [ 1.11843465e-01 -6.25515526e-05 9.93725835e-01 1.15834481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:99.70, Y:22.86, Z:11.59 [[ 8.40760660e-01 -5.33055726e-01 -9.47264761e-02 9.97019336e+01] [ 5.29728783e-01 8.46080114e-01 -5.94630770e-02 2.28621625e+01] [ 1.11843321e-01 -1.85124973e-04 9.93725836e-01 1.15899321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:22.88, Z:11.59 [[ 8.39217532e-01 -5.35477545e-01 -9.47508989e-02 9.97251830e+01] [ 5.32170344e-01 8.44549283e-01 -5.94241826e-02 2.28752459e+01] [ 1.11842119e-01 -5.53802644e-04 9.93725834e-01 1.15944309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:99.75, Y:22.89, Z:11.60 [[ 8.35126715e-01 -5.41847712e-01 -9.46806553e-02 9.97499069e+01] [ 5.38568501e-01 8.40475722e-01 -5.95359633e-02 2.28908707e+01] [ 1.11836218e-01 -1.27194512e-03 9.93725839e-01 1.15969117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:22.91, Z:11.60 [[ 8.27977619e-01 -5.52691454e-01 -9.47903975e-02 9.97726703e+01] [ 5.49502220e-01 8.33380782e-01 -5.93614576e-02 2.29057248e+01] [ 1.11805066e-01 -2.93757558e-03 9.93725816e-01 1.16010371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.80, Y:22.92, Z:11.60 [[ 8.24234627e-01 -5.58247021e-01 -9.48553772e-02 9.97958833e+01] [ 5.55106059e-01 8.29666036e-01 -5.92581844e-02 2.29205585e+01] [ 1.11778990e-01 -3.81214706e-03 9.93725780e-01 1.16030191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:22.94, Z:11.60 [[ 8.16537791e-01 -5.69481230e-01 -9.46423004e-02 9.98203217e+01] [ 5.66375781e-01 8.21989491e-01 -5.95965778e-02 2.29379552e+01] [ 1.11734109e-01 -4.94024885e-03 9.93725859e-01 1.16038437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.84, Y:22.96, Z:11.61 [[ 8.11880518e-01 -5.76077911e-01 -9.47853632e-02 9.98424895e+01] [ 5.73043126e-01 8.17371913e-01 -5.93694479e-02 2.29565030e+01] [ 1.11676321e-01 -6.11520265e-03 9.93725819e-01 1.16059401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:22.97, Z:11.61 [[ 8.10329694e-01 -5.78264969e-01 -9.47386529e-02 9.98635515e+01] [ 5.75236376e-01 8.15824478e-01 -5.94435247e-02 2.29742557e+01] [ 1.11664220e-01 -6.32826619e-03 9.93725845e-01 1.16090187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:23.00, Z:11.61 [[ 8.07392841e-01 -5.82384694e-01 -9.45773120e-02 9.98851803e+01] [ 5.79354308e-01 8.12886584e-01 -5.96991356e-02 2.29977094e+01] [ 1.11648491e-01 -6.59311847e-03 9.93725890e-01 1.16109971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:23.01, Z:11.62 [[ 8.07675995e-01 -5.81883093e-01 -9.52447074e-02 9.99050106e+01] [ 5.78972875e-01 8.13235225e-01 -5.86419508e-02 2.30146047e+01] [ 1.11579111e-01 -7.78040610e-03 9.93725096e-01 1.16152952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:99.92, Y:23.04, Z:11.62 [[ 8.05756377e-01 -5.84655221e-01 -9.45247756e-02 9.99227348e+01] [ 5.81630807e-01 8.11253287e-01 -5.97804950e-02 2.30389017e+01] [ 1.11634514e-01 -6.81000646e-03 9.93725998e-01 1.16190186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.94, Y:23.06, Z:11.63 [[ 8.02124045e-01 -5.89629922e-01 -9.45175686e-02 9.99395059e+01] [ 5.86638246e-01 8.07638841e-01 -5.97918878e-02 2.30644623e+01] [ 1.11591146e-01 -7.48710977e-03 9.93725998e-01 1.16262815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:23.09, Z:11.63 [[ 8.00267374e-01 -5.92150600e-01 -9.44976033e-02 9.99598148e+01] [ 5.89172590e-01 8.05789561e-01 -5.98234253e-02 2.30852621e+01] [ 1.11569659e-01 -7.80066226e-03 9.93725999e-01 1.16333581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.357105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.97, Y:23.11, Z:11.64 [[ 7.97120170e-01 -5.96377272e-01 -9.45176413e-02 9.99739710e+01] [ 5.93432249e-01 8.02660021e-01 -5.97917804e-02 2.31136535e+01] [ 1.11523991e-01 -8.42858230e-03 9.93725998e-01 1.16377691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.387105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.99, Y:23.14, Z:11.64 [[ 7.96428173e-01 -5.97298338e-01 -9.45349704e-02 9.99914016e+01] [ 5.94362941e-01 8.01973134e-01 -5.97644272e-02 2.31429944e+01] [ 1.11511700e-01 -8.59000946e-03 9.93725995e-01 1.16392965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41710568099998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:100.01, Y:23.16, Z:11.64 [[ 7.96493228e-01 -5.97173814e-01 -9.47732812e-02 1.00011685e+02] [ 5.94281853e-01 8.02061148e-01 -5.93885021e-02 2.31645208e+01] [ 1.11479225e-01 -9.01950141e-03 9.93725833e-01 1.16419497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:100.02, Y:23.20, Z:11.65 [[ 7.96831979e-01 -5.96714543e-01 -9.48185113e-02 1.00023300e+02] [ 5.93827784e-01 8.02402662e-01 -5.93172062e-02 2.31950472e+01] [ 1.11478066e-01 -9.04001965e-03 9.93725777e-01 1.16476553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:23.23, Z:11.65 [[ 8.00895019e-01 -5.91314381e-01 -9.44164732e-02 1.00035775e+02] [ 5.88315718e-01 8.06405953e-01 -5.99504383e-02 2.32269529e+01] [ 1.11587562e-01 -7.53268770e-03 9.93726056e-01 1.16501109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:100.05, Y:23.26, Z:11.65 [[ 8.06329915e-01 -5.83885141e-01 -9.43939109e-02 1.00048636e+02] [ 5.80831521e-01 8.11810588e-01 -5.99859425e-02 2.32586577e+01] [ 1.11654877e-01 -6.45849897e-03 9.93726057e-01 1.16488519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53710568099999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:100.07, Y:23.28, Z:11.65 [[ 8.08382647e-01 -5.81043622e-01 -9.43705698e-02 1.00066627e+02] [ 5.77966466e-01 8.13850138e-01 -6.00226408e-02 2.32818222e+01] [ 1.11679274e-01 -6.02176344e-03 9.93726058e-01 1.16502732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:100.08, Y:23.31, Z:11.65 [[ 8.13956167e-01 -5.73211057e-01 -9.43633549e-02 1.00081328e+02] [ 5.70079940e-01 8.19392936e-01 -6.00339814e-02 2.33101686e+01] [ 1.11732808e-01 -4.92962637e-03 9.93726058e-01 1.16517173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:23.33, Z:11.66 [[ 8.16928660e-01 -5.68992103e-01 -9.42101486e-02 1.00101430e+02] [ 5.65805180e-01 8.22332941e-01 -6.02746402e-02 2.33321845e+01] [ 1.11767903e-01 -4.06450907e-03 9.93726026e-01 1.16577007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.13, Y:23.35, Z:11.66 [[ 8.16715657e-01 -5.69278259e-01 -9.43281446e-02 1.00125176e+02] [ 5.66114565e-01 8.22133543e-01 -6.00894155e-02 2.33475325e+01] [ 1.11757930e-01 -4.32457004e-03 9.93726050e-01 1.16608635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:100.14, Y:23.38, Z:11.66 [[ 8.25527163e-01 -5.56427346e-01 -9.43054158e-02 1.00141294e+02] [ 5.53175182e-01 8.30892409e-01 -6.01250656e-02 2.33754304e+01] [ 1.11812885e-01 -2.53254066e-03 9.93726051e-01 1.16603973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:100.16, Y:23.40, Z:11.66 [[ 8.34219150e-01 -5.43312699e-01 -9.42853150e-02 1.00158091e+02] [ 5.39972597e-01 8.39530096e-01 -6.01565704e-02 2.34032414e+01] [ 1.11839188e-01 -7.27723340e-04 9.93726052e-01 1.16599981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:100.18, Y:23.42, Z:11.66 [[ 8.37340649e-01 -5.38492981e-01 -9.42653065e-02 1.00177590e+02] [ 5.35118779e-01 8.42629995e-01 -6.01879075e-02 2.34226317e+01] [ 1.11841540e-01 -4.53541949e-05 9.93726053e-01 1.16622595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.747105681 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:100.20, Y:23.44, Z:11.66 [[ 8.40411166e-01 -5.33689984e-01 -9.42553595e-02 1.00197121e+02] [ 5.30283808e-01 8.45679978e-01 -6.02034807e-02 2.34442902e+01] [ 1.11839865e-01 6.13586531e-04 9.93726053e-01 1.16638685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77710568099998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:100.22, Y:23.46, Z:11.67 [[ 8.40772416e-01 -5.33124683e-01 -9.42327754e-02 1.00219545e+02] [ 5.29711004e-01 8.46036369e-01 -6.02388097e-02 2.34613251e+01] [ 1.11839151e-01 7.30991524e-04 9.93726054e-01 1.16656860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80710568099998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:100.24, Y:23.47, Z:11.66 [[ 8.42003156e-01 -5.31182753e-01 -9.42102328e-02 1.00241042e+02] [ 5.27752991e-01 8.47256643e-01 -6.02740446e-02 2.34738041e+01] [ 1.11836779e-01 1.03120363e-03 9.93726055e-01 1.16645955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83710568099998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:100.26, Y:23.49, Z:11.67 [[ 8.41081578e-01 -5.32747408e-01 -9.36054396e-02 1.00261894e+02] [ 5.29222055e-01 8.46272056e-01 -6.12178372e-02 2.34873141e+01] [ 1.11829312e-01 1.95113204e-03 9.93725514e-01 1.16675898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:100.29, Y:23.51, Z:11.68 [[ 8.37857654e-01 -5.37949139e-01 -9.27646255e-02 1.00286643e+02] [ 5.34310370e-01 8.42972567e-01 -6.25274265e-02 2.35064929e+01] [ 1.11834610e-01 2.82398153e-03 9.93722821e-01 1.16772830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:100.31, Y:23.52, Z:11.68 [[ 8.37720171e-01 -5.38015636e-01 -9.36167162e-02 1.00309344e+02] [ 5.34524998e-01 8.42933964e-01 -6.11993357e-02 2.35186782e+01] [ 1.11838909e-01 1.22744298e-03 9.93725592e-01 1.16819012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:100.34, Y:23.53, Z:11.69 [[ 8.32401074e-01 -5.46265969e-01 -9.32842077e-02 1.00337866e+02] [ 5.42768827e-01 8.37611449e-01 -6.17175819e-02 2.35332687e+01] [ 1.11850135e-01 7.42021410e-04 9.93724809e-01 1.16889331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:100.36, Y:23.55, Z:11.69 [[ 8.30157564e-01 -5.49520468e-01 -9.41577127e-02 1.00362148e+02] [ 5.46197544e-01 8.35479204e-01 -6.03551318e-02 2.35452313e+01] [ 1.11833191e-01 -1.32444223e-03 9.93726111e-01 1.16936703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:100.39, Y:23.56, Z:11.70 [[ 8.27551285e-01 -5.53439193e-01 -9.41484460e-02 1.00385915e+02] [ 5.50139823e-01 8.32887561e-01 -6.03695837e-02 2.35561312e+01] [ 1.11825963e-01 -1.83588282e-03 9.93726111e-01 1.16979768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:100.41, Y:23.57, Z:11.70 [[ 8.27077718e-01 -5.54255742e-01 -9.35041256e-02 1.00409270e+02] [ 5.50847771e-01 8.32346092e-01 -6.13735833e-02 2.35707508e+01] [ 1.11844454e-01 -7.45815977e-04 9.93725446e-01 1.17017032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:100.43, Y:23.59, Z:11.70 [[ 8.30950787e-01 -5.48438499e-01 -9.34665866e-02 1.00434835e+02] [ 5.44987070e-01 8.36190888e-01 -6.14320157e-02 2.35862187e+01] [ 1.11847591e-01 1.08900561e-04 9.93725367e-01 1.17021333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:100.46, Y:23.60, Z:11.70 [[ 8.35178527e-01 -5.41867509e-01 -9.41086081e-02 1.00457963e+02] [ 5.38487110e-01 8.40463896e-01 -6.04323705e-02 2.35976604e+01] [ 1.11841226e-01 -2.04454246e-04 9.93726068e-01 1.17035477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.107105681 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:100.48, Y:23.61, Z:11.70 [[ 8.40958935e-01 -5.32956156e-01 -9.35190070e-02 1.00484748e+02] [ 5.29417506e-01 8.46140298e-01 -6.13490104e-02 2.36123182e+01] [ 1.11826533e-01 2.08139898e-03 9.93725563e-01 1.17034861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.137105681 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:100.51, Y:23.63, Z:11.71 [[ 8.43318760e-01 -5.29146051e-01 -9.39038081e-02 1.00510570e+02] [ 5.25650437e-01 8.48528699e-01 -6.07508486e-02 2.36273379e+01] [ 1.11826148e-01 1.87175262e-03 9.93726023e-01 1.17052148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:100.54, Y:23.64, Z:11.71 [[ 8.48488403e-01 -5.20787802e-01 -9.40611195e-02 1.00535372e+02] [ 5.17267944e-01 8.53681943e-01 -6.05063062e-02 2.36358476e+01] [ 1.11809226e-01 2.68409719e-03 9.93726065e-01 1.17084847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:100.57, Y:23.64, Z:11.71 [[ 8.50215163e-01 -5.18049122e-01 -9.35910475e-02 1.00565051e+02] [ 5.14432136e-01 8.55341898e-01 -6.12357371e-02 2.36422170e+01] [ 1.11775464e-01 3.91730963e-03 9.93725767e-01 1.17098610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22710568099998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:100.59, Y:23.66, Z:11.71 [[ 8.49457903e-01 -5.19307400e-01 -9.34938231e-02 1.00593990e+02] [ 5.15681437e-01 8.54578471e-01 -6.13864224e-02 2.36554906e+01] [ 1.11776232e-01 3.93215259e-03 9.93725622e-01 1.17122924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:100.62, Y:23.66, Z:11.71 [[ 8.50390246e-01 -5.17690151e-01 -9.39858367e-02 1.00622099e+02] [ 5.14138408e-01 8.55562073e-01 -6.06237318e-02 2.36623826e+01] [ 1.11795026e-01 3.23210175e-03 9.93726031e-01 1.17145077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:100.65, Y:23.67, Z:11.72 [[ 8.52680518e-01 -5.13924016e-01 -9.39044209e-02 1.00651825e+02] [ 5.10335553e-01 8.57826947e-01 -6.07499258e-02 2.36700349e+01] [ 1.11774588e-01 3.87751364e-03 9.93726022e-01 1.17198641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:100.68, Y:23.68, Z:11.72 [[ 8.54585591e-01 -5.10700934e-01 -9.41701893e-02 1.00677262e+02] [ 5.07138281e-01 8.59750001e-01 -6.03382085e-02 2.36798107e+01] [ 1.11777600e-01 3.80685559e-03 9.93725956e-01 1.17211137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:100.71, Y:23.68, Z:11.72 [[ 8.58444270e-01 -5.04204806e-01 -9.40794843e-02 1.00706599e+02] [ 5.00587730e-01 8.63570644e-01 -6.04786487e-02 2.36844746e+01] [ 1.11737906e-01 4.82251387e-03 9.93726010e-01 1.17192571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:23.69, Z:11.72 [[ 8.60931989e-01 -4.99972394e-01 -9.39346404e-02 1.00736255e+02] [ 4.96305735e-01 8.66022972e-01 -6.07027950e-02 2.36906329e+01] [ 1.11699278e-01 5.64067728e-03 9.93726046e-01 1.17205715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:100.77, Y:23.70, Z:11.72 [[ 8.59940686e-01 -5.01722778e-01 -9.36817484e-02 1.00767445e+02] [ 4.98023963e-01 8.65008476e-01 -6.10939373e-02 2.36951690e+01] [ 1.11687726e-01 5.88140676e-03 9.93725949e-01 1.17204537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:100.79, Y:23.70, Z:11.73 [[ 8.58095227e-01 -5.04869455e-01 -9.36985315e-02 1.00794384e+02] [ 5.01192053e-01 8.63178561e-01 -6.10679852e-02 2.37029797e+01] [ 1.11709924e-01 5.44118733e-03 9.93725961e-01 1.17255625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.83, Y:23.70, Z:11.74 [[ 8.53112223e-01 -5.13255588e-01 -9.36388566e-02 1.00827281e+02] [ 5.09618075e-01 8.58224237e-01 -6.11602528e-02 2.37033437e+01] [ 1.11753978e-01 4.45650537e-03 9.93725912e-01 1.17353368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.497105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:100.86, Y:23.71, Z:11.74 [[ 8.45069830e-01 -5.26411078e-01 -9.35326649e-02 1.00860087e+02] [ 5.22835022e-01 8.50225172e-01 -6.13245181e-02 2.37077242e+01] [ 1.11805732e-01 2.92134710e-03 9.93725789e-01 1.17445441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:23.72, Z:11.75 [[ 8.41790384e-01 -5.31588284e-01 -9.38234816e-02 1.00886050e+02] [ 5.28093996e-01 8.47001193e-01 -6.08745522e-02 2.37164427e+01] [ 1.11828800e-01 1.69599536e-03 9.93726040e-01 1.17474159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:100.92, Y:23.72, Z:11.75 [[ 8.36583676e-01 -5.39793532e-01 -9.35451567e-02 1.00917145e+02] [ 5.36302197e-01 8.41796705e-01 -6.13046563e-02 2.37199861e+01] [ 1.11837862e-01 1.11800170e-03 9.93725839e-01 1.17477130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:23.73, Z:11.75 [[ 8.35307249e-01 -5.41749644e-01 -9.36435912e-02 1.00944431e+02] [ 5.38287560e-01 8.40539629e-01 -6.11525493e-02 2.37293485e+01] [ 1.11840521e-01 6.73987504e-04 9.93725940e-01 1.17495643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:100.98, Y:23.74, Z:11.74 [[ 8.34276002e-01 -5.43345677e-01 -9.35896844e-02 1.00976325e+02] [ 5.39884259e-01 8.39508882e-01 -6.12358141e-02 2.37378433e+01] [ 1.11841586e-01 5.59972692e-04 9.93725891e-01 1.17447662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.00, Y:23.75, Z:11.75 [[ 8.34248807e-01 -5.43312535e-01 -9.40234963e-02 1.01000582e+02] [ 5.39926266e-01 8.39530483e-01 -6.05656186e-02 2.37491100e+01] [ 1.11841651e-01 -2.38960296e-04 9.93726013e-01 1.17495678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:101.03, Y:23.76, Z:11.75 [[ 8.35738393e-01 -5.41054884e-01 -9.38133876e-02 1.01029364e+02] [ 5.37617895e-01 8.40987163e-01 -6.08899917e-02 2.37577792e+01] [ 1.11840682e-01 4.52347807e-04 9.93726047e-01 1.17540875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:23.77, Z:11.76 [[ 8.35937517e-01 -5.40762760e-01 -9.37235611e-02 1.01058299e+02] [ 5.37308385e-01 8.41174896e-01 -6.10286294e-02 2.37670124e+01] [ 1.11839917e-01 6.57665598e-04 9.93726019e-01 1.17596031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:101.08, Y:23.78, Z:11.77 [[ 8.34760410e-01 -5.42556711e-01 -9.38470760e-02 1.01083460e+02] [ 5.39134998e-01 8.40019154e-01 -6.08381042e-02 2.37783119e+01] [ 1.11841463e-01 1.88997657e-04 9.93726044e-01 1.17682580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76710568099999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:101.11, Y:23.79, Z:11.77 [[ 8.33832605e-01 -5.43982756e-01 -9.38400082e-02 1.01107752e+02] [ 5.40568810e-01 8.39096395e-01 -6.08490039e-02 2.37916713e+01] [ 1.11841622e-01 1.09019173e-05 9.93726045e-01 1.17742681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:101.13, Y:23.80, Z:11.78 [[ 8.30781661e-01 -5.48632104e-01 -9.38330746e-02 1.01133764e+02] [ 5.45246407e-01 8.36063666e-01 -6.08596941e-02 2.38023550e+01] [ 1.11840006e-01 -6.01028990e-04 9.93726045e-01 1.17831475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:23.82, Z:11.79 [[ 8.26695018e-01 -5.54774667e-01 -9.38105328e-02 1.01157979e+02] [ 5.51424272e-01 8.31999484e-01 -6.08944210e-02 2.38152303e+01] [ 1.11832997e-01 -1.38829018e-03 9.93726045e-01 1.17858916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.857105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:23.83, Z:11.79 [[ 8.25306159e-01 -5.56840334e-01 -9.38007771e-02 1.01180950e+02] [ 5.53501508e-01 8.30617915e-01 -6.09094448e-02 2.38300512e+01] [ 1.11829441e-01 -1.64993161e-03 9.93726046e-01 1.17869750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.887105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.21, Y:23.85, Z:11.79 [[ 8.22781569e-01 -5.60623041e-01 -9.34467514e-02 1.01205112e+02] [ 5.57246644e-01 8.28069760e-01 -6.14544565e-02 2.38470727e+01] [ 1.11833213e-01 -1.50929444e-03 9.93725845e-01 1.17884886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:23.86, Z:11.79 [[ 8.23002379e-01 -5.60241529e-01 -9.37897331e-02 1.01227923e+02] [ 5.56922708e-01 8.28326661e-01 -6.09265142e-02 2.38620334e+01] [ 1.11822100e-01 -2.09096610e-03 9.93726042e-01 1.17912761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.25, Y:23.88, Z:11.80 [[ 8.27270465e-01 -5.53921466e-01 -9.37794602e-02 1.01249847e+02] [ 5.50560171e-01 8.32568034e-01 -6.09423224e-02 2.38766663e+01] [ 1.11835041e-01 -1.21545222e-03 9.93726042e-01 1.17951949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:101.27, Y:23.90, Z:11.80 [[ 8.33130934e-01 -5.45115437e-01 -9.34987025e-02 1.01272404e+02] [ 5.41649616e-01 8.38360853e-01 -6.13740394e-02 2.38957043e+01] [ 1.11841588e-01 4.89074422e-04 9.93725928e-01 1.17991801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:23.91, Z:11.80 [[ 8.36416571e-01 -5.40016187e-01 -9.37541387e-02 1.01295011e+02] [ 5.36562427e-01 8.41654339e-01 -6.09814299e-02 2.39126854e+01] [ 1.11839537e-01 7.00930252e-04 9.93726032e-01 1.18031634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:23.93, Z:11.81 [[ 8.42440995e-01 -5.30573712e-01 -9.37267652e-02 1.01316515e+02] [ 5.27056579e-01 8.47636419e-01 -6.10234734e-02 2.39295677e+01] [ 1.11823670e-01 2.00936739e-03 9.93726033e-01 1.18067049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:101.34, Y:23.95, Z:11.81 [[ 8.46480279e-01 -5.24106696e-01 -9.37193086e-02 1.01341296e+02] [ 5.20548613e-01 8.51647744e-01 -6.10349230e-02 2.39456727e+01] [ 1.11804650e-01 2.87940258e-03 9.93726033e-01 1.18061950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.37, Y:23.96, Z:11.81 [[ 8.47173958e-01 -5.22968051e-01 -9.38120607e-02 1.01366060e+02] [ 5.19418760e-01 8.52347490e-01 -6.08925877e-02 2.39611653e+01] [ 1.11805352e-01 2.85887025e-03 9.93726014e-01 1.18088856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.39, Y:23.98, Z:11.81 [[ 8.46417099e-01 -5.24190054e-01 -9.38236771e-02 1.01388330e+02] [ 5.20650207e-01 8.51597103e-01 -6.08747645e-02 2.39752613e+01] [ 1.11809918e-01 2.67612471e-03 9.93726009e-01 1.18121018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:24.00, Z:11.81 [[ 8.42735783e-01 -5.30155505e-01 -9.34427109e-02 1.01416836e+02] [ 5.26587534e-01 8.47896483e-01 -6.14583072e-02 2.39951718e+01] [ 1.11812206e-01 2.58734800e-03 9.93725987e-01 1.18144329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:24.00, Z:11.82 [[ 8.39624891e-01 -5.34863837e-01 -9.46082422e-02 1.01440424e+02] [ 5.31524173e-01 8.44938249e-01 -5.96775430e-02 2.40043461e+01] [ 1.11857482e-01 -1.79817227e-04 9.93724243e-01 1.18179082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:101.47, Y:24.02, Z:11.82 [[ 8.34347702e-01 -5.43247493e-01 -9.35204395e-02 1.01466538e+02] [ 5.39774169e-01 8.39572318e-01 -6.13365283e-02 2.40152904e+01] [ 1.11838087e-01 6.96073938e-04 9.93726199e-01 1.18234858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.247105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:101.49, Y:24.03, Z:11.83 [[ 8.29187996e-01 -5.51092174e-01 -9.35130125e-02 1.01491117e+02] [ 5.47667002e-01 8.34444304e-01 -6.13478493e-02 2.40281511e+01] [ 1.11839720e-01 -3.45090969e-04 9.93726199e-01 1.18277608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:24.04, Z:11.83 [[ 8.26749006e-01 -5.54748432e-01 -9.34893523e-02 1.01512970e+02] [ 5.51342429e-01 8.32017755e-01 -6.13838846e-02 2.40436668e+01] [ 1.11837415e-01 -7.95581022e-04 9.93726200e-01 1.18287598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:24.06, Z:11.83 [[ 8.23831164e-01 -5.59074120e-01 -9.34790974e-02 1.01537535e+02] [ 5.55694008e-01 8.29116560e-01 -6.13994974e-02 2.40600161e+01] [ 1.11831938e-01 -1.36295490e-03 9.93726200e-01 1.18271512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:101.56, Y:24.07, Z:11.83 [[ 8.23478355e-01 -5.59597064e-01 -9.34586819e-02 1.01561892e+02] [ 5.56216784e-01 8.28763643e-01 -6.14305572e-02 2.40745465e+01] [ 1.11831517e-01 -1.39655340e-03 9.93726200e-01 1.18291960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:101.59, Y:24.09, Z:11.83 [[ 8.24638688e-01 -5.57889753e-01 -9.34347792e-02 1.01585959e+02] [ 5.54494414e-01 8.29914313e-01 -6.14668915e-02 2.40896625e+01] [ 1.11834609e-01 -1.12108635e-03 9.93726201e-01 1.18280986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.61, Y:24.11, Z:11.83 [[ 8.28001708e-01 -5.52888031e-01 -9.34237499e-02 1.01605300e+02] [ 5.49458930e-01 8.33255450e-01 -6.14836504e-02 2.41061745e+01] [ 1.11839423e-01 -4.23946114e-04 9.93726202e-01 1.18283186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.63, Y:24.13, Z:11.83 [[ 8.28186856e-01 -5.52711102e-01 -9.28276338e-02 1.01630227e+02] [ 5.49179170e-01 8.33372643e-01 -6.23881232e-02 2.41253496e+01] [ 1.11842619e-01 6.90020639e-04 9.93725693e-01 1.18301080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:101.65, Y:24.14, Z:11.84 [[ 8.29267537e-01 -5.50992231e-01 -9.33965454e-02 1.01653745e+02] [ 5.47546505e-01 8.34510364e-01 -6.15246038e-02 2.41410519e+01] [ 1.11839964e-01 -1.18595415e-04 9.93726224e-01 1.18376248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:101.68, Y:24.16, Z:11.84 [[ 8.27789777e-01 -5.53213292e-01 -9.33763254e-02 1.01677534e+02] [ 5.49778174e-01 8.33039560e-01 -6.15552766e-02 2.41568780e+01] [ 1.11839370e-01 -3.81436928e-04 9.93726225e-01 1.18446160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:101.70, Y:24.17, Z:11.85 [[ 8.27585060e-01 -5.53522868e-01 -9.33563211e-02 1.01701048e+02] [ 5.50086292e-01 8.32833888e-01 -6.15856009e-02 2.41726922e+01] [ 1.11839346e-01 -3.86709243e-04 9.93726225e-01 1.18478019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:101.72, Y:24.19, Z:11.85 [[ 8.25948603e-01 -5.55965633e-01 -9.33333822e-02 1.01724968e+02] [ 5.52540654e-01 8.31205004e-01 -6.16203455e-02 2.41876897e+01] [ 1.11837969e-01 -6.75249823e-04 9.93726226e-01 1.18516528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.75, Y:24.20, Z:11.86 [[ 8.23336594e-01 -5.59830309e-01 -9.33106567e-02 1.01752213e+02] [ 5.56426103e-01 8.28606472e-01 -6.16547393e-02 2.42017315e+01] [ 1.11834006e-01 -1.15788205e-03 9.93726227e-01 1.18580945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:24.22, Z:11.86 [[ 8.20783798e-01 -5.63488537e-01 -9.37796591e-02 1.01771352e+02] [ 5.60188681e-01 8.26120064e-01 -6.09449077e-02 2.42191461e+01] [ 1.11815015e-01 -2.51171070e-03 9.93725865e-01 1.18638780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.637105681 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:101.79, Y:24.23, Z:11.87 [[ 8.19957981e-01 -5.64773091e-01 -9.32752069e-02 1.01793411e+02] [ 5.61394647e-01 8.25244348e-01 -6.17075071e-02 2.42347562e+01] [ 1.11825577e-01 -1.76663888e-03 9.93726280e-01 1.18658347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.82, Y:24.25, Z:11.87 [[ 8.19190759e-01 -5.65886983e-01 -9.32653329e-02 1.01816665e+02] [ 5.62514028e-01 8.24480630e-01 -6.17224272e-02 2.42492287e+01] [ 1.11823379e-01 -1.90061614e-03 9.93726280e-01 1.18725947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:101.84, Y:24.27, Z:11.87 [[ 8.18688616e-01 -5.66657722e-01 -9.29944963e-02 1.01839856e+02] [ 5.63243243e-01 8.23951903e-01 -6.21313894e-02 2.42659462e+01] [ 1.11830224e-01 -1.51226054e-03 9.93726177e-01 1.18736344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:101.86, Y:24.29, Z:11.87 [[ 8.20637881e-01 -5.63788998e-01 -9.32493110e-02 1.01861176e+02] [ 5.60399773e-01 8.25917340e-01 -6.17465913e-02 2.42850253e+01] [ 1.11828272e-01 -1.58530094e-03 9.93726282e-01 1.18728351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:101.88, Y:24.31, Z:11.87 [[ 8.23043189e-01 -5.60328220e-01 -9.29096032e-02 1.01883478e+02] [ 5.56858834e-01 8.28270512e-01 -6.22591255e-02 2.43052420e+01] [ 1.11839830e-01 -4.95584070e-04 9.93726123e-01 1.18705452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:24.32, Z:11.87 [[ 8.24983499e-01 -5.57415467e-01 -9.32213682e-02 1.01905708e+02] [ 5.53980680e-01 8.30233432e-01 -6.17887947e-02 2.43219633e+01] [ 1.11837526e-01 -6.68100930e-04 9.93726281e-01 1.18745704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.93, Y:24.34, Z:11.88 [[ 8.29529450e-01 -5.50631409e-01 -9.31984092e-02 1.01925646e+02] [ 5.47149797e-01 8.34748445e-01 -6.18234055e-02 2.43388366e+01] [ 1.11839136e-01 2.90844852e-04 9.93726282e-01 1.18814130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.95, Y:24.36, Z:11.88 [[ 8.29476333e-01 -5.50796240e-01 -9.26958223e-02 1.01949596e+02] [ 5.47230847e-01 8.34638906e-01 -6.25803230e-02 2.43587736e+01] [ 1.11836546e-01 1.18288345e-03 9.93725912e-01 1.18835366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:24.38, Z:11.88 [[ 8.31788874e-01 -5.47216499e-01 -9.31738816e-02 1.01972102e+02] [ 5.43709321e-01 8.36990724e-01 -6.18603471e-02 2.43781384e+01] [ 1.11836677e-01 7.95240519e-04 9.93726283e-01 1.18832213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:24.40, Z:11.89 [[ 8.31263832e-01 -5.47976904e-01 -9.33903323e-02 1.01996030e+02] [ 5.44511032e-01 8.36493409e-01 -6.15346502e-02 2.43958461e+01] [ 1.11839965e-01 2.99462932e-04 9.93726186e-01 1.18861480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.02, Y:24.41, Z:11.89 [[ 8.29357612e-01 -5.50816939e-01 -9.36303906e-02 1.02017141e+02] [ 5.47409686e-01 8.34625922e-01 -6.11735761e-02 2.44094386e+01] [ 1.11841793e-01 -5.19411738e-04 9.93725890e-01 1.18921052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:102.04, Y:24.42, Z:11.90 [[ 8.28337747e-01 -5.52439275e-01 -9.30990002e-02 1.02039968e+02] [ 5.48952347e-01 8.33553115e-01 -6.19719641e-02 2.44237652e+01] [ 1.11838709e-01 2.26802441e-04 9.93726347e-01 1.18968168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.997105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:102.06, Y:24.44, Z:11.90 [[ 8.24546102e-01 -5.58124403e-01 -9.28486821e-02 1.02063548e+02] [ 5.54631060e-01 8.29757280e-01 -6.23477634e-02 2.44411339e+01] [ 1.11839678e-01 -8.81577581e-05 9.93726259e-01 1.18984169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.09, Y:24.46, Z:11.90 [[ 8.19869634e-01 -5.64933740e-01 -9.30787422e-02 1.02090336e+02] [ 5.61522825e-01 8.25135030e-01 -6.20024120e-02 2.44633988e+01] [ 1.11829785e-01 -1.43194337e-03 9.93726345e-01 1.19034398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:102.11, Y:24.47, Z:11.91 [[ 8.19278533e-01 -5.65517937e-01 -9.47214245e-02 1.02108688e+02] [ 5.62393680e-01 8.24723735e-01 -5.95324286e-02 2.44728061e+01] [ 1.11785663e-01 -4.49708973e-03 9.93722165e-01 1.19075885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:102.13, Y:24.49, Z:11.91 [[ 8.15262528e-01 -5.71602168e-01 -9.28330324e-02 1.02132167e+02] [ 5.68193173e-01 8.20528692e-01 -6.23633265e-02 2.44894525e+01] [ 1.11819179e-01 -1.90461201e-03 9.93726745e-01 1.19120619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:24.50, Z:11.91 [[ 8.13191610e-01 -5.74516314e-01 -9.30075852e-02 1.02155702e+02] [ 5.71156049e-01 8.18488934e-01 -6.21017951e-02 2.45048456e+01] [ 1.11804174e-01 -2.62118619e-03 9.93726802e-01 1.19141351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:102.18, Y:24.52, Z:11.92 [[ 8.09263084e-01 -5.80036320e-01 -9.30114483e-02 1.02178850e+02] [ 5.76712842e-01 8.14583564e-01 -6.20960088e-02 2.45203178e+01] [ 1.11783537e-01 -3.38888917e-03 9.93726802e-01 1.19172458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17710568099999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:102.20, Y:24.54, Z:11.92 [[ 8.04805183e-01 -5.86214043e-01 -9.29608195e-02 1.02199280e+02] [ 5.82922651e-01 8.10145574e-01 -6.21717942e-02 2.45385696e+01] [ 1.11757775e-01 -4.15278519e-03 9.93726801e-01 1.19241443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:102.22, Y:24.56, Z:11.93 [[ 8.03118248e-01 -5.88519647e-01 -9.29822790e-02 1.02219811e+02] [ 5.85247293e-01 8.08470324e-01 -6.21396836e-02 2.45553284e+01] [ 1.11743838e-01 -4.51211329e-03 9.93726801e-01 1.19275851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:24.57, Z:11.93 [[ 8.00982021e-01 -5.91425383e-01 -9.29721368e-02 1.02241618e+02] [ 5.88170684e-01 8.06344852e-01 -6.21548545e-02 2.45729974e+01] [ 1.11727563e-01 -4.89856439e-03 9.93726801e-01 1.19319530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:102.26, Y:24.59, Z:11.93 [[ 7.98921479e-01 -5.94209656e-01 -9.29481298e-02 1.02261613e+02] [ 5.90969481e-01 8.04293097e-01 -6.21907347e-02 2.45906521e+01] [ 1.11711874e-01 -5.24399422e-03 9.93726802e-01 1.19345846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:102.28, Y:24.61, Z:11.94 [[ 7.97409418e-01 -5.96238861e-01 -9.29378321e-02 1.02281906e+02] [ 5.93010566e-01 8.02788184e-01 -6.22061198e-02 2.46085450e+01] [ 1.11699099e-01 -5.50937056e-03 9.93726803e-01 1.19359767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:102.30, Y:24.63, Z:11.94 [[ 7.96219437e-01 -5.97828589e-01 -9.29278544e-02 1.02300567e+02] [ 5.94609299e-01 8.01603596e-01 -6.22210217e-02 2.46275586e+01] [ 1.11688808e-01 -5.71417953e-03 9.93726803e-01 1.19360598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.357105681 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:102.32, Y:24.65, Z:11.94 [[ 7.94142254e-01 -6.00647685e-01 -9.25226397e-02 1.02322987e+02] [ 5.97377149e-01 7.99495737e-01 -6.28260097e-02 2.46475096e+01] [ 1.11707753e-01 -5.37812183e-03 9.93726549e-01 1.19385529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:102.34, Y:24.67, Z:11.94 [[ 7.93286544e-01 -6.01717362e-01 -9.29121965e-02 1.02339937e+02] [ 5.98521710e-01 7.98684779e-01 -6.22445691e-02 2.46695752e+01] [ 1.11661195e-01 -6.23218766e-03 9.93726792e-01 1.19401228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:102.36, Y:24.70, Z:11.94 [[ 7.90654269e-01 -6.05238004e-01 -9.24812690e-02 1.02359050e+02] [ 6.01991359e-01 7.96022330e-01 -6.28876342e-02 2.46967419e+01] [ 1.11679141e-01 -5.95054831e-03 9.93726502e-01 1.19406171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:102.38, Y:24.72, Z:11.94 [[ 7.89900859e-01 -6.06154746e-01 -9.29142388e-02 1.02379286e+02] [ 6.02989780e-01 7.95317131e-01 -6.22413553e-02 2.47168912e+01] [ 1.11624179e-01 -6.86183636e-03 9.93726802e-01 1.19446727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:102.40, Y:24.74, Z:11.95 [[ 7.90924808e-01 -6.04821690e-01 -9.28906466e-02 1.02396543e+02] [ 6.01643481e-01 7.96333318e-01 -6.22765452e-02 2.47393074e+01] [ 1.11638122e-01 -6.63098740e-03 9.93726803e-01 1.19479659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:24.76, Z:11.96 [[ 7.91324480e-01 -6.04351117e-01 -9.25488748e-02 1.02416021e+02] [ 6.01110287e-01 7.96695894e-01 -6.27859452e-02 2.47623892e+01] [ 1.11678065e-01 -5.94802524e-03 9.93726638e-01 1.19572331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.43, Y:24.79, Z:11.97 [[ 7.97609930e-01 -5.95981430e-01 -9.28683696e-02 1.02432109e+02] [ 5.92739364e-01 8.02980408e-01 -6.23097937e-02 2.47881487e+01] [ 1.11706961e-01 -5.34782814e-03 9.93726801e-01 1.19664005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:24.81, Z:11.97 [[ 8.06853452e-01 -5.83409577e-01 -9.28481203e-02 1.02446375e+02] [ 5.80080287e-01 8.12170297e-01 -6.23399529e-02 2.48147910e+01] [ 1.11778211e-01 -3.56015805e-03 9.93726802e-01 1.19700683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:24.84, Z:11.97 [[ 8.17139107e-01 -5.68917540e-01 -9.28251771e-02 1.02462257e+02] [ 5.65490017e-01 8.22393162e-01 -6.23740971e-02 2.48412723e+01] [ 1.11824509e-01 -1.52339702e-03 9.93726803e-01 1.19699332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.48, Y:24.86, Z:11.97 [[ 8.22080659e-01 -5.61757252e-01 -9.28018361e-02 1.02482552e+02] [ 5.58280042e-01 8.27301962e-01 -6.24088052e-02 2.48616618e+01] [ 1.11833740e-01 -5.04341269e-04 9.93726804e-01 1.19714604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:102.50, Y:24.88, Z:11.97 [[ 8.30160250e-01 -5.49750936e-01 -9.27785909e-02 1.02500483e+02] [ 5.46194354e-01 8.35327814e-01 -6.24433432e-02 2.48847859e+01] [ 1.11828824e-01 1.16283887e-03 9.93726804e-01 1.19716222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:102.52, Y:24.90, Z:11.97 [[ 8.33671774e-01 -5.44412375e-01 -9.27714338e-02 1.02521804e+02] [ 5.40821523e-01 8.38815582e-01 -6.24539747e-02 2.49030564e+01] [ 1.11818841e-01 1.89332772e-03 9.93726805e-01 1.19733315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.54, Y:24.92, Z:11.97 [[ 8.37799120e-01 -5.38073105e-01 -9.25741217e-02 1.02544194e+02] [ 5.34410972e-01 8.42892487e-01 -6.27468613e-02 2.49228286e+01] [ 1.11792430e-01 3.09663878e-03 9.93726755e-01 1.19747149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.747105681 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:102.57, Y:24.94, Z:11.98 [[ 8.39213991e-01 -5.35833779e-01 -9.27471709e-02 1.02567745e+02] [ 5.32186381e-01 8.44317862e-01 -6.24900329e-02 2.49389411e+01] [ 1.11792363e-01 3.08372863e-03 9.93726803e-01 1.19804455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.59, Y:24.96, Z:11.99 [[ 8.39003443e-01 -5.36170058e-01 -9.27086404e-02 1.02591380e+02] [ 5.32518396e-01 8.44104263e-01 -6.25471849e-02 2.49556099e+01] [ 1.11791686e-01 3.10824696e-03 9.93726802e-01 1.19853882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80710568099998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:102.62, Y:24.97, Z:11.99 [[ 8.38570087e-01 -5.36807414e-01 -9.29408914e-02 1.02617376e+02] [ 5.33197720e-01 8.43700783e-01 -6.22027289e-02 2.49666140e+01] [ 1.11805189e-01 2.60547639e-03 9.93726729e-01 1.19871912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:24.98, Z:11.99 [[ 8.36953303e-01 -5.39364306e-01 -9.27109167e-02 1.02642792e+02] [ 5.35732506e-01 8.42068272e-01 -6.25436464e-02 2.49805954e+01] [ 1.11802732e-01 2.67785968e-03 9.93726813e-01 1.19905349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.67, Y:24.99, Z:11.99 [[ 8.34673505e-01 -5.42893995e-01 -9.26620248e-02 1.02669146e+02] [ 5.39275790e-01 8.39798100e-01 -6.26160740e-02 2.49916761e+01] [ 1.11811283e-01 2.29359125e-03 9.93726812e-01 1.19943400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:25.00, Z:12.00 [[ 8.32315540e-01 -5.46498793e-01 -9.26817695e-02 1.02697951e+02] [ 5.42906040e-01 8.37458011e-01 -6.25868353e-02 2.49992669e+01] [ 1.11820720e-01 1.77450320e-03 9.93726812e-01 1.19979377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:25.01, Z:12.00 [[ 8.30935649e-01 -5.48598241e-01 -9.26602236e-02 1.02727001e+02] [ 5.45014926e-01 8.36084700e-01 -6.26187180e-02 2.50132462e+01] [ 1.11824314e-01 1.53092017e-03 9.93726813e-01 1.20030602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.75, Y:25.02, Z:12.00 [[ 8.30360151e-01 -5.49366576e-01 -9.32651329e-02 1.02750625e+02] [ 5.45888273e-01 8.35581384e-01 -6.17231199e-02 2.50220313e+01] [ 1.11839228e-01 3.40076805e-04 9.93726256e-01 1.19998539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:25.03, Z:12.00 [[ 8.28577463e-01 -5.52201987e-01 -9.23707374e-02 1.02776873e+02] [ 5.48593361e-01 8.33708893e-01 -6.30460689e-02 2.50339048e+01] [ 1.11824470e-01 1.56457856e-03 9.93726743e-01 1.19995246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:25.05, Z:12.00 [[ 8.26951166e-01 -5.54640437e-01 -9.23350164e-02 1.02803454e+02] [ 5.51041047e-01 8.32089117e-01 -6.30988640e-02 2.50462146e+01] [ 1.11828144e-01 1.29929501e-03 9.93726712e-01 1.20045345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.83, Y:25.06, Z:12.01 [[ 8.25922763e-01 -5.56121801e-01 -9.26290027e-02 1.02831324e+02] [ 5.52580280e-01 8.31100605e-01 -6.26643275e-02 2.50566586e+01] [ 1.11833019e-01 5.70934283e-04 9.93726849e-01 1.20103618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.86, Y:25.07, Z:12.01 [[ 8.25529868e-01 -5.56722099e-01 -9.25253545e-02 1.02855147e+02] [ 5.53167169e-01 8.30698530e-01 -6.28174761e-02 2.50711093e+01] [ 1.11832553e-01 6.75714350e-04 9.93726835e-01 1.20133265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:25.08, Z:12.02 [[ 8.28953456e-01 -5.51603948e-01 -9.25702525e-02 1.02880422e+02] [ 5.48024511e-01 8.34105166e-01 -6.27511546e-02 2.50828422e+01] [ 1.11827110e-01 1.28701911e-03 9.93726844e-01 1.20179364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:25.09, Z:12.02 [[ 8.36056107e-01 -5.40817756e-01 -9.23381827e-02 1.02899887e+02] [ 5.37134017e-01 8.41133889e-01 -6.30938026e-02 2.50879603e+01] [ 1.11791023e-01 3.15197998e-03 9.93726739e-01 1.20215802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:25.11, Z:12.03 [[ 8.36087855e-01 -5.41154700e-01 -9.00482630e-02 1.02930232e+02] [ 5.37108535e-01 8.40892362e-01 -6.64413865e-02 2.51105050e+01] [ 1.11675965e-01 7.18514565e-03 9.93718699e-01 1.20271859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:25.13, Z:12.03 [[ 8.39143144e-01 -5.36076737e-01 -9.19810612e-02 1.02959165e+02] [ 5.32307709e-01 8.44157706e-01 -6.36103043e-02 2.51256852e+01] [ 1.11746526e-01 4.41592274e-03 9.93726931e-01 1.20334568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:25.13, Z:12.04 [[ 8.41606084e-01 -5.32023449e-01 -9.30067160e-02 1.02985726e+02] [ 5.28395064e-01 8.46723850e-01 -6.21077997e-02 2.51326617e+01] [ 1.11793810e-01 3.12601247e-03 9.93726508e-01 1.20383168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:103.01, Y:25.14, Z:12.04 [[ 8.41433385e-01 -5.32414192e-01 -9.23308506e-02 1.03010966e+02] [ 5.28679442e-01 8.46473167e-01 -6.30969474e-02 2.51446799e+01] [ 1.11749298e-01 4.27845544e-03 9.93727221e-01 1.20409102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28710568099999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:103.04, Y:25.15, Z:12.04 [[ 8.41571289e-01 -5.32200236e-01 -9.23074993e-02 1.03039409e+02] [ 5.28460467e-01 8.46607347e-01 -6.31310908e-02 2.51535848e+01] [ 1.11746588e-01 4.34844930e-03 9.93727222e-01 1.20385145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:25.17, Z:12.04 [[ 8.41845553e-01 -5.31767542e-01 -9.23003057e-02 1.03065619e+02] [ 5.28024035e-01 8.46878832e-01 -6.31416064e-02 2.51661609e+01] [ 1.11743832e-01 4.41870073e-03 9.93727222e-01 1.20395296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.10, Y:25.17, Z:12.04 [[ 8.43292480e-01 -5.29473527e-01 -9.22798882e-02 1.03095494e+02] [ 5.25713075e-01 8.48313110e-01 -6.31714321e-02 2.51728161e+01] [ 1.11729840e-01 4.75924982e-03 9.93727222e-01 1.20409671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.12, Y:25.18, Z:12.04 [[ 8.46679701e-01 -5.24043546e-01 -9.22596680e-02 1.03122908e+02] [ 5.20247702e-01 8.51673628e-01 -6.32009494e-02 2.51773323e+01] [ 1.11695176e-01 5.51308064e-03 9.93727223e-01 1.20441852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:25.19, Z:12.05 [[ 8.46155149e-01 -5.25043697e-01 -9.13815065e-02 1.03151342e+02] [ 5.21115349e-01 8.51046966e-01 -6.44814258e-02 2.51932012e+01] [ 1.11625520e-01 6.94098487e-03 9.93726102e-01 1.20509765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:25.21, Z:12.05 [[ 8.45956921e-01 -5.25211428e-01 -9.22488161e-02 1.03174710e+02] [ 5.21420844e-01 8.50954780e-01 -6.32160257e-02 2.52091918e+01] [ 1.11701350e-01 5.37757879e-03 9.93727271e-01 1.20542567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:25.22, Z:12.06 [[ 8.48665681e-01 -5.20827224e-01 -9.22256136e-02 1.03203472e+02] [ 5.17007169e-01 8.53641050e-01 -6.32498578e-02 2.52171653e+01] [ 1.11669818e-01 5.99668024e-03 9.93727272e-01 1.20617674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.497105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.23, Y:25.23, Z:12.06 [[ 8.50081915e-01 -5.18516246e-01 -9.22043405e-02 1.03229919e+02] [ 5.14679322e-01 8.55044285e-01 -6.32808543e-02 2.52281612e+01] [ 1.11650945e-01 6.33824241e-03 9.93727273e-01 1.20648233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:25.23, Z:12.07 [[ 8.51763732e-01 -5.15750220e-01 -9.21968300e-02 1.03260171e+02] [ 5.11896007e-01 8.56712686e-01 -6.32917948e-02 2.52322355e+01] [ 1.11628951e-01 6.71446613e-03 9.93727273e-01 1.20691226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:25.24, Z:12.07 [[ 8.51369475e-01 -5.16405081e-01 -9.21727178e-02 1.03289683e+02] [ 5.12550895e-01 8.56318448e-01 -6.33268904e-02 2.52380783e+01] [ 1.11631527e-01 6.67137242e-03 9.93727274e-01 1.20734263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.32, Y:25.25, Z:12.08 [[ 8.50986831e-01 -5.17036721e-01 -9.21652955e-02 1.03315962e+02] [ 5.13185045e-01 8.55937759e-01 -6.33376909e-02 2.52488381e+01] [ 1.11635668e-01 6.60168956e-03 9.93727274e-01 1.20760795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:25.26, Z:12.08 [[ 8.50852375e-01 -5.17262092e-01 -9.21420888e-02 1.03346454e+02] [ 5.13408091e-01 8.55801492e-01 -6.33714337e-02 2.52555219e+01] [ 1.11634977e-01 6.61324098e-03 9.93727275e-01 1.20765377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:25.26, Z:12.08 [[ 8.51004470e-01 -5.17015456e-01 -9.21217160e-02 1.03376578e+02] [ 5.13156833e-01 8.55949983e-01 -6.34010354e-02 2.52614903e+01] [ 1.11630897e-01 6.68167651e-03 9.93727276e-01 1.20759967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:103.40, Y:25.27, Z:12.08 [[ 8.50628299e-01 -5.17635401e-01 -9.21145414e-02 1.03402301e+02] [ 5.13779259e-01 8.55575747e-01 -6.34114577e-02 2.52724349e+01] [ 1.11634983e-01 6.61303956e-03 9.93727276e-01 1.20798088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70710568099999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:103.43, Y:25.28, Z:12.08 [[ 8.49274717e-01 -5.19857359e-01 -9.20911559e-02 1.03430325e+02] [ 5.16010501e-01 8.54229386e-01 -6.34454020e-02 2.52795626e+01] [ 1.11649531e-01 6.36257239e-03 9.93727276e-01 1.20841944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:103.46, Y:25.29, Z:12.09 [[ 8.45880068e-01 -5.25364124e-01 -9.20839140e-02 1.03457693e+02] [ 5.21548398e-01 8.50858752e-01 -6.34559111e-02 2.52884909e+01] [ 1.11687863e-01 5.64987261e-03 9.93727277e-01 1.20878845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:103.48, Y:25.30, Z:12.09 [[ 8.43487606e-01 -5.29200857e-01 -9.20603699e-02 1.03483268e+02] [ 5.25404070e-01 8.48480746e-01 -6.34900500e-02 2.53009518e+01] [ 1.11710440e-01 5.18417726e-03 9.93727277e-01 1.20900271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79710568099999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:103.51, Y:25.31, Z:12.09 [[ 8.36095756e-01 -5.40807879e-01 -9.20365384e-02 1.03512251e+02] [ 5.37076667e-01 8.41138087e-01 -6.35245781e-02 2.53084364e+01] [ 1.11770030e-01 3.68195282e-03 9.93727278e-01 1.20915448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:103.54, Y:25.32, Z:12.10 [[ 8.31349039e-01 -5.48077916e-01 -9.20291984e-02 1.03537592e+02] [ 5.44389638e-01 8.36422859e-01 -6.35352099e-02 2.53204236e+01] [ 1.11797571e-01 2.72019365e-03 9.93727278e-01 1.20964879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.857105681 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:103.56, Y:25.33, Z:12.10 [[ 8.21447030e-01 -5.62814076e-01 -9.20059376e-02 1.03564716e+02] [ 5.59213083e-01 8.26583164e-01 -6.35688764e-02 2.53305469e+01] [ 1.11828017e-01 7.67540765e-04 9.93727279e-01 1.21010382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88710568099998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:103.59, Y:25.34, Z:12.10 [[ 8.16560022e-01 -5.69883113e-01 -9.19943949e-02 1.03589121e+02] [ 5.66324702e-01 8.21725749e-01 -6.35855762e-02 2.53443232e+01] [ 1.11830509e-01 -1.77258783e-04 9.93727279e-01 1.21028807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:103.62, Y:25.36, Z:12.10 [[ 8.09509532e-01 -5.79858371e-01 -9.19705778e-02 1.03615958e+02] [ 5.76359694e-01 8.14715900e-01 -6.36200070e-02 2.53569780e+01] [ 1.11820486e-01 -1.50713201e-03 9.93727280e-01 1.21036622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94710568099998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:103.64, Y:25.37, Z:12.11 [[ 8.06326672e-01 -5.84279493e-01 -9.19498359e-02 1.03641343e+02] [ 5.80805943e-01 8.11549837e-01 -6.36499712e-02 2.53699024e+01] [ 1.11811247e-01 -2.08234164e-03 9.93727281e-01 1.21073833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97710568099998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:103.67, Y:25.39, Z:12.11 [[ 8.08148803e-01 -5.81759930e-01 -9.19287550e-02 1.03665491e+02] [ 5.78266634e-01 8.13358781e-01 -6.36804037e-02 2.53866335e+01] [ 1.11817767e-01 -1.69608966e-03 9.93727282e-01 1.21068543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00710568099998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:103.69, Y:25.40, Z:12.11 [[ 8.11256993e-01 -5.77421026e-01 -9.19078332e-02 1.03687983e+02] [ 5.73896442e-01 8.16445856e-01 -6.37105852e-02 2.54040963e+01] [ 1.11825601e-01 -1.05992068e-03 9.93727282e-01 1.21063949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03710568099999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:103.71, Y:25.42, Z:12.11 [[ 8.19586715e-01 -5.65536846e-01 -9.19004448e-02 1.03709940e+02] [ 5.61935822e-01 8.24722824e-01 -6.37212409e-02 2.54220654e+01] [ 1.11829104e-01 5.82930548e-04 9.93727282e-01 1.21137050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:103.73, Y:25.44, Z:12.12 [[ 8.23470379e-01 -5.59869937e-01 -9.18813883e-02 1.03732852e+02] [ 5.56230505e-01 8.28579343e-01 -6.37487074e-02 2.54389449e+01] [ 1.11822005e-01 1.38794120e-03 9.93727283e-01 1.21192895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09710568099999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:103.75, Y:25.46, Z:12.13 [[ 8.29275219e-01 -5.51238544e-01 -9.18622771e-02 1.03753655e+02] [ 5.47542902e-01 8.34343671e-01 -6.37762349e-02 2.54576467e+01] [ 1.11800628e-01 2.58951339e-03 9.93727283e-01 1.21259037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12710568099999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:103.78, Y:25.48, Z:12.13 [[ 8.31012763e-01 -5.48617421e-01 -9.18515834e-02 1.03775973e+02] [ 5.44904094e-01 8.36068272e-01 -6.37916325e-02 2.54755292e+01] [ 1.11791396e-01 2.96135691e-03 9.93727284e-01 1.21292335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15710568099999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:103.80, Y:25.49, Z:12.13 [[ 8.33032668e-01 -5.45548810e-01 -9.18317500e-02 1.03799166e+02] [ 5.41813721e-01 8.38072119e-01 -6.38201711e-02 2.54900187e+01] [ 1.11778648e-01 3.40858517e-03 9.93727284e-01 1.21334738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18710568099999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:103.82, Y:25.50, Z:12.14 [[ 8.33089395e-01 -5.45463362e-01 -9.18247329e-02 1.03822842e+02] [ 5.41726645e-01 8.38127639e-01 -6.38302658e-02 2.55035206e+01] [ 1.11777918e-01 3.43241301e-03 9.93727284e-01 1.21394077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21710568099999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:103.85, Y:25.52, Z:12.14 [[ 8.32696319e-01 -5.46064396e-01 -9.18178447e-02 1.03845444e+02] [ 5.42330225e-01 8.37736450e-01 -6.38401726e-02 2.55197752e+01] [ 1.11780001e-01 3.36388439e-03 9.93727284e-01 1.21424969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.247105681 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:103.87, Y:25.54, Z:12.14 [[ 8.33135044e-01 -5.45398513e-01 -9.17957595e-02 1.03868169e+02] [ 5.41656821e-01 8.38169593e-01 -6.38719134e-02 2.55365259e+01] [ 1.11776061e-01 3.49213009e-03 9.93727285e-01 1.21400903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27710568099998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:103.89, Y:25.55, Z:12.14 [[ 8.34167515e-01 -5.43819220e-01 -9.17889636e-02 1.03892545e+02] [ 5.40066924e-01 8.39194166e-01 -6.38816781e-02 2.55506932e+01] [ 1.11768847e-01 3.71583741e-03 9.93727285e-01 1.21399471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30710568099998 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:103.92, Y:25.57, Z:12.14 [[ 8.34773419e-01 -5.42889820e-01 -9.17822567e-02 1.03915878e+02] [ 5.39130871e-01 8.39795097e-01 -6.38913128e-02 2.55653900e+01] [ 1.11764232e-01 3.85212163e-03 9.93727285e-01 1.21429789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33710568099998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:103.94, Y:25.58, Z:12.14 [[ 8.35659955e-01 -5.41527836e-01 -9.17607882e-02 1.03937153e+02] [ 5.37757325e-01 8.40672957e-01 -6.39221313e-02 2.55812033e+01] [ 1.11756427e-01 4.07212945e-03 9.93727286e-01 1.21442292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36710568099998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:103.96, Y:25.60, Z:12.14 [[ 8.37622553e-01 -5.38557411e-01 -9.13475475e-02 1.03963801e+02] [ 5.34704515e-01 8.42572802e-01 -6.45147676e-02 2.55964901e+01] [ 1.11711865e-01 5.19507828e-03 9.93727060e-01 1.21447548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39710568099999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:103.99, Y:25.61, Z:12.15 [[ 8.37165089e-01 -5.39202078e-01 -9.17373062e-02 1.03988855e+02] [ 5.35413967e-01 8.42164798e-01 -6.39557480e-02 2.56114729e+01] [ 1.11743002e-01 4.42408439e-03 9.93727291e-01 1.21450970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42710568099999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:104.01, Y:25.62, Z:12.15 [[ 8.33849120e-01 -5.44319037e-01 -9.17193037e-02 1.04014851e+02] [ 5.40558783e-01 8.38869813e-01 -6.39815552e-02 2.56243769e+01] [ 1.11766934e-01 3.77128832e-03 9.93727292e-01 1.21492263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45710568099999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:104.04, Y:25.64, Z:12.15 [[ 8.31053581e-01 -5.48581060e-01 -9.16993214e-02 1.04038937e+02] [ 5.44843405e-01 8.36091120e-01 -6.40101815e-02 2.56388062e+01] [ 1.11783762e-01 3.23412000e-03 9.93727292e-01 1.21496891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:104.06, Y:25.65, Z:12.16 [[ 8.24806005e-01 -5.57931525e-01 -9.16922434e-02 1.04064495e+02] [ 5.54249872e-01 8.29884617e-01 -6.40203188e-02 2.56504594e+01] [ 1.11812936e-01 1.98392918e-03 9.93727292e-01 1.21586576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:104.09, Y:25.66, Z:12.16 [[ 8.17632705e-01 -5.68395029e-01 -9.16725218e-02 1.04091363e+02] [ 5.64775217e-01 8.22755576e-01 -6.40485465e-02 2.56638878e+01] [ 1.11828954e-01 5.93817925e-04 9.93727293e-01 1.21605217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54710568099999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:104.11, Y:25.68, Z:12.15 [[ 8.15715685e-01 -5.71117786e-01 -9.18280765e-02 1.04113649e+02] [ 5.67540115e-01 8.20868121e-01 -6.38259070e-02 2.56757510e+01] [ 1.11830851e-01 -5.23236545e-05 9.93727255e-01 1.21516411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57710568099999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:104.14, Y:25.69, Z:12.17 [[ 8.09780874e-01 -5.79661414e-01 -9.08161976e-02 1.04139549e+02] [ 5.75975130e-01 8.14857255e-01 -6.52710025e-02 2.56926984e+01] [ 1.11837319e-01 5.47338243e-04 9.93726378e-01 1.21661287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.607105681 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:104.16, Y:25.71, Z:12.18 [[ 8.06108080e-01 -5.84631254e-01 -9.16300129e-02 1.04160113e+02] [ 5.81107846e-01 8.11297624e-01 -6.41080072e-02 2.57112367e+01] [ 1.11818756e-01 -1.56893685e-03 9.93727379e-01 1.21768763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63710568099998 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:104.18, Y:25.73, Z:12.18 [[ 8.06046411e-01 -5.84706705e-01 -9.16910760e-02 1.04180348e+02] [ 5.81193695e-01 8.11243012e-01 -6.40208034e-02 2.57296412e+01] [ 1.11817138e-01 -1.68653651e-03 9.93727369e-01 1.21772624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:104.20, Y:25.75, Z:12.18 [[ 8.06158953e-01 -5.84620334e-01 -9.12513422e-02 1.04201647e+02] [ 5.81035554e-01 8.11306507e-01 -6.46485584e-02 2.57497843e+01] [ 1.11827670e-01 -9.03260104e-04 9.93727204e-01 1.21845769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69710568099998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:104.22, Y:25.77, Z:12.19 [[ 8.05706077e-01 -5.85190988e-01 -9.15927096e-02 1.04220580e+02] [ 5.81665129e-01 8.10893956e-01 -6.41612778e-02 2.57719841e+01] [ 1.11818576e-01 -1.58115385e-03 9.93727380e-01 1.21885974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72710568099998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:104.24, Y:25.79, Z:12.19 [[ 8.04248085e-01 -5.87196870e-01 -9.15688466e-02 1.04240543e+02] [ 5.83680076e-01 8.09442111e-01 -6.41953163e-02 2.57921773e+01] [ 1.11814969e-01 -1.81795116e-03 9.93727381e-01 1.21911486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75710568099998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:104.26, Y:25.81, Z:12.19 [[ 8.00106492e-01 -5.92831433e-01 -9.15450285e-02 1.04257494e+02] [ 5.89347327e-01 8.05322501e-01 -6.42292642e-02 2.58130769e+01] [ 1.11800398e-01 -2.56156656e-03 9.93727382e-01 1.21927579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78710568099999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:104.28, Y:25.83, Z:12.20 [[ 7.96414506e-01 -5.97837965e-01 -9.11795048e-02 1.04279563e+02] [ 5.94327003e-01 8.01612680e-01 -6.47497158e-02 2.58328906e+01] [ 1.11800486e-01 -2.62282893e-03 9.93727212e-01 1.21980361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81710568099999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:104.30, Y:25.85, Z:12.20 [[ 7.89961049e-01 -6.06289448e-01 -9.15130904e-02 1.04298250e+02] [ 6.02888866e-01 7.95231895e-01 -6.42747964e-02 2.58541549e+01] [ 1.11743259e-01 -4.39763765e-03 9.93727380e-01 1.22008130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84710568099999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:104.32, Y:25.88, Z:12.20 [[ 7.86938054e-01 -6.10239562e-01 -9.13026628e-02 1.04317216e+02] [ 6.06830754e-01 7.92203644e-01 -6.45741640e-02 2.58764342e+01] [ 1.11736012e-01 -4.58939672e-03 9.93727327e-01 1.22038165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:104.34, Y:25.90, Z:12.21 [[ 7.85539954e-01 -6.12011157e-01 -9.14840084e-02 1.04335661e+02] [ 6.08644138e-01 7.90832306e-01 -6.43162260e-02 2.59040506e+01] [ 1.11710757e-01 -5.15824021e-03 9.93727377e-01 1.22110174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90710568099999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:104.35, Y:25.92, Z:12.21 [[ 7.88956346e-01 -6.07472472e-01 -9.23313646e-02 1.04353666e+02] [ 6.04215106e-01 7.94318093e-01 -6.31100062e-02 2.59213772e+01] [ 1.11678065e-01 -5.99696538e-03 9.93726344e-01 1.22090178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:104.37, Y:25.95, Z:12.21 [[ 7.93545252e-01 -6.01600134e-01 -9.14505976e-02 1.04368912e+02] [ 5.98158386e-01 7.98789157e-01 -6.43617026e-02 2.59492314e+01] [ 1.11769755e-01 -3.62801828e-03 9.93727508e-01 1.22079885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96710568099999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:104.39, Y:25.97, Z:12.21 [[ 7.96306063e-01 -5.97942144e-01 -9.14431337e-02 1.04388194e+02] [ 5.94475086e-01 8.01533268e-01 -6.43723053e-02 2.59724318e+01] [ 1.11785628e-01 -3.10060775e-03 9.93727508e-01 1.22104546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:26.00, Z:12.21 [[ 8.02560425e-01 -5.89524133e-01 -9.14224335e-02 1.04403713e+02] [ 5.85998880e-01 8.07748559e-01 -6.44016908e-02 2.60006699e+01] [ 1.11812690e-01 -1.88719530e-03 9.93727508e-01 1.22104723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.42, Y:26.03, Z:12.21 [[ 8.07700634e-01 -5.82464923e-01 -9.14018554e-02 1.04418150e+02] [ 5.78891014e-01 8.12855372e-01 -6.44308830e-02 2.60296049e+01] [ 1.11825218e-01 -8.70847684e-04 9.93727509e-01 1.22147660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:104.44, Y:26.05, Z:12.22 [[ 8.09301923e-01 -5.80246361e-01 -9.13485548e-02 1.04436952e+02] [ 5.76649786e-01 8.14440875e-01 -6.45064714e-02 2.60519862e+01] [ 1.11827642e-01 -4.70913283e-04 9.93727506e-01 1.22180143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.45, Y:26.08, Z:12.23 [[ 8.09740291e-01 -5.79628644e-01 -9.13854234e-02 1.04454632e+02] [ 5.76034047e-01 8.14880625e-01 -6.44541981e-02 2.60763176e+01] [ 1.11827710e-01 -4.49954155e-04 9.93727508e-01 1.22259888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:26.10, Z:12.23 [[ 8.08808950e-01 -5.80930888e-01 -9.13640315e-02 1.04474064e+02] [ 5.77341144e-01 8.13952672e-01 -6.44845071e-02 2.60970278e+01] [ 1.11827040e-01 -5.92568052e-04 9.93727509e-01 1.22283286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.50, Y:26.12, Z:12.23 [[ 8.08777378e-01 -5.80978659e-01 -9.13397564e-02 1.04498652e+02] [ 5.77385336e-01 8.13918601e-01 -6.45188736e-02 2.61177907e+01] [ 1.11827215e-01 -5.56830536e-04 9.93727510e-01 1.22285458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:26.14, Z:12.23 [[ 8.09089606e-01 -5.80456132e-01 -9.18949893e-02 1.04515927e+02] [ 5.76948482e-01 8.14290223e-01 -6.37328934e-02 2.61393756e+01] [ 1.11823340e-01 -1.45305303e-03 9.93727040e-01 1.22278396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.54, Y:26.16, Z:12.23 [[ 8.09706922e-01 -5.79687906e-01 -9.13051608e-02 1.04537729e+02] [ 5.76080952e-01 8.14838530e-01 -6.45670788e-02 2.61576172e+01] [ 1.11827718e-01 -3.18753327e-04 9.93727558e-01 1.22326821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:26.18, Z:12.24 [[ 8.09391867e-01 -5.80130781e-01 -9.12857201e-02 1.04559716e+02] [ 5.76523536e-01 8.14523270e-01 -6.45945527e-02 2.61755080e+01] [ 1.11827632e-01 -3.46060532e-04 9.93727559e-01 1.22425994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:104.58, Y:26.19, Z:12.24 [[ 8.06717868e-01 -5.83846846e-01 -9.12641327e-02 1.04580134e+02] [ 5.80259788e-01 8.11863402e-01 -6.46250388e-02 2.61929034e+01] [ 1.11825134e-01 -8.22732779e-04 9.93727559e-01 1.22441186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:104.60, Y:26.21, Z:12.25 [[ 8.05169206e-01 -5.85983328e-01 -9.12474106e-02 1.04603130e+02] [ 5.82407248e-01 8.10322375e-01 -6.46486411e-02 2.62104105e+01] [ 1.11822844e-01 -1.09005823e-03 9.93727560e-01 1.22458300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:104.63, Y:26.23, Z:12.25 [[ 8.04949631e-01 -5.86288235e-01 -9.12260757e-02 1.04626089e+02] [ 5.82710696e-01 8.10101788e-01 -6.46787329e-02 2.62270030e+01] [ 1.11822787e-01 -1.09528790e-03 9.93727561e-01 1.22490151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.357105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.65, Y:26.24, Z:12.25 [[ 8.01692098e-01 -5.90738548e-01 -9.12016840e-02 1.04648011e+02] [ 5.87185697e-01 8.06861308e-01 -6.47131089e-02 2.62440799e+01] [ 1.11815638e-01 -1.67233630e-03 9.93727561e-01 1.22500857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:104.67, Y:26.26, Z:12.26 [[ 7.96337671e-01 -5.97940660e-01 -9.11771917e-02 1.04672315e+02] [ 5.94430600e-01 8.01536032e-01 -6.47475990e-02 2.62586639e+01] [ 1.11797027e-01 -2.63756053e-03 9.93727562e-01 1.22550922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:26.28, Z:12.26 [[ 7.87367653e-01 -6.09707141e-01 -9.11558052e-02 1.04695721e+02] [ 6.06271232e-01 7.92615319e-01 -6.47776944e-02 2.62765508e+01] [ 1.11746910e-01 -4.26128117e-03 9.93727563e-01 1.22583686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.72, Y:26.29, Z:12.26 [[ 7.84615009e-01 -6.13168432e-01 -9.16720378e-02 1.04716266e+02] [ 6.09840033e-01 7.89931995e-01 -6.40513690e-02 2.62928305e+01] [ 1.11688953e-01 -5.64961316e-03 9.93727156e-01 1.22601965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:104.74, Y:26.31, Z:12.27 [[ 7.79388913e-01 -6.19879761e-01 -9.11153354e-02 1.04736941e+02] [ 6.16505741e-01 7.84676523e-01 -6.48338291e-02 2.63126320e+01] [ 1.11685243e-01 -5.64235981e-03 9.93727614e-01 1.22660979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:104.76, Y:26.33, Z:12.27 [[ 7.78268617e-01 -6.21288905e-01 -9.10936681e-02 1.04758227e+02] [ 6.17920911e-01 7.83560066e-01 -6.48642582e-02 2.63295253e+01] [ 1.11676805e-01 -5.80686581e-03 9.93727614e-01 1.22709457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:26.35, Z:12.28 [[ 7.79210391e-01 -6.20108455e-01 -9.10860667e-02 1.04777741e+02] [ 6.16731200e-01 7.84495934e-01 -6.48749308e-02 2.63494750e+01] [ 1.11686142e-01 -5.62439899e-03 9.93727614e-01 1.22801340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.79, Y:26.37, Z:12.29 [[ 7.83422610e-01 -6.14779390e-01 -9.10786220e-02 1.04793054e+02] [ 6.11364952e-01 7.88684210e-01 -6.48853809e-02 2.63743497e+01] [ 1.11722466e-01 -4.84960290e-03 9.93727615e-01 1.22862628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:26.40, Z:12.29 [[ 7.86263231e-01 -6.11143326e-01 -9.10712237e-02 1.04811893e+02] [ 6.07703348e-01 7.91508168e-01 -6.48957632e-02 2.63960897e+01] [ 1.11744230e-01 -4.31913511e-03 9.93727615e-01 1.22880426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:26.42, Z:12.28 [[ 7.91577265e-01 -6.04248166e-01 -9.10471649e-02 1.04829161e+02] [ 6.00758605e-01 7.96789344e-01 -6.49294997e-02 2.64216960e+01] [ 1.11778942e-01 -3.30065193e-03 9.93727616e-01 1.22845214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.85, Y:26.44, Z:12.29 [[ 7.93204184e-01 -6.02114052e-01 -9.10263220e-02 1.04848996e+02] [ 5.98607117e-01 7.98404588e-01 -6.49587070e-02 2.64428395e+01] [ 1.11788383e-01 -2.96348596e-03 9.93727616e-01 1.22856277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:26.47, Z:12.28 [[ 7.94885613e-01 -5.99896219e-01 -9.10021356e-02 1.04868559e+02] [ 5.96370898e-01 8.00073570e-01 -6.49925727e-02 2.64712011e+01] [ 1.11797202e-01 -2.60936431e-03 9.93727617e-01 1.22846229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.88, Y:26.50, Z:12.29 [[ 7.94450278e-01 -6.00343314e-01 -9.18512994e-02 1.04880680e+02] [ 5.96957583e-01 7.99731670e-01 -6.38035981e-02 2.64966631e+01] [ 1.11760457e-01 -4.14254350e-03 9.93726542e-01 1.22891874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:104.90, Y:26.52, Z:12.30 [[ 7.93626534e-01 -6.01567999e-01 -9.09552990e-02 1.04897465e+02] [ 5.98046278e-01 7.98816811e-01 -6.50565212e-02 2.65209809e+01] [ 1.11792543e-01 -2.76489665e-03 9.93727721e-01 1.22956146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:26.54, Z:12.30 [[ 7.93270717e-01 -6.02038305e-01 -9.09475077e-02 1.04916843e+02] [ 5.98518415e-01 7.98462234e-01 -6.50674115e-02 2.65402741e+01] [ 1.11791224e-01 -2.81768597e-03 9.93727721e-01 1.23016687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:26.56, Z:12.31 [[ 7.94506092e-01 -6.00401853e-01 -9.09817875e-02 1.04935118e+02] [ 5.96876747e-01 7.99694074e-01 -6.50195176e-02 2.65611016e+01] [ 1.11795435e-01 -2.64651054e-03 9.93727718e-01 1.23077621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:26.58, Z:12.31 [[ 7.95214331e-01 -5.99474056e-01 -9.09121790e-02 1.04956311e+02] [ 5.95931790e-01 8.00390603e-01 -6.51167024e-02 2.65805048e+01] [ 1.11801027e-01 -2.39572261e-03 9.93727725e-01 1.23106776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:26.60, Z:12.32 [[ 7.99540016e-01 -5.93653929e-01 -9.11634542e-02 1.04974063e+02] [ 5.90113901e-01 8.04717936e-01 -6.47659392e-02 2.66006440e+01] [ 1.11809421e-01 -2.01386153e-03 9.93727628e-01 1.23154049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:26.62, Z:12.32 [[ 8.01677263e-01 -5.90807648e-01 -9.08839280e-02 1.04993921e+02] [ 5.87204969e-01 8.06811650e-01 -6.51558638e-02 2.66190486e+01] [ 1.11820795e-01 -1.13351956e-03 9.93727742e-01 1.23176719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:26.64, Z:12.32 [[ 8.05639807e-01 -5.85394359e-01 -9.08732356e-02 1.05015605e+02] [ 5.81755496e-01 8.10748613e-01 -6.51707733e-02 2.66383911e+01] [ 1.11825953e-01 -3.61834993e-04 9.93727742e-01 1.23165075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:26.65, Z:12.32 [[ 8.09856405e-01 -5.79515393e-01 -9.10742118e-02 1.05037860e+02] [ 5.75870918e-01 8.14961286e-01 -6.48905834e-02 2.66537363e+01] [ 1.11827049e-01 1.05064612e-04 9.93727679e-01 1.23162548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:26.67, Z:12.32 [[ 8.10752017e-01 -5.78298474e-01 -9.08407520e-02 1.05061392e+02] [ 5.74609852e-01 8.15824993e-01 -6.52157908e-02 2.66724370e+01] [ 1.11824348e-01 6.75842897e-04 9.93727759e-01 1.23193414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.08, Y:26.69, Z:12.32 [[ 8.13494168e-01 -5.74406718e-01 -9.10173699e-02 1.05082544e+02] [ 5.70721320e-01 8.18569545e-01 -6.49698030e-02 2.66916965e+01] [ 1.11823138e-01 9.07002341e-04 9.93727711e-01 1.23220905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:26.71, Z:12.33 [[ 8.14927793e-01 -5.72374850e-01 -9.09929855e-02 1.05103996e+02] [ 5.68673010e-01 8.19991172e-01 -6.50037365e-02 2.67077297e+01] [ 1.11819949e-01 1.22809663e-03 9.93727725e-01 1.23288657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:26.72, Z:12.33 [[ 8.15624351e-01 -5.71415377e-01 -9.07820800e-02 1.05129227e+02] [ 5.67674913e-01 8.20659185e-01 -6.52969699e-02 2.67235328e+01] [ 1.11812840e-01 1.72308924e-03 9.93727790e-01 1.23346230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.107105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:26.74, Z:12.34 [[ 8.18055332e-01 -5.67894580e-01 -9.10012084e-02 1.05152803e+02] [ 5.64166269e-01 8.23099268e-01 -6.49924245e-02 2.67364762e+01] [ 1.11811874e-01 1.82758720e-03 9.93727712e-01 1.23380331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:26.75, Z:12.34 [[ 8.18971041e-01 -5.66613692e-01 -9.07488722e-02 1.05176998e+02] [ 5.62838628e-01 8.23979966e-01 -6.53428895e-02 2.67527142e+01] [ 1.11799429e-01 2.43696344e-03 9.93727804e-01 1.23402707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:26.77, Z:12.34 [[ 8.21390938e-01 -5.63103460e-01 -9.07271733e-02 1.05202634e+02] [ 5.59303670e-01 8.26381132e-01 -6.53730046e-02 2.67665625e+01] [ 1.11786989e-01 2.95275256e-03 9.93727805e-01 1.23436117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:26.78, Z:12.35 [[ 8.24323112e-01 -5.58801045e-01 -9.07347752e-02 1.05227433e+02] [ 5.54976375e-01 8.29294262e-01 -6.53624564e-02 2.67802655e+01] [ 1.11770437e-01 3.52412675e-03 9.93727805e-01 1.23461003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:26.80, Z:12.35 [[ 8.25616905e-01 -5.56890927e-01 -9.07150511e-02 1.05251387e+02] [ 5.53051756e-01 8.30576864e-01 -6.53898198e-02 2.67953893e+01] [ 1.11760820e-01 3.81682236e-03 9.93727805e-01 1.23483654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:26.81, Z:12.35 [[ 8.27664806e-01 -5.53846641e-01 -9.06910513e-02 1.05277287e+02] [ 5.49985592e-01 8.32607752e-01 -6.54230890e-02 2.68059575e+01] [ 1.11744430e-01 4.26961675e-03 9.93727806e-01 1.23478249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:26.82, Z:12.35 [[ 8.28563054e-01 -5.52504603e-01 -9.06748588e-02 1.05303300e+02] [ 5.48633098e-01 8.33497815e-01 -6.54455237e-02 2.68208567e+01] [ 1.11736250e-01 4.47851423e-03 9.93727806e-01 1.23480910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:26.83, Z:12.35 [[ 8.30552162e-01 -5.49487711e-01 -9.08094843e-02 1.05328805e+02] [ 5.45618597e-01 8.35488838e-01 -6.52590857e-02 2.68333397e+01] [ 1.11729376e-01 4.65373131e-03 9.93727774e-01 1.23472602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:26.84, Z:12.35 [[ 8.31760869e-01 -5.47695949e-01 -9.05704407e-02 1.05355852e+02] [ 5.43780249e-01 8.36660629e-01 -6.55898856e-02 2.68444224e+01] [ 1.11700036e-01 5.30468344e-03 9.93727811e-01 1.23485825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37710568099999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:105.38, Y:26.86, Z:12.35 [[ 8.31177635e-01 -5.48571680e-01 -9.06247808e-02 1.05380696e+02] [ 5.44669310e-01 8.36088012e-01 -6.55147191e-02 2.68571914e+01] [ 1.11709812e-01 5.09383238e-03 9.93727815e-01 1.23506160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:26.87, Z:12.36 [[ 8.27973197e-01 -5.53397603e-01 -9.06172100e-02 1.05408337e+02] [ 5.49522721e-01 8.32905294e-01 -6.55251891e-02 2.68661549e+01] [ 1.11737037e-01 4.45688451e-03 9.93727815e-01 1.23588739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:26.88, Z:12.37 [[ 8.26040030e-01 -5.56282626e-01 -9.05953052e-02 1.05433410e+02] [ 5.52421659e-01 8.30983027e-01 -6.55554608e-02 2.68788137e+01] [ 1.11750525e-01 4.10462596e-03 9.93727816e-01 1.23658083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:26.89, Z:12.37 [[ 8.21913680e-01 -5.62363329e-01 -9.05835984e-02 1.05460546e+02] [ 5.58537165e-01 8.26883665e-01 -6.55716333e-02 2.68858696e+01] [ 1.11777180e-01 3.29991617e-03 9.93727816e-01 1.23721570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:26.89, Z:12.38 [[ 8.17299323e-01 -5.69052678e-01 -9.05586387e-02 1.05488769e+02] [ 5.65263388e-01 8.22297479e-01 -6.56060862e-02 2.68947666e+01] [ 1.11799459e-01 2.43032689e-03 9.93727817e-01 1.23753056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.51, Y:26.91, Z:12.38 [[ 8.15144933e-01 -5.72138673e-01 -9.05321847e-02 1.05513950e+02] [ 5.68364257e-01 8.20154329e-01 -6.56425709e-02 2.69078852e+01] [ 1.11807017e-01 2.05295114e-03 9.93727818e-01 1.23759539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.54, Y:26.92, Z:12.38 [[ 8.11119106e-01 -5.77833162e-01 -9.05242128e-02 1.05541761e+02] [ 5.74092693e-01 8.16153901e-01 -6.56535628e-02 2.69174615e+01] [ 1.11818495e-01 1.28357001e-03 9.93727818e-01 1.23768534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:26.93, Z:12.38 [[ 8.08965658e-01 -5.80845351e-01 -9.05165326e-02 1.05568286e+02] [ 5.77122446e-01 8.14013453e-01 -6.56641498e-02 2.69293812e+01] [ 1.11822391e-01 8.80919495e-04 9.93727818e-01 1.23788163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:26.94, Z:12.38 [[ 8.08668815e-01 -5.81262103e-01 -9.04937343e-02 1.05590748e+02] [ 5.77538284e-01 8.13715936e-01 -6.56955540e-02 2.69438285e+01] [ 1.11822530e-01 8.62349730e-04 9.93727819e-01 1.23818423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.62, Y:26.96, Z:12.38 [[ 8.08475274e-01 -5.81568736e-01 -9.02526208e-02 1.05615875e+02] [ 5.77809738e-01 8.13496334e-01 -6.60274316e-02 2.69593828e+01] [ 1.11819666e-01 1.23270270e-03 9.93727751e-01 1.23836117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:26.98, Z:12.39 [[ 8.08228266e-01 -5.81879069e-01 -9.04644612e-02 1.05639737e+02] [ 5.78154586e-01 8.13274901e-01 -6.57359133e-02 2.69757639e+01] [ 1.11822828e-01 8.27180110e-04 9.93727815e-01 1.23876320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:26.99, Z:12.39 [[ 8.04614679e-01 -5.86882782e-01 -9.03538541e-02 1.05662779e+02] [ 5.83172589e-01 8.09671845e-01 -6.58880522e-02 2.69933078e+01] [ 1.11825535e-01 3.22602927e-04 9.93727803e-01 1.23918619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:27.01, Z:12.40 [[ 7.99471787e-01 -5.93820253e-01 -9.06772736e-02 1.05683924e+02] [ 5.90204322e-01 8.04596837e-01 -6.54430052e-02 2.70087622e+01] [ 1.11820029e-01 -1.19828249e-03 9.93727752e-01 1.23996333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:27.02, Z:12.41 [[ 7.96507879e-01 -5.97811453e-01 -9.05354402e-02 1.05705292e+02] [ 5.94199025e-01 8.01635311e-01 -6.56379917e-02 2.70243196e+01] [ 1.11815549e-01 -1.51489274e-03 9.93727824e-01 1.24052159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:27.04, Z:12.41 [[ 7.88903853e-01 -6.07899712e-01 -8.99369252e-02 1.05725648e+02] [ 6.04258860e-01 7.94011508e-01 -6.64601801e-02 2.70400879e+01] [ 1.11812078e-01 -1.91449174e-03 9.93727525e-01 1.24138076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:27.06, Z:12.42 [[ 7.82838475e-01 -6.15704694e-01 -8.98423735e-02 1.05748049e+02] [ 6.12099863e-01 7.87971784e-01 -6.65899849e-02 2.70609014e+01] [ 1.11793022e-01 -2.86330226e-03 9.93727388e-01 1.24155488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.857105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.77, Y:27.08, Z:12.42 [[ 7.80685246e-01 -6.18351277e-01 -9.04004728e-02 1.05767952e+02] [ 6.14852143e-01 7.85890640e-01 -6.58235907e-02 2.70806500e+01] [ 1.11746987e-01 -4.19541832e-03 9.93727835e-01 1.24162789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:27.10, Z:12.41 [[ 7.78771215e-01 -6.20763602e-01 -9.03766868e-02 1.05787208e+02] [ 6.17276810e-01 7.83984883e-01 -6.58562332e-02 2.71024331e+01] [ 1.11735109e-01 -4.50049419e-03 9.93727835e-01 1.24096964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:27.12, Z:12.41 [[ 7.78351633e-01 -6.21290687e-01 -9.03693393e-02 1.05806030e+02] [ 6.17806259e-01 7.83566880e-01 -6.58663141e-02 2.71204072e+01] [ 1.11732549e-01 -4.56359025e-03 9.93727836e-01 1.24131543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.83, Y:27.14, Z:12.41 [[ 7.78378697e-01 -6.21360003e-01 -8.96568561e-02 1.05828404e+02] [ 6.17763338e-01 7.83518011e-01 -6.68429801e-02 2.71436051e+01] [ 1.11781316e-01 -3.35756696e-03 9.93727158e-01 1.24104370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:27.17, Z:12.41 [[ 7.81396170e-01 -6.17460029e-01 -9.03500925e-02 1.05842952e+02] [ 6.13946995e-01 7.86592180e-01 -6.58925645e-02 2.71687540e+01] [ 1.11754701e-01 -3.98197029e-03 9.93727845e-01 1.24136021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:27.19, Z:12.42 [[ 7.85347610e-01 -6.12427727e-01 -9.03405250e-02 1.05859240e+02] [ 6.08879881e-01 7.90519913e-01 -6.59056791e-02 2.71885075e+01] [ 1.11778449e-01 -3.24766048e-03 9.93727846e-01 1.24219766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:27.21, Z:12.42 [[ 7.88750280e-01 -6.08169701e-01 -8.94573070e-02 1.05879334e+02] [ 6.04456245e-01 7.93806225e-01 -6.71142725e-02 2.72145331e+01] [ 1.11828634e-01 -1.13662666e-03 9.93726856e-01 1.24205922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.90, Y:27.23, Z:12.43 [[ 7.90764224e-01 -6.05421975e-01 -9.03115420e-02 1.05900421e+02] [ 6.01823845e-01 7.95901609e-01 -6.59445911e-02 2.72332769e+01] [ 1.11803406e-01 -2.20501602e-03 9.93727899e-01 1.24261499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.92, Y:27.26, Z:12.43 [[ 7.94372028e-01 -6.00683303e-01 -9.02920267e-02 1.05918792e+02] [ 5.97051487e-01 7.99485653e-01 -6.59713009e-02 2.72559938e+01] [ 1.11815039e-01 -1.50323275e-03 9.93727899e-01 1.24328604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:27.28, Z:12.44 [[ 7.98131608e-01 -5.95681978e-01 -9.02713534e-02 1.05934981e+02] [ 5.92014917e-01 8.03220016e-01 -6.59995771e-02 2.72802274e+01] [ 1.11822517e-01 -7.65639187e-04 9.93727900e-01 1.24360169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.96, Y:27.30, Z:12.44 [[ 8.00492593e-01 -5.92506548e-01 -9.02640470e-02 1.05955287e+02] [ 5.88818174e-01 8.05565575e-01 -6.60095681e-02 2.73000105e+01] [ 1.11824710e-01 -3.08940995e-04 9.93727900e-01 1.24391021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:105.97, Y:27.32, Z:12.44 [[ 8.06275067e-01 -5.84617065e-01 -9.02408024e-02 1.05974662e+02] [ 5.80875497e-01 8.11308942e-01 -6.60413304e-02 2.73204198e+01] [ 1.11822059e-01 8.28807262e-04 9.93727901e-01 1.24389534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.00, Y:27.34, Z:12.44 [[ 8.08466779e-01 -5.81583494e-01 -9.02336241e-02 1.05995959e+02] [ 5.77821943e-01 8.13485740e-01 -6.60511368e-02 2.73375324e+01] [ 1.11818017e-01 1.26118178e-03 9.93727901e-01 1.24417406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.02, Y:27.35, Z:12.44 [[ 8.08267180e-01 -5.81862412e-01 -9.02236063e-02 1.06018631e+02] [ 5.78101066e-01 8.13286295e-01 -6.60648180e-02 2.73544652e+01] [ 1.11818257e-01 1.23966115e-03 9.93727901e-01 1.24449251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.04, Y:27.37, Z:12.45 [[ 8.11593791e-01 -5.77216889e-01 -9.02007826e-02 1.06039672e+02] [ 5.73423356e-01 8.16588622e-01 -6.60959655e-02 2.73718429e+01] [ 1.11808640e-01 1.91983968e-03 9.93727901e-01 1.24504980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:27.39, Z:12.46 [[ 8.12637110e-01 -5.75750672e-01 -9.01781037e-02 1.06061769e+02] [ 5.71944698e-01 8.17622466e-01 -6.61268931e-02 2.73901714e+01] [ 1.11804247e-01 2.16027904e-03 9.93727902e-01 1.24559131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:27.41, Z:12.46 [[ 8.14287719e-01 -5.73416939e-01 -9.01583335e-02 1.06082687e+02] [ 5.69593697e-01 8.19259843e-01 -6.61538373e-02 2.74084005e+01] [ 1.11796833e-01 2.51463874e-03 9.93727903e-01 1.24612462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:106.11, Y:27.42, Z:12.46 [[ 8.16223492e-01 -5.70659772e-01 -9.01478577e-02 1.06106053e+02] [ 5.66818161e-01 8.21181438e-01 -6.61681096e-02 2.74238014e+01] [ 1.11787226e-01 2.91052255e-03 9.93727903e-01 1.24625964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:27.44, Z:12.47 [[ 8.17510520e-01 -5.68818001e-01 -9.01256470e-02 1.06129808e+02] [ 5.64961891e-01 8.22457196e-01 -6.61983484e-02 2.74388301e+01] [ 1.11779299e-01 3.20029016e-03 9.93727904e-01 1.24670867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:27.45, Z:12.47 [[ 8.19821656e-01 -5.65486158e-01 -9.00991572e-02 1.06153857e+02] [ 5.61605994e-01 8.24749486e-01 -6.62343829e-02 2.74529805e+01] [ 1.11763860e-01 3.70015474e-03 9.93727905e-01 1.24661453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.18, Y:27.47, Z:12.47 [[ 8.19737790e-01 -5.65609028e-01 -9.00909670e-02 1.06178375e+02] [ 5.61728381e-01 8.24665240e-01 -6.62455212e-02 2.74664556e+01] [ 1.11763954e-01 3.69730413e-03 9.93727905e-01 1.24698557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:106.21, Y:27.48, Z:12.47 [[ 8.19034716e-01 -5.66630634e-01 -9.00658583e-02 1.06205432e+02] [ 5.62752387e-01 8.23964053e-01 -6.62796409e-02 2.74822326e+01] [ 1.11767105e-01 3.60055013e-03 9.93727906e-01 1.24716418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:27.49, Z:12.48 [[ 8.15880544e-01 -5.71096020e-01 -9.04890838e-02 1.06229132e+02] [ 5.67308319e-01 8.20880122e-01 -6.57046113e-02 2.74924895e+01] [ 1.11804332e-01 2.27190395e-03 9.93727644e-01 1.24757611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.25, Y:27.51, Z:12.48 [[ 8.13539110e-01 -5.74498370e-01 -9.00318832e-02 1.06253641e+02] [ 5.70662765e-01 8.18501658e-01 -6.63252848e-02 2.75058065e+01] [ 1.11795014e-01 2.58036971e-03 9.93727939e-01 1.24795086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:27.52, Z:12.48 [[ 8.07432952e-01 -5.83053084e-01 -9.00062754e-02 1.06282329e+02] [ 5.79266201e-01 8.12432777e-01 -6.63600178e-02 2.75152947e+01] [ 1.11815461e-01 1.44367186e-03 9.93727940e-01 1.24840047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.607105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:27.52, Z:12.49 [[ 7.99696422e-01 -5.93623180e-01 -8.99841785e-02 1.06310403e+02] [ 5.89899019e-01 8.04743139e-01 -6.63899678e-02 2.75244649e+01] [ 1.11824774e-01 1.02411213e-05 9.93727941e-01 1.24866340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.33, Y:27.54, Z:12.49 [[ 7.95396719e-01 -5.99375925e-01 -8.99586563e-02 1.06334622e+02] [ 5.95684352e-01 8.00467322e-01 -6.64245326e-02 2.75386202e+01] [ 1.11822230e-01 -7.53108573e-04 9.93727941e-01 1.24893409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.36, Y:27.55, Z:12.49 [[ 7.87612891e-01 -6.09571941e-01 -8.99332136e-02 1.06360148e+02] [ 6.05942061e-01 7.92727838e-01 -6.64589622e-02 2.75516787e+01] [ 1.11804081e-01 -2.15038153e-03 9.93727942e-01 1.24914373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.38, Y:27.57, Z:12.49 [[ 7.84742274e-01 -6.13266755e-01 -8.99080158e-02 1.06383745e+02] [ 6.09657054e-01 7.89871479e-01 -6.64930334e-02 2.75664145e+01] [ 1.11793744e-01 -2.63316185e-03 9.93727943e-01 1.24941493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:106.41, Y:27.58, Z:12.50 [[ 7.82393796e-01 -6.16263740e-01 -8.98829852e-02 1.06406467e+02] [ 6.12669801e-01 7.87534058e-01 -6.65268518e-02 2.75814106e+01] [ 1.11783999e-01 -3.01839457e-03 9.93727944e-01 1.24997157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:106.43, Y:27.60, Z:12.50 [[ 7.82666527e-01 -6.15920972e-01 -8.98580148e-02 1.06428258e+02] [ 6.12320916e-01 7.87802505e-01 -6.65605626e-02 2.75982024e+01] [ 1.11786416e-01 -2.92721761e-03 9.93727945e-01 1.25048700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:27.62, Z:12.51 [[ 7.83215575e-01 -6.15223765e-01 -8.98503324e-02 1.06449073e+02] [ 6.11617948e-01 7.88347510e-01 -6.65709314e-02 2.76156900e+01] [ 1.11789305e-01 -2.81468565e-03 9.93727945e-01 1.25100743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:27.63, Z:12.52 [[ 7.80701434e-01 -6.18414631e-01 -8.98254665e-02 1.06471036e+02] [ 6.14825932e-01 7.85845353e-01 -6.66044668e-02 2.76326941e+01] [ 1.11778102e-01 -3.22882335e-03 9.93727946e-01 1.25159802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.49, Y:27.65, Z:12.52 [[ 7.78237874e-01 -6.21513694e-01 -8.98139198e-02 1.06492034e+02] [ 6.17943681e-01 7.83394778e-01 -6.66200335e-02 2.76498279e+01] [ 1.11765019e-01 -3.65371098e-03 9.93727946e-01 1.25216429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:27.67, Z:12.53 [[ 7.72356404e-01 -6.28808717e-01 -8.98063630e-02 1.06511995e+02] [ 6.25286203e-01 7.77545869e-01 -6.66302188e-02 2.76695628e+01] [ 1.11726229e-01 -4.69240354e-03 9.93727946e-01 1.25254738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:106.53, Y:27.69, Z:12.53 [[ 7.68529994e-01 -6.33483045e-01 -8.97824015e-02 1.06530553e+02] [ 6.29988323e-01 7.73738215e-01 -6.66624908e-02 2.76906543e+01] [ 1.11697633e-01 -5.32974087e-03 9.93727947e-01 1.25276362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:106.55, Y:27.71, Z:12.53 [[ 7.67890009e-01 -6.34262274e-01 -8.97569056e-02 1.06550690e+02] [ 6.30768839e-01 7.73099093e-01 -6.66968020e-02 2.77104076e+01] [ 1.11694248e-01 -5.40005131e-03 9.93727948e-01 1.25307050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:27.73, Z:12.53 [[ 7.68926133e-01 -6.33009372e-01 -8.97314720e-02 1.06567960e+02] [ 6.29503471e-01 7.74126833e-01 -6.67310020e-02 2.77324937e+01] [ 1.11704890e-01 -5.17506183e-03 9.93727949e-01 1.25314154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:27.75, Z:12.53 [[ 7.68935010e-01 -6.33000146e-01 -8.97204820e-02 1.06588164e+02] [ 6.29492464e-01 7.74134510e-01 -6.67457749e-02 2.77524822e+01] [ 1.11705807e-01 -5.15520422e-03 9.93727949e-01 1.25346835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:27.78, Z:12.54 [[ 7.69285970e-01 -6.32577160e-01 -8.96952210e-02 1.06604686e+02] [ 6.29062675e-01 7.74480873e-01 -6.67797044e-02 2.77753500e+01] [ 1.11710549e-01 -5.05122594e-03 9.93727950e-01 1.25362363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:27.80, Z:12.54 [[ 7.70696709e-01 -6.30860072e-01 -8.96780531e-02 1.06622202e+02] [ 6.27331336e-01 7.75881941e-01 -6.68027512e-02 2.78005084e+01] [ 1.11722770e-01 -4.77319241e-03 9.93727950e-01 1.25365003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.64, Y:27.82, Z:12.54 [[ 7.71266619e-01 -6.30166253e-01 -8.96565405e-02 1.06642024e+02] [ 6.26629507e-01 7.76446390e-01 -6.68316111e-02 2.78205209e+01] [ 1.11728523e-01 -4.63644308e-03 9.93727951e-01 1.25392316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:27.84, Z:12.55 [[ 7.72609140e-01 -6.28523125e-01 -8.96314558e-02 1.06658162e+02] [ 6.24971469e-01 7.77778698e-01 -6.68652368e-02 2.78437389e+01] [ 1.11739785e-01 -4.35640951e-03 9.93727952e-01 1.25475906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:27.87, Z:12.55 [[ 7.75753671e-01 -6.24639499e-01 -8.96199715e-02 1.06674151e+02] [ 6.21060180e-01 7.80904114e-01 -6.68806258e-02 2.78680314e+01] [ 1.11760885e-01 -3.77650473e-03 9.93727952e-01 1.25547780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:27.89, Z:12.56 [[ 7.78338370e-01 -6.21419444e-01 -8.95949575e-02 1.06692492e+02] [ 6.17814962e-01 7.83471233e-01 -6.69141186e-02 2.78882867e+01] [ 1.11776806e-01 -3.27127933e-03 9.93727953e-01 1.25588863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:27.91, Z:12.56 [[ 7.86105527e-01 -6.11565847e-01 -8.95841190e-02 1.06707165e+02] [ 6.07895343e-01 7.91191387e-01 -6.69286259e-02 2.79113607e+01] [ 1.11809445e-01 -1.84480596e-03 9.93727953e-01 1.25627017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:27.94, Z:12.57 [[ 7.90462738e-01 -6.06019938e-01 -8.89297202e-02 1.06726130e+02] [ 6.02214915e-01 7.95449453e-01 -6.78038612e-02 2.79364293e+01] [ 1.11829589e-01 4.16218120e-05 9.93727398e-01 1.25678185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:27.95, Z:12.57 [[ 7.92639450e-01 -6.03075524e-01 -8.95690449e-02 1.06747101e+02] [ 5.99348271e-01 7.97683854e-01 -6.69486297e-02 2.79547185e+01] [ 1.11822861e-01 -6.16927122e-04 9.93727964e-01 1.25709638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:27.97, Z:12.57 [[ 7.97020982e-01 -5.97276690e-01 -8.95438961e-02 1.06767445e+02] [ 5.93508956e-01 8.02035222e-01 -6.69822496e-02 2.79740966e+01] [ 1.11824295e-01 2.41154043e-04 9.93727965e-01 1.25741877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:27.99, Z:12.58 [[ 7.99020105e-01 -5.94603431e-01 -8.95188966e-02 1.06787917e+02] [ 5.90815179e-01 8.04018860e-01 -6.70156439e-02 2.79923729e+01] [ 1.11822613e-01 6.57723854e-04 9.93727966e-01 1.25768268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.357105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:28.01, Z:12.58 [[ 8.04476318e-01 -5.87201974e-01 -8.95080797e-02 1.06805996e+02] [ 5.83366131e-01 8.09438648e-01 -6.70300882e-02 2.80109833e+01] [ 1.11811499e-01 1.70813639e-03 9.93727966e-01 1.25787402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:28.03, Z:12.58 [[ 8.06256547e-01 -5.84857744e-01 -8.88358005e-02 1.06830011e+02] [ 5.80908374e-01 8.11129723e-01 -6.79266688e-02 2.80283185e+01] [ 1.11784797e-01 3.16086098e-03 9.93727411e-01 1.25759230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:106.85, Y:28.04, Z:12.58 [[ 8.07171266e-01 -5.83564191e-01 -8.90358482e-02 1.06852863e+02] [ 5.79636376e-01 8.12061455e-01 -6.76599191e-02 2.80424952e+01] [ 1.11786486e-01 3.00472611e-03 9.93727706e-01 1.25769709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:28.06, Z:12.58 [[ 8.06165150e-01 -5.84998390e-01 -8.87391367e-02 1.06879202e+02] [ 5.81035667e-01 8.11027725e-01 -6.80557352e-02 2.80606621e+01] [ 1.11782396e-01 3.30355854e-03 9.93727217e-01 1.25794075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:106.90, Y:28.08, Z:12.58 [[ 8.05547363e-01 -5.85734985e-01 -8.94872842e-02 1.06902535e+02] [ 5.81887063e-01 8.10500302e-01 -6.70574878e-02 2.80760556e+01] [ 1.11807387e-01 1.94648944e-03 9.93727991e-01 1.25813621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:28.09, Z:12.59 [[ 8.03034817e-01 -5.89178898e-01 -8.94612116e-02 1.06927867e+02] [ 5.85348348e-01 8.08001201e-01 -6.70922534e-02 2.80877684e+01] [ 1.11814106e-01 1.51144307e-03 9.93727992e-01 1.25866446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.95, Y:28.10, Z:12.59 [[ 7.99499829e-01 -5.93970861e-01 -8.94351078e-02 1.06954110e+02] [ 5.90166190e-01 8.04486066e-01 -6.71270323e-02 2.80999860e+01] [ 1.11820799e-01 8.86474126e-04 9.93727992e-01 1.25930794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.98, Y:28.11, Z:12.60 [[ 7.97855358e-01 -5.96181516e-01 -8.94115579e-02 1.06980306e+02] [ 5.92387147e-01 8.02849438e-01 -6.71583857e-02 2.81114180e+01] [ 1.11822607e-01 6.16420191e-04 9.93727993e-01 1.25985319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:107.00, Y:28.13, Z:12.60 [[ 7.97448969e-01 -5.96747668e-01 -8.92600823e-02 1.07004746e+02] [ 5.92934264e-01 8.02428561e-01 -6.73599546e-02 2.81257422e+01] [ 1.11821735e-01 7.90765241e-04 9.93727968e-01 1.25987803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:107.03, Y:28.14, Z:12.60 [[ 7.98111837e-01 -5.95841675e-01 -8.93878794e-02 1.07031116e+02] [ 5.92041645e-01 8.03101614e-01 -6.71899407e-02 2.81378353e+01] [ 1.11822117e-01 7.03739879e-04 9.93727990e-01 1.26006575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.06, Y:28.15, Z:12.60 [[ 7.97908390e-01 -5.96117889e-01 -8.93625331e-02 1.07055797e+02] [ 5.92315812e-01 8.02896607e-01 -6.72236345e-02 2.81537855e+01] [ 1.11822086e-01 7.07460625e-04 9.93727991e-01 1.26021420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:107.08, Y:28.17, Z:12.60 [[ 7.97015701e-01 -5.97312786e-01 -8.93499179e-02 1.07082011e+02] [ 5.93516308e-01 8.02008180e-01 -6.72403977e-02 2.81671362e+01] [ 1.11822914e-01 5.61019252e-04 9.93727992e-01 1.26021542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:107.11, Y:28.18, Z:12.61 [[ 7.97069332e-01 -5.97244674e-01 -8.93268119e-02 1.07105378e+02] [ 5.93444331e-01 8.02058868e-01 -6.72710795e-02 2.81814714e+01] [ 1.11822656e-01 6.09224273e-04 9.93727992e-01 1.26072250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:107.13, Y:28.20, Z:12.61 [[ 7.97087052e-01 -5.97246826e-01 -8.91541386e-02 1.07130269e+02] [ 5.93420844e-01 8.02056995e-01 -6.75002139e-02 2.81968998e+01] [ 1.11820989e-01 8.97622258e-04 9.93727961e-01 1.26126315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:28.21, Z:12.62 [[ 7.96227235e-01 -5.98372617e-01 -8.92883061e-02 1.07155024e+02] [ 5.94573600e-01 8.01217789e-01 -6.73222746e-02 2.82107605e+01] [ 1.11823185e-01 5.15358938e-04 9.93727986e-01 1.26217150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.18, Y:28.22, Z:12.62 [[ 7.96181814e-01 -5.98406660e-01 -8.94650139e-02 1.07177580e+02] [ 5.94634163e-01 8.01192501e-01 -6.70879250e-02 2.82245500e+01] [ 1.11824559e-01 2.15232184e-04 9.93727941e-01 1.26245595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:28.24, Z:12.63 [[ 7.93521245e-01 -6.01959998e-01 -8.92647444e-02 1.07201567e+02] [ 5.98180046e-01 7.98526241e-01 -6.73533565e-02 2.82387335e+01] [ 1.11824267e-01 4.99304065e-05 9.93727996e-01 1.26322305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.23, Y:28.25, Z:12.64 [[ 7.88148388e-01 -6.08981046e-01 -8.92423910e-02 1.07225115e+02] [ 6.05242324e-01 7.93184257e-01 -6.73829616e-02 2.82536210e+01] [ 1.11820606e-01 -9.05499544e-04 9.93727997e-01 1.26407731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:28.27, Z:12.64 [[ 7.86144992e-01 -6.11568159e-01 -8.92212930e-02 1.07248067e+02] [ 6.07842840e-01 7.91190783e-01 -6.74108858e-02 2.82684087e+01] [ 1.11817416e-01 -1.23779380e-03 9.93727998e-01 1.26446067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.27, Y:28.28, Z:12.65 [[ 7.80675242e-01 -6.18536783e-01 -8.92099479e-02 1.07271366e+02] [ 6.14854779e-01 7.85752728e-01 -6.74258964e-02 2.82829141e+01] [ 1.11802357e-01 -2.21343486e-03 9.93727998e-01 1.26481507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:107.29, Y:28.30, Z:12.65 [[ 7.76504436e-01 -6.23768317e-01 -8.91849078e-02 1.07293043e+02] [ 6.20116714e-01 7.81603828e-01 -6.74590010e-02 2.83004732e+01] [ 1.11786053e-01 -2.92283843e-03 9.93727999e-01 1.26462089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:107.32, Y:28.32, Z:12.65 [[ 7.75647182e-01 -6.24837556e-01 -8.91598437e-02 1.07315448e+02] [ 6.21189181e-01 7.80748882e-01 -6.74921119e-02 2.83178825e+01] [ 1.11783055e-01 -3.03506384e-03 9.93728000e-01 1.26451626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.34, Y:28.34, Z:12.64 [[ 7.76292244e-01 -6.24037559e-01 -8.91486250e-02 1.07339057e+02] [ 6.20382226e-01 7.81388961e-01 -6.75069271e-02 2.83352055e+01] [ 1.11786610e-01 -2.90111850e-03 9.93728000e-01 1.26437646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:107.36, Y:28.35, Z:12.65 [[ 7.77692205e-01 -6.22295165e-01 -8.91266621e-02 1.07361901e+02] [ 6.18625093e-01 7.82778318e-01 -6.75359116e-02 2.83530344e+01] [ 1.11793690e-01 -2.61383759e-03 9.93728000e-01 1.26488717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.38, Y:28.37, Z:12.65 [[ 7.81516912e-01 -6.17482543e-01 -8.91438479e-02 1.07381631e+02] [ 6.13783729e-01 7.86582162e-01 -6.75132360e-02 2.83729820e+01] [ 1.11807205e-01 -1.95230768e-03 9.93728000e-01 1.26541427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.107105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.40, Y:28.39, Z:12.65 [[ 7.86814283e-01 -6.10731240e-01 -8.90541274e-02 1.07402235e+02] [ 6.06975557e-01 7.91837513e-01 -6.76315463e-02 2.83936363e+01] [ 1.11821097e-01 -8.40212016e-04 9.93727999e-01 1.26545001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.42, Y:28.41, Z:12.66 [[ 7.86591186e-01 -6.11012548e-01 -8.90952983e-02 1.07424639e+02] [ 6.07264808e-01 7.91620342e-01 -6.75772662e-02 2.84109241e+01] [ 1.11820208e-01 -9.48757224e-04 9.93728001e-01 1.26576834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:107.45, Y:28.43, Z:12.66 [[ 7.90026071e-01 -6.06568433e-01 -8.90704451e-02 1.07446071e+02] [ 6.02788709e-01 7.95031232e-01 -6.76100083e-02 2.84287376e+01] [ 1.11823882e-01 -2.76989416e-04 9.93728002e-01 1.26634767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.47, Y:28.45, Z:12.66 [[ 7.94324162e-01 -6.00970947e-01 -8.87865224e-02 1.07467313e+02] [ 5.97114097e-01 7.99270261e-01 -6.79838577e-02 2.84497156e+01] [ 1.11820750e-01 9.85536629e-04 9.93727905e-01 1.26616578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.49, Y:28.47, Z:12.66 [[ 7.98896619e-01 -5.94840508e-01 -8.90447203e-02 1.07489440e+02] [ 5.90983526e-01 8.03842499e-01 -6.76439898e-02 2.84672242e+01] [ 1.11815316e-01 1.41659204e-03 9.93727995e-01 1.26629892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:107.51, Y:28.48, Z:12.67 [[ 8.00484893e-01 -5.92705144e-01 -8.90199291e-02 1.07511244e+02] [ 5.88831343e-01 8.05417610e-01 -6.76765996e-02 2.84849703e+01] [ 1.11810487e-01 1.75637119e-03 9.93727996e-01 1.26655261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:107.53, Y:28.50, Z:12.67 [[ 8.05262923e-01 -5.86201004e-01 -8.89944244e-02 1.07529346e+02] [ 5.82283668e-01 8.10161138e-01 -6.77101217e-02 2.84985704e+01] [ 1.11791565e-01 2.70445063e-03 9.93727997e-01 1.26655236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.56, Y:28.52, Z:12.68 [[ 8.05084597e-01 -5.86608619e-01 -8.79154143e-02 1.07555075e+02] [ 5.82538296e-01 8.09858398e-01 -6.91267586e-02 2.85180886e+01] [ 1.11749389e-01 4.43879296e-03 9.93726507e-01 1.26751511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.58, Y:28.53, Z:12.68 [[ 8.05942876e-01 -5.85267033e-01 -8.89864054e-02 1.07577528e+02] [ 5.81342965e-01 8.10835616e-01 -6.77197225e-02 2.85336780e+01] [ 1.11787468e-01 2.84660714e-03 9.93728061e-01 1.26803974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:28.55, Z:12.69 [[ 8.07980065e-01 -5.82452593e-01 -8.89786030e-02 1.07600669e+02] [ 5.78510357e-01 8.12858178e-01 -6.77299727e-02 2.85479931e+01] [ 1.11776483e-01 3.24942438e-03 9.93728061e-01 1.26918668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:28.56, Z:12.69 [[ 8.08333509e-01 -5.81998454e-01 -8.87397247e-02 1.07627866e+02] [ 5.78019052e-01 8.13181435e-01 -6.80435871e-02 2.85627638e+01] [ 1.11762759e-01 3.70865993e-03 9.93727997e-01 1.26947427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.65, Y:28.58, Z:12.70 [[ 8.09074683e-01 -5.80900958e-01 -8.91753052e-02 1.07651772e+02] [ 5.76977742e-01 8.13968201e-01 -6.74718705e-02 2.85766292e+01] [ 1.11780337e-01 3.13761597e-03 9.93727987e-01 1.27014107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.68, Y:28.59, Z:12.70 [[ 8.11098385e-01 -5.78110142e-01 -8.89273464e-02 1.07677364e+02] [ 5.74134446e-01 8.15949256e-01 -6.77971257e-02 2.85874565e+01] [ 1.11754408e-01 3.93388642e-03 9.93728070e-01 1.27035444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:28.60, Z:12.71 [[ 8.11914633e-01 -5.76964945e-01 -8.89161423e-02 1.07701260e+02] [ 5.72980801e-01 8.16758568e-01 -6.78118166e-02 2.86019861e+01] [ 1.11748062e-01 4.11016374e-03 9.93728070e-01 1.27055689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.73, Y:28.61, Z:12.70 [[ 8.15594265e-01 -5.71755598e-01 -8.88905616e-02 1.07725409e+02] [ 5.67736884e-01 8.20409557e-01 -6.78453325e-02 2.86083193e+01] [ 1.11717615e-01 4.86781355e-03 9.93728071e-01 1.27041255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:28.63, Z:12.70 [[ 8.14595468e-01 -5.73359888e-01 -8.77078309e-02 1.07756458e+02] [ 5.69183534e-01 8.19277008e-01 -6.93922788e-02 2.86251900e+01] [ 1.11643758e-01 6.60478259e-03 9.93726345e-01 1.26982490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:107.78, Y:28.64, Z:12.70 [[ 8.13972619e-01 -5.74064756e-01 -8.88719963e-02 1.07781896e+02] [ 5.70057224e-01 8.18797089e-01 -6.78681665e-02 2.86396210e+01] [ 1.11728854e-01 4.58070568e-03 9.93728172e-01 1.26977176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:107.81, Y:28.65, Z:12.70 [[ 8.14272916e-01 -5.73642100e-01 -8.88502106e-02 1.07808069e+02] [ 5.69628962e-01 8.19092722e-01 -6.78966755e-02 2.86480645e+01] [ 1.11724952e-01 4.67477073e-03 9.93728173e-01 1.27018673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.84, Y:28.66, Z:12.71 [[ 8.11625825e-01 -5.77497899e-01 -8.80891423e-02 1.07837276e+02] [ 5.73399424e-01 8.16374283e-01 -6.88921677e-02 2.86606673e+01] [ 1.11698792e-01 5.40439898e-03 9.93727413e-01 1.27065028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:28.67, Z:12.72 [[ 8.07671013e-01 -5.82927323e-01 -8.86750811e-02 1.07866666e+02] [ 5.78944489e-01 8.12515941e-01 -6.81257978e-02 2.86687910e+01] [ 1.11762306e-01 3.68528267e-03 9.93728135e-01 1.27157326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.89, Y:28.68, Z:12.72 [[ 8.05641564e-01 -5.85736040e-01 -8.86282246e-02 1.07891288e+02] [ 5.81763368e-01 8.10494855e-01 -6.81870552e-02 2.86804261e+01] [ 1.11772336e-01 3.37367136e-03 9.93728113e-01 1.27224985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:28.69, Z:12.73 [[ 8.01130299e-01 -5.91923892e-01 -8.84101216e-02 1.07918879e+02] [ 5.87957263e-01 8.05988739e-01 -6.84719546e-02 2.86936429e+01] [ 1.11787748e-01 2.87358437e-03 9.93727952e-01 1.27252693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:28.71, Z:12.73 [[ 7.98833123e-01 -5.94963855e-01 -8.87899312e-02 1.07943851e+02] [ 5.91070708e-01 8.03750395e-01 -6.79758841e-02 2.87093023e+01] [ 1.11808136e-01 1.82026029e-03 9.93728146e-01 1.27279141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:107.97, Y:28.72, Z:12.73 [[ 7.95998768e-01 -5.98746595e-01 -8.88170991e-02 1.07972087e+02] [ 5.94880774e-01 8.00937554e-01 -6.79404060e-02 2.87193296e+01] [ 1.11816037e-01 1.24489471e-03 9.93728144e-01 1.27324424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.00, Y:28.73, Z:12.74 [[ 7.95431788e-01 -5.99478466e-01 -8.89597628e-02 1.08000481e+02] [ 5.95637991e-01 8.00390373e-01 -6.77542261e-02 2.87299441e+01] [ 1.11819737e-01 9.06050840e-04 9.93728094e-01 1.27366989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:28.75, Z:12.74 [[ 7.94678531e-01 -6.00428192e-01 -8.92861693e-02 1.08022606e+02] [ 5.96641386e-01 7.99678643e-01 -6.73284802e-02 2.87465831e+01] [ 1.11826160e-01 2.32673961e-04 9.93727757e-01 1.27423990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.05, Y:28.76, Z:12.75 [[ 7.93891643e-01 -6.01517642e-01 -8.89527189e-02 1.08045977e+02] [ 5.97688904e-01 7.98859267e-01 -6.77631535e-02 2.87607573e+01] [ 1.11821436e-01 6.30548158e-04 9.93728116e-01 1.27455639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:28.77, Z:12.75 [[ 7.92911795e-01 -6.02846222e-01 -8.86979042e-02 1.08071121e+02] [ 5.98988626e-01 7.97856933e-01 -6.80950810e-02 2.87739879e+01] [ 1.11819100e-01 8.64357108e-04 9.93728203e-01 1.27501474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.10, Y:28.79, Z:12.75 [[ 7.91327486e-01 -6.04928028e-01 -8.86729398e-02 1.08095164e+02] [ 6.01079801e-01 7.96279917e-01 -6.81275740e-02 2.87915975e+01] [ 1.11820760e-01 6.11708907e-04 9.93728204e-01 1.27543927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:28.80, Z:12.76 [[ 7.91537165e-01 -6.04581497e-01 -8.91634970e-02 1.08118020e+02] [ 6.00802854e-01 7.96543276e-01 -6.74888138e-02 2.88038680e+01] [ 1.11825072e-01 -1.49779076e-04 9.93727896e-01 1.27642956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:28.82, Z:12.77 [[ 7.92320400e-01 -6.03583364e-01 -8.89691357e-02 1.08141453e+02] [ 5.99770003e-01 7.97299834e-01 -6.77415463e-02 2.88187464e+01] [ 1.11822748e-01 3.11990269e-04 9.93728120e-01 1.27693248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:28.83, Z:12.78 [[ 7.92780051e-01 -6.03033013e-01 -8.86057340e-02 1.08163447e+02] [ 5.99163329e-01 7.97715618e-01 -6.82136176e-02 2.88343334e+01] [ 1.11817241e-01 9.89088631e-04 9.93728296e-01 1.27755325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.19, Y:28.85, Z:12.77 [[ 7.91670509e-01 -6.04490055e-01 -8.85978471e-02 1.08186380e+02] [ 6.00628309e-01 7.96612289e-01 -6.82238598e-02 2.88498276e+01] [ 1.11818779e-01 7.96442753e-04 9.93728296e-01 1.27746615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.21, Y:28.86, Z:12.78 [[ 7.90513429e-01 -6.06003929e-01 -8.85875611e-02 1.08212237e+02] [ 6.02150151e-01 7.95461425e-01 -6.82372135e-02 2.88619843e+01] [ 1.11820007e-01 5.99420414e-04 9.93728296e-01 1.27767511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:28.88, Z:12.78 [[ 7.90552112e-01 -6.05957209e-01 -8.85619575e-02 1.08234358e+02] [ 6.02099417e-01 7.95496978e-01 -6.82704272e-02 2.88789944e+01] [ 1.11819727e-01 6.48227408e-04 9.93728297e-01 1.27794390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.25, Y:28.90, Z:12.78 [[ 7.93228069e-01 -6.02453831e-01 -8.85359330e-02 1.08254060e+02] [ 5.98570436e-01 7.98152852e-01 -6.83041604e-02 2.89007116e+01] [ 1.11815311e-01 1.18578528e-03 9.93728298e-01 1.27780043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.27, Y:28.92, Z:12.78 [[ 7.99422544e-01 -5.94212965e-01 -8.85129820e-02 1.08274454e+02] [ 5.90275525e-01 8.04304224e-01 -6.83338890e-02 2.89204774e+01] [ 1.11796248e-01 2.38060451e-03 9.93728299e-01 1.27798483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.30, Y:28.94, Z:12.78 [[ 8.02675787e-01 -5.89812228e-01 -8.85049011e-02 1.08296181e+02] [ 5.85846876e-01 8.07534821e-01 -6.83443536e-02 2.89381734e+01] [ 1.11781125e-01 3.00803801e-03 9.93728299e-01 1.27842115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:28.96, Z:12.79 [[ 8.07893985e-01 -5.82647935e-01 -8.84798969e-02 1.08316658e+02] [ 5.78635975e-01 8.12714608e-01 -6.83767094e-02 2.89569536e+01] [ 1.11748453e-01 4.04348078e-03 9.93728300e-01 1.27864044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:28.98, Z:12.79 [[ 8.12075758e-01 -5.76806408e-01 -8.84722031e-02 1.08337717e+02] [ 5.72758705e-01 8.16866409e-01 -6.83866629e-02 2.89769320e+01] [ 1.11715836e-01 4.86192666e-03 9.93728300e-01 1.27879876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:29.00, Z:12.79 [[ 8.15556890e-01 -5.71877220e-01 -8.84500129e-02 1.08358640e+02] [ 5.67797476e-01 8.20320283e-01 -6.84153513e-02 2.89953133e+01] [ 1.11682520e-01 5.57491706e-03 9.93728300e-01 1.27918576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.38, Y:29.01, Z:12.79 [[ 8.16598132e-01 -5.70393481e-01 -8.84237997e-02 1.08380093e+02] [ 5.66301432e-01 8.21350956e-01 -6.84492142e-02 2.90110625e+01] [ 1.11669958e-01 5.82097611e-03 9.93728301e-01 1.27930771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:29.02, Z:12.80 [[ 8.16708447e-01 -5.70237261e-01 -8.84125546e-02 1.08403873e+02] [ 5.66142738e-01 8.21459139e-01 -6.84637359e-02 2.90240366e+01] [ 1.11667874e-01 5.86078573e-03 9.93728301e-01 1.27961877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:29.04, Z:12.80 [[ 8.15822127e-01 -5.71506264e-01 -8.84016247e-02 1.08428140e+02] [ 5.67417609e-01 8.20577871e-01 -6.84778459e-02 2.90399077e+01] [ 1.11675935e-01 5.70510334e-03 9.93728302e-01 1.28017051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.45, Y:29.05, Z:12.81 [[ 8.11597340e-01 -5.77493612e-01 -8.83792144e-02 1.08453021e+02] [ 5.73436921e-01 8.16380378e-01 -6.85067571e-02 2.90530854e+01] [ 1.11713271e-01 4.91999731e-03 9.93728302e-01 1.28059442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.48, Y:29.07, Z:12.81 [[ 8.08850309e-01 -5.81336129e-01 -8.83712839e-02 1.08476749e+02] [ 5.77301052e-01 8.13651595e-01 -6.85169856e-02 2.90674802e+01] [ 1.11734835e-01 4.40314976e-03 9.93728302e-01 1.28070843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.50, Y:29.08, Z:12.81 [[ 8.03797460e-01 -5.88306569e-01 -8.83460413e-02 1.08504525e+02] [ 5.84309578e-01 8.08630497e-01 -6.85495182e-02 2.90797909e+01] [ 1.11767435e-01 3.47849049e-03 9.93728303e-01 1.28072137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:108.53, Y:29.09, Z:12.81 [[ 8.00140824e-01 -5.93273449e-01 -8.83248377e-02 1.08529793e+02] [ 5.89303455e-01 8.04996060e-01 -6.85768279e-02 2.90919099e+01] [ 1.11785958e-01 2.82098750e-03 9.93728304e-01 1.28110131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:108.55, Y:29.11, Z:12.82 [[ 7.98784809e-01 -5.95099134e-01 -8.83167627e-02 1.08554083e+02] [ 5.91139089e-01 8.03648163e-01 -6.85872258e-02 2.91069897e+01] [ 1.11791803e-01 2.57894340e-03 9.93728304e-01 1.28158320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:108.58, Y:29.12, Z:12.82 [[ 7.97477279e-01 -5.96853410e-01 -8.82949426e-02 1.08579189e+02] [ 5.92900957e-01 8.02346805e-01 -6.86153043e-02 2.91189963e+01] [ 1.11796443e-01 2.36899020e-03 9.93728304e-01 1.28199696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60710568099998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:108.60, Y:29.13, Z:12.82 [[ 7.95452376e-01 -5.99551026e-01 -8.82841140e-02 1.08603756e+02] [ 5.95613544e-01 8.00334015e-01 -6.86292341e-02 2.91330533e+01] [ 1.11803507e-01 2.00807338e-03 9.93728305e-01 1.28240907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63710568099998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:108.63, Y:29.15, Z:12.83 [[ 7.93827436e-01 -6.01704746e-01 -8.82575865e-02 1.08627714e+02] [ 5.97776718e-01 7.98716684e-01 -6.86633318e-02 2.91470538e+01] [ 1.11807859e-01 1.74850622e-03 9.93728306e-01 1.28279201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:108.65, Y:29.16, Z:12.83 [[ 7.93263933e-01 -6.02448645e-01 -8.82494329e-02 1.08649728e+02] [ 5.98524038e-01 7.98155927e-01 -6.86738097e-02 2.91623182e+01] [ 1.11809252e-01 1.65704949e-03 9.93728306e-01 1.28317657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:108.67, Y:29.18, Z:12.83 [[ 7.94463171e-01 -6.00867920e-01 -8.82383811e-02 1.08672958e+02] [ 5.96932003e-01 7.99346071e-01 -6.86880071e-02 2.91776388e+01] [ 1.11805423e-01 1.89777833e-03 9.93728306e-01 1.28335805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:108.70, Y:29.19, Z:12.84 [[ 7.95667863e-01 -5.99272904e-01 -8.82305949e-02 1.08695064e+02] [ 5.95326092e-01 8.00541959e-01 -6.86980071e-02 2.91945965e+01] [ 1.11801148e-01 2.13482124e-03 9.93728306e-01 1.28364844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75710568099998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:108.72, Y:29.21, Z:12.84 [[ 8.00009270e-01 -5.93468684e-01 -8.82048186e-02 1.08716286e+02] [ 5.89482873e-01 8.04851527e-01 -6.87310868e-02 2.92126432e+01] [ 1.11781531e-01 2.99027666e-03 9.93728307e-01 1.28418262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:108.74, Y:29.23, Z:12.85 [[ 8.05809568e-01 -5.85572821e-01 -8.81783004e-02 1.08738283e+02] [ 5.81535872e-01 8.10609272e-01 -6.87650916e-02 2.92293814e+01] [ 1.11745117e-01 4.13272390e-03 9.93728308e-01 1.28474561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81710568099999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:108.76, Y:29.25, Z:12.85 [[ 8.07997472e-01 -5.82551379e-01 -8.81701540e-02 1.08760982e+02] [ 5.78495350e-01 8.12781063e-01 -6.87755354e-02 2.92461931e+01] [ 1.11728314e-01 4.56443467e-03 9.93728308e-01 1.28509920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84710568099999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:108.78, Y:29.26, Z:12.85 [[ 8.11870938e-01 -5.77144826e-01 -8.81443738e-02 1.08784465e+02] [ 5.73053382e-01 8.16624273e-01 -6.88085602e-02 2.92630198e+01] [ 1.11693340e-01 5.35223876e-03 9.93728309e-01 1.28517119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:108.81, Y:29.28, Z:12.85 [[ 8.13649761e-01 -5.74637838e-01 -8.81216264e-02 1.08808355e+02] [ 5.70528611e-01 8.18387731e-01 -6.88376800e-02 2.92780318e+01] [ 1.11674394e-01 5.73385279e-03 9.93728309e-01 1.28514126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90710568099999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:108.83, Y:29.29, Z:12.85 [[ 8.14103119e-01 -5.73996606e-01 -8.81136111e-02 1.08833084e+02] [ 5.69882542e-01 8.18836889e-01 -6.88479383e-02 2.92936500e+01] [ 1.11669158e-01 5.83491265e-03 9.93728309e-01 1.28549952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93710568099999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:108.86, Y:29.31, Z:12.85 [[ 8.12934290e-01 -5.75654389e-01 -8.80900918e-02 1.08858658e+02] [ 5.71546733e-01 8.17673621e-01 -6.88780180e-02 2.93062252e+01] [ 1.11678878e-01 5.64569846e-03 9.93728310e-01 1.28541333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96710568099999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:108.89, Y:29.32, Z:12.85 [[ 8.11861633e-01 -5.77168102e-01 -8.80776415e-02 1.08885811e+02] [ 5.73067564e-01 8.16607123e-01 -6.88939351e-02 2.93186441e+01] [ 1.11688211e-01 5.45790322e-03 9.93728310e-01 1.28549654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99710568099998 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:108.91, Y:29.33, Z:12.86 [[ 8.11271379e-01 -5.77987303e-01 -8.81443598e-02 1.08913099e+02] [ 5.73900782e-01 8.16028957e-01 -6.88086806e-02 2.93311618e+01] [ 1.11698894e-01 5.23639621e-03 9.93728302e-01 1.28615920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02710568099998 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:108.94, Y:29.35, Z:12.87 [[ 8.09190606e-01 -5.80851767e-01 -8.84408739e-02 1.08935725e+02] [ 5.76823290e-01 8.13997685e-01 -6.84299702e-02 2.93481282e+01] [ 1.11738336e-01 4.35813313e-03 9.93728107e-01 1.28663981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05710568099998 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:108.96, Y:29.37, Z:12.87 [[ 8.08852474e-01 -5.81253849e-01 -8.88911595e-02 1.08957895e+02] [ 5.77290726e-01 8.13714466e-01 -6.78541522e-02 2.93658617e+01] [ 1.11772510e-01 3.56795687e-03 9.93727415e-01 1.28697207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08710568099998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:108.98, Y:29.38, Z:12.87 [[ 8.08481518e-01 -5.81787503e-01 -8.87746386e-02 1.08981707e+02] [ 5.77811290e-01 8.13332484e-01 -6.80028251e-02 2.93760510e+01] [ 1.11766491e-01 3.68403883e-03 9.93727669e-01 1.28729064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11710568099998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:109.01, Y:29.39, Z:12.87 [[ 8.06222290e-01 -5.85048267e-01 -8.78871149e-02 1.09005961e+02] [ 5.80968062e-01 8.10984985e-01 -6.91336745e-02 2.93899052e+01] [ 1.11721667e-01 4.67750260e-03 9.93728529e-01 1.28739478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14710568099999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:109.03, Y:29.40, Z:12.88 [[ 8.00621832e-01 -5.92680776e-01 -8.79441933e-02 1.09032901e+02] [ 5.88653967e-01 8.05429753e-01 -6.90609901e-02 2.94019045e+01] [ 1.11763991e-01 3.52303809e-03 9.93728534e-01 1.28793088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17710568099999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:109.06, Y:29.42, Z:12.88 [[ 7.98039344e-01 -5.96156821e-01 -8.79218433e-02 1.09056097e+02] [ 5.92147829e-01 8.02862130e-01 -6.90894323e-02 2.94165227e+01] [ 1.11777255e-01 3.07335658e-03 9.93728534e-01 1.28828691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20710568099999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:109.08, Y:29.43, Z:12.89 [[ 7.93813881e-01 -6.01773400e-01 -8.79107427e-02 1.09080814e+02] [ 5.97796977e-01 7.98663555e-01 -6.91035541e-02 2.94295554e+01] [ 1.11795787e-01 2.30258428e-03 9.93728534e-01 1.28864247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23710568099999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:109.10, Y:29.45, Z:12.89 [[ 7.92380325e-01 -6.03663426e-01 -8.78856548e-02 1.09103331e+02] [ 5.99695036e-01 7.97236574e-01 -6.91354462e-02 2.94460205e+01] [ 1.11800199e-01 2.07697651e-03 9.93728535e-01 1.28886118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26710568099999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:109.13, Y:29.46, Z:12.89 [[ 7.90877621e-01 -6.05634607e-01 -8.78596132e-02 1.09127307e+02] [ 6.01674647e-01 7.95740746e-01 -6.91685250e-02 2.94626545e+01] [ 1.11804327e-01 1.84093672e-03 9.93728536e-01 1.28870580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29710568099999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:109.15, Y:29.48, Z:12.89 [[ 7.90415084e-01 -6.06241443e-01 -8.78368219e-02 1.09150467e+02] [ 6.02282003e-01 7.95278631e-01 -6.91974556e-02 2.94804158e+01] [ 1.11805113e-01 1.79217566e-03 9.93728537e-01 1.28874435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32710568099999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:109.17, Y:29.50, Z:12.89 [[ 7.90402592e-01 -6.06261055e-01 -8.78138638e-02 1.09172627e+02] [ 6.02298502e-01 7.95263601e-01 -6.92265781e-02 2.94987992e+01] [ 1.11804548e-01 1.82670823e-03 9.93728537e-01 1.28882012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35710568099998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:109.19, Y:29.52, Z:12.89 [[ 7.90664664e-01 -6.05922531e-01 -8.77910941e-02 1.09194762e+02] [ 6.01954692e-01 7.95521359e-01 -6.92554421e-02 2.95161552e+01] [ 1.11803123e-01 1.91156988e-03 9.93728538e-01 1.28878718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38710568099998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:109.22, Y:29.53, Z:12.90 [[ 7.91277504e-01 -6.05123716e-01 -8.77792702e-02 1.09217871e+02] [ 6.01149313e-01 7.96128829e-01 -6.92704253e-02 2.95326367e+01] [ 1.11800785e-01 2.04368131e-03 9.93728538e-01 1.28954924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41710568099998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:109.24, Y:29.55, Z:12.90 [[ 7.90321873e-01 -6.06374638e-01 -8.77561074e-02 1.09239962e+02] [ 6.02404659e-01 7.95176817e-01 -6.92997572e-02 2.95504393e+01] [ 1.11803237e-01 1.90442601e-03 9.93728539e-01 1.29022062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44710568099998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:109.26, Y:29.57, Z:12.91 [[ 7.86742542e-01 -6.11014763e-01 -8.77333001e-02 1.09262467e+02] [ 6.07070202e-01 7.91618161e-01 -6.93286192e-02 2.95677855e+01] [ 1.11812083e-01 1.28350188e-03 9.93728540e-01 1.29113834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47710568099998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:109.28, Y:29.59, Z:12.92 [[ 7.83271246e-01 -6.15435377e-01 -8.78945504e-02 1.09284563e+02] [ 6.11541210e-01 7.88187251e-01 -6.91245661e-02 2.95856519e+01] [ 1.11819067e-01 3.92145341e-04 9.93728505e-01 1.29216060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50710568099998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:109.30, Y:29.60, Z:12.93 [[ 7.82695287e-01 -6.16139436e-01 -8.80924650e-02 1.09304985e+02] [ 6.12277826e-01 7.87637096e-01 -6.88743027e-02 2.96026008e+01] [ 1.11821067e-01 -2.94707839e-05 9.93728357e-01 1.29289904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53710568099999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:109.33, Y:29.62, Z:12.94 [[ 7.79972502e-01 -6.19641898e-01 -8.76744864e-02 1.09325776e+02] [ 6.15742977e-01 7.84884639e-01 -6.94023667e-02 2.96213714e+01] [ 1.11818972e-01 1.46988270e-04 9.93728583e-01 1.29371936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:109.35, Y:29.64, Z:12.94 [[ 7.77379756e-01 -6.22894789e-01 -8.76515636e-02 1.09345149e+02] [ 6.19013160e-01 7.82305568e-01 -6.94313051e-02 2.96422556e+01] [ 1.11818704e-01 -2.82980267e-04 9.93728583e-01 1.29399002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59710568099999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:109.36, Y:29.66, Z:12.94 [[ 7.76811045e-01 -6.23607595e-01 -8.76251534e-02 1.09364097e+02] [ 6.19726727e-01 7.81737456e-01 -6.94646200e-02 2.96616528e+01] [ 1.11818529e-01 -3.42765492e-04 9.93728584e-01 1.29400889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62710568099999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:109.38, Y:29.68, Z:12.94 [[ 7.76799178e-01 -6.23623958e-01 -8.76139044e-02 1.09381554e+02] [ 6.19741594e-01 7.81724410e-01 -6.94788052e-02 2.96843908e+01] [ 1.11818575e-01 -3.26901969e-04 9.93728584e-01 1.29395994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65710568099999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:109.40, Y:29.71, Z:12.94 [[ 7.78269362e-01 -6.21789370e-01 -8.76058188e-02 1.09399042e+02] [ 6.17894248e-01 7.83184510e-01 -6.94889988e-02 2.97085030e+01] [ 1.11819041e-01 -4.99727303e-05 9.93728584e-01 1.29401735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68710568099999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:109.42, Y:29.73, Z:12.94 [[ 7.79106800e-01 -6.20742890e-01 -8.75834418e-02 1.09418215e+02] [ 6.16837997e-01 7.84014187e-01 -6.95171914e-02 2.97289480e+01] [ 1.11818963e-01 1.36521698e-04 9.93728585e-01 1.29403365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71710568099999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:109.44, Y:29.75, Z:12.94 [[ 7.80211731e-01 -6.19355011e-01 -8.75729686e-02 1.09438051e+02] [ 6.15439908e-01 7.85110977e-01 -6.95303824e-02 2.97515270e+01] [ 1.11818490e-01 3.52520281e-04 9.93728585e-01 1.29389079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74710568099998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:109.46, Y:29.77, Z:12.94 [[ 7.80083756e-01 -6.19519322e-01 -8.75508040e-02 1.09457799e+02] [ 6.15602119e-01 7.84981323e-01 -6.95582803e-02 2.97734554e+01] [ 1.11818445e-01 3.64824103e-04 9.93728586e-01 1.29427118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77710568099998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:109.48, Y:29.79, Z:12.95 [[ 7.78768907e-01 -6.21174630e-01 -8.75275310e-02 1.09478035e+02] [ 6.17264547e-01 7.83672158e-01 -6.95875533e-02 2.97932697e+01] [ 1.11818912e-01 1.64980955e-04 9.93728587e-01 1.29461751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:109.50, Y:29.81, Z:12.95 [[ 7.75022408e-01 -6.25846613e-01 -8.75001956e-02 1.09497349e+02] [ 6.21962207e-01 7.79946025e-01 -6.96219083e-02 2.98125837e+01] [ 1.11818065e-01 -4.63275791e-04 9.93728588e-01 1.29505066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83710568099998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:109.52, Y:29.83, Z:12.96 [[ 7.72005885e-01 -6.29565016e-01 -8.74917454e-02 1.09518257e+02] [ 6.25703120e-01 7.76947178e-01 -6.96325259e-02 2.98306948e+01] [ 1.11814667e-01 -9.87138306e-04 9.93728588e-01 1.29574967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86710568099998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:109.54, Y:29.85, Z:12.96 [[ 7.70864473e-01 -6.30963241e-01 -8.74834421e-02 1.09538842e+02] [ 6.27109124e-01 7.75811836e-01 -6.96429562e-02 2.98492992e+01] [ 1.11812835e-01 -1.17638399e-03 9.93728588e-01 1.29622372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89710568099999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:109.56, Y:29.87, Z:12.96 [[ 7.70253777e-01 -6.31712000e-01 -8.74589489e-02 1.09557833e+02] [ 6.27859202e-01 7.75202166e-01 -6.96737018e-02 2.98717284e+01] [ 1.11812080e-01 -1.24547384e-03 9.93728588e-01 1.29611444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:109.58, Y:29.89, Z:12.96 [[ 7.71112794e-01 -6.30666355e-01 -8.74357286e-02 1.09576693e+02] [ 6.26803544e-01 7.76053370e-01 -6.97028297e-02 2.98909363e+01] [ 1.11814021e-01 -1.05628077e-03 9.93728589e-01 1.29623538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95710568099999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:109.59, Y:29.91, Z:12.97 [[ 7.74334396e-01 -6.26708219e-01 -8.74245512e-02 1.09594733e+02] [ 6.22818569e-01 7.79253869e-01 -6.97168462e-02 2.99131415e+01] [ 1.11818040e-01 -4.65481860e-04 9.93728589e-01 1.29672730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:109.61, Y:29.94, Z:12.97 [[ 7.77790357e-01 -6.22417736e-01 -8.73975044e-02 1.09610636e+02] [ 6.18497139e-01 7.82685201e-01 -6.97507359e-02 2.99378119e+01] [ 1.11818828e-01 1.96343283e-04 9.93728590e-01 1.29689475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:109.63, Y:29.96, Z:12.97 [[ 7.78394679e-01 -6.21662976e-01 -8.73891766e-02 1.09629121e+02] [ 6.17736462e-01 7.83284778e-01 -6.97611680e-02 2.99589052e+01] [ 1.11818547e-01 3.18241164e-04 9.93728590e-01 1.29726779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:29.98, Z:12.98 [[ 7.79593022e-01 -6.20163134e-01 -8.73636464e-02 1.09645861e+02] [ 6.16223631e-01 7.84472661e-01 -6.97931257e-02 2.99818590e+01] [ 1.11817516e-01 5.74690396e-04 9.93728591e-01 1.29770029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:109.67, Y:30.00, Z:12.98 [[ 7.81580317e-01 -6.17660319e-01 -8.73380682e-02 1.09665813e+02] [ 6.13701615e-01 7.86444391e-01 -6.98251194e-02 3.00026458e+01] [ 1.11814739e-01 9.74425428e-04 9.93728592e-01 1.29821694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:109.69, Y:30.02, Z:12.99 [[ 7.82710810e-01 -6.16230300e-01 -8.73155501e-02 1.09686693e+02] [ 6.12259569e-01 7.87565071e-01 -6.98532667e-02 3.00215154e+01] [ 1.11812377e-01 1.21512582e-03 9.93728593e-01 1.29868292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:109.71, Y:30.04, Z:12.99 [[ 7.84984149e-01 -6.13334980e-01 -8.72931148e-02 1.09705251e+02] [ 6.09343230e-01 7.89821140e-01 -6.98812922e-02 3.00429004e+01] [ 1.11806588e-01 1.66423819e-03 9.93728593e-01 1.29908161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.73, Y:30.06, Z:12.99 [[ 7.85253016e-01 -6.12994349e-01 -8.72675687e-02 1.09726030e+02] [ 6.08996959e-01 7.90085345e-01 -6.99131797e-02 3.00617363e+01] [ 1.11805211e-01 1.75385127e-03 9.93728594e-01 1.29941690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.75, Y:30.08, Z:13.00 [[ 7.83491744e-01 -6.15247648e-01 -8.72411573e-02 1.09748173e+02] [ 6.11260488e-01 7.88332516e-01 -6.99461217e-02 3.00784144e+01] [ 1.11809228e-01 1.47513646e-03 9.93728595e-01 1.30013272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.77, Y:30.09, Z:13.01 [[ 7.81421104e-01 -6.17876587e-01 -8.72329165e-02 1.09770109e+02] [ 6.13904567e-01 7.86274307e-01 -6.99563977e-02 3.00948829e+01] [ 1.11813421e-01 1.11271970e-03 9.93728595e-01 1.30069223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.79, Y:30.11, Z:13.02 [[ 7.76414178e-01 -6.24160263e-01 -8.72065919e-02 1.09792108e+02] [ 6.20223839e-01 7.81296296e-01 -6.99891984e-02 3.01103107e+01] [ 1.11818664e-01 2.52998804e-04 9.93728596e-01 1.30157204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.81, Y:30.13, Z:13.02 [[ 7.71433001e-01 -6.30310051e-01 -8.71800654e-02 1.09813145e+02] [ 6.26408812e-01 7.76343280e-01 -7.00222250e-02 3.01269477e+01] [ 1.11817370e-01 -5.92906047e-04 9.93728597e-01 1.30241025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:30.15, Z:13.03 [[ 7.70263070e-01 -6.31742869e-01 -8.71536042e-02 1.09833400e+02] [ 6.27847039e-01 7.75177640e-01 -7.00551448e-02 3.01455968e+01] [ 1.11816363e-01 -7.58241380e-04 9.93728598e-01 1.30287867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:30.17, Z:13.03 [[ 7.72727874e-01 -6.28729292e-01 -8.71269785e-02 1.09851263e+02] [ 6.24810562e-01 7.77624202e-01 -7.00882434e-02 3.01687976e+01] [ 1.11818579e-01 -2.78717180e-04 9.93728599e-01 1.30308364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:30.19, Z:13.03 [[ 7.79389572e-01 -6.20455960e-01 -8.70993531e-02 1.09868771e+02] [ 6.16481421e-01 7.84240706e-01 -7.01225572e-02 3.01910313e+01] [ 1.11814817e-01 9.57656898e-04 9.93728600e-01 1.30303051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:30.21, Z:13.03 [[ 7.82993098e-01 -6.15903875e-01 -8.70874582e-02 1.09889074e+02] [ 6.11899494e-01 7.87819627e-01 -7.01373267e-02 3.02104896e+01] [ 1.11807060e-01 1.62827114e-03 9.93728600e-01 1.30305169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.91, Y:30.23, Z:13.03 [[ 7.89889561e-01 -6.07037853e-01 -8.70604786e-02 1.09909288e+02] [ 6.02975629e-01 7.94667509e-01 -7.01708003e-02 3.02298283e+01] [ 1.11780466e-01 2.93183574e-03 9.93728601e-01 1.30288964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.93, Y:30.25, Z:13.03 [[ 7.94303660e-01 -6.01251711e-01 -8.70521460e-02 1.09930593e+02] [ 5.97153563e-01 7.99050831e-01 -7.01811360e-02 3.02481564e+01] [ 1.11755618e-01 3.76163403e-03 9.93728601e-01 1.30285204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.95, Y:30.27, Z:13.03 [[ 7.95171425e-01 -6.00140410e-01 -8.67979966e-02 1.09951818e+02] [ 5.96001263e-01 7.99882981e-01 -7.04961724e-02 3.02655641e+01] [ 1.11735842e-01 4.32482627e-03 9.93728533e-01 1.30268078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.98, Y:30.28, Z:13.03 [[ 7.94075121e-01 -6.01603537e-01 -8.67057524e-02 1.09975456e+02] [ 5.97460619e-01 7.98783437e-01 -7.06104052e-02 3.02822893e+01] [ 1.11738588e-01 4.26669354e-03 9.93728476e-01 1.30256375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.00, Y:30.30, Z:13.03 [[ 7.90968733e-01 -6.05641643e-01 -8.69865667e-02 1.10001139e+02] [ 6.01560899e-01 7.95730891e-01 -7.02626058e-02 3.02956250e+01] [ 1.11771858e-01 3.24780703e-03 9.93728586e-01 1.30286788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.03, Y:30.31, Z:13.03 [[ 7.88836850e-01 -6.08418574e-01 -8.69670207e-02 1.10025225e+02] [ 6.04351932e-01 7.93611056e-01 -7.02868003e-02 3.03111724e+01] [ 1.11781784e-01 2.88613120e-03 9.93728586e-01 1.30303007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:110.05, Y:30.33, Z:13.03 [[ 7.84828378e-01 -6.13582086e-01 -8.69565425e-02 1.10049985e+02] [ 6.09545425e-01 7.89627962e-01 -7.02997612e-02 3.03264554e+01] [ 1.11797992e-01 2.16928493e-03 9.93728586e-01 1.30320137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:30.34, Z:13.04 [[ 7.83255172e-01 -6.15592359e-01 -8.69332050e-02 1.10071643e+02] [ 6.11564817e-01 7.88062409e-01 -7.03286088e-02 3.03432086e+01] [ 1.11802545e-01 1.91995702e-03 9.93728587e-01 1.30360293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:110.09, Y:30.36, Z:13.04 [[ 7.83530234e-01 -6.15245970e-01 -8.69066670e-02 1.10093102e+02] [ 6.11212668e-01 7.88332639e-01 -7.03613874e-02 3.03595956e+01] [ 1.11800922e-01 2.01181857e-03 9.93728588e-01 1.30446460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.11, Y:30.38, Z:13.05 [[ 7.83919287e-01 -6.14751338e-01 -8.68984698e-02 1.10114453e+02] [ 6.10713885e-01 7.88718202e-01 -7.03715098e-02 3.03772441e+01] [ 1.11799385e-01 2.09548172e-03 9.93728588e-01 1.30531129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.14, Y:30.40, Z:13.06 [[ 7.81638861e-01 -6.17651432e-01 -8.68757691e-02 1.10137161e+02] [ 6.13628673e-01 7.86450099e-01 -7.03995234e-02 3.03959135e+01] [ 1.11805824e-01 1.71754037e-03 9.93728589e-01 1.30575266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.16, Y:30.41, Z:13.06 [[ 7.80302219e-01 -6.19311543e-01 -8.70727225e-02 1.10158091e+02] [ 6.15326103e-01 7.85144480e-01 -7.01564831e-02 3.04122525e+01] [ 1.11813387e-01 1.16514051e-03 9.93728539e-01 1.30592530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.18, Y:30.43, Z:13.06 [[ 7.78357910e-01 -6.21785118e-01 -8.68460208e-02 1.10179709e+02] [ 6.17783842e-01 7.83187010e-01 -7.04360127e-02 3.04293058e+01] [ 1.11812740e-01 1.17235921e-03 9.93728603e-01 1.30613301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:30.45, Z:13.06 [[ 7.73850107e-01 -6.27390003e-01 -8.68204818e-02 1.10201630e+02] [ 6.23420175e-01 7.78705092e-01 -7.04674786e-02 3.04475352e+01] [ 1.11818143e-01 4.05625938e-04 9.93728604e-01 1.30623884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.22, Y:30.47, Z:13.06 [[ 7.70993231e-01 -6.30900619e-01 -8.67977304e-02 1.10223246e+02] [ 6.26949744e-01 7.75863650e-01 -7.04954914e-02 3.04663868e+01] [ 1.11818853e-01 -6.62681654e-05 9.93728605e-01 1.30634157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:30.48, Z:13.07 [[ 7.64845711e-01 -6.38342511e-01 -8.67748631e-02 1.10244477e+02] [ 6.34435827e-01 7.69751647e-01 -7.05236282e-02 3.04836542e+01] [ 1.11813324e-01 -1.11338750e-03 9.93728605e-01 1.30652084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.27, Y:30.50, Z:13.07 [[ 7.58655859e-01 -6.45688408e-01 -8.67627084e-02 1.10266365e+02] [ 6.41827506e-01 7.63597906e-01 -7.05385785e-02 3.05009457e+01] [ 1.11797765e-01 -2.17218690e-03 9.93728605e-01 1.30703283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.29, Y:30.52, Z:13.07 [[ 7.58417378e-01 -6.45972029e-01 -8.67364925e-02 1.10288190e+02] [ 6.42109292e-01 7.63357989e-01 -7.05707999e-02 3.05190343e+01] [ 1.11797757e-01 -2.17218675e-03 9.93728606e-01 1.30735130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.31, Y:30.54, Z:13.08 [[ 7.55383958e-01 -6.49520135e-01 -8.67102646e-02 1.10309436e+02] [ 6.45676906e-01 7.60339759e-01 -7.06030115e-02 3.05369580e+01] [ 1.11787339e-01 -2.65443302e-03 9.93728607e-01 1.30773802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.33, Y:30.56, Z:13.09 [[ 7.49784336e-01 -6.55977272e-01 -8.67021769e-02 1.10330174e+02] [ 6.52175558e-01 7.54772055e-01 -7.06129421e-02 3.05563135e+01] [ 1.11760865e-01 -3.60056262e-03 9.93728607e-01 1.30856284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.35, Y:30.58, Z:13.09 [[ 7.47054816e-01 -6.59068503e-01 -8.68205669e-02 1.10348983e+02] [ 6.55304254e-01 7.52070901e-01 -7.04676811e-02 3.05778649e+01] [ 1.11738251e-01 -4.25066634e-03 9.93728582e-01 1.30857999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:30.60, Z:13.09 [[ 7.46260409e-01 -6.59991259e-01 -8.66425944e-02 1.10368610e+02] [ 6.56207917e-01 7.51262060e-01 -7.06858364e-02 3.05992375e+01] [ 1.11743328e-01 -4.10551516e-03 9.93728622e-01 1.30867785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.39, Y:30.62, Z:13.09 [[ 7.45518620e-01 -6.60832212e-01 -8.66185591e-02 1.10385055e+02] [ 6.57051098e-01 7.50521955e-01 -7.07152771e-02 3.06238171e+01] [ 1.11740063e-01 -4.19326354e-03 9.93728622e-01 1.30857490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.40, Y:30.65, Z:13.09 [[ 7.45642718e-01 -6.60693848e-01 -8.66058696e-02 1.10402467e+02] [ 6.56910005e-01 7.50643989e-01 -7.07308148e-02 3.06476790e+01] [ 1.11741590e-01 -4.15234522e-03 9.93728623e-01 1.30905860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:30.67, Z:13.09 [[ 7.45461571e-01 -6.60901298e-01 -8.65824452e-02 1.10421360e+02] [ 6.57115525e-01 7.50461380e-01 -7.07594773e-02 3.06685126e+01] [ 1.11741812e-01 -4.14619777e-03 9.93728623e-01 1.30947945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.44, Y:30.69, Z:13.10 [[ 7.45245215e-01 -6.61146340e-01 -8.65741667e-02 1.10436041e+02] [ 6.57361037e-01 7.50245380e-01 -7.07696046e-02 3.06940969e+01] [ 1.11740934e-01 -4.16977482e-03 9.93728623e-01 1.30979195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.45, Y:30.72, Z:13.10 [[ 7.45348125e-01 -6.61033892e-01 -8.65469035e-02 1.10453918e+02] [ 6.57243973e-01 7.50344790e-01 -7.08029304e-02 3.07160064e+01] [ 1.11743155e-01 -4.10959932e-03 9.93728624e-01 1.30986072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.47, Y:30.74, Z:13.10 [[ 7.45888225e-01 -6.60427950e-01 -8.65198163e-02 1.10469856e+02] [ 6.56630142e-01 7.50878895e-01 -7.08360151e-02 3.07413217e+01] [ 1.11747988e-01 -3.97576977e-03 9.93728625e-01 1.30958190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:30.77, Z:13.10 [[ 7.48167239e-01 -6.57846146e-01 -8.65114500e-02 1.10485453e+02] [ 6.54029932e-01 7.53143850e-01 -7.08462313e-02 3.07670703e+01] [ 1.11761487e-01 -3.57624852e-03 9.93728625e-01 1.31020803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:110.50, Y:30.79, Z:13.11 [[ 7.50110454e-01 -6.55632674e-01 -8.64875948e-02 1.10504381e+02] [ 6.51798421e-01 7.55073178e-01 -7.08753415e-02 3.07888330e+01] [ 1.11772653e-01 -3.20814319e-03 9.93728626e-01 1.31085947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.52, Y:30.81, Z:13.12 [[ 7.54297290e-01 -6.50814542e-01 -8.64640380e-02 1.10519361e+02] [ 6.46945289e-01 7.59232775e-01 -7.09040680e-02 3.08139207e+01] [ 1.11791730e-01 -2.45475567e-03 9.93728627e-01 1.31167432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:30.84, Z:13.12 [[ 7.59050892e-01 -6.45265179e-01 -8.64557233e-02 1.10534380e+02] [ 6.41358680e-01 7.63956948e-01 -7.09142049e-02 3.08398203e+01] [ 1.11806918e-01 -1.62163808e-03 9.93728627e-01 1.31194087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.55, Y:30.86, Z:13.12 [[ 7.62195172e-01 -6.41551516e-01 -8.64301627e-02 1.10551864e+02] [ 6.37617579e-01 7.67079253e-01 -7.09453446e-02 3.08619388e+01] [ 1.11813878e-01 -1.03519201e-03 9.93728627e-01 1.31229149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.57, Y:30.89, Z:13.13 [[ 7.69829462e-01 -6.32374081e-01 -8.64038251e-02 1.10567407e+02] [ 6.28378314e-01 7.74663089e-01 -7.09774066e-02 3.08876916e+01] [ 1.11818126e-01 3.46208704e-04 9.93728628e-01 1.31277446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.59, Y:30.91, Z:13.13 [[ 7.72777733e-01 -6.28770958e-01 -8.63808824e-02 1.10586293e+02] [ 6.24749535e-01 7.77590035e-01 -7.10053175e-02 3.09081860e+01] [ 1.11814995e-01 9.04912199e-04 9.93728629e-01 1.31312077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.60, Y:30.93, Z:13.13 [[ 7.76868081e-01 -6.23713743e-01 -8.63547982e-02 1.10603344e+02] [ 6.19657473e-01 7.81651046e-01 -7.10370263e-02 3.09310988e+01] [ 1.11806088e-01 1.67600229e-03 9.93728630e-01 1.31319652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:30.96, Z:13.14 [[ 7.79540114e-01 -6.20374511e-01 -8.63288893e-02 1.10624412e+02] [ 6.16294271e-01 7.84302646e-01 -7.10684987e-02 3.09559163e+01] [ 1.11797061e-01 2.19674564e-03 9.93728631e-01 1.31377944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:110.64, Y:30.97, Z:13.13 [[ 7.83304031e-01 -6.15451498e-01 -8.74885627e-02 1.10642918e+02] [ 6.11497621e-01 7.88174042e-01 -6.96587387e-02 3.09727381e+01] [ 1.11827789e-01 1.06492290e-03 9.93727031e-01 1.31323124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:110.67, Y:30.99, Z:13.13 [[ 7.86674350e-01 -6.11307384e-01 -8.62945482e-02 1.10668251e+02] [ 6.07167948e-01 7.91385320e-01 -7.11080678e-02 3.09940689e+01] [ 1.11761126e-01 3.54360929e-03 9.93728783e-01 1.31303984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.69, Y:31.01, Z:13.13 [[ 7.86966261e-01 -6.10796714e-01 -8.72437889e-02 1.10689034e+02] [ 6.06781088e-01 7.91784631e-01 -6.99557675e-02 3.10126408e+01] [ 1.11807044e-01 2.11494755e-03 9.93727685e-01 1.31317710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:31.03, Z:13.13 [[ 7.86995581e-01 -6.10774373e-01 -8.71356475e-02 1.10707129e+02] [ 6.06744096e-01 7.91801380e-01 -7.00869228e-02 3.10290562e+01] [ 1.11801422e-01 2.28905887e-03 9.93727932e-01 1.31331621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:110.73, Y:31.05, Z:13.14 [[ 7.86352877e-01 -6.11732344e-01 -8.62130682e-02 1.10729099e+02] [ 6.07584940e-01 7.91056577e-01 -7.12041542e-02 3.10456506e+01] [ 1.11757299e-01 3.60982960e-03 9.93728975e-01 1.31367387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.76, Y:31.06, Z:13.14 [[ 7.82317903e-01 -6.16885265e-01 -8.62048065e-02 1.10755417e+02] [ 6.12767752e-01 7.87047791e-01 -7.12141549e-02 3.10612746e+01] [ 1.11778265e-01 2.88858279e-03 9.93728975e-01 1.31418679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:110.78, Y:31.07, Z:13.14 [[ 7.77608157e-01 -6.22754401e-01 -8.66170313e-02 1.10779268e+02] [ 6.18728026e-01 7.82416134e-01 -7.07150803e-02 3.10743543e+01] [ 1.11808690e-01 1.39623843e-03 9.93728769e-01 1.31434181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.80, Y:31.09, Z:13.15 [[ 7.75483877e-01 -6.25434804e-01 -8.63484934e-02 1.10804111e+02] [ 6.21388843e-01 7.80275111e-01 -7.10398283e-02 3.10874661e+01] [ 1.11806361e-01 1.43425112e-03 9.93728977e-01 1.31546280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.83, Y:31.11, Z:13.16 [[ 7.71919510e-01 -6.29855887e-01 -8.61500474e-02 1.10827274e+02] [ 6.25810574e-01 7.76711228e-01 -7.12796827e-02 3.11074013e+01] [ 1.11809637e-01 1.10856716e-03 9.93729026e-01 1.31638502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:110.85, Y:31.12, Z:13.17 [[ 7.71241594e-01 -6.30608244e-01 -8.67158965e-02 1.10853512e+02] [ 6.26644232e-01 7.76101302e-01 -7.05958576e-02 3.11216515e+01] [ 1.11818650e-01 1.06445330e-04 9.93728624e-01 1.31657959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:110.88, Y:31.14, Z:13.17 [[ 7.69685365e-01 -6.32500357e-01 -8.67625290e-02 1.10875896e+02] [ 6.28554640e-01 7.74560030e-01 -7.05395276e-02 3.11380038e+01] [ 1.11819063e-01 -2.41748082e-04 9.93728554e-01 1.31699866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.90, Y:31.15, Z:13.17 [[ 7.68032057e-01 -6.34524591e-01 -8.66331556e-02 1.10901205e+02] [ 6.30574101e-01 7.72902603e-01 -7.06956121e-02 3.11524750e+01] [ 1.11817096e-01 -3.32127895e-04 9.93728749e-01 1.31702610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.92, Y:31.17, Z:13.17 [[ 7.68656582e-01 -6.33769597e-01 -8.66207621e-02 1.10923661e+02] [ 6.29812640e-01 7.73521853e-01 -7.07105523e-02 3.11670169e+01] [ 1.11817251e-01 -2.02719405e-04 9.93728767e-01 1.31694546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:110.95, Y:31.19, Z:13.18 [[ 7.63980492e-01 -6.39479999e-01 -8.60182409e-02 1.10947231e+02] [ 6.35477423e-01 7.68807728e-01 -7.14361426e-02 3.11853728e+01] [ 1.11813473e-01 -8.68306578e-05 9.93729208e-01 1.31804254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.97, Y:31.20, Z:13.18 [[ 7.62388188e-01 -6.41320430e-01 -8.64427950e-02 1.10970474e+02] [ 6.37387300e-01 7.67272478e-01 -7.09251349e-02 3.12013038e+01] [ 1.11810916e-01 -1.02505468e-03 9.93728971e-01 1.31837684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:110.99, Y:31.22, Z:13.19 [[ 7.62593769e-01 -6.41087014e-01 -8.63607781e-02 1.10993596e+02] [ 6.37141214e-01 7.67467718e-01 -7.10237693e-02 3.12186175e+01] [ 1.11811525e-01 -8.61727081e-04 9.93729058e-01 1.31868032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.01, Y:31.24, Z:13.19 [[ 7.65011509e-01 -6.38209118e-01 -8.62931786e-02 1.11014356e+02] [ 6.34235817e-01 7.69862981e-01 -7.11049883e-02 3.12364627e+01] [ 1.11813776e-01 -3.34090261e-04 9.93729122e-01 1.31918408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.04, Y:31.26, Z:13.19 [[ 7.66724823e-01 -6.36175551e-01 -8.61029220e-02 1.11035598e+02] [ 6.32163710e-01 7.71544295e-01 -7.13333288e-02 3.12557431e+01] [ 1.11812738e-01 2.61891252e-04 9.93729260e-01 1.31945742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:31.27, Z:13.20 [[ 7.72197650e-01 -6.29501341e-01 -8.62487758e-02 1.11055988e+02] [ 6.25467360e-01 7.76998749e-01 -7.11584511e-02 3.12747487e+01] [ 1.11809531e-01 1.00259457e-03 9.93729150e-01 1.31992047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.08, Y:31.29, Z:13.20 [[ 7.74758942e-01 -6.26381733e-01 -8.59913142e-02 1.11076943e+02] [ 6.22294153e-01 7.79514255e-01 -7.14668726e-02 3.12924464e+01] [ 1.11796999e-01 1.85770657e-03 9.93729329e-01 1.32010932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.10, Y:31.31, Z:13.20 [[ 7.77883789e-01 -6.22515348e-01 -8.58571553e-02 1.11100132e+02] [ 6.18386410e-01 7.82603188e-01 -7.16274875e-02 3.13091808e+01] [ 1.11781294e-01 2.62496333e-03 9.93729366e-01 1.32042949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.12, Y:31.33, Z:13.21 [[ 7.79075929e-01 -6.21020555e-01 -8.58729671e-02 1.11121948e+02] [ 6.16884646e-01 7.83789223e-01 -7.16085640e-02 3.13268689e+01] [ 1.11776696e-01 2.81479362e-03 9.93729363e-01 1.32078813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.14, Y:31.35, Z:13.21 [[ 7.79068043e-01 -6.21039515e-01 -8.58073737e-02 1.11142657e+02] [ 6.16895088e-01 7.83773834e-01 -7.16870080e-02 3.13455044e+01] [ 1.11774039e-01 2.91490964e-03 9.93729373e-01 1.32092048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.17, Y:31.36, Z:13.21 [[ 7.77307001e-01 -6.23262250e-01 -8.56620969e-02 1.11165457e+02] [ 6.19112145e-01 7.82007799e-01 -7.18606670e-02 3.13633621e+01] [ 1.11776469e-01 2.82335500e-03 9.93729364e-01 1.32099119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.19, Y:31.37, Z:13.21 [[ 7.73602710e-01 -6.27866209e-01 -8.55737726e-02 1.11192962e+02] [ 6.23732415e-01 7.78317893e-01 -7.19661898e-02 3.13742637e+01] [ 1.11788737e-01 2.29810364e-03 9.93729338e-01 1.32149089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.22, Y:31.39, Z:13.22 [[ 7.70875917e-01 -6.31188285e-01 -8.57418731e-02 1.11216363e+02] [ 6.27097121e-01 7.75628090e-01 -7.17653571e-02 3.13903484e+01] [ 1.11801258e-01 1.55370375e-03 9.93729372e-01 1.32202723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.24, Y:31.41, Z:13.22 [[ 7.67233092e-01 -6.35614605e-01 -8.57173049e-02 1.11239071e+02] [ 6.31547582e-01 7.72005942e-01 -7.17946899e-02 3.14065723e+01] [ 1.11808022e-01 9.48705285e-04 9.93729373e-01 1.32224781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:31.42, Z:13.23 [[ 7.67041139e-01 -6.35893485e-01 -8.53660752e-02 1.11262292e+02] [ 6.31781480e-01 7.71775453e-01 -7.22136518e-02 3.14231791e+01] [ 1.11803632e-01 1.45813642e-03 9.93729250e-01 1.32308996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:31.44, Z:13.23 [[ 7.68796772e-01 -6.33728358e-01 -8.56731627e-02 1.11284184e+02] [ 6.29643741e-01 7.73554586e-01 -7.18474912e-02 3.14398171e+01] [ 1.11804661e-01 1.29254869e-03 9.93729363e-01 1.32324578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.31, Y:31.46, Z:13.24 [[ 7.70637546e-01 -6.31530868e-01 -8.53612010e-02 1.11306311e+02] [ 6.27391431e-01 7.75347891e-01 -7.22193921e-02 3.14569939e+01] [ 1.11793403e-01 2.10008912e-03 9.93729251e-01 1.32367493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.33, Y:31.47, Z:13.24 [[ 7.76804302e-01 -6.23937025e-01 -8.53092316e-02 1.11333219e+02] [ 6.19744764e-01 7.81467748e-01 -7.22812998e-02 3.14706548e+01] [ 1.11765392e-01 3.27847503e-03 9.93729213e-01 1.32400382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.36, Y:31.48, Z:13.24 [[ 7.82550248e-01 -6.16668635e-01 -8.56440512e-02 1.11358332e+02] [ 6.12476563e-01 7.87213681e-01 -7.18824036e-02 3.14841890e+01] [ 1.11747793e-01 3.79661866e-03 9.93729348e-01 1.32407322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.38, Y:31.50, Z:13.24 [[ 7.84822498e-01 -6.13777972e-01 -8.56168656e-02 1.11380350e+02] [ 6.09565205e-01 7.89467243e-01 -7.19147691e-02 3.15020398e+01] [ 1.11731412e-01 4.25126649e-03 9.93729349e-01 1.32409698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:31.52, Z:13.24 [[ 7.88428272e-01 -6.09143030e-01 -8.55898833e-02 1.11403976e+02] [ 6.04899495e-01 7.93044923e-01 -7.19468681e-02 3.15180834e+01] [ 1.11702556e-01 4.95166774e-03 9.93729350e-01 1.32358580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56710568099999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:111.43, Y:31.53, Z:13.23 [[ 7.88799852e-01 -6.08690322e-01 -8.53866839e-02 1.11431599e+02] [ 6.04418053e-01 7.93389975e-01 -7.21884034e-02 3.15308959e+01] [ 1.11685321e-01 5.33294869e-03 9.93729314e-01 1.32321935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.46, Y:31.55, Z:13.24 [[ 7.87654814e-01 -6.10147331e-01 -8.55577448e-02 1.11455981e+02] [ 6.05905543e-01 7.92273071e-01 -7.19850955e-02 3.15454374e+01] [ 1.11706611e-01 4.85949522e-03 9.93729349e-01 1.32351632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:31.56, Z:13.24 [[ 7.85409042e-01 -6.13039207e-01 -8.55310943e-02 1.11483068e+02] [ 6.08810989e-01 7.90039726e-01 -7.20167472e-02 3.15567205e+01] [ 1.11722052e-01 4.49033433e-03 9.93729349e-01 1.32431522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.51, Y:31.57, Z:13.25 [[ 7.85420691e-01 -6.13027329e-01 -8.55092529e-02 1.11506687e+02] [ 6.08796226e-01 7.90048738e-01 -7.20426714e-02 3.15707991e+01] [ 1.11720604e-01 4.52609425e-03 9.93729350e-01 1.32500201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.53, Y:31.58, Z:13.26 [[ 7.84062990e-01 -6.14815914e-01 -8.51270765e-02 1.11533017e+02] [ 6.10546190e-01 7.88655629e-01 -7.24958483e-02 3.15848556e+01] [ 1.11707549e-01 4.86729939e-03 9.93729205e-01 1.32552900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.56, Y:31.60, Z:13.26 [[ 7.82978067e-01 -6.16148520e-01 -8.54771775e-02 1.11558585e+02] [ 6.11931728e-01 7.87619154e-01 -7.20807053e-02 3.15964946e+01] [ 1.11735882e-01 4.13141434e-03 9.93729352e-01 1.32556952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.58, Y:31.61, Z:13.26 [[ 7.82494671e-01 -6.16763884e-01 -8.54657939e-02 1.11582152e+02] [ 6.12549271e-01 7.87137737e-01 -7.20942003e-02 3.16115561e+01] [ 1.11738451e-01 4.06131783e-03 9.93729352e-01 1.32569954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:31.62, Z:13.26 [[ 7.80884858e-01 -6.18829776e-01 -8.52557734e-02 1.11606495e+02] [ 6.14600312e-01 7.85514451e-01 -7.23429586e-02 3.16237491e+01] [ 1.11737619e-01 4.09329606e-03 9.93729314e-01 1.32607720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:31.64, Z:13.27 [[ 7.77660264e-01 -6.22908585e-01 -8.50259242e-02 1.11632778e+02] [ 6.18673673e-01 7.82285079e-01 -7.26150241e-02 3.16367843e+01] [ 1.11747034e-01 3.86651804e-03 9.93729164e-01 1.32669242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.66, Y:31.65, Z:13.27 [[ 7.75796597e-01 -6.25175005e-01 -8.54157714e-02 1.11657064e+02] [ 6.21004230e-01 7.80479091e-01 -7.21535525e-02 3.16519060e+01] [ 1.11773821e-01 2.93292511e-03 9.93729345e-01 1.32729671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.68, Y:31.67, Z:13.28 [[ 7.75561197e-01 -6.25470255e-01 -8.53919832e-02 1.11678569e+02] [ 6.21298167e-01 7.80242520e-01 -7.21816945e-02 3.16703862e+01] [ 1.11773959e-01 2.92743872e-03 9.93729346e-01 1.32761525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:111.70, Y:31.68, Z:13.28 [[ 7.71199806e-01 -6.30843675e-01 -8.53646174e-02 1.11703304e+02] [ 6.26700634e-01 7.75906855e-01 -7.22140439e-02 3.16836439e+01] [ 1.11790765e-01 2.19339675e-03 9.93729346e-01 1.32827636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:111.73, Y:31.70, Z:13.29 [[ 7.69002179e-01 -6.33521879e-01 -8.53561791e-02 1.11726205e+02] [ 6.29394127e-01 7.73722641e-01 -7.22240164e-02 3.16997951e+01] [ 1.11797503e-01 1.81774821e-03 9.93729347e-01 1.32878510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:111.75, Y:31.71, Z:13.29 [[ 7.66103723e-01 -6.37027429e-01 -8.53295929e-02 1.11750988e+02] [ 6.32917782e-01 7.70839955e-01 -7.22554135e-02 3.17134919e+01] [ 1.11804140e-01 1.34852461e-03 9.93729347e-01 1.32928703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:111.77, Y:31.73, Z:13.29 [[ 7.66312464e-01 -6.36780045e-01 -8.53017067e-02 1.11772937e+02] [ 6.32665207e-01 7.71044185e-01 -7.22883199e-02 3.17297167e+01] [ 1.11803144e-01 1.42801865e-03 9.93729348e-01 1.32941575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01710568099999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:111.80, Y:31.75, Z:13.29 [[ 7.67930753e-01 -6.34884056e-01 -8.48798731e-02 1.11795756e+02] [ 6.30702440e-01 7.72603820e-01 -7.27857781e-02 3.17459708e+01] [ 1.11789044e-01 2.36049439e-03 9.93729157e-01 1.32915900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04710568099999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:111.82, Y:31.76, Z:13.30 [[ 7.69166508e-01 -6.33433385e-01 -8.45282842e-02 1.11818194e+02] [ 6.29197376e-01 7.73790944e-01 -7.31999777e-02 3.17633185e+01] [ 1.11774530e-01 3.11799663e-03 9.93728702e-01 1.32951958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07710568099999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:111.84, Y:31.78, Z:13.30 [[ 7.71640421e-01 -6.30410093e-01 -8.45823564e-02 1.11839907e+02] [ 6.26162945e-01 7.76254504e-01 -7.31362450e-02 3.17811126e+01] [ 1.11763262e-01 3.47254551e-03 9.93728793e-01 1.33008028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10710568099998 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:111.86, Y:31.80, Z:13.30 [[ 7.76214451e-01 -6.24734759e-01 -8.48387127e-02 1.11861649e+02] [ 6.20486801e-01 7.80827331e-01 -7.28341167e-02 3.18011375e+01] [ 1.11746390e-01 3.89359251e-03 9.93729130e-01 1.33042842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:111.88, Y:31.82, Z:13.30 [[ 7.79920393e-01 -6.20037077e-01 -8.53123958e-02 1.11883603e+02] [ 6.15822125e-01 7.84563152e-01 -7.22756580e-02 3.18200801e+01] [ 1.11746550e-01 3.83199866e-03 9.93729352e-01 1.33043135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:111.90, Y:31.84, Z:13.31 [[ 7.81347158e-01 -6.18246542e-01 -8.52515788e-02 1.11904446e+02] [ 6.14013149e-01 7.85973102e-01 -7.23473234e-02 3.18384838e+01] [ 1.11733930e-01 4.18278510e-03 9.93729356e-01 1.33063658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:111.93, Y:31.85, Z:13.31 [[ 7.84105022e-01 -6.14748875e-01 -8.52240330e-02 1.11925117e+02] [ 6.10491338e-01 7.88708753e-01 -7.23797575e-02 3.18546023e+01] [ 1.11712315e-01 4.72479738e-03 9.93729357e-01 1.33087572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:111.95, Y:31.87, Z:13.31 [[ 7.86292300e-01 -6.12044993e-01 -8.45301431e-02 1.11950364e+02] [ 6.07683835e-01 7.90798747e-01 -7.31962994e-02 3.18706946e+01] [ 1.11645760e-01 6.18608509e-03 9.93728814e-01 1.33144184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25710568099998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:111.98, Y:31.89, Z:13.32 [[ 7.86542764e-01 -6.11695501e-01 -8.47295302e-02 1.11975332e+02] [ 6.07357491e-01 7.91071105e-01 -7.29615274e-02 3.18851374e+01] [ 1.11657321e-01 5.92624649e-03 9.93729099e-01 1.33174245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:112.00, Y:31.90, Z:13.32 [[ 7.86449930e-01 -6.11793356e-01 -8.48846085e-02 1.11997269e+02] [ 6.07475513e-01 7.90997295e-01 -7.27789829e-02 3.19008841e+01] [ 1.11669194e-01 5.67170496e-03 9.93729250e-01 1.33174690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31710568099999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:112.02, Y:31.92, Z:13.32 [[ 7.84276570e-01 -6.14645756e-01 -8.43851705e-02 1.12024576e+02] [ 6.10281311e-01 7.88780137e-01 -7.33663243e-02 3.19177813e+01] [ 1.11655646e-01 6.04079670e-03 9.93728597e-01 1.33187369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:112.05, Y:31.93, Z:13.32 [[ 7.84754033e-01 -6.13924933e-01 -8.51896937e-02 1.12050789e+02] [ 6.09658200e-01 7.89349233e-01 -7.24200751e-02 3.19291732e+01] [ 1.11704909e-01 4.89535079e-03 9.93729364e-01 1.33210214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37710568099999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:112.07, Y:31.94, Z:13.33 [[ 7.87850401e-01 -6.09947909e-01 -8.51780111e-02 1.12073789e+02] [ 6.05656510e-01 7.92422573e-01 -7.24338133e-02 3.19401157e+01] [ 1.11677832e-01 5.47839193e-03 9.93729364e-01 1.33254081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40710568099999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:112.10, Y:31.96, Z:13.33 [[ 7.88838892e-01 -6.08788588e-01 -8.43187880e-02 1.12099095e+02] [ 6.04382246e-01 7.93301826e-01 -7.34459910e-02 3.19567333e+01] [ 1.11603330e-01 6.97627564e-03 9.93728347e-01 1.33310481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:112.12, Y:31.97, Z:13.34 [[ 7.91348991e-01 -6.05438581e-01 -8.49170146e-02 1.12123218e+02] [ 6.01088396e-01 7.95865323e-01 -7.27401427e-02 3.19721365e+01] [ 1.11622196e-01 6.52020649e-03 9.93729325e-01 1.33369871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46710568099998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:112.15, Y:31.98, Z:13.34 [[ 7.95269264e-01 -6.00225391e-01 -8.53011074e-02 1.12145818e+02] [ 5.95893814e-01 7.99803202e-01 -7.22869302e-02 3.19845541e+01] [ 1.11612550e-01 6.65717154e-03 9.93729501e-01 1.33359691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49710568099998 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:112.17, Y:32.00, Z:13.33 [[ 7.96194491e-01 -5.99110348e-01 -8.45051711e-02 1.12171613e+02] [ 5.94673124e-01 8.00626017e-01 -7.32247070e-02 3.19999311e+01] [ 1.11526718e-01 8.04815421e-03 9.93728845e-01 1.33274028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52710568099998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:112.20, Y:32.01, Z:13.33 [[ 7.95430914e-01 -6.00108060e-01 -8.46166524e-02 1.12200144e+02] [ 5.95690331e-01 7.99881546e-01 -7.30926929e-02 3.20112094e+01] [ 1.11546813e-01 7.73486588e-03 9.93729078e-01 1.33305779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55710568099998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:112.22, Y:32.03, Z:13.33 [[ 7.94304867e-01 -6.01557172e-01 -8.49043423e-02 1.12224202e+02] [ 5.97183680e-01 7.98798340e-01 -7.27520798e-02 3.20256499e+01] [ 1.11585983e-01 7.08384345e-03 9.93729534e-01 1.33332820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:112.25, Y:32.04, Z:13.34 [[ 7.93477221e-01 -6.02654513e-01 -8.48612836e-02 1.12253325e+02] [ 5.98281818e-01 7.97971545e-01 -7.28030220e-02 3.20373049e+01] [ 1.11591959e-01 6.99657653e-03 9.93729482e-01 1.33376680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61710568099998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:112.27, Y:32.04, Z:13.34 [[ 7.95028764e-01 -6.00529838e-01 -8.54001086e-02 1.12273817e+02] [ 5.96212988e-01 7.99576277e-01 -7.21654404e-02 3.20447743e+01] [ 1.11621401e-01 6.45694699e-03 9.93729828e-01 1.33415679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64710568099999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:112.30, Y:32.07, Z:13.34 [[ 7.93286618e-01 -6.03027852e-01 -8.39866169e-02 1.12298568e+02] [ 5.98547092e-01 7.97676848e-01 -7.38446034e-02 3.20657421e+01] [ 1.11524532e-01 8.30999039e-03 9.93726936e-01 1.33401280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67710568099999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:112.33, Y:32.08, Z:13.35 [[ 7.92657680e-01 -6.03697491e-01 -8.51066497e-02 1.12325392e+02] [ 5.99361440e-01 7.97187232e-01 -7.25146947e-02 3.20763644e+01] [ 1.11622874e-01 6.46968556e-03 9.93729580e-01 1.33499041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70710568099999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:112.35, Y:32.10, Z:13.35 [[ 7.90520969e-01 -6.06502565e-01 -8.50366755e-02 1.12350384e+02] [ 6.02173701e-01 7.95057486e-01 -7.25977117e-02 3.20955568e+01] [ 1.11639744e-01 6.18316386e-03 9.93729509e-01 1.33487485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73710568099999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:112.38, Y:32.11, Z:13.36 [[ 7.87064602e-01 -6.10900848e-01 -8.56123031e-02 1.12375980e+02] [ 6.06671098e-01 7.91693380e-01 -7.19150302e-02 3.21075981e+01] [ 1.11711647e-01 4.66326471e-03 9.93729723e-01 1.33634231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:112.40, Y:32.12, Z:13.37 [[ 7.81171468e-01 -6.18436861e-01 -8.54809199e-02 1.12400773e+02] [ 6.14234764e-01 7.85825332e-01 -7.20708093e-02 3.21227216e+01] [ 1.11744317e-01 3.79430719e-03 9.93729747e-01 1.33709250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79710568099999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:112.42, Y:32.14, Z:13.37 [[ 7.79319192e-01 -6.20734403e-01 -8.57344631e-02 1.12422616e+02] [ 6.16578995e-01 7.84014908e-01 -7.17702342e-02 3.21385631e+01] [ 1.11767351e-01 3.06985182e-03 9.93729659e-01 1.33713856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:112.44, Y:32.15, Z:13.37 [[ 7.75417832e-01 -6.25641319e-01 -8.54407717e-02 1.12443953e+02] [ 6.21477265e-01 7.80105746e-01 -7.21181980e-02 3.21546461e+01] [ 1.11772961e-01 2.82223956e-03 9.93729762e-01 1.33727475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:112.47, Y:32.17, Z:13.37 [[ 7.70241613e-01 -6.32004466e-01 -8.54295748e-02 1.12467242e+02] [ 6.27877680e-01 7.74962368e-01 -7.21314591e-02 3.21748305e+01] [ 1.11792110e-01 1.91932819e-03 9.93729762e-01 1.33698848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:112.49, Y:32.19, Z:13.38 [[ 7.69803765e-01 -6.32487983e-01 -8.57969440e-02 1.12487774e+02] [ 6.28412520e-01 7.74569121e-01 -7.16964579e-02 3.21892726e+01] [ 1.11802811e-01 1.27632947e-03 9.93729592e-01 1.33770738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91710568099998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:112.51, Y:32.21, Z:13.38 [[ 7.64815624e-01 -6.38565022e-01 -8.53918801e-02 1.12508210e+02] [ 6.34473795e-01 7.69567195e-01 -7.21757274e-02 3.22079133e+01] [ 1.11803685e-01 1.02221368e-03 9.93729788e-01 1.33805918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:112.53, Y:32.23, Z:13.39 [[ 7.62197551e-01 -6.41691094e-01 -8.53664658e-02 1.12528605e+02] [ 6.37615990e-01 7.66962956e-01 -7.22057740e-02 3.22256725e+01] [ 1.11806719e-01 6.04040517e-04 9.93729789e-01 1.33852668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:112.55, Y:32.24, Z:13.39 [[ 7.56276947e-01 -6.48660372e-01 -8.53516257e-02 1.12548525e+02] [ 6.44627203e-01 7.61077895e-01 -7.22233118e-02 3.22447827e+01] [ 1.11807636e-01 -3.99154003e-04 9.93729789e-01 1.33916304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:112.57, Y:32.27, Z:13.39 [[ 7.47962407e-01 -6.58233879e-01 -8.53252492e-02 1.12570619e+02] [ 6.54258592e-01 7.52811389e-01 -7.22544598e-02 3.22675621e+01] [ 1.11794153e-01 -1.78115779e-03 9.93729790e-01 1.33935055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:112.59, Y:32.29, Z:13.39 [[ 7.45084415e-01 -6.61367654e-01 -8.62672653e-02 1.12591763e+02] [ 6.57540746e-01 7.50052669e-01 -7.11418381e-02 3.22867011e+01] [ 1.11755903e-01 -3.71756720e-03 9.93728735e-01 1.33947272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06710568099999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:112.61, Y:32.31, Z:13.40 [[ 7.41916233e-01 -6.64947808e-01 -8.60506607e-02 1.12609476e+02] [ 6.61115240e-01 7.46879547e-01 -7.13973473e-02 3.23060620e+01] [ 1.11744988e-01 -3.91855226e-03 9.93729190e-01 1.33978714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09710568099999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:112.63, Y:32.33, Z:13.40 [[ 7.40072399e-01 -6.67105973e-01 -8.52200993e-02 1.12628132e+02] [ 6.63174858e-01 7.44956980e-01 -7.23754526e-02 3.23272767e+01] [ 1.11767405e-01 -2.95275239e-03 9.93730008e-01 1.34021929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12710568099999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:112.64, Y:32.35, Z:13.41 [[ 7.37667843e-01 -6.69767438e-01 -8.51923195e-02 1.12642133e+02] [ 6.65850173e-01 7.42563538e-01 -7.24081374e-02 3.23519419e+01] [ 1.11757323e-01 -3.31216619e-03 9.93730009e-01 1.34087666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15710568099999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:112.66, Y:32.38, Z:13.41 [[ 7.34685678e-01 -6.73039303e-01 -8.51765918e-02 1.12656868e+02] [ 6.69141695e-01 7.39597036e-01 -7.24266338e-02 3.23775673e+01] [ 1.11742326e-01 -3.78439841e-03 9.93730009e-01 1.34104120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:112.67, Y:32.40, Z:13.41 [[ 7.32761894e-01 -6.75136755e-01 -8.51491019e-02 1.12670851e+02] [ 6.71249456e-01 7.37681415e-01 -7.24589384e-02 3.24036430e+01] [ 1.11732602e-01 -4.06113945e-03 9.93730010e-01 1.34096032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21710568099998 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:112.69, Y:32.43, Z:13.41 [[ 7.32366178e-01 -6.75567904e-01 -8.51339443e-02 1.12688511e+02] [ 6.71681437e-01 7.37286355e-01 -7.24767431e-02 3.24265294e+01] [ 1.11731057e-01 -4.10337462e-03 9.93730010e-01 1.34123998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24710568099998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:112.70, Y:32.46, Z:13.41 [[ 7.34973327e-01 -6.72734007e-01 -8.51067778e-02 1.12702111e+02] [ 6.68824878e-01 7.39875517e-01 -7.25086298e-02 3.24579151e+01] [ 1.11747442e-01 -3.62962140e-03 9.93730011e-01 1.34137798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:112.72, Y:32.48, Z:13.41 [[ 7.37832277e-01 -6.69530439e-01 -8.56301510e-02 1.12716442e+02] [ 6.65671000e-01 7.42774087e-01 -7.18941947e-02 3.24821800e+01] [ 1.11739209e-01 -3.95565087e-03 9.93729693e-01 1.34135792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30710568099998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:112.73, Y:32.51, Z:13.41 [[ 7.45690541e-01 -6.60773196e-01 -8.55827150e-02 1.12725579e+02] [ 6.56849298e-01 7.50581252e-01 -7.19498654e-02 3.25108445e+01] [ 1.11779324e-01 -2.56261228e-03 9.93729750e-01 1.34144298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33710568099998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:112.74, Y:32.54, Z:13.42 [[ 7.50434824e-01 -6.55449151e-01 -8.50528388e-02 1.12737783e+02] [ 6.51419943e-01 7.55238715e-01 -7.25709355e-02 3.25399725e+01] [ 1.11801755e-01 -9.45358185e-04 9.93730081e-01 1.34160944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36710568099998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:112.76, Y:32.56, Z:13.42 [[ 7.51784992e-01 -6.53903480e-01 -8.50268512e-02 1.12755154e+02] [ 6.49860952e-01 7.56577679e-01 -7.26013709e-02 3.25628794e+01] [ 1.11803707e-01 -6.75009401e-04 9.93730082e-01 1.34188040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39710568099999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:112.77, Y:32.59, Z:13.42 [[ 7.53830798e-01 -6.51547369e-01 -8.50009048e-02 1.12770803e+02] [ 6.47486437e-01 7.58607899e-01 -7.26317361e-02 3.25877108e+01] [ 1.11805374e-01 -2.84893462e-04 9.93730083e-01 1.34243458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:112.79, Y:32.61, Z:13.43 [[ 7.54729517e-01 -6.50509208e-01 -8.49772132e-02 1.12789039e+02] [ 6.46438584e-01 7.59498362e-01 -7.26594442e-02 3.26081479e+01] [ 1.11805692e-01 -9.43221384e-05 9.93730083e-01 1.34294963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:112.80, Y:32.63, Z:13.43 [[ 7.57742249e-01 -6.46998823e-01 -8.49659139e-02 1.12804388e+02] [ 6.42904626e-01 7.62490870e-01 -7.26726549e-02 3.26322485e+01] [ 1.11804856e-01 4.42161852e-04 9.93730083e-01 1.34347815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.82, Y:32.66, Z:13.43 [[ 7.61792502e-01 -6.42228640e-01 -8.49385590e-02 1.12821385e+02] [ 6.38101146e-01 7.66512209e-01 -7.27046130e-02 3.26556506e+01] [ 1.11799427e-01 1.18643713e-03 9.93730084e-01 1.34343042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:112.84, Y:32.68, Z:13.43 [[ 7.63102627e-01 -6.40675140e-01 -8.49102211e-02 1.12840842e+02] [ 6.36534358e-01 7.67810679e-01 -7.27376933e-02 3.26751771e+01] [ 1.11796206e-01 1.45805173e-03 9.93730085e-01 1.34333880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.86, Y:32.70, Z:13.43 [[ 7.65220229e-01 -6.38145982e-01 -8.48982100e-02 1.12861681e+02] [ 6.33988086e-01 7.69913174e-01 -7.27517098e-02 3.26978058e+01] [ 1.11790462e-01 1.84662638e-03 9.93730085e-01 1.34308279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.88, Y:32.72, Z:13.44 [[ 7.66363734e-01 -6.36722611e-01 -8.52698302e-02 1.12880211e+02] [ 6.32604111e-01 7.71091517e-01 -7.23181288e-02 3.27195524e+01] [ 1.11797430e-01 1.47994614e-03 9.93729915e-01 1.34424913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:112.90, Y:32.74, Z:13.44 [[ 7.67996306e-01 -6.34723914e-01 -8.54823185e-02 1.12901399e+02] [ 6.30620644e-01 7.72737647e-01 -7.20703333e-02 3.27385926e+01] [ 1.11800170e-01 1.44283502e-03 9.93729662e-01 1.34385682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.92, Y:32.76, Z:13.45 [[ 7.68660529e-01 -6.33948126e-01 -8.52687782e-02 1.12920207e+02] [ 6.29812455e-01 7.73373273e-01 -7.23191044e-02 3.27580747e+01] [ 1.11791155e-01 1.88550254e-03 9.93729934e-01 1.34465589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.94, Y:32.78, Z:13.45 [[ 7.69627192e-01 -6.32772814e-01 -8.52792504e-02 1.12939624e+02] [ 6.28631297e-01 7.74334814e-01 -7.23069058e-02 3.27752196e+01] [ 1.11788537e-01 2.04015507e-03 9.93729923e-01 1.34466110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:32.79, Z:13.46 [[ 7.68692665e-01 -6.33972120e-01 -8.47993990e-02 1.12962835e+02] [ 6.29776212e-01 7.73351510e-01 -7.28653945e-02 3.27923498e+01] [ 1.11774372e-01 2.60644996e-03 9.93730193e-01 1.34621655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:32.81, Z:13.46 [[ 7.68837587e-01 -6.33732342e-01 -8.52765114e-02 1.12983408e+02] [ 6.29596333e-01 7.73550056e-01 -7.23102232e-02 3.28077919e+01] [ 1.11790977e-01 1.90503866e-03 9.93729917e-01 1.34624739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.00, Y:32.83, Z:13.47 [[ 7.68603433e-01 -6.34085092e-01 -8.47635487e-02 1.13004678e+02] [ 6.29885322e-01 7.73258754e-01 -7.29066626e-02 3.28265491e+01] [ 1.11773184e-01 2.64499601e-03 9.93730225e-01 1.34655737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:32.84, Z:13.48 [[ 7.65331395e-01 -6.38034187e-01 -8.47362520e-02 1.13028135e+02] [ 6.33854933e-01 7.70005141e-01 -7.29383747e-02 3.28441262e+01] [ 1.11784526e-01 2.11153670e-03 9.93730226e-01 1.34760159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:32.86, Z:13.47 [[ 7.63274551e-01 -6.40456246e-01 -8.50162098e-02 1.13052974e+02] [ 6.36327965e-01 7.67993515e-01 -7.26132310e-02 3.28611004e+01] [ 1.11797495e-01 1.32563947e-03 9.93730126e-01 1.34682467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:113.07, Y:32.88, Z:13.47 [[ 7.61495906e-01 -6.42585800e-01 -8.48968512e-02 1.13074748e+02] [ 6.38455262e-01 7.66212801e-01 -7.27517852e-02 3.28785663e+01] [ 1.11798318e-01 1.19734518e-03 9.93730196e-01 1.34675189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87710568099999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:113.10, Y:32.89, Z:13.47 [[ 7.58163166e-01 -6.46527981e-01 -8.47949423e-02 1.13099825e+02] [ 6.42408746e-01 7.62889880e-01 -7.28699759e-02 3.28934534e+01] [ 1.11801682e-01 7.74319154e-04 9.93730237e-01 1.34695876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90710568099999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:113.12, Y:32.91, Z:13.47 [[ 7.57894451e-01 -6.46851335e-01 -8.47310516e-02 1.13122591e+02] [ 6.42725836e-01 7.62615676e-01 -7.29440252e-02 3.29077065e+01] [ 1.11801168e-01 8.25035985e-04 9.93730254e-01 1.34738133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93710568099999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:113.14, Y:32.93, Z:13.48 [[ 7.58951656e-01 -6.45624703e-01 -8.46234417e-02 1.13143223e+02] [ 6.41477670e-01 7.63653960e-01 -7.30686543e-02 3.29267434e+01] [ 1.11797955e-01 1.17152798e-03 9.93730268e-01 1.34815195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96710568099998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:113.16, Y:32.95, Z:13.49 [[ 7.63758322e-01 -6.39938084e-01 -8.45723086e-02 1.13163703e+02] [ 6.35749493e-01 7.68423647e-01 -7.31278404e-02 3.29465912e+01] [ 1.11784652e-01 2.08519434e-03 9.93730267e-01 1.34893649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99710568099998 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:113.18, Y:32.96, Z:13.50 [[ 7.66838613e-01 -6.36232911e-01 -8.46535560e-02 1.13184642e+02] [ 6.32032144e-01 7.71492985e-01 -7.30338423e-02 3.29629005e+01] [ 1.11776159e-01 2.50140179e-03 9.93730262e-01 1.34965926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02710568099998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:113.21, Y:32.98, Z:13.50 [[ 7.71596653e-01 -6.30466596e-01 -8.45604894e-02 1.13207674e+02] [ 6.26219278e-01 7.76208571e-01 -7.31414405e-02 3.29774708e+01] [ 1.11749812e-01 3.48228201e-03 9.93730272e-01 1.35041225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05710568099998 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:113.23, Y:32.99, Z:13.51 [[ 7.75140574e-01 -6.26118443e-01 -8.44558206e-02 1.13232315e+02] [ 6.21832110e-01 7.79716263e-01 -7.32623807e-02 3.29936985e+01] [ 1.11722505e-01 4.27130275e-03 9.93730264e-01 1.35070783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08710568099998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:113.25, Y:33.01, Z:13.51 [[ 7.75750156e-01 -6.25325155e-01 -8.47357479e-02 1.13252495e+02] [ 6.21069313e-01 7.80354281e-01 -7.29390533e-02 3.30111577e+01] [ 1.11734528e-01 3.95570922e-03 9.93730219e-01 1.35084373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11710568099998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:113.28, Y:33.03, Z:13.51 [[ 7.77137309e-01 -6.23631892e-01 -8.45036412e-02 1.13276007e+02] [ 6.19336926e-01 7.81704873e-01 -7.32069874e-02 3.30268953e+01] [ 1.11711120e-01 4.55565585e-03 9.93730281e-01 1.35078690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14710568099999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:113.30, Y:33.04, Z:13.50 [[ 7.77261583e-01 -6.23480794e-01 -8.44756258e-02 1.13299899e+02] [ 6.19181438e-01 7.81825013e-01 -7.32393011e-02 3.30430576e+01] [ 1.11708455e-01 4.62035561e-03 9.93730282e-01 1.35048036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17710568099999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:113.32, Y:33.06, Z:13.50 [[ 7.77216847e-01 -6.23538309e-01 -8.44627180e-02 1.13323887e+02] [ 6.19237678e-01 7.81779076e-01 -7.32541839e-02 3.30599966e+01] [ 1.11707976e-01 4.63188846e-03 9.93730282e-01 1.35045832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20710568099999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:113.35, Y:33.07, Z:13.50 [[ 7.76355873e-01 -6.24607882e-01 -8.44781203e-02 1.13350560e+02] [ 6.20315463e-01 7.80925830e-01 -7.32364285e-02 3.30727936e+01] [ 1.11715197e-01 4.45444702e-03 9.93730282e-01 1.35037973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:113.37, Y:33.09, Z:13.51 [[ 7.75514652e-01 -6.25657896e-01 -8.44347207e-02 1.13374134e+02] [ 6.21366234e-01 7.80085317e-01 -7.32864304e-02 3.30876771e+01] [ 1.11718520e-01 4.36981615e-03 9.93730284e-01 1.35071624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26710568099999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:113.40, Y:33.10, Z:13.51 [[ 7.74747027e-01 -6.26651947e-01 -8.41093457e-02 1.13398253e+02] [ 6.22325513e-01 7.79284935e-01 -7.36610260e-02 3.31043541e+01] [ 1.11704971e-01 4.72526918e-03 9.93730180e-01 1.35074582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29710568099999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:113.42, Y:33.12, Z:13.51 [[ 7.72300759e-01 -6.29624685e-01 -8.44055304e-02 1.13424601e+02] [ 6.25352837e-01 7.76889951e-01 -7.33200777e-02 3.31171107e+01] [ 1.11737939e-01 3.84191373e-03 9.93730282e-01 1.35094394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32710568099998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:113.45, Y:33.13, Z:13.51 [[ 7.69941073e-01 -6.32501438e-01 -8.44551700e-02 1.13452267e+02] [ 6.28252994e-01 7.74551945e-01 -7.32629504e-02 3.31282045e+01] [ 1.11753838e-01 3.34894127e-03 9.93730277e-01 1.35093331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35710568099998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:113.48, Y:33.14, Z:13.51 [[ 7.67897683e-01 -6.34991843e-01 -8.43712475e-02 1.13476943e+02] [ 6.30747759e-01 7.72512558e-01 -7.33594716e-02 3.31438587e+01] [ 1.11760514e-01 3.11559302e-03 9.93730286e-01 1.35133558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38710568099998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:113.50, Y:33.16, Z:13.52 [[ 7.62942120e-01 -6.40940536e-01 -8.43477956e-02 1.13502490e+02] [ 6.36729467e-01 7.67587140e-01 -7.33864266e-02 3.31552250e+01] [ 1.11780619e-01 2.28286894e-03 9.93730286e-01 1.35216646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41710568099998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:113.53, Y:33.17, Z:13.53 [[ 7.58256090e-01 -6.46478575e-01 -8.43395197e-02 1.13526832e+02] [ 6.42300381e-01 7.62930703e-01 -7.33959364e-02 3.31679152e+01] [ 1.11794109e-01 1.48161013e-03 9.93730286e-01 1.35254604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44710568099998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:113.55, Y:33.19, Z:13.53 [[ 7.55814179e-01 -6.49333676e-01 -8.43249955e-02 1.13550632e+02] [ 6.45171280e-01 7.60502864e-01 -7.34126196e-02 3.31851746e+01] [ 1.11798687e-01 1.08223346e-03 9.93730287e-01 1.35298549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47710568099998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:113.57, Y:33.20, Z:13.53 [[ 7.55427002e-01 -6.49760389e-01 -8.45072827e-02 1.13573290e+02] [ 6.45624035e-01 7.60138730e-01 -7.32032520e-02 3.32003986e+01] [ 1.11801832e-01 7.39780349e-04 9.93730247e-01 1.35316345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50710568099998 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:113.60, Y:33.22, Z:13.54 [[ 7.53671727e-01 -6.51823754e-01 -8.42895146e-02 1.13596753e+02] [ 6.47672316e-01 7.58370097e-01 -7.34531561e-02 3.32152283e+01] [ 1.11801159e-01 7.67581847e-04 9.93730301e-01 1.35382485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:113.62, Y:33.23, Z:13.54 [[ 7.52056698e-01 -6.53690031e-01 -8.42618974e-02 1.13618720e+02] [ 6.49546704e-01 7.56762221e-01 -7.34848238e-02 3.32326593e+01] [ 1.11802517e-01 5.32716140e-04 9.93730302e-01 1.35431598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56710568099999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:113.64, Y:33.25, Z:13.55 [[ 7.52326936e-01 -6.53382637e-01 -8.42336733e-02 1.13639193e+02] [ 6.49233766e-01 7.57027571e-01 -7.35171623e-02 3.32498289e+01] [ 1.11802050e-01 6.21596487e-04 9.93730303e-01 1.35458478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:113.66, Y:33.27, Z:13.55 [[ 7.53924624e-01 -6.51540572e-01 -8.42172470e-02 1.13660549e+02] [ 6.47378115e-01 7.58613233e-01 -7.35359746e-02 3.32677234e+01] [ 1.11799989e-01 9.20179373e-04 9.93730303e-01 1.35512997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62710568099999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:113.68, Y:33.29, Z:13.56 [[ 7.54745284e-01 -6.50593326e-01 -8.41895492e-02 1.13682065e+02] [ 6.46421449e-01 7.59425512e-01 -7.35676715e-02 3.32869556e+01] [ 1.11798328e-01 1.10292270e-03 9.93730304e-01 1.35566927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65710568099999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:113.70, Y:33.31, Z:13.56 [[ 7.55997754e-01 -6.49140676e-01 -8.41651903e-02 1.13700792e+02] [ 6.44956705e-01 7.60667172e-01 -7.35955289e-02 3.33063225e+01] [ 1.11795549e-01 1.35515075e-03 9.93730305e-01 1.35638642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68710568099999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:113.72, Y:33.33, Z:13.57 [[ 7.56971830e-01 -6.48005637e-01 -8.41566560e-02 1.13721850e+02] [ 6.43813581e-01 7.61633990e-01 -7.36052867e-02 3.33253203e+01] [ 1.11793210e-01 1.53593052e-03 9.93730305e-01 1.35695481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71710568099998 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:113.74, Y:33.34, Z:13.57 [[ 7.57319620e-01 -6.47602167e-01 -8.41333878e-02 1.13742115e+02] [ 6.43404673e-01 7.61976885e-01 -7.36318735e-02 3.33426498e+01] [ 1.11791858e-01 1.63104754e-03 9.93730306e-01 1.35721792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:113.76, Y:33.36, Z:13.57 [[ 7.58044757e-01 -6.46755095e-01 -8.41189250e-02 1.13762717e+02] [ 6.42550566e-01 7.62695670e-01 -7.36483926e-02 3.33630699e+01] [ 1.11789613e-01 1.77811502e-03 9.93730306e-01 1.35730242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:113.78, Y:33.38, Z:13.57 [[ 7.58640376e-01 -6.46059504e-01 -8.40945715e-02 1.13782856e+02] [ 6.41847629e-01 7.63284639e-01 -7.36761899e-02 3.33830056e+01] [ 1.11787297e-01 1.91783104e-03 9.93730307e-01 1.35745301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80710568099998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:113.80, Y:33.40, Z:13.58 [[ 7.61296649e-01 -6.42930963e-01 -8.40665708e-02 1.13802354e+02] [ 6.38696481e-01 7.65920307e-01 -7.37081258e-02 3.34026062e+01] [ 1.11777530e-01 2.42072622e-03 9.93730307e-01 1.35767269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83710568099998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:113.82, Y:33.42, Z:13.58 [[ 7.65141956e-01 -6.38353619e-01 -8.40383544e-02 1.13822957e+02] [ 6.34087956e-01 7.69736861e-01 -7.37402829e-02 3.34225184e+01] [ 1.11759796e-01 3.13407586e-03 9.93730308e-01 1.35771439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:113.84, Y:33.44, Z:13.58 [[ 7.66921148e-01 -6.36218295e-01 -8.40132966e-02 1.13843876e+02] [ 6.31936719e-01 7.71501228e-01 -7.37688206e-02 3.34413691e+01] [ 1.11749435e-01 3.48378161e-03 9.93730309e-01 1.35780343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89710568099999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:113.86, Y:33.46, Z:13.57 [[ 7.69818312e-01 -6.32710845e-01 -8.40044794e-02 1.13864848e+02] [ 6.28407314e-01 7.74377768e-01 -7.37788599e-02 3.34604728e+01] [ 1.11731886e-01 4.00728820e-03 9.93730309e-01 1.35749365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92710568099999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:113.89, Y:33.48, Z:13.58 [[ 7.70453028e-01 -6.31938931e-01 -8.39959446e-02 1.13885778e+02] [ 6.27629775e-01 7.75007169e-01 -7.37885754e-02 3.34798872e+01] [ 1.11727333e-01 4.13227563e-03 9.93730309e-01 1.35799086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95710568099999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:113.91, Y:33.50, Z:13.58 [[ 7.71245969e-01 -6.30974167e-01 -8.39717616e-02 1.13906059e+02] [ 6.26656326e-01 7.75791876e-01 -7.38160855e-02 3.34996849e+01] [ 1.11720654e-01 4.30892275e-03 9.93730310e-01 1.35820622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:113.93, Y:33.52, Z:13.59 [[ 7.70085599e-01 -6.32393496e-01 -8.39442404e-02 1.13929216e+02] [ 6.28080633e-01 7.74636227e-01 -7.38473698e-02 3.35154844e+01] [ 1.11726846e-01 4.14504433e-03 9.93730311e-01 1.35864141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:113.95, Y:33.53, Z:13.59 [[ 7.68511901e-01 -6.34308723e-01 -8.39160407e-02 1.13952816e+02] [ 6.30003712e-01 7.73069956e-01 -7.38794006e-02 3.35315325e+01] [ 1.11735318e-01 3.90978141e-03 9.93730312e-01 1.35921147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:113.98, Y:33.55, Z:13.60 [[ 7.64772410e-01 -6.38815622e-01 -8.38913752e-02 1.13977501e+02] [ 6.34534413e-01 7.69352829e-01 -7.39073983e-02 3.35456417e+01] [ 1.11755267e-01 3.29037454e-03 9.93730312e-01 1.36012575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:114.00, Y:33.56, Z:13.61 [[ 7.60482405e-01 -6.43919920e-01 -8.38668482e-02 1.14001375e+02] [ 6.39666398e-01 7.65088545e-01 -7.39352200e-02 3.35617519e+01] [ 1.11773926e-01 2.57962918e-03 9.93730313e-01 1.36055538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:114.02, Y:33.58, Z:13.61 [[ 7.58614542e-01 -6.46122602e-01 -8.38424730e-02 1.14022888e+02] [ 6.41879403e-01 7.63230193e-01 -7.39628513e-02 3.35798610e+01] [ 1.11780177e-01 2.29253803e-03 9.93730314e-01 1.36060693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:114.04, Y:33.60, Z:13.60 [[ 7.55646530e-01 -6.49594812e-01 -8.38146852e-02 1.14044504e+02] [ 6.45369336e-01 7.60278410e-01 -7.39943272e-02 3.35982412e+01] [ 1.11788827e-01 1.82212889e-03 9.93730315e-01 1.36027942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:114.07, Y:33.61, Z:13.61 [[ 7.52332650e-01 -6.53431039e-01 -8.38060953e-02 1.14067926e+02] [ 6.49228100e-01 7.56984989e-01 -7.40040549e-02 3.36136480e+01] [ 1.11796503e-01 1.26639469e-03 9.93730315e-01 1.36097570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:114.09, Y:33.63, Z:13.62 [[ 7.50842286e-01 -6.55146568e-01 -8.37784861e-02 1.14090431e+02] [ 6.50950774e-01 7.55501069e-01 -7.40352976e-02 3.36304752e+01] [ 1.11798707e-01 1.05316171e-03 9.93730316e-01 1.36159819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:114.11, Y:33.65, Z:13.62 [[ 7.48373748e-01 -6.57968130e-01 -8.37536411e-02 1.14110865e+02] [ 6.53786757e-01 7.53045477e-01 -7.40633934e-02 3.36490093e+01] [ 1.11801653e-01 6.70077938e-04 9.93730316e-01 1.36246653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:114.13, Y:33.67, Z:13.63 [[ 7.47996887e-01 -6.58398224e-01 -8.37402864e-02 1.14130572e+02] [ 6.54217846e-01 7.52669507e-01 -7.40784900e-02 3.36689332e+01] [ 1.11801906e-01 6.26090105e-04 9.93730316e-01 1.36292636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28710568099999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:114.15, Y:33.69, Z:13.64 [[ 7.50628971e-01 -6.55397544e-01 -8.37269775e-02 1.14150822e+02] [ 6.51196811e-01 7.55283300e-01 -7.40935292e-02 3.36882208e+01] [ 1.11798305e-01 1.09400889e-03 9.93730317e-01 1.36366267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31710568099999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:114.17, Y:33.71, Z:13.64 [[ 7.54557832e-01 -6.50873580e-01 -8.37022180e-02 1.14171360e+02] [ 6.46641845e-01 7.59183989e-01 -7.41214892e-02 3.37068256e+01] [ 1.11789103e-01 1.80359353e-03 9.93730317e-01 1.36432221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34710568099999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:114.19, Y:33.73, Z:13.65 [[ 7.55679255e-01 -6.49572360e-01 -8.36935675e-02 1.14190928e+02] [ 6.45331578e-01 7.60297121e-01 -7.41312555e-02 3.37263590e+01] [ 1.11785593e-01 2.00934989e-03 9.93730317e-01 1.36468641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37710568099999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:114.21, Y:33.75, Z:13.65 [[ 7.56326387e-01 -6.48822458e-01 -8.36648959e-02 1.14210095e+02] [ 6.44573521e-01 7.60936749e-01 -7.41636005e-02 3.37456379e+01] [ 1.11782703e-01 2.16371152e-03 9.93730318e-01 1.36461618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40710568099999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:114.23, Y:33.76, Z:13.65 [[ 7.55782943e-01 -6.49457909e-01 -8.36454864e-02 1.14231764e+02] [ 6.45210427e-01 7.60394646e-01 -7.41854851e-02 3.37635920e+01] [ 1.11783930e-01 2.09918422e-03 9.93730319e-01 1.36497224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:114.25, Y:33.78, Z:13.65 [[ 7.56400096e-01 -6.48742635e-01 -8.36175125e-02 1.14252747e+02] [ 6.44487311e-01 7.61004561e-01 -7.42170024e-02 3.37821195e+01] [ 1.11781042e-01 2.24732190e-03 9.93730320e-01 1.36534518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46710568099998 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:114.27, Y:33.80, Z:13.66 [[ 7.59396819e-01 -6.45235833e-01 -8.35894170e-02 1.14273415e+02] [ 6.40955771e-01 7.63978298e-01 -7.42486326e-02 3.37998687e+01] [ 1.11768379e-01 2.80705617e-03 9.93730321e-01 1.36563307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49710568099998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:114.30, Y:33.82, Z:13.66 [[ 7.63825471e-01 -6.39988663e-01 -8.35772762e-02 1.14295071e+02] [ 6.35675646e-01 7.68375940e-01 -7.42622963e-02 3.38174250e+01] [ 1.11745796e-01 3.59539451e-03 9.93730321e-01 1.36555086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:114.32, Y:33.84, Z:13.66 [[ 7.65766620e-01 -6.37665860e-01 -8.35687454e-02 1.14316725e+02] [ 6.33337997e-01 7.70302971e-01 -7.42718950e-02 3.38361988e+01] [ 1.11733905e-01 3.94767613e-03 9.93730321e-01 1.36563357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:114.34, Y:33.85, Z:13.65 [[ 7.68417982e-01 -6.34471463e-01 -8.35450019e-02 1.14338505e+02] [ 6.30121852e-01 7.72933484e-01 -7.42985934e-02 3.38543947e+01] [ 1.11715067e-01 4.44884388e-03 9.93730321e-01 1.36534641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58710568099998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:114.36, Y:33.87, Z:13.66 [[ 7.69586713e-01 -6.33054434e-01 -8.35366660e-02 1.14361421e+02] [ 6.28695496e-01 7.74093211e-01 -7.43079646e-02 3.38725310e+01] [ 1.11706153e-01 4.66729659e-03 9.93730321e-01 1.36557486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:114.39, Y:33.89, Z:13.66 [[ 7.70850984e-01 -6.31517570e-01 -8.35123921e-02 1.14386275e+02] [ 6.27146703e-01 7.75345913e-01 -7.43352354e-02 3.38875013e+01] [ 1.11694999e-01 4.92686791e-03 9.93730322e-01 1.36580465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:114.41, Y:33.90, Z:13.66 [[ 7.70521548e-01 -6.31922697e-01 -8.34880158e-02 1.14409859e+02] [ 6.27551239e-01 7.75015901e-01 -7.43626031e-02 3.39012684e+01] [ 1.11695957e-01 4.90498034e-03 9.93730323e-01 1.36604311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:114.43, Y:33.92, Z:13.66 [[ 7.70293368e-01 -6.32202412e-01 -8.34759713e-02 1.14430915e+02] [ 6.27831125e-01 7.74787888e-01 -7.43761213e-02 3.39203108e+01] [ 1.11696935e-01 4.88261998e-03 9.93730323e-01 1.36636206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70710568099999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:114.45, Y:33.94, Z:13.67 [[ 7.68878210e-01 -6.33926315e-01 -8.34489327e-02 1.14453459e+02] [ 6.29561826e-01 7.73379330e-01 -7.44064460e-02 3.39366745e+01] [ 1.11705884e-01 4.67323257e-03 9.93730324e-01 1.36662892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73710568099999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:114.48, Y:33.95, Z:13.67 [[ 7.66538407e-01 -6.36757138e-01 -8.34219296e-02 1.14478513e+02] [ 6.32405991e-01 7.71052423e-01 -7.44367088e-02 3.39513602e+01] [ 1.11720787e-01 4.30206810e-03 9.93730325e-01 1.36708377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76710568099999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:114.50, Y:33.97, Z:13.67 [[ 7.65776499e-01 -6.37676401e-01 -8.33976137e-02 1.14500362e+02] [ 6.33327714e-01 7.70292885e-01 -7.44639420e-02 3.39672339e+01] [ 1.11724487e-01 4.20471681e-03 9.93730325e-01 1.36735553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.53, Y:33.98, Z:13.68 [[ 7.63065978e-01 -6.40918999e-01 -8.33855447e-02 1.14525716e+02] [ 6.36588036e-01 7.67599363e-01 -7.44774547e-02 3.39812128e+01] [ 1.11740707e-01 3.74897172e-03 9.93730325e-01 1.36774454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:114.55, Y:34.00, Z:13.68 [[ 7.57902327e-01 -6.47020516e-01 -8.33577501e-02 1.14549984e+02] [ 6.42722647e-01 7.62467098e-01 -7.45085505e-02 3.39958031e+01] [ 1.11766103e-01 2.89429014e-03 9.93730326e-01 1.36840175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:114.57, Y:34.01, Z:13.69 [[ 7.54551964e-01 -6.50925691e-01 -8.33491355e-02 1.14572020e+02] [ 6.46650388e-01 7.59137877e-01 -7.45181860e-02 3.40116202e+01] [ 1.11779287e-01 2.33009283e-03 9.93730326e-01 1.36871022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88710568099998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:114.60, Y:34.03, Z:13.69 [[ 7.48597739e-01 -6.57766675e-01 -8.33332293e-02 1.14595527e+02] [ 6.53531311e-01 7.53220562e-01 -7.45359696e-02 3.40258379e+01] [ 1.11795579e-01 1.33658379e-03 9.93730327e-01 1.36917644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.62, Y:34.04, Z:13.70 [[ 7.45228666e-01 -6.61583301e-01 -8.33172899e-02 1.14616716e+02] [ 6.57369623e-01 7.49871264e-01 -7.45537827e-02 3.40447397e+01] [ 1.11800779e-01 7.89360613e-04 9.93730327e-01 1.36968277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.64, Y:34.06, Z:13.70 [[ 7.44552434e-01 -6.62347201e-01 -8.32938092e-02 1.14638777e+02] [ 6.58135352e-01 7.49196691e-01 -7.45800069e-02 3.40634397e+01] [ 1.11801305e-01 7.10125159e-04 9.93730328e-01 1.37014996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.66, Y:34.08, Z:13.70 [[ 7.44354803e-01 -6.62572210e-01 -8.32706082e-02 1.14660856e+02] [ 6.58358868e-01 7.48997704e-01 -7.46059026e-02 3.40804252e+01] [ 1.11801292e-01 7.11318561e-04 9.93730328e-01 1.37027850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:34.10, Z:13.71 [[ 7.43447179e-01 -6.63591492e-01 -8.32623780e-02 1.14682501e+02] [ 6.59383486e-01 7.48094918e-01 -7.46150866e-02 3.40992139e+01] [ 1.11802098e-01 5.70538566e-04 9.93730328e-01 1.37051421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.70, Y:34.12, Z:13.71 [[ 7.41478204e-01 -6.65793796e-01 -8.32387821e-02 1.14701362e+02] [ 6.61596641e-01 7.46135742e-01 -7.46414005e-02 3.41197662e+01] [ 1.11803212e-01 2.74472921e-04 9.93730329e-01 1.37105569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.72, Y:34.14, Z:13.72 [[ 7.42676743e-01 -6.64458141e-01 -8.32264041e-02 1.14718299e+02] [ 6.60251063e-01 7.47325321e-01 -7.46551996e-02 3.41413039e+01] [ 1.11802454e-01 4.94358754e-04 9.93730329e-01 1.37167800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09710568099999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:114.74, Y:34.16, Z:13.72 [[ 7.44677594e-01 -6.62216474e-01 -8.32143223e-02 1.14738024e+02] [ 6.57993898e-01 7.49312098e-01 -7.46686642e-02 3.41607129e+01] [ 1.11800318e-01 8.49564870e-04 9.93730329e-01 1.37220431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12710568099999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:114.76, Y:34.18, Z:13.73 [[ 7.50313297e-01 -6.55827443e-01 -8.31884706e-02 1.14756820e+02] [ 6.51562219e-01 7.54908581e-01 -7.46974546e-02 3.41798845e+01] [ 1.11788331e-01 1.84402897e-03 9.93730330e-01 1.37267674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15710568099999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:114.77, Y:34.20, Z:13.73 [[ 7.56281527e-01 -6.48937657e-01 -8.31755349e-02 1.14773240e+02] [ 6.44629001e-01 7.60836112e-01 -7.47118557e-02 3.42032290e+01] [ 1.11766287e-01 2.88583442e-03 9.93730330e-01 1.37269083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18710568099999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:114.79, Y:34.23, Z:13.73 [[ 7.59223244e-01 -6.45496744e-01 -8.31505778e-02 1.14791876e+02] [ 6.41164415e-01 7.63755316e-01 -7.47396216e-02 3.42250351e+01] [ 1.11750878e-01 3.43086644e-03 9.93730331e-01 1.37282935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:114.81, Y:34.25, Z:13.73 [[ 7.63452731e-01 -6.40492050e-01 -8.31255790e-02 1.14809409e+02] [ 6.36127004e-01 7.67953299e-01 -7.47674150e-02 3.42470842e+01] [ 1.11724498e-01 4.20296169e-03 9.93730332e-01 1.37290047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:114.83, Y:34.27, Z:13.73 [[ 7.64637329e-01 -6.39080619e-01 -8.31006428e-02 1.14828809e+02] [ 6.34704263e-01 7.69126900e-01 -7.47951203e-02 3.42674649e+01] [ 1.11715052e-01 4.44680872e-03 9.93730332e-01 1.37335762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:114.84, Y:34.29, Z:13.73 [[ 7.64270563e-01 -6.39522824e-01 -8.30726397e-02 1.14844743e+02] [ 6.35145696e-01 7.68759380e-01 -7.48262098e-02 3.42907636e+01] [ 1.11715940e-01 4.42424002e-03 9.93730333e-01 1.37329974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30710568099998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:114.87, Y:34.31, Z:13.74 [[ 7.66268338e-01 -6.37194902e-01 -8.25559891e-02 1.14867689e+02] [ 6.32742432e-01 7.70682796e-01 -7.53992258e-02 3.43090134e+01] [ 1.11668483e-01 5.53936209e-03 9.93730077e-01 1.37385831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:114.89, Y:34.33, Z:13.74 [[ 7.66416682e-01 -6.36952537e-01 -8.30477915e-02 1.14887113e+02] [ 6.32557397e-01 7.70887848e-01 -7.48536313e-02 3.43276053e+01] [ 1.11698744e-01 4.83657699e-03 9.93730345e-01 1.37385466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:114.91, Y:34.35, Z:13.74 [[ 7.66543751e-01 -6.36801149e-01 -8.30359787e-02 1.14906735e+02] [ 6.32403712e-01 7.71012657e-01 -7.48667331e-02 3.43476356e+01] [ 1.11697012e-01 4.87636521e-03 9.93730345e-01 1.37449741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:114.93, Y:34.37, Z:13.75 [[ 7.66626820e-01 -6.36704274e-01 -8.30119620e-02 1.14927591e+02] [ 6.32303400e-01 7.71092340e-01 -7.48933534e-02 3.43660837e+01] [ 1.11694806e-01 4.92650762e-03 9.93730346e-01 1.37478607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:114.95, Y:34.38, Z:13.75 [[ 7.67077558e-01 -6.36164721e-01 -8.29847440e-02 1.14950813e+02] [ 6.31757456e-01 7.71536769e-01 -7.49234999e-02 3.43819497e+01] [ 1.11689469e-01 5.04590457e-03 9.93730346e-01 1.37477068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.97, Y:34.40, Z:13.75 [[ 7.66464396e-01 -6.36904434e-01 -8.29763326e-02 1.14972710e+02] [ 6.32500468e-01 7.70926865e-01 -7.49328144e-02 3.44001518e+01] [ 1.11693726e-01 4.95076515e-03 9.93730347e-01 1.37477888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.00, Y:34.42, Z:13.76 [[ 7.66212389e-01 -6.37207978e-01 -8.29732974e-02 1.14996427e+02] [ 6.32805417e-01 7.70676245e-01 -7.49361744e-02 3.44192869e+01] [ 1.11695477e-01 4.91107320e-03 9.93730347e-01 1.37551387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.02, Y:34.43, Z:13.75 [[ 7.69563411e-01 -6.33023856e-01 -8.39818674e-02 1.15017370e+02] [ 6.28717810e-01 7.74121916e-01 -7.38185320e-02 3.44335916e+01] [ 1.11741096e-01 4.00714551e-03 9.93729274e-01 1.37536278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.04, Y:34.45, Z:13.76 [[ 7.71782277e-01 -6.30463354e-01 -8.28738571e-02 1.15041624e+02] [ 6.26010227e-01 7.76195529e-01 -7.50446268e-02 3.44496137e+01] [ 1.11639205e-01 6.03823086e-03 9.93730460e-01 1.37573486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:34.47, Z:13.76 [[ 7.73925216e-01 -6.27838007e-01 -8.28202773e-02 1.15064874e+02] [ 6.23363610e-01 7.78316914e-01 -7.51038710e-02 3.44664076e+01] [ 1.11613487e-01 6.49763250e-03 9.93730451e-01 1.37590580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:115.09, Y:34.48, Z:13.76 [[ 7.74640661e-01 -6.26943536e-01 -8.29074732e-02 1.15085692e+02] [ 6.22474315e-01 7.79037614e-01 -7.50074929e-02 3.44845846e+01] [ 1.11613503e-01 6.49608133e-03 9.93730460e-01 1.37621374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:115.11, Y:34.50, Z:13.77 [[ 7.73514419e-01 -6.28361962e-01 -8.26842669e-02 1.15107132e+02] [ 6.23874571e-01 7.77892890e-01 -7.52540475e-02 3.45033927e+01] [ 1.11606284e-01 6.62547933e-03 9.93730416e-01 1.37651493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.13, Y:34.52, Z:13.77 [[ 7.74172391e-01 -6.27500246e-01 -8.30695527e-02 1.15130713e+02] [ 6.23053267e-01 7.78591890e-01 -7.48284460e-02 3.45174126e+01] [ 1.11632148e-01 6.17336073e-03 9.93730423e-01 1.37731855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:115.15, Y:34.53, Z:13.78 [[ 7.71814698e-01 -6.30425636e-01 -8.28588580e-02 1.15154967e+02] [ 6.25970542e-01 7.76225948e-01 -7.50610372e-02 3.45311619e+01] [ 1.11637598e-01 6.06600755e-03 9.93730472e-01 1.37789942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.18, Y:34.55, Z:13.78 [[ 7.69945214e-01 -6.32708590e-01 -8.28505164e-02 1.15176873e+02] [ 6.28265593e-01 7.74368648e-01 -7.50702434e-02 3.45469769e+01] [ 1.11654430e-01 5.74784576e-03 9.93730472e-01 1.37835241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:115.20, Y:34.56, Z:13.79 [[ 7.67141161e-01 -6.36107547e-01 -8.28349465e-02 1.15200576e+02] [ 6.31682309e-01 7.71582361e-01 -7.50874198e-02 3.45620151e+01] [ 1.11677658e-01 5.27728012e-03 9.93730472e-01 1.37866932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:34.58, Z:13.79 [[ 7.65468925e-01 -6.38122246e-01 -8.28089578e-02 1.15224238e+02] [ 6.33705612e-01 7.69918679e-01 -7.51160703e-02 3.45774548e+01] [ 1.11689399e-01 5.02251629e-03 9.93730473e-01 1.37859501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.25, Y:34.60, Z:13.78 [[ 7.61742918e-01 -6.42568825e-01 -8.27830442e-02 1.15247047e+02] [ 6.38175083e-01 7.66215277e-01 -7.51446180e-02 3.45997057e+01] [ 1.11715222e-01 4.41080450e-03 9.93730474e-01 1.37809896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:34.61, Z:13.79 [[ 7.62661769e-01 -6.41401803e-01 -8.33711817e-02 1.15269928e+02] [ 6.37071583e-01 7.67196206e-01 -7.44968400e-02 3.46104481e+01] [ 1.11744462e-01 3.70248105e-03 9.93730077e-01 1.37868963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.30, Y:34.62, Z:13.79 [[ 7.58455782e-01 -6.46452522e-01 -8.27282541e-02 1.15296090e+02] [ 6.42075208e-01 7.62944140e-01 -7.52041677e-02 3.46249794e+01] [ 1.11732961e-01 3.92127486e-03 9.93730531e-01 1.37893211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:115.32, Y:34.64, Z:13.79 [[ 7.53233073e-01 -6.52533521e-01 -8.27039390e-02 1.15321472e+02] [ 6.48189527e-01 7.57753686e-01 -7.52308983e-02 3.46449715e+01] [ 1.11759898e-01 3.05857360e-03 9.93730532e-01 1.37942312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.35, Y:34.66, Z:13.80 [[ 7.45759755e-01 -6.60956183e-01 -8.35422717e-02 1.15346872e+02] [ 6.56766006e-01 7.50424295e-01 -7.43087515e-02 3.46614010e+01] [ 1.11806979e-01 5.48752189e-04 9.93729791e-01 1.38000973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96710568099998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:115.37, Y:34.68, Z:13.80 [[ 7.43280657e-01 -6.63692994e-01 -8.39373294e-02 1.15366674e+02] [ 6.59568939e-01 7.48004950e-01 -7.38742909e-02 3.46751519e+01] [ 1.11815387e-01 -4.53123780e-04 9.93728894e-01 1.38026239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.39, Y:34.69, Z:13.81 [[ 7.40937138e-01 -6.66470267e-01 -8.26410365e-02 1.15388034e+02] [ 6.62203946e-01 7.45530850e-01 -7.52973183e-02 3.46927253e+01] [ 1.11794866e-01 1.06535897e-03 9.93730735e-01 1.38058631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.027105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.41, Y:34.71, Z:13.81 [[ 7.36188374e-01 -6.71713870e-01 -8.26266032e-02 1.15411053e+02] [ 6.67478493e-01 7.40810631e-01 -7.53131532e-02 3.47091301e+01] [ 1.11799556e-01 2.93187263e-04 9.93730735e-01 1.38113582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.057105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.43, Y:34.73, Z:13.81 [[ 7.31507383e-01 -6.76812008e-01 -8.25981441e-02 1.15432571e+02] [ 6.72605321e-01 7.36155765e-01 -7.53443523e-02 3.47312893e+01] [ 1.11799062e-01 -4.41001268e-04 9.93730736e-01 1.38148335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.087105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.45, Y:34.75, Z:13.82 [[ 7.27864859e-01 -6.80595259e-01 -8.36829740e-02 1.15452328e+02] [ 6.76548733e-01 7.32654839e-01 -7.41532105e-02 3.47517045e+01] [ 1.11779059e-01 -2.64209391e-03 9.93729571e-01 1.38167255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.117105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:34.77, Z:13.82 [[ 7.26043773e-01 -6.82550202e-01 -8.35802750e-02 1.15472023e+02] [ 6.78503626e-01 7.30833388e-01 -7.42656589e-02 3.47722429e+01] [ 1.11773296e-01 -2.78940050e-03 9.93729817e-01 1.38198723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:115.49, Y:34.79, Z:13.82 [[ 7.21845175e-01 -6.87028166e-01 -8.32576820e-02 1.15489752e+02] [ 6.82970560e-01 7.26624594e-01 -7.46184526e-02 3.47948301e+01] [ 1.11762058e-01 -2.99957573e-03 9.93730469e-01 1.38207636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.51, Y:34.82, Z:13.82 [[ 7.20211481e-01 -6.88746864e-01 -8.32056457e-02 1.15508665e+02] [ 6.84694098e-01 7.24994891e-01 -7.46752996e-02 3.48150659e+01] [ 1.11756046e-01 -3.18840641e-03 9.93730557e-01 1.38242487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.53, Y:34.84, Z:13.83 [[ 7.17860573e-01 -6.91225544e-01 -8.29665314e-02 1.15528170e+02] [ 6.87159133e-01 7.22631922e-01 -7.49361737e-02 3.48370454e+01] [ 1.11752061e-01 -3.21748524e-03 9.93730912e-01 1.38266214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.54, Y:34.86, Z:13.83 [[ 7.15085361e-01 -6.94038943e-01 -8.34438238e-02 1.15542676e+02] [ 6.90051773e-01 7.19924214e-01 -7.44155650e-02 3.48586678e+01] [ 1.11720529e-01 -4.36707744e-03 9.93730070e-01 1.38274334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.56, Y:34.88, Z:13.83 [[ 7.10664416e-01 -6.98680633e-01 -8.24709648e-02 1.15557607e+02] [ 6.94601622e-01 7.15424401e-01 -7.54752579e-02 3.48829928e+01] [ 1.11734842e-01 -3.64688577e-03 9.93731365e-01 1.38319852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.57, Y:34.91, Z:13.84 [[ 7.07906211e-01 -7.01459025e-01 -8.26076975e-02 1.15572800e+02] [ 6.97415995e-01 7.12696885e-01 -7.53264893e-02 3.49075966e+01] [ 1.11712694e-01 -4.28783988e-03 9.93731296e-01 1.38382751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:115.59, Y:34.93, Z:13.84 [[ 7.06751787e-01 -7.02646872e-01 -8.23971229e-02 1.15589269e+02] [ 6.98585239e-01 7.11526561e-01 -7.55553891e-02 3.49308517e+01] [ 1.11716499e-01 -4.16250751e-03 9.93731401e-01 1.38387721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:115.60, Y:34.96, Z:13.84 [[ 7.05125164e-01 -7.04278007e-01 -8.24074806e-02 1.15601377e+02] [ 7.00228729e-01 7.09910425e-01 -7.55441349e-02 3.49590697e+01] [ 1.11706002e-01 -4.43601495e-03 9.93731398e-01 1.38394886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:115.62, Y:34.98, Z:13.85 [[ 7.05720591e-01 -7.03668855e-01 -8.25141806e-02 1.15618522e+02] [ 6.99628948e-01 7.10513835e-01 -7.54282780e-02 3.49810255e+01] [ 1.11703997e-01 -4.49802043e-03 9.93731344e-01 1.38465004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:115.63, Y:35.01, Z:13.85 [[ 7.06726004e-01 -7.02695286e-01 -8.22051754e-02 1.15631418e+02] [ 6.98609792e-01 7.11480316e-01 -7.57635727e-02 3.50073414e+01] [ 1.11726070e-01 -3.88525351e-03 9.93731448e-01 1.38547808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:115.64, Y:35.03, Z:13.86 [[ 7.09717642e-01 -6.99677142e-01 -8.21752131e-02 1.15641320e+02] [ 6.95567668e-01 7.14451242e-01 -7.57960569e-02 3.50343049e+01] [ 1.11742951e-01 -3.36462260e-03 9.93731449e-01 1.38573692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47710568099998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:115.66, Y:35.06, Z:13.86 [[ 7.11096947e-01 -6.98321919e-01 -8.17779272e-02 1.15657866e+02] [ 6.94153900e-01 7.15779249e-01 -7.62261800e-02 3.50590638e+01] [ 1.11765356e-01 -2.56226320e-03 9.93731322e-01 1.38592044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:115.67, Y:35.09, Z:13.86 [[ 7.17812368e-01 -6.91367431e-01 -8.21978066e-02 1.15669359e+02] [ 6.87205922e-01 7.22500296e-01 -7.57716502e-02 3.50852587e+01] [ 1.11773991e-01 -2.09699172e-03 9.93731441e-01 1.38649524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53710568099999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:115.68, Y:35.11, Z:13.87 [[ 7.26710360e-01 -6.82015078e-01 -8.21430820e-02 1.15681844e+02] [ 6.77786524e-01 7.31337891e-01 -7.58308492e-02 3.51124135e+01] [ 1.11792131e-01 -5.68410254e-04 9.93731451e-01 1.38684394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.567105681 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:115.70, Y:35.13, Z:13.87 [[ 7.26437106e-01 -6.82316429e-01 -8.20574308e-02 1.15702475e+02] [ 6.78079329e-01 7.31056806e-01 -7.59234461e-02 3.51319215e+01] [ 1.11792458e-01 -4.87839184e-04 9.93731457e-01 1.38716067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.597105681 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:115.72, Y:35.15, Z:13.87 [[ 7.31156731e-01 -6.77260273e-01 -8.20265619e-02 1.15718521e+02] [ 6.72987485e-01 7.35743441e-01 -7.59567908e-02 3.51537034e+01] [ 1.11793022e-01 3.33469255e-04 9.93731457e-01 1.38739291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.627105681 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:115.73, Y:35.18, Z:13.87 [[ 7.38823417e-01 -6.68901720e-01 -8.19173194e-02 1.15732702e+02] [ 6.64563966e-01 7.43348753e-01 -7.60747428e-02 3.51810774e+01] [ 1.11779664e-01 1.76650272e-03 9.93731446e-01 1.38732043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.657105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:115.75, Y:35.21, Z:13.87 [[ 7.45024173e-01 -6.61977628e-01 -8.20036625e-02 1.15748668e+02] [ 6.57608071e-01 7.49518797e-01 -7.59815576e-02 3.52077260e+01] [ 1.11761378e-01 2.68182680e-03 9.93731454e-01 1.38683666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.687105681 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:115.77, Y:35.23, Z:13.87 [[ 7.47140963e-01 -6.59590599e-01 -8.19794080e-02 1.15767003e+02] [ 6.55203817e-01 7.51618776e-01 -7.60077179e-02 3.52293719e+01] [ 1.11751238e-01 3.07525848e-03 9.93731454e-01 1.38686248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.717105681 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:115.78, Y:35.25, Z:13.87 [[ 7.49182755e-01 -6.57274073e-01 -8.19511611e-02 1.15784126e+02] [ 6.52870123e-01 7.53643683e-01 -7.60381615e-02 3.52509152e+01] [ 1.11739887e-01 3.46301468e-03 9.93731455e-01 1.38714292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.747105681 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:115.80, Y:35.27, Z:13.87 [[ 7.49982830e-01 -6.56362514e-01 -8.19390305e-02 1.15803687e+02] [ 6.51951717e-01 7.54436988e-01 -7.60512312e-02 3.52727215e+01] [ 1.11735013e-01 3.61682600e-03 9.93731455e-01 1.38746330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.777105681 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:115.82, Y:35.29, Z:13.88 [[ 7.49549409e-01 -6.56860257e-01 -8.19163405e-02 1.15823564e+02] [ 6.52449752e-01 7.54003856e-01 -7.60756634e-02 3.52936746e+01] [ 1.11736316e-01 3.57617247e-03 9.93731456e-01 1.38772613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.807105681 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:115.84, Y:35.31, Z:13.88 [[ 7.47853202e-01 -6.58787774e-01 -8.19405693e-02 1.15842655e+02] [ 6.54391605e-01 7.52321798e-01 -7.60495798e-02 3.53140031e+01] [ 1.11746210e-01 3.25270108e-03 9.93731455e-01 1.38814895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.837105681 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:115.86, Y:35.33, Z:13.89 [[ 7.46315179e-01 -6.60536882e-01 -8.18821210e-02 1.15863235e+02] [ 6.56144295e-01 7.50787292e-01 -7.61124593e-02 3.53329725e+01] [ 1.11751142e-01 3.07739709e-03 9.93731459e-01 1.38872304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.867105681 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:115.88, Y:35.35, Z:13.90 [[ 7.41367402e-01 -6.66088308e-01 -8.18580540e-02 1.15882604e+02] [ 6.61726364e-01 7.45869407e-01 -7.61383344e-02 3.53500910e+01] [ 1.11770273e-01 2.27884668e-03 9.93731459e-01 1.38953589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89710568099997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:115.91, Y:35.37, Z:13.90 [[ 7.35788836e-01 -6.72312208e-01 -8.13085706e-02 1.15905676e+02] [ 6.67922956e-01 7.40264602e-01 -7.67283768e-02 3.53690517e+01] [ 1.11775281e-01 2.14802228e-03 9.93731187e-01 1.38995596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92710568099997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:115.93, Y:35.39, Z:13.90 [[ 7.32342365e-01 -6.76002591e-01 -8.18239410e-02 1.15926183e+02] [ 6.71697535e-01 7.36898782e-01 -7.61748336e-02 3.53868662e+01] [ 1.11790347e-01 8.25118292e-04 9.93731471e-01 1.38994222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:115.95, Y:35.40, Z:13.90 [[ 7.27754287e-01 -6.80941349e-01 -8.18081655e-02 1.15951347e+02] [ 6.76665311e-01 7.32337948e-01 -7.61917720e-02 3.54030996e+01] [ 1.11793352e-01 9.21409897e-05 9.93731472e-01 1.38978516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:115.97, Y:35.42, Z:13.90 [[ 7.27453173e-01 -6.81265856e-01 -8.17845591e-02 1.15974282e+02] [ 6.76989014e-01 7.32036084e-01 -7.62171028e-02 3.54211637e+01] [ 1.11793358e-01 7.71252446e-05 9.93731472e-01 1.38985398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01710568099998 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:115.99, Y:35.44, Z:13.90 [[ 7.27875652e-01 -6.80817296e-01 -8.17608957e-02 1.15994459e+02] [ 6.76534780e-01 7.32453259e-01 -7.62424792e-02 3.54409129e+01] [ 1.11793233e-01 1.80954710e-04 9.93731473e-01 1.39020158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04710568099998 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:116.01, Y:35.46, Z:13.90 [[ 7.31019550e-01 -6.77443838e-01 -8.17328803e-02 1.16014189e+02] [ 6.73136841e-01 7.35574129e-01 -7.62725003e-02 3.54612950e+01] [ 1.11790928e-01 7.39276035e-04 9.93731474e-01 1.39043733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:116.03, Y:35.48, Z:13.91 [[ 7.32376706e-01 -6.75979873e-01 -8.17041714e-02 1.16033735e+02] [ 6.71660342e-01 7.36919399e-01 -7.63032414e-02 3.54814117e+01] [ 1.11788844e-01 1.00526491e-03 9.93731475e-01 1.39079253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10710568099998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:116.05, Y:35.50, Z:13.91 [[ 7.33762674e-01 -6.74478675e-01 -8.16753058e-02 1.16053741e+02] [ 6.70146412e-01 7.38293226e-01 -7.63341270e-02 3.55016020e+01] [ 1.11786066e-01 1.27672002e-03 9.93731476e-01 1.39098393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:116.07, Y:35.52, Z:13.91 [[ 7.33677351e-01 -6.74575010e-01 -8.16461907e-02 1.16073432e+02] [ 6.70239878e-01 7.38205157e-01 -7.63652556e-02 3.55188362e+01] [ 1.11785732e-01 1.30492554e-03 9.93731476e-01 1.39130101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:116.09, Y:35.54, Z:13.92 [[ 7.32736342e-01 -6.75663498e-01 -8.10943347e-02 1.16092032e+02] [ 6.71269736e-01 7.37207591e-01 -7.69539393e-02 3.55381310e+01] [ 1.11778327e-01 1.95077532e-03 9.93731251e-01 1.39151219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:116.11, Y:35.56, Z:13.92 [[ 7.29124769e-01 -6.79572738e-01 -8.09812639e-02 1.16113730e+02] [ 6.75189555e-01 7.33606560e-01 -7.70745072e-02 3.55597432e+01] [ 1.11786120e-01 1.51922871e-03 9.93731128e-01 1.39198085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:116.13, Y:35.58, Z:13.92 [[ 7.26488411e-01 -6.82321722e-01 -8.15576822e-02 1.16134210e+02] [ 6.78024267e-01 7.31051985e-01 -7.64597141e-02 3.55783151e+01] [ 1.11793029e-01 2.49008508e-04 9.93731481e-01 1.39222807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25710568099998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:116.16, Y:35.60, Z:13.93 [[ 7.20061761e-01 -6.89103753e-01 -8.15296140e-02 1.16155170e+02] [ 6.84845890e-01 7.24662296e-01 -7.64896320e-02 3.55971862e+01] [ 1.11790730e-01 -7.57961876e-04 9.93731482e-01 1.39273987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28710568099999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:116.18, Y:35.61, Z:13.93 [[ 7.11579045e-01 -6.97856816e-01 -8.15544417e-02 1.16175507e+02] [ 6.93658554e-01 7.16234035e-01 -7.64631750e-02 3.56145118e+01] [ 1.11772415e-01 -2.16134312e-03 9.93731481e-01 1.39343027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.317105681 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:116.20, Y:35.63, Z:13.94 [[ 7.06564030e-01 -7.02939916e-01 -8.15030408e-02 1.16195141e+02] [ 6.98768823e-01 7.11243376e-01 -7.65179251e-02 3.56344157e+01] [ 1.11756002e-01 -2.88697037e-03 9.93731484e-01 1.39380248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.347105681 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:116.21, Y:35.66, Z:13.94 [[ 6.98775795e-01 -7.10685725e-01 -8.14750795e-02 1.16212438e+02] [ 7.06563004e-01 7.03497813e-01 -7.65476865e-02 3.56554150e+01] [ 1.11718888e-01 -4.07760638e-03 9.93731484e-01 1.39401628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.377105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:116.23, Y:35.68, Z:13.94 [[ 6.93876508e-01 -7.15472089e-01 -8.14560168e-02 1.16229448e+02] [ 7.11379550e-01 6.98624708e-01 -7.65679661e-02 3.56770499e+01] [ 1.11689429e-01 -4.81743163e-03 9.93731485e-01 1.39417975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.407105681 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:116.25, Y:35.70, Z:13.94 [[ 6.91265767e-01 -7.17997604e-01 -8.14314458e-02 1.16248250e+02] [ 7.13919342e-01 6.96026235e-01 -7.65940891e-02 3.56983164e+01] [ 1.11672795e-01 -5.18861241e-03 9.93731485e-01 1.39438785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.437105681 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:116.26, Y:35.72, Z:13.95 [[ 6.86174738e-01 -7.22867617e-01 -8.14041577e-02 1.16263423e+02] [ 7.18819697e-01 6.90961032e-01 -7.66230800e-02 3.57222508e+01] [ 1.11635444e-01 -5.93809005e-03 9.93731486e-01 1.39482084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.467105681 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:116.28, Y:35.75, Z:13.95 [[ 6.82003053e-01 -7.26808160e-01 -8.13740459e-02 1.16276651e+02] [ 7.22784087e-01 6.86809412e-01 -7.66550456e-02 3.57481572e+01] [ 1.11601973e-01 -6.53689034e-03 9.93731487e-01 1.39466513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.497105681 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:116.29, Y:35.77, Z:13.95 [[ 6.79933213e-01 -7.28746638e-01 -8.13582447e-02 1.16293182e+02] [ 7.24734271e-01 6.84749348e-01 -7.66718128e-02 3.57711263e+01] [ 1.11584331e-01 -6.83139609e-03 9.93731487e-01 1.39486877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.527105681 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:116.31, Y:35.80, Z:13.96 [[ 6.76276259e-01 -7.32144518e-01 -8.13315846e-02 1.16309139e+02] [ 7.28152962e-01 6.81109655e-01 -7.67000828e-02 3.57956325e+01] [ 1.11551273e-01 -7.35138916e-03 9.93731488e-01 1.39568122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.557105681 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:116.32, Y:35.82, Z:13.97 [[ 6.73797283e-01 -7.34429451e-01 -8.13056096e-02 1.16323874e+02] [ 7.30450986e-01 6.78641460e-01 -7.67276077e-02 3.58207174e+01] [ 1.11528372e-01 -7.69090905e-03 9.93731489e-01 1.39681035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.587105681 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:116.34, Y:35.84, Z:13.97 [[ 6.72191297e-01 -7.35902508e-01 -8.12795135e-02 1.16337724e+02] [ 7.31931345e-01 6.77041460e-01 -7.67552421e-02 3.58439605e+01] [ 1.11513976e-01 -7.89681795e-03 9.93731490e-01 1.39742417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.617105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:35.88, Z:13.98 [[ 6.70021622e-01 -7.37880324e-01 -8.12628613e-02 1.16345145e+02] [ 7.33921356e-01 6.74881745e-01 -7.67728683e-02 3.58751524e+01] [ 1.11492011e-01 -8.20106767e-03 9.93731490e-01 1.39779618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.36, Y:35.90, Z:13.98 [[ 6.68057460e-01 -7.39660879e-01 -8.12466282e-02 1.16356880e+02] [ 7.35712793e-01 6.72926426e-01 -7.67900436e-02 3.59031180e+01] [ 1.11471594e-01 -8.47402228e-03 9.93731490e-01 1.39781179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.37, Y:35.93, Z:13.98 [[ 6.66928179e-01 -7.40682438e-01 -8.12177950e-02 1.16373393e+02] [ 7.36738138e-01 6.71800211e-01 -7.68205273e-02 3.59269502e+01] [ 1.11461747e-01 -8.60247267e-03 9.93731491e-01 1.39800835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:116.38, Y:35.96, Z:13.98 [[ 6.64642380e-01 -7.42737549e-01 -8.11876872e-02 1.16381256e+02] [ 7.38804467e-01 6.69523471e-01 -7.68523337e-02 3.59578472e+01] [ 1.11438176e-01 -8.90250797e-03 9.93731492e-01 1.39807203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:116.39, Y:35.99, Z:13.98 [[ 6.64583705e-01 -7.42791873e-01 -8.11710103e-02 1.16386917e+02] [ 7.38857064e-01 6.69463405e-01 -7.68699438e-02 3.59923674e+01] [ 1.11439390e-01 -8.88726231e-03 9.93731492e-01 1.39823591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:36.02, Z:13.99 [[ 6.66463368e-01 -7.41109018e-01 -8.11418685e-02 1.16398740e+02] [ 7.37158180e-01 6.71330098e-01 -7.69006929e-02 3.60183371e+01] [ 1.11464776e-01 -8.56289728e-03 9.93731493e-01 1.39853546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.41, Y:36.05, Z:13.99 [[ 6.73820473e-01 -7.34428461e-01 -8.11221638e-02 1.16407261e+02] [ 7.30426824e-01 6.78645520e-01 -7.69214737e-02 3.60494658e+01] [ 1.11546513e-01 -7.42254064e-03 9.93731494e-01 1.39916911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.42, Y:36.07, Z:14.00 [[ 6.77686604e-01 -7.30865864e-01 -8.10922694e-02 1.16421053e+02] [ 7.26835101e-01 6.82487345e-01 -7.69529764e-02 3.60729359e+01] [ 1.11586751e-01 -6.79070657e-03 9.93731495e-01 1.39965288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.43, Y:36.10, Z:14.00 [[ 6.85022773e-01 -7.23996634e-01 -8.10720307e-02 1.16429631e+02] [ 7.19915167e-01 6.89780480e-01 -7.69742926e-02 3.61045507e+01] [ 1.11651033e-01 -5.63584115e-03 9.93731495e-01 1.40011278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:36.14, Z:14.00 [[ 6.94607216e-01 -7.14809718e-01 -8.10424772e-02 1.16437100e+02] [ 7.10661632e-01 6.99306953e-01 -7.70053955e-02 3.61361954e+01] [ 1.11717773e-01 -4.10527573e-03 9.93731496e-01 1.40032398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:36.16, Z:14.01 [[ 7.00090314e-01 -7.09441854e-01 -8.10296744e-02 1.16452983e+02] [ 7.05256159e-01 7.04756586e-01 -7.70188651e-02 3.61604935e+01] [ 1.11746603e-01 -3.22651552e-03 9.93731496e-01 1.40061015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:36.19, Z:14.01 [[ 7.10637883e-01 -6.98879595e-01 -8.10006848e-02 1.16467315e+02] [ 6.94621026e-01 7.15237743e-01 -7.70493415e-02 3.61864458e+01] [ 1.11782960e-01 -1.51059786e-03 9.93731497e-01 1.40084104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.48, Y:36.21, Z:14.01 [[ 7.14419733e-01 -6.95016572e-01 -8.09716648e-02 1.16483963e+02] [ 6.90729671e-01 7.18993200e-01 -7.70798269e-02 3.62088792e+01] [ 1.11789833e-01 -8.62182034e-04 9.93731498e-01 1.40102083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.50, Y:36.23, Z:14.01 [[ 7.20083554e-01 -6.89150334e-01 -8.09412860e-02 1.16497533e+02] [ 6.84822587e-01 7.24618387e-01 -7.71117146e-02 3.62338092e+01] [ 1.11793108e-01 9.64566388e-05 9.93731499e-01 1.40107068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:36.26, Z:14.01 [[ 7.22223793e-01 -6.86909475e-01 -8.09207342e-02 1.16516194e+02] [ 6.82565242e-01 7.26742835e-01 -7.71332756e-02 3.62551837e+01] [ 1.11792142e-01 4.73806397e-04 9.93731499e-01 1.40113186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.067105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:36.27, Z:14.01 [[ 7.21135745e-01 -6.88055051e-01 -8.08918049e-02 1.16536088e+02] [ 6.83714594e-01 7.25658413e-01 -7.71636028e-02 3.62749962e+01] [ 1.11792625e-01 3.38524642e-04 9.93731500e-01 1.40142740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.097105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.56, Y:36.29, Z:14.01 [[ 7.17568535e-01 -6.91777867e-01 -8.08627184e-02 1.16555196e+02] [ 6.87457440e-01 7.22110340e-01 -7.71940717e-02 3.62944930e+01] [ 1.11792955e-01 -1.97640474e-04 9.93731501e-01 1.40149147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.127105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:36.31, Z:14.02 [[ 7.14537665e-01 -6.94909470e-01 -8.08501935e-02 1.16575120e+02] [ 6.90607463e-01 7.19096921e-01 -7.72071877e-02 3.63129260e+01] [ 1.11791131e-01 -6.68303447e-04 9.93731501e-01 1.40160048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.157105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.59, Y:36.33, Z:14.02 [[ 7.12361520e-01 -6.97141527e-01 -8.08378403e-02 1.16594540e+02] [ 6.92852337e-01 7.16932836e-01 -7.72201196e-02 3.63327088e+01] [ 1.11788654e-01 -1.00004479e-03 9.93731501e-01 1.40215602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.187105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.61, Y:36.35, Z:14.03 [[ 7.10992844e-01 -6.98540660e-01 -8.08091752e-02 1.16614121e+02] [ 6.94257058e-01 7.15569395e-01 -7.72501055e-02 3.63530243e+01] [ 1.11786912e-01 -1.17806801e-03 9.93731502e-01 1.40255887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.217105681 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:116.63, Y:36.37, Z:14.03 [[ 7.10423972e-01 -6.99122645e-01 -8.07793730e-02 1.16633032e+02] [ 6.94839250e-01 7.15000716e-01 -7.72812569e-02 3.63728802e+01] [ 1.11786386e-01 -1.22622144e-03 9.93731503e-01 1.40277639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:36.39, Z:14.03 [[ 7.10016583e-01 -6.99537858e-01 -8.07665634e-02 1.16653856e+02] [ 6.95255617e-01 7.14594406e-01 -7.72946419e-02 3.63916664e+01] [ 1.11785863e-01 -1.27292932e-03 9.93731503e-01 1.40287087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.68, Y:36.41, Z:14.03 [[ 7.08317426e-01 -7.01261673e-01 -8.07371646e-02 1.16676579e+02] [ 6.96987074e-01 7.12902385e-01 -7.73253379e-02 3.64081879e+01] [ 1.11783013e-01 -1.50187582e-03 9.93731504e-01 1.40278989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.307105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.70, Y:36.43, Z:14.03 [[ 7.06198189e-01 -7.03399122e-01 -8.07080693e-02 1.16696691e+02] [ 6.99134931e-01 7.10792828e-01 -7.73556943e-02 3.64266311e+01] [ 1.11778644e-01 -1.79737925e-03 9.93731505e-01 1.40296708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:36.45, Z:14.03 [[ 7.05327661e-01 -7.04273474e-01 -8.06955028e-02 1.16716083e+02] [ 7.00013480e-01 7.09926191e-01 -7.73688011e-02 3.64461874e+01] [ 1.11776645e-01 -1.91758415e-03 9.93731505e-01 1.40336619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.74, Y:36.46, Z:14.04 [[ 7.05016284e-01 -7.04588543e-01 -8.06661289e-02 1.16737882e+02] [ 7.00327102e-01 7.09613473e-01 -7.73994149e-02 3.64645960e+01] [ 1.11776513e-01 -1.92482838e-03 9.93731506e-01 1.40353426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:116.76, Y:36.48, Z:14.04 [[ 7.05890848e-01 -7.03715301e-01 -8.06404748e-02 1.16761975e+02] [ 6.99445121e-01 7.10479920e-01 -7.74261342e-02 3.64803342e+01] [ 1.11779393e-01 -1.74918714e-03 9.93731507e-01 1.40364892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:36.50, Z:14.04 [[ 7.10816347e-01 -6.98743197e-01 -8.06105747e-02 1.16782858e+02] [ 6.94437383e-01 7.15371998e-01 -7.74572518e-02 3.64974503e+01] [ 1.11789276e-01 -9.21115749e-04 9.93731508e-01 1.40403590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:116.80, Y:36.52, Z:14.05 [[ 7.14903971e-01 -6.94561968e-01 -8.05976735e-02 1.16802809e+02] [ 6.90227993e-01 7.19432841e-01 -7.74706737e-02 3.65169056e+01] [ 1.11792797e-01 -2.46678091e-04 9.93731508e-01 1.40460056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:116.82, Y:36.54, Z:14.05 [[ 7.14637963e-01 -6.94839105e-01 -8.05679837e-02 1.16823028e+02] [ 6.90503407e-01 7.19165181e-01 -7.75015383e-02 3.65366993e+01] [ 1.11792788e-01 -2.46925748e-04 9.93731509e-01 1.40491899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.85, Y:36.55, Z:14.06 [[ 7.23396030e-01 -6.85719912e-01 -8.05381092e-02 1.16845587e+02] [ 6.81323691e-01 7.27864499e-01 -7.75325711e-02 3.65543214e+01] [ 1.11786458e-01 1.21423224e-03 9.93731510e-01 1.40572406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:36.57, Z:14.06 [[ 7.26542733e-01 -6.82388087e-01 -8.05118365e-02 1.16866867e+02] [ 6.77968355e-01 7.30987948e-01 -7.75598439e-02 3.65701946e+01] [ 1.11779096e-01 1.76606367e-03 9.93731510e-01 1.40620765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:116.89, Y:36.58, Z:14.07 [[ 7.29697997e-01 -6.79014533e-01 -8.04990485e-02 1.16889489e+02] [ 6.74572790e-01 7.34121218e-01 -7.75731143e-02 3.65841333e+01] [ 1.11769331e-01 2.30247838e-03 9.93731511e-01 1.40723996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.91, Y:36.60, Z:14.08 [[ 7.30062368e-01 -6.78624244e-01 -8.04864841e-02 1.16913271e+02] [ 6.74178701e-01 7.34481768e-01 -7.75861483e-02 3.66005349e+01] [ 1.11767696e-01 2.38045379e-03 9.93731511e-01 1.40810736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.94, Y:36.62, Z:14.08 [[ 7.29354674e-01 -6.79386420e-01 -8.04726727e-02 1.16935745e+02] [ 6.74943916e-01 7.33777130e-01 -7.76004710e-02 3.66178387e+01] [ 1.11769713e-01 2.28372534e-03 9.93731511e-01 1.40847926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:36.63, Z:14.09 [[ 7.30174411e-01 -6.78508771e-01 -8.04436200e-02 1.16961228e+02] [ 6.74057638e-01 7.34588180e-01 -7.76305765e-02 3.66297177e+01] [ 1.11765960e-01 2.46022403e-03 9.93731512e-01 1.40873996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.98, Y:36.65, Z:14.09 [[ 7.31505228e-01 -6.77075291e-01 -8.04310396e-02 1.16984146e+02] [ 6.72614077e-01 7.35908807e-01 -7.76436087e-02 3.66466379e+01] [ 1.11760479e-01 2.69765615e-03 9.93731512e-01 1.40888700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.01, Y:36.66, Z:14.09 [[ 7.36258387e-01 -6.71907074e-01 -8.04019380e-02 1.17010184e+02] [ 6.67411676e-01 7.40627063e-01 -7.76737325e-02 3.66612818e+01] [ 1.11737382e-01 3.52674482e-03 9.93731513e-01 1.40864930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:36.67, Z:14.08 [[ 7.40452836e-01 -6.67284928e-01 -8.03767513e-02 1.17038340e+02] [ 6.62759449e-01 7.44790343e-01 -7.76997871e-02 3.66737666e+01] [ 1.11711725e-01 4.26257636e-03 9.93731514e-01 1.40822740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:36.69, Z:14.08 [[ 7.42460798e-01 -6.65053582e-01 -8.03473480e-02 1.17061726e+02] [ 6.60511792e-01 7.46781221e-01 -7.77301805e-02 3.66886587e+01] [ 1.11696626e-01 4.64124104e-03 9.93731514e-01 1.40813336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.817105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:36.70, Z:14.08 [[ 7.46826809e-01 -6.60149385e-01 -8.03274947e-02 1.17089061e+02] [ 6.55577043e-01 7.51114885e-01 -7.77506918e-02 3.66972703e+01] [ 1.11662248e-01 5.40543962e-03 9.93731515e-01 1.40795495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.847105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.12, Y:36.71, Z:14.08 [[ 7.45737540e-01 -6.61465160e-01 -7.96201204e-02 1.17118684e+02] [ 6.56822474e-01 7.49950021e-01 -7.84805947e-02 3.67091733e+01] [ 1.11623290e-01 6.22964115e-03 9.93731067e-01 1.40819962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.877105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.14, Y:36.72, Z:14.09 [[ 7.43584991e-01 -6.63852050e-01 -7.98862763e-02 1.17143339e+02] [ 6.59252229e-01 7.47843796e-01 -7.82058494e-02 3.67245466e+01] [ 1.11659570e-01 5.48749006e-03 9.93731366e-01 1.40868124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.907105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:36.73, Z:14.09 [[ 7.38206143e-01 -6.69807596e-01 -8.00591979e-02 1.17174097e+02] [ 6.65261434e-01 7.42522019e-01 -7.80273996e-02 3.67344359e+01] [ 1.11709062e-01 4.34000885e-03 9.93731478e-01 1.40932814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.937105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.20, Y:36.74, Z:14.10 [[ 7.32156421e-01 -6.76388898e-01 -8.02809651e-02 1.17203236e+02] [ 6.71906572e-01 7.36538486e-01 -7.77985644e-02 3.67431214e+01] [ 1.11752106e-01 3.01941040e-03 9.93731528e-01 1.40978056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.967105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.23, Y:36.76, Z:14.10 [[ 7.29026035e-01 -6.79764012e-01 -8.02616213e-02 1.17226929e+02] [ 6.75299783e-01 7.33426534e-01 -7.78185155e-02 3.67587827e+01] [ 1.11764229e-01 2.53106838e-03 9.93731529e-01 1.41002137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.997105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:117.25, Y:36.77, Z:14.10 [[ 7.23707745e-01 -6.85426668e-01 -8.02333012e-02 1.17253752e+02] [ 6.80993644e-01 7.28139678e-01 -7.78477036e-02 3.67712554e+01] [ 1.11779942e-01 1.70061784e-03 9.93731529e-01 1.41021887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.28, Y:36.78, Z:14.11 [[ 7.19896781e-01 -6.89431467e-01 -8.02052131e-02 1.17279432e+02] [ 6.85019879e-01 7.24350050e-01 -7.78766318e-02 3.67835412e+01] [ 1.11787251e-01 1.12097117e-03 9.93731530e-01 1.41067992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.057105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.30, Y:36.80, Z:14.11 [[ 7.18712589e-01 -6.90667765e-01 -8.01888586e-02 1.17299989e+02] [ 6.86261959e-01 7.23171578e-01 -7.78934682e-02 3.68005587e+01] [ 1.11788811e-01 9.52453055e-04 9.93731530e-01 1.41126535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:36.82, Z:14.12 [[ 7.19986033e-01 -6.89342029e-01 -8.01728097e-02 1.17320987e+02] [ 6.84926174e-01 7.24435070e-01 -7.79099833e-02 3.68183490e+01] [ 1.11786621e-01 1.18164397e-03 9.93731531e-01 1.41199357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.34, Y:36.84, Z:14.12 [[ 7.21587393e-01 -6.87668720e-01 -8.01459051e-02 1.17341000e+02] [ 6.83239476e-01 7.26023100e-01 -7.79376503e-02 3.68372058e+01] [ 1.11783063e-01 1.47997970e-03 9.93731531e-01 1.41223848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.36, Y:36.86, Z:14.13 [[ 7.25950248e-01 -6.83064721e-01 -8.01175638e-02 1.17362464e+02] [ 6.78604139e-01 7.30354438e-01 -7.79667736e-02 3.68555546e+01] [ 1.11770571e-01 2.23188828e-03 9.93731532e-01 1.41250077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.38, Y:36.87, Z:14.13 [[ 7.31051173e-01 -6.77606016e-01 -8.00891407e-02 1.17384125e+02] [ 6.73109364e-01 7.35418530e-01 -7.79959596e-02 3.68725594e+01] [ 1.11749569e-01 3.11028714e-03 9.93731533e-01 1.41307441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:36.89, Z:14.13 [[ 7.33912984e-01 -6.74508760e-01 -8.00603812e-02 1.17404981e+02] [ 6.69990469e-01 7.38257948e-01 -7.80254693e-02 3.68914697e+01] [ 1.11734075e-01 3.62421262e-03 9.93731534e-01 1.41347520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.43, Y:36.91, Z:14.14 [[ 7.39461878e-01 -6.68424282e-01 -8.00319277e-02 1.17425577e+02] [ 6.63867112e-01 7.43766045e-01 -7.80546437e-02 3.69105202e+01] [ 1.11698650e-01 4.58786868e-03 9.93731535e-01 1.41382133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.45, Y:36.93, Z:14.14 [[ 7.44012639e-01 -6.63358621e-01 -8.00033333e-02 1.17447454e+02] [ 6.58769025e-01 7.48282213e-01 -7.80839411e-02 3.69301271e+01] [ 1.11662727e-01 5.39172122e-03 9.93731536e-01 1.41400102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29710568099998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:117.47, Y:36.94, Z:14.14 [[ 7.48217278e-01 -6.58588297e-01 -8.02019921e-02 1.17471430e+02] [ 6.53993159e-01 7.52480952e-01 -7.78804527e-02 3.69432590e+01] [ 1.11641626e-01 5.81994621e-03 9.93731491e-01 1.41418361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32710568099998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:117.50, Y:36.96, Z:14.14 [[ 7.47451945e-01 -6.59484864e-01 -7.99706434e-02 1.17495415e+02] [ 6.54869603e-01 7.51693748e-01 -7.81172989e-02 3.69616556e+01] [ 1.11630609e-01 6.01858348e-03 9.93731545e-01 1.41435068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35710568099998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:117.52, Y:36.97, Z:14.14 [[ 7.49013328e-01 -6.57626313e-01 -8.06639153e-02 1.17520444e+02] [ 6.53076227e-01 7.53325659e-01 -7.74073245e-02 3.69737329e+01] [ 1.11671291e-01 5.29943232e-03 9.93731070e-01 1.41387704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:117.54, Y:36.99, Z:14.14 [[ 7.48558424e-01 -6.58233892e-01 -7.99276481e-02 1.17541861e+02] [ 6.53606982e-01 7.52787404e-01 -7.81603284e-02 3.69905341e+01] [ 1.11616304e-01 6.26630338e-03 9.93731621e-01 1.41396443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41710568099998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:117.57, Y:37.00, Z:14.15 [[ 7.48023091e-01 -6.58844019e-01 -7.99125354e-02 1.17567509e+02] [ 6.54218918e-01 7.52254050e-01 -7.81757768e-02 3.70043222e+01] [ 1.11620171e-01 6.19699381e-03 9.93731621e-01 1.41456799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:117.59, Y:37.02, Z:14.15 [[ 7.48642853e-01 -6.58142616e-01 -7.98885232e-02 1.17593270e+02] [ 6.53510949e-01 7.52866622e-01 -7.82003076e-02 3.70182876e+01] [ 1.11612358e-01 6.33607671e-03 9.93731622e-01 1.41495404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.62, Y:37.03, Z:14.15 [[ 7.49472731e-01 -6.57200886e-01 -7.98600150e-02 1.17615949e+02] [ 6.52560831e-01 7.53687283e-01 -7.82294101e-02 3.70345616e+01] [ 1.11601915e-01 6.51729176e-03 9.93731622e-01 1.41495070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50710568099998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:117.64, Y:37.05, Z:14.15 [[ 7.51091871e-01 -6.55350888e-01 -7.98512082e-02 1.17640023e+02] [ 6.50699507e-01 7.55293919e-01 -7.82383984e-02 3.70484265e+01] [ 1.11584736e-01 6.80508322e-03 9.93731623e-01 1.41484388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53710568099999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:117.67, Y:37.06, Z:14.15 [[ 7.55619228e-01 -6.50203708e-01 -7.92131373e-02 1.17669414e+02] [ 6.45455889e-01 7.59712578e-01 -7.88891228e-02 3.70612880e+01] [ 1.11473217e-01 8.48155203e-03 9.93731244e-01 1.41500827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.567105681 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:117.69, Y:37.08, Z:14.15 [[ 7.55535633e-01 -6.50224905e-01 -7.98340767e-02 1.17693986e+02] [ 6.45543226e-01 7.59703880e-01 -7.82557224e-02 3.70797936e+01] [ 1.11534077e-01 7.58863938e-03 9.93731635e-01 1.41546215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.597105681 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:117.72, Y:37.09, Z:14.16 [[ 7.57586779e-01 -6.47746422e-01 -8.05409523e-02 1.17718247e+02] [ 6.43126687e-01 7.61824382e-01 -7.75349924e-02 3.70901280e+01] [ 1.11581075e-01 6.94144934e-03 9.93731090e-01 1.41581405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.627105681 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:117.75, Y:37.10, Z:14.16 [[ 7.57810551e-01 -6.47650980e-01 -7.91920254e-02 1.17748323e+02] [ 6.42887008e-01 7.61885292e-01 -7.89119611e-02 3.71039894e+01] [ 1.11442648e-01 8.88879252e-03 9.93731113e-01 1.41598772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.657105681 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:117.77, Y:37.12, Z:14.16 [[ 7.58598260e-01 -6.46599112e-01 -8.02388193e-02 1.17772915e+02] [ 6.41940706e-01 7.62792697e-01 -7.78423453e-02 3.71191813e+01] [ 1.11538377e-01 7.54250335e-03 9.93731504e-01 1.41621307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.687105681 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:117.80, Y:37.13, Z:14.17 [[ 7.58477552e-01 -6.46731628e-01 -8.03119170e-02 1.17798009e+02] [ 6.42081774e-01 7.62681565e-01 -7.77677621e-02 3.71308928e+01] [ 1.11547290e-01 7.41828372e-03 9.93731438e-01 1.41667385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.717105681 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:117.82, Y:37.14, Z:14.17 [[ 7.56517780e-01 -6.49116135e-01 -7.95555853e-02 1.17824898e+02] [ 6.44398840e-01 7.60645656e-01 -7.85386521e-02 3.71424818e+01] [ 1.11494317e-01 8.15035987e-03 9.93731648e-01 1.41708655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.747105681 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:117.85, Y:37.16, Z:14.17 [[ 7.55319504e-01 -6.50497822e-01 -7.96557054e-02 1.17847948e+02] [ 6.45798726e-01 7.59468034e-01 -7.84366756e-02 3.71582589e+01] [ 1.11518849e-01 7.80319782e-03 9.93731682e-01 1.41740070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.777105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:117.87, Y:37.17, Z:14.18 [[ 7.51932739e-01 -6.54397629e-01 -7.97552463e-02 1.17870575e+02] [ 6.49730720e-01 7.56117430e-01 -7.83353320e-02 3.71739020e+01] [ 1.11566787e-01 7.08346719e-03 9.93731692e-01 1.41774889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.807105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:117.90, Y:37.19, Z:14.18 [[ 7.50263420e-01 -6.56382462e-01 -7.91635259e-02 1.17898829e+02] [ 6.51663353e-01 7.54389658e-01 -7.89374309e-02 3.71873794e+01] [ 1.11533291e-01 7.63589816e-03 9.93731361e-01 1.41827285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.837105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.92, Y:37.20, Z:14.19 [[ 7.50060418e-01 -6.56580688e-01 -7.94428726e-02 1.17923106e+02] [ 6.51892474e-01 7.54221364e-01 -7.86532648e-02 3.72031118e+01] [ 1.11559726e-01 7.20648987e-03 9.93731601e-01 1.41894015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.95, Y:37.22, Z:14.20 [[ 7.48509735e-01 -6.58314874e-01 -7.97163916e-02 1.17947135e+02] [ 6.53665672e-01 7.52714114e-01 -7.83750769e-02 3.72189299e+01] [ 1.11599132e-01 6.55663938e-03 9.93731676e-01 1.41958709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:117.97, Y:37.23, Z:14.20 [[ 7.47685578e-01 -6.59253767e-01 -7.96915741e-02 1.17972571e+02] [ 6.54607173e-01 7.51892839e-01 -7.84003033e-02 3.72346007e+01] [ 1.11605219e-01 6.45210009e-03 9.93731677e-01 1.41989474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:37.25, Z:14.20 [[ 7.48962533e-01 -6.57769701e-01 -7.99634012e-02 1.17994881e+02] [ 6.53144021e-01 7.53192889e-01 -7.81240086e-02 3.72504768e+01] [ 1.11615471e-01 6.28433801e-03 9.93731600e-01 1.42018907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:118.02, Y:37.27, Z:14.20 [[ 7.49325876e-01 -6.57391992e-01 -7.96649258e-02 1.18017201e+02] [ 6.52732109e-01 7.53518392e-01 -7.84272088e-02 3.72662154e+01] [ 1.11586406e-01 6.76768189e-03 9.93731690e-01 1.42021847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.04, Y:37.28, Z:14.21 [[ 7.49309052e-01 -6.57412948e-01 -7.96502400e-02 1.18038472e+02] [ 6.52751608e-01 7.53499949e-01 -7.84421209e-02 3.72836491e+01] [ 1.11585318e-01 6.78556904e-03 9.93731691e-01 1.42057121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.06, Y:37.30, Z:14.21 [[ 7.48066762e-01 -6.58829691e-01 -7.96213346e-02 1.18061092e+02] [ 6.54173189e-01 7.52263032e-01 -7.84714500e-02 3.72999999e+01] [ 1.11595508e-01 6.61574110e-03 9.93731691e-01 1.42082207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.09, Y:37.31, Z:14.21 [[ 7.47257078e-01 -6.59778102e-01 -7.93707442e-02 1.18086500e+02] [ 6.55100076e-01 7.51429420e-01 -7.87255837e-02 3.73146218e+01] [ 1.11582928e-01 6.83246911e-03 9.93731638e-01 1.42137284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.11, Y:37.33, Z:14.22 [[ 7.45953300e-01 -6.61244992e-01 -7.94275439e-02 1.18113708e+02] [ 6.56581261e-01 7.50141582e-01 -7.86680003e-02 3.73268156e+01] [ 1.11600725e-01 6.53201758e-03 9.93731659e-01 1.42183684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.14, Y:37.34, Z:14.22 [[ 7.44614958e-01 -6.62734779e-01 -7.95686910e-02 1.18136783e+02] [ 6.58094607e-01 7.48829297e-01 -7.85249803e-02 3.73444682e+01] [ 1.11624602e-01 6.10714849e-03 9.93731680e-01 1.42191533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:37.36, Z:14.22 [[ 7.44125921e-01 -6.63286826e-01 -7.95436973e-02 1.18161390e+02] [ 6.58647090e-01 7.48340739e-01 -7.85502902e-02 3.73597510e+01] [ 1.11627162e-01 6.06008228e-03 9.93731680e-01 1.42186648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.18, Y:37.37, Z:14.22 [[ 7.44080337e-01 -6.63339748e-01 -7.95288041e-02 1.18183964e+02] [ 6.58698710e-01 7.48293721e-01 -7.85653661e-02 3.73738200e+01] [ 1.11626435e-01 6.07342346e-03 9.93731680e-01 1.42198658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.21, Y:37.39, Z:14.22 [[ 7.45002902e-01 -6.62345599e-01 -7.91769118e-02 1.18205694e+02] [ 6.57661245e-01 7.49168258e-01 -7.89215292e-02 3.73911401e+01] [ 1.11590157e-01 6.72518190e-03 9.93731558e-01 1.42242200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:37.41, Z:14.23 [[ 7.45349009e-01 -6.61981878e-01 -7.89610579e-02 1.18232301e+02] [ 6.57272497e-01 7.49486328e-01 -7.91398075e-02 3.74069365e+01] [ 1.11569352e-01 7.08784538e-03 9.93731373e-01 1.42317027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:37.42, Z:14.24 [[ 7.41361060e-01 -6.66376263e-01 -7.95390122e-02 1.18256635e+02] [ 6.61753574e-01 7.45594587e-01 -7.85552053e-02 3.74196320e+01] [ 1.11651181e-01 5.60254475e-03 9.93731667e-01 1.42375865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:118.28, Y:37.44, Z:14.24 [[ 7.37596720e-01 -6.70547213e-01 -7.94827963e-02 1.18279157e+02] [ 6.65942373e-01 7.41849650e-01 -7.86120444e-02 3.74361236e+01] [ 1.11677372e-01 5.05302406e-03 9.93731670e-01 1.42424925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.317105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.30, Y:37.45, Z:14.25 [[ 7.26181361e-01 -6.82896440e-01 -7.94549100e-02 1.18301377e+02] [ 6.78360933e-01 7.30508153e-01 -7.86402197e-02 3.74522381e+01] [ 1.11745586e-01 3.20795493e-03 9.93731671e-01 1.42462570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.347105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.33, Y:37.47, Z:14.25 [[ 7.16114935e-01 -6.93482378e-01 -7.91302189e-02 1.18328188e+02] [ 6.88974584e-01 7.20470724e-01 -7.89680862e-02 3.74655304e+01] [ 1.11773982e-01 2.03151626e-03 9.93731578e-01 1.42500336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.377105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.35, Y:37.49, Z:14.25 [[ 7.15884242e-01 -6.93686744e-01 -7.94257771e-02 1.18348304e+02] [ 6.89213221e-01 7.20275096e-01 -7.86697014e-02 3.74855895e+01] [ 1.11780538e-01 1.57710389e-03 9.93731666e-01 1.42533845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.407105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:37.50, Z:14.25 [[ 7.08627494e-01 -7.01101130e-01 -7.93994912e-02 1.18368429e+02] [ 6.96670584e-01 7.13061710e-01 -7.86962224e-02 3.75027977e+01] [ 1.11790747e-01 4.51016942e-04 9.93731667e-01 1.42508298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.437105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:37.52, Z:14.26 [[ 6.97023816e-01 -7.12717815e-01 -7.86836530e-02 1.18393171e+02] [ 7.08279438e-01 7.01450765e-01 -7.94170057e-02 3.75182486e+01] [ 1.11794623e-01 -3.74469206e-04 9.93731262e-01 1.42595914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.467105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.41, Y:37.54, Z:14.27 [[ 6.89360887e-01 -7.20106015e-01 -7.89233450e-02 1.18414563e+02] [ 7.15742637e-01 6.93861432e-01 -7.91756974e-02 3.75384718e+01] [ 1.11776761e-01 -1.90817406e-03 9.93731510e-01 1.42656370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:37.56, Z:14.27 [[ 6.87623844e-01 -7.21721423e-01 -7.93198367e-02 1.18434237e+02] [ 7.17414500e-01 6.92178227e-01 -7.87764961e-02 3.75585059e+01] [ 1.11758149e-01 -2.73660391e-03 9.93731668e-01 1.42698932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.45, Y:37.58, Z:14.27 [[ 6.86503901e-01 -7.22790112e-01 -7.92896469e-02 1.18451335e+02] [ 7.18486774e-01 6.91061671e-01 -7.88068710e-02 3.75788715e+01] [ 1.11754863e-01 -2.86733813e-03 9.93731669e-01 1.42726788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.557105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.47, Y:37.60, Z:14.27 [[ 6.86956522e-01 -7.22362895e-01 -7.92627556e-02 1.18467484e+02] [ 7.18053606e-01 6.91508665e-01 -7.88339087e-02 3.76027821e+01] [ 1.11757573e-01 -2.75943975e-03 9.93731669e-01 1.42738524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.587105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:118.48, Y:37.63, Z:14.28 [[ 6.88846024e-01 -7.20564570e-01 -7.92329137e-02 1.18483273e+02] [ 7.16239950e-01 6.93383603e-01 -7.88638904e-02 3.76266143e+01] [ 1.11765328e-01 -2.42470081e-03 9.93731670e-01 1.42757232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:118.50, Y:37.65, Z:14.28 [[ 6.90743603e-01 -7.18748982e-01 -7.92033824e-02 1.18499410e+02] [ 7.14409036e-01 6.95266524e-01 -7.88935378e-02 3.76488863e+01] [ 1.11772110e-01 -2.08840560e-03 9.93731671e-01 1.42764876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:118.51, Y:37.68, Z:14.28 [[ 6.95772267e-01 -7.13884949e-01 -7.91784834e-02 1.18512356e+02] [ 7.09510533e-01 7.00261859e-01 -7.89185190e-02 3.76765058e+01] [ 1.11784415e-01 -1.26865108e-03 9.93731672e-01 1.42786687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:37.70, Z:14.28 [[ 7.01318781e-01 -7.08419807e-01 -7.93306008e-02 1.18525009e+02] [ 7.04027640e-01 7.05791048e-01 -7.87659747e-02 3.77021241e+01] [ 1.11790205e-01 -6.10878232e-04 9.93731642e-01 1.42825892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:37.72, Z:14.29 [[ 7.03166013e-01 -7.06609097e-01 -7.91273792e-02 1.18541756e+02] [ 7.02182467e-01 7.07604115e-01 -7.89696089e-02 3.77244588e+01] [ 1.11791503e-01 -3.31133152e-05 9.93731683e-01 1.42873997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:37.75, Z:14.29 [[ 7.06896444e-01 -7.02878786e-01 -7.91127681e-02 1.18557064e+02] [ 6.98427099e-01 7.11309410e-01 -7.89842438e-02 3.77493297e+01] [ 1.11790006e-01 5.79179945e-04 9.93731684e-01 1.42947859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:37.78, Z:14.30 [[ 7.09380732e-01 -7.00374258e-01 -7.90877720e-02 1.18570884e+02] [ 6.95904201e-01 7.13775090e-01 -7.90092648e-02 3.77763008e+01] [ 1.11786937e-01 1.01013730e-03 9.93731684e-01 1.42951401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:37.80, Z:14.30 [[ 7.11497941e-01 -6.98208403e-01 -7.92193551e-02 1.18588130e+02] [ 6.93739613e-01 7.15893618e-01 -7.88776072e-02 3.77978032e+01] [ 1.11785639e-01 1.16365030e-03 9.93731662e-01 1.42951763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:37.82, Z:14.30 [[ 7.15118248e-01 -6.94519009e-01 -7.90521183e-02 1.18605257e+02] [ 6.90009046e-01 7.19471630e-01 -7.90448638e-02 3.78209827e+01] [ 1.11773917e-01 1.97974781e-03 9.93731690e-01 1.42963719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:37.84, Z:14.30 [[ 7.16889806e-01 -6.92693353e-01 -7.90248381e-02 1.18623681e+02] [ 6.88169301e-01 7.21228544e-01 -7.90721277e-02 3.78421016e+01] [ 1.11767706e-01 2.30353469e-03 9.93731691e-01 1.42995090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:37.87, Z:14.31 [[ 7.19107611e-01 -6.90415368e-01 -7.88090335e-02 1.18639526e+02] [ 6.85853939e-01 7.23407097e-01 -7.92877362e-02 3.78659853e+01] [ 1.11752486e-01 2.96492848e-03 9.93731649e-01 1.43059990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.66, Y:37.89, Z:14.31 [[ 7.19620527e-01 -6.89858159e-01 -7.90064376e-02 1.18655429e+02] [ 6.85314995e-01 7.23939253e-01 -7.90905482e-02 3.78893847e+01] [ 1.11757121e-01 2.77088557e-03 9.93731688e-01 1.43129654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:37.91, Z:14.32 [[ 7.18973883e-01 -6.90537533e-01 -7.89586635e-02 1.18674031e+02] [ 6.85993217e-01 7.23291397e-01 -7.91382419e-02 3.79114457e+01] [ 1.11758048e-01 2.73322149e-03 9.93731688e-01 1.43150834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:37.93, Z:14.32 [[ 7.16260793e-01 -6.93351920e-01 -7.89530962e-02 1.18693122e+02] [ 6.88823960e-01 7.20595457e-01 -7.91437958e-02 3.79321852e+01] [ 1.11767745e-01 2.30281361e-03 9.93731688e-01 1.43200325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.71, Y:37.95, Z:14.32 [[ 7.11621508e-01 -6.98115749e-01 -7.89254733e-02 1.18713620e+02] [ 6.93613759e-01 7.15983138e-01 -7.91713331e-02 3.79526339e+01] [ 1.11780062e-01 1.59622918e-03 9.93731689e-01 1.43238293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.73, Y:37.97, Z:14.33 [[ 7.09976450e-01 -6.99766640e-01 -7.91207342e-02 1.18732965e+02] [ 6.95296450e-01 7.14370721e-01 -7.89766952e-02 3.79729958e+01] [ 1.11786793e-01 1.05922803e-03 9.93731649e-01 1.43254447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.067105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:38.00, Z:14.32 [[ 7.06362635e-01 -7.03440207e-01 -7.88904568e-02 1.18751020e+02] [ 6.98967220e-01 7.10753984e-01 -7.92060634e-02 3.79958857e+01] [ 1.11788436e-01 8.06360393e-04 9.93731702e-01 1.43233046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.097105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.77, Y:38.02, Z:14.32 [[ 7.03362811e-01 -7.06442595e-01 -7.88645457e-02 1.18767913e+02] [ 7.01985461e-01 7.07770249e-01 -7.92318545e-02 3.80190093e+01] [ 1.11790736e-01 3.66975457e-04 9.93731703e-01 1.43209886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.127105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:38.04, Z:14.33 [[ 7.02175251e-01 -7.07624519e-01 -7.88508482e-02 1.18787373e+02] [ 7.03173274e-01 7.06588636e-01 -7.92454838e-02 3.80396070e+01] [ 1.11791161e-01 1.98408402e-04 9.93731703e-01 1.43259574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.157105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:38.06, Z:14.33 [[ 7.02346246e-01 -7.07457710e-01 -7.88247390e-02 1.18807875e+02] [ 7.03002502e-01 7.06755630e-01 -7.92714460e-02 3.80592587e+01] [ 1.11791024e-01 2.62013839e-04 9.93731703e-01 1.43341597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.187105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:38.08, Z:14.34 [[ 7.03149317e-01 -7.06662452e-01 -7.87985867e-02 1.18826392e+02] [ 7.02199344e-01 7.07550704e-01 -7.92974338e-02 3.80803307e+01] [ 1.11790514e-01 4.25620542e-04 9.93731704e-01 1.43390352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.217105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:118.84, Y:38.10, Z:14.34 [[ 7.07003038e-01 -7.02810226e-01 -7.87685893e-02 1.18840801e+02] [ 6.98319820e-01 7.11376568e-01 -7.93272202e-02 3.81034715e+01] [ 1.11786110e-01 1.07891862e-03 9.93731705e-01 1.43418777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:38.13, Z:14.35 [[ 7.12027105e-01 -6.97730118e-01 -7.86770809e-02 1.18857654e+02] [ 6.93198478e-01 7.16357903e-01 -7.94180318e-02 3.81278267e+01] [ 1.11773302e-01 2.00895853e-03 9.93731701e-01 1.43454848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.277105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:118.88, Y:38.15, Z:14.35 [[ 7.14683971e-01 -6.95002176e-01 -7.87324326e-02 1.18875575e+02] [ 6.90460050e-01 7.19003766e-01 -7.93631205e-02 3.81495663e+01] [ 1.11766457e-01 2.35795084e-03 9.93731704e-01 1.43473642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.307105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.89, Y:38.17, Z:14.35 [[ 7.18917176e-01 -6.90625799e-01 -7.87026049e-02 1.18893516e+02] [ 6.86054150e-01 7.23205714e-01 -7.93926891e-02 3.81727211e+01] [ 1.11748813e-01 3.08251924e-03 9.93731705e-01 1.43501857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.337105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:118.91, Y:38.19, Z:14.36 [[ 7.19910144e-01 -6.89583761e-01 -7.87630625e-02 1.18913696e+02] [ 6.85012447e-01 7.24199046e-01 -7.93327735e-02 3.81941951e+01] [ 1.11746727e-01 3.15879025e-03 9.93731700e-01 1.43555790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36710568099997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:118.93, Y:38.22, Z:14.35 [[ 7.22080027e-01 -6.87272994e-01 -7.90965671e-02 1.18931888e+02] [ 6.82724017e-01 7.26392842e-01 -7.90022490e-02 3.82155451e+01] [ 1.11751292e-01 3.04482003e-03 9.93731542e-01 1.43523086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.95, Y:38.24, Z:14.35 [[ 7.23659854e-01 -6.85600059e-01 -7.91768585e-02 1.18948441e+02] [ 6.81049799e-01 7.27971417e-01 -7.89226690e-02 3.82374860e+01] [ 1.11747876e-01 3.18978354e-03 9.93731471e-01 1.43484961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.97, Y:38.26, Z:14.35 [[ 7.22279047e-01 -6.87115455e-01 -7.86468655e-02 1.18968083e+02] [ 6.82517028e-01 7.26538796e-01 -7.94473656e-02 3.82568201e+01] [ 1.11729512e-01 3.70534259e-03 9.93731748e-01 1.43474366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:118.99, Y:38.28, Z:14.35 [[ 7.21111126e-01 -6.88338490e-01 -7.86693539e-02 1.18989593e+02] [ 6.83749711e-01 7.25381268e-01 -7.94251112e-02 3.82753324e+01] [ 1.11736637e-01 3.48418331e-03 9.93731747e-01 1.43507162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.01, Y:38.29, Z:14.36 [[ 7.15766338e-01 -6.93901203e-01 -7.86108768e-02 1.19011416e+02] [ 6.89339278e-01 7.20065150e-01 -7.94829472e-02 3.82926660e+01] [ 1.11758266e-01 2.70165296e-03 9.93731750e-01 1.43576285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:119.03, Y:38.31, Z:14.36 [[ 7.13006805e-01 -6.96709668e-01 -7.88475388e-02 1.19031552e+02] [ 6.92190488e-01 7.17350627e-01 -7.92490149e-02 3.83122720e+01] [ 1.11774886e-01 1.92757058e-03 9.93731684e-01 1.43596480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:38.33, Z:14.36 [[ 7.08471480e-01 -7.01332169e-01 -7.87486571e-02 1.19053968e+02] [ 6.96830473e-01 7.12833355e-01 -7.93466990e-02 3.83308024e+01] [ 1.11783062e-01 1.34040928e-03 9.93731730e-01 1.43622542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:38.35, Z:14.36 [[ 7.06417476e-01 -7.03373903e-01 -7.89905212e-02 1.19075603e+02] [ 6.98911452e-01 7.10819735e-01 -7.91080705e-02 3.83475307e+01] [ 1.11790574e-01 6.75943594e-04 9.93731559e-01 1.43622159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:38.37, Z:14.37 [[ 7.04480489e-01 -7.05372854e-01 -7.84625904e-02 1.19095955e+02] [ 7.00864762e-01 7.08835606e-01 -7.96283157e-02 3.83674029e+01] [ 1.11784730e-01 1.10492998e-03 9.93731832e-01 1.43670278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:38.38, Z:14.38 [[ 7.00760667e-01 -7.09071336e-01 -7.84367778e-02 1.19117425e+02] [ 7.04583386e-01 7.05136536e-01 -7.96537341e-02 3.83834898e+01] [ 1.11788817e-01 5.52953339e-04 9.93731832e-01 1.43774154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.14, Y:38.40, Z:14.39 [[ 6.98954668e-01 -7.10853363e-01 -7.84210938e-02 1.19138231e+02] [ 7.06374838e-01 7.03340182e-01 -7.96691725e-02 3.84025163e+01] [ 1.11789806e-01 2.90452607e-04 9.93731833e-01 1.43850983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:119.16, Y:38.42, Z:14.39 [[ 6.90246733e-01 -7.19314682e-01 -7.83953811e-02 1.19155865e+02] [ 7.14887036e-01 6.94683610e-01 -7.96944661e-02 3.84239837e+01] [ 1.11785386e-01 -1.03499670e-03 9.93731833e-01 1.43935052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:119.18, Y:38.45, Z:14.40 [[ 6.86056628e-01 -7.23286668e-01 -7.86301414e-02 1.19175776e+02] [ 7.18911119e-01 6.90544966e-01 -7.94635314e-02 3.84461078e+01] [ 1.11772561e-01 -2.01160050e-03 9.93731779e-01 1.43952348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:38.47, Z:14.40 [[ 6.79809054e-01 -7.29134724e-01 -7.88809511e-02 1.19192088e+02] [ 7.24826279e-01 6.84362123e-01 -7.92171003e-02 3.84659299e+01] [ 1.11743074e-01 -3.32248424e-03 9.93731577e-01 1.43989853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:119.21, Y:38.49, Z:14.40 [[ 6.76361783e-01 -7.32396245e-01 -7.82973744e-02 1.19209843e+02] [ 7.28043316e-01 6.80871880e-01 -7.97898138e-02 3.84879296e+01] [ 1.11748240e-01 -3.03709934e-03 9.93731909e-01 1.44018740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.817105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.23, Y:38.51, Z:14.41 [[ 6.73172241e-01 -7.35332206e-01 -7.82667306e-02 1.19225902e+02] [ 7.30995454e-01 6.77697894e-01 -7.98198614e-02 3.85102001e+01] [ 1.11735313e-01 -3.48010927e-03 9.93731910e-01 1.44055262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.847105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:119.24, Y:38.53, Z:14.41 [[ 6.72492029e-01 -7.35957279e-01 -7.82390848e-02 1.19243676e+02] [ 7.31621588e-01 6.77018698e-01 -7.98469507e-02 3.85315264e+01] [ 1.11733268e-01 -3.54496552e-03 9.93731911e-01 1.44074670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.877105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:119.26, Y:38.56, Z:14.41 [[ 6.72995685e-01 -7.35499965e-01 -7.82087607e-02 1.19258963e+02] [ 7.31157753e-01 6.77516097e-01 -7.98766416e-02 3.85562560e+01] [ 1.11736961e-01 -3.42630664e-03 9.93731911e-01 1.44062131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.907105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:119.27, Y:38.58, Z:14.41 [[ 6.74553484e-01 -7.34074786e-01 -7.81780393e-02 1.19272766e+02] [ 7.29719544e-01 6.79061342e-01 -7.99066986e-02 3.85804646e+01] [ 1.11745177e-01 -3.14670133e-03 9.93731912e-01 1.44072021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.937105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:119.29, Y:38.60, Z:14.41 [[ 6.76289178e-01 -7.32478986e-01 -7.81503836e-02 1.19289874e+02] [ 7.28109984e-01 6.80783702e-01 -7.99337374e-02 3.86024643e+01] [ 1.11753290e-01 -2.84375303e-03 9.93731913e-01 1.44099457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.967105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:119.31, Y:38.63, Z:14.41 [[ 6.79976364e-01 -7.29060733e-01 -7.81190886e-02 1.19305504e+02] [ 7.24665622e-01 6.84445356e-01 -7.99643104e-02 3.86271622e+01] [ 1.11767086e-01 -2.23637693e-03 9.93731914e-01 1.44091384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.997105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:119.32, Y:38.65, Z:14.41 [[ 6.82535955e-01 -7.26640314e-01 -7.83487311e-02 1.19323186e+02] [ 7.22255053e-01 6.87014686e-01 -7.97399532e-02 3.86490878e+01] [ 1.11768994e-01 -2.16238186e-03 9.93731863e-01 1.44084027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.027105681 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:119.34, Y:38.67, Z:14.41 [[ 6.89027130e-01 -7.20484531e-01 -7.83814689e-02 1.19338023e+02] [ 7.16062880e-01 6.93469962e-01 -7.97079898e-02 3.86737385e+01] [ 1.11783568e-01 -1.20509293e-03 9.93731846e-01 1.44067553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.057105681 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:119.35, Y:38.70, Z:14.41 [[ 6.95142476e-01 -7.14620677e-01 -7.80655245e-02 1.19352078e+02] [ 7.10126853e-01 6.99512154e-01 -8.00162469e-02 3.86980080e+01] [ 1.11789048e-01 1.86266748e-04 9.93731943e-01 1.44087838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.087105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:119.37, Y:38.72, Z:14.42 [[ 6.99192571e-01 -7.10660391e-01 -7.80484302e-02 1.19369133e+02] [ 7.06139956e-01 7.03534714e-01 -8.00329174e-02 3.87207151e+01] [ 1.11786004e-01 8.45306194e-04 9.93731943e-01 1.44170943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:119.39, Y:38.74, Z:14.42 [[ 7.00582367e-01 -7.09293261e-01 -7.80219038e-02 1.19387389e+02] [ 7.04761474e-01 7.04912660e-01 -8.00587691e-02 3.87423563e+01] [ 1.11783773e-01 1.10092997e-03 9.93731944e-01 1.44242453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:119.40, Y:38.77, Z:14.43 [[ 7.03466275e-01 -7.06436077e-01 -7.79953131e-02 1.19401996e+02] [ 7.01883833e-01 7.07775057e-01 -8.00846661e-02 3.87659729e+01] [ 1.11777835e-01 1.59321242e-03 9.93731944e-01 1.44333792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:119.42, Y:38.79, Z:14.44 [[ 7.04612682e-01 -7.05293673e-01 -7.79859221e-02 1.19420375e+02] [ 7.00733432e-01 7.08912998e-01 -8.00938100e-02 3.87871585e+01] [ 1.11774891e-01 1.78777137e-03 9.93731945e-01 1.44390503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:119.44, Y:38.81, Z:14.44 [[ 7.07514129e-01 -7.02386326e-01 -7.79564412e-02 1.19439146e+02] [ 6.97805258e-01 7.11792250e-01 -8.01224940e-02 3.88081411e+01] [ 1.11765735e-01 2.28938193e-03 9.93731945e-01 1.44440699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23710568099997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:119.46, Y:38.83, Z:14.44 [[ 7.12087334e-01 -6.97752904e-01 -7.79263381e-02 1.19455642e+02] [ 6.93140808e-01 7.16331987e-01 -8.01517614e-02 3.88319761e+01] [ 1.11747253e-01 3.06112911e-03 9.93731946e-01 1.44412970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26710568099998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:119.47, Y:38.85, Z:14.44 [[ 7.15281552e-01 -6.94479106e-01 -7.79170875e-02 1.19472766e+02] [ 6.89846611e-01 7.19503931e-01 -8.01607531e-02 3.88517475e+01] [ 1.11731619e-01 3.58666910e-03 9.93731946e-01 1.44418476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29710568099998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:119.49, Y:38.87, Z:14.44 [[ 7.15211356e-01 -6.94609919e-01 -7.73936500e-02 1.19492374e+02] [ 6.89923148e-01 7.19373737e-01 -8.06689272e-02 3.88722240e+01] [ 1.11708396e-01 4.29966215e-03 9.93731728e-01 1.44448770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32710568099998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:119.51, Y:38.89, Z:14.45 [[ 7.19040095e-01 -6.90647972e-01 -7.73739032e-02 1.19513516e+02] [ 6.85936222e-01 7.23174205e-01 -8.06880904e-02 3.88940512e+01] [ 1.11681877e-01 4.94440931e-03 9.93731710e-01 1.44452599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35710568099998 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:119.53, Y:38.91, Z:14.45 [[ 7.22408817e-01 -6.87069987e-01 -7.78481445e-02 1.19534059e+02] [ 6.82387001e-01 7.26575156e-01 -8.02279507e-02 3.89136281e+01] [ 1.11684745e-01 4.83481713e-03 9.93731927e-01 1.44475185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38710568099998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:119.55, Y:38.93, Z:14.45 [[ 7.22641845e-01 -6.86827987e-01 -7.78208152e-02 1.19554701e+02] [ 6.82140763e-01 7.26803414e-01 -8.02544513e-02 3.89332255e+01] [ 1.11681437e-01 4.91047452e-03 9.93731928e-01 1.44500004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:119.58, Y:38.95, Z:14.45 [[ 7.21410157e-01 -6.88124936e-01 -7.77911197e-02 1.19578625e+02] [ 6.83442102e-01 7.25576665e-01 -8.02832252e-02 3.89502056e+01] [ 1.11688310e-01 4.75140772e-03 9.93731928e-01 1.44495943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44710568099998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:119.60, Y:38.97, Z:14.45 [[ 7.19944100e-01 -6.89673710e-01 -7.76573664e-02 1.19601226e+02] [ 6.84985904e-01 7.24105033e-01 -8.04127680e-02 3.89677503e+01] [ 1.11690662e-01 4.69849660e-03 9.93731916e-01 1.44530198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47710568099998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:119.63, Y:38.98, Z:14.46 [[ 7.15122804e-01 -6.94660799e-01 -7.77544139e-02 1.19626555e+02] [ 6.90012209e-01 7.19327490e-01 -8.03188205e-02 3.89817156e+01] [ 1.11725223e-01 3.78632525e-03 9.93731925e-01 1.44578454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:119.65, Y:39.00, Z:14.46 [[ 7.07526426e-01 -7.02397339e-01 -7.77453241e-02 1.19653368e+02] [ 6.97793788e-01 7.11780375e-01 -8.03276180e-02 3.89953766e+01] [ 1.11759501e-01 2.58370823e-03 9.93731925e-01 1.44649000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53710568099999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:119.68, Y:39.01, Z:14.47 [[ 7.02706956e-01 -7.07221660e-01 -7.77203742e-02 1.19676274e+02] [ 7.02644654e-01 7.06989453e-01 -8.03517510e-02 3.90121164e+01] [ 1.11773984e-01 1.85392894e-03 9.93731925e-01 1.44700004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.567105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:119.70, Y:39.03, Z:14.48 [[ 6.92849516e-01 -7.16884724e-01 -7.76906713e-02 1.19701772e+02] [ 7.12364240e-01 6.97191632e-01 -8.03804601e-02 3.90268049e+01] [ 1.11788810e-01 3.47506852e-04 9.93731926e-01 1.44779166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.597105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:119.72, Y:39.04, Z:14.48 [[ 6.85161049e-01 -7.24239353e-01 -7.76639977e-02 1.19723273e+02] [ 7.19762553e-01 6.89548190e-01 -8.04062241e-02 3.90423798e+01] [ 1.11786421e-01 -8.08424396e-04 9.93731927e-01 1.44845806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.627105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:119.74, Y:39.06, Z:14.49 [[ 6.83118655e-01 -7.26168004e-01 -7.76462024e-02 1.19743444e+02] [ 7.21701637e-01 6.87516416e-01 -8.04234049e-02 3.90616751e+01] [ 1.11783942e-01 -1.09866325e-03 9.93731927e-01 1.44878007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.657105681 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:119.76, Y:39.08, Z:14.49 [[ 6.85234658e-01 -7.24174903e-01 -7.76155492e-02 1.19762623e+02] [ 7.19692394e-01 6.89615963e-01 -8.04529772e-02 3.90819281e+01] [ 1.11786949e-01 -7.30152071e-04 9.93731928e-01 1.44900678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.687105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:119.78, Y:39.10, Z:14.49 [[ 6.89362519e-01 -7.20249885e-01 -7.75849198e-02 1.19779795e+02] [ 7.15739105e-01 6.93714711e-01 -8.04825040e-02 3.91024914e+01] [ 1.11789314e-01 -4.89393324e-05 9.93731929e-01 1.44932784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.717105681 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:119.79, Y:39.13, Z:14.50 [[ 7.00201281e-01 -7.09719230e-01 -7.75679160e-02 1.19794245e+02] [ 7.05141191e-01 7.04482668e-01 -8.04988887e-02 3.91275882e+01] [ 1.11776862e-01 1.66909221e-03 9.93731929e-01 1.44968200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.747105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:119.81, Y:39.15, Z:14.50 [[ 7.08128782e-01 -7.01813024e-01 -7.75377791e-02 1.19810320e+02] [ 6.97184032e-01 7.12355025e-01 -8.05279067e-02 3.91517376e+01] [ 1.11749960e-01 2.96602703e-03 9.93731930e-01 1.44961875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.777105681 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:119.83, Y:39.17, Z:14.50 [[ 7.10418331e-01 -6.99498614e-01 -7.75079588e-02 1.19829262e+02] [ 6.94852731e-01 7.14625997e-01 -8.05565986e-02 3.91716096e+01] [ 1.11738431e-01 3.37226746e-03 9.93731931e-01 1.44958988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.807105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.85, Y:39.19, Z:14.49 [[ 7.12621676e-01 -6.97255109e-01 -7.74961953e-02 1.19851411e+02] [ 6.92594754e-01 7.16813308e-01 -8.05679136e-02 3.91913142e+01] [ 1.11726693e-01 3.74098331e-03 9.93731931e-01 1.44947360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.837105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:119.87, Y:39.21, Z:14.50 [[ 7.11678546e-01 -6.98220641e-01 -7.74698934e-02 1.19874116e+02] [ 6.93563226e-01 7.15873444e-01 -8.05931964e-02 3.92101338e+01] [ 1.11730473e-01 3.62617963e-03 9.93731932e-01 1.44965139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:119.90, Y:39.23, Z:14.50 [[ 7.09504648e-01 -7.00432443e-01 -7.74438295e-02 1.19896576e+02] [ 6.95785380e-01 7.13711009e-01 -8.06182341e-02 3.92286336e+01] [ 1.11740140e-01 3.31472746e-03 9.93731932e-01 1.45004936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:119.92, Y:39.25, Z:14.50 [[ 7.08356547e-01 -7.01584331e-01 -7.75269597e-02 1.19916828e+02] [ 6.96952827e-01 7.12580047e-01 -8.05384036e-02 3.92463538e+01] [ 1.11748647e-01 3.01727168e-03 9.93731924e-01 1.45026833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:119.94, Y:39.26, Z:14.51 [[ 7.05860738e-01 -7.04108598e-01 -7.74060793e-02 1.19940525e+02] [ 6.99479484e-01 7.10086837e-01 -8.06544177e-02 3.92624688e+01] [ 1.11754507e-01 2.78682241e-03 9.93731938e-01 1.45090605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95710568099997 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:119.96, Y:39.28, Z:14.52 [[ 7.04852502e-01 -7.05121165e-01 -7.73763073e-02 1.19961914e+02] [ 7.00494992e-01 7.09081818e-01 -8.06829698e-02 3.92793935e+01] [ 1.11757402e-01 2.66787733e-03 9.93731938e-01 1.45157749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:119.98, Y:39.30, Z:14.52 [[ 7.04512112e-01 -7.05462747e-01 -7.73627593e-02 1.19981017e+02] [ 7.00837199e-01 7.08742113e-01 -8.06959582e-02 3.92999389e+01] [ 1.11758238e-01 2.63258042e-03 9.93731939e-01 1.45195506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.00, Y:39.32, Z:14.52 [[ 7.03149924e-01 -7.06823705e-01 -7.73332723e-02 1.19999696e+02] [ 7.02203241e-01 7.07385476e-01 -8.07242066e-02 3.93215860e+01] [ 1.11762216e-01 2.45754530e-03 9.93731939e-01 1.45231230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:120.02, Y:39.34, Z:14.53 [[ 7.01530456e-01 -7.08433886e-01 -7.73074901e-02 1.20019297e+02] [ 7.03820427e-01 7.05773635e-01 -8.07488902e-02 3.93424198e+01] [ 1.11766838e-01 2.23721511e-03 9.93731940e-01 1.45281941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.04, Y:39.36, Z:14.53 [[ 6.97703783e-01 -7.12205699e-01 -7.72817783e-02 1.20038307e+02] [ 7.07612458e-01 7.01968840e-01 -8.07734905e-02 3.93620525e+01] [ 1.11776741e-01 1.67042079e-03 9.93731941e-01 1.45342927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.06, Y:39.38, Z:14.54 [[ 6.93639968e-01 -7.16167391e-01 -7.72519528e-02 1.20057073e+02] [ 7.11595337e-01 6.97927727e-01 -8.08020058e-02 3.93832534e+01] [ 1.11784041e-01 1.07537130e-03 9.93731942e-01 1.45375788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.07, Y:39.40, Z:14.54 [[ 6.92184144e-01 -7.17577792e-01 -7.72219062e-02 1.20074284e+02] [ 7.13011273e-01 6.96477796e-01 -8.08307111e-02 3.94038259e+01] [ 1.11785666e-01 8.89646935e-04 9.93731942e-01 1.45389091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.09, Y:39.43, Z:14.54 [[ 6.91358387e-01 -7.18375207e-01 -7.72051940e-02 1.20092633e+02] [ 7.13811858e-01 6.95655408e-01 -8.08466705e-02 3.94268220e+01] [ 1.11786454e-01 7.84040736e-04 9.93731943e-01 1.45358690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:39.45, Z:14.53 [[ 6.93009142e-01 -7.16785751e-01 -7.71784700e-02 1.20111532e+02] [ 7.12209707e-01 6.97292640e-01 -8.08721741e-02 3.94478225e+01] [ 1.11784001e-01 1.07790057e-03 9.93731943e-01 1.45308618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.13, Y:39.47, Z:14.53 [[ 6.94461382e-01 -7.15379851e-01 -7.71690255e-02 1.20130162e+02] [ 7.10794134e-01 6.98734523e-01 -8.08811852e-02 3.94692063e+01] [ 1.11781432e-01 1.31756899e-03 9.93731943e-01 1.45337591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.15, Y:39.49, Z:14.54 [[ 6.99369401e-01 -7.10585529e-01 -7.71404398e-02 1.20147639e+02] [ 7.05967520e-01 7.03607622e-01 -8.09084397e-02 3.94920226e+01] [ 1.11768968e-01 2.12624195e-03 9.93731944e-01 1.45422566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.17, Y:39.51, Z:14.55 [[ 7.04263232e-01 -7.05738408e-01 -7.71141972e-02 1.20165377e+02] [ 7.01088504e-01 7.08466433e-01 -8.09334440e-02 3.95137621e+01] [ 1.11750660e-01 2.93457162e-03 9.93731945e-01 1.45495239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.317105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.18, Y:39.54, Z:14.55 [[ 7.06297477e-01 -7.03705412e-01 -7.70880462e-02 1.20184106e+02] [ 6.99040698e-01 7.10484235e-01 -8.09583450e-02 3.95350802e+01] [ 1.11740667e-01 3.29299314e-03 9.93731946e-01 1.45526153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.347105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:120.21, Y:39.55, Z:14.56 [[ 7.10341530e-01 -6.99620683e-01 -7.71090869e-02 1.20205286e+02] [ 6.94934070e-01 7.14503763e-01 -8.09383171e-02 3.95529534e+01] [ 1.11720853e-01 3.90811643e-03 9.93731945e-01 1.45603061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.377105681 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:120.23, Y:39.57, Z:14.57 [[ 7.10233702e-01 -6.99737340e-01 -7.70437717e-02 1.20225652e+02] [ 6.95044687e-01 7.14389117e-01 -8.10004425e-02 3.95716612e+01] [ 1.11718266e-01 3.98037990e-03 9.93731949e-01 1.45667446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.407105681 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:120.24, Y:39.59, Z:14.57 [[ 7.09759881e-01 -7.00221267e-01 -7.70135643e-02 1.20244255e+02] [ 6.95528339e-01 7.13914985e-01 -8.10291530e-02 3.95913124e+01] [ 1.11719474e-01 3.94612558e-03 9.93731949e-01 1.45679977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.437105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:120.27, Y:39.61, Z:14.57 [[ 7.09287622e-01 -7.00701874e-01 -7.69931953e-02 1.20265867e+02] [ 6.96009667e-01 7.13443539e-01 -8.10485029e-02 3.96116362e+01] [ 1.11721136e-01 3.89869172e-03 9.93731950e-01 1.45673896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.467105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:120.29, Y:39.63, Z:14.57 [[ 7.08273977e-01 -7.01729345e-01 -7.69668732e-02 1.20285948e+02] [ 6.97040458e-01 7.12433638e-01 -8.10734918e-02 3.96317102e+01] [ 1.11725438e-01 3.77321996e-03 9.93731950e-01 1.45720375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.497105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:120.31, Y:39.65, Z:14.57 [[ 7.08324063e-01 -7.01667417e-01 -7.70704674e-02 1.20305242e+02] [ 6.96988832e-01 7.12495327e-01 -8.09751639e-02 3.96514906e+01] [ 1.11729982e-01 3.63940204e-03 9.93731939e-01 1.45712612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.527105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.33, Y:39.67, Z:14.57 [[ 7.09380849e-01 -7.00613458e-01 -7.69388961e-02 1.20325948e+02] [ 6.95915162e-01 7.13529873e-01 -8.10999871e-02 3.96713986e+01] [ 1.11717943e-01 3.98783332e-03 9.93731955e-01 1.45748199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.557105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:120.35, Y:39.69, Z:14.58 [[ 7.11455826e-01 -6.98509195e-01 -7.69123705e-02 1.20347502e+02] [ 6.93795919e-01 7.15587825e-01 -8.11251354e-02 3.96886073e+01] [ 1.11704209e-01 4.35546142e-03 9.93731956e-01 1.45770455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.587105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:39.71, Z:14.58 [[ 7.12357623e-01 -6.97590521e-01 -7.69030727e-02 1.20367992e+02] [ 6.92870969e-01 7.16482451e-01 -8.11339483e-02 3.97075695e+01] [ 1.11697975e-01 4.51248001e-03 9.93731956e-01 1.45797758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.39, Y:39.73, Z:14.58 [[ 7.13004610e-01 -6.96932474e-01 -7.68736208e-02 1.20388525e+02] [ 6.92206118e-01 7.17121639e-01 -8.11618443e-02 3.97264697e+01] [ 1.11692062e-01 4.65637848e-03 9.93731957e-01 1.45824982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.41, Y:39.74, Z:14.59 [[ 7.14932960e-01 -6.94957403e-01 -7.68444601e-02 1.20410693e+02] [ 6.90216722e-01 7.19033484e-01 -8.11894445e-02 3.97432314e+01] [ 1.11676945e-01 5.00567856e-03 9.93731957e-01 1.45860095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:39.76, Z:14.58 [[ 7.14585641e-01 -6.95317849e-01 -7.68143853e-02 1.20434193e+02] [ 6.90576191e-01 7.18685035e-01 -8.12178888e-02 3.97623738e+01] [ 1.11677597e-01 4.99095150e-03 9.93731958e-01 1.45827595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:120.46, Y:39.78, Z:14.59 [[ 7.14523026e-01 -6.95367960e-01 -7.69431326e-02 1.20457944e+02] [ 6.90639630e-01 7.18637816e-01 -8.10961840e-02 3.97774482e+01] [ 1.11685933e-01 4.80511410e-03 9.93731937e-01 1.45893324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.48, Y:39.80, Z:14.59 [[ 7.13823244e-01 -6.96082998e-01 -7.69729588e-02 1.20478935e+02] [ 6.91361816e-01 7.17946250e-01 -8.10680019e-02 3.97960361e+01] [ 1.11692505e-01 4.65205953e-03 9.93731927e-01 1.45899511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.50, Y:39.81, Z:14.60 [[ 7.13907759e-01 -6.96022028e-01 -7.67401339e-02 1.20503196e+02] [ 6.91276925e-01 7.18003136e-01 -8.12878184e-02 3.98105344e+01] [ 1.11677769e-01 4.98332052e-03 9.93731977e-01 1.45983786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:39.83, Z:14.60 [[ 7.13386439e-01 -6.96557218e-01 -7.67322015e-02 1.20524209e+02] [ 6.91814385e-01 7.17484445e-01 -8.12953056e-02 3.98290033e+01] [ 1.11680993e-01 4.91052780e-03 9.93731977e-01 1.46022267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:39.85, Z:14.61 [[ 7.12979677e-01 -6.96976722e-01 -7.67035089e-02 1.20546299e+02] [ 6.92233401e-01 7.17077116e-01 -8.13223687e-02 3.98463660e+01] [ 1.11682129e-01 4.88446534e-03 9.93731978e-01 1.46066811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.57, Y:39.87, Z:14.61 [[ 7.12203666e-01 -6.97771294e-01 -7.66887156e-02 1.20568280e+02] [ 6.93031049e-01 7.16304662e-01 -8.13363167e-02 3.98665727e+01] [ 1.11686631e-01 4.78036192e-03 9.93731978e-01 1.46075118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:39.89, Z:14.61 [[ 7.11975450e-01 -6.97980374e-01 -7.69048521e-02 1.20588192e+02] [ 6.93263225e-01 7.16103067e-01 -8.11325976e-02 3.98857490e+01] [ 1.11700761e-01 4.44911193e-03 9.93731928e-01 1.46106432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.61, Y:39.90, Z:14.62 [[ 7.12460798e-01 -6.97511988e-01 -7.66592381e-02 1.20612129e+02] [ 6.92767291e-01 7.16556622e-01 -8.13639299e-02 3.99008035e+01] [ 1.11683001e-01 4.86159775e-03 9.93731992e-01 1.46176866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.64, Y:39.92, Z:14.62 [[ 7.11315087e-01 -6.98633601e-01 -7.70839698e-02 1.20636362e+02] [ 6.93938479e-01 7.15467881e-01 -8.09635663e-02 3.99165381e+01] [ 1.11714972e-01 4.09907341e-03 9.93731836e-01 1.46203366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:39.93, Z:14.62 [[ 7.10464298e-01 -6.99486471e-01 -7.71955838e-02 1.20655768e+02] [ 6.94807713e-01 7.14635679e-01 -8.08584494e-02 3.99331097e+01] [ 1.11726110e-01 3.81095444e-03 9.93731731e-01 1.46241706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.68, Y:39.95, Z:14.63 [[ 7.01612039e-01 -7.08430301e-01 -7.65967025e-02 1.20679572e+02] [ 7.03743099e-01 7.05773424e-01 -8.14218920e-02 3.99521456e+01] [ 1.11741652e-01 3.22217882e-03 9.93732067e-01 1.46320448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.70, Y:39.96, Z:14.64 [[ 6.92689335e-01 -7.17087050e-01 -7.72505571e-02 1.20703131e+02] [ 7.12520174e-01 6.96982995e-01 -8.08065929e-02 3.99633281e+01] [ 1.11787686e-01 9.31284730e-04 9.93731677e-01 1.46390346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.067105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:120.72, Y:39.99, Z:14.63 [[ 6.79793669e-01 -7.29396854e-01 -7.65558430e-02 1.20721078e+02] [ 7.24833860e-01 6.84090795e-01 -8.14595563e-02 3.99874550e+01] [ 1.11787492e-01 -1.14576523e-04 9.93732129e-01 1.46289573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.097105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.75, Y:40.00, Z:14.64 [[ 6.75500503e-01 -7.33377518e-01 -7.65276879e-02 1.20748617e+02] [ 7.28836849e-01 6.79821212e-01 -8.14859983e-02 4.00023341e+01] [ 1.11785145e-01 -7.32366050e-04 9.93732129e-01 1.46430412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.127105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.77, Y:40.02, Z:14.64 [[ 6.70510383e-01 -7.37867722e-01 -7.72466918e-02 1.20767104e+02] [ 7.33433394e-01 6.74940826e-01 -8.08105049e-02 4.00177948e+01] [ 1.11764409e-01 -2.47102079e-03 9.93731659e-01 1.46431188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.157105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.79, Y:40.04, Z:14.65 [[ 6.69657696e-01 -7.38741541e-01 -7.62856828e-02 1.20786300e+02] [ 7.34209653e-01 6.73987589e-01 -8.17123896e-02 4.00391546e+01] [ 1.11779940e-01 -1.29035414e-03 9.93732147e-01 1.46474792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.187105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:40.06, Z:14.65 [[ 6.69376876e-01 -7.38977202e-01 -7.64675961e-02 1.20805628e+02] [ 7.34466295e-01 6.73728578e-01 -8.15418013e-02 4.00600053e+01] [ 1.11775937e-01 -1.58067582e-03 9.93732178e-01 1.46507676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.217105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:40.08, Z:14.65 [[ 6.69197835e-01 -7.39142571e-01 -7.64363682e-02 1.20822751e+02] [ 7.34629397e-01 6.73547185e-01 -8.15710636e-02 4.00827821e+01] [ 1.11776146e-01 -1.56522396e-03 9.93732179e-01 1.46530490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:40.11, Z:14.66 [[ 6.73151430e-01 -7.35547270e-01 -7.64026485e-02 1.20840701e+02] [ 7.31007280e-01 6.77472779e-01 -8.16026347e-02 4.01071673e+01] [ 1.11783310e-01 -9.19961992e-04 9.93732180e-01 1.46598483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.277105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:120.86, Y:40.13, Z:14.66 [[ 6.76037524e-01 -7.32833504e-01 -7.69955986e-02 1.20856903e+02] [ 7.28339057e-01 6.80406789e-01 -8.10482519e-02 4.01281851e+01] [ 1.11783202e-01 -1.28724216e-03 9.93731784e-01 1.46571736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.307105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:40.15, Z:14.67 [[ 6.78858428e-01 -7.30277107e-01 -7.64629439e-02 1.20871396e+02] [ 7.25709955e-01 6.83151030e-01 -8.15458828e-02 4.01537482e+01] [ 1.11786830e-01 -1.31809742e-04 9.93732201e-01 1.46659335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.337105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:40.17, Z:14.67 [[ 6.82480507e-01 -7.26865725e-01 -7.67240214e-02 1.20888390e+02] [ 7.22304483e-01 6.86779595e-01 -8.13020375e-02 4.01734768e+01] [ 1.11788157e-01 6.89511712e-05 9.93732058e-01 1.46685514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.90, Y:40.20, Z:14.67 [[ 6.86048920e-01 -7.23547477e-01 -7.62622269e-02 1.20904847e+02] [ 7.18917402e-01 6.90273492e-01 -8.17329527e-02 4.01991239e+01] [ 1.11779465e-01 1.24656196e-03 9.93732256e-01 1.46738002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39710568099997 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:120.92, Y:40.22, Z:14.68 [[ 6.90469934e-01 -7.19253113e-01 -7.69820074e-02 1.20920468e+02] [ 7.14671305e-01 6.94747472e-01 -8.10609424e-02 4.02207699e+01] [ 1.11786390e-01 9.53311843e-04 9.93731802e-01 1.46782739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.93, Y:40.24, Z:14.68 [[ 6.91640565e-01 -7.18153240e-01 -7.67414708e-02 1.20934821e+02] [ 7.13539711e-01 6.95883457e-01 -8.12852649e-02 4.02447859e+01] [ 1.11778396e-01 1.46209962e-03 9.93732083e-01 1.46782840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.95, Y:40.27, Z:14.68 [[ 6.94690408e-01 -7.15244342e-01 -7.63594668e-02 1.20954098e+02] [ 7.10573882e-01 6.98870158e-01 -8.16410455e-02 4.02653875e+01] [ 1.11758648e-01 2.45620846e-03 9.93732344e-01 1.46836405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:40.29, Z:14.68 [[ 6.95372196e-01 -7.14586730e-01 -7.63106384e-02 1.20969229e+02] [ 7.09907333e-01 6.99541917e-01 -8.16865033e-02 4.02892372e+01] [ 1.11754582e-01 2.62904144e-03 9.93732359e-01 1.46836348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:40.31, Z:14.68 [[ 6.96755026e-01 -7.13243150e-01 -7.62669153e-02 1.20988143e+02] [ 7.08551266e-01 7.00910672e-01 -8.17271895e-02 4.03117362e+01] [ 1.11747653e-01 2.90481064e-03 9.93732370e-01 1.46845561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:40.33, Z:14.69 [[ 7.00082358e-01 -7.09971103e-01 -7.63264368e-02 1.21007870e+02] [ 7.05265823e-01 7.04222858e-01 -8.16718136e-02 4.03301800e+01] [ 1.11735449e-01 3.34656868e-03 9.93732353e-01 1.46928220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:121.02, Y:40.36, Z:14.69 [[ 6.99450059e-01 -7.10631807e-01 -7.59740073e-02 1.21023809e+02] [ 7.05894842e-01 7.03554234e-01 -8.19994635e-02 4.03562864e+01] [ 1.11723261e-01 3.72486970e-03 9.93732378e-01 1.46889472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:40.38, Z:14.69 [[ 7.01141141e-01 -7.08945082e-01 -7.61444071e-02 1.21043703e+02] [ 7.04215374e-01 7.05253665e-01 -8.18411534e-02 4.03768425e+01] [ 1.11722005e-01 3.76013760e-03 9.93732386e-01 1.46898250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:40.40, Z:14.69 [[ 6.98043937e-01 -7.12000223e-01 -7.60943171e-02 1.21061747e+02] [ 7.07283458e-01 7.02171290e-01 -8.18876594e-02 4.03973009e+01] [ 1.11735277e-01 3.34093235e-03 9.93732392e-01 1.46877409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.08, Y:40.42, Z:14.69 [[ 6.94914571e-01 -7.15104875e-01 -7.56224589e-02 1.21084362e+02] [ 7.10358835e-01 6.99008467e-01 -8.23255094e-02 4.04183265e+01] [ 1.11732112e-01 3.49011430e-03 9.93732235e-01 1.46923746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.10, Y:40.43, Z:14.70 [[ 6.87727998e-01 -7.21951237e-01 -7.62667172e-02 1.21104387e+02] [ 7.17311937e-01 6.91942312e-01 -8.17277286e-02 4.04336217e+01] [ 1.11775603e-01 1.49942049e-03 9.93732341e-01 1.46969366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.13, Y:40.45, Z:14.70 [[ 6.78855786e-01 -7.30369502e-01 -7.55990199e-02 1.21128603e+02] [ 7.25713256e-01 6.83051471e-01 -8.23465737e-02 4.04516854e+01] [ 1.11781448e-01 1.03823719e-03 9.93732273e-01 1.46972867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.15, Y:40.47, Z:14.70 [[ 6.68990278e-01 -7.39374240e-01 -7.60114514e-02 1.21150498e+02] [ 7.34817765e-01 6.73293911e-01 -8.19643939e-02 4.04689751e+01] [ 1.11780409e-01 -1.02118215e-03 9.93732407e-01 1.46988203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:121.17, Y:40.49, Z:14.71 [[ 6.64252510e-01 -7.43656644e-01 -7.57852104e-02 1.21173977e+02] [ 7.39103975e-01 6.68560210e-01 -8.21739667e-02 4.04884756e+01] [ 1.11776192e-01 -1.42888655e-03 9.93732379e-01 1.47076025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.817105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.19, Y:40.50, Z:14.71 [[ 6.58908206e-01 -7.48332032e-01 -7.64143066e-02 1.21194864e+02] [ 7.43877195e-01 6.63317172e-01 -8.15907360e-02 4.05038314e+01] [ 1.11743883e-01 -3.08205462e-03 9.93732261e-01 1.47141956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.847105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:121.21, Y:40.52, Z:14.72 [[ 6.58922444e-01 -7.48366125e-01 -7.59562776e-02 1.21214651e+02] [ 7.43862518e-01 6.63281308e-01 -8.20150035e-02 4.05244427e+01] [ 1.11757630e-01 -2.45950133e-03 9.93732450e-01 1.47216550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.877105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:121.23, Y:40.55, Z:14.72 [[ 6.63938897e-01 -7.43881042e-01 -7.63291407e-02 1.21229791e+02] [ 7.39387526e-01 6.68308386e-01 -8.16699950e-02 4.05466110e+01] [ 1.11764166e-01 -2.21292809e-03 9.93732295e-01 1.47226011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.907105681 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:121.25, Y:40.57, Z:14.73 [[ 6.69593024e-01 -7.38852018e-01 -7.57817766e-02 1.21245022e+02] [ 7.34268210e-01 6.73867428e-01 -8.21759353e-02 4.05726424e+01] [ 1.11782727e-01 -6.19716532e-04 9.93732478e-01 1.47263357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.937105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:121.26, Y:40.60, Z:14.73 [[ 6.72689728e-01 -7.35995106e-01 -7.61559804e-02 1.21260485e+02] [ 7.31432189e-01 6.76986538e-01 -8.18301909e-02 4.05961650e+01] [ 1.11783194e-01 -6.56606598e-04 9.93732402e-01 1.47309326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.967105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:40.62, Z:14.73 [[ 6.78775914e-01 -7.30392872e-01 -7.60888383e-02 1.21272987e+02] [ 7.25787533e-01 6.83027175e-01 -8.18922181e-02 4.06216887e+01] [ 1.11784237e-01 3.62134898e-04 9.93732435e-01 1.47273519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:40.64, Z:14.74 [[ 6.82567234e-01 -7.26859638e-01 -7.60068336e-02 1.21290795e+02] [ 7.22223862e-01 6.86785232e-01 -8.19679136e-02 4.06428440e+01] [ 1.11779539e-01 1.05466314e-03 9.93732470e-01 1.47365708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.027105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:121.31, Y:40.67, Z:14.74 [[ 6.86787849e-01 -7.22882715e-01 -7.59146282e-02 1.21307406e+02] [ 7.18213116e-01 6.90968329e-01 -8.20529596e-02 4.06655248e+01] [ 1.11769270e-01 1.83009395e-03 9.93732500e-01 1.47398458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:40.69, Z:14.75 [[ 6.88036940e-01 -7.21685972e-01 -7.59903103e-02 1.21321920e+02] [ 7.17016798e-01 6.92217933e-01 -8.19831969e-02 4.06872783e+01] [ 1.11767979e-01 1.92113894e-03 9.93732473e-01 1.47479482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.087105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:40.71, Z:14.75 [[ 6.86481235e-01 -7.23179071e-01 -7.58653155e-02 1.21340622e+02] [ 7.18506262e-01 6.90658101e-01 -8.20983520e-02 4.07107789e+01] [ 1.11768805e-01 1.84927377e-03 9.93732517e-01 1.47518433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:40.73, Z:14.76 [[ 6.84362464e-01 -7.25160100e-01 -7.60976188e-02 1.21358710e+02] [ 7.20523104e-01 6.88579239e-01 -8.18846052e-02 4.07321127e+01] [ 1.11778689e-01 1.20865761e-03 9.93732390e-01 1.47575354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:40.75, Z:14.75 [[ 6.84484440e-01 -7.25054532e-01 -7.60064272e-02 1.21377239e+02] [ 7.20407571e-01 6.88690135e-01 -8.19684640e-02 4.07528354e+01] [ 1.11776483e-01 1.35053260e-03 9.93732456e-01 1.47504694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:40.77, Z:14.76 [[ 6.86901994e-01 -7.22782270e-01 -7.58382571e-02 1.21394898e+02] [ 7.18104339e-01 6.91073068e-01 -8.21229126e-02 4.07744003e+01] [ 1.11766762e-01 1.95061084e-03 9.93732553e-01 1.47605832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:121.41, Y:40.79, Z:14.76 [[ 6.89576328e-01 -7.20211398e-01 -7.60265073e-02 1.21411843e+02] [ 7.15536943e-01 6.93751458e-01 -8.19499749e-02 4.07946694e+01] [ 1.11764806e-01 2.11098818e-03 9.93732445e-01 1.47645482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:121.43, Y:40.82, Z:14.75 [[ 6.90256413e-01 -7.19589445e-01 -7.57437418e-02 1.21425640e+02] [ 7.14882731e-01 6.94394904e-01 -8.22094843e-02 4.08223563e+01] [ 1.11753146e-01 2.59773078e-03 9.93732603e-01 1.47548701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:121.45, Y:40.84, Z:14.77 [[ 6.96844796e-01 -7.13232593e-01 -7.55420277e-02 1.21447799e+02] [ 7.08468120e-01 7.00916601e-01 -8.23944284e-02 4.08382892e+01] [ 1.11715053e-01 3.89701032e-03 9.93732640e-01 1.47670770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:40.86, Z:14.77 [[ 6.96166407e-01 -7.13879933e-01 -7.56820656e-02 1.21466645e+02] [ 7.09133146e-01 7.00258855e-01 -8.22661359e-02 4.08585320e+01] [ 1.11725180e-01 3.60225899e-03 9.93732614e-01 1.47663469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:40.87, Z:14.78 [[ 6.93728757e-01 -7.16297159e-01 -7.52249396e-02 1.21489702e+02] [ 7.11519216e-01 6.97784823e-01 -8.26846125e-02 4.08742242e+01] [ 1.11717574e-01 3.83670334e-03 9.93732591e-01 1.47750407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:40.90, Z:14.78 [[ 6.90622568e-01 -7.19270745e-01 -7.54325117e-02 1.21510249e+02] [ 7.14530958e-01 6.94723072e-01 -8.24946240e-02 4.08950717e+01] [ 1.11740676e-01 3.07378423e-03 9.93732647e-01 1.47783464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:40.91, Z:14.78 [[ 6.83775289e-01 -7.25762432e-01 -7.56323094e-02 1.21530861e+02] [ 7.21081775e-01 6.87943199e-01 -8.23117734e-02 4.09149924e+01] [ 1.11769526e-01 1.74567674e-03 9.93732623e-01 1.47763585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:40.93, Z:14.78 [[ 6.78737311e-01 -7.30464485e-01 -7.57449592e-02 1.21551761e+02] [ 7.25824193e-01 6.82950190e-01 -8.22087497e-02 4.09321421e+01] [ 1.11780606e-01 8.20621791e-04 9.93732571e-01 1.47799525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:40.95, Z:14.78 [[ 6.75098778e-01 -7.33865387e-01 -7.53872270e-02 1.21572002e+02] [ 7.29209737e-01 6.79294514e-01 -8.25355925e-02 4.09534179e+01] [ 1.11780144e-01 7.46577676e-04 9.93732681e-01 1.47830679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:40.97, Z:14.79 [[ 6.69070885e-01 -7.39347937e-01 -7.55564673e-02 1.21591291e+02] [ 7.34744099e-01 6.73323452e-01 -8.23810533e-02 4.09695558e+01] [ 1.11782203e-01 -3.95904236e-04 9.93732651e-01 1.47895935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.61, Y:40.99, Z:14.80 [[ 6.60803166e-01 -7.46810786e-01 -7.49187998e-02 1.21611448e+02] [ 7.42188756e-01 6.65036118e-01 -8.29627106e-02 4.09905634e+01] [ 1.11781155e-01 -7.81869066e-04 9.93732541e-01 1.47969859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.63, Y:41.01, Z:14.80 [[ 6.53927093e-01 -7.52785410e-01 -7.54551809e-02 1.21628174e+02] [ 7.48258226e-01 6.58261145e-01 -8.24735853e-02 4.10128623e+01] [ 1.11754125e-01 -2.52824794e-03 9.93732672e-01 1.47966273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:41.03, Z:14.80 [[ 6.52744199e-01 -7.53837010e-01 -7.51982275e-02 1.21644392e+02] [ 7.49289817e-01 6.57057228e-01 -8.27077275e-02 4.10317641e+01] [ 1.11757685e-01 -2.35827682e-03 9.93732690e-01 1.47975756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.597105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.66, Y:41.06, Z:14.80 [[ 6.45493367e-01 -7.60140713e-01 -7.43263738e-02 1.21661911e+02] [ 7.55543883e-01 6.49754570e-01 -8.35011326e-02 4.10628039e+01] [ 1.11766512e-01 -2.25740985e-03 9.93731931e-01 1.47978723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.627105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:41.08, Z:14.80 [[ 6.45499274e-01 -7.59947182e-01 -7.62297069e-02 1.21677746e+02] [ 7.55550864e-01 6.49966996e-01 -8.17667213e-02 4.10830610e+01] [ 1.11685183e-01 -4.81506169e-03 9.93731973e-01 1.48012581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.657105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:121.69, Y:41.11, Z:14.80 [[ 6.41938048e-01 -7.63050687e-01 -7.52940352e-02 1.21691764e+02] [ 7.58575809e-01 6.46325768e-01 -8.26180563e-02 4.11098021e+01] [ 1.11706240e-01 -4.08055985e-03 9.93732894e-01 1.48038105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.687105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:121.70, Y:41.14, Z:14.81 [[ 6.39974604e-01 -7.64674191e-01 -7.55373281e-02 1.21701979e+02] [ 7.60236411e-01 6.44399988e-01 -8.23969363e-02 4.11373159e+01] [ 1.11683064e-01 -4.69428050e-03 9.93732790e-01 1.48093251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.717105681 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:121.72, Y:41.16, Z:14.81 [[ 6.39010216e-01 -7.65519619e-01 -7.51375877e-02 1.21716294e+02] [ 7.61045050e-01 6.43398193e-01 -8.27598821e-02 4.11626057e+01] [ 1.11697702e-01 -4.29867902e-03 9.93732934e-01 1.48137143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.747105681 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:121.73, Y:41.19, Z:14.82 [[ 6.37613297e-01 -7.66677888e-01 -7.51950726e-02 1.21726407e+02] [ 7.62217417e-01 6.42015611e-01 -8.27077081e-02 4.11909513e+01] [ 1.11686581e-01 -4.57945951e-03 9.93732930e-01 1.48190687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.777105681 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:121.74, Y:41.21, Z:14.82 [[ 6.38319578e-01 -7.66075169e-01 -7.53455425e-02 1.21738591e+02] [ 7.61626584e-01 6.42733963e-01 -8.25711764e-02 4.12138427e+01] [ 1.11682867e-01 -4.67836971e-03 9.93732887e-01 1.48201150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.807105681 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:121.75, Y:41.25, Z:14.82 [[ 6.40276450e-01 -7.64504588e-01 -7.46913831e-02 1.21746829e+02] [ 7.59975811e-01 6.44608702e-01 -8.31648254e-02 4.12472111e+01] [ 1.11726606e-01 -3.51516527e-03 9.93732765e-01 1.48224175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:121.76, Y:41.28, Z:14.83 [[ 6.46036697e-01 -7.59601134e-01 -7.51179309e-02 1.21757051e+02] [ 7.55084260e-01 6.50381119e-01 -8.27777732e-02 4.12755775e+01] [ 1.11733374e-01 -3.24288815e-03 9.93732930e-01 1.48272759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86710568099997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:121.77, Y:41.30, Z:14.83 [[ 6.50646325e-01 -7.55632823e-01 -7.53551382e-02 1.21771418e+02] [ 7.51114300e-01 6.54989111e-01 -8.25625371e-02 4.12984082e+01] [ 1.11743758e-01 -2.88131055e-03 9.93732877e-01 1.48325086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89710568099997 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:121.78, Y:41.33, Z:14.83 [[ 6.59650683e-01 -7.47813003e-01 -7.50778866e-02 1.21777523e+02] [ 7.43214314e-01 6.63908384e-01 -8.28138999e-02 4.13293534e+01] [ 1.11774150e-01 -1.17071434e-03 9.93732946e-01 1.48330920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92710568099997 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:121.78, Y:41.36, Z:14.83 [[ 6.67509102e-01 -7.40809819e-01 -7.50493890e-02 1.21784298e+02] [ 7.36163550e-01 6.71714827e-01 -8.28397177e-02 4.13615235e+01] [ 1.11780264e-01 4.76409443e-05 9.93732947e-01 1.48314443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95710568099997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:121.80, Y:41.39, Z:14.83 [[ 6.77748514e-01 -7.31459019e-01 -7.49977067e-02 1.21797912e+02] [ 7.26749556e-01 6.81883355e-01 -8.28865089e-02 4.13867720e+01] [ 1.11767772e-01 1.67165809e-03 9.93732947e-01 1.48314590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98710568099997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:121.81, Y:41.41, Z:14.83 [[ 6.80124503e-01 -7.29249017e-01 -7.50102054e-02 1.21813020e+02] [ 7.24527367e-01 6.84245421e-01 -8.28751963e-02 4.14108007e+01] [ 1.11762045e-01 2.01850513e-03 9.93732947e-01 1.48333486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01710568099998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:121.83, Y:41.44, Z:14.84 [[ 6.82587168e-01 -7.26947660e-01 -7.49790486e-02 1.21825410e+02] [ 7.22209025e-01 6.86688542e-01 -8.29033752e-02 4.14361528e+01] [ 1.11753668e-01 2.43823450e-03 9.93732948e-01 1.48364063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04710568099998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:121.84, Y:41.46, Z:14.84 [[ 6.80803376e-01 -7.28620663e-01 -7.49579423e-02 1.21840087e+02] [ 7.23890008e-01 6.84913953e-01 -8.29224543e-02 4.14599106e+01] [ 1.11758754e-01 2.19258135e-03 9.93732949e-01 1.48399235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07710568099998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:121.86, Y:41.48, Z:14.84 [[ 6.77461173e-01 -7.31732432e-01 -7.49266766e-02 1.21855632e+02] [ 7.27017539e-01 6.81589818e-01 -8.29506957e-02 4.14846237e+01] [ 1.11766974e-01 1.72286764e-03 9.93732950e-01 1.48365157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10710568099998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:121.87, Y:41.51, Z:14.84 [[ 6.77235087e-01 -7.31947150e-01 -7.48732714e-02 1.21873805e+02] [ 7.27228238e-01 6.81359136e-01 -8.29989019e-02 4.15050922e+01] [ 1.11766397e-01 1.75981126e-03 9.93732950e-01 1.48395814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13710568099998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:121.89, Y:41.53, Z:14.84 [[ 6.73577676e-01 -7.35316811e-01 -7.48485229e-02 1.21889368e+02] [ 7.30616052e-01 6.77722406e-01 -8.30212273e-02 4.15293788e+01] [ 1.11773425e-01 1.23571308e-03 9.93732949e-01 1.48433500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:121.91, Y:41.55, Z:14.85 [[ 6.71508547e-01 -7.37206210e-01 -7.48550323e-02 1.21908323e+02] [ 7.32517767e-01 6.75667204e-01 -8.30153578e-02 4.15502808e+01] [ 1.11776528e-01 9.12881155e-04 9.93732949e-01 1.48468393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19710568099998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:121.93, Y:41.57, Z:14.85 [[ 6.67542858e-01 -7.40802080e-01 -7.48252061e-02 1.21928605e+02] [ 7.36133027e-01 6.71723272e-01 -8.30422328e-02 4.15730536e+01] [ 1.11779691e-01 3.52943921e-04 9.93732950e-01 1.48527251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22710568099998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:121.94, Y:41.60, Z:14.85 [[ 6.65372388e-01 -7.42696623e-01 -7.53744740e-02 1.21942520e+02] [ 7.38095302e-01 6.69627676e-01 -8.25475708e-02 4.15961118e+01] [ 1.11780636e-01 -7.08670759e-04 9.93732654e-01 1.48537515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25710568099998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:121.96, Y:41.62, Z:14.86 [[ 6.63622297e-01 -7.44323398e-01 -7.47537752e-02 1.21960040e+02] [ 7.39669347e-01 6.67819331e-01 -8.31059416e-02 4.16184250e+01] [ 1.11779713e-01 -1.42120280e-04 9.93733000e-01 1.48556960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28710568099999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:121.98, Y:41.64, Z:14.86 [[ 6.59807459e-01 -7.47727148e-01 -7.45535303e-02 1.21979603e+02] [ 7.43074387e-01 6.64005958e-01 -8.32859111e-02 4.16386321e+01] [ 1.11779125e-01 -4.46153495e-04 9.93732976e-01 1.48592398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.317105681 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:122.00, Y:41.66, Z:14.86 [[ 6.56357163e-01 -7.50743005e-01 -7.47008392e-02 1.21996046e+02] [ 7.46124575e-01 6.60593370e-01 -8.31535794e-02 4.16609216e+01] [ 1.11773847e-01 -1.15768450e-03 9.93732996e-01 1.48609193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.347105681 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:122.01, Y:41.68, Z:14.86 [[ 6.54852341e-01 -7.52059045e-01 -7.46699633e-02 1.22012612e+02] [ 7.47445969e-01 6.59094375e-01 -8.31812961e-02 4.16831951e+01] [ 1.11771799e-01 -1.34029661e-03 9.93732997e-01 1.48640733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.377105681 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:122.03, Y:41.71, Z:14.86 [[ 6.52706382e-01 -7.53925405e-01 -7.46382129e-02 1.22031117e+02] [ 7.49321201e-01 6.56958043e-01 -8.32097760e-02 4.17063133e+01] [ 1.11768138e-01 -1.61644347e-03 9.93732998e-01 1.48647964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.407105681 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:122.05, Y:41.73, Z:14.87 [[ 6.48318719e-01 -7.57684681e-01 -7.48115168e-02 1.22047575e+02] [ 7.53123011e-01 6.52616037e-01 -8.30544272e-02 4.17270040e+01] [ 1.11752263e-01 -2.49653495e-03 9.93732962e-01 1.48689334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.437105681 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:122.06, Y:41.75, Z:14.87 [[ 6.43409530e-01 -7.61880912e-01 -7.45764889e-02 1.22064940e+02] [ 7.57322859e-01 6.47710612e-01 -8.32649381e-02 4.17493249e+01] [ 1.11741950e-01 -2.90502500e-03 9.93733011e-01 1.48736158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.467105681 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:122.08, Y:41.77, Z:14.88 [[ 6.33920580e-01 -7.69781896e-01 -7.47029533e-02 1.22081763e+02] [ 7.65290685e-01 6.38291438e-01 -8.31517199e-02 4.17699714e+01] [ 1.11690944e-01 -4.45788776e-03 9.93732992e-01 1.48750760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.497105681 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:122.10, Y:41.79, Z:14.88 [[ 6.28694424e-01 -7.74072530e-01 -7.45321413e-02 1.22098304e+02] [ 7.69593072e-01 6.33077290e-01 -8.33045484e-02 4.17911825e+01] [ 1.11668369e-01 -4.98631449e-03 9.93733019e-01 1.48806149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.527105681 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:122.12, Y:41.81, Z:14.88 [[ 6.26995441e-01 -7.75452031e-01 -7.45041259e-02 1.22116581e+02] [ 7.70979252e-01 6.31385122e-01 -8.33295968e-02 4.18125050e+01] [ 1.11658902e-01 -5.19385792e-03 9.93733019e-01 1.48842189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.557105681 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:122.13, Y:41.83, Z:14.89 [[ 6.25520992e-01 -7.76644805e-01 -7.44737204e-02 1.22132571e+02] [ 7.72177177e-01 6.29915913e-01 -8.33567622e-02 4.18334234e+01] [ 1.11650778e-01 -5.36550260e-03 9.93733020e-01 1.48884761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:122.15, Y:41.86, Z:14.89 [[ 6.23287453e-01 -7.78441073e-01 -7.44462724e-02 1.22146907e+02] [ 7.73983195e-01 6.27692263e-01 -8.33812690e-02 4.18586564e+01] [ 1.11636754e-01 -5.64966506e-03 9.93733021e-01 1.48924129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61710568099997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:122.16, Y:41.88, Z:14.89 [[ 6.22982412e-01 -7.78686675e-01 -7.44310223e-02 1.22164069e+02] [ 7.74228917e-01 6.27387343e-01 -8.33948743e-02 4.18816947e+01] [ 1.11635559e-01 -5.67310987e-03 9.93733021e-01 1.48923200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64710568099997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:122.18, Y:41.91, Z:14.89 [[ 6.21457094e-01 -7.79908848e-01 -7.43859461e-02 1.22175634e+02] [ 7.75454970e-01 6.25865945e-01 -8.34350620e-02 4.19070515e+01] [ 1.11627374e-01 -5.83164043e-03 9.93733023e-01 1.48948232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:122.19, Y:41.93, Z:14.90 [[ 6.20850283e-01 -7.80394060e-01 -7.43642187e-02 1.22189981e+02] [ 7.75941323e-01 6.25260284e-01 -8.34544228e-02 4.19308977e+01] [ 1.11624328e-01 -5.88956816e-03 9.93733024e-01 1.48984030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.20, Y:41.96, Z:14.90 [[ 6.19140538e-01 -7.81765646e-01 -7.42123242e-02 1.22200525e+02] [ 7.77306553e-01 6.23544133e-01 -8.35896939e-02 4.19580087e+01] [ 1.11622210e-01 -5.93195790e-03 9.93733009e-01 1.49024126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.21, Y:41.99, Z:14.91 [[ 6.18370136e-01 -7.82350882e-01 -7.44679341e-02 1.22209340e+02] [ 7.77923125e-01 6.22805244e-01 -8.33621029e-02 4.19858007e+01] [ 1.11597435e-01 -6.38169314e-03 9.93733006e-01 1.49055155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:42.02, Z:14.91 [[ 6.17901301e-01 -7.82755929e-01 -7.41022184e-02 1.22217684e+02] [ 7.78292223e-01 6.22300253e-01 -8.36875780e-02 4.20178622e+01] [ 1.11620777e-01 -5.96251697e-03 9.93732988e-01 1.49088392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:122.23, Y:42.04, Z:14.91 [[ 6.18629437e-01 -7.82157220e-01 -7.43485198e-02 1.22231288e+02] [ 7.77715376e-01 6.23050413e-01 -8.34684209e-02 4.20437808e+01] [ 1.11608304e-01 -6.18596477e-03 9.93733023e-01 1.49127160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:42.07, Z:14.91 [[ 6.19874658e-01 -7.81168323e-01 -7.43737869e-02 1.22239297e+02] [ 7.76722103e-01 6.24291237e-01 -8.34459448e-02 4.20747266e+01] [ 1.11616232e-01 -6.04173772e-03 9.93733020e-01 1.49145728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:122.25, Y:42.10, Z:14.92 [[ 6.20147689e-01 -7.80947007e-01 -7.44218716e-02 1.22252302e+02] [ 7.76504308e-01 6.24567825e-01 -8.34031896e-02 4.21014794e+01] [ 1.11614978e-01 -6.06660856e-03 9.93733009e-01 1.49163370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88710568099998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:122.27, Y:42.13, Z:14.91 [[ 6.27477453e-01 -7.75066136e-01 -7.44616056e-02 1.22270996e+02] [ 7.70586137e-01 6.31859797e-01 -8.33678711e-02 4.21334543e+01] [ 1.11664909e-01 -5.06762166e-03 9.93732996e-01 1.49054507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:122.27, Y:42.15, Z:14.92 [[ 6.21255270e-01 -7.79829130e-01 -7.68662358e-02 1.22274724e+02] [ 7.75642239e-01 6.25925371e-01 -8.12191320e-02 4.21536523e+01] [ 1.11449572e-01 -9.16288543e-03 9.93727847e-01 1.49179879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:122.29, Y:42.18, Z:14.92 [[ 6.18962712e-01 -7.81926326e-01 -7.40025842e-02 1.22288763e+02] [ 7.77446807e-01 6.23344956e-01 -8.37706889e-02 4.21811932e+01] [ 1.11631645e-01 -5.68214001e-03 9.93733410e-01 1.49234572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.30, Y:42.21, Z:14.93 [[ 6.18707225e-01 -7.82097558e-01 -7.43288652e-02 1.22296247e+02] [ 7.77653842e-01 6.23125637e-01 -8.34801900e-02 4.22108752e+01] [ 1.11605874e-01 -6.15233089e-03 9.93733504e-01 1.49281876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00710568099998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:122.31, Y:42.23, Z:14.93 [[ 6.19796132e-01 -7.81237928e-01 -7.42970688e-02 1.22309850e+02] [ 7.76784714e-01 6.24204968e-01 -8.35084792e-02 4.22348097e+01] [ 1.11616591e-01 -5.95459498e-03 9.93733505e-01 1.49325876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03710568099999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:122.32, Y:42.26, Z:14.94 [[ 6.24374119e-01 -7.77585771e-01 -7.42787199e-02 1.22320769e+02] [ 7.73104818e-01 6.28754760e-01 -8.35247969e-02 4.22620794e+01] [ 1.11650792e-01 -5.27451478e-03 9.93733506e-01 1.49403695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.067105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:42.29, Z:14.95 [[ 6.31131785e-01 -7.72112322e-01 -7.42646065e-02 1.22330738e+02] [ 7.67591873e-01 6.35471658e-01 -8.35373438e-02 4.22917194e+01] [ 1.11693265e-01 -4.28183552e-03 9.93733506e-01 1.49461168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.097105681 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:122.35, Y:42.31, Z:14.93 [[ 6.42730194e-01 -7.62473816e-01 -7.43745754e-02 1.22351521e+02] [ 7.57899501e-01 6.47013273e-01 -8.34396245e-02 4.23139875e+01] [ 1.11741866e-01 -2.73928753e-03 9.93733491e-01 1.49322277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.127105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:42.35, Z:14.96 [[ 6.43077785e-01 -7.62195247e-01 -7.42251183e-02 1.22351765e+02] [ 7.57603757e-01 6.47342418e-01 -8.35723684e-02 4.23476900e+01] [ 1.11747530e-01 -2.48969490e-03 9.93733511e-01 1.49565307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.157105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:122.36, Y:42.38, Z:14.96 [[ 6.51964406e-01 -7.54608909e-01 -7.42146072e-02 1.22361111e+02] [ 7.49966709e-01 6.56173784e-01 -8.35817015e-02 4.23767299e+01] [ 1.11769176e-01 -1.16619041e-03 9.93733511e-01 1.49555383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.187105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:42.40, Z:14.96 [[ 6.55421050e-01 -7.51633911e-01 -7.39574953e-02 1.22375995e+02] [ 7.46946819e-01 6.59580447e-01 -8.38098010e-02 4.24010702e+01] [ 1.11775206e-01 -3.11608137e-04 9.93733468e-01 1.49565063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.217105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:42.43, Z:14.95 [[ 6.63578324e-01 -7.44420967e-01 -7.41702915e-02 1.22390737e+02] [ 7.39709730e-01 6.67710292e-01 -8.36210608e-02 4.24260137e+01] [ 1.11773538e-01 6.24637173e-04 9.93733509e-01 1.49537444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:42.45, Z:14.96 [[ 6.66836633e-01 -7.41506867e-01 -7.41381882e-02 1.22407833e+02] [ 7.36774411e-01 6.70944279e-01 -8.36495140e-02 4.24480641e+01] [ 1.11769282e-01 1.15744027e-03 9.93733509e-01 1.49568858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:42.47, Z:14.96 [[ 6.70429391e-01 -7.38257043e-01 -7.41685341e-02 1.22423400e+02] [ 7.33507650e-01 6.74517445e-01 -8.36226291e-02 4.24711728e+01] [ 1.11762965e-01 1.65988119e-03 9.93733508e-01 1.49603417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.307105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:122.44, Y:42.49, Z:14.96 [[ 6.71976659e-01 -7.36876718e-01 -7.38922967e-02 1.22438629e+02] [ 7.32092009e-01 6.76023365e-01 -8.38671583e-02 4.24883963e+01] [ 1.11752675e-01 2.26081294e-03 9.93733479e-01 1.49615886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:122.46, Y:42.51, Z:14.96 [[ 6.71686079e-01 -7.37334597e-01 -7.19409745e-02 1.22459527e+02] [ 7.32366495e-01 6.75510671e-01 -8.55841751e-02 4.25100842e+01] [ 1.11701069e-01 4.79853968e-03 9.93730268e-01 1.49643566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.49, Y:42.53, Z:14.97 [[ 6.68498895e-01 -7.40200487e-01 -7.21974189e-02 1.22485475e+02] [ 7.35273082e-01 6.72374465e-01 -8.53585008e-02 4.25328951e+01] [ 1.11726105e-01 3.97724475e-03 9.93731080e-01 1.49672106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:122.51, Y:42.55, Z:14.97 [[ 6.67667873e-01 -7.40781660e-01 -7.39063198e-02 1.22506597e+02] [ 7.36022227e-01 6.71744005e-01 -8.38526915e-02 4.25503729e+01] [ 1.11762663e-01 1.58905406e-03 9.93733657e-01 1.49732741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.53, Y:42.57, Z:14.98 [[ 6.61558057e-01 -7.46264992e-01 -7.36851272e-02 1.22530939e+02] [ 7.41517621e-01 6.65648280e-01 -8.40475138e-02 4.25671997e+01] [ 1.11770095e-01 9.63489744e-04 9.93733625e-01 1.49807238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:122.55, Y:42.58, Z:14.99 [[ 6.56047570e-01 -7.51097294e-01 -7.38541881e-02 1.22553015e+02] [ 7.46396785e-01 6.60191524e-01 -8.38986969e-02 4.25827548e+01] [ 1.11773993e-01 -8.29923486e-05 9.93733650e-01 1.49881932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:42.60, Z:14.99 [[ 6.54018149e-01 -7.52902923e-01 -7.34673369e-02 1.22573945e+02] [ 7.48175531e-01 6.58131577e-01 -8.42389553e-02 4.26018033e+01] [ 1.11774930e-01 1.27341784e-04 9.93733540e-01 1.49934193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:42.62, Z:14.99 [[ 6.55518054e-01 -7.51563025e-01 -7.38180156e-02 1.22597169e+02] [ 7.46861873e-01 6.59661281e-01 -8.39305450e-02 4.26177813e+01] [ 1.11773981e-01 -1.13873896e-04 9.93733649e-01 1.49942881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:122.62, Y:42.64, Z:15.00 [[ 6.58773218e-01 -7.48751124e-01 -7.34139093e-02 1.22616395e+02] [ 7.43992609e-01 6.62850612e-01 -8.42856085e-02 4.26352800e+01] [ 1.11771399e-01 9.05695581e-04 9.93733533e-01 1.49958849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:42.66, Z:15.00 [[ 6.60913985e-01 -7.46906156e-01 -7.29650464e-02 1.22638239e+02] [ 7.42092597e-01 6.64926976e-01 -8.46799498e-02 4.26581709e+01] [ 1.11764403e-01 1.81934239e-03 9.93733067e-01 1.49956566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.66, Y:42.68, Z:15.00 [[ 6.62083195e-01 -7.45789205e-01 -7.37855309e-02 1.22657249e+02] [ 7.41048754e-01 6.66181383e-01 -8.39589735e-02 4.26790233e+01] [ 1.11770243e-01 9.09149708e-04 9.93733660e-01 1.49972436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:122.68, Y:42.70, Z:15.00 [[ 6.65823530e-01 -7.42454955e-01 -7.37540996e-02 1.22677025e+02] [ 7.37690926e-01 6.69894284e-01 -8.39865755e-02 4.26984848e+01] [ 1.11763699e-01 1.51250811e-03 9.93733660e-01 1.49975349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:42.72, Z:15.00 [[ 6.69723634e-01 -7.38942039e-01 -7.37218933e-02 1.22697133e+02] [ 7.34153553e-01 6.73765589e-01 -8.40148362e-02 4.27158491e+01] [ 1.11753369e-01 2.14353152e-03 9.93733661e-01 1.50016812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:42.73, Z:15.01 [[ 6.73406823e-01 -7.35588901e-01 -7.37035951e-02 1.22720287e+02] [ 7.30778539e-01 6.77422717e-01 -8.40308856e-02 4.27327120e+01] [ 1.11740676e-01 2.72596611e-03 9.93733662e-01 1.50093782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:42.75, Z:15.01 [[ 6.75173547e-01 -7.33970327e-01 -7.36765905e-02 1.22741769e+02] [ 7.29147760e-01 6.79174776e-01 -8.40545561e-02 4.27511645e+01] [ 1.11732832e-01 3.03029191e-03 9.93733662e-01 1.50134271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:42.77, Z:15.01 [[ 6.76572797e-01 -7.32711080e-01 -7.33738546e-02 1.22765177e+02] [ 7.27852306e-01 6.80530088e-01 -8.43197506e-02 4.27676639e+01] [ 1.11715131e-01 3.64312030e-03 9.93733595e-01 1.50149034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:42.79, Z:15.02 [[ 6.74643708e-01 -7.34527540e-01 -7.29737009e-02 1.22790673e+02] [ 7.29641502e-01 6.78567799e-01 -8.46700680e-02 4.27850999e+01] [ 1.11710100e-01 3.87748781e-03 9.93733273e-01 1.50236770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.817105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:42.80, Z:15.03 [[ 6.74093630e-01 -7.34966838e-01 -7.36310054e-02 1.22812985e+02] [ 7.30145816e-01 6.78096737e-01 -8.40946063e-02 4.28031660e+01] [ 1.11735691e-01 2.92626796e-03 9.93733653e-01 1.50250831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.847105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:42.82, Z:15.02 [[ 6.71961291e-01 -7.36933744e-01 -7.34621016e-02 1.22839215e+02] [ 7.32108284e-01 6.75959077e-01 -8.42424324e-02 4.28180120e+01] [ 1.11738465e-01 2.82544044e-03 9.93733632e-01 1.50241479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.877105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:42.84, Z:15.02 [[ 6.71038751e-01 -7.37759721e-01 -7.36042651e-02 1.22861920e+02] [ 7.32952796e-01 6.75058778e-01 -8.41180403e-02 4.28373459e+01] [ 1.11746107e-01 2.49801278e-03 9.93733650e-01 1.50203642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.907105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:42.85, Z:15.02 [[ 6.67405328e-01 -7.41056281e-01 -7.35235802e-02 1.22886610e+02] [ 7.36261445e-01 6.71439769e-01 -8.41886038e-02 4.28543643e+01] [ 1.11755149e-01 2.05534528e-03 9.93733647e-01 1.50224329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.937105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:42.87, Z:15.03 [[ 6.61954197e-01 -7.45925006e-01 -7.35698673e-02 1.22912475e+02] [ 7.41164345e-01 6.66028907e-01 -8.41481358e-02 4.28668174e+01] [ 1.11767857e-01 1.17484918e-03 9.93733649e-01 1.50257372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.967105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:42.89, Z:15.03 [[ 6.58138088e-01 -7.49295733e-01 -7.35537999e-02 1.22933086e+02] [ 7.44554373e-01 6.62235240e-01 -8.41621780e-02 4.28851595e+01] [ 1.11772279e-01 6.25531603e-04 9.93733650e-01 1.50295012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.997105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:42.91, Z:15.03 [[ 6.57857589e-01 -7.49545120e-01 -7.35221445e-02 1.22951536e+02] [ 7.44802224e-01 6.61952960e-01 -8.41898225e-02 4.29066595e+01] [ 1.11772272e-01 6.25456915e-04 9.93733650e-01 1.50326849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.027105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:42.93, Z:15.04 [[ 6.52334241e-01 -7.54360124e-01 -7.34904220e-02 1.22972637e+02] [ 7.49644337e-01 6.56460799e-01 -8.42175044e-02 4.29255758e+01] [ 1.11773908e-01 -1.53716870e-04 9.93733651e-01 1.50370353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.057105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:42.94, Z:15.04 [[ 6.49578166e-01 -7.56753540e-01 -7.32958745e-02 1.22995846e+02] [ 7.52033792e-01 6.53700226e-01 -8.43871426e-02 4.29423683e+01] [ 1.11773799e-01 -3.04929097e-04 9.93733629e-01 1.50414695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.02, Y:42.96, Z:15.05 [[ 6.48950990e-01 -7.57278014e-01 -7.34344713e-02 1.23016121e+02] [ 7.52575250e-01 6.53092392e-01 -8.42663640e-02 4.29610459e+01] [ 1.11772559e-01 -5.80225333e-04 9.93733646e-01 1.50452368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.04, Y:42.98, Z:15.05 [[ 6.46145002e-01 -7.59676629e-01 -7.34033770e-02 1.23036215e+02] [ 7.54986162e-01 6.50300324e-01 -8.42934412e-02 4.29796915e+01] [ 1.11769997e-01 -9.52748142e-04 9.93733646e-01 1.50460209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:43.00, Z:15.05 [[ 6.42062663e-01 -7.63132714e-01 -7.33757316e-02 1.23056931e+02] [ 7.58461861e-01 6.46240021e-01 -8.43174992e-02 4.29980707e+01] [ 1.11763776e-01 -1.51557589e-03 9.93733647e-01 1.50486802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:43.02, Z:15.05 [[ 6.39778752e-01 -7.65051642e-01 -7.33425760e-02 1.23076454e+02] [ 7.60390014e-01 6.43966399e-01 -8.43463295e-02 4.30163789e+01] [ 1.11759453e-01 -1.80597298e-03 9.93733648e-01 1.50514508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.10, Y:43.03, Z:15.06 [[ 6.35851276e-01 -7.68320728e-01 -7.33240259e-02 1.23099517e+02] [ 7.63678767e-01 6.40060713e-01 -8.43624525e-02 4.30338522e+01] [ 1.11749249e-01 -2.35402858e-03 9.93733648e-01 1.50565541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:43.05, Z:15.06 [[ 6.35290256e-01 -7.68752616e-01 -7.36593871e-02 1.23119688e+02] [ 7.64147184e-01 6.39539786e-01 -8.40710660e-02 4.30525811e+01] [ 1.11737961e-01 -2.87708412e-03 9.93733541e-01 1.50576628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:43.07, Z:15.06 [[ 6.32670618e-01 -7.70947491e-01 -7.32656547e-02 1.23137999e+02] [ 7.66317174e-01 6.36892820e-01 -8.44128239e-02 4.30714718e+01] [ 1.11740224e-01 -2.73921605e-03 9.93733676e-01 1.50617506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29710568099998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:123.16, Y:43.09, Z:15.06 [[ 6.30905931e-01 -7.72395040e-01 -7.32366652e-02 1.23155214e+02] [ 7.67771495e-01 6.35135545e-01 -8.44379679e-02 4.30927028e+01] [ 1.11734677e-01 -2.95660929e-03 9.93733677e-01 1.50639977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:123.17, Y:43.11, Z:15.07 [[ 6.26635431e-01 -7.75866139e-01 -7.32104618e-02 1.23172414e+02] [ 7.71263366e-01 6.30887640e-01 -8.44606810e-02 4.31141988e+01] [ 1.11717758e-01 -3.53849194e-03 9.93733677e-01 1.50683614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:123.19, Y:43.14, Z:15.07 [[ 6.19097176e-01 -7.81921720e-01 -7.29185200e-02 1.23192028e+02] [ 7.77330772e-01 6.23362239e-01 -8.47135763e-02 4.31352525e+01] [ 1.11694037e-01 -4.23587354e-03 9.93733616e-01 1.50704210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:43.15, Z:15.08 [[ 6.15930035e-01 -7.84370047e-01 -7.34426379e-02 1.23209175e+02] [ 7.79849728e-01 6.20269881e-01 -8.42595756e-02 4.31549255e+01] [ 1.11644944e-01 -5.37621787e-03 9.93733618e-01 1.50783841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:43.18, Z:15.09 [[ 6.09546193e-01 -7.89376970e-01 -7.30577664e-02 1.23223459e+02] [ 7.84852490e-01 6.13881611e-01 -8.45927708e-02 4.31812216e+01] [ 1.11624404e-01 -5.77636842e-03 9.93733680e-01 1.50895387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:43.21, Z:15.09 [[ 6.08765350e-01 -7.89939614e-01 -7.34857398e-02 1.23236150e+02] [ 7.85463403e-01 6.13150732e-01 -8.42224537e-02 4.32058622e+01] [ 1.11588488e-01 -6.44864777e-03 9.93733578e-01 1.50904975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:43.23, Z:15.09 [[ 6.08139224e-01 -7.90449772e-01 -7.31836218e-02 1.23251397e+02] [ 7.85945962e-01 6.12496084e-01 -8.44836858e-02 4.32294830e+01] [ 1.11604792e-01 -6.14052886e-03 9.93733699e-01 1.50939329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:43.26, Z:15.10 [[ 6.08602980e-01 -7.90102438e-01 -7.30790757e-02 1.23263117e+02] [ 7.85585358e-01 6.12946066e-01 -8.45740238e-02 4.32563572e+01] [ 1.11615674e-01 -5.93784899e-03 9.93733708e-01 1.50965279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:43.29, Z:15.10 [[ 6.08359315e-01 -7.90284266e-01 -7.31417987e-02 1.23272465e+02] [ 7.85774951e-01 6.12710471e-01 -8.45198509e-02 4.32854746e+01] [ 1.11609454e-01 -6.05455472e-03 9.93733703e-01 1.50988123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:43.31, Z:15.10 [[ 6.08919116e-01 -7.89862779e-01 -7.30362881e-02 1.23286334e+02] [ 7.85339591e-01 6.13255834e-01 -8.46109293e-02 4.33108671e+01] [ 1.11620954e-01 -5.83707634e-03 9.93733712e-01 1.51007043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.597105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:43.34, Z:15.10 [[ 6.11995355e-01 -7.87484681e-01 -7.30038534e-02 1.23296725e+02] [ 7.82941312e-01 6.16310926e-01 -8.46389054e-02 4.33408973e+01] [ 1.11644914e-01 -5.35911582e-03 9.93733713e-01 1.51011386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.627105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:43.37, Z:15.10 [[ 6.15667438e-01 -7.84595997e-01 -7.32306409e-02 1.23309528e+02] [ 7.80055495e-01 6.19986091e-01 -8.44432980e-02 4.33650497e+01] [ 1.11655852e-01 -5.13497493e-03 9.93733668e-01 1.50996265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.657105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.32, Y:43.40, Z:15.11 [[ 6.19107732e-01 -7.81952576e-01 -7.24967964e-02 1.23317114e+02] [ 7.77319450e-01 6.23327050e-01 -8.50756235e-02 4.33976065e+01] [ 1.11714317e-01 -3.68219364e-03 9.93733542e-01 1.51052545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.687105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:43.42, Z:15.11 [[ 6.25207483e-01 -7.77040970e-01 -7.29584446e-02 1.23328871e+02] [ 7.72420853e-01 6.29440768e-01 -8.46778949e-02 4.34245447e+01] [ 1.11721213e-01 -3.41337050e-03 9.93733727e-01 1.51061695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.717105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:43.45, Z:15.11 [[ 6.27276646e-01 -7.75401179e-01 -7.26431092e-02 1.23342289e+02] [ 7.70738535e-01 6.31463150e-01 -8.49494023e-02 4.34477458e+01] [ 1.11741313e-01 -2.70206746e-03 9.93733655e-01 1.51101453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:43.49, Z:15.09 [[ 6.20800045e-01 -7.80629760e-01 -7.22805719e-02 1.23348794e+02] [ 7.75966014e-01 6.24985769e-01 -8.52615623e-02 4.34864072e+01] [ 1.11732042e-01 -3.15688551e-03 9.93733357e-01 1.50879315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.777105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.37, Y:43.50, Z:15.12 [[ 6.38505944e-01 -7.66152323e-01 -7.29436619e-02 1.23367853e+02] [ 7.61458506e-01 6.42657345e-01 -8.46905014e-02 4.35009237e+01] [ 1.11763604e-01 -1.46818328e-03 9.93733738e-01 1.51170347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.807105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:43.53, Z:15.12 [[ 6.48300346e-01 -7.57921633e-01 -7.25359134e-02 1.23378787e+02] [ 7.53135739e-01 6.52345418e-01 -8.50412479e-02 4.35293628e+01] [ 1.11773072e-01 5.02881761e-04 9.93733630e-01 1.51155636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.39, Y:43.55, Z:15.11 [[ 6.59234476e-01 -7.48395839e-01 -7.28942693e-02 1.23393471e+02] [ 7.43585500e-01 6.63250275e-01 -8.47329772e-02 4.35519488e+01] [ 1.11760952e-01 1.65577812e-03 9.93733741e-01 1.51083915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:43.57, Z:15.12 [[ 6.61592965e-01 -7.46374934e-01 -7.22440801e-02 1.23411559e+02] [ 7.41491075e-01 6.65519555e-01 -8.52918988e-02 4.35743706e+01] [ 1.11739583e-01 2.86017955e-03 9.93733407e-01 1.51180411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:43.60, Z:15.12 [[ 6.60298856e-01 -7.47500231e-01 -7.24487726e-02 1.23430614e+02] [ 7.42642327e-01 6.64257218e-01 -8.51159375e-02 4.35972529e+01] [ 1.11748803e-01 2.39843118e-03 9.93733592e-01 1.51211815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:43.62, Z:15.12 [[ 6.60072956e-01 -7.47659008e-01 -7.28676974e-02 1.23445656e+02] [ 7.42841668e-01 6.64080350e-01 -8.47557949e-02 4.36178402e+01] [ 1.11758439e-01 1.81584620e-03 9.93733744e-01 1.51249821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:43.64, Z:15.12 [[ 6.58256128e-01 -7.49308833e-01 -7.23542888e-02 1.23464894e+02] [ 7.44452909e-01 6.62217002e-01 -8.51968775e-02 4.36413948e+01] [ 1.11753013e-01 2.21700581e-03 9.93733540e-01 1.51248580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.48, Y:43.66, Z:15.12 [[ 6.54307567e-01 -7.52713078e-01 -7.28328974e-02 1.23483357e+02] [ 7.47923362e-01 6.58347946e-01 -8.47857712e-02 4.36559931e+01] [ 1.11768747e-01 1.00254618e-03 9.93733738e-01 1.51213698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:43.68, Z:15.13 [[ 6.56309254e-01 -7.51171577e-01 -7.07066149e-02 1.23508643e+02] [ 7.46173248e-01 6.60094386e-01 -8.66076513e-02 4.36788797e+01] [ 1.11730246e-01 4.08201852e-03 9.93730189e-01 1.51290676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:43.70, Z:15.14 [[ 6.54795990e-01 -7.52292575e-01 -7.27879990e-02 1.23529611e+02] [ 7.47496227e-01 6.58828201e-01 -8.48221169e-02 4.36986417e+01] [ 1.11765835e-01 1.13242735e-03 9.93733926e-01 1.51362744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:123.55, Y:43.72, Z:15.14 [[ 6.52565413e-01 -7.54230963e-01 -7.27601285e-02 1.23550234e+02] [ 7.49443928e-01 6.56608675e-01 -8.48460175e-02 4.37178354e+01] [ 1.11768425e-01 8.37939876e-04 9.93733927e-01 1.51443069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:123.57, Y:43.74, Z:15.15 [[ 6.51260208e-01 -7.55360946e-01 -7.27322667e-02 1.23569939e+02] [ 7.50578259e-01 6.55308613e-01 -8.48698948e-02 4.37368503e+01] [ 1.11769485e-01 6.81127255e-04 9.93733927e-01 1.51487664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:43.75, Z:15.15 [[ 6.48883115e-01 -7.57406999e-01 -7.27003453e-02 1.23592610e+02] [ 7.52634015e-01 6.52942953e-01 -8.48972303e-02 4.37531837e+01] [ 1.11770935e-01 3.71626464e-04 9.93733928e-01 1.51507290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:43.77, Z:15.15 [[ 6.46798051e-01 -7.59190413e-01 -7.26787317e-02 1.23613820e+02] [ 7.54426545e-01 6.50868580e-01 -8.49157292e-02 4.37725636e+01] [ 1.11771510e-01 9.25636873e-05 9.93733929e-01 1.51488822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:43.79, Z:15.15 [[ 6.47442181e-01 -7.58644158e-01 -7.26475319e-02 1.23634971e+02] [ 7.53873861e-01 6.51505172e-01 -8.49424132e-02 4.37937136e+01] [ 1.11771308e-01 2.28225912e-04 9.93733929e-01 1.51463852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.66, Y:43.81, Z:15.15 [[ 6.48860010e-01 -7.57434264e-01 -7.26224762e-02 1.23656545e+02] [ 7.52653993e-01 6.52911261e-01 -8.49638295e-02 4.38142464e+01] [ 1.11770548e-01 4.70034583e-04 9.93733930e-01 1.51467008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:43.83, Z:15.15 [[ 6.51385972e-01 -7.55245134e-01 -7.28086731e-02 1.23675593e+02] [ 7.50469006e-01 6.55442162e-01 -8.48047366e-02 4.38313728e+01] [ 1.11770239e-01 5.99963210e-04 9.93733895e-01 1.51524282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:43.85, Z:15.15 [[ 6.54751595e-01 -7.52373071e-01 -7.23540664e-02 1.23697090e+02] [ 7.47536111e-01 6.58735073e-01 -8.51931136e-02 4.38516683e+01] [ 1.11759166e-01 1.69304969e-03 9.93733879e-01 1.51543033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.317105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.72, Y:43.87, Z:15.16 [[ 6.58794442e-01 -7.48812104e-01 -7.25969446e-02 1.23715972e+02] [ 7.43976422e-01 6.62779392e-01 -8.49856509e-02 4.38716940e+01] [ 1.11754043e-01 1.97765933e-03 9.93733930e-01 1.51620360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:43.89, Z:15.17 [[ 6.60229597e-01 -7.47548102e-01 -7.25859092e-02 1.23735800e+02] [ 7.42703757e-01 6.64204010e-01 -8.49950752e-02 4.38915057e+01] [ 1.11749759e-01 2.20643679e-03 9.93733930e-01 1.51675970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.377105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:43.91, Z:15.18 [[ 6.60254297e-01 -7.47529016e-01 -7.25577982e-02 1.23758394e+02] [ 7.42681921e-01 6.64225355e-01 -8.50190661e-02 4.39066340e+01] [ 1.11748948e-01 2.24683876e-03 9.93733930e-01 1.51763073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.407105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.78, Y:43.92, Z:15.17 [[ 6.54652987e-01 -7.52464324e-01 -7.22973548e-02 1.23782864e+02] [ 7.47622612e-01 6.58630678e-01 -8.52411820e-02 4.39234383e+01] [ 1.11758204e-01 1.75225712e-03 9.93733885e-01 1.51732784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.437105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:123.80, Y:43.94, Z:15.17 [[ 6.49307961e-01 -7.57096111e-01 -7.21432594e-02 1.23804027e+02] [ 7.52268172e-01 6.53302478e-01 -8.53725357e-02 4.39436492e+01] [ 1.11766585e-01 1.16198927e-03 9.93733808e-01 1.51747964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.467105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.83, Y:43.96, Z:15.18 [[ 6.40774158e-01 -7.64297772e-01 -7.25078951e-02 1.23826246e+02] [ 7.59549806e-01 6.44863237e-01 -8.50617316e-02 4.39610967e+01] [ 1.11770168e-01 -5.67998250e-04 9.93733922e-01 1.51755656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:43.98, Z:15.17 [[ 6.35978043e-01 -7.68324391e-01 -7.21772767e-02 1.23848173e+02] [ 7.63570284e-01 6.40060100e-01 -8.53433659e-02 4.39795609e+01] [ 1.11769185e-01 -8.35916816e-04 9.93733843e-01 1.51744230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:44.00, Z:15.18 [[ 6.34068836e-01 -7.69903956e-01 -7.21429854e-02 1.23869068e+02] [ 7.65156696e-01 6.38158881e-01 -8.53725591e-02 4.39991362e+01] [ 1.11767358e-01 -1.06860923e-03 9.93733825e-01 1.51773827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.557105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:44.02, Z:15.18 [[ 6.32551222e-01 -7.71154729e-01 -7.21064138e-02 1.23892369e+02] [ 7.66412010e-01 6.36646561e-01 -8.54036738e-02 4.40174221e+01] [ 1.11765747e-01 -1.24102331e-03 9.93733806e-01 1.51793675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:123.91, Y:44.04, Z:15.19 [[ 6.35876786e-01 -7.68376454e-01 -7.25143974e-02 1.23909752e+02] [ 7.63655293e-01 6.39996844e-01 -8.50566476e-02 4.40387706e+01] [ 1.11764511e-01 -1.29045570e-03 9.93733882e-01 1.51858862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:44.06, Z:15.19 [[ 6.37120839e-01 -7.67375976e-01 -7.21882771e-02 1.23926562e+02] [ 7.62616872e-01 6.41197040e-01 -8.53338371e-02 4.40621987e+01] [ 1.11770046e-01 -6.84032074e-04 9.93733862e-01 1.51901320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:44.08, Z:15.19 [[ 6.40197055e-01 -7.64759895e-01 -7.27326204e-02 1.23944985e+02] [ 7.60036506e-01 6.44314682e-01 -8.48710720e-02 4.40827907e+01] [ 1.11768687e-01 -9.45236344e-04 9.93733801e-01 1.51927986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.96, Y:44.10, Z:15.20 [[ 6.39233559e-01 -7.65603970e-01 -7.23257793e-02 1.23964718e+02] [ 7.60846816e-01 6.43311941e-01 -8.52165992e-02 4.41036411e+01] [ 1.11770204e-01 -5.55528962e-04 9.93733925e-01 1.51979451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:44.13, Z:15.20 [[ 6.37435267e-01 -7.67090446e-01 -7.24467228e-02 1.23981713e+02] [ 7.62354459e-01 6.41538227e-01 -8.51139410e-02 4.41253766e+01] [ 1.11767433e-01 -9.75454395e-04 9.93733913e-01 1.52014147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:44.15, Z:15.21 [[ 6.30968444e-01 -7.72435092e-01 -7.22693003e-02 1.23999690e+02] [ 7.67716597e-01 6.35091486e-01 -8.52644796e-02 4.41485807e+01] [ 1.11758893e-01 -1.68314529e-03 9.93733927e-01 1.52072352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:44.17, Z:15.20 [[ 6.22827379e-01 -7.78999737e-01 -7.24255915e-02 1.24019241e+02] [ 7.74340044e-01 6.27016785e-01 -8.51319434e-02 4.41681104e+01] [ 1.11729823e-01 -3.05953050e-03 9.93733911e-01 1.52031833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:44.19, Z:15.20 [[ 6.17521768e-01 -7.83226884e-01 -7.22669649e-02 1.24038657e+02] [ 7.78580143e-01 6.21725505e-01 -8.52663894e-02 4.41882493e+01] [ 1.11713144e-01 -3.61177234e-03 9.93733933e-01 1.52049030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:44.21, Z:15.21 [[ 6.05419958e-01 -7.92639021e-01 -7.20420520e-02 1.24058263e+02] [ 7.88034953e-01 6.09670433e-01 -8.54568656e-02 4.42087864e+01] [ 1.11658355e-01 -5.03436311e-03 9.93733901e-01 1.52067101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:44.23, Z:15.21 [[ 6.01236551e-01 -7.95801516e-01 -7.22118877e-02 1.24075447e+02] [ 7.91236924e-01 6.05529357e-01 -8.53131147e-02 4.42292607e+01] [ 1.11618724e-01 -5.84334904e-03 9.93733926e-01 1.52129668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:44.25, Z:15.22 [[ 5.94525121e-01 -8.00852017e-01 -7.19439186e-02 1.24092551e+02] [ 7.96296609e-01 5.98827739e-01 -8.55397536e-02 4.42537309e+01] [ 1.11586698e-01 -6.43316615e-03 9.93733879e-01 1.52181246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:44.28, Z:15.22 [[ 5.94152604e-01 -8.01057731e-01 -7.27268547e-02 1.24110720e+02] [ 7.96583664e-01 5.98540076e-01 -8.48778130e-02 4.42754651e+01] [ 1.11521965e-01 -7.50265080e-03 9.93733647e-01 1.52213803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.12, Y:44.30, Z:15.23 [[ 5.91907688e-01 -8.02723256e-01 -7.26681687e-02 1.24124456e+02] [ 7.98255506e-01 5.96301508e-01 -8.49273797e-02 4.42986890e+01] [ 1.11505321e-01 -7.73859675e-03 9.93733705e-01 1.52255166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:44.32, Z:15.23 [[ 5.91738045e-01 -8.02901488e-01 -7.20783430e-02 1.24141098e+02] [ 7.98374786e-01 5.96070678e-01 -8.54250951e-02 4.43229069e+01] [ 1.11551723e-01 -6.99625297e-03 9.93734001e-01 1.52323606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.15, Y:44.35, Z:15.24 [[ 5.92081367e-01 -8.02626098e-01 -7.23256624e-02 1.24150389e+02] [ 7.98122581e-01 5.96438177e-01 -8.52164694e-02 4.43504630e+01] [ 1.11534749e-01 -7.26966066e-03 9.93733944e-01 1.52407204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:44.38, Z:15.24 [[ 5.94011384e-01 -8.01224849e-01 -7.20362195e-02 1.24162157e+02] [ 7.96681659e-01 5.98326704e-01 -8.54604527e-02 4.43786861e+01] [ 1.11574232e-01 -6.62545304e-03 9.93734016e-01 1.52374405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.067105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.18, Y:44.40, Z:15.24 [[ 5.94367228e-01 -8.00919285e-01 -7.24975636e-02 1.24175462e+02] [ 7.96420724e-01 5.98729340e-01 -8.50717758e-02 4.44024096e+01] [ 1.11542044e-01 -7.17468653e-03 9.93733816e-01 1.52405700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.097105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.18, Y:44.43, Z:15.24 [[ 5.96156824e-01 -7.99635296e-01 -7.19752369e-02 1.24184108e+02] [ 7.95074480e-01 6.00453464e-01 -8.55114538e-02 4.44301612e+01] [ 1.11595757e-01 -6.24743733e-03 9.93734047e-01 1.52439726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.127105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.20, Y:44.46, Z:15.25 [[ 5.96183842e-01 -7.99642296e-01 -7.16730406e-02 1.24197777e+02] [ 7.95051131e-01 6.00448129e-01 -8.57656256e-02 4.44566803e+01] [ 1.11617765e-01 -5.85165192e-03 9.93733985e-01 1.52468419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.157105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:44.49, Z:15.25 [[ 5.95410705e-01 -8.00212104e-01 -7.17403713e-02 1.24207199e+02] [ 7.95631788e-01 5.99686605e-01 -8.57090091e-02 4.44858489e+01] [ 1.11607126e-01 -6.04685833e-03 9.93734011e-01 1.52512654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.187105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:44.51, Z:15.25 [[ 5.94851850e-01 -8.00610536e-01 -7.19308413e-02 1.24218221e+02] [ 7.96052274e-01 5.99151208e-01 -8.55488635e-02 4.45133142e+01] [ 1.11588772e-01 -6.37181006e-03 9.93734042e-01 1.52499394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.217105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:44.54, Z:15.26 [[ 5.95062708e-01 -8.00454719e-01 -7.19209037e-02 1.24232898e+02] [ 7.95894329e-01 5.99359809e-01 -8.55572172e-02 4.45375177e+01] [ 1.11591177e-01 -6.32952998e-03 9.93734042e-01 1.52550254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.247105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:44.57, Z:15.25 [[ 5.91444180e-01 -8.03142262e-01 -7.18073049e-02 1.24240950e+02] [ 7.98589891e-01 5.95749786e-01 -8.56526606e-02 4.45656618e+01] [ 1.11570458e-01 -6.68582022e-03 9.93734035e-01 1.52541007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.277105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:44.59, Z:15.26 [[ 5.86991765e-01 -8.06429375e-01 -7.15005584e-02 1.24252742e+02] [ 8.01869979e-01 5.91290094e-01 -8.59101889e-02 4.45934266e+01] [ 1.11558072e-01 -6.90557786e-03 9.93733923e-01 1.52592766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.307105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:124.26, Y:44.62, Z:15.26 [[ 5.83877516e-01 -8.08654570e-01 -7.18667794e-02 1.24264521e+02] [ 8.04148854e-01 5.88231919e-01 -8.56027490e-02 4.46209635e+01] [ 1.11497388e-01 -7.81006792e-03 9.93734037e-01 1.52629633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:44.64, Z:15.27 [[ 5.83633989e-01 -8.08832778e-01 -7.18394323e-02 1.24278422e+02] [ 8.04325601e-01 5.87986878e-01 -8.56256932e-02 4.46446119e+01] [ 1.11497511e-01 -7.80822972e-03 9.93734037e-01 1.52675992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:44.67, Z:15.27 [[ 5.85770761e-01 -8.07287875e-01 -7.18255020e-02 1.24289841e+02] [ 8.02767795e-01 5.90110250e-01 -8.56373768e-02 4.46713779e+01] [ 1.11518981e-01 -7.49532851e-03 9.93734037e-01 1.52721129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.30, Y:44.70, Z:15.28 [[ 5.87046619e-01 -8.06361412e-01 -7.18160223e-02 1.24304840e+02] [ 8.01833519e-01 5.91377955e-01 -8.56453258e-02 4.46952173e+01] [ 1.11531498e-01 -7.30669492e-03 9.93734037e-01 1.52783754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:44.72, Z:15.28 [[ 5.89394165e-01 -8.04649568e-01 -7.17885186e-02 1.24315884e+02] [ 8.00106308e-01 5.93709378e-01 -8.56683735e-02 4.47223422e+01] [ 1.11554536e-01 -6.94600713e-03 9.93734038e-01 1.52841598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.33, Y:44.75, Z:15.29 [[ 5.89795312e-01 -8.04358021e-01 -7.17611583e-02 1.24326309e+02] [ 7.99809865e-01 5.94105364e-01 -8.56912861e-02 4.47508443e+01] [ 1.11560162e-01 -6.85496359e-03 9.93734039e-01 1.52851397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:44.78, Z:15.29 [[ 5.88403558e-01 -8.05379138e-01 -7.17335114e-02 1.24341936e+02] [ 8.00835665e-01 5.92718546e-01 -8.57144236e-02 4.47753463e+01] [ 1.11550391e-01 -7.01208250e-03 9.93734039e-01 1.52856210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:124.36, Y:44.80, Z:15.29 [[ 5.84800108e-01 -8.08001938e-01 -7.17056621e-02 1.24355117e+02] [ 8.03474979e-01 5.89132416e-01 -8.57377151e-02 4.48013081e+01] [ 1.11520370e-01 -7.47428035e-03 9.93734040e-01 1.52875394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.37, Y:44.83, Z:15.29 [[ 5.84375980e-01 -8.08285912e-01 -7.19624823e-02 1.24369972e+02] [ 8.03787158e-01 5.88737656e-01 -8.55229637e-02 4.48252549e+01] [ 1.11494030e-01 -7.86495337e-03 9.93733980e-01 1.52907930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:124.38, Y:44.85, Z:15.30 [[ 5.86595884e-01 -8.06702346e-01 -7.16700383e-02 1.24381240e+02] [ 8.02162198e-01 5.90914351e-01 -8.57673501e-02 4.48516606e+01] [ 1.11539577e-01 -7.18022083e-03 9.93734053e-01 1.52965830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:124.39, Y:44.88, Z:15.30 [[ 5.91961134e-01 -8.02767439e-01 -7.17387978e-02 1.24392458e+02] [ 7.98205457e-01 5.96256538e-01 -8.57099128e-02 4.48784559e+01] [ 1.11579854e-01 -6.52536278e-03 9.93734047e-01 1.53025466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:44.91, Z:15.31 [[ 5.97945716e-01 -7.98329348e-01 -7.16321981e-02 1.24401133e+02] [ 7.93724847e-01 6.02195495e-01 -8.57989127e-02 4.49082836e+01] [ 1.11632377e-01 -5.55316313e-03 9.93734056e-01 1.53090070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.42, Y:44.93, Z:15.31 [[ 6.01001649e-01 -7.96033758e-01 -7.16049847e-02 1.24416223e+02] [ 7.91410324e-01 6.05230822e-01 -8.58216182e-02 4.49332626e+01] [ 1.11654449e-01 -5.08999009e-03 9.93734057e-01 1.53135350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:44.96, Z:15.32 [[ 6.08180898e-01 -7.90564725e-01 -7.15780115e-02 1.24429377e+02] [ 7.85900586e-01 6.12365135e-01 -8.58441089e-02 4.49585159e+01] [ 1.11697203e-01 -4.04445391e-03 9.93734058e-01 1.53202703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:124.44, Y:44.99, Z:15.33 [[ 6.13061447e-01 -7.86786923e-01 -7.15681453e-02 1.24439428e+02] [ 7.82096028e-01 6.17215667e-01 -8.58523336e-02 4.49862211e+01] [ 1.11720474e-01 -3.34040628e-03 9.93734058e-01 1.53266766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.45, Y:45.01, Z:15.33 [[ 6.13445689e-01 -7.86488262e-01 -7.15583687e-02 1.24453720e+02] [ 7.81794396e-01 6.17596551e-01 -8.58604817e-02 4.50118550e+01] [ 1.11722463e-01 -3.27318926e-03 9.93734058e-01 1.53318740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:124.47, Y:45.04, Z:15.33 [[ 6.14138975e-01 -7.85949499e-01 -7.15311436e-02 1.24466364e+02] [ 7.81249354e-01 6.18282726e-01 -8.58831573e-02 4.50378801e+01] [ 1.11726295e-01 -3.13946551e-03 9.93734058e-01 1.53336063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.817105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:124.48, Y:45.06, Z:15.33 [[ 6.15209515e-01 -7.85114718e-01 -7.14991732e-02 1.24482785e+02] [ 7.80405863e-01 6.19343363e-01 -8.59097650e-02 4.50593548e+01] [ 1.11731559e-01 -2.94586912e-03 9.93734059e-01 1.53342172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.847105681 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:124.50, Y:45.08, Z:15.34 [[ 6.20706361e-01 -7.80777421e-01 -7.14858900e-02 1.24497496e+02] [ 7.76038396e-01 6.24805587e-01 -8.59208166e-02 4.50826187e+01] [ 1.11749817e-01 -2.14419793e-03 9.93734059e-01 1.53386909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.877105681 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:124.51, Y:45.11, Z:15.34 [[ 6.31796792e-01 -7.71833645e-01 -7.14537457e-02 1.24508988e+02] [ 7.67033541e-01 6.35824321e-01 -8.59475404e-02 4.51080073e+01] [ 1.11769233e-01 -5.06039326e-04 9.93734060e-01 1.53434065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.907105681 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:124.52, Y:45.13, Z:15.35 [[ 6.38545311e-01 -7.66274572e-01 -7.12963299e-02 1.24524761e+02] [ 7.61424780e-01 6.42512895e-01 -8.60783559e-02 4.51309950e+01] [ 1.11768467e-01 6.78138175e-04 9.93734044e-01 1.53457966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.937105681 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:124.54, Y:45.15, Z:15.34 [[ 6.49544900e-01 -7.56995082e-01 -7.10624323e-02 1.24542120e+02] [ 7.52067381e-01 6.53415425e-01 -8.62724575e-02 4.51531627e+01] [ 1.11741115e-01 2.59409737e-03 9.93733965e-01 1.53433329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.967105681 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:124.56, Y:45.17, Z:15.34 [[ 6.52347380e-01 -7.54575161e-01 -7.11282090e-02 1.24561651e+02] [ 7.49639043e-01 6.56207116e-01 -8.62178969e-02 4.51748449e+01] [ 1.11732720e-01 2.92353659e-03 9.93733995e-01 1.53439667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.997105681 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:124.58, Y:45.19, Z:15.34 [[ 6.55027453e-01 -7.52228361e-01 -7.13549444e-02 1.24584561e+02] [ 7.47298833e-01 6.58895531e-01 -8.60298441e-02 4.51920214e+01] [ 1.11729543e-01 3.02844306e-03 9.93734038e-01 1.53443959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.027105681 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:124.60, Y:45.20, Z:15.35 [[ 6.60153728e-01 -7.47734997e-01 -7.13402380e-02 1.24604482e+02] [ 7.42777839e-01 6.63986333e-01 -8.60420377e-02 4.52030756e+01] [ 1.11705586e-01 3.81102418e-03 9.93734038e-01 1.53505249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.057105681 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:124.63, Y:45.23, Z:15.35 [[ 6.59607731e-01 -7.48366577e-01 -6.97503203e-02 1.24626355e+02] [ 7.43272501e-01 6.63260169e-01 -8.73609604e-02 4.52291423e+01] [ 1.11640632e-01 5.78046988e-03 9.93731833e-01 1.53545372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08710568099997 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:124.65, Y:45.24, Z:15.36 [[ 6.61999510e-01 -7.46093778e-01 -7.14193419e-02 1.24650848e+02] [ 7.41134350e-01 6.65828958e-01 -8.59748454e-02 4.52442628e+01] [ 1.11698363e-01 3.98397803e-03 9.93734171e-01 1.53550342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11710568099997 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:124.68, Y:45.26, Z:15.36 [[ 6.61913877e-01 -7.46171886e-01 -7.13970263e-02 1.24677612e+02] [ 7.41210917e-01 6.65741329e-01 -8.59933732e-02 4.52563282e+01] [ 1.11697789e-01 3.99995172e-03 9.93734172e-01 1.53577922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14710568099997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:124.70, Y:45.27, Z:15.36 [[ 6.60189961e-01 -7.47698929e-01 -7.13829581e-02 1.24699995e+02] [ 7.42745556e-01 6.64027237e-01 -8.60050497e-02 4.52735645e+01] [ 1.11706112e-01 3.76029556e-03 9.93734172e-01 1.53616151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.73, Y:45.29, Z:15.37 [[ 6.56055946e-01 -7.51329802e-01 -7.13731301e-02 1.24727838e+02] [ 7.46396788e-01 6.59919361e-01 -8.60132049e-02 4.52875937e+01] [ 1.11724795e-01 3.15679945e-03 9.93734172e-01 1.53691280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20710568099997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:124.76, Y:45.30, Z:15.37 [[ 6.51448846e-01 -7.55334527e-01 -7.13032509e-02 1.24755747e+02] [ 7.50418933e-01 6.55334404e-01 -8.60711577e-02 4.53019621e+01] [ 1.11739991e-01 2.56364690e-03 9.93734171e-01 1.53703229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.78, Y:45.32, Z:15.37 [[ 6.48684438e-01 -7.57706791e-01 -7.13366572e-02 1.24778415e+02] [ 7.52808452e-01 6.52591724e-01 -8.60434614e-02 4.53192059e+01] [ 1.11749427e-01 2.11221604e-03 9.93734172e-01 1.53724710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:45.33, Z:15.37 [[ 6.43366804e-01 -7.62230219e-01 -7.13039228e-02 1.24806780e+02] [ 7.57356353e-01 6.47304573e-01 -8.60705799e-02 4.53329122e+01] [ 1.11760952e-01 1.37247497e-03 9.93734173e-01 1.53703746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:45.35, Z:15.37 [[ 6.41210678e-01 -7.64045843e-01 -7.12938727e-02 1.24829989e+02] [ 7.59182203e-01 6.45161070e-01 -8.60789037e-02 4.53509200e+01] [ 1.11764260e-01 1.06967292e-03 9.93734173e-01 1.53719607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:124.86, Y:45.37, Z:15.38 [[ 6.39823918e-01 -7.65210327e-01 -7.12636667e-02 1.24856035e+02] [ 7.60351091e-01 6.43779726e-01 -8.61039038e-02 4.53656289e+01] [ 1.11765700e-01 9.05930371e-04 9.93734173e-01 1.53788500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:124.88, Y:45.38, Z:15.39 [[ 6.37173644e-01 -7.67421198e-01 -7.12351976e-02 1.24881782e+02] [ 7.62573056e-01 6.41143039e-01 -8.61274504e-02 4.53825770e+01] [ 1.11767982e-01 5.56099009e-04 9.93734174e-01 1.53895941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:45.40, Z:15.39 [[ 6.33187998e-01 -7.70684481e-01 -7.15429200e-02 1.24907635e+02] [ 7.65885487e-01 6.37216803e-01 -8.58729681e-02 4.53967855e+01] [ 1.11769315e-01 -4.19951431e-04 9.93734091e-01 1.53907748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.93, Y:45.42, Z:15.40 [[ 6.30659731e-01 -7.72786386e-01 -7.12004546e-02 1.24929378e+02] [ 7.67968789e-01 6.34666119e-01 -8.61560004e-02 4.54150604e+01] [ 1.11768700e-01 -3.44606813e-04 9.93734189e-01 1.53953678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.95, Y:45.43, Z:15.40 [[ 6.25480872e-01 -7.76987040e-01 -7.11675368e-02 1.24953196e+02] [ 7.72193253e-01 6.29515718e-01 -8.61831830e-02 4.54318687e+01] [ 1.11764299e-01 -1.04915929e-03 9.93734190e-01 1.54019314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:124.97, Y:45.45, Z:15.40 [[ 6.20110325e-01 -7.81282582e-01 -7.11386794e-02 1.24974937e+02] [ 7.76514008e-01 6.24174935e-01 -8.62069965e-02 4.54502238e+01] [ 1.11755005e-01 -1.78233243e-03 9.93734191e-01 1.54036140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:124.99, Y:45.47, Z:15.41 [[ 6.18330823e-01 -7.82694670e-01 -7.11058828e-02 1.24993513e+02] [ 7.77932269e-01 6.22402664e-01 -8.62340396e-02 4.54701891e+01] [ 1.11751414e-01 -1.99439607e-03 9.93734192e-01 1.54057888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:45.49, Z:15.41 [[ 6.14507118e-01 -7.85701842e-01 -7.10888020e-02 1.25013021e+02] [ 7.80957735e-01 6.18600258e-01 -8.62481182e-02 4.54939217e+01] [ 1.11740857e-01 -2.51726726e-03 9.93734192e-01 1.54108665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:45.51, Z:15.41 [[ 6.13023369e-01 -7.86804052e-01 -7.17058785e-02 1.25030493e+02] [ 7.82126456e-01 6.17192817e-01 -8.57393407e-02 4.55128773e+01] [ 1.11716414e-01 -3.52284511e-03 9.93733884e-01 1.54145196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.597105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.05, Y:45.53, Z:15.42 [[ 6.11775322e-01 -7.87833372e-01 -7.10600646e-02 1.25047573e+02] [ 7.83100828e-01 6.15881766e-01 -8.62713361e-02 4.55346112e+01] [ 1.11732036e-01 -2.86852105e-03 9.93734232e-01 1.54169719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.627105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.06, Y:45.56, Z:15.42 [[ 6.12265475e-01 -7.87454298e-01 -7.10402522e-02 1.25063162e+02] [ 7.82717321e-01 6.16366804e-01 -8.62876476e-02 4.55591467e+01] [ 1.11734432e-01 -2.77348832e-03 9.93734232e-01 1.54174021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.657105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:125.08, Y:45.58, Z:15.42 [[ 6.13134689e-01 -7.86780350e-01 -7.10107984e-02 1.25079210e+02] [ 7.82036062e-01 6.17227557e-01 -8.63118800e-02 4.55820351e+01] [ 1.11738313e-01 -2.61219746e-03 9.93734233e-01 1.54167266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.687105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:45.61, Z:15.42 [[ 6.17895914e-01 -7.83033359e-01 -7.11575657e-02 1.25094124e+02] [ 7.78278115e-01 6.21976086e-01 -8.61912071e-02 4.56057538e+01] [ 1.11748895e-01 -2.12318139e-03 9.93734208e-01 1.54190787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.717105681 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:125.11, Y:45.63, Z:15.42 [[ 6.22943909e-01 -7.79043026e-01 -7.09425798e-02 1.25108822e+02] [ 7.74241502e-01 6.26969456e-01 -8.63678023e-02 4.56311361e+01] [ 1.11763065e-01 -1.12439318e-03 9.93734247e-01 1.54225620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.747105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:45.66, Z:15.43 [[ 6.26017031e-01 -7.76562632e-01 -7.10855557e-02 1.25121823e+02] [ 7.71758474e-01 6.30039465e-01 -8.62503932e-02 4.56552136e+01] [ 1.11765538e-01 -8.66664964e-04 9.93734227e-01 1.54343613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.777105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.14, Y:45.68, Z:15.44 [[ 6.26979382e-01 -7.75801667e-01 -7.09128182e-02 1.25137954e+02] [ 7.70976571e-01 6.30976638e-01 -8.63921840e-02 4.56770258e+01] [ 1.11767532e-01 -5.06003213e-04 9.93734252e-01 1.54383281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.807105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.16, Y:45.70, Z:15.44 [[ 6.26804259e-01 -7.75951365e-01 -7.08230163e-02 1.25155742e+02] [ 7.71118896e-01 6.30792602e-01 -8.64658425e-02 4.56990414e+01] [ 1.11767923e-01 -4.15807745e-04 9.93734249e-01 1.54415149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:125.17, Y:45.72, Z:15.45 [[ 6.27592683e-01 -7.75315721e-01 -7.08022383e-02 1.25172808e+02] [ 7.70477291e-01 6.31573793e-01 -8.64828770e-02 4.57204340e+01] [ 1.11768372e-01 -2.75495962e-04 9.93734248e-01 1.54470418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.19, Y:45.74, Z:15.45 [[ 6.25966281e-01 -7.76644821e-01 -7.06331235e-02 1.25186549e+02] [ 7.71799187e-01 6.29938677e-01 -8.66214594e-02 4.57440937e+01] [ 1.11768644e-01 -2.92474544e-04 9.93734212e-01 1.54500630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:45.77, Z:15.45 [[ 6.22743831e-01 -7.79246257e-01 -7.04655365e-02 1.25204116e+02] [ 7.74401664e-01 6.26717623e-01 -8.67587676e-02 4.57687771e+01] [ 1.11768438e-01 -5.40141457e-04 9.93734132e-01 1.54509362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:125.22, Y:45.79, Z:15.45 [[ 6.18202112e-01 -7.82822089e-01 -7.08217915e-02 1.25218960e+02] [ 7.78033802e-01 6.22243411e-01 -8.64669881e-02 4.57859727e+01] [ 1.11756661e-01 -1.64767302e-03 9.93734237e-01 1.54495820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:45.81, Z:15.45 [[ 6.12197184e-01 -7.87661393e-01 -6.93118823e-02 1.25238077e+02] [ 7.82763682e-01 6.16108117e-01 -8.77029416e-02 4.58137677e+01] [ 1.11783834e-01 -5.63330274e-04 9.93732387e-01 1.54506951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.25, Y:45.84, Z:15.45 [[ 6.04641167e-01 -7.93340833e-01 -7.08475956e-02 1.25253214e+02] [ 7.88625386e-01 6.08767059e-01 -8.64445984e-02 4.58383768e+01] [ 1.11709712e-01 -3.60424951e-03 9.93734346e-01 1.54529753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.27, Y:45.86, Z:15.46 [[ 6.01463258e-01 -7.95755401e-01 -7.08187118e-02 1.25267919e+02] [ 7.91053735e-01 6.05604846e-01 -8.64682548e-02 4.58611142e+01] [ 1.11695736e-01 -4.01392822e-03 9.93734346e-01 1.54553632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:125.28, Y:45.89, Z:15.46 [[ 5.98499584e-01 -7.97988801e-01 -7.07963411e-02 1.25280924e+02] [ 7.93300426e-01 6.02656211e-01 -8.64865670e-02 4.58864993e+01] [ 1.11681167e-01 -4.40059318e-03 9.93734347e-01 1.54611430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:125.29, Y:45.91, Z:15.47 [[ 5.95577942e-01 -8.00173049e-01 -7.07814017e-02 1.25293358e+02] [ 7.95498466e-01 5.99750073e-01 -8.64987919e-02 4.59117906e+01] [ 1.11665153e-01 -4.78972392e-03 9.93734347e-01 1.54660734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:125.31, Y:45.94, Z:15.47 [[ 5.93157649e-01 -8.01971646e-01 -7.07494283e-02 1.25307365e+02] [ 7.97306607e-01 5.97340448e-01 -8.65249360e-02 4.59351204e+01] [ 1.11652040e-01 -5.08605894e-03 9.93734348e-01 1.54722559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.32, Y:45.96, Z:15.47 [[ 5.87483994e-01 -8.06158122e-01 -7.05098467e-02 1.25320010e+02] [ 8.01499489e-01 5.91673977e-01 -8.67206732e-02 4.59636956e+01] [ 1.11629416e-01 -5.56659865e-03 9.93734314e-01 1.54718576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.33, Y:45.99, Z:15.48 [[ 5.83332961e-01 -8.09137872e-01 -7.08418026e-02 1.25332995e+02] [ 8.04533203e-01 5.87582161e-01 -8.64495771e-02 4.59886232e+01] [ 1.11575006e-01 -6.56569455e-03 9.93734325e-01 1.54793373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.34, Y:46.01, Z:15.49 [[ 5.81803103e-01 -8.10251177e-01 -7.06977991e-02 1.25343904e+02] [ 8.05640464e-01 5.86045711e-01 -8.65671304e-02 4.60145477e+01] [ 1.11573261e-01 -6.59198251e-03 9.93734347e-01 1.54854289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.36, Y:46.04, Z:15.49 [[ 5.82549430e-01 -8.09718358e-01 -7.06565110e-02 1.25358911e+02] [ 8.05099710e-01 5.86783397e-01 -8.66008170e-02 4.60394808e+01] [ 1.11582339e-01 -6.43627987e-03 9.93734349e-01 1.54905072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:125.37, Y:46.07, Z:15.49 [[ 5.85710705e-01 -8.07436872e-01 -7.06304974e-02 1.25369994e+02] [ 8.02799183e-01 5.89923805e-01 -8.66220282e-02 4.60655642e+01] [ 1.11608431e-01 -5.96665643e-03 9.93734349e-01 1.54947482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:46.09, Z:15.50 [[ 5.89456016e-01 -8.04708077e-01 -7.06152609e-02 1.25378737e+02] [ 8.00049393e-01 5.93645889e-01 -8.66344475e-02 4.60944404e+01] [ 1.11635899e-01 -5.42850034e-03 9.93734350e-01 1.54988698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:46.12, Z:15.50 [[ 5.94821623e-01 -8.00752859e-01 -7.05839611e-02 1.25386189e+02] [ 7.96063279e-01 5.98976886e-01 -8.66599411e-02 4.61220222e+01] [ 1.11671357e-01 -4.64209272e-03 9.93734350e-01 1.55034929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:46.15, Z:15.51 [[ 5.97748158e-01 -7.98613957e-01 -7.00919976e-02 1.25400913e+02] [ 7.93862572e-01 6.01832837e-01 -8.70600588e-02 4.61453255e+01] [ 1.11711044e-01 -3.60342370e-03 9.93734199e-01 1.55081724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.377105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:46.17, Z:15.51 [[ 5.99113564e-01 -7.97622723e-01 -6.97203682e-02 1.25414034e+02] [ 7.92829427e-01 6.03149541e-01 -8.73620686e-02 4.61748715e+01] [ 1.11733779e-01 -2.93655927e-03 9.93733837e-01 1.55076051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.407105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:46.20, Z:15.51 [[ 6.00477080e-01 -7.96528052e-01 -7.05006228e-02 1.25428020e+02] [ 7.91801259e-01 6.04589978e-01 -8.67278766e-02 4.62000141e+01] [ 1.11705157e-01 -3.74437977e-03 9.93734340e-01 1.55132930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.437105681 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:125.44, Y:46.23, Z:15.52 [[ 6.06558566e-01 -7.91910759e-01 -7.04560616e-02 1.25438866e+02] [ 7.87148438e-01 6.10630273e-01 -8.67640823e-02 4.62281338e+01] [ 1.11732014e-01 -2.83188154e-03 9.93734339e-01 1.55159747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.467105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:125.45, Y:46.25, Z:15.52 [[ 6.10593293e-01 -7.88791914e-01 -7.05914001e-02 1.25452810e+02] [ 7.84021470e-01 6.14655503e-01 -8.66541767e-02 4.62515496e+01] [ 1.11741507e-01 -2.43471410e-03 9.93734325e-01 1.55202905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.497105681 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:125.47, Y:46.28, Z:15.53 [[ 6.20019040e-01 -7.81418883e-01 -7.04338016e-02 1.25465941e+02] [ 7.76585561e-01 6.24006198e-01 -8.67820893e-02 4.62757672e+01] [ 1.11764292e-01 -8.91325663e-04 9.93734345e-01 1.55252830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.527105681 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:125.48, Y:46.30, Z:15.53 [[ 6.28348438e-01 -7.74737844e-01 -7.04238102e-02 1.25479916e+02] [ 7.69861215e-01 6.32282509e-01 -8.67901966e-02 4.63000991e+01] [ 1.11767393e-01 3.17924361e-04 9.93734345e-01 1.55276640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.557105681 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:125.50, Y:46.32, Z:15.53 [[ 6.31298761e-01 -7.72338642e-01 -7.03910287e-02 1.25497361e+02] [ 7.67444098e-01 6.35210520e-01 -8.68167760e-02 4.63244753e+01] [ 1.11765073e-01 7.86143610e-04 9.93734346e-01 1.55285396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58710568099997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:125.52, Y:46.35, Z:15.52 [[ 6.37562647e-01 -7.67156051e-01 -7.06078260e-02 1.25516980e+02] [ 7.62249140e-01 6.41458948e-01 -8.66410235e-02 4.63451397e+01] [ 1.11759207e-01 1.41832565e-03 9.93734305e-01 1.55243824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61710568099997 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:125.54, Y:46.36, Z:15.52 [[ 6.42889667e-01 -7.62721366e-01 -7.03490823e-02 1.25539026e+02] [ 7.57764634e-01 6.46722298e-01 -8.68506142e-02 4.63636233e+01] [ 1.11739139e-01 2.52731585e-03 9.93734360e-01 1.55234626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64710568099997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:125.56, Y:46.38, Z:15.53 [[ 6.44728035e-01 -7.61168970e-01 -7.03388981e-02 1.25559095e+02] [ 7.56202112e-01 6.48547534e-01 -8.68588614e-02 4.63848254e+01] [ 1.11732389e-01 2.80991973e-03 9.93734360e-01 1.55257747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67710568099997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:125.58, Y:46.40, Z:15.53 [[ 6.46475403e-01 -7.59688106e-01 -7.03102823e-02 1.25580084e+02] [ 7.54709986e-01 6.50280210e-01 -8.68820192e-02 4.64037053e+01] [ 1.11724622e-01 3.10321624e-03 9.93734360e-01 1.55281008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70710568099997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:125.61, Y:46.42, Z:15.53 [[ 6.42921915e-01 -7.62698698e-01 -7.03001250e-02 1.25605074e+02] [ 7.57737502e-01 6.46748764e-01 -8.68902371e-02 4.64187605e+01] [ 1.11737590e-01 2.59459649e-03 9.93734360e-01 1.55316854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73710568099997 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:125.63, Y:46.44, Z:15.54 [[ 6.39248651e-01 -7.65782979e-01 -7.02679967e-02 1.25628305e+02] [ 7.60837399e-01 6.43095657e-01 -8.69162116e-02 4.64368934e+01] [ 1.11747999e-01 2.09855114e-03 9.93734361e-01 1.55380516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:125.65, Y:46.45, Z:15.55 [[ 6.30930467e-01 -7.72653362e-01 -7.02390780e-02 1.25653287e+02] [ 7.67747085e-01 6.34827475e-01 -8.69395753e-02 4.64510948e+01] [ 1.11763852e-01 9.26979504e-04 9.93734362e-01 1.55467706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:125.68, Y:46.47, Z:15.55 [[ 6.24400119e-01 -7.77941124e-01 -7.02289140e-02 1.25677919e+02] [ 7.73066927e-01 6.28337177e-01 -8.69477849e-02 4.64675122e+01] [ 1.11767695e-01 -1.44354085e-06 9.93734362e-01 1.55539183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:125.70, Y:46.49, Z:15.56 [[ 6.22512567e-01 -7.79454951e-01 -7.02003115e-02 1.25699513e+02] [ 7.74587725e-01 6.26458238e-01 -8.69708721e-02 4.64865712e+01] [ 1.11767440e-01 -2.35838745e-04 9.93734363e-01 1.55584384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.72, Y:46.50, Z:15.56 [[ 6.20507436e-01 -7.81054730e-01 -7.01714353e-02 1.25722460e+02] [ 7.76195042e-01 6.24462386e-01 -8.69941644e-02 4.65041611e+01] [ 1.11766626e-01 -4.86194288e-04 9.93734363e-01 1.55619086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.74, Y:46.52, Z:15.56 [[ 6.21227827e-01 -7.80484810e-01 -7.01387738e-02 1.25741136e+02] [ 7.75618521e-01 6.25174651e-01 -8.70204898e-02 4.65244558e+01] [ 1.11767154e-01 -3.41382249e-04 9.93734364e-01 1.55631585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91710568099998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:125.76, Y:46.54, Z:15.56 [[ 6.26352195e-01 -7.76379812e-01 -7.01235649e-02 1.25762301e+02] [ 7.71486284e-01 6.30265195e-01 -8.70327439e-02 4.65449830e+01] [ 1.11766908e-01 4.13781724e-04 9.93734364e-01 1.55623142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:125.79, Y:46.56, Z:15.56 [[ 6.35370937e-01 -7.69019141e-01 -7.00951710e-02 1.25786030e+02] [ 7.64077770e-01 6.39223343e-01 -8.70556061e-02 4.65633434e+01] [ 1.11753897e-01 1.75444007e-03 9.93734365e-01 1.55639513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:125.81, Y:46.58, Z:15.57 [[ 6.42566807e-01 -7.63019249e-01 -7.00680019e-02 1.25809724e+02] [ 7.58039542e-01 6.46369529e-01 -8.70774681e-02 4.65816031e+01] [ 1.11731606e-01 2.83877460e-03 9.93734366e-01 1.55666095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00710568099998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:125.83, Y:46.60, Z:15.57 [[ 6.44660876e-01 -7.61253535e-01 -7.00386319e-02 1.25830578e+02] [ 7.56260854e-01 6.48446545e-01 -8.71010849e-02 4.66018005e+01] [ 1.11722318e-01 3.18318611e-03 9.93734366e-01 1.55708323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.86, Y:46.62, Z:15.58 [[ 6.47375800e-01 -7.58948776e-01 -7.00094940e-02 1.25855871e+02] [ 7.53940094e-01 6.51140274e-01 -8.71244989e-02 4.66171745e+01] [ 1.11709033e-01 3.61932777e-03 9.93734367e-01 1.55786526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.067105681 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:125.88, Y:46.63, Z:15.59 [[ 6.49113434e-01 -7.57465821e-01 -6.99805668e-02 1.25880798e+02] [ 7.52446044e-01 6.52863098e-01 -8.71477279e-02 4.66324950e+01] [ 1.11699155e-01 3.91216024e-03 9.93734368e-01 1.55867539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.097105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.91, Y:46.65, Z:15.59 [[ 6.47483714e-01 -7.58860351e-01 -6.99700482e-02 1.25905792e+02] [ 7.53847741e-01 6.51242954e-01 -8.71561724e-02 4.66486083e+01] [ 1.11706864e-01 3.68543945e-03 9.93734368e-01 1.55900900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.127105681 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:125.93, Y:46.67, Z:15.59 [[ 6.45372270e-01 -7.60659915e-01 -6.99365888e-02 1.25926746e+02] [ 7.55654888e-01 6.49141597e-01 -8.71830130e-02 4.66677303e+01] [ 1.11715372e-01 3.41757380e-03 9.93734369e-01 1.55928780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.157105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:125.95, Y:46.68, Z:15.59 [[ 6.39692763e-01 -7.65445422e-01 -6.99033232e-02 1.25951286e+02] [ 7.60465696e-01 6.43495453e-01 -8.72096773e-02 4.66821402e+01] [ 1.11736719e-01 2.62832018e-03 9.93734370e-01 1.55947007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.187105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:125.97, Y:46.70, Z:15.60 [[ 6.36164104e-01 -7.68382366e-01 -6.98839884e-02 1.25972870e+02] [ 7.63418500e-01 6.39987472e-01 -8.72251682e-02 4.67006209e+01] [ 1.11747158e-01 2.13879146e-03 9.93734370e-01 1.55978485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.217105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.00, Y:46.72, Z:15.60 [[ 6.31064403e-01 -7.72579110e-01 -6.98515447e-02 1.25998127e+02] [ 7.67637801e-01 6.34916880e-01 -8.72511421e-02 4.67159549e+01] [ 1.11758335e-01 1.44040376e-03 9.93734371e-01 1.55987841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.247105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.02, Y:46.74, Z:15.60 [[ 6.28709931e-01 -7.74497245e-01 -6.98415343e-02 1.26019876e+02] [ 7.69566801e-01 6.32576303e-01 -8.72591544e-02 4.67360922e+01] [ 1.11762074e-01 1.11297083e-03 9.93734371e-01 1.55982191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.277105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.04, Y:46.75, Z:15.61 [[ 6.25599491e-01 -7.77002699e-01 -6.99434254e-02 1.26042484e+02] [ 7.72096846e-01 6.29497037e-01 -8.71776402e-02 4.67527023e+01] [ 1.11766441e-01 5.35189145e-04 9.93734359e-01 1.56076056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:126.07, Y:46.77, Z:15.61 [[ 6.26186197e-01 -7.76542701e-01 -6.98017135e-02 1.26065710e+02] [ 7.71621342e-01 6.30064118e-01 -8.72909616e-02 4.67690914e+01] [ 1.11764714e-01 7.99903475e-04 9.93734375e-01 1.56115551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.09, Y:46.79, Z:15.62 [[ 6.27120280e-01 -7.75780675e-01 -6.98891938e-02 1.26086552e+02] [ 7.70862389e-01 6.31002114e-01 -8.72210401e-02 4.67891165e+01] [ 1.11764626e-01 8.23132151e-04 9.93734366e-01 1.56152424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:46.81, Z:15.62 [[ 6.27751560e-01 -7.75270487e-01 -6.98831264e-02 1.26109335e+02] [ 7.70348507e-01 6.31628706e-01 -8.72258858e-02 4.68073893e+01] [ 1.11763844e-01 9.21823731e-04 9.93734368e-01 1.56223598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.13, Y:46.82, Z:15.62 [[ 6.28712200e-01 -7.74487383e-01 -6.99304133e-02 1.26131587e+02] [ 7.69564771e-01 6.32588565e-01 -8.71881352e-02 4.68221142e+01] [ 1.11763290e-01 1.00026180e-03 9.93734354e-01 1.56216084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.15, Y:46.84, Z:15.62 [[ 6.28644419e-01 -7.74624979e-01 -6.90096882e-02 1.26151933e+02] [ 7.69622234e-01 6.32417171e-01 -8.79212089e-02 4.68399344e+01] [ 1.11748876e-01 2.15978683e-03 9.93734131e-01 1.56243266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.18, Y:46.86, Z:15.63 [[ 6.29031952e-01 -7.74319558e-01 -6.89059190e-02 1.26177023e+02] [ 7.69305911e-01 6.32790416e-01 -8.80040021e-02 4.68600250e+01] [ 1.11746225e-01 2.34759844e-03 9.93734004e-01 1.56287379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.20, Y:46.88, Z:15.63 [[ 6.31596355e-01 -7.72135436e-01 -6.99493620e-02 1.26195195e+02] [ 7.67200290e-01 6.35456475e-01 -8.71710023e-02 4.68791970e+01] [ 1.11757595e-01 1.39171654e-03 9.93734523e-01 1.56315212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.22, Y:46.90, Z:15.63 [[ 6.38497132e-01 -7.66461198e-01 -6.97039758e-02 1.26216663e+02] [ 7.61470377e-01 6.42284913e-01 -8.73667861e-02 4.68980865e+01] [ 1.11733064e-01 2.70592959e-03 9.93734572e-01 1.56286369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.24, Y:46.92, Z:15.63 [[ 6.42380624e-01 -7.63233810e-01 -6.94354749e-02 1.26236036e+02] [ 7.58200834e-01 6.46112288e-01 -8.75808602e-02 4.69163970e+01] [ 1.11707787e-01 3.61421266e-03 9.93734526e-01 1.56293353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.26, Y:46.93, Z:15.64 [[ 6.47523758e-01 -7.58929048e-01 -6.88453487e-02 1.26259553e+02] [ 7.53821266e-01 6.51153211e-01 -8.80510877e-02 4.69328665e+01] [ 1.11653398e-01 5.11808333e-03 9.93734031e-01 1.56358899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:46.95, Z:15.65 [[ 6.49926052e-01 -7.56856480e-01 -6.90246033e-02 1.26283385e+02] [ 7.51752283e-01 6.53560073e-01 -8.79075438e-02 4.69538669e+01] [ 1.11645119e-01 5.24399975e-03 9.93734304e-01 1.56457464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.30, Y:46.97, Z:15.65 [[ 6.51045931e-01 -7.55783546e-01 -7.02169983e-02 1.26302710e+02] [ 7.50775059e-01 6.54809955e-01 -8.69524797e-02 4.69747675e+01] [ 1.11696043e-01 3.89288706e-03 9.93734793e-01 1.56500366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.32, Y:46.99, Z:15.65 [[ 6.52878136e-01 -7.54187087e-01 -7.03702822e-02 1.26320584e+02] [ 7.49182560e-01 6.56647610e-01 -8.68297650e-02 4.69944604e+01] [ 1.11694365e-01 3.96906704e-03 9.93734681e-01 1.56529418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.34, Y:47.01, Z:15.66 [[ 6.52395283e-01 -7.54607443e-01 -7.03420317e-02 1.26341770e+02] [ 7.49602916e-01 6.56164716e-01 -8.68523667e-02 4.70140377e+01] [ 1.11695402e-01 3.93348230e-03 9.93734706e-01 1.56567955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.36, Y:47.04, Z:15.66 [[ 6.52013166e-01 -7.54934525e-01 -7.03753843e-02 1.26359225e+02] [ 7.49934756e-01 6.55788959e-01 -8.68257013e-02 4.70363695e+01] [ 1.11699120e-01 3.83455364e-03 9.93734674e-01 1.56599861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.38, Y:47.06, Z:15.66 [[ 6.50589178e-01 -7.56171343e-01 -7.02753263e-02 1.26380595e+02] [ 7.51170150e-01 6.54362918e-01 -8.69055620e-02 4.70565140e+01] [ 1.11701063e-01 3.75109067e-03 9.93734774e-01 1.56645579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.40, Y:47.08, Z:15.67 [[ 6.48127842e-01 -7.58267820e-01 -7.04287797e-02 1.26401253e+02] [ 7.53292082e-01 6.51935363e-01 -8.67831878e-02 4.70764222e+01] [ 1.11719911e-01 3.19315816e-03 9.93734605e-01 1.56682647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.817105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.42, Y:47.09, Z:15.67 [[ 6.42847907e-01 -7.62751107e-01 -7.04082217e-02 1.26423158e+02] [ 7.57800143e-01 6.46687543e-01 -8.67995688e-02 4.70926401e+01] [ 1.11738587e-01 2.44356066e-03 9.93734631e-01 1.56716147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.847105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:47.11, Z:15.68 [[ 6.37891245e-01 -7.66920511e-01 -7.01975084e-02 1.26445469e+02] [ 7.61976165e-01 6.41739030e-01 -8.69674763e-02 4.71106037e+01] [ 1.11745622e-01 1.98696354e-03 9.93734858e-01 1.56781520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.877105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.46, Y:47.13, Z:15.68 [[ 6.36441989e-01 -7.68120103e-01 -7.02360486e-02 1.26463482e+02] [ 7.63186393e-01 6.40303463e-01 -8.69367850e-02 4.71307283e+01] [ 1.11750277e-01 1.72702379e-03 9.93734820e-01 1.56821217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.907105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.49, Y:47.15, Z:15.68 [[ 6.35190064e-01 -7.69215808e-01 -6.95745859e-02 1.26485399e+02] [ 7.64230899e-01 6.38984628e-01 -8.74630127e-02 4.71496383e+01] [ 1.11735023e-01 2.38458830e-03 9.93735175e-01 1.56754859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.937105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.51, Y:47.17, Z:15.68 [[ 6.36103337e-01 -7.68469379e-01 -6.94791905e-02 1.26506206e+02] [ 7.63471740e-01 6.39881124e-01 -8.75388522e-02 4.71669793e+01] [ 1.11729350e-01 2.63835756e-03 9.93735172e-01 1.56752983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.967105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.53, Y:47.19, Z:15.68 [[ 6.34910559e-01 -7.69500829e-01 -6.89714225e-02 1.26531798e+02] [ 7.64465377e-01 6.38638244e-01 -8.79424871e-02 4.71855722e+01] [ 1.11719605e-01 3.10934909e-03 9.93734905e-01 1.56807775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.997105681 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:126.55, Y:47.21, Z:15.69 [[ 6.33381956e-01 -7.70708573e-01 -6.95384336e-02 1.26551795e+02] [ 7.65729442e-01 6.37184114e-01 -8.74918647e-02 4.72054441e+01] [ 1.11739515e-01 2.16814236e-03 9.93735166e-01 1.56889877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.027105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.57, Y:47.23, Z:15.69 [[ 6.31829266e-01 -7.71984580e-01 -6.95096179e-02 1.26568922e+02] [ 7.67010613e-01 6.35638174e-01 -8.75147520e-02 4.72271236e+01] [ 1.11743006e-01 1.97976690e-03 9.93735167e-01 1.56941513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.59, Y:47.25, Z:15.70 [[ 6.28025526e-01 -7.75085011e-01 -6.94777961e-02 1.26589113e+02] [ 7.70127057e-01 6.31855254e-01 -8.75400082e-02 4.72469209e+01] [ 1.11750859e-01 1.47062900e-03 9.93735167e-01 1.56978417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.61, Y:47.26, Z:15.70 [[ 6.19859172e-01 -7.81632606e-01 -6.94627643e-02 1.26612795e+02] [ 7.76713776e-01 6.23739023e-01 -8.75519342e-02 4.72638745e+01] [ 1.11760083e-01 3.17183431e-04 9.93735168e-01 1.57014846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11710568099997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:126.63, Y:47.28, Z:15.71 [[ 6.14246749e-01 -7.86052070e-01 -6.94483616e-02 1.26631510e+02] [ 7.81159862e-01 6.18160115e-01 -8.75633573e-02 4.72845896e+01] [ 1.11759565e-01 -4.64765025e-04 9.93735168e-01 1.57071673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.65, Y:47.31, Z:15.71 [[ 6.04170419e-01 -7.93825778e-01 -6.94171308e-02 1.26648582e+02] [ 7.88981061e-01 6.08142425e-01 -8.75881092e-02 4.73054450e+01] [ 1.11745201e-01 -1.85065684e-03 9.93735168e-01 1.57131180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:126.66, Y:47.33, Z:15.71 [[ 5.94195712e-01 -8.01320615e-01 -6.94026494e-02 1.26663475e+02] [ 7.96524621e-01 5.98226413e-01 -8.75995824e-02 4.73276185e+01] [ 1.11713849e-01 -3.22962283e-03 9.93735169e-01 1.57145418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20710568099997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:126.68, Y:47.35, Z:15.71 [[ 5.89960823e-01 -8.04445997e-01 -6.93748187e-02 1.26680162e+02] [ 7.99668762e-01 5.94013740e-01 -8.76216175e-02 4.73504087e+01] [ 1.11696455e-01 -3.78355381e-03 9.93735169e-01 1.57139892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23710568099997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:126.70, Y:47.37, Z:15.71 [[ 5.83539573e-01 -8.09118640e-01 -6.93440177e-02 1.26696988e+02] [ 8.04370949e-01 5.87627057e-01 -8.76459869e-02 4.73722376e+01] [ 1.11664423e-01 -4.63341155e-03 9.93735170e-01 1.57140039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:126.71, Y:47.40, Z:15.72 [[ 5.78313706e-01 -8.12864749e-01 -6.93120272e-02 1.26710518e+02] [ 8.08140500e-01 5.82428261e-01 -8.76712783e-02 4.73965719e+01] [ 1.11634175e-01 -5.31235446e-03 9.93735171e-01 1.57242992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29710568099998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:126.72, Y:47.42, Z:15.73 [[ 5.76545881e-01 -8.14122403e-01 -6.92788521e-02 1.26724163e+02] [ 8.09403998e-01 5.80667133e-01 -8.76974860e-02 4.74204129e+01] [ 1.11624441e-01 -5.51295548e-03 9.93735172e-01 1.57282400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.73, Y:47.45, Z:15.74 [[ 5.74145490e-01 -8.15818854e-01 -6.92571567e-02 1.26733544e+02] [ 8.11110569e-01 5.78278299e-01 -8.77146161e-02 4.74488522e+01] [ 1.11609148e-01 -5.81426057e-03 9.93735172e-01 1.57375072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:126.74, Y:47.48, Z:15.74 [[ 5.73178633e-01 -8.16500870e-01 -6.92284898e-02 1.26740846e+02] [ 8.11794789e-01 5.77313951e-01 -8.77372357e-02 4.74779611e+01] [ 1.11604102e-01 -5.91021848e-03 9.93735173e-01 1.57441668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:126.75, Y:47.50, Z:15.75 [[ 5.73457290e-01 -8.16326293e-01 -6.89791246e-02 1.26754675e+02] [ 8.11595427e-01 5.77564286e-01 -8.79338308e-02 4.75018591e+01] [ 1.11622577e-01 -5.55684567e-03 9.93735137e-01 1.57503587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.77, Y:47.53, Z:15.75 [[ 5.75451832e-01 -8.14903996e-01 -6.91857355e-02 1.26765165e+02] [ 8.10182404e-01 5.79569434e-01 -8.77709741e-02 4.75292552e+01] [ 1.11622855e-01 -5.54509763e-03 9.93735171e-01 1.57499395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.78, Y:47.56, Z:15.75 [[ 5.76646788e-01 -8.14081400e-01 -6.89199223e-02 1.26778200e+02] [ 8.09329007e-01 5.80728868e-01 -8.79803356e-02 4.75550672e+01] [ 1.11646943e-01 -5.04531438e-03 9.93735128e-01 1.57529240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:126.78, Y:47.59, Z:15.75 [[ 5.79329293e-01 -8.12169699e-01 -6.89778962e-02 1.26783036e+02] [ 8.07409237e-01 5.83401933e-01 -8.79346890e-02 4.75850732e+01] [ 1.11659728e-01 -4.75024928e-03 9.93735146e-01 1.57547853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.79, Y:47.61, Z:15.76 [[ 5.81525427e-01 -8.10606347e-01 -6.88877963e-02 1.26794807e+02] [ 8.05826564e-01 5.85575415e-01 -8.80055851e-02 4.76110921e+01] [ 1.11676886e-01 -4.33413067e-03 9.93735120e-01 1.57561640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.80, Y:47.64, Z:15.76 [[ 5.88048360e-01 -8.05893989e-01 -6.88041083e-02 1.26804507e+02] [ 8.01074038e-01 5.92050513e-01 -8.80714234e-02 4.76413216e+01] [ 1.11711738e-01 -3.32692882e-03 9.93735085e-01 1.57577650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.567105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.82, Y:47.67, Z:15.76 [[ 5.93289672e-01 -8.01996722e-01 -6.93442369e-02 1.26816037e+02] [ 7.97199841e-01 5.97319420e-01 -8.76465792e-02 4.76652994e+01] [ 1.11712929e-01 -3.28140441e-03 9.93735103e-01 1.57590883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.597105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.82, Y:47.70, Z:15.76 [[ 6.05050196e-01 -7.93220211e-01 -6.86728303e-02 1.26824245e+02] [ 7.88304667e-01 6.08934381e-01 -8.81741016e-02 4.76967367e+01] [ 1.11758727e-01 -7.85355174e-04 9.93735060e-01 1.57615424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.627105681 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:126.83, Y:47.73, Z:15.76 [[ 6.18307128e-01 -7.82897900e-01 -6.90447223e-02 1.26829742e+02] [ 7.77950048e-01 6.22149892e-01 -8.78819394e-02 4.77261636e+01] [ 1.11758752e-01 6.24684499e-04 9.93735171e-01 1.57649930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.657105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.84, Y:47.75, Z:15.77 [[ 6.26380663e-01 -7.76455638e-01 -6.90210645e-02 1.26838985e+02] [ 7.71466227e-01 6.30169310e-01 -8.79005160e-02 4.77538941e+01] [ 1.11745808e-01 1.81176323e-03 9.93735172e-01 1.57685495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.687105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.85, Y:47.78, Z:15.77 [[ 6.28287891e-01 -7.74914525e-01 -6.90058342e-02 1.26853964e+02] [ 7.69914510e-01 6.32062532e-01 -8.79124708e-02 4.77775273e+01] [ 1.11740653e-01 2.10574783e-03 9.93735172e-01 1.57707145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.717105681 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:126.87, Y:47.80, Z:15.77 [[ 6.29583339e-01 -7.73865344e-01 -6.89728067e-02 1.26870617e+02] [ 7.68856204e-01 6.33345861e-01 -8.79383754e-02 4.78021962e+01] [ 1.11736103e-01 2.33436567e-03 9.93735173e-01 1.57688238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.747105681 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:126.89, Y:47.82, Z:15.76 [[ 6.26483705e-01 -7.76379155e-01 -6.89461799e-02 1.26888341e+02] [ 7.71382819e-01 6.30263213e-01 -8.79592468e-02 4.78245404e+01] [ 1.11743966e-01 1.92113620e-03 9.93735174e-01 1.57634239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.777105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.91, Y:47.85, Z:15.77 [[ 6.23386991e-01 -7.78868718e-01 -6.89360584e-02 1.26905843e+02] [ 7.73886601e-01 6.27185223e-01 -8.79671785e-02 4.78470097e+01] [ 1.11750561e-01 1.48890276e-03 9.93735174e-01 1.57653603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:47.87, Z:15.77 [[ 6.16147281e-01 -7.84610942e-01 -6.89071639e-02 1.26923823e+02] [ 7.79661699e-01 6.19988249e-01 -8.79898067e-02 4.78672144e+01] [ 1.11759397e-01 4.90403730e-04 9.93735174e-01 1.57741652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:126.94, Y:47.89, Z:15.78 [[ 6.12362239e-01 -7.87570251e-01 -6.88882280e-02 1.26942724e+02] [ 7.82637902e-01 6.16224877e-01 -8.80046294e-02 4.78877825e+01] [ 1.11760468e-01 -2.38263951e-05 9.93735175e-01 1.57815757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:47.91, Z:15.79 [[ 6.07584160e-01 -7.91264707e-01 -6.88596518e-02 1.26962930e+02] [ 7.86353310e-01 6.11473403e-01 -8.80269834e-02 4.79054073e+01] [ 1.11758491e-01 -6.64214341e-04 9.93735175e-01 1.57885337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:126.98, Y:47.93, Z:15.79 [[ 6.04688208e-01 -7.93537414e-01 -6.81948909e-02 1.26983071e+02] [ 7.88581727e-01 6.08521419e-01 -8.85468428e-02 4.79257390e+01] [ 1.11763284e-01 -2.34013114e-04 9.93734831e-01 1.57909060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.00, Y:47.95, Z:15.79 [[ 6.03083408e-01 -7.94755669e-01 -6.82189828e-02 1.27001284e+02] [ 7.89809855e-01 6.06929309e-01 -8.85279971e-02 4.79479577e+01] [ 1.11762228e-01 -4.90258751e-04 9.93734856e-01 1.57915170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:127.02, Y:47.97, Z:15.79 [[ 6.00684117e-01 -7.96572815e-01 -6.81934148e-02 1.27019082e+02] [ 7.91636365e-01 6.04542073e-01 -8.85479964e-02 4.79700846e+01] [ 1.11760715e-01 -7.95012051e-04 9.93734829e-01 1.57947590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:47.99, Z:15.81 [[ 5.94799335e-01 -8.00974722e-01 -6.82147102e-02 1.27039689e+02] [ 7.96068724e-01 5.98695907e-01 -8.85313425e-02 4.79897887e+01] [ 1.11751235e-01 -1.64521364e-03 9.93734851e-01 1.58051532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.06, Y:48.01, Z:15.81 [[ 5.90423169e-01 -8.04150852e-01 -6.88613752e-02 1.27062007e+02] [ 7.99324420e-01 5.94417346e-01 -8.80255115e-02 4.80073980e+01] [ 1.11718186e-01 -3.07027725e-03 9.93735186e-01 1.58088996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:48.03, Z:15.81 [[ 5.89176984e-01 -8.05067133e-01 -6.88287234e-02 1.27079951e+02] [ 8.00243936e-01 5.93175065e-01 -8.80510353e-02 4.80291293e+01] [ 1.11714477e-01 -3.20212513e-03 9.93735187e-01 1.58134763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:48.05, Z:15.81 [[ 5.89844721e-01 -8.04586781e-01 -6.87263954e-02 1.27095327e+02] [ 7.99751023e-01 5.93827609e-01 -8.81309892e-02 4.80522018e+01] [ 1.11720660e-01 -2.98040635e-03 9.93735182e-01 1.58128450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.11, Y:48.07, Z:15.82 [[ 5.93136815e-01 -8.02203152e-01 -6.82555641e-02 1.27112848e+02] [ 7.97308987e-01 5.97048057e-01 -8.84985698e-02 4.80744666e+01] [ 1.11745683e-01 -1.92901485e-03 9.93734965e-01 1.58189030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:48.09, Z:15.82 [[ 5.98396704e-01 -7.98242969e-01 -6.87717089e-02 1.27129277e+02] [ 7.93369015e-01 6.02332764e-01 -8.80956728e-02 4.80942183e+01] [ 1.11745205e-01 -1.84518277e-03 9.93735178e-01 1.58239712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:48.12, Z:15.83 [[ 6.00663143e-01 -7.96605871e-01 -6.79917281e-02 1.27146997e+02] [ 7.91651943e-01 6.04498792e-01 -8.87040609e-02 4.81176799e+01] [ 1.11763093e-01 -5.44523648e-04 9.93734730e-01 1.58319340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:48.14, Z:15.84 [[ 6.02987861e-01 -7.94783326e-01 -6.87393892e-02 1.27161116e+02] [ 7.89883908e-01 6.06892180e-01 -8.81209059e-02 4.81401476e+01] [ 1.11754424e-01 -1.16030076e-03 9.93735177e-01 1.58360910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:48.16, Z:15.84 [[ 6.09326717e-01 -7.89936036e-01 -6.87168835e-02 1.27175403e+02] [ 7.85003574e-01 6.13189206e-01 -8.81384525e-02 4.81646066e+01] [ 1.11760191e-01 -2.37885201e-04 9.93735178e-01 1.58377720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.19, Y:48.19, Z:15.84 [[ 6.16934998e-01 -7.84011293e-01 -6.86840637e-02 1.27192441e+02] [ 7.79038891e-01 6.20745932e-01 -8.81640208e-02 4.81871240e+01] [ 1.11756941e-01 8.83913222e-04 9.93735178e-01 1.58374724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.21, Y:48.21, Z:15.83 [[ 6.23115122e-01 -7.79111378e-01 -6.86513289e-02 1.27210377e+02] [ 7.74106209e-01 6.26882915e-01 -8.81895034e-02 4.82102652e+01] [ 1.11745791e-01 1.80879323e-03 9.93735179e-01 1.58282440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:48.23, Z:15.83 [[ 6.25232162e-01 -7.77414381e-01 -6.86412688e-02 1.27229019e+02] [ 7.72398128e-01 6.28985185e-01 -8.81973329e-02 4.82328074e+01] [ 1.11740216e-01 2.12542152e-03 9.93735179e-01 1.58262146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:48.25, Z:15.83 [[ 6.27326105e-01 -7.75728188e-01 -6.86129462e-02 1.27246848e+02] [ 7.70699442e-01 6.31062370e-01 -8.82193610e-02 4.82540672e+01] [ 1.11733294e-01 2.46234878e-03 9.93735180e-01 1.58272004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.377105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:127.27, Y:48.28, Z:15.83 [[ 6.29386395e-01 -7.74081309e-01 -6.83439357e-02 1.27265892e+02] [ 7.69020079e-01 6.33078614e-01 -8.84284289e-02 4.82758703e+01] [ 1.11717878e-01 3.09779122e-03 9.93735135e-01 1.58252814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.407105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.28, Y:48.29, Z:15.83 [[ 6.31546886e-01 -7.72299234e-01 -6.85742197e-02 1.27283670e+02] [ 7.67246943e-01 6.35251254e-01 -8.82494929e-02 4.82940104e+01] [ 1.11716875e-01 3.12033196e-03 9.93735178e-01 1.58282080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.437105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:48.31, Z:15.84 [[ 6.27331450e-01 -7.75799904e-01 -6.77477760e-02 1.27305544e+02] [ 7.70698721e-01 6.30969017e-01 -8.88908406e-02 4.83142099e+01] [ 1.11708253e-01 3.55089557e-03 9.93734702e-01 1.58357565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.467105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.33, Y:48.33, Z:15.84 [[ 6.21541865e-01 -7.80377583e-01 -6.85312970e-02 1.27326619e+02] [ 7.75369813e-01 6.25306182e-01 -8.82826855e-02 4.83323314e+01] [ 1.11746872e-01 1.73428603e-03 9.93735190e-01 1.58403830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:48.35, Z:15.85 [[ 6.18228874e-01 -7.83006070e-01 -6.85168176e-02 1.27345433e+02] [ 7.78013062e-01 6.22012749e-01 -8.82939217e-02 4.83525802e+01] [ 1.11753011e-01 1.27887273e-03 9.93735191e-01 1.58454896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.527105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:48.37, Z:15.85 [[ 6.12614831e-01 -7.87409066e-01 -6.84838020e-02 1.27366856e+02] [ 7.82440395e-01 6.16430605e-01 -8.83195225e-02 4.83709596e+01] [ 1.11759104e-01 5.21356257e-04 9.93735192e-01 1.58486049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:48.39, Z:15.85 [[ 6.08339392e-01 -7.90718166e-01 -6.84687247e-02 1.27388818e+02] [ 7.85768935e-01 6.12180348e-01 -8.83312094e-02 4.83881086e+01] [ 1.11760300e-01 -6.52426288e-05 9.93735192e-01 1.58489410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:48.41, Z:15.85 [[ 6.05871836e-01 -7.92612719e-01 -6.84426417e-02 1.27407842e+02] [ 7.87673216e-01 6.09725292e-01 -8.83514151e-02 4.84085643e+01] [ 1.11759665e-01 -3.80801615e-04 9.93735192e-01 1.58502532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:48.43, Z:15.85 [[ 6.05609462e-01 -7.92815748e-01 -6.84132246e-02 1.27424963e+02] [ 7.87874963e-01 6.09461275e-01 -8.83741878e-02 4.84311316e+01] [ 1.11759659e-01 -3.80822462e-04 9.93735193e-01 1.58534365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:48.45, Z:15.86 [[ 6.02072908e-01 -7.95507304e-01 -6.83837834e-02 1.27445447e+02] [ 7.90581151e-01 6.05943414e-01 -8.83969637e-02 4.84499085e+01] [ 1.11757133e-01 -8.41513167e-04 9.93735194e-01 1.58578834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.46, Y:48.47, Z:15.86 [[ 6.00844066e-01 -7.96438780e-01 -6.83496730e-02 1.27463625e+02] [ 7.91515627e-01 6.04718386e-01 -8.84233305e-02 4.84698014e+01] [ 1.11756073e-01 -9.71200936e-04 9.93735195e-01 1.58599842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:48.49, Z:15.86 [[ 5.97358582e-01 -7.99058942e-01 -6.83193379e-02 1.27483767e+02] [ 7.94150101e-01 6.01251019e-01 -8.84467625e-02 4.84896453e+01] [ 1.11751248e-01 -1.42137645e-03 9.93735195e-01 1.58618603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:48.51, Z:15.87 [[ 5.95725516e-01 -8.00280016e-01 -6.82862055e-02 1.27503138e+02] [ 7.95376222e-01 5.99624308e-01 -8.84723354e-02 4.85075039e+01] [ 1.11748711e-01 -1.60799652e-03 9.93735196e-01 1.58730196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:48.53, Z:15.88 [[ 5.92977387e-01 -8.02364181e-01 -6.77461305e-02 1.27521682e+02] [ 7.97426349e-01 5.96833306e-01 -8.88888227e-02 4.85294753e+01] [ 1.11754355e-01 -1.31348768e-03 9.93734994e-01 1.58752098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:48.55, Z:15.88 [[ 5.90182750e-01 -8.04380008e-01 -6.82431290e-02 1.27541040e+02] [ 7.99499443e-01 5.94110590e-01 -8.85056350e-02 4.85479540e+01] [ 1.11736129e-01 -2.32584453e-03 9.93735190e-01 1.58791133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:48.57, Z:15.88 [[ 5.89595753e-01 -8.04812870e-01 -6.82135765e-02 1.27558945e+02] [ 7.99932557e-01 5.93523905e-01 -8.85284061e-02 4.85688965e+01] [ 1.11735189e-01 -2.37028839e-03 9.93735191e-01 1.58811554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:48.59, Z:15.89 [[ 5.89199974e-01 -8.05105323e-01 -6.81821759e-02 1.27577184e+02] [ 8.00224165e-01 5.93127074e-01 -8.85525835e-02 4.85878692e+01] [ 1.11734851e-01 -2.38584479e-03 9.93735192e-01 1.58855702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:48.61, Z:15.89 [[ 5.91469784e-01 -8.03473458e-01 -6.77783004e-02 1.27593908e+02] [ 7.98545781e-01 5.95338522e-01 -8.88632611e-02 4.86106898e+01] [ 1.11750305e-01 -1.56414202e-03 9.93735087e-01 1.58926860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:48.64, Z:15.90 [[ 5.98660730e-01 -7.98098748e-01 -6.81448336e-02 1.27607870e+02] [ 7.93168333e-01 6.02525806e-01 -8.85813053e-02 4.86350093e+01] [ 1.11755650e-01 -1.02017519e-03 9.93735193e-01 1.58957984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:48.66, Z:15.90 [[ 6.03914875e-01 -7.94133193e-01 -6.81123757e-02 1.27623833e+02] [ 7.89174580e-01 6.07743707e-01 -8.86062561e-02 4.86563932e+01] [ 1.11760037e-01 -2.41919388e-04 9.93735194e-01 1.58971343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:127.64, Y:48.68, Z:15.90 [[ 6.11081673e-01 -7.88675553e-01 -6.76022264e-02 1.27638926e+02] [ 7.83639238e-01 6.14808007e-01 -8.89980872e-02 4.86810404e+01] [ 1.11753006e-01 1.40934284e-03 9.93735015e-01 1.58972170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:48.70, Z:15.90 [[ 6.15437498e-01 -7.85240751e-01 -6.80709104e-02 1.27654063e+02] [ 7.80223293e-01 6.19188894e-01 -8.86381794e-02 4.87040556e+01] [ 1.11751062e-01 1.44074951e-03 9.93735188e-01 1.58999312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:48.73, Z:15.90 [[ 6.25276364e-01 -7.77431774e-01 -6.80389967e-02 1.27670917e+02] [ 7.72364832e-01 6.28960648e-01 -8.86626699e-02 4.87263992e+01] [ 1.11723028e-01 2.88774353e-03 9.93735189e-01 1.59048535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.067105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:48.75, Z:15.91 [[ 6.30635177e-01 -7.73093964e-01 -6.80073249e-02 1.27691709e+02] [ 7.67999081e-01 6.34280723e-01 -8.86869567e-02 4.87453295e+01] [ 1.11699086e-01 3.69955156e-03 9.93735190e-01 1.59092090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.097105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:48.77, Z:15.91 [[ 6.31309883e-01 -7.72546020e-01 -6.79741035e-02 1.27709403e+02] [ 7.67445240e-01 6.34947173e-01 -8.87124121e-02 4.87661881e+01] [ 1.11694386e-01 3.83862038e-03 9.93735191e-01 1.59107304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.127105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:48.79, Z:15.91 [[ 6.30098975e-01 -7.73535602e-01 -6.79555336e-02 1.27727768e+02] [ 7.68439005e-01 6.33742124e-01 -8.87266347e-02 4.87876843e+01] [ 1.11699495e-01 3.68687893e-03 9.93735191e-01 1.59105501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.157105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.75, Y:48.80, Z:15.91 [[ 6.27434697e-01 -7.75701071e-01 -6.79231146e-02 1.27751109e+02] [ 7.70614372e-01 6.31091650e-01 -8.87514457e-02 4.88047794e+01] [ 1.11710302e-01 3.34320811e-03 9.93735192e-01 1.59066551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.187105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:48.82, Z:15.91 [[ 6.26847200e-01 -7.76178394e-01 -6.78946905e-02 1.27771899e+02] [ 7.71092130e-01 6.30504758e-01 -8.87731848e-02 4.88202617e+01] [ 1.11711753e-01 3.29416079e-03 9.93735192e-01 1.59095014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.217105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:48.84, Z:15.91 [[ 6.19890027e-01 -7.81811929e-01 -6.71301904e-02 1.27796809e+02] [ 7.76695401e-01 6.23505840e-01 -8.93572710e-02 4.88392696e+01] [ 1.11716646e-01 3.25197095e-03 9.93734781e-01 1.59113854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.247105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:127.82, Y:48.86, Z:15.92 [[ 6.16433607e-01 -7.84499241e-01 -6.76058356e-02 1.27815704e+02] [ 7.79438155e-01 6.20126001e-01 -8.89938486e-02 4.88604650e+01] [ 1.11739743e-01 2.16423129e-03 9.93735149e-01 1.59155984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.277105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.84, Y:48.88, Z:15.92 [[ 6.11498035e-01 -7.88331604e-01 -6.78486172e-02 1.27839004e+02] [ 7.83314200e-01 6.15249492e-01 -8.88083727e-02 4.88770401e+01] [ 1.11754274e-01 1.15936013e-03 9.93735195e-01 1.59195196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.86, Y:48.89, Z:15.92 [[ 6.07464514e-01 -7.91446675e-01 -6.78161120e-02 1.27864573e+02] [ 7.86445739e-01 6.11237895e-01 -8.88331876e-02 4.88922104e+01] [ 1.11758509e-01 6.29316838e-04 9.93735196e-01 1.59230618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33710568099997 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:127.88, Y:48.91, Z:15.93 [[ 6.05024000e-01 -7.93316770e-01 -6.77824609e-02 1.27883996e+02] [ 7.88324621e-01 6.08808998e-01 -8.88588571e-02 4.89118236e+01] [ 1.11759794e-01 3.27158426e-04 9.93735197e-01 1.59256097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:127.90, Y:48.93, Z:15.93 [[ 6.00631590e-01 -7.96649438e-01 -6.77596204e-02 1.27903722e+02] [ 7.91676326e-01 6.04441564e-01 -8.88762709e-02 4.89320028e+01] [ 1.11759962e-01 -2.61791430e-04 9.93735197e-01 1.59285904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:127.92, Y:48.95, Z:15.93 [[ 5.99240753e-01 -7.97699034e-01 -6.77257092e-02 1.27921935e+02] [ 7.92729674e-01 6.03055619e-01 -8.89021046e-02 4.89529523e+01] [ 1.11759492e-01 -4.14415292e-04 9.93735198e-01 1.59320606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:127.94, Y:48.97, Z:15.94 [[ 5.99605854e-01 -7.97427502e-01 -6.76919491e-02 1.27941643e+02] [ 7.92453512e-01 6.03414680e-01 -8.89278029e-02 4.89728580e+01] [ 1.11759792e-01 -3.21091651e-04 9.93735199e-01 1.59351393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45710568099997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:127.96, Y:48.99, Z:15.94 [[ 6.01841231e-01 -7.95744628e-01 -6.76581071e-02 1.27960965e+02] [ 7.90757094e-01 6.05632302e-01 -8.89535433e-02 4.89921811e+01] [ 1.11760239e-01 3.47818038e-05 9.93735200e-01 1.59399800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48710568099997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:127.98, Y:49.01, Z:15.95 [[ 6.03086807e-01 -7.94802990e-01 -6.76351311e-02 1.27979096e+02] [ 7.89807577e-01 6.06867490e-01 -8.89710095e-02 4.90136582e+01] [ 1.11759987e-01 2.38502924e-04 9.93735200e-01 1.59454510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51710568099998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:128.00, Y:49.03, Z:15.95 [[ 6.06631414e-01 -7.92103772e-01 -6.76013449e-02 1.27998886e+02] [ 7.87088678e-01 6.10385948e-01 -8.89966734e-02 4.90332289e+01] [ 1.11757512e-01 7.79924664e-04 9.93735201e-01 1.59539339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54710568099998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:128.02, Y:49.06, Z:15.96 [[ 6.11420687e-01 -7.88415533e-01 -6.75699011e-02 1.28017944e+02] [ 7.83375156e-01 6.15141210e-01 -8.90205406e-02 4.90552171e+01] [ 1.11750208e-01 1.49641828e-03 9.93735202e-01 1.59565856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57710568099998 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:128.04, Y:49.08, Z:15.96 [[ 6.12808696e-01 -7.87337133e-01 -6.75702689e-02 1.28035381e+02] [ 7.82290240e-01 6.16520376e-01 -8.90202616e-02 4.90777228e+01] [ 1.11747405e-01 1.69282852e-03 9.93735202e-01 1.59573997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60710568099998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:128.06, Y:49.10, Z:15.96 [[ 6.18090454e-01 -7.83202563e-01 -6.75124913e-02 1.28055990e+02] [ 7.78126069e-01 6.21761541e-01 -8.90640587e-02 4.90962445e+01] [ 1.11731870e-01 2.51641498e-03 9.93735205e-01 1.59573585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:128.08, Y:49.11, Z:15.96 [[ 6.20790266e-01 -7.81066275e-01 -6.74901389e-02 1.28078705e+02] [ 7.75975314e-01 6.24441262e-01 -8.90809935e-02 4.91147139e+01] [ 1.11721787e-01 2.92993202e-03 9.93735205e-01 1.59590106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66710568099998 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:128.10, Y:49.13, Z:15.96 [[ 6.21035047e-01 -7.80874542e-01 -6.74568025e-02 1.28097601e+02] [ 7.75779716e-01 6.24680648e-01 -8.91062305e-02 4.91348337e+01] [ 1.11719746e-01 3.00647304e-03 9.93735206e-01 1.59594530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69710568099998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:128.12, Y:49.15, Z:15.96 [[ 6.19703134e-01 -7.81960065e-01 -6.71303444e-02 1.28120829e+02] [ 7.76844858e-01 6.23320200e-01 -8.93532012e-02 4.91528718e+01] [ 1.11714335e-01 3.22259595e-03 9.93735137e-01 1.59628925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.14, Y:49.17, Z:15.96 [[ 6.19307857e-01 -7.82248708e-01 -6.74146633e-02 1.28140215e+02] [ 7.77158500e-01 6.22959911e-01 -8.91381815e-02 4.91721333e+01] [ 1.11724860e-01 2.81209754e-03 9.93735200e-01 1.59641154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75710568099998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:128.17, Y:49.19, Z:15.96 [[ 6.21175841e-01 -7.80768683e-01 -6.73857379e-02 1.28165409e+02] [ 7.75667408e-01 6.24812419e-01 -8.91600430e-02 4.91910814e+01] [ 1.11716815e-01 3.11514404e-03 9.93735201e-01 1.59626407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78710568099999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:128.18, Y:49.21, Z:15.97 [[ 6.21455630e-01 -7.80499600e-01 -6.79210891e-02 1.28182883e+02] [ 7.75440694e-01 6.25151326e-01 -8.87555682e-02 4.92100207e+01] [ 1.11734644e-01 2.48887111e-03 9.93734962e-01 1.59661986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.817105681 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:128.21, Y:49.23, Z:15.97 [[ 6.22975827e-01 -7.79337706e-01 -6.73339317e-02 1.28205334e+02] [ 7.74223897e-01 6.26594706e-01 -8.91988363e-02 4.92282904e+01] [ 1.11707102e-01 3.43717979e-03 9.93735231e-01 1.59683688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.847105681 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:128.23, Y:49.25, Z:15.97 [[ 6.20984355e-01 -7.80911950e-01 -6.74904226e-02 1.28226838e+02] [ 7.75820102e-01 6.24634117e-01 -8.90807962e-02 4.92469716e+01] [ 1.11721079e-01 2.95735422e-03 9.93735203e-01 1.59712121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.877105681 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:128.25, Y:49.26, Z:15.97 [[ 6.17763591e-01 -7.83477267e-01 -6.73165554e-02 1.28250516e+02] [ 7.78386300e-01 6.21414523e-01 -8.92118798e-02 4.92627052e+01] [ 1.11726965e-01 2.71356677e-03 9.93735237e-01 1.59731638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.907105681 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:128.27, Y:49.28, Z:15.97 [[ 6.14409794e-01 -7.86116083e-01 -6.72466214e-02 1.28269125e+02] [ 7.81035038e-01 6.18074516e-01 -8.92645644e-02 4.92827894e+01] [ 1.11735733e-01 2.32305519e-03 9.93735241e-01 1.59732029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.937105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:128.29, Y:49.31, Z:15.98 [[ 6.07340905e-01 -7.91626264e-01 -6.68197776e-02 1.28292376e+02] [ 7.86543081e-01 6.11002804e-01 -8.95854612e-02 4.93050995e+01] [ 1.11745275e-01 1.85228128e-03 9.93735157e-01 1.59750300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.967105681 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:128.31, Y:49.32, Z:15.98 [[ 6.07802839e-01 -7.91123576e-01 -6.85506852e-02 1.28310432e+02] [ 7.86182698e-01 6.11656302e-01 -8.82798590e-02 4.93205905e+01] [ 1.11769736e-01 -2.36613658e-04 9.93734104e-01 1.59801231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.997105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:128.33, Y:49.34, Z:15.99 [[ 6.04023332e-01 -7.94126836e-01 -6.72189119e-02 1.28332106e+02] [ 7.89092400e-01 6.07751414e-01 -8.92827149e-02 4.93393787e+01] [ 1.11754189e-01 8.86910435e-04 9.93735485e-01 1.59855435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.027105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.35, Y:49.36, Z:15.99 [[ 6.02341378e-01 -7.95405946e-01 -6.71881422e-02 1.28353396e+02] [ 7.90376844e-01 6.06076651e-01 -8.93058642e-02 4.93577656e+01] [ 1.11755580e-01 6.88665483e-04 9.93735486e-01 1.59913290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05710568099997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:128.37, Y:49.38, Z:15.99 [[ 6.01528630e-01 -7.96023619e-01 -6.71543396e-02 1.28371211e+02] [ 7.90995515e-01 6.05265246e-01 -8.93312753e-02 4.93785900e+01] [ 1.11755993e-01 6.16538178e-04 9.93735487e-01 1.59915933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:128.39, Y:49.40, Z:16.00 [[ 5.99478244e-01 -7.97571416e-01 -6.71242962e-02 1.28391876e+02] [ 7.92550433e-01 6.03224421e-01 -8.93538446e-02 4.94007349e+01] [ 1.11757087e-01 3.66295807e-04 9.93735488e-01 1.59953589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.41, Y:49.42, Z:15.99 [[ 5.99451421e-01 -7.97558563e-01 -6.75154240e-02 1.28411286e+02] [ 7.92570485e-01 6.03241513e-01 -8.90601062e-02 4.94184709e+01] [ 1.11758757e-01 -1.23525134e-04 9.93735360e-01 1.59947284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.43, Y:49.44, Z:16.00 [[ 5.98385999e-01 -7.98396355e-01 -6.70630780e-02 1.28430235e+02] [ 7.93375422e-01 6.02132192e-01 -8.93994562e-02 4.94394025e+01] [ 1.11757038e-01 2.89185132e-04 9.93735519e-01 1.59995464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17710568099997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:128.45, Y:49.46, Z:16.00 [[ 5.96537365e-01 -7.99781362e-01 -6.70294323e-02 1.28448932e+02] [ 7.94766293e-01 6.00291402e-01 -8.94246759e-02 4.94597418e+01] [ 1.11757381e-01 7.24271099e-05 9.93735519e-01 1.60032109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.47, Y:49.48, Z:16.01 [[ 5.92340111e-01 -8.02897711e-01 -6.69959565e-02 1.28468775e+02] [ 7.97899555e-01 5.96116635e-01 -8.94497487e-02 4.94793412e+01] [ 1.11756403e-01 -4.71369823e-04 9.93735520e-01 1.60078550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.49, Y:49.50, Z:16.01 [[ 5.88719560e-01 -8.05559052e-01 -6.69618771e-02 1.28486965e+02] [ 8.00575065e-01 5.92514763e-01 -8.94752533e-02 4.95006965e+01] [ 1.11753501e-01 -9.32177346e-04 9.93735521e-01 1.60122439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.51, Y:49.52, Z:16.02 [[ 5.86206017e-01 -8.07392718e-01 -6.69291010e-02 1.28506216e+02] [ 8.02417803e-01 5.90013103e-01 -8.94997638e-02 4.95196808e+01] [ 1.11750504e-01 -1.23980204e-03 9.93735522e-01 1.60187508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:128.52, Y:49.54, Z:16.02 [[ 5.85219015e-01 -8.08110222e-01 -6.69071929e-02 1.28522880e+02] [ 8.03138103e-01 5.89029751e-01 -8.95161387e-02 4.95422148e+01] [ 1.11749234e-01 -1.34916942e-03 9.93735522e-01 1.60233761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:128.54, Y:49.57, Z:16.03 [[ 5.82812916e-01 -8.09849886e-01 -6.68750077e-02 1.28536313e+02] [ 8.04886383e-01 5.86634867e-01 -8.95401770e-02 4.95669659e+01] [ 1.11745313e-01 -1.64161139e-03 9.93735523e-01 1.60268506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.55, Y:49.59, Z:16.03 [[ 5.80642010e-01 -8.11410504e-01 -6.68419896e-02 1.28551612e+02] [ 8.06454437e-01 5.84473597e-01 -8.95648184e-02 4.95899784e+01] [ 1.11741212e-01 -1.89992292e-03 9.93735524e-01 1.60307051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38710568099998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:128.57, Y:49.61, Z:16.03 [[ 5.76401045e-01 -8.14431418e-01 -6.68079392e-02 1.28566457e+02] [ 8.09492486e-01 5.80254693e-01 -8.95902101e-02 4.96133376e+01] [ 1.11730702e-01 -2.44063405e-03 9.93735525e-01 1.60337530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.58, Y:49.64, Z:16.04 [[ 5.72888646e-01 -8.16908763e-01 -6.67732938e-02 1.28579750e+02] [ 8.11983486e-01 5.76759730e-01 -8.96160247e-02 4.96379379e+01] [ 1.11720263e-01 -2.87880881e-03 9.93735526e-01 1.60366744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:128.59, Y:49.66, Z:16.04 [[ 5.71831180e-01 -8.17651950e-01 -6.67412198e-02 1.28594981e+02] [ 8.12728922e-01 5.75705122e-01 -8.96399055e-02 4.96616988e+01] [ 1.11717506e-01 -2.98362663e-03 9.93735527e-01 1.60401270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.61, Y:49.69, Z:16.05 [[ 5.71262988e-01 -8.18051857e-01 -6.67065148e-02 1.28608619e+02] [ 8.13128531e-01 5.75136549e-01 -8.96657243e-02 4.96858738e+01] [ 1.11716567e-01 -3.01826081e-03 9.93735528e-01 1.60457092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.62, Y:49.71, Z:16.05 [[ 5.72030598e-01 -8.17518117e-01 -6.66717647e-02 1.28620934e+02] [ 8.12588170e-01 5.75895729e-01 -8.96915557e-02 4.97110192e+01] [ 1.11720456e-01 -2.87037308e-03 9.93735529e-01 1.60482004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.64, Y:49.73, Z:16.05 [[ 5.71716775e-01 -8.17740431e-01 -6.66372070e-02 1.28637683e+02] [ 8.12809001e-01 5.75580010e-01 -8.97172235e-02 4.97339604e+01] [ 1.11720445e-01 -2.87047992e-03 9.93735529e-01 1.60513837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.567105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:128.65, Y:49.76, Z:16.05 [[ 5.71938952e-01 -8.17587876e-01 -6.66025528e-02 1.28651033e+02] [ 8.12652425e-01 5.75797048e-01 -8.97429422e-02 4.97574012e+01] [ 1.11722295e-01 -2.79724177e-03 9.93735530e-01 1.60535212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.597105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.66, Y:49.78, Z:16.06 [[ 5.72626940e-01 -8.17108702e-01 -6.65714382e-02 1.28663610e+02] [ 8.12167343e-01 5.76477466e-01 -8.97660172e-02 4.97818951e+01] [ 1.11725528e-01 -2.66470829e-03 9.93735531e-01 1.60553571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.627105681 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:128.68, Y:49.80, Z:16.06 [[ 5.73790682e-01 -8.16294412e-01 -6.65408619e-02 1.28679433e+02] [ 8.11344963e-01 5.77630802e-01 -8.97886768e-02 4.98044966e+01] [ 1.11730047e-01 -2.46768702e-03 9.93735532e-01 1.60586216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.657105681 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:128.69, Y:49.83, Z:16.06 [[ 5.75372803e-01 -8.15182753e-01 -6.65072718e-02 1.28693617e+02] [ 8.10223012e-01 5.79199618e-01 -8.98135506e-02 4.98291379e+01] [ 1.11735444e-01 -2.20944775e-03 9.93735533e-01 1.60612163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.687105681 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:128.71, Y:49.85, Z:16.06 [[ 5.75612035e-01 -8.15016582e-01 -6.64737320e-02 1.28707152e+02] [ 8.10052872e-01 5.79433700e-01 -8.98383677e-02 4.98522373e+01] [ 1.11736880e-01 -2.13519186e-03 9.93735534e-01 1.60632753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.717105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:128.72, Y:49.88, Z:16.06 [[ 5.78870184e-01 -8.12708599e-01 -6.64382612e-02 1.28719603e+02] [ 8.07726640e-01 5.82668027e-01 -8.98645919e-02 4.98778097e+01] [ 1.11745177e-01 -1.64402063e-03 9.93735535e-01 1.60645694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.747105681 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:128.73, Y:49.91, Z:16.07 [[ 5.80102672e-01 -8.11831974e-01 -6.64058407e-02 1.28734719e+02] [ 8.06841535e-01 5.83889363e-01 -8.98885429e-02 4.99051588e+01] [ 1.11748057e-01 -1.43440657e-03 9.93735535e-01 1.60663648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.777105681 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:128.75, Y:49.93, Z:16.07 [[ 5.90069214e-01 -8.04545053e-01 -6.72724341e-02 1.28745692e+02] [ 7.99580157e-01 5.93890553e-01 -8.92501135e-02 4.99280898e+01] [ 1.11758200e-01 -1.12595919e-03 9.93734792e-01 1.60662567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:128.76, Y:49.95, Z:16.07 [[ 5.95355623e-01 -8.00763281e-01 -6.58015926e-02 1.28762936e+02] [ 7.95653228e-01 5.98979248e-01 -9.03316168e-02 4.99515940e+01] [ 1.11748030e-01 1.42418639e-03 9.93735553e-01 1.60685399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:128.78, Y:49.98, Z:16.07 [[ 6.00520332e-01 -7.96864418e-01 -6.61999310e-02 1.28776137e+02] [ 7.91763009e-01 6.04155907e-01 -9.00387602e-02 4.99792626e+01] [ 1.11743764e-01 1.65544956e-03 9.93735675e-01 1.60700301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86710568099997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:128.79, Y:50.00, Z:16.07 [[ 6.08269073e-01 -7.90914132e-01 -6.68099582e-02 1.28789285e+02] [ 7.85826129e-01 6.11923900e-01 -8.95903809e-02 5.00018260e+01] [ 1.11740909e-01 1.99404714e-03 9.93735374e-01 1.60721844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89710568099997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:128.80, Y:50.02, Z:16.07 [[ 6.10379464e-01 -7.89343017e-01 -6.61400895e-02 1.28804680e+02] [ 7.84192136e-01 6.13944525e-01 -9.00822590e-02 5.00246101e+01] [ 1.11712148e-01 3.11782284e-03 9.93735717e-01 1.60736357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:128.83, Y:50.05, Z:16.08 [[ 6.14552206e-01 -7.86101415e-01 -6.61071269e-02 1.28825155e+02] [ 7.80929143e-01 6.18086161e-01 -9.01064423e-02 5.00463559e+01] [ 1.11692702e-01 3.75013089e-03 9.93735718e-01 1.60812298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95710568099997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:128.84, Y:50.06, Z:16.08 [[ 6.16313336e-01 -7.84678889e-01 -6.66101572e-02 1.28843071e+02] [ 7.79538052e-01 6.19893223e-01 -8.97374901e-02 5.00647678e+01] [ 1.11706299e-01 3.38125967e-03 9.93735513e-01 1.60831437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98710568099997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:128.86, Y:50.09, Z:16.09 [[ 6.16135090e-01 -7.84865501e-01 -6.60582881e-02 1.28859382e+02] [ 7.79682349e-01 6.19653019e-01 -9.01419461e-02 5.00857821e+01] [ 1.11682521e-01 4.03513479e-03 9.93735746e-01 1.60863116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:128.88, Y:50.11, Z:16.09 [[ 6.15397209e-01 -7.85446743e-01 -6.60279377e-02 1.28879205e+02] [ 7.80264538e-01 6.18916531e-01 -9.01641720e-02 5.01061312e+01] [ 1.11684937e-01 3.96752152e-03 9.93735746e-01 1.60887645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04710568099998 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:128.90, Y:50.12, Z:16.09 [[ 6.13596941e-01 -7.86856739e-01 -6.59944450e-02 1.28900592e+02] [ 7.81679995e-01 6.17124289e-01 -9.01886800e-02 5.01245970e+01] [ 1.11692346e-01 3.75296068e-03 9.93735747e-01 1.60922095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:128.92, Y:50.15, Z:16.10 [[ 6.12046716e-01 -7.88065997e-01 -6.59606013e-02 1.28919885e+02] [ 7.82893564e-01 6.15580381e-01 -9.02134253e-02 5.01462510e+01] [ 1.11698185e-01 3.57470045e-03 9.93735748e-01 1.60965651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.94, Y:50.16, Z:16.10 [[ 6.09856057e-01 -7.89740854e-01 -6.62191319e-02 1.28942215e+02] [ 7.84598559e-01 6.13433535e-01 -9.00244376e-02 5.01640155e+01] [ 1.11717012e-01 2.94651311e-03 9.93735693e-01 1.61040129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:128.96, Y:50.18, Z:16.11 [[ 6.08853511e-01 -7.90539273e-01 -6.59170729e-02 1.28961817e+02] [ 7.85377779e-01 6.12403111e-01 -9.02450781e-02 5.01840895e+01] [ 1.11710099e-01 3.17622831e-03 9.93735762e-01 1.61100586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.98, Y:50.20, Z:16.12 [[ 6.08358831e-01 -7.90922685e-01 -6.58850495e-02 1.28983135e+02] [ 7.85760902e-01 6.11908009e-01 -9.02684514e-02 5.02020705e+01] [ 1.11710955e-01 3.14571362e-03 9.93735763e-01 1.61157379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:129.00, Y:50.22, Z:16.12 [[ 6.08252827e-01 -7.91005499e-01 -6.58695613e-02 1.29001891e+02] [ 7.85842978e-01 6.11800932e-01 -9.02797518e-02 5.02233103e+01] [ 1.11710839e-01 3.14978208e-03 9.93735763e-01 1.61174391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:129.02, Y:50.24, Z:16.11 [[ 6.08896158e-01 -7.90513109e-01 -6.58368690e-02 1.29023171e+02] [ 7.85345148e-01 6.12436332e-01 -9.03035867e-02 5.02434000e+01] [ 1.11707060e-01 3.28084140e-03 9.93735764e-01 1.61148628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.05, Y:50.26, Z:16.12 [[ 6.10962352e-01 -7.88920001e-01 -6.58045293e-02 1.29047383e+02] [ 7.83740280e-01 6.14485296e-01 -9.03271467e-02 5.02612470e+01] [ 1.11696808e-01 3.61282579e-03 9.93735765e-01 1.61165229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:50.28, Z:16.12 [[ 6.13336344e-01 -7.87078504e-01 -6.57720157e-02 1.29071269e+02] [ 7.81885679e-01 6.16839943e-01 -9.03508154e-02 5.02830620e+01] [ 1.11683991e-01 3.98924166e-03 9.93735766e-01 1.61219303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:50.30, Z:16.12 [[ 6.14327232e-01 -7.86229185e-01 -6.66762337e-02 1.29090925e+02] [ 7.81102226e-01 6.17927625e-01 -8.96925989e-02 5.02995995e+01] [ 1.11720026e-01 3.01965144e-03 9.93735135e-01 1.61228012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.12, Y:50.32, Z:16.13 [[ 6.18035839e-01 -7.83399054e-01 -6.57086214e-02 1.29115500e+02] [ 7.78180603e-01 6.21501008e-01 -9.03960522e-02 5.03168829e+01] [ 1.11654156e-01 4.73482543e-03 9.93735846e-01 1.61265791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.377105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.13, Y:50.34, Z:16.13 [[ 6.16609835e-01 -7.84484343e-01 -6.61560780e-02 1.29133123e+02] [ 7.79306604e-01 6.20135834e-01 -9.00708842e-02 5.03354502e+01] [ 1.11684953e-01 3.98272455e-03 9.93735684e-01 1.61296939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.407105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:129.16, Y:50.35, Z:16.13 [[ 6.18573841e-01 -7.82978588e-01 -6.56577068e-02 1.29159150e+02] [ 7.77753908e-01 6.22029563e-01 -9.04327474e-02 5.03515264e+01] [ 1.11647939e-01 4.87379384e-03 9.93735872e-01 1.61333584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.437105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.18, Y:50.37, Z:16.14 [[ 6.22208072e-01 -7.80096322e-01 -6.56265458e-02 1.29182916e+02] [ 7.74853275e-01 6.25635862e-01 -9.04553552e-02 5.03682004e+01] [ 1.11622210e-01 5.43110826e-03 9.93735873e-01 1.61372542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.467105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:50.39, Z:16.14 [[ 6.24565273e-01 -7.78213189e-01 -6.55930896e-02 1.29202999e+02] [ 7.72957282e-01 6.27973311e-01 -9.04796093e-02 5.03885101e+01] [ 1.11603135e-01 5.80976559e-03 9.93735874e-01 1.61397398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.497105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.23, Y:50.41, Z:16.14 [[ 6.26143324e-01 -7.76946857e-01 -6.55600411e-02 1.29226700e+02] [ 7.71681575e-01 6.29536857e-01 -9.05035495e-02 5.04083355e+01] [ 1.11588911e-01 6.07671755e-03 9.93735875e-01 1.61416140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.527105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:129.25, Y:50.43, Z:16.14 [[ 6.27487019e-01 -7.75799885e-01 -6.62916173e-02 1.29245903e+02] [ 7.70583588e-01 6.30956145e-01 -8.99737592e-02 5.04264708e+01] [ 1.11628735e-01 5.37413369e-03 9.93735450e-01 1.61440191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:129.27, Y:50.44, Z:16.15 [[ 6.25365518e-01 -7.77579723e-01 -6.54808566e-02 1.29269087e+02] [ 7.72312011e-01 6.28755145e-01 -9.05600613e-02 5.04443437e+01] [ 1.11589093e-01 6.06148757e-03 9.93735947e-01 1.61483569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.29, Y:50.46, Z:16.15 [[ 6.20080969e-01 -7.81803127e-01 -6.54481650e-02 1.29294246e+02] [ 7.76556048e-01 6.23502447e-01 -9.05836817e-02 5.04617063e+01] [ 1.11625697e-01 5.34504882e-03 9.93735948e-01 1.61537702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.32, Y:50.48, Z:16.16 [[ 6.15956607e-01 -7.85037478e-01 -6.56781190e-02 1.29317304e+02] [ 7.79825967e-01 6.19432099e-01 -9.04175656e-02 5.04777397e+01] [ 1.11664313e-01 4.47579429e-03 9.93735905e-01 1.61567629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.34, Y:50.50, Z:16.16 [[ 6.13365088e-01 -7.87087066e-01 -6.54004612e-02 1.29336153e+02] [ 7.81865854e-01 6.16825884e-01 -9.06179638e-02 5.04984823e+01] [ 1.11664925e-01 4.44750782e-03 9.93735963e-01 1.61577495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:50.52, Z:16.17 [[ 6.08348896e-01 -7.90973183e-01 -6.53685339e-02 1.29359249e+02] [ 7.85771627e-01 6.11839163e-01 -9.06409893e-02 5.05155724e+01] [ 1.11689621e-01 3.77660652e-03 9.93735964e-01 1.61650988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.38, Y:50.53, Z:16.17 [[ 6.05542453e-01 -7.93126220e-01 -6.53386323e-02 1.29378958e+02] [ 7.87934758e-01 6.09047716e-01 -9.06625389e-02 5.05345106e+01] [ 1.11701181e-01 3.41743683e-03 9.93735965e-01 1.61674691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.40, Y:50.55, Z:16.17 [[ 6.01544945e-01 -7.96165034e-01 -6.53063461e-02 1.29400917e+02] [ 7.90988767e-01 6.05072606e-01 -9.06857895e-02 5.05530519e+01] [ 1.11715936e-01 2.89499212e-03 9.93735965e-01 1.61723835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76710568099998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:129.42, Y:50.57, Z:16.18 [[ 5.99877529e-01 -7.97426205e-01 -6.52563974e-02 1.29421823e+02] [ 7.92253451e-01 6.03410338e-01 -9.07217354e-02 5.05717215e+01] [ 1.11720274e-01 2.72232439e-03 9.93735966e-01 1.61762928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79710568099998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:129.44, Y:50.59, Z:16.18 [[ 5.98530588e-01 -7.98436991e-01 -6.52648997e-02 1.29440526e+02] [ 7.93270869e-01 6.02073089e-01 -9.07156185e-02 5.05924885e+01] [ 1.11724945e-01 2.52332877e-03 9.93735966e-01 1.61830027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.46, Y:50.61, Z:16.19 [[ 5.94891777e-01 -8.01149415e-01 -6.52946267e-02 1.29460460e+02] [ 7.96001794e-01 5.98461110e-01 -9.06942391e-02 5.06127170e+01] [ 1.11735931e-01 1.97861714e-03 9.93735964e-01 1.61867939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:50.63, Z:16.19 [[ 5.92820823e-01 -8.02688885e-01 -6.52228858e-02 1.29477482e+02] [ 7.97544862e-01 5.96395333e-01 -9.07458029e-02 5.06348368e+01] [ 1.11739272e-01 1.77782413e-03 9.93735968e-01 1.61913999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88710568099998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:129.50, Y:50.66, Z:16.20 [[ 5.90023097e-01 -8.04750121e-01 -6.51919269e-02 1.29495477e+02] [ 7.99616130e-01 5.93612001e-01 -9.07680384e-02 5.06560730e+01] [ 1.11744300e-01 1.42672281e-03 9.93735969e-01 1.61982284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91710568099998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:129.51, Y:50.67, Z:16.20 [[ 5.91373693e-01 -8.03759394e-01 -6.51766223e-02 1.29510601e+02] [ 7.98618181e-01 5.94952242e-01 -9.07790267e-02 5.06736281e+01] [ 1.11741473e-01 1.63309274e-03 9.93735969e-01 1.62012205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94710568099998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.53, Y:50.70, Z:16.21 [[ 5.90173904e-01 -8.04728722e-01 -6.40815689e-02 1.29529699e+02] [ 7.99507415e-01 5.93636096e-01 -9.15646182e-02 5.06978578e+01] [ 1.11725811e-01 2.80535868e-03 9.93735112e-01 1.62051766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.55, Y:50.72, Z:16.21 [[ 5.93817628e-01 -8.01956590e-01 -6.51632716e-02 1.29546067e+02] [ 7.96803493e-01 5.97379000e-01 -9.07883489e-02 5.07167045e+01] [ 1.11735485e-01 1.98939960e-03 9.93735993e-01 1.62070916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00710568099998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.56, Y:50.74, Z:16.20 [[ 5.94278012e-01 -8.01671704e-01 -6.44680001e-02 1.29563502e+02] [ 7.96462600e-01 5.97757517e-01 -9.12867884e-02 5.07415595e+01] [ 1.11718267e-01 2.90338013e-03 9.93735679e-01 1.62049579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03710568099999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:129.58, Y:50.76, Z:16.21 [[ 5.94197120e-01 -8.01679517e-01 -6.51132364e-02 1.29580864e+02] [ 7.96520827e-01 5.97750388e-01 -9.08242525e-02 5.07635565e+01] [ 1.11733405e-01 2.10346038e-03 9.93735992e-01 1.62079403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.067105681 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:129.60, Y:50.79, Z:16.21 [[ 5.91101205e-01 -8.03967498e-01 -6.50816959e-02 1.29599985e+02] [ 7.98820077e-01 5.94670778e-01 -9.08468478e-02 5.07852312e+01] [ 1.11740096e-01 1.71111592e-03 9.93735993e-01 1.62100501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.097105681 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:129.62, Y:50.81, Z:16.21 [[ 5.88229022e-01 -8.06073646e-01 -6.50530119e-02 1.29616452e+02] [ 8.00936738e-01 5.91813705e-01 -9.08673831e-02 5.08061992e+01] [ 1.11745067e-01 1.34748480e-03 9.93735993e-01 1.62126970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.127105681 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:129.63, Y:50.83, Z:16.22 [[ 5.81187702e-01 -8.11167459e-01 -6.50246723e-02 1.29633823e+02] [ 8.06059705e-01 5.84813804e-01 -9.08876585e-02 5.08276978e+01] [ 1.11752437e-01 4.09021209e-04 9.93735994e-01 1.62156535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.157105681 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:129.65, Y:50.85, Z:16.22 [[ 5.75332110e-01 -8.15333609e-01 -6.49928341e-02 1.29648476e+02] [ 8.10249540e-01 5.78991346e-01 -9.09104200e-02 5.08498310e+01] [ 1.11752609e-01 -3.56730166e-04 9.93735995e-01 1.62189725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.187105681 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:129.67, Y:50.87, Z:16.22 [[ 5.68026687e-01 -8.20475810e-01 -6.45378020e-02 1.29669718e+02] [ 8.15387816e-01 5.71680685e-01 -9.12354300e-02 5.08694075e+01] [ 1.11751478e-01 -7.99178395e-04 9.93735865e-01 1.62227881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.217105681 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:129.69, Y:50.89, Z:16.23 [[ 5.63152567e-01 -8.23796063e-01 -6.49556291e-02 1.29686889e+02] [ 8.18763888e-01 5.66882844e-01 -9.09369972e-02 5.08915537e+01] [ 1.11735772e-01 -1.97192005e-03 9.93735996e-01 1.62274003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.247105681 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:129.70, Y:50.92, Z:16.23 [[ 5.54774751e-01 -8.29463524e-01 -6.49248662e-02 1.29702466e+02] [ 8.24466864e-01 5.58552467e-01 -9.09589553e-02 5.09150006e+01] [ 1.11711080e-01 -3.06666905e-03 9.93735996e-01 1.62315327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.277105681 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:129.72, Y:50.94, Z:16.24 [[ 5.51562094e-01 -8.31613050e-01 -6.47996250e-02 1.29719873e+02] [ 8.26620630e-01 5.55345424e-01 -9.10483069e-02 5.09380864e+01] [ 1.11703135e-01 -3.34591205e-03 9.93735988e-01 1.62362361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30710568099997 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:129.74, Y:50.96, Z:16.24 [[ 5.50344288e-01 -8.32384782e-01 -6.52436859e-02 1.29736547e+02] [ 8.27434979e-01 5.54183327e-01 -9.07314471e-02 5.09613140e+01] [ 1.11680439e-01 -4.05137425e-03 9.93735914e-01 1.62416367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33710568099997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:129.75, Y:50.98, Z:16.25 [[ 5.49303087e-01 -8.33067359e-01 -6.53061510e-02 1.29750263e+02] [ 8.28127600e-01 5.53155101e-01 -9.06868931e-02 5.09839558e+01] [ 1.11672721e-01 -4.26723571e-03 9.93735877e-01 1.62491119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36710568099997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:129.76, Y:51.01, Z:16.25 [[ 5.49517075e-01 -8.32961598e-01 -6.48533713e-02 1.29764216e+02] [ 8.27983014e-01 5.53318523e-01 -9.10095649e-02 5.10105562e+01] [ 1.11692044e-01 -3.68617995e-03 9.93736031e-01 1.62503568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.77, Y:51.04, Z:16.25 [[ 5.50013850e-01 -8.32601685e-01 -6.52625446e-02 1.29772938e+02] [ 8.27654987e-01 5.53856905e-01 -9.07179760e-02 5.10361208e+01] [ 1.11678051e-01 -4.11872724e-03 9.93735905e-01 1.62512978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.79, Y:51.06, Z:16.25 [[ 5.49746794e-01 -8.32813278e-01 -6.48113213e-02 1.29789246e+02] [ 8.27830179e-01 5.53542279e-01 -9.10392254e-02 5.10594490e+01] [ 1.11694482e-01 -3.60424547e-03 9.93736058e-01 1.62542638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:51.09, Z:16.26 [[ 5.50237614e-01 -8.32491353e-01 -6.47820608e-02 1.29806958e+02] [ 8.27503589e-01 5.54026965e-01 -9.10600420e-02 5.10859609e+01] [ 1.11697706e-01 -3.50272757e-03 9.93736058e-01 1.62550720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48710568099997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:129.82, Y:51.11, Z:16.26 [[ 5.48412333e-01 -8.33628628e-01 -6.56294437e-02 1.29815358e+02] [ 8.28720139e-01 5.52304677e-01 -9.04570405e-02 5.11086609e+01] [ 1.11655027e-01 -4.78068512e-03 9.93735528e-01 1.62617431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:51.13, Z:16.27 [[ 5.48005079e-01 -8.33966402e-01 -6.47338658e-02 1.29829489e+02] [ 8.28984885e-01 5.51802524e-01 -9.10935483e-02 5.11334386e+01] [ 1.11689269e-01 -3.74366915e-03 9.93736128e-01 1.62662918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:51.16, Z:16.27 [[ 5.46916188e-01 -8.34683225e-01 -6.47039154e-02 1.29840792e+02] [ 8.29704177e-01 5.50716867e-01 -9.11148173e-02 5.11617459e+01] [ 1.11685547e-01 -3.85294041e-03 9.93736129e-01 1.62672084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:51.19, Z:16.28 [[ 5.47092661e-01 -8.34520603e-01 -6.53068434e-02 1.29843986e+02] [ 8.29591018e-01 5.50957836e-01 -9.06874026e-02 5.11885583e+01] [ 1.11661823e-01 -4.56355832e-03 9.93735785e-01 1.62779566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:51.22, Z:16.28 [[ 5.52323404e-01 -8.31178878e-01 -6.38790296e-02 1.29851206e+02] [ 8.26107929e-01 5.56001045e-01 -9.16980237e-02 5.12199830e+01] [ 1.11734268e-01 -2.12400825e-03 9.93735851e-01 1.62815095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.86, Y:51.25, Z:16.29 [[ 5.56458365e-01 -8.28362777e-01 -6.45693287e-02 1.29862009e+02] [ 8.23329541e-01 5.60186856e-01 -9.12093933e-02 5.12461253e+01] [ 1.11725356e-01 -2.40760590e-03 9.93736207e-01 1.62894395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.87, Y:51.28, Z:16.30 [[ 5.64373186e-01 -8.23011873e-01 -6.42990221e-02 1.29866037e+02] [ 8.17921452e-01 5.68023276e-01 -9.14005267e-02 5.12774588e+01] [ 1.11747060e-01 -1.00754309e-03 9.93736172e-01 1.62951724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.87, Y:51.30, Z:16.30 [[ 5.69059495e-01 -8.19763317e-01 -6.44933714e-02 1.29874667e+02] [ 8.14667598e-01 5.72702135e-01 -9.12631889e-02 5.13022523e+01] [ 1.11749706e-01 -6.06475775e-04 9.93736200e-01 1.62999465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:51.34, Z:16.30 [[ 5.73505435e-01 -8.16709711e-01 -6.38495466e-02 1.29878175e+02] [ 8.11543674e-01 5.77048207e-01 -9.17182195e-02 5.13360909e+01] [ 1.11751427e-01 7.84201757e-04 9.93735882e-01 1.63010786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:51.37, Z:16.30 [[ 5.75919780e-01 -8.14974724e-01 -6.42853423e-02 1.29883670e+02] [ 8.09832277e-01 5.79496210e-01 -9.14102092e-02 5.13669614e+01] [ 1.11750122e-01 5.84602526e-04 9.93736166e-01 1.63020430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:129.89, Y:51.39, Z:16.31 [[ 5.76470729e-01 -8.14572413e-01 -6.44459641e-02 1.29893577e+02] [ 8.09440138e-01 5.80061693e-01 -9.12967427e-02 5.13930043e+01] [ 1.11750443e-01 4.64749835e-04 9.93736194e-01 1.63097241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.817105681 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:129.90, Y:51.42, Z:16.31 [[ 5.77081045e-01 -8.14154421e-01 -6.42654389e-02 1.29900281e+02] [ 8.09005335e-01 5.80647905e-01 -9.14241702e-02 5.14238763e+01] [ 1.11748985e-01 7.68072744e-04 9.93736169e-01 1.63124226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.847105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:129.91, Y:51.45, Z:16.32 [[ 5.77287754e-01 -8.13995598e-01 -6.44206151e-02 1.29910815e+02] [ 8.08857731e-01 5.80870723e-01 -9.13146992e-02 5.14513948e+01] [ 1.11749812e-01 6.07745078e-04 9.93736187e-01 1.63154135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.877105681 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:129.91, Y:51.48, Z:16.31 [[ 5.81012976e-01 -8.11319964e-01 -6.46825870e-02 1.29914859e+02] [ 8.06186124e-01 5.84601807e-01 -9.11299114e-02 5.14814810e+01] [ 1.11749074e-01 8.01457008e-04 9.93736133e-01 1.63106220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.907105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:129.92, Y:51.51, Z:16.29 [[ 5.78659004e-01 -8.13038386e-01 -6.42054557e-02 1.29920225e+02] [ 8.07877763e-01 5.82209125e-01 -9.14661366e-02 5.15143951e+01] [ 1.11746482e-01 1.05754359e-03 9.93736185e-01 1.62937357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.937105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:129.94, Y:51.54, Z:16.31 [[ 5.82737450e-01 -8.10108912e-01 -6.43476089e-02 1.29936589e+02] [ 8.04941484e-01 5.86277629e-01 -9.13660224e-02 5.15395800e+01] [ 1.11741993e-01 1.44634312e-03 9.93736200e-01 1.63112207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.967105681 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:129.94, Y:51.57, Z:16.32 [[ 5.77875770e-01 -8.13483027e-01 -6.56121854e-02 1.29944760e+02] [ 8.08436389e-01 5.81588160e-01 -9.04755092e-02 5.15689746e+01] [ 1.11759561e-01 -7.59673678e-04 9.93734986e-01 1.63152592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.997105681 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:129.95, Y:51.60, Z:16.32 [[ 5.71717017e-01 -8.17829174e-01 -6.55369719e-02 1.29950055e+02] [ 8.12804685e-01 5.75459083e-01 -9.05283872e-02 5.15965817e+01] [ 1.11750602e-01 -1.51213831e-03 9.93735134e-01 1.63223053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.027105681 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:129.96, Y:51.63, Z:16.32 [[ 5.67844091e-01 -8.20583325e-01 -6.47772820e-02 1.29964192e+02] [ 8.15515784e-01 5.71525815e-01 -9.10617824e-02 5.16252833e+01] [ 1.11745669e-01 -1.11800086e-03 9.93736210e-01 1.63221049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05710568099997 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:129.97, Y:51.65, Z:16.32 [[ 5.63658070e-01 -8.23397363e-01 -6.56228842e-02 1.29969963e+02] [ 8.18416806e-01 5.67458737e-01 -9.04682973e-02 5.16528123e+01] [ 1.11729636e-01 -2.71368553e-03 9.93734937e-01 1.63211158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08710568099997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:129.98, Y:51.68, Z:16.32 [[ 5.57286321e-01 -8.27795165e-01 -6.47079695e-02 1.29983809e+02] [ 8.22769737e-01 5.61025030e-01 -9.11091381e-02 5.16830239e+01] [ 1.11722495e-01 -2.46588271e-03 9.93736385e-01 1.63212172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11710568099997 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:129.99, Y:51.71, Z:16.33 [[ 5.54596115e-01 -8.29454128e-01 -6.65507219e-02 1.29994747e+02] [ 8.24592500e-01 5.58551870e-01 -8.98165794e-02 5.17070490e+01] [ 1.11670763e-01 -5.06530019e-03 9.93732350e-01 1.63256355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14710568099997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:130.00, Y:51.74, Z:16.33 [[ 5.50341337e-01 -8.32326761e-01 -6.60043607e-02 1.30000023e+02] [ 8.27439795e-01 5.54262954e-01 -9.01995785e-02 5.17414817e+01] [ 1.11659295e-01 -4.97407803e-03 9.93734099e-01 1.63287923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17710568099997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:130.01, Y:51.76, Z:16.33 [[ 5.51776885e-01 -8.31328638e-01 -6.65955319e-02 1.30005757e+02] [ 8.26484008e-01 5.55753966e-01 -8.97870428e-02 5.17634435e+01] [ 1.11653271e-01 -5.49772730e-03 9.93732017e-01 1.63322805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20710568099997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:130.02, Y:51.80, Z:16.34 [[ 5.47587082e-01 -8.34286122e-01 -6.41486817e-02 1.30017425e+02] [ 8.29260323e-01 5.51323018e-01 -9.14890562e-02 5.18011892e+01] [ 1.11694695e-01 -3.09773114e-03 9.93737742e-01 1.63385032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23710568099997 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:130.02, Y:51.83, Z:16.35 [[ 5.47455734e-01 -8.34125698e-01 -6.72795662e-02 1.30021958e+02] [ 8.29359829e-01 5.51531147e-01 -8.93065924e-02 5.18260147e+01] [ 1.11599700e-01 -6.90756344e-03 9.93729235e-01 1.63457631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:130.03, Y:51.86, Z:16.35 [[ 5.43607015e-01 -8.36742830e-01 -6.59761250e-02 1.30034252e+02] [ 8.31885950e-01 5.47564868e-01 -9.02135368e-02 5.18564605e+01] [ 1.11611738e-01 -5.84389996e-03 9.93734707e-01 1.63511420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:130.04, Y:51.89, Z:16.36 [[ 5.40073392e-01 -8.38909141e-01 -6.74698756e-02 1.30039578e+02] [ 8.34195679e-01 5.44210879e-01 -8.91744870e-02 5.18877044e+01] [ 1.11527133e-01 -8.12231103e-03 9.93728196e-01 1.63573676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32710568099998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:130.05, Y:51.92, Z:16.36 [[ 5.38043611e-01 -8.40225094e-01 -6.73116941e-02 1.30051064e+02] [ 8.35508148e-01 5.42175744e-01 -8.92838022e-02 5.19152334e+01] [ 1.11513259e-01 -8.20088959e-03 9.93729107e-01 1.63624035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35710568099998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:130.06, Y:51.94, Z:16.37 [[ 5.33509075e-01 -8.43101165e-01 -6.74425101e-02 1.30057407e+02] [ 8.38417784e-01 5.37680345e-01 -8.91934186e-02 5.19428318e+01] [ 1.11461587e-01 -8.95950164e-03 9.93728354e-01 1.63657525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:130.06, Y:51.97, Z:16.37 [[ 5.26782033e-01 -8.47352220e-01 -6.70440485e-02 1.30063760e+02] [ 8.42667839e-01 5.30948672e-01 -8.94674235e-02 5.19736056e+01] [ 1.11407368e-01 -9.36603227e-03 9.93730686e-01 1.63712520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:130.07, Y:52.00, Z:16.37 [[ 5.25377889e-01 -8.48215235e-01 -6.71490011e-02 1.30072648e+02] [ 8.43546785e-01 5.29563284e-01 -8.93954633e-02 5.19985888e+01] [ 1.11386239e-01 -9.67692419e-03 9.93730075e-01 1.63728921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:130.08, Y:52.03, Z:16.36 [[ 5.19002668e-01 -8.52209107e-01 -6.61503481e-02 1.30077389e+02] [ 8.47486043e-01 5.23118503e-01 -9.00801755e-02 5.20282835e+01] [ 1.11371617e-01 -9.30964535e-03 9.93735223e-01 1.63647493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:52.06, Z:16.37 [[ 5.12817698e-01 -8.55965675e-01 -6.58845316e-02 1.30084056e+02] [ 8.51249584e-01 5.16939845e-01 -9.02626315e-02 5.20588521e+01] [ 1.11320054e-01 -9.79590515e-03 9.93736326e-01 1.63670908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:52.09, Z:16.37 [[ 5.10245982e-01 -8.57459821e-01 -6.64205794e-02 1.30093918e+02] [ 8.52802490e-01 5.14438109e-01 -8.98963007e-02 5.20869166e+01] [ 1.11251743e-01 -1.07744093e-02 9.93733849e-01 1.63709905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:52.11, Z:16.37 [[ 5.16597077e-01 -8.53639883e-01 -6.65312713e-02 1.30093623e+02] [ 8.48961083e-01 5.20766086e-01 -8.98207230e-02 5.21067299e+01] [ 1.11321781e-01 -1.00813372e-02 9.93733278e-01 1.63716587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:52.13, Z:16.38 [[ 5.17411426e-01 -8.53432266e-01 -6.27597376e-02 1.30102770e+02] [ 8.48434706e-01 5.21175306e-01 -9.23842568e-02 5.21342687e+01] [ 1.11552531e-01 -5.44686946e-03 9.93743611e-01 1.63751253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.597105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:52.17, Z:16.38 [[ 5.23237757e-01 -8.49875156e-01 -6.27253495e-02 1.30104789e+02] [ 8.44849198e-01 5.26963631e-01 -9.24075992e-02 5.21660589e+01] [ 1.11588901e-01 -4.64231628e-03 9.93743612e-01 1.63756328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.627105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:52.20, Z:16.38 [[ 5.33728064e-01 -8.43328953e-01 -6.26947522e-02 1.30108549e+02] [ 8.38254798e-01 5.37388028e-01 -9.24283537e-02 5.21976266e+01] [ 1.11638916e-01 -3.22257055e-03 9.93743613e-01 1.63772743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.657105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:52.22, Z:16.38 [[ 5.39749954e-01 -8.39490188e-01 -6.26594871e-02 1.30117199e+02] [ 8.34387216e-01 5.43369630e-01 -9.24522547e-02 5.22243677e+01] [ 1.11660023e-01 -2.38117470e-03 9.93743613e-01 1.63798687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.687105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:52.26, Z:16.38 [[ 5.50789998e-01 -8.32290917e-01 -6.26275268e-02 1.30117676e+02] [ 8.27138140e-01 5.54338412e-01 -9.24738998e-02 5.22571592e+01] [ 1.11682031e-01 -8.67916972e-04 9.93743614e-01 1.63827002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.717105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:52.29, Z:16.38 [[ 5.59269210e-01 -8.26619491e-01 -6.25952703e-02 1.30122202e+02] [ 8.21428281e-01 5.62761157e-01 -9.24957290e-02 5.22876883e+01] [ 1.11684959e-01 3.12488004e-04 9.93743615e-01 1.63830535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.747105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.13, Y:52.31, Z:16.39 [[ 5.62814512e-01 -8.24212362e-01 -6.25604379e-02 1.30132779e+02] [ 8.19003599e-01 5.66280220e-01 -9.25192824e-02 5.23144392e+01] [ 1.11682275e-01 8.33971011e-04 9.93743616e-01 1.63853148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.14, Y:52.34, Z:16.39 [[ 5.69678913e-01 -8.19485509e-01 -6.25254830e-02 1.30138917e+02] [ 8.14245407e-01 5.73097050e-01 -9.25428994e-02 5.23437978e+01] [ 1.11670735e-01 1.80865098e-03 9.93743617e-01 1.63853292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:52.37, Z:16.38 [[ 5.76898987e-01 -8.14421635e-01 -6.24896730e-02 1.30147502e+02] [ 8.09148931e-01 5.80266614e-01 -9.25670739e-02 5.23711375e+01] [ 1.11649299e-01 2.83839904e-03 9.93743618e-01 1.63845306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:130.16, Y:52.40, Z:16.39 [[ 5.79903361e-01 -8.12286479e-01 -6.24721401e-02 1.30159575e+02] [ 8.07000108e-01 5.83249493e-01 -9.25789052e-02 5.23961271e+01] [ 1.11637437e-01 3.27179447e-03 9.93743618e-01 1.63868334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:130.17, Y:52.42, Z:16.39 [[ 5.84617539e-01 -8.08902902e-01 -6.24374004e-02 1.30169343e+02] [ 8.03594683e-01 5.87928902e-01 -9.26023286e-02 5.24219732e+01] [ 1.11615045e-01 3.96258240e-03 9.93743619e-01 1.63885673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:130.18, Y:52.45, Z:16.39 [[ 5.86236436e-01 -8.07731897e-01 -6.24181388e-02 1.30183156e+02] [ 8.02415689e-01 5.89534957e-01 -9.26153100e-02 5.24469938e+01] [ 1.11606015e-01 4.20917537e-03 9.93743619e-01 1.63898806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:52.47, Z:16.39 [[ 5.90074106e-01 -8.04935297e-01 -6.23836313e-02 1.30195944e+02] [ 7.99601022e-01 5.93343328e-01 -9.26385478e-02 5.24708431e+01] [ 1.11582948e-01 4.78159291e-03 9.93743620e-01 1.63894699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.22, Y:52.50, Z:16.40 [[ 5.88482396e-01 -8.06101141e-01 -6.23652051e-02 1.30215560e+02] [ 8.00772038e-01 5.91760040e-01 -9.26509509e-02 5.25001872e+01] [ 1.11591273e-01 4.58314119e-03 9.93743620e-01 1.64007424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:130.23, Y:52.52, Z:16.40 [[ 5.89622834e-01 -8.05055465e-01 -6.50431549e-02 1.30227349e+02] [ 7.99914844e-01 5.93197556e-01 -9.08454824e-02 5.25176260e+01] [ 1.11719093e-01 1.53558562e-03 9.93738641e-01 1.63970640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.24, Y:52.54, Z:16.40 [[ 5.82377149e-01 -8.10528723e-01 -6.22900044e-02 1.30244995e+02] [ 8.05219757e-01 5.85686386e-01 -9.26962837e-02 5.25389078e+01] [ 1.11615408e-01 3.82705524e-03 9.93744109e-01 1.64005956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:52.56, Z:16.40 [[ 5.78537298e-01 -8.13276568e-01 -6.22560775e-02 1.30261971e+02] [ 8.07980881e-01 5.81867744e-01 -9.27190639e-02 5.25610622e+01] [ 1.11631045e-01 3.33971633e-03 9.93744110e-01 1.64026827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.28, Y:52.58, Z:16.40 [[ 5.70676550e-01 -8.18814202e-01 -6.22219973e-02 1.30280237e+02] [ 8.13548367e-01 5.74053995e-01 -9.27419289e-02 5.25838511e+01] [ 1.11657195e-01 2.30503975e-03 9.93744111e-01 1.64015142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:130.30, Y:52.61, Z:16.40 [[ 5.63297809e-01 -8.23910080e-01 -6.21913081e-02 1.30297172e+02] [ 8.18672541e-01 5.66718967e-01 -9.27625042e-02 5.26056531e+01] [ 1.11672956e-01 1.33859911e-03 9.93744111e-01 1.64009942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.31, Y:52.63, Z:16.41 [[ 5.59310509e-01 -8.26624240e-01 -6.21620552e-02 1.30312933e+02] [ 8.21401127e-01 5.62753650e-01 -9.27821031e-02 5.26281351e+01] [ 1.11677859e-01 8.34023114e-04 9.93744112e-01 1.64052237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.33, Y:52.65, Z:16.41 [[ 5.51011790e-01 -8.32181511e-01 -6.21284178e-02 1.30329230e+02] [ 8.26990586e-01 5.54503267e-01 -9.28046219e-02 5.26503161e+01] [ 1.11680701e-01 -2.43175779e-04 9.93744113e-01 1.64139285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:130.34, Y:52.67, Z:16.42 [[ 5.46738672e-01 -8.34996354e-01 -6.21121043e-02 1.30344952e+02] [ 8.29822162e-01 5.50254900e-01 -9.28155389e-02 5.26728291e+01] [ 1.11678126e-01 -7.96156234e-04 9.93744113e-01 1.64187446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.36, Y:52.70, Z:16.42 [[ 5.39823275e-01 -8.39486299e-01 -6.20772594e-02 1.30362973e+02] [ 8.34338665e-01 5.43378268e-01 -9.28388383e-02 5.26965139e+01] [ 1.11668366e-01 -1.67689203e-03 9.93744114e-01 1.64219941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:130.38, Y:52.72, Z:16.43 [[ 5.36102185e-01 -8.41826386e-01 -6.26321314e-02 1.30376096e+02] [ 8.36737331e-01 5.39740959e-01 -9.24680249e-02 5.27219316e+01] [ 1.11647150e-01 -2.83433224e-03 9.93743871e-01 1.64295949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.38, Y:52.75, Z:16.43 [[ 5.34340398e-01 -8.42934226e-01 -6.27871764e-02 1.30384847e+02] [ 8.37864841e-01 5.38006792e-01 -9.23644912e-02 5.27464977e+01] [ 1.11637118e-01 -3.25308855e-03 9.93743715e-01 1.64309958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:52.77, Z:16.43 [[ 5.34434411e-01 -8.42936351e-01 -6.19529592e-02 1.30401028e+02] [ 8.37802161e-01 5.38008617e-01 -9.29207555e-02 5.27735913e+01] [ 1.11657508e-01 -2.24427384e-03 9.93744215e-01 1.64304098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:52.80, Z:16.43 [[ 5.34078275e-01 -8.43099338e-01 -6.28005037e-02 1.30416535e+02] [ 8.38032085e-01 5.37747705e-01 -9.23560040e-02 5.27970738e+01] [ 1.11636112e-01 -3.30350176e-03 9.93743662e-01 1.64335458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.377105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:130.42, Y:52.82, Z:16.44 [[ 5.32656980e-01 -8.44000042e-01 -6.27731725e-02 1.30423852e+02] [ 8.38936852e-01 5.36331954e-01 -9.23742055e-02 5.28222309e+01] [ 1.11631092e-01 -3.45896239e-03 9.93743697e-01 1.64374052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.407105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.44, Y:52.85, Z:16.44 [[ 5.32819884e-01 -8.43966805e-01 -6.18304442e-02 1.30439457e+02] [ 8.38830209e-01 5.36390422e-01 -9.30010511e-02 5.28486591e+01] [ 1.11655058e-01 -2.31243521e-03 9.93744334e-01 1.64388055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.437105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:130.45, Y:52.88, Z:16.44 [[ 5.31275253e-01 -8.44870851e-01 -6.27682386e-02 1.30446490e+02] [ 8.39813298e-01 5.34957968e-01 -9.23774733e-02 5.28772756e+01] [ 1.11625404e-01 -3.63573600e-03 9.93743705e-01 1.64438139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.467105681 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:130.45, Y:52.91, Z:16.46 [[ 5.33948038e-01 -8.43167115e-01 -6.29976883e-02 1.30446743e+02] [ 8.38115754e-01 5.37639815e-01 -9.22247985e-02 5.29060009e+01] [ 1.11630983e-01 -3.55610476e-03 9.93743366e-01 1.64561159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.497105681 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:130.45, Y:52.93, Z:16.47 [[ 5.35585979e-01 -8.42200099e-01 -6.20213911e-02 1.30454967e+02] [ 8.37066466e-01 5.39160705e-01 -9.28733853e-02 5.29321652e+01] [ 1.11657471e-01 -2.17434361e-03 9.93744374e-01 1.64681337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52710568099997 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:130.46, Y:52.96, Z:16.46 [[ 5.39723597e-01 -8.39576451e-01 -6.17237457e-02 1.30458399e+02] [ 8.34402803e-01 5.43240066e-01 -9.30709062e-02 5.29637642e+01] [ 1.11670953e-01 -1.26990206e-03 9.93744427e-01 1.64638645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55710568099997 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:130.47, Y:52.99, Z:16.47 [[ 5.42123724e-01 -8.38027981e-01 -6.17330629e-02 1.30466888e+02] [ 8.32844991e-01 5.45626409e-01 -9.30647258e-02 5.29897957e+01] [ 1.11674034e-01 -9.61476496e-04 9.93744427e-01 1.64661914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58710568099997 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:130.47, Y:53.02, Z:16.47 [[ 5.50674519e-01 -8.32435592e-01 -6.17135228e-02 1.30471752e+02] [ 8.27215572e-01 5.54121776e-01 -9.30776815e-02 5.30196609e+01] [ 1.11677982e-01 2.05120417e-04 9.93744427e-01 1.64705442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61710568099997 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:130.48, Y:53.05, Z:16.47 [[ 5.60860326e-01 -8.25609703e-01 -6.16791088e-02 1.30479414e+02] [ 8.20345233e-01 5.64239310e-01 -9.31004809e-02 5.30502975e+01] [ 1.11666438e-01 1.61820321e-03 9.93744428e-01 1.64712928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64710568099997 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:130.49, Y:53.08, Z:16.47 [[ 5.64267535e-01 -8.23238727e-01 -6.22908222e-02 1.30486713e+02] [ 8.18004602e-01 5.67693733e-01 -9.26946427e-02 5.30765878e+01] [ 1.11671929e-01 1.35039827e-03 9.93744211e-01 1.64703365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67710568099997 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:130.49, Y:53.11, Z:16.46 [[ 5.69782855e-01 -8.19476843e-01 -6.16863172e-02 1.30492632e+02] [ 8.14176596e-01 5.73105355e-01 -9.30952321e-02 5.31075901e+01] [ 1.11642146e-01 2.82051134e-03 9.93744472e-01 1.64637403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70710568099997 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:130.50, Y:53.13, Z:16.46 [[ 5.72018141e-01 -8.17918796e-01 -6.16772996e-02 1.30504601e+02] [ 8.12608859e-01 5.75325133e-01 -9.31012057e-02 5.31344954e+01] [ 1.11633727e-01 3.13605865e-03 9.93744472e-01 1.64590893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73710568099997 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:130.52, Y:53.16, Z:16.46 [[ 5.71756203e-01 -8.18104655e-01 -6.16410295e-02 1.30517322e+02] [ 8.12793211e-01 5.75060772e-01 -9.31252135e-02 5.31589947e+01] [ 1.11633509e-01 3.14350829e-03 9.93744473e-01 1.64599260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76710568099998 meters Centerline goodness : 0.996822 Centerline is valid? [True, True] Translation: X:130.53, Y:53.18, Z:16.47 [[ 5.71335076e-01 -8.18396302e-01 -6.16743372e-02 1.30530402e+02] [ 8.13088917e-01 5.74646163e-01 -9.31031741e-02 5.31829325e+01] [ 1.11636215e-01 3.04638895e-03 9.93744472e-01 1.64664755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79710568099998 meters Centerline goodness : 0.996876 Centerline is valid? [True, True] Translation: X:130.54, Y:53.21, Z:16.47 [[ 5.67460934e-01 -8.21093385e-01 -6.15933559e-02 1.30543492e+02] [ 8.15795938e-01 5.70787889e-01 -9.31567179e-02 5.32081385e+01] [ 1.11647106e-01 2.61518858e-03 9.93744476e-01 1.64735653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82710568099998 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:130.56, Y:53.23, Z:16.48 [[ 5.61849497e-01 -8.24945631e-01 -6.15617448e-02 1.30560276e+02] [ 8.19668718e-01 5.65208924e-01 -9.31776033e-02 5.32321290e+01] [ 1.11661704e-01 1.89155313e-03 9.93744477e-01 1.64762556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85710568099998 meters Centerline goodness : 0.997046 Centerline is valid? [True, True] Translation: X:130.57, Y:53.26, Z:16.48 [[ 5.57868864e-01 -8.27596402e-01 -6.21814035e-02 1.30573736e+02] [ 8.22380863e-01 5.61323273e-01 -9.27679866e-02 5.32552068e+01] [ 1.11678321e-01 6.15575005e-04 9.93744219e-01 1.64776640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88710568099998 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:130.59, Y:53.28, Z:16.48 [[ 5.51719882e-01 -8.31756647e-01 -6.15308984e-02 1.30589216e+02] [ 8.26519003e-01 5.55140130e-01 -9.31975040e-02 5.32785361e+01] [ 1.11675914e-01 5.62459153e-04 9.93744521e-01 1.64822394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91710568099998 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:130.61, Y:53.30, Z:16.49 [[ 5.49775699e-01 -8.33045171e-01 -6.15014212e-02 1.30605041e+02] [ 8.27813366e-01 5.53204872e-01 -9.32169522e-02 5.33012470e+01] [ 1.11676818e-01 3.36716513e-04 9.93744522e-01 1.64866373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94710568099998 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:130.62, Y:53.33, Z:16.49 [[ 5.47281550e-01 -8.34688424e-01 -6.14665778e-02 1.30617689e+02] [ 8.29464336e-01 5.50722464e-01 -9.32399221e-02 5.33252806e+01] [ 1.11677309e-01 4.41549498e-05 9.93744523e-01 1.64932595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97710568099998 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:130.63, Y:53.35, Z:16.50 [[ 5.44098139e-01 -8.36769629e-01 -6.14312877e-02 1.30628672e+02] [ 8.31556077e-01 5.47554995e-01 -9.32631674e-02 5.33510963e+01] [ 1.11676794e-01 -3.39244782e-04 9.93744524e-01 1.64986447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00710568099998 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:130.64, Y:53.37, Z:16.50 [[ 5.42452462e-01 -8.37840026e-01 -6.13955751e-02 1.30642839e+02] [ 8.32630634e-01 5.45915583e-01 -9.32866714e-02 5.33740150e+01] [ 1.11676108e-01 -5.16252087e-04 9.93744525e-01 1.65018921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03710568099999 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:130.65, Y:53.40, Z:16.50 [[ 5.39476451e-01 -8.39761094e-01 -6.13715197e-02 1.30654786e+02] [ 8.34562233e-01 5.42955360e-01 -9.33024943e-02 5.33980641e+01] [ 1.11673800e-01 -8.83854096e-04 9.93744525e-01 1.65038489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.067105681 meters Centerline goodness : 0.997281 Centerline is valid? [True, True] Translation: X:130.67, Y:53.42, Z:16.51 [[ 5.37763057e-01 -8.40860743e-01 -6.13523049e-02 1.30668593e+02] [ 8.35667554e-01 5.41250428e-01 -9.33151276e-02 5.34234805e+01] [ 1.11671989e-01 -1.08870227e-03 9.93744525e-01 1.65056739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.097105681 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:130.68, Y:53.45, Z:16.51 [[ 5.40060642e-01 -8.39380901e-01 -6.14345617e-02 1.30679301e+02] [ 8.34184300e-01 5.43542939e-01 -9.32610685e-02 5.34479364e+01] [ 1.11673882e-01 -8.81114368e-04 9.93744518e-01 1.65101123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.127105681 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:130.69, Y:53.47, Z:16.51 [[ 5.43117744e-01 -8.37414938e-01 -6.13134444e-02 1.30692915e+02] [ 8.32196740e-01 5.46567574e-01 -9.33406293e-02 5.34736012e+01] [ 1.11676778e-01 -3.29896531e-04 9.93744529e-01 1.65147015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.157105681 meters Centerline goodness : 0.996882 Centerline is valid? [True, True] Translation: X:130.70, Y:53.50, Z:16.52 [[ 5.51132821e-01 -8.32158040e-01 -6.13645720e-02 1.30700302e+02] [ 8.26910673e-01 5.54538125e-01 -9.33070563e-02 5.35000914e+01] [ 1.11675212e-01 6.81561598e-04 9.93744526e-01 1.65213276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.187105681 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:130.71, Y:53.53, Z:16.53 [[ 5.59210638e-01 -8.26758747e-01 -6.12653040e-02 1.30709895e+02] [ 8.21471375e-01 5.62553477e-01 -9.33721911e-02 5.35265743e+01] [ 1.11661285e-01 1.88702902e-03 9.93744533e-01 1.65266241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.217105681 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:130.72, Y:53.55, Z:16.53 [[ 5.62766091e-01 -8.24345341e-01 -6.12297724e-02 1.30723565e+02] [ 8.19041106e-01 5.66082105e-01 -9.33954856e-02 5.35506142e+01] [ 1.11651212e-01 2.41011182e-03 9.93744534e-01 1.65302030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.247105681 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:130.74, Y:53.57, Z:16.53 [[ 5.69816573e-01 -8.19490379e-01 -6.11930757e-02 1.30737900e+02] [ 8.14155336e-01 5.73082788e-01 -9.34195234e-02 5.35737700e+01] [ 1.11625099e-01 3.41132353e-03 9.93744535e-01 1.65268803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27710568099997 meters Centerline goodness : 0.996880 Centerline is valid? [True, True] Translation: X:130.75, Y:53.60, Z:16.52 [[ 5.73984476e-01 -8.16577719e-01 -6.11771926e-02 1.30753473e+02] [ 8.11225007e-01 5.77221653e-01 -9.34299235e-02 5.35981487e+01] [ 1.11605594e-01 3.99885725e-03 9.93744535e-01 1.65218588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30710568099997 meters Centerline goodness : 0.996822 Centerline is valid? [True, True] Translation: X:130.77, Y:53.62, Z:16.52 [[ 5.75011597e-01 -8.15857477e-01 -6.11411542e-02 1.30767314e+02] [ 8.10498214e-01 5.78237916e-01 -9.34535014e-02 5.36208321e+01] [ 1.11598872e-01 4.18205078e-03 9.93744536e-01 1.65232889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33710568099997 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:130.78, Y:53.65, Z:16.53 [[ 5.75858243e-01 -8.15261283e-01 -6.11254834e-02 1.30780736e+02] [ 8.09897597e-01 5.79077205e-01 -9.34637502e-02 5.36458309e+01] [ 1.11593751e-01 4.31648887e-03 9.93744536e-01 1.65298393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36710568099997 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] Translation: X:130.79, Y:53.67, Z:16.53 [[ 5.75045522e-01 -8.15837209e-01 -6.10925141e-02 1.30794998e+02] [ 8.10474470e-01 5.78266057e-01 -9.34852957e-02 5.36687804e+01] [ 1.11596510e-01 4.24437767e-03 9.93744537e-01 1.65325110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39710568099997 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:130.81, Y:53.69, Z:16.53 [[ 5.71394860e-01 -8.18399418e-01 -6.10762390e-02 1.30812204e+02] [ 8.13049995e-01 5.74637466e-01 -9.34959275e-02 5.36919525e+01] [ 1.11613708e-01 3.76505665e-03 9.93744537e-01 1.65283456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42710568099997 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:130.83, Y:53.71, Z:16.53 [[ 5.67972621e-01 -8.20754334e-01 -6.13956406e-02 1.30829768e+02] [ 8.15440780e-01 5.71273835e-01 -9.32873978e-02 5.37136331e+01] [ 1.11639759e-01 2.92017869e-03 9.93744452e-01 1.65269668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45710568099997 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:130.85, Y:53.74, Z:16.53 [[ 5.61106644e-01 -8.25491733e-01 -6.10142063e-02 1.30849010e+02] [ 8.20178965e-01 5.64408930e-01 -9.35362233e-02 5.37354327e+01] [ 1.11650342e-01 2.44122778e-03 9.93744555e-01 1.65324031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48710568099997 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:130.86, Y:53.76, Z:16.54 [[ 5.57615791e-01 -8.27856119e-01 -6.09825828e-02 1.30863740e+02] [ 8.22555105e-01 5.60936910e-01 -9.35568364e-02 5.37588973e+01] [ 1.11658981e-01 2.00723452e-03 9.93744556e-01 1.65396917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51710568099998 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:130.88, Y:53.78, Z:16.55 [[ 5.50646266e-01 -8.32510458e-01 -6.09510198e-02 1.30876541e+02] [ 8.27235251e-01 5.54008223e-01 -9.35773948e-02 5.37823240e+01] [ 1.11671526e-01 1.10721082e-03 9.93744557e-01 1.65460705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54710568099998 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:130.89, Y:53.81, Z:16.55 [[ 5.45523267e-01 -8.35878994e-01 -6.09152930e-02 1.30892450e+02] [ 8.30621952e-01 5.48913556e-01 -9.36006459e-02 5.38050876e+01] [ 1.11676044e-01 4.63750538e-04 9.93744558e-01 1.65528472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57710568099998 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:130.91, Y:53.83, Z:16.55 [[ 5.43144849e-01 -8.37427227e-01 -6.09041250e-02 1.30908587e+02] [ 8.32179034e-01 5.46548822e-01 -9.36079122e-02 5.38279271e+01] [ 1.11676892e-01 1.59519517e-04 9.93744558e-01 1.65548005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60710568099998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:130.92, Y:53.85, Z:16.55 [[ 5.41002052e-01 -8.38815698e-01 -6.08687476e-02 1.30924979e+02] [ 8.33573653e-01 5.44415483e-01 -9.36309109e-02 5.38503346e+01] [ 1.11676966e-01 -8.40693303e-05 9.93744559e-01 1.65535185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63710568099998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:130.94, Y:53.87, Z:16.56 [[ 5.41107839e-01 -8.38749204e-01 -6.08447202e-02 1.30939194e+02] [ 8.33504983e-01 5.44517926e-01 -9.36465223e-02 5.38743251e+01] [ 1.11676987e-01 -4.15101648e-05 9.93744559e-01 1.65553933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66710568099998 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:130.95, Y:53.90, Z:16.56 [[ 5.43761277e-01 -8.37033900e-01 -6.08105645e-02 1.30951263e+02] [ 8.31776442e-01 5.47150917e-01 -9.36686965e-02 5.38990900e+01] [ 1.11676430e-01 3.52615079e-04 9.93744560e-01 1.65609498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69710568099998 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:130.96, Y:53.92, Z:16.57 [[ 5.46739190e-01 -8.35094299e-01 -6.07763899e-02 1.30963259e+02] [ 8.29822352e-01 5.50106250e-01 -9.36908654e-02 5.39229084e+01] [ 1.11674179e-01 7.90861071e-04 9.93744561e-01 1.65703640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72710568099998 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:130.98, Y:53.95, Z:16.57 [[ 5.47492887e-01 -8.34619741e-01 -6.05097241e-02 1.30976018e+02] [ 8.29325736e-01 5.50825227e-01 -9.38636985e-02 5.39477434e+01] [ 1.11670778e-01 1.20743587e-03 9.93744524e-01 1.65730274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75710568099998 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:130.99, Y:53.97, Z:16.57 [[ 5.53481773e-01 -8.30644136e-01 -6.07309253e-02 1.30986964e+02] [ 8.25341888e-01 5.56800916e-01 -9.37203645e-02 5.39720240e+01] [ 1.11663306e-01 1.74873695e-03 9.93744559e-01 1.65713949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78710568099999 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:131.00, Y:54.00, Z:16.57 [[ 5.54832136e-01 -8.29798169e-01 -5.99691660e-02 1.31000843e+02] [ 8.24437283e-01 5.58056431e-01 -9.42135106e-02 5.40000933e+01] [ 1.11644377e-01 2.83186699e-03 9.93744189e-01 1.65742666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.817105681 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:131.01, Y:54.03, Z:16.58 [[ 5.60898731e-01 -8.25656715e-01 -6.06926949e-02 1.31010009e+02] [ 8.20322295e-01 5.64165918e-01 -9.37451313e-02 5.40262024e+01] [ 1.11642047e-01 2.79395440e-03 9.93744558e-01 1.65757408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.847105681 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:131.02, Y:54.05, Z:16.58 [[ 5.64854108e-01 -8.22957211e-01 -6.06734350e-02 1.31020620e+02] [ 8.17605848e-01 5.68093470e-01 -9.37575950e-02 5.40513123e+01] [ 1.11626671e-01 3.35240732e-03 9.93744559e-01 1.65761606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.877105681 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:131.03, Y:54.08, Z:16.58 [[ 5.64085497e-01 -8.23518996e-01 -6.01998011e-02 1.31033885e+02] [ 8.18138159e-01 5.67275912e-01 -9.40637699e-02 5.40774114e+01] [ 1.11613198e-01 3.80825392e-03 9.93744430e-01 1.65764645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.907105681 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:131.05, Y:54.10, Z:16.58 [[ 5.63838894e-01 -8.23656446e-01 -6.06280525e-02 1.31046373e+02] [ 8.18305953e-01 5.67079692e-01 -9.37869464e-02 5.41020186e+01] [ 1.11629160e-01 3.26843189e-03 9.93744559e-01 1.65812532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.937105681 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:131.06, Y:54.13, Z:16.59 [[ 5.63351931e-01 -8.23992210e-01 -6.05924158e-02 1.31059954e+02] [ 8.18641179e-01 5.66591838e-01 -9.38099645e-02 5.41260074e+01] [ 1.11629848e-01 3.24457789e-03 9.93744560e-01 1.65862351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.967105681 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:131.07, Y:54.15, Z:16.59 [[ 5.64017882e-01 -8.23539130e-01 -6.05568345e-02 1.31072758e+02] [ 8.18183038e-01 5.67249414e-01 -9.38329276e-02 5.41512579e+01] [ 1.11625917e-01 3.37687426e-03 9.93744560e-01 1.65917801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.997105681 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:131.09, Y:54.17, Z:16.60 [[ 5.65828494e-01 -8.22298464e-01 -6.05256351e-02 1.31086966e+02] [ 8.16933142e-01 5.69044679e-01 -9.38530482e-02 5.41740494e+01] [ 1.11617008e-01 3.65933160e-03 9.93744561e-01 1.65960113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02710568099997 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:131.10, Y:54.20, Z:16.59 [[ 5.66822150e-01 -8.21629986e-01 -6.03060197e-02 1.31102094e+02] [ 8.16245847e-01 5.70006784e-01 -9.39945957e-02 5.41997550e+01] [ 1.11603619e-01 4.05368074e-03 9.93744535e-01 1.65932799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05710568099997 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:131.11, Y:54.22, Z:16.60 [[ 5.69682963e-01 -8.19636253e-01 -6.04792002e-02 1.31111734e+02] [ 8.14252741e-01 5.72868615e-01 -9.38830361e-02 5.42243629e+01] [ 1.11596576e-01 4.23821171e-03 9.93744556e-01 1.65997030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08710568099997 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:131.12, Y:54.25, Z:16.60 [[ 5.70775526e-01 -8.18935958e-01 -5.96589970e-02 1.31124450e+02] [ 8.13493326e-01 5.73859930e-01 -9.44107480e-02 5.42486973e+01] [ 1.11552264e-01 5.35514837e-03 9.93744139e-01 1.66043805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11710568099997 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:131.14, Y:54.27, Z:16.61 [[ 5.70118582e-01 -8.19409443e-01 -5.94387672e-02 1.31139112e+02] [ 8.13954665e-01 5.73182023e-01 -9.45524764e-02 5.42731007e+01] [ 1.11546425e-01 5.52566190e-03 9.93743861e-01 1.66087860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14710568099997 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:131.15, Y:54.30, Z:16.61 [[ 5.68713033e-01 -8.20376718e-01 -5.95611254e-02 1.31154117e+02] [ 8.14935338e-01 5.71799882e-01 -9.44737490e-02 5.42995650e+01] [ 1.11561109e-01 5.18998644e-03 9.93744023e-01 1.66125188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17710568099997 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] Translation: X:131.17, Y:54.32, Z:16.61 [[ 5.68838039e-01 -8.20224951e-01 -6.04509296e-02 1.31167709e+02] [ 8.14842838e-01 5.72026008e-01 -9.39009913e-02 5.43238809e+01] [ 1.11599440e-01 4.15644867e-03 9.93744579e-01 1.66145711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20710568099997 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:131.18, Y:54.35, Z:16.61 [[ 5.70251942e-01 -8.19245155e-01 -6.04160391e-02 1.31181464e+02] [ 8.13855200e-01 5.73426632e-01 -9.39234347e-02 5.43489205e+01] [ 1.11590485e-01 4.39011347e-03 9.93744580e-01 1.66149795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23710568099997 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:131.20, Y:54.37, Z:16.62 [[ 5.69940681e-01 -8.19464041e-01 -6.03846492e-02 1.31196521e+02] [ 8.14073178e-01 5.73113827e-01 -9.39436114e-02 5.43727880e+01] [ 1.11590689e-01 4.38476259e-03 9.93744581e-01 1.66181592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26710568099998 meters Centerline goodness : 0.997032 Centerline is valid? [True, True] Translation: X:131.21, Y:54.40, Z:16.62 [[ 5.70384925e-01 -8.19157536e-01 -6.03487176e-02 1.31210404e+02] [ 8.13762539e-01 5.73551037e-01 -9.39666881e-02 5.43956395e+01] [ 1.11586590e-01 4.48765669e-03 9.93744582e-01 1.66208748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29710568099998 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:131.22, Y:54.42, Z:16.63 [[ 5.68245100e-01 -8.20644509e-01 -6.03332079e-02 1.31224878e+02] [ 8.15256748e-01 5.71423508e-01 -9.39766454e-02 5.44193015e+01] [ 1.11597231e-01 4.21471334e-03 9.93744582e-01 1.66261095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32710568099998 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:131.24, Y:54.44, Z:16.63 [[ 5.64476327e-01 -8.23243991e-01 -6.02976626e-02 1.31239132e+02] [ 8.17868447e-01 5.67675354e-01 -9.39994467e-02 5.44418433e+01] [ 1.11613977e-01 3.74490675e-03 9.93744583e-01 1.66286380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35710568099998 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:131.25, Y:54.47, Z:16.63 [[ 5.62511729e-01 -8.24588744e-01 -6.02823228e-02 1.31253719e+02] [ 8.19219799e-01 5.65721818e-01 -9.40092832e-02 5.44654117e+01] [ 1.11622022e-01 3.49685199e-03 9.93744583e-01 1.66317927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38710568099998 meters Centerline goodness : 0.997187 Centerline is valid? [True, True] Translation: X:131.27, Y:54.49, Z:16.63 [[ 5.60795230e-01 -8.25759587e-01 -6.02479486e-02 1.31266469e+02] [ 8.20394986e-01 5.64012571e-01 -9.40313076e-02 5.44886712e+01] [ 1.11627854e-01 3.30519378e-03 9.93744584e-01 1.66335850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41710568099998 meters Centerline goodness : 0.997528 Centerline is valid? [True, True] Translation: X:131.28, Y:54.51, Z:16.63 [[ 5.65639359e-01 -8.22450046e-01 -6.02331865e-02 1.31280438e+02] [ 8.17065630e-01 5.68823428e-01 -9.40407627e-02 5.45096312e+01] [ 1.11605877e-01 3.97869035e-03 9.93744584e-01 1.66322646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44710568099998 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] Translation: X:131.30, Y:54.54, Z:16.63 [[ 5.64674456e-01 -8.23194201e-01 -5.91106249e-02 1.31296448e+02] [ 8.17738450e-01 5.67736355e-01 -9.47589504e-02 5.45375811e+01] [ 1.11564269e-01 5.17092802e-03 9.93743767e-01 1.66339867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47710568099998 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:131.31, Y:54.56, Z:16.64 [[ 5.68960310e-01 -8.20158100e-01 -6.02067775e-02 1.31310331e+02] [ 8.14759114e-01 5.72119560e-01 -9.40574080e-02 5.45624215e+01] [ 1.11587420e-01 4.46091132e-03 9.93744609e-01 1.66396639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50710568099998 meters Centerline goodness : 0.996780 Centerline is valid? [True, True] Translation: X:131.32, Y:54.58, Z:16.64 [[ 5.73494401e-01 -8.16996328e-01 -6.01761748e-02 1.31323012e+02] [ 8.11577898e-01 5.76620184e-01 -9.40769831e-02 5.45838583e+01] [ 1.11559347e-01 5.11496955e-03 9.93744610e-01 1.66435542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53710568099999 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:131.34, Y:54.61, Z:16.65 [[ 5.76704855e-01 -8.14794863e-01 -5.93366749e-02 1.31335525e+02] [ 8.09309386e-01 5.79712451e-01 -9.46139141e-02 5.46117569e+01] [ 1.11489140e-01 6.54257569e-03 9.93744115e-01 1.66499118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.567105681 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:131.35, Y:54.63, Z:16.65 [[ 5.81782945e-01 -8.11115166e-01 -6.01730152e-02 1.31350282e+02] [ 8.05664980e-01 5.84853034e-01 -9.40790557e-02 5.46336058e+01] [ 1.11501319e-01 6.25429905e-03 9.93744605e-01 1.66520886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.597105681 meters Centerline goodness : 0.996293 Centerline is valid? [True, True] Translation: X:131.37, Y:54.66, Z:16.65 [[ 5.81743455e-01 -8.11186012e-01 -5.95970365e-02 1.31365734e+02] [ 8.05698749e-01 5.84747189e-01 -9.44470848e-02 5.46584842e+01] [ 1.11463354e-01 6.92671570e-03 9.93744404e-01 1.66539700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.627105681 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:131.38, Y:54.68, Z:16.66 [[ 5.82089948e-01 -8.10898431e-01 -6.01250907e-02 1.31380628e+02] [ 8.05443965e-01 5.85152437e-01 -9.41097461e-02 5.46820254e+01] [ 1.11495789e-01 6.35294576e-03 9.93744600e-01 1.66564464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.657105681 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:131.39, Y:54.71, Z:16.66 [[ 5.82448191e-01 -8.10643925e-01 -6.00876952e-02 1.31393092e+02] [ 8.05185686e-01 5.85503948e-01 -9.41336166e-02 5.47052477e+01] [ 1.11490427e-01 6.44620261e-03 9.93744601e-01 1.66603476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.687105681 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:131.41, Y:54.73, Z:16.67 [[ 5.81553724e-01 -8.11287047e-01 -6.00715718e-02 1.31408320e+02] [ 8.05831137e-01 5.84613636e-01 -9.41439047e-02 5.47291238e+01] [ 1.11496391e-01 6.34219532e-03 9.93744601e-01 1.66653814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.717105681 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:131.42, Y:54.75, Z:16.67 [[ 5.79973379e-01 -8.12419907e-01 -6.00397720e-02 1.31423899e+02] [ 8.06967899e-01 5.83040236e-01 -9.41641806e-02 5.47518858e+01] [ 1.11506458e-01 6.16254930e-03 9.93744601e-01 1.66692297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.747105681 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:131.44, Y:54.78, Z:16.67 [[ 5.76869935e-01 -8.14629157e-01 -6.00034507e-02 1.31440037e+02] [ 8.09186517e-01 5.79953385e-01 -9.41873198e-02 5.47761650e+01] [ 1.11526941e-01 5.77984975e-03 9.93744602e-01 1.66706812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77710568099997 meters Centerline goodness : 0.996070 Centerline is valid? [True, True] Translation: X:131.45, Y:54.80, Z:16.67 [[ 5.74894237e-01 -8.16026999e-01 -5.99712728e-02 1.31454886e+02] [ 8.10589740e-01 5.77987165e-01 -9.42078038e-02 5.47990389e+01] [ 1.11538737e-01 5.54742504e-03 9.93744603e-01 1.66736252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80710568099997 meters Centerline goodness : 0.996256 Centerline is valid? [True, True] Translation: X:131.47, Y:54.82, Z:16.68 [[ 5.74823559e-01 -8.16077882e-01 -5.99563661e-02 1.31469669e+02] [ 8.10639916e-01 5.77915244e-01 -9.42172899e-02 5.48224490e+01] [ 1.11538344e-01 5.55529437e-03 9.93744603e-01 1.66772901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83710568099997 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:131.48, Y:54.85, Z:16.68 [[ 5.75905736e-01 -8.15317211e-01 -5.99201866e-02 1.31482219e+02] [ 8.09872790e-01 5.78986037e-01 -9.42402938e-02 5.48468006e+01] [ 1.11528685e-01 5.74579715e-03 9.93744604e-01 1.66791825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86710568099997 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:131.49, Y:54.87, Z:16.68 [[ 5.74936140e-01 -8.16002455e-01 -5.99034998e-02 1.31494650e+02] [ 8.10560610e-01 5.78020990e-01 -9.42508995e-02 5.48713060e+01] [ 1.11534446e-01 5.63283097e-03 9.93744604e-01 1.66819555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89710568099997 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:131.51, Y:54.90, Z:16.68 [[ 5.70091307e-01 -8.19397240e-01 -5.98670662e-02 1.31506079e+02] [ 8.13971369e-01 5.73204166e-01 -9.42740362e-02 5.48972038e+01] [ 1.11563937e-01 5.01473066e-03 9.93744605e-01 1.66802902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92710568099997 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:131.52, Y:54.92, Z:16.68 [[ 5.60798800e-01 -8.25785680e-01 -5.98557911e-02 1.31521480e+02] [ 8.20394563e-01 5.63971468e-01 -9.42811944e-02 5.49220445e+01] [ 1.11613019e-01 3.76741513e-03 9.93744605e-01 1.66794974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95710568099997 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:131.54, Y:54.94, Z:16.68 [[ 5.55550817e-01 -8.29327674e-01 -5.98239062e-02 1.31536131e+02] [ 8.23954625e-01 5.58753987e-01 -9.43014219e-02 5.49449559e+01] [ 1.11633625e-01 3.09704769e-03 9.93744606e-01 1.66794456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98710568099997 meters Centerline goodness : 0.996763 Centerline is valid? [True, True] Translation: X:131.55, Y:54.97, Z:16.69 [[ 5.43663177e-01 -8.37169836e-01 -5.98081548e-02 1.31545917e+02] [ 8.31841938e-01 5.46940899e-01 -9.43114108e-02 5.49712775e+01] [ 1.11666194e-01 1.52270989e-03 9.93744606e-01 1.66885708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01710568099998 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:131.56, Y:55.00, Z:16.70 [[ 5.37613951e-01 -8.41068055e-01 -5.97977098e-02 1.31555879e+02] [ 8.35763193e-01 5.40928825e-01 -9.43180329e-02 5.49967013e+01] [ 1.11674189e-01 7.29965483e-04 9.93744606e-01 1.66950605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04710568099998 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:131.57, Y:55.02, Z:16.70 [[ 5.25973232e-01 -8.48397406e-01 -5.97829523e-02 1.31565049e+02] [ 8.43137669e-01 5.29359250e-01 -9.43273860e-02 5.50244419e+01] [ 1.11673768e-01 -7.91579036e-04 9.93744606e-01 1.66975982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07710568099998 meters Centerline goodness : 0.996965 Centerline is valid? [True, True] Translation: X:131.58, Y:55.05, Z:16.70 [[ 5.20725879e-01 -8.51630297e-01 -5.97527853e-02 1.31578330e+02] [ 8.46389386e-01 5.24140961e-01 -9.43464919e-02 5.50504750e+01] [ 1.11667213e-01 -1.44546329e-03 9.93744607e-01 1.66967408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10710568099998 meters Centerline goodness : 0.996420 Centerline is valid? [True, True] Translation: X:131.59, Y:55.08, Z:16.70 [[ 5.11541290e-01 -8.57180656e-01 -5.97229572e-02 1.31586812e+02] [ 8.51974571e-01 5.15009230e-01 -9.43653699e-02 5.50783075e+01] [ 1.11646044e-01 -2.61065777e-03 9.93744608e-01 1.66959857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13710568099998 meters Centerline goodness : 0.996745 Centerline is valid? [True, True] Translation: X:131.60, Y:55.10, Z:16.70 [[ 5.08076341e-01 -8.59240045e-01 -5.97074220e-02 1.31596685e+02] [ 8.54046859e-01 5.11563568e-01 -9.43751984e-02 5.51048293e+01] [ 1.11635092e-01 -3.04313073e-03 9.93744608e-01 1.66997978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16710568099998 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:131.60, Y:55.14, Z:16.71 [[ 5.06189554e-01 -8.60353645e-01 -5.96970797e-02 1.31599375e+02] [ 8.55167360e-01 5.09687036e-01 -9.43817400e-02 5.51360104e+01] [ 1.11628502e-01 -3.27594310e-03 9.93744608e-01 1.67093307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19710568099998 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:131.60, Y:55.17, Z:16.72 [[ 5.08754787e-01 -8.58841218e-01 -5.96684824e-02 1.31599050e+02] [ 8.53642417e-01 5.12233636e-01 -9.43998159e-02 5.51691313e+01] [ 1.11638657e-01 -2.90918925e-03 9.93744609e-01 1.67203951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22710568099998 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:131.60, Y:55.20, Z:16.73 [[ 5.14372605e-01 -8.55490454e-01 -5.96398010e-02 1.31598367e+02] [ 8.50266880e-01 5.17814143e-01 -9.44179328e-02 5.52013922e+01] [ 1.11655973e-01 -2.14374942e-03 9.93744609e-01 1.67279557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25710568099998 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:131.61, Y:55.23, Z:16.74 [[ 5.17644773e-01 -8.53515194e-01 -5.96297173e-02 1.31607612e+02] [ 8.48277750e-01 5.21065168e-01 -9.44243008e-02 5.52311303e+01] [ 1.11663544e-01 -1.70431665e-03 9.93744609e-01 1.67363629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28710568099999 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:131.61, Y:55.27, Z:16.74 [[ 5.20350871e-01 -8.51836561e-01 -6.00786468e-02 1.31607688e+02] [ 8.46620607e-01 5.23804304e-01 -9.41413825e-02 5.52658877e+01] [ 1.11662525e-01 -1.87727004e-03 9.93744412e-01 1.67437233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.317105681 meters Centerline goodness : 0.995906 Centerline is valid? [True, True] Translation: X:131.61, Y:55.29, Z:16.74 [[ 5.18655719e-01 -8.52823815e-01 -6.07271388e-02 1.31611035e+02] [ 8.47661988e-01 5.22190917e-01 -9.37326003e-02 5.52921517e+01] [ 1.11648554e-01 -2.86113798e-03 9.93743636e-01 1.67439525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.347105681 meters Centerline goodness : 0.996617 Centerline is valid? [True, True] Translation: X:131.61, Y:55.33, Z:16.74 [[ 5.15967891e-01 -8.54540267e-01 -5.94816538e-02 1.31613252e+02] [ 8.49298977e-01 5.19382199e-01 -9.45165583e-02 5.53250566e+01] [ 1.11661917e-01 -1.75019844e-03 9.93744712e-01 1.67446573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.377105681 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:131.62, Y:55.36, Z:16.74 [[ 5.12352378e-01 -8.56714940e-01 -5.94520928e-02 1.31615834e+02] [ 8.51485983e-01 5.15785543e-01 -9.45351489e-02 5.53570231e+01] [ 1.11654204e-01 -2.18731527e-03 9.93744713e-01 1.67430522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.407105681 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:131.62, Y:55.38, Z:16.74 [[ 5.11701024e-01 -8.57104867e-01 -5.94416473e-02 1.31624499e+02] [ 8.51877764e-01 5.15137011e-01 -9.45417164e-02 5.53849149e+01] [ 1.11652758e-01 -2.25992456e-03 9.93744713e-01 1.67444085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.437105681 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:131.63, Y:55.42, Z:16.76 [[ 5.19471898e-01 -8.52419360e-01 -5.94153362e-02 1.31634000e+02] [ 8.47159357e-01 5.22857305e-01 -9.45582490e-02 5.54207204e+01] [ 1.11669025e-01 -1.21390493e-03 9.93744713e-01 1.67579394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.467105681 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:131.64, Y:55.45, Z:16.76 [[ 5.24384999e-01 -8.49227982e-01 -6.19048176e-02 1.31641247e+02] [ 8.44128833e-01 5.28014798e-01 -9.29886379e-02 5.54489191e+01] [ 1.11655213e-01 -3.49379460e-03 9.93740865e-01 1.67580531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.497105681 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:131.63, Y:55.48, Z:16.77 [[ 5.35794164e-01 -8.42098020e-01 -6.16079481e-02 1.31633929e+02] [ 8.36928886e-01 5.39322020e-01 -9.31761658e-02 5.54778721e+01] [ 1.11689988e-01 -1.63822547e-03 9.93741749e-01 1.67661568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52710568099997 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:131.64, Y:55.51, Z:16.77 [[ 5.48888994e-01 -8.33773792e-01 -5.95158417e-02 1.31635481e+02] [ 8.28405785e-01 5.52100254e-01 -9.44942523e-02 5.55095971e+01] [ 1.11645542e-01 2.56358745e-03 9.93744787e-01 1.67723141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55710568099997 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:131.65, Y:55.54, Z:16.78 [[ 5.52831273e-01 -8.31165874e-01 -5.95052394e-02 1.31646135e+02] [ 8.25782007e-01 5.56015873e-01 -9.45009284e-02 5.55397822e+01] [ 1.11631804e-01 3.10471256e-03 9.93744787e-01 1.67756510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58710568099997 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:131.65, Y:55.57, Z:16.78 [[ 5.61649314e-01 -8.25166520e-01 -6.04174050e-02 1.31650340e+02] [ 8.19809754e-01 5.64880366e-01 -9.39262442e-02 5.55682749e+01] [ 1.11633398e-01 3.22283268e-03 9.93744232e-01 1.67762369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61710568099997 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:131.67, Y:55.60, Z:16.78 [[ 5.66700378e-01 -8.21774286e-01 -5.94786013e-02 1.31670752e+02] [ 8.16336069e-01 5.69791137e-01 -9.45171045e-02 5.55991190e+01] [ 1.11562106e-01 5.00835126e-03 9.93744843e-01 1.67805081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64710568099997 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:131.68, Y:55.63, Z:16.78 [[ 5.68976883e-01 -8.19979920e-01 -6.24358638e-02 1.31679576e+02] [ 8.14730866e-01 5.72389306e-01 -9.26504077e-02 5.56266476e+01] [ 1.11709095e-01 1.84751482e-03 9.93739234e-01 1.67836156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67710568099997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:131.68, Y:55.65, Z:16.78 [[ 5.68055100e-01 -8.20603310e-01 -6.26387290e-02 1.31683093e+02] [ 8.15372060e-01 5.71496286e-01 -9.25224208e-02 5.56467341e+01] [ 1.11722006e-01 1.48396347e-03 9.93738392e-01 1.67847391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70710568099997 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:131.69, Y:55.67, Z:16.80 [[ 5.69447036e-01 -8.19877717e-01 -5.94188701e-02 1.31693691e+02] [ 8.14426192e-01 5.72512757e-01 -9.45469243e-02 5.56714878e+01] [ 1.11534978e-01 5.44718177e-03 9.93745580e-01 1.67975467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73710568099997 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:131.71, Y:55.70, Z:16.80 [[ 5.73128902e-01 -8.17308970e-01 -5.94079967e-02 1.31705400e+02] [ 8.11843014e-01 5.76168819e-01 -9.45537560e-02 5.56961201e+01] [ 1.11508668e-01 5.96152320e-03 9.93745580e-01 1.68003357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76710568099998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:131.73, Y:55.72, Z:16.80 [[ 5.76747316e-01 -8.14762097e-01 -5.93738970e-02 1.31726770e+02] [ 8.09280550e-01 5.79759028e-01 -9.45751638e-02 5.57241924e+01] [ 1.11478812e-01 6.49583187e-03 9.93745581e-01 1.68040032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79710568099998 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:131.74, Y:55.74, Z:16.80 [[ 5.81478004e-01 -8.11222119e-01 -6.16603924e-02 1.31736847e+02] [ 8.05870250e-01 5.84721064e-01 -9.31365539e-02 5.57446374e+01] [ 1.11608563e-01 4.46658159e-03 9.93742209e-01 1.68020207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82710568099998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:131.75, Y:55.77, Z:16.80 [[ 5.86231390e-01 -8.07965998e-01 -5.93607889e-02 1.31751844e+02] [ 8.02449153e-01 5.89177324e-01 -9.45803240e-02 5.57683385e+01] [ 1.11391717e-01 7.81193995e-03 9.93745872e-01 1.68014269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85710568099998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:131.77, Y:55.80, Z:16.80 [[ 5.83430285e-01 -8.09991783e-01 -5.93499307e-02 1.31769519e+02] [ 8.04484492e-01 5.86394044e-01 -9.45871371e-02 5.57983497e+01] [ 1.11417250e-01 7.43890150e-03 9.93745873e-01 1.68040469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88710568099998 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:131.79, Y:55.81, Z:16.80 [[ 5.87153980e-01 -8.07098464e-01 -6.19860769e-02 1.31786184e+02] [ 8.01745392e-01 5.90396800e-01 -9.29297860e-02 5.58143865e+01] [ 1.11599869e-01 4.86704216e-03 9.93741305e-01 1.68002235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91710568099998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:131.80, Y:55.84, Z:16.80 [[ 5.87207959e-01 -8.07260716e-01 -5.93038829e-02 1.31804343e+02] [ 8.01737278e-01 5.90140634e-01 -9.46116819e-02 5.58358299e+01] [ 1.11373925e-01 8.01059893e-03 9.93746285e-01 1.68033092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94710568099998 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:131.82, Y:55.86, Z:16.81 [[ 5.87470496e-01 -8.07070486e-01 -5.92928944e-02 1.31819656e+02] [ 8.01545416e-01 5.90400096e-01 -9.46185679e-02 5.58590608e+01] [ 1.11370384e-01 8.05966933e-03 9.93746285e-01 1.68114604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97710568099998 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:131.83, Y:55.88, Z:16.82 [[ 5.88051496e-01 -8.06649580e-01 -5.92612245e-02 1.31834387e+02] [ 8.01120453e-01 5.90973428e-01 -9.46383992e-02 5.58829357e+01] [ 1.11361834e-01 8.17687322e-03 9.93746286e-01 1.68216829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00710568099998 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:131.85, Y:55.91, Z:16.82 [[ 5.87629856e-01 -8.06959106e-01 -5.92296625e-02 1.31848954e+02] [ 8.01429565e-01 5.90551003e-01 -9.46581483e-02 5.59059355e+01] [ 1.11363391e-01 8.15555143e-03 9.93746287e-01 1.68245322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03710568099999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:131.87, Y:55.93, Z:16.83 [[ 5.84868298e-01 -8.08963678e-01 -5.92185890e-02 1.31865537e+02] [ 8.03443468e-01 5.87807041e-01 -9.46650755e-02 5.59294433e+01] [ 1.11389711e-01 7.78781304e-03 9.93746287e-01 1.68278004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.067105681 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:131.88, Y:55.95, Z:16.82 [[ 5.80290746e-01 -8.12255799e-01 -5.91875607e-02 1.31884052e+02] [ 8.06750334e-01 5.83257019e-01 -9.46844714e-02 5.59523338e+01] [ 1.11429571e-01 7.19493817e-03 9.93746287e-01 1.68249708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.097105681 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:131.90, Y:55.97, Z:16.83 [[ 5.76665319e-01 -8.14835970e-01 -5.91561538e-02 1.31898867e+02] [ 8.09341803e-01 5.79652466e-01 -9.47040896e-02 5.59748347e+01] [ 1.11458309e-01 6.73501588e-03 9.93746288e-01 1.68273464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.127105681 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:131.91, Y:56.00, Z:16.83 [[ 5.72303073e-01 -8.17906829e-01 -5.91406060e-02 1.31913126e+02] [ 8.12427715e-01 5.75317742e-01 -9.47137979e-02 5.59985368e+01] [ 1.11491702e-01 6.15753022e-03 9.93746288e-01 1.68336884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.157105681 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:131.93, Y:56.02, Z:16.84 [[ 5.71999712e-01 -8.18121258e-01 -5.91095248e-02 1.31927818e+02] [ 8.12641292e-01 5.75012829e-01 -9.47331913e-02 5.60225139e+01] [ 1.11491973e-01 6.15251755e-03 9.93746289e-01 1.68368657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.187105681 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:131.94, Y:56.04, Z:16.84 [[ 5.63502905e-01 -8.23999224e-01 -5.90741497e-02 1.31943878e+02] [ 8.18548449e-01 5.66568513e-01 -9.47552457e-02 5.60448478e+01] [ 1.11547802e-01 5.03980263e-03 9.93746290e-01 1.68395290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.217105681 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:131.96, Y:56.07, Z:16.84 [[ 5.58066911e-01 -8.27691673e-01 -5.90577445e-02 1.31959352e+02] [ 8.22260125e-01 5.61166457e-01 -9.47654694e-02 5.60671894e+01] [ 1.11577815e-01 4.32464439e-03 9.93746290e-01 1.68441108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.247105681 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:131.97, Y:56.09, Z:16.85 [[ 5.57671433e-01 -8.27960632e-01 -5.90234295e-02 1.31971213e+02] [ 8.22528329e-01 5.60769653e-01 -9.47868373e-02 5.60922788e+01] [ 1.11578318e-01 4.31146854e-03 9.93746291e-01 1.68507150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27710568099997 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:131.98, Y:56.12, Z:16.85 [[ 5.60417463e-01 -8.26105109e-01 -5.90136915e-02 1.31984719e+02] [ 8.20661918e-01 5.63496515e-01 -9.47928998e-02 5.61157793e+01] [ 1.11562908e-01 4.69330716e-03 9.93746291e-01 1.68540008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30710568099997 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:132.00, Y:56.14, Z:16.86 [[ 5.68143023e-01 -8.20811942e-01 -5.90022069e-02 1.31996810e+02] [ 8.15339374e-01 5.71169551e-01 -9.48000476e-02 5.61411706e+01] [ 1.11513275e-01 5.75316318e-03 9.93746291e-01 1.68597603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33710568099997 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:132.01, Y:56.17, Z:16.86 [[ 5.71510425e-01 -8.18472847e-01 -5.89748466e-02 1.32007707e+02] [ 8.12986164e-01 5.74511289e-01 -9.48170654e-02 5.61659921e+01] [ 1.11486909e-01 6.24320702e-03 9.93746291e-01 1.68615417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36710568099997 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:132.02, Y:56.19, Z:16.87 [[ 5.77826396e-01 -8.14028613e-01 -5.89412734e-02 1.32016369e+02] [ 8.08516789e-01 5.80780827e-01 -9.48379311e-02 5.61929105e+01] [ 1.11432751e-01 7.14485076e-03 9.93746292e-01 1.68666969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39710568099997 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:132.03, Y:56.22, Z:16.87 [[ 5.79915714e-01 -8.12542255e-01 -5.89308805e-02 1.32029625e+02] [ 8.07022217e-01 5.82854770e-01 -9.48443887e-02 5.62185534e+01] [ 1.11413218e-01 7.44322162e-03 9.93746292e-01 1.68695006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42710568099997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:132.04, Y:56.24, Z:16.87 [[ 5.81838455e-01 -8.11168584e-01 -5.89028095e-02 1.32041104e+02] [ 8.05639877e-01 5.84761169e-01 -9.48618189e-02 5.62434317e+01] [ 1.11393003e-01 7.73980199e-03 9.93746293e-01 1.68748001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45710568099997 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:132.05, Y:56.27, Z:16.88 [[ 5.83663029e-01 -8.09857517e-01 -5.88920203e-02 1.32053622e+02] [ 8.04321585e-01 5.86572035e-01 -9.48685167e-02 5.62670685e+01] [ 1.11374394e-01 8.00312273e-03 9.93746293e-01 1.68781326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48710568099997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:132.07, Y:56.29, Z:16.88 [[ 5.84565727e-01 -8.09207257e-01 -5.88772198e-02 1.32067134e+02] [ 8.03667182e-01 5.87466835e-01 -9.48777012e-02 5.62918490e+01] [ 1.11364138e-01 8.14456299e-03 9.93746293e-01 1.68814715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51710568099998 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:132.08, Y:56.32, Z:16.89 [[ 5.88770454e-01 -8.06154658e-01 -5.88559150e-02 1.32078551e+02] [ 8.00598272e-01 5.91640196e-01 -9.48909155e-02 5.63165594e+01] [ 1.11318279e-01 8.74902358e-03 9.93746293e-01 1.68878471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54710568099998 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:132.09, Y:56.34, Z:16.89 [[ 5.91133509e-01 -8.04426093e-01 -5.88203720e-02 1.32092278e+02] [ 7.98859182e-01 5.93982779e-01 -9.49129427e-02 5.63401225e+01] [ 1.11288736e-01 9.11702669e-03 9.93746294e-01 1.68880201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57710568099998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:132.11, Y:56.36, Z:16.88 [[ 5.96696227e-01 -8.00311125e-01 -5.87853303e-02 1.32108660e+02] [ 7.94722529e-01 5.99502723e-01 -9.49346413e-02 5.63641446e+01] [ 1.11219215e-01 9.92911595e-03 9.93746295e-01 1.68840457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60710568099998 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:132.12, Y:56.39, Z:16.88 [[ 6.02348212e-01 -7.96068122e-01 -5.87552303e-02 1.32124623e+02] [ 7.90458047e-01 6.05111521e-01 -9.49532667e-02 5.63882225e+01] [ 1.11142735e-01 1.07513858e-02 9.93746296e-01 1.68814361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63710568099998 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:132.14, Y:56.41, Z:16.88 [[ 6.03907638e-01 -7.94888027e-01 -5.87246956e-02 1.32138606e+02] [ 7.89270784e-01 6.06656345e-01 -9.49721474e-02 5.64125579e+01] [ 1.11117932e-01 1.10047187e-02 9.93746296e-01 1.68819116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66710568099998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:132.15, Y:56.44, Z:16.88 [[ 6.05905714e-01 -7.93366845e-01 -5.87138362e-02 1.32152760e+02] [ 7.87742081e-01 6.08638998e-01 -9.49788605e-02 5.64379208e+01] [ 1.11088609e-01 1.12968748e-02 9.93746296e-01 1.68817305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69710568099998 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:132.17, Y:56.46, Z:16.88 [[ 6.03710662e-01 -7.95040552e-01 -5.86852383e-02 1.32170565e+02] [ 7.89421716e-01 6.06456110e-01 -9.49965273e-02 5.64614092e+01] [ 1.11116113e-01 1.10230148e-02 9.93746297e-01 1.68799319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72710568099998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:132.19, Y:56.48, Z:16.88 [[ 6.00719041e-01 -7.97305603e-01 -5.86549975e-02 1.32187666e+02] [ 7.91695370e-01 6.03482024e-01 -9.50151957e-02 5.64839807e+01] [ 1.11153385e-01 1.06405473e-02 9.93746298e-01 1.68801678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75710568099998 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:132.21, Y:56.50, Z:16.88 [[ 5.93762018e-01 -8.02502554e-01 -5.86201015e-02 1.32206062e+02] [ 7.96914508e-01 5.96569601e-01 -9.50367202e-02 5.65045255e+01] [ 1.11238181e-01 9.71398548e-03 9.93746298e-01 1.68836742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78710568099999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:132.22, Y:56.53, Z:16.89 [[ 5.89956038e-01 -8.05305420e-01 -5.86093296e-02 1.32221397e+02] [ 7.99730089e-01 5.92788786e-01 -9.50433628e-02 5.65285873e+01] [ 1.11281889e-01 9.19976141e-03 9.93746298e-01 1.68901425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.817105681 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:132.24, Y:56.55, Z:16.90 [[ 5.84655553e-01 -8.09164000e-01 -5.85790475e-02 1.32235409e+02] [ 8.03605569e-01 5.87521320e-01 -9.50620233e-02 5.65524581e+01] [ 1.11337206e-01 8.50409104e-03 9.93746299e-01 1.68981585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.847105681 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:132.25, Y:56.58, Z:16.90 [[ 5.80251118e-01 -8.12330400e-01 -5.85487858e-02 1.32250232e+02] [ 8.06785784e-01 5.83143522e-01 -9.50806579e-02 5.65761635e+01] [ 1.11379254e-01 7.93432998e-03 9.93746300e-01 1.69005515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.877105681 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:132.27, Y:56.60, Z:16.90 [[ 5.77857972e-01 -8.14035286e-01 -5.85381733e-02 1.32265225e+02] [ 8.08498559e-01 5.80765449e-01 -9.50871913e-02 5.66004917e+01] [ 1.11401277e-01 7.61886278e-03 9.93746300e-01 1.69043432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.907105681 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:132.28, Y:56.62, Z:16.91 [[ 5.75148902e-01 -8.15953680e-01 -5.85092596e-02 1.32279453e+02] [ 8.10424876e-01 5.78071417e-01 -9.51049793e-02 5.66244119e+01] [ 1.11423788e-01 7.28216493e-03 9.93746300e-01 1.69102026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.937105681 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:132.29, Y:56.65, Z:16.92 [[ 5.74193565e-01 -8.16626988e-01 -5.84988212e-02 1.32292244e+02] [ 8.11100968e-01 5.77121340e-01 -9.51113994e-02 5.66490666e+01] [ 1.11431454e-01 7.16390301e-03 9.93746300e-01 1.69156859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.967105681 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:132.30, Y:56.67, Z:16.92 [[ 5.73812884e-01 -8.16896910e-01 -5.84654800e-02 1.32301702e+02] [ 8.11370211e-01 5.76739373e-01 -9.51318901e-02 5.66736327e+01] [ 1.11432291e-01 7.15075534e-03 9.93746301e-01 1.69237818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.997105681 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:132.31, Y:56.70, Z:16.93 [[ 5.74816870e-01 -8.16192381e-01 -5.84428191e-02 1.32314783e+02] [ 8.10660702e-01 5.77733936e-01 -9.51458095e-02 5.66983414e+01] [ 1.11421685e-01 7.31411964e-03 9.93746302e-01 1.69281370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02710568099997 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:132.33, Y:56.72, Z:16.93 [[ 5.80742491e-01 -8.11989304e-01 -5.84083072e-02 1.32327232e+02] [ 8.06434462e-01 5.83615201e-01 -9.51669912e-02 5.67235873e+01] [ 1.11362555e-01 8.16504372e-03 9.93746302e-01 1.69250491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05710568099997 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:132.34, Y:56.75, Z:16.92 [[ 5.90718330e-01 -8.04763395e-01 -5.83757901e-02 1.32341302e+02] [ 7.99171619e-01 5.93518468e-01 -9.51869332e-02 5.67512818e+01] [ 1.11250069e-01 9.57639154e-03 9.93746303e-01 1.69213512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08710568099997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:132.35, Y:56.78, Z:16.93 [[ 5.99559474e-01 -7.98142082e-01 -5.91409693e-02 1.32352722e+02] [ 7.92563873e-01 6.02387649e-01 -9.47186746e-02 5.67822466e+01] [ 1.11224750e-01 9.91648298e-03 9.93745802e-01 1.69259193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11710568099997 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:132.37, Y:56.81, Z:16.93 [[ 6.02696476e-01 -7.95757885e-01 -5.93830403e-02 1.32368034e+02] [ 7.90182589e-01 6.05531094e-01 -9.45704531e-02 5.68114804e+01] [ 1.11213461e-01 1.00738343e-02 9.93745482e-01 1.69277036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14710568099997 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:132.38, Y:56.84, Z:16.93 [[ 6.03719834e-01 -7.94976628e-01 -5.94518592e-02 1.32381307e+02] [ 7.89401672e-01 6.06555354e-01 -9.45283157e-02 5.68400090e+01] [ 1.11208645e-01 1.01372220e-02 9.93745377e-01 1.69299466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17710568099997 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:132.39, Y:56.87, Z:16.93 [[ 6.05353037e-01 -7.93765397e-01 -5.90270661e-02 1.32394432e+02] [ 7.88160237e-01 6.08127130e-01 -9.47883717e-02 5.68690943e+01] [ 1.11135690e-01 1.08576423e-02 9.93745928e-01 1.69318838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20710568099997 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:132.41, Y:56.89, Z:16.93 [[ 5.99936333e-01 -7.97860386e-01 -5.91202212e-02 1.32405557e+02] [ 7.92279668e-01 6.02759444e-01 -9.47310987e-02 5.68945077e+01] [ 1.11217463e-01 9.99287882e-03 9.93745852e-01 1.69344630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23710568099997 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:132.42, Y:56.92, Z:16.94 [[ 5.97424846e-01 -7.99793654e-01 -5.84265756e-02 1.32420179e+02] [ 7.94181455e-01 6.00184100e-01 -9.51570417e-02 5.69173607e+01] [ 1.11172700e-01 1.04478781e-02 9.93746181e-01 1.69395474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26710568099998 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:132.43, Y:56.94, Z:16.95 [[ 5.91963681e-01 -8.03846757e-01 -5.83899933e-02 1.32433130e+02] [ 7.98251342e-01 5.94756808e-01 -9.51794840e-02 5.69421194e+01] [ 1.11237566e-01 9.73290712e-03 9.93746182e-01 1.69478441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29710568099998 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:132.45, Y:56.97, Z:16.95 [[ 5.88542370e-01 -8.06357043e-01 -5.83626449e-02 1.32445044e+02] [ 8.00771936e-01 5.91356053e-01 -9.51962507e-02 5.69673158e+01] [ 1.11275271e-01 9.29185888e-03 9.93746183e-01 1.69539877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32710568099998 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:132.46, Y:56.99, Z:16.95 [[ 5.85284555e-01 -8.08727076e-01 -5.83310105e-02 1.32460537e+02] [ 8.03151489e-01 5.88117054e-01 -9.52156307e-02 5.69916894e+01] [ 1.11308921e-01 8.87960013e-03 9.93746183e-01 1.69522184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35710568099998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:132.47, Y:57.01, Z:16.95 [[ 5.76826580e-01 -8.14754224e-01 -5.87081821e-02 1.32472400e+02] [ 8.09231370e-01 5.79760761e-01 -9.49844752e-02 5.70149191e+01] [ 1.11425703e-01 7.28106738e-03 9.93746094e-01 1.69506842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38710568099998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:132.49, Y:57.04, Z:16.95 [[ 5.74155928e-01 -8.16666553e-01 -5.83156277e-02 1.32485666e+02] [ 8.11129355e-01 5.77062726e-01 -9.52248890e-02 5.70394926e+01] [ 1.11418757e-01 7.37241704e-03 9.93746199e-01 1.69548310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41710568099998 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:132.49, Y:57.07, Z:16.96 [[ 5.70575816e-01 -8.19174092e-01 -5.82841730e-02 1.32493674e+02] [ 8.13647744e-01 5.73503185e-01 -9.52441377e-02 5.70659927e+01] [ 1.11447689e-01 6.92121569e-03 9.93746200e-01 1.69624349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44710568099998 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:132.51, Y:57.09, Z:16.97 [[ 5.68869662e-01 -8.20360527e-01 -5.82744626e-02 1.32505257e+02] [ 8.14839687e-01 5.71807404e-01 -9.52500785e-02 5.70907672e+01] [ 1.11461174e-01 6.70053508e-03 9.93746200e-01 1.69674336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47710568099998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:132.52, Y:57.12, Z:16.97 [[ 5.66458545e-01 -8.22029488e-01 -5.82429098e-02 1.32517053e+02] [ 8.16515348e-01 5.69408845e-01 -9.52693684e-02 5.71181635e+01] [ 1.11478258e-01 6.40991808e-03 9.93746200e-01 1.69698934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50710568099998 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:132.53, Y:57.14, Z:16.97 [[ 5.65712504e-01 -8.22543370e-01 -5.82388844e-02 1.32529243e+02] [ 8.17031660e-01 5.68667342e-01 -9.52718291e-02 5.71429484e+01] [ 1.11483763e-01 6.31345269e-03 9.93746200e-01 1.69706056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53710568099999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:132.54, Y:57.17, Z:16.97 [[ 5.64030962e-01 -8.23698045e-01 -5.82289037e-02 1.32537187e+02] [ 8.18191764e-01 5.66995903e-01 -9.52779288e-02 5.71700359e+01] [ 1.11495794e-01 6.09729236e-03 9.93746201e-01 1.69735441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.567105681 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:132.54, Y:57.20, Z:16.98 [[ 5.61476156e-01 -8.25443833e-01 -5.81979722e-02 1.32544056e+02] [ 8.19944838e-01 5.64454586e-01 -9.52968188e-02 5.71980792e+01] [ 1.11512284e-01 5.78776463e-03 9.93746201e-01 1.69776116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.597105681 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:132.55, Y:57.23, Z:16.98 [[ 5.57266352e-01 -8.28292414e-01 -5.81884001e-02 1.32552633e+02] [ 8.22808052e-01 5.60271642e-01 -9.53026632e-02 5.72260621e+01] [ 1.11539783e-01 5.23108333e-03 9.93746201e-01 1.69784741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.627105681 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:132.56, Y:57.25, Z:16.98 [[ 5.53879387e-01 -8.30563264e-01 -5.81574533e-02 1.32563877e+02] [ 8.25089261e-01 5.56903505e-01 -9.53215445e-02 5.72526194e+01] [ 1.11558663e-01 4.81154847e-03 9.93746202e-01 1.69811230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.657105681 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:132.57, Y:57.28, Z:16.99 [[ 5.43987874e-01 -8.37077138e-01 -5.81296600e-02 1.32570072e+02] [ 8.31637601e-01 5.47073554e-01 -9.53384907e-02 5.72818476e+01] [ 1.11606871e-01 3.52017191e-03 9.93746202e-01 1.69854083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.687105681 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:132.58, Y:57.31, Z:16.99 [[ 5.38799292e-01 -8.40428173e-01 -5.81017069e-02 1.32579215e+02] [ 8.35006006e-01 5.41915393e-01 -9.53555231e-02 5.73076169e+01] [ 1.11625677e-01 2.86221411e-03 9.93746203e-01 1.69894300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.717105681 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:132.59, Y:57.34, Z:16.99 [[ 5.32217716e-01 -8.44612399e-01 -5.80878530e-02 1.32591104e+02] [ 8.39213825e-01 5.35374514e-01 -9.53639617e-02 5.73433553e+01] [ 1.11644341e-01 2.00626062e-03 9.93746203e-01 1.69882588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.747105681 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:132.60, Y:57.37, Z:16.99 [[ 5.27481120e-01 -8.47468550e-01 -5.96718026e-02 1.32601925e+02] [ 8.42194810e-01 5.30845404e-01 -9.43984098e-02 5.73719399e+01] [ 1.11676186e-01 -4.61903513e-04 9.93744543e-01 1.69913726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77710568099997 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:132.61, Y:57.41, Z:17.00 [[ 5.21398791e-01 -8.51265040e-01 -5.90858044e-02 1.32608542e+02] [ 8.45975090e-01 5.24735643e-01 -9.47557458e-02 5.74064469e+01] [ 1.11666681e-01 -5.79587464e-04 9.93745549e-01 1.69954639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80710568099997 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:132.62, Y:57.44, Z:17.00 [[ 5.20349180e-01 -8.51868686e-01 -5.96361647e-02 1.32615159e+02] [ 8.46620884e-01 5.23753661e-01 -9.44202350e-02 5.74374233e+01] [ 1.11668301e-01 -1.35773063e-03 9.93744609e-01 1.69987848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83710568099997 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:132.63, Y:57.47, Z:17.01 [[ 5.21437084e-01 -8.51248900e-01 -5.89803129e-02 1.32632846e+02] [ 8.45951594e-01 5.24761951e-01 -9.48198045e-02 5.74651656e+01] [ 1.11665878e-01 -4.51927386e-04 9.93745706e-01 1.70103089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86710568099997 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:132.65, Y:57.49, Z:17.01 [[ 5.22806552e-01 -8.50373304e-01 -5.94857336e-02 1.32648333e+02] [ 8.45105315e-01 5.26179155e-01 -9.45119217e-02 5.74946453e+01] [ 1.11670568e-01 -8.60257666e-04 9.93744909e-01 1.70131201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89710568099997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:132.66, Y:57.52, Z:17.02 [[ 5.22486825e-01 -8.50556244e-01 -5.96790935e-02 1.32659725e+02] [ 8.45302877e-01 5.25882882e-01 -9.43940708e-02 5.75175454e+01] [ 1.11671680e-01 -1.12725115e-03 9.93744517e-01 1.70184685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92710568099997 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:132.68, Y:57.54, Z:17.01 [[ 5.25928686e-01 -8.48544825e-01 -5.80577059e-02 1.32678566e+02] [ 8.43167960e-01 5.29122115e-01 -9.53812306e-02 5.75448324e+01] [ 1.11654866e-01 1.21132779e-03 9.93746307e-01 1.70119486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95710568099997 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:132.70, Y:57.57, Z:17.01 [[ 5.28705683e-01 -8.46816788e-01 -5.80657206e-02 1.32695070e+02] [ 8.41430022e-01 5.31882383e-01 -9.53763512e-02 5.75694122e+01] [ 1.11650429e-01 1.56777829e-03 9.93746308e-01 1.70138350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98710568099997 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:132.71, Y:57.60, Z:17.02 [[ 5.32210733e-01 -8.44618457e-01 -5.80637454e-02 1.32714336e+02] [ 8.39218441e-01 5.35364857e-01 -9.53775536e-02 5.75994445e+01] [ 1.11642931e-01 2.03279180e-03 9.93746308e-01 1.70167624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01710568099998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:132.73, Y:57.63, Z:17.03 [[ 5.33296012e-01 -8.43833378e-01 -5.95028813e-02 1.32726656e+02] [ 8.38525209e-01 5.36605048e-01 -9.45013019e-02 5.76269042e+01] [ 1.11672899e-01 5.02501440e-04 9.93744892e-01 1.70275211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04710568099998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:132.74, Y:57.65, Z:17.03 [[ 5.33357305e-01 -8.43820988e-01 -5.91280407e-02 1.32743360e+02] [ 8.38487371e-01 5.36623932e-01 -9.47295307e-02 5.76545749e+01] [ 1.11664288e-01 9.46571763e-04 9.93745536e-01 1.70314312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07710568099998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:132.76, Y:57.68, Z:17.04 [[ 5.34874196e-01 -8.42859898e-01 -5.91336320e-02 1.32760356e+02] [ 8.37520788e-01 5.38131852e-01 -9.47261262e-02 5.76822224e+01] [ 1.11662544e-01 1.14091454e-03 9.93745528e-01 1.70377876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10710568099998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:132.77, Y:57.70, Z:17.05 [[ 5.33207841e-01 -8.43886932e-01 -5.95335538e-02 1.32772652e+02] [ 8.38581205e-01 5.36520865e-01 -9.44823997e-02 5.77048663e+01] [ 1.11673456e-01 4.55037104e-04 9.93744853e-01 1.70450216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13710568099998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:132.79, Y:57.73, Z:17.04 [[ 5.35053023e-01 -8.42820647e-01 -5.80656551e-02 1.32794771e+02] [ 8.37410176e-01 5.38189155e-01 -9.53762586e-02 5.77323074e+01] [ 1.11635386e-01 2.40658501e-03 9.93746320e-01 1.70448870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16710568099998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:132.81, Y:57.75, Z:17.05 [[ 5.32675726e-01 -8.44246656e-01 -5.91959053e-02 1.32808785e+02] [ 8.38920298e-01 5.35954271e-01 -9.46876581e-02 5.77549971e+01] [ 1.11666037e-01 7.77170460e-04 9.93745487e-01 1.70512663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19710568099998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:132.82, Y:57.78, Z:17.05 [[ 5.31304993e-01 -8.45188972e-01 -5.80569128e-02 1.32823748e+02] [ 8.39791963e-01 5.34464135e-01 -9.53810607e-02 5.77771303e+01] [ 1.11644358e-01 1.92070501e-03 9.93746370e-01 1.70547871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22710568099998 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:132.84, Y:57.80, Z:17.05 [[ 5.30176074e-01 -8.45898516e-01 -5.80433543e-02 1.32840903e+02] [ 8.40504832e-01 5.33340891e-01 -9.53893109e-02 5.78011642e+01] [ 1.11646571e-01 1.78741059e-03 9.93746370e-01 1.70535175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25710568099998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:132.85, Y:57.82, Z:17.06 [[ 5.31532815e-01 -8.45048408e-01 -5.80177133e-02 1.32854737e+02] [ 8.39647963e-01 5.34686078e-01 -9.54049038e-02 5.78244933e+01] [ 1.11643026e-01 1.99638221e-03 9.93746371e-01 1.70570281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28710568099999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:132.87, Y:57.85, Z:17.06 [[ 5.34441911e-01 -8.43212263e-01 -5.80079575e-02 1.32872483e+02] [ 8.37800345e-01 5.37575441e-01 -9.54108352e-02 5.78532679e+01] [ 1.11635240e-01 2.39246226e-03 9.93746371e-01 1.70568475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.317105681 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:132.89, Y:57.88, Z:17.06 [[ 5.35939787e-01 -8.42221815e-01 -5.85743953e-02 1.32888031e+02] [ 8.36841487e-01 5.39127703e-01 -9.50665301e-02 5.78812728e+01] [ 1.11646185e-01 1.93245181e-03 9.93746142e-01 1.70564156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.347105681 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:132.90, Y:57.90, Z:17.06 [[ 5.36248631e-01 -8.42038575e-01 -5.83818815e-02 1.32904993e+02] [ 8.36644408e-01 5.39412839e-01 -9.51836282e-02 5.79045853e+01] [ 1.11640223e-01 2.19721560e-03 9.93746262e-01 1.70637159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.377105681 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:132.92, Y:57.93, Z:17.07 [[ 5.38412207e-01 -8.40680881e-01 -5.80340463e-02 1.32922708e+02] [ 8.35255911e-01 5.41523140e-01 -9.53952459e-02 5.79308045e+01] [ 1.11623738e-01 2.88868474e-03 9.93746344e-01 1.70661777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.407105681 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:132.94, Y:57.96, Z:17.07 [[ 5.44086392e-01 -8.37019323e-01 -5.80400884e-02 1.32939311e+02] [ 8.31573821e-01 5.47161245e-01 -9.53915696e-02 5.79583719e+01] [ 1.11601874e-01 3.63663680e-03 9.93746344e-01 1.70722473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.437105681 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:132.96, Y:57.99, Z:17.08 [[ 5.48196084e-01 -8.34332951e-01 -5.80480873e-02 1.32955090e+02] [ 8.28872903e-01 5.51245034e-01 -9.53867019e-02 5.79856549e+01] [ 1.11582988e-01 4.17612980e-03 9.93746344e-01 1.70787091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.467105681 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:132.97, Y:58.01, Z:17.09 [[ 5.54916212e-01 -8.29877996e-01 -5.80560907e-02 1.32971769e+02] [ 8.24394006e-01 5.57921884e-01 -9.53818305e-02 5.80126833e+01] [ 1.11546046e-01 5.06783085e-03 9.93746344e-01 1.70852425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.497105681 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:132.99, Y:58.04, Z:17.09 [[ 5.58018999e-01 -8.27794272e-01 -5.80640976e-02 1.32989488e+02] [ 8.22299569e-01 5.61005040e-01 -9.53769560e-02 5.80404164e+01] [ 1.11526749e-01 5.47607110e-03 9.93746344e-01 1.70904660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52710568099997 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:133.01, Y:58.07, Z:17.10 [[ 5.62277640e-01 -8.24906671e-01 -5.80761537e-02 1.33007314e+02] [ 8.19397397e-01 5.65236713e-01 -9.53696143e-02 5.80661447e+01] [ 1.11497805e-01 6.03675254e-03 9.93746344e-01 1.70979139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55710568099997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:133.02, Y:58.09, Z:17.10 [[ 5.65588420e-01 -8.22638104e-01 -5.81058441e-02 1.33024665e+02] [ 8.17118807e-01 5.68528753e-01 -9.53515215e-02 5.80898962e+01] [ 1.11474638e-01 6.45033836e-03 9.93746345e-01 1.71000317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58710568099997 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:133.04, Y:58.11, Z:17.10 [[ 5.68362146e-01 -8.20724318e-01 -5.81039200e-02 1.33041064e+02] [ 8.15195009e-01 5.71283608e-01 -9.53526940e-02 5.81118228e+01] [ 1.11452092e-01 6.82883618e-03 9.93746345e-01 1.70995083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61710568099997 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:133.06, Y:58.14, Z:17.10 [[ 5.68679183e-01 -8.20506119e-01 -5.80835234e-02 1.33059453e+02] [ 8.14974438e-01 5.71596151e-01 -9.53651169e-02 5.81399314e+01] [ 1.11447980e-01 6.89556992e-03 9.93746345e-01 1.71020688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64710568099997 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:133.08, Y:58.17, Z:17.10 [[ 5.66184998e-01 -8.22226931e-01 -5.81155983e-02 1.33078128e+02] [ 8.16706102e-01 5.69122452e-01 -9.53455664e-02 5.81659458e+01] [ 1.11470584e-01 6.51986553e-03 9.93746346e-01 1.71025555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67710568099997 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:133.10, Y:58.19, Z:17.10 [[ 5.63478482e-01 -8.24083519e-01 -5.81236071e-02 1.33097224e+02] [ 8.18572874e-01 5.66434996e-01 -9.53406839e-02 5.81913573e+01] [ 1.11491932e-01 6.14401572e-03 9.93746346e-01 1.71028474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70710568099997 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:133.12, Y:58.22, Z:17.11 [[ 5.61743219e-01 -8.25266932e-01 -5.81295722e-02 1.33115149e+02] [ 8.19762890e-01 5.64712008e-01 -9.53370469e-02 5.82181752e+01] [ 1.11504980e-01 5.90247351e-03 9.93746346e-01 1.71066252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73710568099997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:133.13, Y:58.24, Z:17.11 [[ 5.57594967e-01 -8.28074808e-01 -5.81374670e-02 1.33132602e+02] [ 8.22586227e-01 5.60592244e-01 -9.53322323e-02 5.82435573e+01] [ 1.11533633e-01 5.33369332e-03 9.93746346e-01 1.71102447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76710568099998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:133.15, Y:58.27, Z:17.11 [[ 5.55391891e-01 -8.29554026e-01 -5.81374670e-02 1.33147515e+02] [ 8.24073432e-01 5.58403746e-01 -9.53322323e-02 5.82664110e+01] [ 1.11547417e-01 5.03720676e-03 9.93746346e-01 1.71128801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79710568099998 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:133.17, Y:58.29, Z:17.11 [[ 5.51671066e-01 -8.32035275e-01 -5.81062396e-02 1.33167002e+02] [ 8.26566245e-01 5.54703867e-01 -9.53512621e-02 5.82925772e+01] [ 1.11567369e-01 4.57387621e-03 9.93746347e-01 1.71147193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82710568099998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:133.18, Y:58.32, Z:17.11 [[ 5.50939232e-01 -8.32519489e-01 -5.81142263e-02 1.33181190e+02] [ 8.27053635e-01 5.53977753e-01 -9.53463942e-02 5.83170720e+01] [ 1.11571720e-01 4.46648709e-03 9.93746347e-01 1.71144564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85710568099998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:133.19, Y:58.34, Z:17.12 [[ 5.43660428e-01 -8.37371959e-01 -5.69345469e-02 1.33193905e+02] [ 8.31857570e-01 5.46611867e-01 -9.60648261e-02 5.83391921e+01] [ 1.11563091e-01 4.86521058e-03 9.93745444e-01 1.71196075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88710568099998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:133.22, Y:58.37, Z:17.13 [[ 5.41052549e-01 -8.39147192e-01 -5.56248911e-02 1.33216693e+02] [ 8.33560102e-01 5.43870854e-01 -9.68609903e-02 5.83656594e+01] [ 1.11533385e-01 6.04019584e-03 9.93742331e-01 1.71281265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91710568099998 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:133.23, Y:58.39, Z:17.13 [[ 5.39639571e-01 -8.39889229e-01 -5.80966152e-02 1.33231772e+02] [ 8.34463956e-01 5.42749679e-01 -9.53556085e-02 5.83931812e+01] [ 1.11620068e-01 2.97812839e-03 9.93746492e-01 1.71263605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94710568099998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:133.25, Y:58.42, Z:17.14 [[ 5.34671053e-01 -8.43092922e-01 -5.76297640e-02 1.33248711e+02] [ 8.37655559e-01 5.37760294e-01 -9.56401164e-02 5.84200916e+01] [ 1.11624504e-01 2.86210966e-03 9.93746335e-01 1.71386900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97710568099998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:133.26, Y:58.45, Z:17.14 [[ 5.30236621e-01 -8.45853550e-01 -5.81454956e-02 1.33264748e+02] [ 8.40466581e-01 5.33412565e-01 -9.53255607e-02 5.84454471e+01] [ 1.11647002e-01 1.67575730e-03 9.93746516e-01 1.71436317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00710568099998 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:133.28, Y:58.47, Z:17.15 [[ 5.27643011e-01 -8.47473866e-01 -5.81454956e-02 1.33279178e+02] [ 8.42096651e-01 5.30835443e-01 -9.53255607e-02 5.84683910e+01] [ 1.11651611e-01 1.33373875e-03 9.93746516e-01 1.71474126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03710568099999 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:133.29, Y:58.50, Z:17.15 [[ 5.21539562e-01 -8.51244237e-01 -5.81354885e-02 1.33291832e+02] [ 8.45889425e-01 5.24769430e-01 -9.53316633e-02 5.84968432e+01] [ 1.11658256e-01 5.43038893e-04 9.93746516e-01 1.71476236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.067105681 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:133.31, Y:58.52, Z:17.16 [[ 5.22081819e-01 -8.50908500e-01 -5.81833231e-02 1.33310269e+02] [ 8.45554860e-01 5.25313632e-01 -9.53024948e-02 5.85241407e+01] [ 1.11658196e-01 5.58508185e-04 9.93746515e-01 1.71550895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.097105681 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:133.32, Y:58.55, Z:17.16 [[ 5.13788088e-01 -8.55924298e-01 -5.84413893e-02 1.33323382e+02] [ 8.50620077e-01 5.17100485e-01 -9.51450070e-02 5.85511196e+01] [ 1.11656994e-01 -8.27047868e-04 9.93746462e-01 1.71570447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.127105681 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:133.34, Y:58.58, Z:17.15 [[ 5.12531232e-01 -8.56697327e-01 -5.81500361e-02 1.33336550e+02] [ 8.51377888e-01 5.15819024e-01 -9.53227497e-02 5.85816710e+01] [ 1.11657640e-01 -6.51768495e-04 9.93746520e-01 1.71515082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.157105681 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:133.35, Y:58.61, Z:17.16 [[ 5.13313440e-01 -8.56225160e-01 -5.82047052e-02 1.33352366e+02] [ 8.50906476e-01 5.16602457e-01 -9.52893981e-02 5.86072589e+01] [ 1.11657874e-01 -6.13431893e-04 9.93746518e-01 1.71577716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.187105681 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:133.36, Y:58.63, Z:17.15 [[ 5.15222574e-01 -8.55080667e-01 -5.81614302e-02 1.33358334e+02] [ 8.49751695e-01 5.18494893e-01 -9.53158046e-02 5.86346406e+01] [ 1.11659106e-01 -3.13919705e-04 9.93746520e-01 1.71530446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.217105681 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:133.37, Y:58.66, Z:17.16 [[ 5.17136838e-01 -8.54041192e-01 -5.64192622e-02 1.33370670e+02] [ 8.48587996e-01 5.20201679e-01 -9.63775241e-02 5.86644714e+01] [ 1.11659770e-01 1.96365942e-03 9.93744555e-01 1.71585701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24710568099997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:133.39, Y:58.69, Z:17.17 [[ 5.17914816e-01 -8.53491760e-01 -5.75852412e-02 1.33385809e+02] [ 8.48113616e-01 5.21105858e-01 -9.56659805e-02 5.86916875e+01] [ 1.11658133e-01 7.08001549e-04 9.93746427e-01 1.71687720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27710568099997 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:133.40, Y:58.72, Z:17.18 [[ 5.23655793e-01 -8.49993111e-01 -5.74135987e-02 1.33400880e+02] [ 8.44582145e-01 5.26791187e-01 -9.57708009e-02 5.87186403e+01] [ 1.11649499e-01 1.66043442e-03 9.93746262e-01 1.71788771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30710568099997 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:133.42, Y:58.74, Z:17.18 [[ 5.30043748e-01 -8.46025036e-01 -5.74043901e-02 1.33420881e+02] [ 8.40590000e-01 5.33137251e-01 -9.57764300e-02 5.87447393e+01] [ 1.11633676e-01 2.51214165e-03 9.93746251e-01 1.71825096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33710568099997 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:133.43, Y:58.77, Z:17.18 [[ 5.31523215e-01 -8.45077928e-01 -5.76746650e-02 1.33433528e+02] [ 8.39655242e-01 5.34637793e-01 -9.56112121e-02 5.87651915e+01] [ 1.11633981e-01 2.39274405e-03 9.93746512e-01 1.71847807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36710568099997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:133.45, Y:58.79, Z:17.20 [[ 5.38975268e-01 -8.40487416e-01 -5.55568583e-02 1.33451980e+02] [ 8.34902922e-01 5.41799547e-01 -9.69038786e-02 5.87938346e+01] [ 1.11547171e-01 5.84421056e-03 9.93741955e-01 1.71956471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39710568099997 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:133.47, Y:58.82, Z:17.20 [[ 5.45452373e-01 -8.36231065e-01 -5.65624832e-02 1.33467714e+02] [ 8.30687410e-01 5.48349314e-01 -9.62884065e-02 5.88172341e+01] [ 1.11535356e-01 5.53499717e-03 9.93745052e-01 1.71978095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42710568099997 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:133.49, Y:58.85, Z:17.21 [[ 5.52664487e-01 -8.31560660e-01 -5.53970557e-02 1.33489995e+02] [ 8.25921071e-01 5.55378393e-01 -9.70011584e-02 5.88488590e+01] [ 1.11428675e-01 7.85549980e-03 9.93741386e-01 1.72096809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45710568099997 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:133.51, Y:58.87, Z:17.21 [[ 5.61497488e-01 -8.25415582e-01 -5.83925358e-02 1.33505832e+02] [ 8.19930230e-01 5.64498222e-01 -9.51639424e-02 5.88687278e+01] [ 1.11512284e-01 5.55650930e-03 9.93747521e-01 1.72069150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48710568099997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:133.53, Y:58.90, Z:17.21 [[ 5.64521704e-01 -8.23519539e-01 -5.59536836e-02 1.33525695e+02] [ 8.17874739e-01 5.67219607e-01 -9.66583049e-02 5.88958109e+01] [ 1.11338029e-01 8.80260653e-03 9.93743607e-01 1.72085636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51710568099998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:133.55, Y:58.93, Z:17.20 [[ 5.67579913e-01 -8.21414097e-01 -5.59635946e-02 1.33550640e+02] [ 8.15759889e-01 5.70257968e-01 -9.66522318e-02 5.89292955e+01] [ 1.11305191e-01 9.20500959e-03 9.93743640e-01 1.72041616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54710568099998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:133.56, Y:58.95, Z:17.21 [[ 5.65889209e-01 -8.22301641e-01 -5.99117185e-02 1.33559649e+02] [ 8.16896437e-01 5.69034978e-01 -9.42305933e-02 5.89497371e+01] [ 1.11577835e-01 4.38240655e-03 9.93746035e-01 1.72071941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57710568099998 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:133.58, Y:58.98, Z:17.21 [[ 5.66642897e-01 -8.21986811e-01 -5.70395504e-02 1.33580860e+02] [ 8.16400443e-01 5.69452776e-01 -9.59888182e-02 5.89779435e+01] [ 1.11382873e-01 7.82426784e-03 9.93746767e-01 1.72139998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60710568099998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:133.60, Y:59.00, Z:17.21 [[ 5.63053184e-01 -8.24358666e-01 -5.83429658e-02 1.33602227e+02] [ 8.18865040e-01 5.66037890e-01 -9.51900948e-02 5.90036255e+01] [ 1.11495109e-01 5.82207095e-03 9.93747928e-01 1.72118529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63710568099998 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:133.62, Y:59.03, Z:17.21 [[ 5.54769993e-01 -8.29955077e-01 -5.83508771e-02 1.33618255e+02] [ 8.24492118e-01 5.57810467e-01 -9.51852450e-02 5.90267622e+01] [ 1.11548207e-01 4.69607952e-03 9.93747928e-01 1.72127965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66710568099998 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:133.63, Y:59.05, Z:17.21 [[ 5.49497496e-01 -8.33456253e-01 -5.83367465e-02 1.33633741e+02] [ 8.28011769e-01 5.52570929e-01 -9.51939046e-02 5.90511006e+01] [ 1.11575145e-01 4.00529953e-03 9.93747928e-01 1.72149394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69710568099998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:133.65, Y:59.08, Z:17.21 [[ 5.39957250e-01 -8.39670246e-01 -5.83099235e-02 1.33653581e+02] [ 8.34259404e-01 5.43089532e-01 -9.52103319e-02 5.90754922e+01] [ 1.11612792e-01 2.76390700e-03 9.93747929e-01 1.72148494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72710568099998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:133.67, Y:59.10, Z:17.22 [[ 5.36741562e-01 -8.41729162e-01 -5.83139297e-02 1.33668343e+02] [ 8.36330605e-01 5.39894970e-01 -9.52078782e-02 5.90978400e+01] [ 1.11622645e-01 2.33230114e-03 9.93747929e-01 1.72189889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75710568099998 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:133.68, Y:59.12, Z:17.23 [[ 5.35706190e-01 -8.42389450e-01 -5.83000163e-02 1.33678881e+02] [ 8.36993855e-01 5.38864662e-01 -9.52163972e-02 5.91221497e+01] [ 1.11625107e-01 2.21125798e-03 9.93747929e-01 1.72282280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78710568099999 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:133.69, Y:59.15, Z:17.24 [[ 5.40605096e-01 -8.39254931e-01 -5.82862907e-02 1.33689027e+02] [ 8.33840126e-01 5.43730523e-01 -9.52247985e-02 5.91480942e+01] [ 1.11609917e-01 2.87756330e-03 9.93747929e-01 1.72369429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.817105681 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:133.70, Y:59.17, Z:17.24 [[ 5.44820063e-01 -8.36525519e-01 -5.82765475e-02 1.33702177e+02] [ 8.31094429e-01 5.47917103e-01 -9.52307609e-02 5.91739170e+01] [ 1.11593679e-01 3.45031511e-03 9.93747929e-01 1.72421202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.847105681 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:133.71, Y:59.20, Z:17.25 [[ 5.54734232e-01 -8.29984479e-01 -5.82726055e-02 1.33713335e+02] [ 8.24516676e-01 5.57765985e-01 -9.52331730e-02 5.92009133e+01] [ 1.11544533e-01 4.78236616e-03 9.93747929e-01 1.72470680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.877105681 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:133.73, Y:59.23, Z:17.25 [[ 5.59280242e-01 -8.26928136e-01 -5.82706528e-02 1.33725712e+02] [ 8.21443656e-01 5.62281722e-01 -9.52343677e-02 5.92262172e+01] [ 1.11516501e-01 5.39664214e-03 9.93747929e-01 1.72500609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.907105681 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:133.74, Y:59.25, Z:17.25 [[ 5.65989797e-01 -8.22351020e-01 -5.82610487e-02 1.33741222e+02] [ 8.16841707e-01 5.68945447e-01 -9.52402429e-02 5.92530223e+01] [ 1.11468269e-01 6.31495126e-03 9.93747929e-01 1.72521386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.937105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:133.76, Y:59.28, Z:17.26 [[ 5.67698502e-01 -8.21185834e-01 -5.80709602e-02 1.33758818e+02] [ 8.15658696e-01 5.70620736e-01 -9.53565299e-02 5.92797759e+01] [ 1.11441926e-01 6.76767547e-03 9.93747904e-01 1.72573551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.967105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:133.78, Y:59.31, Z:17.26 [[ 5.67761784e-01 -8.21132535e-01 -5.82058128e-02 1.33775377e+02] [ 8.15613464e-01 5.70699170e-01 -9.52739955e-02 5.93066089e+01] [ 1.11450586e-01 6.61948911e-03 9.93747930e-01 1.72608003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99710568099997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:133.79, Y:59.33, Z:17.27 [[ 5.65857266e-01 -8.22445624e-01 -5.82129702e-02 1.33790737e+02] [ 8.16933819e-01 5.68808260e-01 -9.52696141e-02 5.93332422e+01] [ 1.11466095e-01 6.35285931e-03 9.93747931e-01 1.72657567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02710568099997 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:133.81, Y:59.36, Z:17.25 [[ 5.65903780e-01 -8.22408269e-01 -5.82885087e-02 1.33812209e+02] [ 8.16900973e-01 5.68863173e-01 -9.52233757e-02 5.93550803e+01] [ 1.11470678e-01 6.27132888e-03 9.93747935e-01 1.72547915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05710568099997 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:133.83, Y:59.38, Z:17.25 [[ 5.63846261e-01 -8.23807983e-01 -5.84619694e-02 1.33828700e+02] [ 8.18318914e-01 5.66839371e-01 -9.51172032e-02 5.93777671e+01] [ 1.11496857e-01 5.79094403e-03 9.93747914e-01 1.72543606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08710568099997 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:133.84, Y:59.40, Z:17.26 [[ 5.59008188e-01 -8.27112934e-01 -5.82583986e-02 1.33843835e+02] [ 8.21628690e-01 5.62010066e-01 -9.52417050e-02 5.94020852e+01] [ 1.11517452e-01 5.37412117e-03 9.93747944e-01 1.72588102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11710568099997 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:133.86, Y:59.43, Z:17.26 [[ 5.55757234e-01 -8.29303116e-01 -5.82257547e-02 1.33861440e+02] [ 8.23828634e-01 5.58776877e-01 -9.52616577e-02 5.94285899e+01] [ 1.11535995e-01 4.97431139e-03 9.93747945e-01 1.72625828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14710568099997 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:133.88, Y:59.45, Z:17.26 [[ 5.55493643e-01 -8.29479141e-01 -5.82337212e-02 1.33878311e+02] [ 8.24006123e-01 5.58515938e-01 -9.52567875e-02 5.94531797e+01] [ 1.11537980e-01 4.92959707e-03 9.93747945e-01 1.72636880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17710568099997 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:133.89, Y:59.48, Z:17.27 [[ 5.49281038e-01 -8.33609012e-01 -5.81924159e-02 1.33893307e+02] [ 8.28156079e-01 5.52339426e-01 -9.52820394e-02 5.94786481e+01] [ 1.11569932e-01 4.14421448e-03 9.93747944e-01 1.72682026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20710568099997 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:133.91, Y:59.50, Z:17.27 [[ 5.48800336e-01 -8.33923038e-01 -5.82285001e-02 1.33910208e+02] [ 8.28474184e-01 5.51865982e-01 -9.52599828e-02 5.95011123e+01] [ 1.11573823e-01 4.03790144e-03 9.93747945e-01 1.72697197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23710568099997 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:133.93, Y:59.53, Z:17.27 [[ 5.39071154e-01 -8.40273726e-01 -5.78131143e-02 1.33926124e+02] [ 8.34833792e-01 5.42152809e-01 -9.55137204e-02 5.95274987e+01] [ 1.11601212e-01 3.22435002e-03 9.93747842e-01 1.72739987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26710568099998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:133.94, Y:59.55, Z:17.28 [[ 5.35159153e-01 -8.42726257e-01 -5.84562741e-02 1.33941775e+02] [ 8.37343033e-01 5.38338765e-01 -9.51210805e-02 5.95542834e+01] [ 1.11630311e-01 1.95696300e-03 9.93747878e-01 1.72815104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29710568099998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:133.96, Y:59.58, Z:17.29 [[ 5.24453470e-01 -8.49450297e-01 -5.81614112e-02 1.33955059e+02] [ 8.44087843e-01 5.27667892e-01 -9.53011454e-02 5.95809110e+01] [ 1.11643496e-01 8.87676285e-04 9.93747927e-01 1.72926010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32710568099998 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:133.97, Y:59.61, Z:17.30 [[ 5.21820236e-01 -8.51068498e-01 -5.81897983e-02 1.33969423e+02] [ 8.45717946e-01 5.25054428e-01 -9.52838095e-02 5.96051147e+01] [ 1.11645860e-01 5.08863290e-04 9.93747927e-01 1.72970816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35710568099998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:133.98, Y:59.63, Z:17.30 [[ 5.22033668e-01 -8.50939512e-01 -5.81618168e-02 1.33984948e+02] [ 8.45586257e-01 5.25263385e-01 -9.53008866e-02 5.96300779e+01] [ 1.11645563e-01 5.69438477e-04 9.93747928e-01 1.72954120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38710568099998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:134.00, Y:59.66, Z:17.30 [[ 5.19344442e-01 -8.52548801e-01 -5.86676450e-02 1.34001579e+02] [ 8.47240239e-01 5.22647495e-01 -9.49924920e-02 5.96613358e+01] [ 1.11648233e-01 -3.71766895e-04 9.93747721e-01 1.72990550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41710568099998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:134.01, Y:59.69, Z:17.30 [[ 5.16815248e-01 -8.53991173e-01 -6.00089686e-02 1.34011779e+02] [ 8.48785792e-01 5.20282568e-01 -9.41739284e-02 5.96887400e+01] [ 1.11645324e-01 -2.26423772e-03 9.93745538e-01 1.73032603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:134.03, Y:59.72, Z:17.31 [[ 5.15668388e-01 -8.54752941e-01 -5.90213838e-02 1.34025259e+02] [ 8.49483177e-01 5.19033535e-01 -9.47761680e-02 5.97162295e+01] [ 1.11644286e-01 -1.26459883e-03 9.93747430e-01 1.73086596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47710568099998 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:134.04, Y:59.74, Z:17.31 [[ 5.18301032e-01 -8.53186086e-01 -5.86305710e-02 1.34041158e+02] [ 8.47879103e-01 5.21606448e-01 -9.50144241e-02 5.97415034e+01] [ 1.11647068e-01 -4.65561850e-04 9.93747813e-01 1.73113602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50710568099998 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:134.06, Y:59.77, Z:17.31 [[ 5.19438504e-01 -8.52520453e-01 -5.82453212e-02 1.34060826e+02] [ 8.47182817e-01 5.22693848e-01 -9.52492283e-02 5.97700732e+01] [ 1.11646386e-01 1.31681312e-04 9.93747990e-01 1.73121538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53710568099999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:134.08, Y:59.79, Z:17.32 [[ 5.21199400e-01 -8.51406908e-01 -5.88001889e-02 1.34078060e+02] [ 8.46100316e-01 5.24505669e-01 -9.49107899e-02 5.97929914e+01] [ 1.11648735e-01 -2.83411629e-04 9.93747694e-01 1.73194176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.567105681 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:134.10, Y:59.82, Z:17.32 [[ 5.32774316e-01 -8.44258386e-01 -5.81318002e-02 1.34097365e+02] [ 8.38862735e-01 5.35932555e-01 -9.53184597e-02 5.98195458e+01] [ 1.11628133e-01 2.01862627e-03 9.93747999e-01 1.73167920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.597105681 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:134.11, Y:59.84, Z:17.32 [[ 5.46108548e-01 -8.35686006e-01 -5.82610782e-02 1.34112744e+02] [ 8.30249222e-01 5.49195457e-01 -9.52395862e-02 5.98443572e+01] [ 1.11587109e-01 3.63993730e-03 9.93747990e-01 1.73232427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.627105681 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:134.13, Y:59.87, Z:17.33 [[ 5.52249158e-01 -8.31684364e-01 -5.76366761e-02 1.34130219e+02] [ 8.26185521e-01 5.55224464e-01 -9.56204970e-02 5.98728844e+01] [ 1.11527365e-01 5.18775166e-03 9.93747822e-01 1.73301406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.657105681 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:134.15, Y:59.90, Z:17.34 [[ 5.63926039e-01 -8.23783485e-01 -5.80361360e-02 1.34147415e+02] [ 8.18267793e-01 5.66869586e-01 -9.53765779e-02 5.99001030e+01] [ 1.11468570e-01 6.29623492e-03 9.93748014e-01 1.73353590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.687105681 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:134.17, Y:59.93, Z:17.34 [[ 5.69054703e-01 -8.20251466e-01 -5.80023991e-02 1.34165417e+02] [ 8.14715457e-01 5.71959877e-01 -9.53971864e-02 5.99259560e+01] [ 1.11424727e-01 7.03076645e-03 9.93748006e-01 1.73380220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.717105681 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:134.18, Y:59.95, Z:17.35 [[ 5.71391854e-01 -8.18636365e-01 -5.78433413e-02 1.34182006e+02] [ 8.13082455e-01 5.74262790e-01 -9.54943459e-02 5.99509641e+01] [ 1.11392423e-01 7.53328535e-03 9.93747945e-01 1.73450347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74710568099997 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:134.20, Y:59.98, Z:17.36 [[ 5.70624114e-01 -8.19216162e-01 -5.72101395e-02 1.34200151e+02] [ 8.13626760e-01 5.73426733e-01 -9.58815783e-02 5.99775548e+01] [ 1.11353562e-01 8.16464027e-03 9.93747313e-01 1.73569285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77710568099997 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:134.22, Y:60.00, Z:17.35 [[ 5.68867297e-01 -8.20404649e-01 -5.76733122e-02 1.34222975e+02] [ 8.14849295e-01 5.71735635e-01 -9.55980657e-02 6.00020997e+01] [ 1.11402985e-01 7.38755545e-03 9.93747855e-01 1.73529226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80710568099997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:134.24, Y:60.03, Z:17.35 [[ 5.64409949e-01 -8.23457514e-01 -5.79580207e-02 1.34241452e+02] [ 8.17935343e-01 5.67341249e-01 -9.54236999e-02 6.00269026e+01] [ 1.11459339e-01 6.45217207e-03 9.93748049e-01 1.73513146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83710568099997 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:134.26, Y:60.05, Z:17.35 [[ 5.52877242e-01 -8.31243728e-01 -5.79708640e-02 1.34260458e+02] [ 8.25763766e-01 5.55886699e-01 -9.54158362e-02 6.00486321e+01] [ 1.11539048e-01 4.88300538e-03 9.93748055e-01 1.73541595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86710568099997 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:134.28, Y:60.07, Z:17.36 [[ 5.47445632e-01 -8.34828526e-01 -5.80052784e-02 1.34278851e+02] [ 8.29370512e-01 5.50494681e-01 -9.53947619e-02 6.00732735e+01] [ 1.11569866e-01 4.11557831e-03 9.93748070e-01 1.73563455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89710568099997 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:134.30, Y:60.10, Z:17.36 [[ 5.38768165e-01 -8.40444745e-01 -5.81506298e-02 1.34299610e+02] [ 8.35028123e-01 5.41890068e-01 -9.53057618e-02 6.00996516e+01] [ 1.11610475e-01 2.79029913e-03 9.93748115e-01 1.73600904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92710568099997 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:134.32, Y:60.13, Z:17.36 [[ 5.34420423e-01 -8.43195972e-01 -5.84411155e-02 1.34316445e+02] [ 8.37814817e-01 5.37603046e-01 -9.51277916e-02 6.01263023e+01] [ 1.11629492e-01 1.87540209e-03 9.93748127e-01 1.73634669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95710568099997 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:134.33, Y:60.16, Z:17.37 [[ 5.29485299e-01 -8.46337953e-01 -5.79429678e-02 1.34333640e+02] [ 8.40942161e-01 5.32643235e-01 -9.54330475e-02 6.01552403e+01] [ 1.11631540e-01 1.80371109e-03 9.93748029e-01 1.73664711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98710568099997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:134.35, Y:60.18, Z:17.37 [[ 5.26850364e-01 -8.47968451e-01 -5.81222954e-02 1.34348108e+02] [ 8.42594540e-01 5.30045235e-01 -9.53230840e-02 6.01836917e+01] [ 1.11638414e-01 1.24747275e-03 9.93748111e-01 1.73716355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01710568099998 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:134.36, Y:60.22, Z:17.37 [[ 5.28988429e-01 -8.46634645e-01 -5.81465433e-02 1.34364010e+02] [ 8.41254314e-01 5.32172458e-01 -9.53082033e-02 6.02160489e+01] [ 1.11635216e-01 1.50090629e-03 9.93748120e-01 1.73695418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04710568099998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:134.38, Y:60.24, Z:17.38 [[ 5.30731152e-01 -8.45431105e-01 -5.97552592e-02 1.34375661e+02] [ 8.40153265e-01 5.34084474e-01 -9.43200144e-02 6.02406822e+01] [ 1.11655430e-01 -1.45006256e-04 9.93746972e-01 1.73777686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07710568099998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:134.39, Y:60.27, Z:17.38 [[ 5.38722738e-01 -8.40468047e-01 -5.82346405e-02 1.34385579e+02] [ 8.35057192e-01 5.41854452e-01 -9.52535559e-02 6.02704826e+01] [ 1.11612269e-01 2.68600109e-03 9.93748201e-01 1.73834560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10710568099998 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:134.40, Y:60.30, Z:17.39 [[ 5.42886064e-01 -8.37786307e-01 -5.82136201e-02 1.34399003e+02] [ 8.32358608e-01 5.45988506e-01 -9.52664615e-02 6.02991465e+01] [ 1.11596904e-01 3.26422660e-03 9.93748195e-01 1.73885329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13710568099998 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:134.41, Y:60.33, Z:17.39 [[ 5.50982945e-01 -8.32504818e-01 -5.79096083e-02 1.34414063e+02] [ 8.27027845e-01 5.53997867e-01 -9.54531667e-02 6.03326353e+01] [ 1.11547021e-01 4.70020829e-03 9.93748042e-01 1.73942872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:134.42, Y:60.36, Z:17.40 [[ 5.51475636e-01 -8.32027680e-01 -6.00380074e-02 1.34423344e+02] [ 8.26687462e-01 5.54729407e-01 -9.41441741e-02 6.03552921e+01] [ 1.11635407e-01 2.28555034e-03 9.93746604e-01 1.74014904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19710568099998 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:134.44, Y:60.38, Z:17.41 [[ 5.53462493e-01 -8.30852009e-01 -5.80018011e-02 1.34436066e+02] [ 8.25372083e-01 5.56471642e-01 -9.53951571e-02 6.03847900e+01] [ 1.11535615e-01 4.92457402e-03 9.93748235e-01 1.74100827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:134.45, Y:60.41, Z:17.42 [[ 5.55106952e-01 -8.29734131e-01 -5.82884554e-02 1.34450477e+02] [ 8.24266476e-01 5.58138085e-01 -9.52189820e-02 6.04134551e+01] [ 1.11539446e-01 4.81149909e-03 9.93748359e-01 1.74155450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25710568099998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:134.47, Y:60.44, Z:17.42 [[ 5.53815234e-01 -8.30582335e-01 -5.84950549e-02 1.34470410e+02] [ 8.25132645e-01 5.56878488e-01 -9.50918978e-02 6.04376876e+01] [ 1.11556288e-01 4.39716232e-03 9.93748388e-01 1.74165559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28710568099999 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:134.49, Y:60.46, Z:17.42 [[ 5.55180648e-01 -8.29669423e-01 -5.85072313e-02 1.34487248e+02] [ 8.24215482e-01 5.58236326e-01 -9.50844054e-02 6.04637066e+01] [ 1.11549486e-01 4.56645601e-03 9.93748389e-01 1.74161353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.317105681 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:134.51, Y:60.49, Z:17.42 [[ 5.59329178e-01 -8.26891629e-01 -5.83189935e-02 1.34506385e+02] [ 8.21410519e-01 5.62335906e-01 -9.52002528e-02 6.04896555e+01] [ 1.11515156e-01 5.34444438e-03 9.93748362e-01 1.74213157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.347105681 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:134.53, Y:60.52, Z:17.43 [[ 5.63066992e-01 -8.24367608e-01 -5.80827898e-02 1.34525609e+02] [ 8.18858148e-01 5.66021677e-01 -9.53456540e-02 6.05164289e+01] [ 1.11475987e-01 6.12442482e-03 9.93748256e-01 1.74284875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.377105681 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:134.55, Y:60.55, Z:17.42 [[ 5.74209342e-01 -8.16611486e-01 -5.85603295e-02 1.34547355e+02] [ 8.11091664e-01 5.77144290e-01 -9.50514669e-02 6.05461942e+01] [ 1.11417879e-01 7.08164518e-03 9.93748412e-01 1.74242812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.407105681 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:134.56, Y:60.57, Z:17.43 [[ 5.79391895e-01 -8.12812587e-01 -6.03384695e-02 1.34561588e+02] [ 8.07384643e-01 5.82497204e-01 -9.39523578e-02 6.05665889e+01] [ 1.11512649e-01 5.71888094e-03 9.93746559e-01 1.74260298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.437105681 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:134.58, Y:60.59, Z:17.43 [[ 5.86686561e-01 -8.07718230e-01 -5.82249153e-02 1.34579499e+02] [ 8.02134251e-01 5.89497217e-01 -9.52558383e-02 6.05913420e+01] [ 1.11263303e-01 9.18112134e-03 9.93748552e-01 1.74280976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.467105681 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:134.60, Y:60.62, Z:17.43 [[ 5.90209136e-01 -8.05120671e-01 -5.85993246e-02 1.34599736e+02] [ 7.99546607e-01 5.93039189e-01 -9.50249629e-02 6.06168122e+01] [ 1.11258258e-01 9.23171012e-03 9.93748648e-01 1.74299359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49710568099997 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:134.62, Y:60.64, Z:17.43 [[ 5.90370675e-01 -8.05000197e-01 -5.86272020e-02 1.34618402e+02] [ 7.99427221e-01 5.93202869e-01 -9.50077604e-02 6.06435837e+01] [ 1.11259090e-01 9.22161444e-03 9.93748649e-01 1.74331798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52710568099997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:134.64, Y:60.67, Z:17.43 [[ 5.86975422e-01 -8.07476925e-01 -5.86589263e-02 1.34639555e+02] [ 8.01917827e-01 5.89834762e-01 -9.49881695e-02 6.06681251e+01] [ 1.11299829e-01 8.71608215e-03 9.93748649e-01 1.74323736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55710568099997 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:134.66, Y:60.69, Z:17.44 [[ 5.83438238e-01 -8.10035821e-01 -5.86667912e-02 1.34659470e+02] [ 8.04489758e-01 5.86322778e-01 -9.49833117e-02 6.06937484e+01] [ 1.11337561e-01 8.22006333e-03 9.93748649e-01 1.74364567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58710568099997 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:134.68, Y:60.72, Z:17.44 [[ 5.75122047e-01 -8.15960721e-01 -5.86748108e-02 1.34682250e+02] [ 8.10444949e-01 5.78064094e-01 -9.49783575e-02 6.07160458e+01] [ 1.11416410e-01 7.07144332e-03 9.93748649e-01 1.74394351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61710568099997 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:134.70, Y:60.74, Z:17.45 [[ 5.65015359e-01 -8.22990442e-01 -5.86888171e-02 1.34703511e+02] [ 8.17512258e-01 5.68026817e-01 -9.49697020e-02 6.07390458e+01] [ 1.11495979e-01 5.68051283e-03 9.93748650e-01 1.74496223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64710568099997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:134.72, Y:60.76, Z:17.45 [[ 5.61389304e-01 -8.25467872e-01 -5.86927815e-02 1.34723902e+02] [ 8.20003241e-01 5.64425288e-01 -9.49672518e-02 6.07643279e+01] [ 1.11520105e-01 5.18532828e-03 9.93748650e-01 1.74516706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67710568099997 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:134.75, Y:60.79, Z:17.46 [[ 5.51344894e-01 -8.32216830e-01 -5.85999624e-02 1.34746041e+02] [ 8.26783350e-01 5.54436299e-01 -9.50246448e-02 6.07881295e+01] [ 1.11571055e-01 3.94187946e-03 9.93748641e-01 1.74557827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70710568099997 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:134.76, Y:60.81, Z:17.46 [[ 5.46120908e-01 -8.35662546e-01 -5.84813098e-02 1.34763448e+02] [ 8.30240740e-01 5.49232806e-01 -9.50980508e-02 6.08138519e+01] [ 1.11589733e-01 3.38146794e-03 9.93748609e-01 1.74616849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73710568099997 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:134.78, Y:60.84, Z:17.47 [[ 5.37577425e-01 -8.41204991e-01 -5.81779640e-02 1.34781498e+02] [ 8.35794956e-01 5.40710099e-01 -9.52857839e-02 6.08393607e+01] [ 1.11612290e-01 2.59863753e-03 9.93748431e-01 1.74676204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76710568099998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:134.80, Y:60.86, Z:17.47 [[ 5.34710871e-01 -8.43042676e-01 -5.79942319e-02 1.34797631e+02] [ 8.37631070e-01 5.37841171e-01 -9.53995000e-02 6.08636623e+01] [ 1.11617535e-01 2.43337916e-03 9.93748260e-01 1.74706455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79710568099998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:134.81, Y:60.89, Z:17.47 [[ 5.30547462e-01 -8.45663213e-01 -5.80785723e-02 1.34814805e+02] [ 8.40272784e-01 5.33713918e-01 -9.53472774e-02 6.08904943e+01] [ 1.11629027e-01 1.78441246e-03 9.93748346e-01 1.74734610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82710568099998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:134.83, Y:60.92, Z:17.48 [[ 5.28706101e-01 -8.46821917e-01 -5.79870590e-02 1.34829935e+02] [ 8.41432210e-01 5.31873973e-01 -9.54039504e-02 6.09174520e+01] [ 1.11631964e-01 1.64847149e-03 9.93748251e-01 1.74762758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85710568099998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:134.85, Y:60.94, Z:17.48 [[ 5.28941252e-01 -8.46681818e-01 -5.78882710e-02 1.34846816e+02] [ 8.41284570e-01 5.32096493e-01 -9.54651454e-02 6.09443790e+01] [ 1.11630749e-01 1.79494425e-03 9.93748134e-01 1.74799113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88710568099998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:134.86, Y:60.97, Z:17.48 [[ 5.29294727e-01 -8.46456191e-01 -5.79569580e-02 1.34863795e+02] [ 8.41062258e-01 5.32455459e-01 -9.54225482e-02 6.09740879e+01] [ 1.11630505e-01 1.76124166e-03 9.93748222e-01 1.74813670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91710568099998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:134.88, Y:61.00, Z:17.49 [[ 5.30103429e-01 -8.45912636e-01 -5.84992944e-02 1.34878926e+02] [ 8.40552435e-01 5.33320064e-01 -9.50858251e-02 6.10016836e+01] [ 1.11633148e-01 1.23359761e-03 9.93748720e-01 1.74873233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94710568099998 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:134.89, Y:61.03, Z:17.49 [[ 5.32941194e-01 -8.44097384e-01 -5.89346275e-02 1.34891306e+02] [ 8.38756025e-01 5.36188772e-01 -9.48152509e-02 6.10316939e+01] [ 1.11633391e-01 1.09917918e-03 9.93748851e-01 1.74911635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97710568099998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:134.90, Y:61.06, Z:17.50 [[ 5.33948860e-01 -8.43444164e-01 -5.91655045e-02 1.34904234e+02] [ 8.38114698e-01 5.37215986e-01 -9.46717338e-02 6.10582567e+01] [ 1.11634976e-01 9.62385289e-04 9.93748814e-01 1.74980731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00710568099998 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:134.92, Y:61.09, Z:17.50 [[ 5.36122357e-01 -8.42105203e-01 -5.85802404e-02 1.34916648e+02] [ 8.36727647e-01 5.39309821e-01 -9.50355820e-02 6.10884619e+01] [ 1.11622857e-01 1.93499355e-03 9.93748758e-01 1.74996166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03710568099999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:134.93, Y:61.12, Z:17.50 [[ 5.40621621e-01 -8.39227309e-01 -5.85302236e-02 1.34928189e+02] [ 8.33829427e-01 5.43774596e-01 -9.50666876e-02 6.11188482e+01] [ 1.11609809e-01 2.59088392e-03 9.93748730e-01 1.75016767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.067105681 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:134.94, Y:61.14, Z:17.51 [[ 5.43047637e-01 -8.37626857e-01 -5.89958658e-02 1.34939451e+02] [ 8.32250990e-01 5.46237710e-01 -9.47768585e-02 6.11442307e+01] [ 1.11613409e-01 2.36898127e-03 9.93748879e-01 1.75058788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.097105681 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:134.95, Y:61.18, Z:17.51 [[ 5.45839096e-01 -8.35811188e-01 -5.89859212e-02 1.34951915e+02] [ 8.30424045e-01 5.49010090e-01 -9.47830472e-02 6.11756918e+01] [ 1.11604597e-01 2.75296554e-03 9.93748879e-01 1.75068151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.127105681 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:134.96, Y:61.20, Z:17.51 [[ 5.43921549e-01 -8.37022464e-01 -5.95209433e-02 1.34964425e+02] [ 8.31678599e-01 5.47165325e-01 -9.44500675e-02 6.12015222e+01] [ 1.11624625e-01 1.87113231e-03 9.93748682e-01 1.75119314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.157105681 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:134.98, Y:61.23, Z:17.52 [[ 5.40096751e-01 -8.39559747e-01 -5.86082874e-02 1.34978543e+02] [ 8.34169066e-01 5.43261933e-01 -9.50181129e-02 6.12314427e+01] [ 1.11613034e-01 2.42975377e-03 9.93748775e-01 1.75199067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.187105681 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:134.99, Y:61.26, Z:17.53 [[ 5.36916827e-01 -8.41567109e-01 -5.90349185e-02 1.34993006e+02] [ 8.36217355e-01 5.40150466e-01 -9.47523568e-02 6.12580264e+01] [ 1.11628206e-01 1.50811130e-03 9.93748897e-01 1.75297818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.217105681 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:135.00, Y:61.29, Z:17.53 [[ 5.32871981e-01 -8.44132428e-01 -5.90584155e-02 1.35004619e+02] [ 8.38799866e-01 5.36133893e-01 -9.47377090e-02 6.12871810e+01] [ 1.11634391e-01 9.44879674e-04 9.93748897e-01 1.75339484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24710568099997 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:135.02, Y:61.32, Z:17.54 [[ 5.30021315e-01 -8.45942123e-01 -5.88160708e-02 1.35022232e+02] [ 8.40603892e-01 5.33274037e-01 -9.48888753e-02 6.13172536e+01] [ 1.11635580e-01 8.52108547e-04 9.93748847e-01 1.75351537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:135.04, Y:61.34, Z:17.54 [[ 5.26405768e-01 -8.48129757e-01 -5.97735935e-02 1.35037581e+02] [ 8.42872374e-01 5.29788031e-01 -9.42910590e-02 6.13429372e+01] [ 1.11638387e-01 -7.46153316e-04 9.93748617e-01 1.75398035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30710568099997 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:135.05, Y:61.37, Z:17.54 [[ 5.30818700e-01 -8.45409947e-01 -5.92750356e-02 1.35052120e+02] [ 8.40100315e-01 5.34117820e-01 -9.46024026e-02 6.13707658e+01] [ 1.11637665e-01 4.19748242e-04 9.93748890e-01 1.75425330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33710568099997 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:135.07, Y:61.40, Z:17.54 [[ 5.40840827e-01 -8.39047150e-01 -5.90853607e-02 1.35069339e+02] [ 8.33685770e-01 5.44055143e-01 -9.47208492e-02 6.13969539e+01] [ 1.11620953e-01 1.97027798e-03 9.93748902e-01 1.75426505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36710568099997 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:135.08, Y:61.42, Z:17.55 [[ 5.48431801e-01 -8.34122408e-01 -5.88418995e-02 1.35084063e+02] [ 8.28715872e-01 5.51569695e-01 -9.48729386e-02 6.14219625e+01] [ 1.11591053e-01 3.26812048e-03 9.93748840e-01 1.75461568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39710568099997 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:135.11, Y:61.45, Z:17.54 [[ 5.61968281e-01 -8.25121287e-01 -5.80216660e-02 1.35106155e+02] [ 8.19611736e-01 5.64923253e-01 -9.53851187e-02 6.14487283e+01] [ 1.11482080e-01 6.04817282e-03 9.93748039e-01 1.75435846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42710568099997 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:135.12, Y:61.48, Z:17.55 [[ 5.68810758e-01 -8.20336576e-01 -5.91795946e-02 1.35124554e+02] [ 8.14876013e-01 5.71853403e-01 -9.46613372e-02 6.14753923e+01] [ 1.11496210e-01 5.62035483e-03 9.93748966e-01 1.75452034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45710568099997 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:135.14, Y:61.50, Z:17.55 [[ 5.69593511e-01 -8.19792697e-01 -5.91875537e-02 1.35137867e+02] [ 8.14329742e-01 5.72631858e-01 -9.46563605e-02 6.14993446e+01] [ 1.11491272e-01 5.71746342e-03 9.93748966e-01 1.75514595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48710568099997 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:135.16, Y:61.53, Z:17.56 [[ 5.68944321e-01 -8.20330732e-01 -5.79642041e-02 1.35159442e+02] [ 8.14792752e-01 5.71845820e-01 -9.54208073e-02 6.15254048e+01] [ 1.11423209e-01 7.06031309e-03 9.93747966e-01 1.75569716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51710568099998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:135.18, Y:61.55, Z:17.56 [[ 5.61970696e-01 -8.25034547e-01 -5.92193585e-02 1.35177782e+02] [ 8.19602165e-01 5.65063191e-01 -9.46355231e-02 6.15483724e+01] [ 1.11540256e-01 4.64607641e-03 9.93749056e-01 1.75616745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54710568099998 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:135.20, Y:61.58, Z:17.57 [[ 5.58223302e-01 -8.27640468e-01 -5.82923700e-02 1.35198130e+02] [ 8.22161850e-01 5.61234308e-01 -9.52152484e-02 6.15752659e+01] [ 1.11519671e-01 5.22560761e-03 9.93748487e-01 1.75693778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57710568099998 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:135.22, Y:61.60, Z:17.57 [[ 5.49725370e-01 -8.33242614e-01 -5.92348149e-02 1.35215464e+02] [ 8.27857581e-01 5.52899508e-01 -9.46253659e-02 6.15983419e+01] [ 1.11596787e-01 2.97997366e-03 9.93749102e-01 1.75748166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60710568099998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:135.23, Y:61.62, Z:17.58 [[ 5.48192528e-01 -8.34317483e-01 -5.83034339e-02 1.35232498e+02] [ 8.28876335e-01 5.51270705e-01 -9.52083576e-02 6.16215551e+01] [ 1.11574972e-01 3.86617360e-03 9.93748498e-01 1.75794268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63710568099998 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:135.26, Y:61.65, Z:17.58 [[ 5.43365823e-01 -8.37520012e-01 -5.75657215e-02 1.35255127e+02] [ 8.32047890e-01 5.46391371e-01 -9.56701553e-02 6.16496156e+01] [ 1.11579083e-01 4.08645552e-03 9.93747156e-01 1.75790212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66710568099998 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:135.27, Y:61.68, Z:17.58 [[ 5.43461043e-01 -8.37408954e-01 -5.82781202e-02 1.35273747e+02] [ 8.31983706e-01 5.46567097e-01 -9.52235371e-02 6.16757298e+01] [ 1.11593946e-01 3.26383640e-03 9.93748529e-01 1.75802612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69710568099998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:135.30, Y:61.70, Z:17.59 [[ 5.46513350e-01 -8.35430916e-01 -5.81235196e-02 1.35296218e+02] [ 8.29984132e-01 5.49581973e-01 -9.53204932e-02 6.17017004e+01] [ 1.11577326e-01 3.85232308e-03 9.93748288e-01 1.75856880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72710568099998 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:135.31, Y:61.73, Z:17.59 [[ 5.48479549e-01 -8.34052892e-01 -5.93797670e-02 1.35311754e+02] [ 8.28682687e-01 5.51678162e-01 -9.45315293e-02 6.17250529e+01] [ 1.11602816e-01 2.64162571e-03 9.93749382e-01 1.75900604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75710568099998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:135.33, Y:61.75, Z:17.59 [[ 5.55437471e-01 -8.29437497e-01 -5.93519547e-02 1.35326500e+02] [ 8.24038874e-01 5.58587883e-01 -9.45489882e-02 6.17500091e+01] [ 1.11575759e-01 3.60773304e-03 9.93749382e-01 1.75927901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78710568099999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:135.35, Y:61.78, Z:17.60 [[ 5.63473000e-01 -8.24062690e-01 -5.84710246e-02 1.35347429e+02] [ 8.18576641e-01 5.66469695e-01 -9.51018828e-02 6.17753152e+01] [ 1.11491977e-01 5.72432836e-03 9.93748847e-01 1.75991273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.817105681 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:135.37, Y:61.80, Z:17.60 [[ 5.66273353e-01 -8.22075214e-01 -5.93871372e-02 1.35365925e+02] [ 8.16638058e-01 5.69356691e-01 -9.45264032e-02 6.18014760e+01] [ 1.11520277e-01 5.02998684e-03 9.93749429e-01 1.76006445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.847105681 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:135.38, Y:61.83, Z:17.60 [[ 5.68877153e-01 -8.20274954e-01 -5.93951528e-02 1.35382549e+02] [ 8.14828567e-01 5.71944156e-01 -9.45213664e-02 6.18266815e+01] [ 1.11504220e-01 5.37417854e-03 9.93749429e-01 1.75986528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.877105681 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:135.40, Y:61.85, Z:17.60 [[ 5.70190776e-01 -8.19427544e-01 -5.84891390e-02 1.35403727e+02] [ 8.13918320e-01 5.73144615e-01 -9.50905781e-02 6.18520798e+01] [ 1.11442574e-01 6.61438871e-03 9.93748863e-01 1.76030140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.907105681 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:135.42, Y:61.88, Z:17.61 [[ 5.69432334e-01 -8.19887129e-01 -5.94298878e-02 1.35421020e+02] [ 8.14440969e-01 5.72499643e-01 -9.44990282e-02 6.18761627e+01] [ 1.11502126e-01 5.40866679e-03 9.93749477e-01 1.76062420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.937105681 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:135.44, Y:61.90, Z:17.61 [[ 5.65116468e-01 -8.22868114e-01 -5.94259560e-02 1.35438695e+02] [ 8.17437889e-01 5.68211900e-01 -9.45015006e-02 6.19025017e+01] [ 1.11528807e-01 4.82732616e-03 9.93749477e-01 1.76072222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.967105681 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:135.46, Y:61.93, Z:17.62 [[ 5.60123118e-01 -8.26264261e-01 -5.95773769e-02 1.35458963e+02] [ 8.20862889e-01 5.63268654e-01 -9.44062547e-02 6.19262965e+01] [ 1.11562583e-01 3.97426803e-03 9.93749463e-01 1.76160076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99710568099997 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:135.47, Y:61.95, Z:17.62 [[ 5.57385370e-01 -8.28122130e-01 -5.94582783e-02 1.35474649e+02] [ 8.22723275e-01 5.60535204e-01 -9.44812063e-02 6.19513929e+01] [ 1.11570436e-01 3.74473269e-03 9.93749473e-01 1.76160490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02710568099997 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:135.49, Y:61.98, Z:17.62 [[ 5.54656789e-01 -8.30006952e-01 -5.86882123e-02 1.35490735e+02] [ 8.24567364e-01 5.57736615e-01 -9.49659486e-02 6.19786385e+01] [ 1.11554962e-01 4.28112352e-03 9.93749044e-01 1.76227165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05710568099997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:135.51, Y:62.01, Z:17.63 [[ 5.53876036e-01 -8.30540603e-01 -5.85119084e-02 1.35506372e+02] [ 8.25092275e-01 5.56940835e-01 -9.50770373e-02 6.20064024e+01] [ 1.11553011e-01 4.38316886e-03 9.93748818e-01 1.76267262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08710568099997 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:135.52, Y:62.03, Z:17.63 [[ 5.54980310e-01 -8.29804629e-01 -5.84904455e-02 1.35523413e+02] [ 8.24350818e-01 5.58035405e-01 -9.50905683e-02 6.20326701e+01] [ 1.11546333e-01 4.55674649e-03 9.93748787e-01 1.76256690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11710568099997 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:135.54, Y:62.06, Z:17.63 [[ 5.58232061e-01 -8.27631247e-01 -5.83394035e-02 1.35542012e+02] [ 8.22155648e-01 5.61248406e-01 -9.51856960e-02 6.20579011e+01] [ 1.11521553e-01 5.17163713e-03 9.93748558e-01 1.76301898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14710568099997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:135.56, Y:62.08, Z:17.64 [[ 5.59898086e-01 -8.26419831e-01 -5.95348317e-02 1.35555700e+02] [ 8.21016595e-01 5.63040244e-01 -9.44321691e-02 6.20813722e+01] [ 1.11561123e-01 3.99330584e-03 9.93749551e-01 1.76356163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17710568099997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:135.57, Y:62.11, Z:17.64 [[ 5.63076742e-01 -8.24259641e-01 -5.95031606e-02 1.35570451e+02] [ 8.18842259e-01 5.66194446e-01 -9.44521214e-02 6.21071994e+01] [ 1.11543431e-01 4.46009035e-03 9.93749551e-01 1.76433204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20710568099997 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:135.59, Y:62.13, Z:17.65 [[ 5.61295976e-01 -8.25478698e-01 -5.94284961e-02 1.35585621e+02] [ 8.20063132e-01 5.64416840e-01 -9.44991511e-02 6.21318749e+01] [ 1.11549480e-01 4.30687457e-03 9.93749548e-01 1.76451751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23710568099997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:135.60, Y:62.16, Z:17.65 [[ 5.60036192e-01 -8.26402681e-01 -5.84642769e-02 1.35603977e+02] [ 8.20928663e-01 5.63054930e-01 -9.51066512e-02 6.21576562e+01] [ 1.11514991e-01 5.26816609e-03 9.93748788e-01 1.76480951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26710568099998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:135.62, Y:62.18, Z:17.65 [[ 5.53109251e-01 -8.31051060e-01 -5.85174488e-02 1.35622715e+02] [ 8.25605975e-01 5.56179712e-01 -9.50731347e-02 6.21838452e+01] [ 1.11556847e-01 4.27347490e-03 9.93748865e-01 1.76517514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29710568099998 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:135.64, Y:62.21, Z:17.65 [[ 5.44972572e-01 -8.36414117e-01 -5.84493006e-02 1.35642105e+02] [ 8.30994680e-01 5.48088284e-01 -9.51161103e-02 6.22082762e+01] [ 1.11591834e-01 3.26461341e-03 9.93748763e-01 1.76538976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32710568099998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:135.66, Y:62.23, Z:17.66 [[ 5.40866544e-01 -8.39069531e-01 -5.85295143e-02 1.35658979e+02] [ 8.33670864e-01 5.44017868e-01 -9.50655076e-02 6.22322685e+01] [ 1.11607672e-01 2.62340185e-03 9.93748884e-01 1.76554301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35710568099998 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:135.68, Y:62.26, Z:17.66 [[ 5.37212369e-01 -8.41416008e-01 -5.84976221e-02 1.35676906e+02] [ 8.36028918e-01 5.40383539e-01 -9.50856430e-02 6.22587968e+01] [ 1.11617734e-01 2.17547983e-03 9.93748836e-01 1.76596185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38710568099998 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:135.69, Y:62.29, Z:17.67 [[ 5.37987377e-01 -8.40932084e-01 -5.83336376e-02 1.35692634e+02] [ 8.35530900e-01 5.41135034e-01 -9.51892386e-02 6.22866715e+01] [ 1.11614060e-01 2.47105211e-03 9.93748558e-01 1.76651849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41710568099998 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:135.71, Y:62.32, Z:17.67 [[ 5.45175960e-01 -8.36295065e-01 -5.82557922e-02 1.35706501e+02] [ 8.30861872e-01 5.48268346e-01 -9.52384909e-02 6.23155407e+01] [ 1.11587287e-01 3.51921919e-03 9.93748405e-01 1.76703154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44710568099998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:135.73, Y:62.34, Z:17.68 [[ 5.51664263e-01 -8.32039563e-01 -5.81094437e-02 1.35727484e+02] [ 8.26572796e-01 5.54697558e-01 -9.53311701e-02 6.23444168e+01] [ 1.11552472e-01 4.55911428e-03 9.93748087e-01 1.76755997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47710568099998 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:135.73, Y:62.37, Z:17.67 [[ 5.63819737e-01 -8.23729273e-01 -5.98112779e-02 1.35733038e+02] [ 8.18330116e-01 5.66967797e-01 -9.42514673e-02 6.23708457e+01] [ 1.11548761e-01 4.19546751e-03 9.93750105e-01 1.76743834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50710568099998 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:135.75, Y:62.40, Z:17.68 [[ 5.69629849e-01 -8.19854045e-01 -5.79756887e-02 1.35751658e+02] [ 8.14313841e-01 5.72528014e-01 -9.54182452e-02 6.24003959e+01] [ 1.11421740e-01 7.14267487e-03 9.93747542e-01 1.76788464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53710568099999 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:135.77, Y:62.43, Z:17.68 [[ 5.72157963e-01 -8.18062226e-01 -5.83905745e-02 1.35767876e+02] [ 8.12539523e-01 5.75087136e-01 -9.51541376e-02 6.24278216e+01] [ 1.11421674e-01 6.99854805e-03 9.93748575e-01 1.76811142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.567105681 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:135.79, Y:62.46, Z:17.68 [[ 5.74047951e-01 -8.16731675e-01 -5.84664059e-02 1.35786824e+02] [ 8.11207047e-01 5.76973141e-01 -9.51058474e-02 6.24559436e+01] [ 1.11409504e-01 7.16695636e-03 9.93748739e-01 1.76809324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.597105681 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:135.81, Y:62.48, Z:17.68 [[ 5.73659890e-01 -8.16984804e-01 -5.87380655e-02 1.35806164e+02] [ 8.11478989e-01 5.76619171e-01 -9.49325185e-02 6.24833971e+01] [ 1.11427920e-01 6.79427220e-03 9.93749293e-01 1.76821391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.627105681 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:135.82, Y:62.51, Z:17.69 [[ 5.73406908e-01 -8.17140313e-01 -5.90442768e-02 1.35823458e+02] [ 8.11655201e-01 5.76403296e-01 -9.47368785e-02 6.25103673e+01] [ 1.11446638e-01 6.39918627e-03 9.93749816e-01 1.76856498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.657105681 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:135.84, Y:62.54, Z:17.69 [[ 5.73155336e-01 -8.17328196e-01 -5.88861758e-02 1.35841807e+02] [ 8.11833760e-01 5.76135144e-01 -9.48379783e-02 6.25372561e+01] [ 1.11440149e-01 6.55110781e-03 9.93749554e-01 1.76893488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.687105681 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:135.86, Y:62.57, Z:17.69 [[ 5.72323518e-01 -8.17894144e-01 -5.91181915e-02 1.35860873e+02] [ 8.12417832e-01 5.75335702e-01 -9.46894672e-02 6.25652442e+01] [ 1.11458767e-01 6.16433599e-03 9.93749941e-01 1.76901649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.717105681 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:135.88, Y:62.59, Z:17.69 [[ 5.71085193e-01 -8.18750911e-01 -5.92338405e-02 1.35879551e+02] [ 8.13286740e-01 5.74118989e-01 -9.46153525e-02 6.25932528e+01] [ 1.11473679e-01 5.85932982e-03 9.93750113e-01 1.76925889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74710568099997 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:135.90, Y:62.62, Z:17.69 [[ 5.66419183e-01 -8.21975732e-01 -5.93734355e-02 1.35897594e+02] [ 8.16538178e-01 5.69500032e-01 -9.45257512e-02 6.26201771e+01] [ 1.11511047e-01 5.06052188e-03 9.93750309e-01 1.76936755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77710568099997 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:135.92, Y:62.65, Z:17.70 [[ 5.66832086e-01 -8.21696221e-01 -5.93018250e-02 1.35915989e+02] [ 8.16252359e-01 5.69901982e-01 -9.45717615e-02 6.26482728e+01] [ 1.11505487e-01 5.20105433e-03 9.93750208e-01 1.76974959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80710568099997 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:135.94, Y:62.67, Z:17.70 [[ 5.64703482e-01 -8.23158850e-01 -5.93252412e-02 1.35935026e+02] [ 8.17724516e-01 5.67790143e-01 -9.45567046e-02 6.26747103e+01] [ 1.11519475e-01 4.88479625e-03 9.93750243e-01 1.76994411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83710568099997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:135.95, Y:62.70, Z:17.71 [[ 5.61200436e-01 -8.25537055e-01 -5.95200950e-02 1.35951566e+02] [ 8.20129026e-01 5.64332430e-01 -9.44313990e-02 6.27002734e+01] [ 1.11545739e-01 4.18078477e-03 9.93750507e-01 1.77050542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86710568099997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:135.97, Y:62.72, Z:17.71 [[ 5.57338119e-01 -8.28085061e-01 -6.04098812e-02 1.35965336e+02] [ 8.22752819e-01 5.60596403e-01 -9.38587845e-02 6.27244270e+01] [ 1.11588619e-01 2.60867833e-03 9.93751063e-01 1.77067022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89710568099997 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:135.98, Y:62.75, Z:17.70 [[ 5.49708539e-01 -8.33203637e-01 -5.99351453e-02 1.35978211e+02] [ 8.27868359e-01 5.52962115e-01 -9.41641076e-02 6.27491209e+01] [ 1.11599742e-01 2.14440359e-03 9.93750924e-01 1.77032618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92710568099997 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:135.99, Y:62.78, Z:17.71 [[ 5.46665432e-01 -8.35208931e-01 -5.98577342e-02 1.35993913e+02] [ 8.29880130e-01 5.49929721e-01 -9.42139697e-02 6.27753357e+01] [ 1.11605896e-01 1.82877613e-03 9.93750864e-01 1.77102222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95710568099997 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:136.01, Y:62.80, Z:17.71 [[ 5.39860910e-01 -8.39643400e-01 -5.95748185e-02 1.36006538e+02] [ 8.34321271e-01 5.43136615e-01 -9.43961580e-02 6.28032610e+01] [ 1.11616376e-01 1.25625746e-03 9.93750576e-01 1.77088390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98710568099997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:136.02, Y:62.83, Z:17.71 [[ 5.35984323e-01 -8.42065277e-01 -6.03893564e-02 1.36018899e+02] [ 8.36816653e-01 5.39375584e-01 -9.38715540e-02 6.28255632e+01] [ 1.11618521e-01 -2.21137714e-04 9.93751104e-01 1.77144779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01710568099998 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:136.03, Y:62.85, Z:17.72 [[ 5.30706051e-01 -8.45457443e-01 -5.96053693e-02 1.36033137e+02] [ 8.40173348e-01 5.34042800e-01 -9.43770799e-02 6.28528750e+01] [ 1.11623623e-01 7.64467036e-06 9.93750556e-01 1.77155329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04710568099998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:136.05, Y:62.88, Z:17.72 [[ 5.28931663e-01 -8.46557459e-01 -5.97642429e-02 1.36049815e+02] [ 8.41291869e-01 5.32297188e-01 -9.42745726e-02 6.28822983e+01] [ 1.11621181e-01 -4.14365111e-04 9.93750744e-01 1.77195038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07710568099998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:136.06, Y:62.91, Z:17.72 [[ 5.31269321e-01 -8.45060514e-01 -6.02132579e-02 1.36063219e+02] [ 8.39818179e-01 5.34670293e-01 -9.39845930e-02 6.29127756e+01] [ 1.11616909e-01 -6.37057649e-04 9.93751106e-01 1.77222507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10710568099998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:136.08, Y:62.94, Z:17.72 [[ 5.37671860e-01 -8.40971112e-01 -6.06346306e-02 1.36075387e+02] [ 8.35733522e-01 5.41079943e-01 -9.37121900e-02 6.29401065e+01] [ 1.11617427e-01 -2.87985863e-04 9.93751210e-01 1.77242450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13710568099998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:136.09, Y:62.97, Z:17.73 [[ 5.42309202e-01 -8.38015296e-01 -6.02585462e-02 1.36089992e+02] [ 8.32732021e-01 5.45646190e-01 -9.39554008e-02 6.29667081e+01] [ 1.11615909e-01 7.73657489e-04 9.93751121e-01 1.77345361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16710568099998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:136.11, Y:62.99, Z:17.74 [[ 5.43284004e-01 -8.37378326e-01 -6.03326695e-02 1.36105873e+02] [ 8.32096460e-01 5.46623155e-01 -9.39074432e-02 6.29921012e+01] [ 1.11615292e-01 8.15811004e-04 9.93751157e-01 1.77375886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19710568099998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:136.13, Y:63.02, Z:17.74 [[ 5.44465831e-01 -8.36641968e-01 -5.98930463e-02 1.36125934e+02] [ 8.31324183e-01 5.47748105e-01 -9.41919078e-02 6.30196345e+01] [ 1.11611206e-01 1.49373759e-03 9.93750828e-01 1.77405550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22710568099998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:136.14, Y:63.04, Z:17.75 [[ 5.41544736e-01 -8.38482629e-01 -6.06315081e-02 1.36144418e+02] [ 8.33229212e-01 5.44928278e-01 -9.37136668e-02 6.30427230e+01] [ 1.11617105e-01 2.30199223e-04 9.93751261e-01 1.77451554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25710568099998 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:136.16, Y:63.07, Z:17.75 [[ 5.37536653e-01 -8.41101005e-01 -6.00287138e-02 1.36164635e+02] [ 8.35820250e-01 5.40877925e-01 -9.41040925e-02 6.30686612e+01] [ 1.11619253e-01 4.11184369e-04 9.93750961e-01 1.77494006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28710568099999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:136.19, Y:63.10, Z:17.75 [[ 5.34760177e-01 -8.42856465e-01 -6.02040986e-02 1.36185328e+02] [ 8.37599455e-01 5.38138414e-01 -9.39904225e-02 6.30951247e+01] [ 1.11618573e-01 -1.64585238e-04 9.93751109e-01 1.77518200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.317105681 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:136.20, Y:63.12, Z:17.76 [[ 5.34346984e-01 -8.43114195e-01 -6.02640435e-02 1.36204534e+02] [ 8.37863199e-01 5.37734479e-01 -9.39515307e-02 6.31226213e+01] [ 1.11617923e-01 -2.90307189e-04 9.93751153e-01 1.77562137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.347105681 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:136.22, Y:63.15, Z:17.76 [[ 5.32682811e-01 -8.44151079e-01 -6.04812226e-02 1.36221785e+02] [ 8.38922660e-01 5.36104809e-01 -9.38104732e-02 6.31500265e+01] [ 1.11614486e-01 -7.67841584e-04 9.93751285e-01 1.77595182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.377105681 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:136.24, Y:63.18, Z:17.76 [[ 5.32296247e-01 -8.44409326e-01 -6.02793105e-02 1.36240407e+02] [ 8.39167688e-01 5.35698193e-01 -9.39416655e-02 6.31767802e+01] [ 1.11616736e-01 -5.79653626e-04 9.93751160e-01 1.77627709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.407105681 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:136.26, Y:63.20, Z:17.76 [[ 5.30583528e-01 -8.45489288e-01 -6.02410499e-02 1.36259664e+02] [ 8.40251750e-01 5.33991840e-01 -9.39665401e-02 6.32021378e+01] [ 1.11615932e-01 -7.60549334e-04 9.93751128e-01 1.77629640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.437105681 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:136.28, Y:63.23, Z:17.77 [[ 5.30824276e-01 -8.45361831e-01 -5.99079444e-02 1.36277787e+02] [ 8.40098952e-01 5.34194031e-01 -9.41832713e-02 6.32283850e+01] [ 1.11621409e-01 -3.33834469e-04 9.93750748e-01 1.77670568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.467105681 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:136.29, Y:63.25, Z:17.77 [[ 5.30220718e-01 -8.45750391e-01 -5.97684374e-02 1.36294311e+02] [ 8.40479731e-01 5.33578686e-01 -9.42741030e-02 6.32546592e+01] [ 1.11623524e-01 -2.48077600e-04 9.93750536e-01 1.77710957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49710568099997 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:136.32, Y:63.28, Z:17.78 [[ 5.33249790e-01 -8.43859096e-01 -5.95524018e-02 1.36318053e+02] [ 8.38560786e-01 5.36564684e-01 -9.44147641e-02 6.32822746e+01] [ 1.11626473e-01 4.08344213e-04 9.93750152e-01 1.77753715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52710568099997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:136.33, Y:63.31, Z:17.78 [[ 5.35554488e-01 -8.42296534e-01 -6.09749140e-02 1.36328332e+02] [ 8.37092917e-01 5.39013544e-01 -9.34871544e-02 6.33064571e+01] [ 1.11610211e-01 -9.74203489e-04 9.93751585e-01 1.77793584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55710568099997 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:136.35, Y:63.34, Z:17.78 [[ 5.38235692e-01 -8.40704973e-01 -5.93084216e-02 1.36346887e+02] [ 8.35369645e-01 5.41491738e-01 -9.45740676e-02 6.33353843e+01] [ 1.11623909e-01 1.35868363e-03 9.93749595e-01 1.77768918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58710568099997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:136.36, Y:63.36, Z:17.78 [[ 5.46380488e-01 -8.35415963e-01 -5.95695572e-02 1.36364040e+02] [ 8.30067701e-01 5.49614063e-01 -9.44033582e-02 6.33630473e+01] [ 1.11606339e-01 2.13338746e-03 9.93750207e-01 1.77801848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61710568099997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:136.38, Y:63.39, Z:17.78 [[ 5.51264344e-01 -8.32209561e-01 -5.94547746e-02 1.36381442e+02] [ 8.26834396e-01 5.54453516e-01 -9.44784705e-02 6.33883375e+01] [ 1.11590795e-01 2.92335946e-03 9.93749943e-01 1.77847728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64710568099997 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:136.40, Y:63.42, Z:17.79 [[ 5.60012330e-01 -8.26343803e-01 -5.95156143e-02 1.36402829e+02] [ 8.20939496e-01 5.63151572e-01 -9.44386116e-02 6.34154943e+01] [ 1.11555073e-01 4.02806856e-03 9.93750089e-01 1.77885823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67710568099997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:136.42, Y:63.44, Z:17.79 [[ 5.63661647e-01 -8.23807060e-01 -6.02285344e-02 1.36420585e+02] [ 8.18438182e-01 5.66858384e-01 -9.39708220e-02 6.34386679e+01] [ 1.11554876e-01 3.67441618e-03 9.93751482e-01 1.77940538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70710568099997 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:136.44, Y:63.46, Z:17.80 [[ 5.64372710e-01 -8.23376072e-01 -5.94582981e-02 1.36439786e+02] [ 8.17951341e-01 5.67476774e-01 -9.44760028e-02 6.34639145e+01] [ 1.11530483e-01 4.68568305e-03 9.93749966e-01 1.77984227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73710568099997 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:136.46, Y:63.49, Z:17.80 [[ 5.64443048e-01 -8.23320137e-01 -5.95650744e-02 1.36459789e+02] [ 8.17902471e-01 5.67558881e-01 -9.44058498e-02 6.34876899e+01] [ 1.11532924e-01 4.56830413e-03 9.93750239e-01 1.78046036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76710568099998 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:136.48, Y:63.51, Z:17.81 [[ 5.65556015e-01 -8.22579256e-01 -5.92432403e-02 1.36477325e+02] [ 8.17135364e-01 5.68627594e-01 -9.46174247e-02 6.35133830e+01] [ 1.11517672e-01 5.10170693e-03 9.93749355e-01 1.78110221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79710568099998 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:136.50, Y:63.54, Z:17.82 [[ 5.73307266e-01 -8.17212760e-01 -5.90091789e-02 1.36495991e+02] [ 8.11724383e-01 5.76300190e-01 -9.47713973e-02 6.35411989e+01] [ 1.11455396e-01 6.43394141e-03 9.93748610e-01 1.78171058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82710568099998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:136.52, Y:63.57, Z:17.82 [[ 5.79752676e-01 -8.12634796e-01 -5.92581103e-02 1.36516229e+02] [ 8.07139414e-01 5.82730999e-01 -9.46073432e-02 6.35686882e+01] [ 1.11412757e-01 7.01930396e-03 9.93749429e-01 1.78209479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85710568099998 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:136.54, Y:63.60, Z:17.82 [[ 5.95073336e-01 -8.01424860e-01 -6.00493032e-02 1.36539960e+02] [ 7.95925370e-01 5.98039370e-01 -9.40835630e-02 6.35952860e+01] [ 1.11312754e-01 8.19185579e-03 9.93751661e-01 1.78188101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88710568099998 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:136.56, Y:63.62, Z:17.82 [[ 5.99402130e-01 -7.98157571e-01 -6.05109762e-02 1.36561067e+02] [ 7.92672245e-01 6.02392324e-01 -9.37773962e-02 6.36209077e+01] [ 1.11300486e-01 8.24499972e-03 9.93752596e-01 1.78189474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91710568099998 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:136.58, Y:63.65, Z:17.82 [[ 6.03824870e-01 -7.94777710e-01 -6.10239163e-02 1.36582088e+02] [ 7.89309346e-01 6.06844529e-01 -9.34370025e-02 6.36459453e+01] [ 1.11293677e-01 8.25283841e-03 9.93753293e-01 1.78201139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94710568099998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:136.60, Y:63.67, Z:17.82 [[ 6.05388066e-01 -7.93600516e-01 -6.08564778e-02 1.36601450e+02] [ 7.88115282e-01 6.08377378e-01 -9.35482171e-02 6.36715754e+01] [ 1.11263618e-01 8.67105405e-03 9.93753098e-01 1.78239045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97710568099998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:136.62, Y:63.70, Z:17.83 [[ 6.03074564e-01 -7.95341012e-01 -6.11043707e-02 1.36622778e+02] [ 7.89880824e-01 6.06108770e-01 -9.33833123e-02 6.36967394e+01] [ 1.11307473e-01 8.05192969e-03 9.93753396e-01 1.78308924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00710568099998 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:136.64, Y:63.72, Z:17.83 [[ 5.99506600e-01 -7.98024062e-01 -6.12326158e-02 1.36643370e+02] [ 7.92586063e-01 6.02580142e-01 -9.32979357e-02 6.37200304e+01] [ 1.11351556e-01 7.40061028e-03 9.93753522e-01 1.78328596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03710568099999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:136.67, Y:63.74, Z:17.83 [[ 5.91554005e-01 -8.03936800e-01 -6.12329956e-02 1.36672148e+02] [ 7.98529611e-01 5.94681430e-01 -9.32976827e-02 6.37428444e+01] [ 1.11419566e-01 6.29425775e-03 9.93753522e-01 1.78309670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.067105681 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:136.70, Y:63.77, Z:17.83 [[ 5.82328026e-01 -8.10608488e-01 -6.17085827e-02 1.36695919e+02] [ 8.05270502e-01 5.85571558e-01 -9.29804713e-02 6.37661216e+01] [ 1.11505550e-01 4.45303293e-03 9.93753834e-01 1.78323940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.097105681 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:136.72, Y:63.79, Z:17.84 [[ 5.78415173e-01 -8.13417195e-01 -6.15496177e-02 1.36717652e+02] [ 8.08083707e-01 5.81666238e-01 -9.30865718e-02 6.37913270e+01] [ 1.11519553e-01 4.10544227e-03 9.93753760e-01 1.78351517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.127105681 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:136.74, Y:63.81, Z:17.84 [[ 5.69755731e-01 -8.19469456e-01 -6.20339980e-02 1.36740451e+02] [ 8.14205570e-01 5.73118065e-01 -9.27629942e-02 6.38116181e+01] [ 1.11569245e-01 2.34382086e-03 9.93753898e-01 1.78365956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.157105681 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:136.76, Y:63.83, Z:17.84 [[ 5.65556175e-01 -8.22376521e-01 -6.19925045e-02 1.36759463e+02] [ 8.17126885e-01 5.68940714e-01 -9.27907157e-02 6.38325461e+01] [ 1.11578966e-01 1.82262014e-03 9.93753899e-01 1.78386194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.187105681 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:136.78, Y:63.85, Z:17.84 [[ 5.60717557e-01 -8.25685528e-01 -6.19615136e-02 1.36779531e+02] [ 8.20453585e-01 5.64129380e-01 -9.28114056e-02 6.38527447e+01] [ 1.11587345e-01 1.20443866e-03 9.93753900e-01 1.78432715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.217105681 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:136.79, Y:63.88, Z:17.85 [[ 5.56967270e-01 -8.28221112e-01 -6.19455349e-02 1.36794481e+02] [ 8.23003517e-01 5.60400994e-01 -9.28220658e-02 6.38750994e+01] [ 1.11591534e-01 7.17459540e-04 9.93753901e-01 1.78486576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24710568099997 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:136.81, Y:63.90, Z:17.85 [[ 5.57238780e-01 -8.28040122e-01 -6.19233278e-02 1.36812276e+02] [ 8.22819766e-01 5.60668304e-01 -9.28368783e-02 6.38975822e+01] [ 1.11591107e-01 7.80570714e-04 9.93753901e-01 1.78513759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27710568099997 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:136.83, Y:63.92, Z:17.85 [[ 5.57179255e-01 -8.28082441e-01 -6.18930359e-02 1.36829991e+02] [ 8.22860102e-01 5.60605758e-01 -9.28570703e-02 6.39188151e+01] [ 1.11590902e-01 8.08723410e-04 9.93753901e-01 1.78513857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30710568099997 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:136.85, Y:63.94, Z:17.86 [[ 5.57713293e-01 -8.27723457e-01 -6.18850666e-02 1.36845229e+02] [ 8.22498324e-01 5.61135532e-01 -9.28623812e-02 6.39415978e+01] [ 1.11590281e-01 8.90220801e-04 9.93753901e-01 1.78553240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33710568099997 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:136.86, Y:63.97, Z:17.86 [[ 5.59811470e-01 -8.26324172e-01 -6.16399347e-02 1.36857305e+02] [ 8.21072481e-01 5.63192875e-01 -9.30256238e-02 6.39662635e+01] [ 1.11584494e-01 1.46595707e-03 9.93753869e-01 1.78602138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36710568099997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:136.87, Y:63.99, Z:17.86 [[ 5.62786113e-01 -8.24306084e-01 -6.15732930e-02 1.36872348e+02] [ 8.19037417e-01 5.66141048e-01 -9.30699922e-02 6.39938719e+01] [ 1.11577329e-01 1.94766826e-03 9.93753846e-01 1.78633948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39710568099997 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:136.89, Y:64.02, Z:17.87 [[ 5.64155514e-01 -8.23377179e-01 -6.14701296e-02 1.36889118e+02] [ 8.18095507e-01 5.67490026e-01 -9.31386690e-02 6.40185430e+01] [ 1.11571940e-01 2.25625688e-03 9.93753798e-01 1.78673491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42710568099997 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:136.90, Y:64.04, Z:17.87 [[ 5.63297695e-01 -8.23935536e-01 -6.18541768e-02 1.36902364e+02] [ 8.18685139e-01 5.66681043e-01 -9.28829321e-02 6.40413695e+01] [ 1.11581138e-01 1.68164618e-03 9.93753904e-01 1.78738197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45710568099997 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:136.92, Y:64.07, Z:17.88 [[ 5.61370806e-01 -8.25287258e-01 -6.13494905e-02 1.36916901e+02] [ 8.20008180e-01 5.64709526e-01 -9.32187543e-02 6.40655462e+01] [ 1.11576892e-01 2.02320329e-03 9.93753744e-01 1.78824863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48710568099997 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:136.93, Y:64.09, Z:17.89 [[ 5.58513106e-01 -8.27189273e-01 -6.18143729e-02 1.36930100e+02] [ 8.21955652e-01 5.61922356e-01 -9.29094805e-02 6.40929708e+01] [ 1.11588604e-01 1.08248932e-03 9.93753899e-01 1.78923419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51710568099998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:136.95, Y:64.12, Z:17.90 [[ 5.60173770e-01 -8.26092180e-01 -6.14577702e-02 1.36946111e+02] [ 8.20825782e-01 5.63532350e-01 -9.31468013e-02 6.41206204e+01] [ 1.11581286e-01 1.73227259e-03 9.93753800e-01 1.78966301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54710568099998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:136.96, Y:64.15, Z:17.90 [[ 5.64854506e-01 -8.22915233e-01 -6.12364786e-02 1.36964061e+02] [ 8.17613972e-01 5.68158079e-01 -9.32941044e-02 6.41483633e+01] [ 1.11565140e-01 2.62979467e-03 9.93753643e-01 1.79017874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57710568099998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:136.97, Y:64.18, Z:17.91 [[ 5.76015342e-01 -8.15092894e-01 -6.18861926e-02 1.36974274e+02] [ 8.09792948e-01 5.79320453e-01 -9.28611512e-02 6.41776634e+01] [ 1.11542402e-01 3.37444537e-03 9.93753946e-01 1.79062174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60710568099998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:136.98, Y:64.21, Z:17.91 [[ 5.89906556e-01 -8.05144548e-01 -6.12577569e-02 1.36984636e+02] [ 7.99745602e-01 5.93047912e-01 -9.32799348e-02 6.42075808e+01] [ 1.11432616e-01 6.03582336e-03 9.93753662e-01 1.79090201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63710568099998 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:137.00, Y:64.24, Z:17.91 [[ 5.99815110e-01 -7.97806028e-01 -6.10522410e-02 1.37000524e+02] [ 7.92354958e-01 6.02865574e-01 -9.34169148e-02 6.42362011e+01] [ 1.11334872e-01 7.65783119e-03 9.93753442e-01 1.79066116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66710568099998 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:137.02, Y:64.26, Z:17.91 [[ 6.00191507e-01 -7.97533669e-01 -6.09114333e-02 1.37019365e+02] [ 7.92071805e-01 6.03222995e-01 -9.35108211e-02 6.42639580e+01] [ 1.11321205e-01 7.87817162e-03 9.93753251e-01 1.79104712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69710568099998 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:137.04, Y:64.29, Z:17.91 [[ 6.04051376e-01 -7.94612634e-01 -6.09319079e-02 1.37041282e+02] [ 7.89137485e-01 6.07058738e-01 -9.34971570e-02 6.42920757e+01] [ 1.11283269e-01 8.39343378e-03 9.93753281e-01 1.79116295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72710568099998 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:137.06, Y:64.32, Z:17.91 [[ 6.01910672e-01 -7.96152547e-01 -6.20053568e-02 1.37057173e+02] [ 7.90757361e-01 6.05057593e-01 -9.27798764e-02 6.43175985e+01] [ 1.11383747e-01 6.81400550e-03 9.93754110e-01 1.79059249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75710568099998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:137.08, Y:64.34, Z:17.91 [[ 6.00466434e-01 -7.97321058e-01 -6.09851813e-02 1.37077111e+02] [ 7.91863079e-01 6.03504636e-01 -9.34613210e-02 6.43437801e+01] [ 1.11323519e-01 7.82847265e-03 9.93753384e-01 1.79054440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78710568099999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:137.10, Y:64.37, Z:17.91 [[ 5.96760401e-01 -8.00091585e-01 -6.10776501e-02 1.37099567e+02] [ 7.94653977e-01 5.99834639e-01 -9.33994802e-02 6.43678814e+01] [ 1.11364628e-01 7.20151377e-03 9.93753520e-01 1.79051037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.817105681 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:137.12, Y:64.39, Z:17.91 [[ 5.92573286e-01 -8.03197219e-01 -6.10829575e-02 1.37120944e+02] [ 7.97776103e-01 5.95676498e-01 -9.33959286e-02 6.43935104e+01] [ 1.11401032e-01 6.61340857e-03 9.93753527e-01 1.79108954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.847105681 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:137.14, Y:64.42, Z:17.91 [[ 5.89913426e-01 -8.05127853e-01 -6.14108293e-02 1.37140592e+02] [ 7.99739518e-01 5.93072407e-01 -9.31763031e-02 6.44187288e+01] [ 1.11439905e-01 5.85328514e-03 9.93753937e-01 1.79148803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.877105681 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:137.16, Y:64.44, Z:17.92 [[ 5.83797769e-01 -8.09574009e-01 -6.14010461e-02 1.37163625e+02] [ 8.04209076e-01 5.86996352e-01 -9.31828591e-02 6.44383114e+01] [ 1.11480611e-01 5.02066678e-03 9.93753926e-01 1.79179588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.907105681 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:137.18, Y:64.46, Z:17.92 [[ 5.74021311e-01 -8.16479362e-01 -6.21368269e-02 1.37179685e+02] [ 8.11205902e-01 5.77367830e-01 -9.26896628e-02 6.44580185e+01] [ 1.11555002e-01 2.80008101e-03 9.93754316e-01 1.79211197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.937105681 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:137.20, Y:64.48, Z:17.93 [[ 5.69128799e-01 -8.19949958e-01 -6.14367736e-02 1.37196805e+02] [ 8.14646082e-01 5.72427503e-01 -9.31585455e-02 6.44807992e+01] [ 1.11553444e-01 2.96998416e-03 9.93753998e-01 1.79253794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.967105681 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:137.22, Y:64.50, Z:17.93 [[ 5.57143830e-01 -8.28131108e-01 -6.15598903e-02 1.37218944e+02] [ 8.22884811e-01 5.60533164e-01 -9.30761012e-02 6.45005186e+01] [ 1.11585575e-01 1.20007686e-03 9.93754104e-01 1.79266401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99710568099997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:137.24, Y:64.52, Z:17.93 [[ 5.46389290e-01 -8.35260110e-01 -6.16383942e-02 1.37238157e+02] [ 8.30063969e-01 5.49854921e-01 -9.30235057e-02 6.45205996e+01] [ 1.11590998e-01 -3.36762879e-04 9.93754163e-01 1.79310678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02710568099997 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:137.25, Y:64.54, Z:17.94 [[ 5.42631311e-01 -8.37725442e-01 -6.13786896e-02 1.37253109e+02] [ 8.32525340e-01 5.46091389e-01 -9.31973882e-02 6.45427290e+01] [ 1.11592197e-01 -5.27493512e-04 9.93753945e-01 1.79360783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05710568099997 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:137.27, Y:64.57, Z:17.94 [[ 5.39257936e-01 -8.39901256e-01 -6.13739230e-02 1.37266987e+02] [ 8.34714750e-01 5.42738369e-01 -9.32005797e-02 6.45695159e+01] [ 1.11589267e-01 -9.70566608e-04 9.93753940e-01 1.79408639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08710568099997 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:137.28, Y:64.59, Z:17.94 [[ 5.40496265e-01 -8.39131968e-01 -6.10026907e-02 1.37281493e+02] [ 8.33912374e-01 5.43927761e-01 -9.34491450e-02 6.45947826e+01] [ 1.11597222e-01 -3.61984864e-04 9.93753455e-01 1.79427771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11710568099997 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:137.29, Y:64.62, Z:17.95 [[ 5.46572068e-01 -8.35182168e-01 -6.10714337e-02 1.37292515e+02] [ 8.29942918e-01 5.49973283e-01 -9.34031080e-02 6.46219629e+01] [ 1.11596267e-01 3.65726000e-04 9.93753561e-01 1.79500207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14710568099997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:137.30, Y:64.65, Z:17.96 [[ 5.57262101e-01 -8.28134447e-01 -6.04341628e-02 1.37303827e+02] [ 8.22805688e-01 5.60523659e-01 -9.38297817e-02 6.46514999e+01] [ 1.11578452e-01 2.56220843e-03 9.93752325e-01 1.79571874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17710568099997 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:137.32, Y:64.68, Z:17.96 [[ 5.66564293e-01 -8.21797011e-01 -6.04530790e-02 1.37318580e+02] [ 8.16433154e-01 5.69767717e-01 -9.38171272e-02 6.46763347e+01] [ 1.11542848e-01 3.79753632e-03 9.93752370e-01 1.79618411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20710568099997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:137.32, Y:64.71, Z:17.97 [[ 5.76271658e-01 -8.14956777e-01 -6.12896996e-02 1.37321895e+02] [ 8.09613842e-01 5.79507094e-01 -9.32574651e-02 6.47053710e+01] [ 1.11518619e-01 4.12064483e-03 9.93753801e-01 1.79682491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23710568099997 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:137.34, Y:64.74, Z:17.97 [[ 5.86425350e-01 -8.07743489e-01 -6.04629268e-02 1.37335954e+02] [ 8.02303677e-01 5.89498223e-01 -9.38118040e-02 6.47358881e+01] [ 1.11418662e-01 6.50399151e-03 9.93752273e-01 1.79702822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26710568099998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:137.35, Y:64.76, Z:17.97 [[ 5.89737963e-01 -8.05328486e-01 -6.04579661e-02 1.37352226e+02] [ 7.99875763e-01 5.92787892e-01 -9.38151326e-02 6.47642637e+01] [ 1.11390749e-01 6.96748346e-03 9.93752261e-01 1.79724987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29710568099998 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:137.37, Y:64.79, Z:17.97 [[ 5.92948117e-01 -8.02950054e-01 -6.06938246e-02 1.37366648e+02] [ 7.97501151e-01 5.96003668e-01 -9.36565086e-02 6.47929281e+01] [ 1.11375241e-01 7.13005542e-03 9.93752846e-01 1.79748053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32710568099998 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:137.38, Y:64.82, Z:17.98 [[ 5.93207239e-01 -8.02785301e-01 -6.03401273e-02 1.37384991e+02] [ 7.97311508e-01 5.96219897e-01 -9.38945915e-02 6.48191303e+01] [ 1.11353182e-01 7.58907357e-03 9.93751918e-01 1.79768914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35710568099998 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:137.40, Y:64.85, Z:17.98 [[ 5.92849878e-01 -8.03015998e-01 -6.07809859e-02 1.37403170e+02] [ 7.97573510e-01 5.95916223e-01 -9.35967450e-02 6.48457691e+01] [ 1.11380059e-01 7.01151457e-03 9.93753149e-01 1.79811193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38710568099998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:137.42, Y:64.87, Z:17.98 [[ 5.89795798e-01 -8.05285879e-01 -6.04613053e-02 1.37420725e+02] [ 7.99833159e-01 5.92845722e-01 -9.38129341e-02 6.48729365e+01] [ 1.11390457e-01 6.97151751e-03 9.93752265e-01 1.79849335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41710568099998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:137.44, Y:64.90, Z:17.99 [[ 5.88135020e-01 -8.06470146e-01 -6.08531119e-02 1.37439375e+02] [ 8.01050693e-01 5.91241541e-01 -9.35479977e-02 6.48988482e+01] [ 1.11422555e-01 6.27242609e-03 9.93753325e-01 1.79888650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44710568099998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:137.46, Y:64.92, Z:17.99 [[ 5.83740798e-01 -8.09658101e-01 -6.08312415e-02 1.37459575e+02] [ 8.04254095e-01 5.86874223e-01 -9.35627968e-02 6.49216822e+01] [ 1.11454164e-01 5.69264663e-03 9.93753271e-01 1.79882308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47710568099998 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:137.48, Y:64.94, Z:17.99 [[ 5.77303078e-01 -8.14270271e-01 -6.07048749e-02 1.37478765e+02] [ 8.08882358e-01 5.80464745e-01 -9.36483361e-02 6.49449763e+01] [ 1.11492096e-01 4.96037038e-03 9.93752941e-01 1.79897658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50710568099998 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:137.50, Y:64.97, Z:17.99 [[ 5.73513396e-01 -8.16934620e-01 -6.08293657e-02 1.37497295e+02] [ 8.11570325e-01 5.76714312e-01 -9.35639363e-02 6.49709212e+01] [ 1.11516785e-01 4.29286276e-03 9.93753278e-01 1.79938426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53710568099999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:137.51, Y:64.99, Z:18.00 [[ 5.63840385e-01 -8.23645891e-01 -6.07574403e-02 1.37513979e+02] [ 8.18314489e-01 5.67096164e-01 -9.36127078e-02 6.49916929e+01] [ 1.11559033e-01 3.06393148e-03 9.93753085e-01 1.79988090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.567105681 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:137.53, Y:65.01, Z:18.00 [[ 5.55729138e-01 -8.29152545e-01 -6.05902847e-02 1.37532549e+02] [ 8.23841050e-01 5.59018202e-01 -9.37260599e-02 6.50125562e+01] [ 1.11584273e-01 2.16953872e-03 9.93752607e-01 1.80034721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.597105681 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:137.55, Y:65.04, Z:18.01 [[ 5.52692640e-01 -8.31171887e-01 -6.06971117e-02 1.37549499e+02] [ 8.25880371e-01 5.56013154e-01 -9.36535401e-02 6.50359158e+01] [ 1.11590582e-01 1.63306922e-03 9.93752925e-01 1.80065717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.627105681 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:137.57, Y:65.06, Z:18.01 [[ 5.49614002e-01 -8.33211853e-01 -6.06832565e-02 1.37569192e+02] [ 8.27931623e-01 5.52952510e-01 -9.36629583e-02 6.50604937e+01] [ 1.11596046e-01 1.23688635e-03 9.93752883e-01 1.80071776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.657105681 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:137.58, Y:65.08, Z:18.01 [[ 5.48993433e-01 -8.33626034e-01 -6.06122651e-02 1.37584632e+02] [ 8.28342989e-01 5.52327892e-01 -9.37112138e-02 6.50828903e+01] [ 1.11597952e-01 1.23909611e-03 9.93752666e-01 1.80083970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.687105681 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:137.60, Y:65.11, Z:18.01 [[ 5.49173283e-01 -8.33488296e-01 -6.08766462e-02 1.37599246e+02] [ 8.28224323e-01 5.52536304e-01 -9.35313015e-02 6.51095185e+01] [ 1.11593802e-01 9.45372760e-04 9.93753455e-01 1.80130173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71710568099996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:137.61, Y:65.13, Z:18.02 [[ 5.48953146e-01 -8.33656866e-01 -6.05530598e-02 1.37610914e+02] [ 8.28369559e-01 5.52281203e-01 -9.37515202e-02 6.51343146e+01] [ 1.11598915e-01 1.30488052e-03 9.93752474e-01 1.80189244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74710568099997 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:137.63, Y:65.16, Z:18.02 [[ 5.48437841e-01 -8.33993116e-01 -6.05922193e-02 1.37625459e+02] [ 8.28710791e-01 5.51773566e-01 -9.37248949e-02 6.51588386e+01] [ 1.11599102e-01 1.18885293e-03 9.93752599e-01 1.80216286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77710568099997 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:137.64, Y:65.18, Z:18.02 [[ 5.46577030e-01 -8.35216539e-01 -6.05548000e-02 1.37639946e+02] [ 8.29938859e-01 5.49920324e-01 -9.37503434e-02 6.51831203e+01] [ 1.11602153e-01 9.85002610e-04 9.93752479e-01 1.80232711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80710568099997 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:137.65, Y:65.21, Z:18.03 [[ 5.44767697e-01 -8.36404492e-01 -6.04622317e-02 1.37653974e+02] [ 8.31127106e-01 5.48112028e-01 -9.38133152e-02 6.52074567e+01] [ 1.11605955e-01 8.54664054e-04 9.93752173e-01 1.80255187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83710568099997 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:137.66, Y:65.23, Z:18.03 [[ 5.43129393e-01 -8.37478968e-01 -6.03277766e-02 1.37664063e+02] [ 8.32198025e-01 5.46468976e-01 -9.39047697e-02 6.52330610e+01] [ 1.11610528e-01 7.97783998e-04 9.93751706e-01 1.80252116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86710568099997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:137.68, Y:65.26, Z:18.04 [[ 5.40350909e-01 -8.39259293e-01 -6.05370417e-02 1.37678476e+02] [ 8.34005266e-01 5.43731374e-01 -9.37625144e-02 6.52588814e+01] [ 1.11606950e-01 1.76448352e-04 9.93752413e-01 1.80381375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89710568099997 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:137.69, Y:65.28, Z:18.04 [[ 5.37008894e-01 -8.41361114e-01 -6.10976468e-02 1.37691401e+02] [ 8.36163450e-01 5.40472562e-01 -9.33814504e-02 6.52828424e+01] [ 1.11589123e-01 -9.40949702e-04 9.93753985e-01 1.80405424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92710568099997 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:137.70, Y:65.31, Z:18.05 [[ 5.32971238e-01 -8.43917063e-01 -6.12017206e-02 1.37702784e+02] [ 8.38744102e-01 5.36471275e-01 -9.33107784e-02 6.53077633e+01] [ 1.11579523e-01 -1.60062109e-03 9.93754219e-01 1.80451090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95710568099997 meters Centerline goodness : 0.999923 Centerline is valid? [True, True] Translation: X:137.70, Y:65.33, Z:18.04 [[ 5.21098069e-01 -8.51326497e-01 -6.08276159e-02 1.37699292e+02] [ 8.46173577e-01 5.24629231e-01 -9.35652104e-02 6.53344899e+01] [ 1.11566488e-01 -2.71407088e-03 9.93753265e-01 1.80442178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98710568099997 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:137.73, Y:65.36, Z:18.06 [[ 5.25681992e-01 -8.48709898e-01 -5.78787661e-02 1.37731098e+02] [ 8.43313586e-01 5.28856760e-01 -9.55652804e-02 6.53645413e+01] [ 1.11716776e-01 1.42699717e-03 9.93739063e-01 1.80555882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01710568099998 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:137.74, Y:65.39, Z:18.06 [[ 5.24355385e-01 -8.49177362e-01 -6.28429587e-02 1.37743767e+02] [ 8.44172140e-01 5.28086728e-01 -9.21835490e-02 6.53883251e+01] [ 1.11466715e-01 -4.71333459e-03 9.93756990e-01 1.80552311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04710568099998 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:137.76, Y:65.41, Z:18.06 [[ 5.25238752e-01 -8.48632281e-01 -6.28291832e-02 1.37757924e+02] [ 8.43622068e-01 5.28963391e-01 -9.21929369e-02 6.54115041e+01] [ 1.11472240e-01 -4.58078236e-03 9.93756990e-01 1.80590790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07710568099998 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:137.76, Y:65.44, Z:18.06 [[ 5.25745455e-01 -8.48320788e-01 -6.27977534e-02 1.37764942e+02] [ 8.43305824e-01 5.29463693e-01 -9.22143406e-02 6.54351818e+01] [ 1.11476473e-01 -4.47644075e-03 9.93756991e-01 1.80590083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10710568099998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:137.79, Y:65.46, Z:18.06 [[ 5.28099038e-01 -8.47048614e-01 -6.01668646e-02 1.37790225e+02] [ 8.41816979e-01 5.31514470e-01 -9.40028830e-02 6.54616659e+01] [ 1.11604571e-01 -1.00665611e-03 9.93752186e-01 1.80633428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13710568099998 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:137.80, Y:65.48, Z:18.06 [[ 5.27081622e-01 -8.47489346e-01 -6.28233401e-02 1.37798843e+02] [ 8.42470979e-01 5.30794716e-01 -9.21933781e-02 6.54846114e+01] [ 1.11479203e-01 -4.33340556e-03 9.93757319e-01 1.80609553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16710568099998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:137.82, Y:65.51, Z:18.06 [[ 5.28205007e-01 -8.46995326e-01 -5.99865699e-02 1.37815094e+02] [ 8.41749561e-01 5.31599769e-01 -9.41241895e-02 6.55115802e+01] [ 1.11611595e-01 -7.76800728e-04 9.93751603e-01 1.80643125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19710568099998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:137.83, Y:65.54, Z:18.07 [[ 5.29774445e-01 -8.46004287e-01 -6.01313891e-02 1.37832331e+02] [ 8.40763378e-01 5.33175574e-01 -9.40252551e-02 6.55412497e+01] [ 1.11606357e-01 -7.44092512e-04 9.93752216e-01 1.80714437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22710568099998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:137.85, Y:65.57, Z:18.08 [[ 5.31836860e-01 -8.44686759e-01 -6.04469453e-02 1.37850904e+02] [ 8.39461887e-01 5.35260267e-01 -9.38093093e-02 6.55688270e+01] [ 1.11594329e-01 -8.51658286e-04 9.93753481e-01 1.80756851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25710568099998 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:137.87, Y:65.60, Z:18.08 [[ 5.33603769e-01 -8.43533749e-01 -6.09740274e-02 1.37868774e+02] [ 8.38342583e-01 5.37074710e-01 -9.34476868e-02 6.55970118e+01] [ 1.11573886e-01 -1.25308577e-03 9.93755351e-01 1.80756797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28710568099999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:137.89, Y:65.62, Z:18.08 [[ 5.34864411e-01 -8.42733499e-01 -6.09943605e-02 1.37889120e+02] [ 8.37538730e-01 5.38329840e-01 -9.34337160e-02 6.56244174e+01] [ 1.11574807e-01 -1.11076977e-03 9.93755417e-01 1.80750934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.317105681 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:137.91, Y:65.65, Z:18.08 [[ 5.35565813e-01 -8.42265004e-01 -6.13100565e-02 1.37907750e+02] [ 8.37091982e-01 5.39061876e-01 -9.32164505e-02 6.56502441e+01] [ 1.11562868e-01 -1.39861268e-03 9.93756394e-01 1.80783518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.347105681 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:137.93, Y:65.68, Z:18.08 [[ 5.36047843e-01 -8.41966372e-01 -6.11991763e-02 1.37925473e+02] [ 8.36782685e-01 5.39528670e-01 -9.32928274e-02 6.56774263e+01] [ 1.11568134e-01 -1.20099220e-03 9.93756061e-01 1.80825662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.377105681 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:137.94, Y:65.71, Z:18.09 [[ 5.35990918e-01 -8.41973645e-01 -6.15964003e-02 1.37944944e+02] [ 8.36821321e-01 5.39516016e-01 -9.30190568e-02 6.57052986e+01] [ 1.11551839e-01 -1.68781144e-03 9.93757183e-01 1.80873203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.407105681 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:137.96, Y:65.73, Z:18.09 [[ 5.36514887e-01 -8.41606069e-01 -6.20564289e-02 1.37964280e+02] [ 8.36487861e-01 5.40087492e-01 -9.27014540e-02 6.57325230e+01] [ 1.11534007e-01 -2.17373933e-03 9.93758240e-01 1.80909166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.437105681 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:137.98, Y:65.76, Z:18.09 [[ 5.36760120e-01 -8.41434654e-01 -6.22599122e-02 1.37982956e+02] [ 8.36331555e-01 5.40353611e-01 -9.25608197e-02 6.57603000e+01] [ 1.11526250e-01 -2.38697250e-03 9.93758622e-01 1.80943173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46710568099996 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:138.00, Y:65.79, Z:18.10 [[ 5.37222208e-01 -8.41127731e-01 -6.24214580e-02 1.38001195e+02] [ 8.36035514e-01 5.40830644e-01 -9.24490885e-02 6.57862753e+01] [ 1.11520929e-01 -2.52085224e-03 9.93758888e-01 1.80996705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49710568099997 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:138.02, Y:65.81, Z:18.10 [[ 5.38207337e-01 -8.40486118e-01 -6.25775333e-02 1.38021225e+02] [ 8.35402114e-01 5.41826942e-01 -9.23410712e-02 6.58130896e+01] [ 1.11517582e-01 -2.57876161e-03 9.93759115e-01 1.81041502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52710568099997 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:138.04, Y:65.84, Z:18.11 [[ 5.37513986e-01 -8.40920266e-01 -6.27042294e-02 1.38039038e+02] [ 8.35849385e-01 5.41151672e-01 -9.22533150e-02 6.58383552e+01] [ 1.11510181e-01 -2.82384448e-03 9.93759279e-01 1.81074104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55710568099997 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:138.06, Y:65.86, Z:18.11 [[ 5.37517035e-01 -8.40941997e-01 -6.23858515e-02 1.38058698e+02] [ 8.35845655e-01 5.41119775e-01 -9.24739442e-02 6.58645390e+01] [ 1.11523441e-01 -2.43862258e-03 9.93758811e-01 1.81123135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58710568099997 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:138.08, Y:65.89, Z:18.12 [[ 5.37757656e-01 -8.40758109e-01 -6.27893774e-02 1.38077503e+02] [ 8.35693023e-01 5.41403199e-01 -9.21940774e-02 6.58910560e+01] [ 1.11507288e-01 -2.89457371e-03 9.93759401e-01 1.81156666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61710568099997 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:138.09, Y:65.91, Z:18.12 [[ 5.39767425e-01 -8.39468163e-01 -6.28038999e-02 1.38092869e+02] [ 8.34395533e-01 5.43402434e-01 -9.21840004e-02 6.59145657e+01] [ 1.11513326e-01 -2.64537295e-03 9.93759418e-01 1.81223976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64710568099997 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:138.11, Y:65.94, Z:18.13 [[ 5.40270858e-01 -8.39178958e-01 -6.23384064e-02 1.38114319e+02] [ 8.34066975e-01 5.43851649e-01 -9.25076530e-02 6.59434703e+01] [ 1.11533321e-01 -2.01521692e-03 9.93758651e-01 1.81268549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67710568099997 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:138.13, Y:65.97, Z:18.13 [[ 5.45929252e-01 -8.35450477e-01 -6.31169758e-02 1.38130582e+02] [ 8.30376236e-01 5.49561319e-01 -9.19655609e-02 6.59718868e+01] [ 1.11519320e-01 -2.20414689e-03 9.93759822e-01 1.81287429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70710568099997 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:138.15, Y:66.00, Z:18.13 [[ 5.49554328e-01 -8.33063085e-01 -6.32134238e-02 1.38148942e+02] [ 8.27980781e-01 5.53174949e-01 -9.18983280e-02 6.59988886e+01] [ 1.11525187e-01 -1.83637614e-03 9.93759911e-01 1.81334205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73710568099997 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:138.16, Y:66.03, Z:18.14 [[ 5.55778190e-01 -8.28906962e-01 -6.34338420e-02 1.38164389e+02] [ 8.23815089e-01 5.59385056e-01 -9.17445291e-02 6.60256564e+01] [ 1.11531622e-01 -1.26814784e-03 9.93760076e-01 1.81386284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76710568099998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:138.18, Y:66.05, Z:18.14 [[ 5.59095002e-01 -8.26681974e-01 -6.33221355e-02 1.38180123e+02] [ 8.21566906e-01 5.62669036e-01 -9.18225178e-02 6.60542543e+01] [ 1.11537425e-01 -6.85860140e-04 9.93759997e-01 1.81430298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79710568099998 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:138.20, Y:66.08, Z:18.15 [[ 5.65219594e-01 -8.22518996e-01 -6.31609947e-02 1.38196937e+02] [ 8.17365004e-01 5.68737538e-01 -9.19351025e-02 6.60845022e+01] [ 1.11540397e-01 3.37934636e-04 9.93759843e-01 1.81466526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82710568099998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:138.21, Y:66.11, Z:18.15 [[ 5.66065896e-01 -8.21902952e-01 -6.35998368e-02 1.38212730e+02] [ 8.16779508e-01 5.69627538e-01 -9.16280680e-02 6.61113814e+01] [ 1.11537598e-01 -7.95190203e-05 9.93760211e-01 1.81526428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85710568099998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:138.23, Y:66.14, Z:18.16 [[ 5.66619936e-01 -8.21562778e-01 -6.30590953e-02 1.38230726e+02] [ 8.16394892e-01 5.70117687e-01 -9.20065359e-02 6.61388198e+01] [ 1.11540251e-01 6.51614230e-04 9.93759703e-01 1.81580992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88710568099998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:138.25, Y:66.17, Z:18.16 [[ 5.67313450e-01 -8.21047206e-01 -6.35368828e-02 1.38249608e+02] [ 8.15913493e-01 5.70860279e-01 -9.16717737e-02 6.61660003e+01] [ 1.11537536e-01 1.66030165e-04 9.93760208e-01 1.81648671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91710568099998 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:138.27, Y:66.19, Z:18.17 [[ 5.67354698e-01 -8.20985446e-01 -6.39651786e-02 1.38269531e+02] [ 8.15885098e-01 5.70949013e-01 -9.13713889e-02 6.61912149e+01] [ 1.11535436e-01 -3.48249288e-04 9.93760396e-01 1.81662356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94710568099998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:138.29, Y:66.21, Z:18.16 [[ 5.67796319e-01 -8.20649480e-01 -6.43565992e-02 1.38292540e+02] [ 8.15578042e-01 5.71431403e-01 -9.10967061e-02 6.62142333e+01] [ 1.11533846e-01 -7.63454833e-04 9.93760342e-01 1.81643432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97710568099998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:138.31, Y:66.24, Z:18.17 [[ 5.69492772e-01 -8.19479737e-01 -6.42724158e-02 1.38312032e+02] [ 8.14394158e-01 5.73107996e-01 -9.11558041e-02 6.62394428e+01] [ 1.11535370e-01 -4.30508379e-04 9.93760372e-01 1.81704640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00710568099998 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:138.33, Y:66.27, Z:18.17 [[ 5.70902936e-01 -8.18491162e-01 -6.43588072e-02 1.38332268e+02] [ 8.13406158e-01 5.74519016e-01 -9.10951263e-02 6.62671198e+01] [ 1.11535914e-01 -3.43375022e-04 9.93760344e-01 1.81746711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03710568099999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:138.35, Y:66.29, Z:18.18 [[ 5.74109626e-01 -8.16194141e-01 -6.50020072e-02 1.38352932e+02] [ 8.11145566e-01 5.77777338e-01 -9.06433599e-02 6.62910709e+01] [ 1.11539266e-01 -6.86864525e-04 9.93759790e-01 1.81755739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.067105681 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:138.37, Y:66.31, Z:18.18 [[ 5.80394864e-01 -8.11755341e-01 -6.47693524e-02 1.38370510e+02] [ 8.06660444e-01 5.83997481e-01 -9.08067714e-02 6.63133257e+01] [ 1.11538020e-01 4.56909149e-04 9.93760062e-01 1.81807507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.097105681 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:138.39, Y:66.34, Z:18.19 [[ 5.84959432e-01 -8.08565575e-01 -6.35938205e-02 1.38389351e+02] [ 8.03360553e-01 5.88400713e-01 -9.16319917e-02 6.63389939e+01] [ 1.11509123e-01 2.51223094e-03 9.93760235e-01 1.81862741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.127105681 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:138.41, Y:66.36, Z:18.19 [[ 5.93326240e-01 -8.02465016e-01 -6.33551146e-02 1.38405967e+02] [ 7.97206761e-01 5.96686028e-01 -9.17995837e-02 6.63601676e+01] [ 1.11469066e-01 3.95997607e-03 9.93760014e-01 1.81900652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.157105681 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:138.43, Y:66.39, Z:18.19 [[ 5.97936234e-01 -7.99113289e-01 -6.23715665e-02 1.38431749e+02] [ 7.93764028e-01 6.01152540e-01 -9.24894132e-02 6.63915335e+01] [ 1.11404345e-01 5.79446548e-03 9.93758268e-01 1.81904530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.187105681 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:138.45, Y:66.42, Z:18.19 [[ 5.96989947e-01 -7.99618853e-01 -6.49052653e-02 1.38450191e+02] [ 7.94461210e-01 6.00502281e-01 -9.07105123e-02 6.64153412e+01] [ 1.11509596e-01 2.58854829e-03 9.93759986e-01 1.81899658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21710568099996 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:138.47, Y:66.43, Z:18.19 [[ 5.98075688e-01 -7.98859892e-01 -6.42521969e-02 1.38467572e+02] [ 7.93648420e-01 6.01506771e-01 -9.11690174e-02 6.64322487e+01] [ 1.11479403e-01 3.53231828e-03 9.93760467e-01 1.81944529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24710568099997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:138.49, Y:66.46, Z:18.20 [[ 5.95776232e-01 -8.00746169e-01 -6.20987376e-02 1.38485857e+02] [ 7.95386530e-01 5.98975534e-01 -9.26745760e-02 6.64557419e+01] [ 1.11404436e-01 5.82081029e-03 9.93758104e-01 1.82006023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27710568099997 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:138.51, Y:66.47, Z:18.21 [[ 5.89216224e-01 -8.05560784e-01 -6.24184685e-02 1.38506436e+02] [ 8.00250877e-01 5.92495877e-01 -9.24509064e-02 6.64745601e+01] [ 1.11457510e-01 4.52313978e-03 9.93758907e-01 1.82073370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30710568099997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:138.53, Y:66.50, Z:18.21 [[ 5.85585044e-01 -8.08198729e-01 -6.24897632e-02 1.38528888e+02] [ 8.02908921e-01 5.88896706e-01 -9.24009467e-02 6.65007498e+01] [ 1.11478343e-01 3.93502416e-03 9.93759073e-01 1.82103503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33710568099997 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:138.55, Y:66.52, Z:18.21 [[ 5.80904274e-01 -8.11530874e-01 -6.29909913e-02 1.38553010e+02] [ 8.06298032e-01 5.84303386e-01 -9.20491033e-02 6.65237511e+01] [ 1.11506539e-01 2.68220527e-03 9.93760081e-01 1.82133336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36710568099997 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:138.57, Y:66.55, Z:18.22 [[ 5.78555030e-01 -8.13207742e-01 -6.29860672e-02 1.38573137e+02] [ 8.07984377e-01 5.81968703e-01 -9.20525657e-02 6.65482422e+01] [ 1.11513779e-01 2.36571665e-03 9.93760072e-01 1.82180916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39710568099997 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:138.59, Y:66.57, Z:18.22 [[ 5.78757023e-01 -8.13095051e-01 -6.25839063e-02 1.38591676e+02] [ 8.07840354e-01 5.82123811e-01 -9.23354299e-02 6.65739451e+01] [ 1.11509063e-01 2.88197357e-03 9.93759238e-01 1.82207991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42710568099997 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:138.61, Y:66.60, Z:18.22 [[ 5.80974554e-01 -8.11482102e-01 -6.29711458e-02 1.38612565e+02] [ 8.06247561e-01 5.84370964e-01 -9.20621933e-02 6.65985004e+01] [ 1.11505331e-01 2.71545903e-03 9.93760126e-01 1.82227530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45710568099997 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:138.63, Y:66.62, Z:18.22 [[ 5.83537857e-01 -8.09663122e-01 -6.26833141e-02 1.38634103e+02] [ 8.04396131e-01 5.86884950e-01 -9.22654870e-02 6.66232251e+01] [ 1.11491856e-01 3.41818929e-03 9.93759469e-01 1.82237989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48710568099997 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:138.65, Y:66.65, Z:18.23 [[ 5.85222355e-01 -8.08445391e-01 -6.26964477e-02 1.38652767e+02] [ 8.03172430e-01 5.88559972e-01 -9.22562024e-02 6.66487103e+01] [ 1.11484721e-01 3.63433371e-03 9.93759502e-01 1.82273492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51710568099998 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:138.67, Y:66.68, Z:18.23 [[ 5.87962766e-01 -8.06434676e-01 -6.29515692e-02 1.38671913e+02] [ 8.01169548e-01 5.91311599e-01 -9.20757771e-02 6.66764746e+01] [ 1.11477092e-01 3.70224827e-03 9.93760107e-01 1.82311868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54710568099998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:138.69, Y:66.70, Z:18.23 [[ 5.90372904e-01 -8.04653156e-01 -6.31912439e-02 1.38691443e+02] [ 7.99396018e-01 5.93733342e-01 -9.19060667e-02 6.67016854e+01] [ 1.11471255e-01 3.74402270e-03 9.93760606e-01 1.82340891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57710568099998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:138.71, Y:66.73, Z:18.24 [[ 5.93760180e-01 -8.02146930e-01 -6.33178625e-02 1.38713972e+02] [ 7.96885143e-01 5.97112905e-01 -9.18163794e-02 6.67279938e+01] [ 1.11458140e-01 4.05984607e-03 9.93760837e-01 1.82380757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60710568099998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:138.73, Y:66.75, Z:18.24 [[ 5.97621373e-01 -7.99211486e-01 -6.41069097e-02 1.38734653e+02] [ 7.93992740e-01 6.01038915e-01 -9.12565136e-02 6.67530334e+01] [ 1.11464001e-01 3.63642207e-03 9.93761819e-01 1.82428537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63710568099998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:138.75, Y:66.78, Z:18.25 [[ 5.99294574e-01 -7.97968572e-01 -6.39700770e-02 1.38753732e+02] [ 7.92732390e-01 6.02685543e-01 -9.13536785e-02 6.67787499e+01] [ 1.11451205e-01 4.03661183e-03 9.93761709e-01 1.82494060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66710568099998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:138.77, Y:66.80, Z:18.26 [[ 6.01663515e-01 -7.96174093e-01 -6.40923344e-02 1.38772963e+02] [ 7.90937014e-01 6.05052902e-01 -9.12667881e-02 6.68025111e+01] [ 1.11443505e-01 4.21889695e-03 9.93761816e-01 1.82562099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69710568099998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:138.80, Y:66.83, Z:18.26 [[ 6.04893364e-01 -7.93742389e-01 -6.38516864e-02 1.38796262e+02] [ 7.88473673e-01 6.08233812e-01 -9.14379391e-02 6.68252322e+01] [ 1.11414923e-01 4.96482883e-03 9.93761574e-01 1.82609289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72710568099998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:138.82, Y:66.85, Z:18.27 [[ 6.07652728e-01 -7.91646665e-01 -6.36688297e-02 1.38817825e+02] [ 7.86352854e-01 6.10953740e-01 -9.15680962e-02 6.68489396e+01] [ 1.11388288e-01 5.57543754e-03 9.93761321e-01 1.82666108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75710568099998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:138.84, Y:66.87, Z:18.28 [[ 6.12876251e-01 -7.87601839e-01 -6.37655411e-02 1.38839753e+02] [ 7.82293372e-01 6.16153369e-01 -9.14992140e-02 6.68713117e+01] [ 1.11354302e-01 6.19433511e-03 9.93761465e-01 1.82760859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78710568099999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:138.86, Y:66.90, Z:18.28 [[ 6.16099857e-01 -7.85073276e-01 -6.38820573e-02 1.38861149e+02] [ 7.79759909e-01 6.19368700e-01 -9.14160658e-02 6.68953529e+01] [ 1.11334857e-01 6.50875784e-03 9.93761634e-01 1.82793762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.817105681 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:138.89, Y:66.92, Z:18.28 [[ 6.20236443e-01 -7.81818127e-01 -6.37743679e-02 1.38886909e+02] [ 7.76479788e-01 6.23464654e-01 -9.14929726e-02 6.69178754e+01] [ 1.11291929e-01 7.22776825e-03 9.93761473e-01 1.82769533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.847105681 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:138.91, Y:66.94, Z:18.28 [[ 6.23025934e-01 -7.79551605e-01 -6.43271403e-02 1.38914270e+02] [ 7.74241698e-01 6.26299426e-01 -9.10978726e-02 6.69390463e+01] [ 1.11303544e-01 6.95158279e-03 9.93762143e-01 1.82761159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.877105681 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:138.94, Y:66.96, Z:18.28 [[ 6.22744893e-01 -7.79783178e-01 -6.42416799e-02 1.38935616e+02] [ 7.74468248e-01 6.26010364e-01 -9.11589659e-02 6.69616028e+01] [ 1.11300186e-01 7.01563912e-03 9.93762069e-01 1.82757971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.907105681 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:138.96, Y:66.98, Z:18.28 [[ 6.22428203e-01 -7.80014892e-01 -6.44972862e-02 1.38959970e+02] [ 7.74719890e-01 6.25725522e-01 -9.09761670e-02 6.69810403e+01] [ 1.11320363e-01 6.65880167e-03 9.93762264e-01 1.82786922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.937105681 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:138.98, Y:67.00, Z:18.28 [[ 6.21535460e-01 -7.80770320e-01 -6.39638955e-02 1.38982664e+02] [ 7.75440287e-01 6.24776863e-01 -9.13577230e-02 6.70047646e+01] [ 1.11292561e-01 7.18188288e-03 9.93761735e-01 1.82800664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96710568099996 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:139.01, Y:67.03, Z:18.28 [[ 6.18281007e-01 -7.83334059e-01 -6.41587774e-02 1.39010796e+02] [ 7.78031815e-01 6.21567173e-01 -9.12181175e-02 6.70259202e+01] [ 1.11333248e-01 6.48085948e-03 9.93761997e-01 1.82777491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99710568099997 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:139.04, Y:67.05, Z:18.28 [[ 6.14914671e-01 -7.85971903e-01 -6.42504132e-02 1.39040087e+02] [ 7.80690578e-01 6.18234148e-01 -9.11524024e-02 6.70468481e+01] [ 1.11365027e-01 5.89125737e-03 9.93762106e-01 1.82797790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02710568099997 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:139.07, Y:67.07, Z:18.28 [[ 6.10110888e-01 -7.89674658e-01 -6.46423981e-02 1.39066005e+02] [ 7.84443060e-01 6.13507565e-01 -9.08710823e-02 6.70669874e+01] [ 1.11417191e-01 4.73315610e-03 9.93762450e-01 1.82818249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05710568099997 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:139.09, Y:67.09, Z:18.29 [[ 6.07122351e-01 -7.91942006e-01 -6.50408286e-02 1.39085116e+02] [ 7.86753536e-01 6.10584333e-01 -9.05850223e-02 6.70874737e+01] [ 1.11450995e-01 3.82508984e-03 9.93762569e-01 1.82864138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08710568099997 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:139.11, Y:67.11, Z:18.29 [[ 6.02957472e-01 -7.95143639e-01 -6.47215585e-02 1.39108115e+02] [ 7.89948967e-01 6.06410268e-01 -9.08141839e-02 6.71053356e+01] [ 1.11458138e-01 3.63036237e-03 9.93762499e-01 1.82921443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11710568099997 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:139.13, Y:67.12, Z:18.29 [[ 6.00428680e-01 -7.97043463e-01 -6.48622969e-02 1.39126445e+02] [ 7.91870590e-01 6.03913968e-01 -9.07132186e-02 6.71245589e+01] [ 1.11473625e-01 3.10427281e-03 9.93762544e-01 1.82943783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14710568099997 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:139.15, Y:67.14, Z:18.29 [[ 5.95272352e-01 -8.00920431e-01 -6.46319647e-02 1.39150697e+02] [ 7.95752342e-01 5.98764857e-01 -9.08782477e-02 6.71445798e+01] [ 1.11485594e-01 2.66627094e-03 9.93762473e-01 1.82939546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17710568099997 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:139.17, Y:67.16, Z:18.30 [[ 5.94086352e-01 -8.01754158e-01 -6.52048882e-02 1.39169836e+02] [ 7.96635782e-01 5.97651259e-01 -9.04676968e-02 6.71635639e+01] [ 1.11502636e-01 1.80107689e-03 9.93762506e-01 1.83006336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20710568099997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:139.19, Y:67.18, Z:18.30 [[ 5.88943007e-01 -8.05565881e-01 -6.48825575e-02 1.39191722e+02] [ 8.00445099e-01 5.92504360e-01 -9.06985495e-02 6.71827493e+01] [ 1.11506855e-01 1.48135131e-03 9.93762561e-01 1.83020970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23710568099997 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:139.21, Y:67.20, Z:18.31 [[ 5.86001303e-01 -8.07698006e-01 -6.50107987e-02 1.39209743e+02] [ 8.02600353e-01 5.89595699e-01 -9.06067547e-02 6.72037567e+01] [ 1.11512982e-01 9.17986370e-04 9.93762553e-01 1.83050111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26710568099998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:139.23, Y:67.23, Z:18.31 [[ 5.82786250e-01 -8.10039421e-01 -6.47790364e-02 1.39230655e+02] [ 8.04937753e-01 5.86374934e-01 -9.07725203e-02 6.72256823e+01] [ 1.11514123e-01 7.57884731e-04 9.93762560e-01 1.83103428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29710568099998 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:139.25, Y:67.25, Z:18.31 [[ 5.87372635e-01 -8.06639359e-01 -6.57748610e-02 1.39250432e+02] [ 8.01596183e-01 5.91043920e-01 -9.00591167e-02 6.72460018e+01] [ 1.11521060e-01 1.73383233e-04 9.93762056e-01 1.83131438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32710568099998 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:139.27, Y:67.27, Z:18.32 [[ 5.91860935e-01 -8.03397334e-01 -6.52177670e-02 1.39266632e+02] [ 7.98289930e-01 5.95441471e-01 -9.04579615e-02 6.72671567e+01] [ 1.11507048e-01 1.47584694e-03 9.93762547e-01 1.83172197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35710568099998 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:139.28, Y:67.29, Z:18.32 [[ 5.95701384e-01 -8.00626627e-01 -6.43184622e-02 1.39282460e+02] [ 7.95432728e-01 5.99155525e-01 -9.11012220e-02 6.72893715e+01] [ 1.11474826e-01 3.10811418e-03 9.93762398e-01 1.83234789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38710568099998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:139.30, Y:67.31, Z:18.33 [[ 6.01032866e-01 -7.96615804e-01 -6.45194162e-02 1.39296985e+02] [ 7.91414224e-01 6.04475187e-01 -9.09575413e-02 6.73116111e+01] [ 1.11458601e-01 3.60688799e-03 9.93762532e-01 1.83323920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41710568099998 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:139.31, Y:67.33, Z:18.34 [[ 6.04374071e-01 -7.94104624e-01 -6.42637461e-02 1.39314231e+02] [ 7.88869350e-01 6.07765251e-01 -9.11402688e-02 6.73337325e+01] [ 1.11432181e-01 4.38711568e-03 9.93762357e-01 1.83362759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44710568099998 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:139.33, Y:67.35, Z:18.34 [[ 6.07562337e-01 -7.91669729e-01 -6.42420933e-02 1.39333855e+02] [ 7.86419243e-01 6.10929951e-01 -9.11557438e-02 6.73547520e+01] [ 1.11412662e-01 4.86157836e-03 9.93762338e-01 1.83390396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47710568099998 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:139.35, Y:67.38, Z:18.34 [[ 6.07355503e-01 -7.91816169e-01 -6.43929093e-02 1.39350186e+02] [ 7.86577852e-01 6.10741800e-01 -9.10479928e-02 6.73777487e+01] [ 1.11420714e-01 4.64846320e-03 9.93762455e-01 1.83421253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50710568099998 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:139.37, Y:67.40, Z:18.35 [[ 6.12170781e-01 -7.88102024e-01 -6.43594099e-02 1.39366160e+02] [ 7.82840678e-01 6.15521226e-01 -9.10719107e-02 6.73998935e+01] [ 1.11388540e-01 5.36839870e-03 9.93762433e-01 1.83462501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53710568099999 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:139.38, Y:67.42, Z:18.35 [[ 6.14213435e-01 -7.86504326e-01 -6.44422326e-02 1.39381619e+02] [ 7.81240421e-01 6.17559771e-01 -9.10128196e-02 6.74241678e+01] [ 1.11378907e-01 5.55641960e-03 9.93762479e-01 1.83503993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.567105681 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:139.40, Y:67.45, Z:18.35 [[ 6.18496160e-01 -7.83114849e-01 -6.47582645e-02 1.39398728e+02] [ 7.77855971e-01 6.21850252e-01 -9.07874057e-02 6.74462334e+01] [ 1.11366909e-01 5.77905919e-03 9.93762554e-01 1.83510873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.597105681 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:139.42, Y:67.47, Z:18.35 [[ 6.20540565e-01 -7.81497165e-01 -6.47424726e-02 1.39417000e+02] [ 7.76228382e-01 6.23879076e-01 -9.07986659e-02 6.74677939e+01] [ 1.11350374e-01 6.08931065e-03 9.93762554e-01 1.83531452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.627105681 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:139.44, Y:67.49, Z:18.35 [[ 6.20065844e-01 -7.81904515e-01 -6.43714084e-02 1.39435273e+02] [ 7.76610646e-01 6.23364598e-01 -9.10630644e-02 6.74877396e+01] [ 1.11329478e-01 6.47357485e-03 9.93762467e-01 1.83500249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.657105681 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:139.45, Y:67.51, Z:18.36 [[ 6.16417152e-01 -7.84794758e-01 -6.42423711e-02 1.39453998e+02] [ 7.79506844e-01 6.19725607e-01 -9.11550988e-02 6.75095590e+01] [ 1.11350686e-01 6.11219846e-03 9.93762379e-01 1.83557293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.687105681 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:139.47, Y:67.53, Z:18.35 [[ 6.14207091e-01 -7.86529498e-01 -6.41949981e-02 1.39473133e+02] [ 7.81247427e-01 6.17524937e-01 -9.11888668e-02 6.75316558e+01] [ 1.11364746e-01 5.85667152e-03 9.93762342e-01 1.83549974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71710568099996 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:139.49, Y:67.55, Z:18.36 [[ 6.08867454e-01 -7.90627007e-01 -6.47252549e-02 1.39492345e+02] [ 7.85407087e-01 6.12281862e-01 -9.08109567e-02 6.75508772e+01] [ 1.11427695e-01 4.45616214e-03 9.93762553e-01 1.83578374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74710568099997 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:139.51, Y:67.57, Z:18.36 [[ 6.05772473e-01 -7.93046061e-01 -6.41689703e-02 1.39511384e+02] [ 7.87797812e-01 6.09143553e-01 -9.12071214e-02 6.75729379e+01] [ 1.11419563e-01 4.69858901e-03 9.93762348e-01 1.83567277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77710568099997 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:139.53, Y:67.59, Z:18.35 [[ 6.00895297e-01 -7.96706334e-01 -6.46827532e-02 1.39533381e+02] [ 7.91517733e-01 6.04357125e-01 -9.08413140e-02 6.75920071e+01] [ 1.11465333e-01 3.38857226e-03 9.93762546e-01 1.83542090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80710568099997 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:139.55, Y:67.61, Z:18.36 [[ 5.98110499e-01 -7.98799915e-01 -6.46724501e-02 1.39551255e+02] [ 7.93622643e-01 6.01589248e-01 -9.08486486e-02 6.76129355e+01] [ 1.11476143e-01 3.01200976e-03 9.93762546e-01 1.83574030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83710568099997 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:139.57, Y:67.63, Z:18.37 [[ 5.95141611e-01 -8.01016895e-01 -6.46405203e-02 1.39567569e+02] [ 7.95850122e-01 5.98635932e-01 -9.08713616e-02 6.76302723e+01] [ 1.11485634e-01 2.63716250e-03 9.93762546e-01 1.83663029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86710568099997 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:139.59, Y:67.66, Z:18.37 [[ 5.87275090e-01 -8.06941670e-01 -6.28737581e-02 1.39590419e+02] [ 8.01674082e-01 5.90619554e-01 -9.21260439e-02 6.76554113e+01] [ 1.11474815e-01 3.69906843e-03 9.93760375e-01 1.83651409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89710568099997 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:139.61, Y:67.68, Z:18.37 [[ 5.83955760e-01 -8.09209405e-01 -6.46205048e-02 1.39609432e+02] [ 8.04090247e-01 5.87519279e-01 -9.08843884e-02 6.76759372e+01] [ 1.11510294e-01 1.11174434e-03 9.93762657e-01 1.83657892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92710568099997 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:139.63, Y:67.69, Z:18.37 [[ 5.79916373e-01 -8.12111745e-01 -6.45872519e-02 1.39627620e+02] [ 8.07007792e-01 5.83501634e-01 -9.09080137e-02 6.76920397e+01] [ 1.11514233e-01 5.96630085e-04 9.93762658e-01 1.83652094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95710568099997 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:139.64, Y:67.72, Z:18.38 [[ 5.73335425e-01 -8.16864376e-01 -6.33962228e-02 1.39643677e+02] [ 8.11695744e-01 5.76828635e-01 -9.17537140e-02 6.77182865e+01] [ 1.11519097e-01 1.14721037e-03 9.93761629e-01 1.83794175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98710568099997 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:139.66, Y:67.74, Z:18.39 [[ 5.67382346e-01 -8.20917673e-01 -6.45867470e-02 1.39660924e+02] [ 8.15869351e-01 5.71045472e-01 -9.09080371e-02 6.77397411e+01] [ 1.11509984e-01 -1.11473205e-03 9.93762688e-01 1.83888761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01710568099998 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:139.68, Y:67.76, Z:18.39 [[ 5.65259253e-01 -8.22383281e-01 -6.45578572e-02 1.39678290e+02] [ 8.17342113e-01 5.68932218e-01 -9.09285485e-02 6.77619841e+01] [ 1.11507163e-01 -1.36765208e-03 9.93762689e-01 1.83929282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04710568099998 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:139.70, Y:67.78, Z:18.39 [[ 5.63069340e-01 -8.23886454e-01 -6.45292889e-02 1.39696363e+02] [ 8.18852769e-01 5.66752552e-01 -9.09488181e-02 6.77832462e+01] [ 1.11503638e-01 -1.62949591e-03 9.93762690e-01 1.83937823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07710568099998 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:139.71, Y:67.81, Z:18.40 [[ 5.62161274e-01 -8.24507109e-01 -6.45192164e-02 1.39711744e+02] [ 8.19476670e-01 5.65848920e-01 -9.09559630e-02 6.78064503e+01] [ 1.11501967e-01 -1.74007256e-03 9.93762690e-01 1.83973753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10710568099998 meters Centerline goodness : 0.997181 Centerline is valid? [True, True] Translation: X:139.72, Y:67.83, Z:18.41 [[ 5.64307774e-01 -8.23042027e-01 -6.44868814e-02 1.39722477e+02] [ 8.17999394e-01 5.67978726e-01 -9.09788826e-02 6.78318306e+01] [ 1.11506621e-01 -1.41013918e-03 9.93762691e-01 1.84052497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13710568099998 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:139.73, Y:67.86, Z:18.41 [[ 5.69405892e-01 -8.19524041e-01 -6.44769444e-02 1.39732747e+02] [ 8.14457926e-01 5.73044368e-01 -9.09859244e-02 6.78579996e+01] [ 1.11513302e-01 -7.05837066e-04 9.93762691e-01 1.84114376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16710568099998 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:139.74, Y:67.88, Z:18.41 [[ 5.79269860e-01 -8.12584333e-01 -6.44447912e-02 1.39742979e+02] [ 8.07472093e-01 5.82843236e-01 -9.10086927e-02 6.78790214e+01] [ 1.11513448e-01 6.81222184e-04 9.93762691e-01 1.84124130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19710568099998 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:139.76, Y:67.91, Z:18.42 [[ 5.82332714e-01 -8.10506065e-01 -6.29962645e-02 1.39758540e+02] [ 8.05268547e-01 5.85723225e-01 -9.20373329e-02 6.79066534e+01] [ 1.11495192e-01 2.86743949e-03 9.93760836e-01 1.84178121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22710568099998 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:139.77, Y:67.93, Z:18.43 [[ 5.89176485e-01 -8.05479298e-01 -6.38292229e-02 1.39769492e+02] [ 8.00276462e-01 5.92617313e-01 -9.14456375e-02 6.79344656e+01] [ 1.11483870e-01 2.79659463e-03 9.93762308e-01 1.84258359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25710568099998 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:139.78, Y:67.96, Z:18.43 [[ 5.92918146e-01 -8.02667114e-01 -6.46032201e-02 1.39781036e+02] [ 7.97507439e-01 5.96422566e-01 -9.08955876e-02 6.79584580e+01] [ 1.11489717e-01 2.37209466e-03 9.93762756e-01 1.84291763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28710568099999 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:139.79, Y:67.98, Z:18.44 [[ 6.02079578e-01 -7.95873643e-01 -6.39165592e-02 1.39793746e+02] [ 7.90622612e-01 6.05446134e-01 -9.13830689e-02 6.79849043e+01] [ 1.11427410e-01 4.48600264e-03 9.93762451e-01 1.84384184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.317105681 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:139.81, Y:68.01, Z:18.44 [[ 6.06330477e-01 -7.92587086e-01 -6.45682919e-02 1.39808584e+02] [ 7.87366615e-01 6.09743649e-01 -9.09202756e-02 6.80076285e+01] [ 1.11432342e-01 4.28881666e-03 9.93762768e-01 1.84419765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.347105681 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:139.82, Y:68.03, Z:18.44 [[ 6.14199300e-01 -7.86507792e-01 -6.45345948e-02 1.39824785e+02] [ 7.81251084e-01 6.17556393e-01 -9.09441873e-02 6.80299470e+01] [ 1.11382064e-01 5.44013398e-03 9.93762769e-01 1.84424981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.377105681 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:139.84, Y:68.05, Z:18.44 [[ 6.16847916e-01 -7.84433094e-01 -6.45241849e-02 1.39841482e+02] [ 7.79164334e-01 6.20186063e-01 -9.09515725e-02 6.80529196e+01] [ 1.11362424e-01 5.82834444e-03 9.93762769e-01 1.84425526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.407105681 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:139.86, Y:68.07, Z:18.44 [[ 6.17684580e-01 -7.83775299e-01 -6.45138760e-02 1.39860539e+02] [ 7.78502228e-01 6.21015912e-01 -9.09588842e-02 6.80740561e+01] [ 1.11355470e-01 5.95970401e-03 9.93762769e-01 1.84393781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.437105681 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:139.88, Y:68.09, Z:18.44 [[ 6.16310770e-01 -7.84856873e-01 -6.45036651e-02 1.39876800e+02] [ 7.79588898e-01 6.19650154e-01 -9.09661248e-02 6.80935728e+01] [ 1.11365094e-01 5.77706125e-03 9.93762769e-01 1.84428213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46710568099996 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:139.90, Y:68.12, Z:18.44 [[ 6.14678421e-01 -7.86207238e-01 -6.36287490e-02 1.39897636e+02] [ 7.80882571e-01 6.17927584e-01 -9.15855412e-02 6.81158637e+01] [ 1.11323175e-01 6.60907478e-03 9.93762281e-01 1.84421605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49710568099997 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:139.92, Y:68.14, Z:18.44 [[ 6.09799086e-01 -7.89931276e-01 -6.44488475e-02 1.39919847e+02] [ 7.84687055e-01 6.13175626e-01 -9.10048233e-02 6.81351497e+01] [ 1.11406019e-01 4.92248171e-03 9.93762783e-01 1.84420560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52710568099997 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:139.94, Y:68.15, Z:18.44 [[ 6.05424595e-01 -7.93291415e-01 -6.44188765e-02 1.39942232e+02] [ 7.88063699e-01 6.08826632e-01 -9.10260339e-02 6.81547163e+01] [ 1.11430099e-01 4.34322158e-03 9.93762783e-01 1.84442378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55710568099997 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:139.96, Y:68.18, Z:18.45 [[ 6.03527725e-01 -7.94737931e-01 -6.43887190e-02 1.39961429e+02] [ 7.89516104e-01 6.06938794e-01 -9.10473613e-02 6.81753607e+01] [ 1.11438803e-01 4.11367619e-03 9.93762784e-01 1.84478510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58710568099997 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:139.98, Y:68.19, Z:18.45 [[ 6.00228016e-01 -7.97235817e-01 -6.43535643e-02 1.39982634e+02] [ 7.92025537e-01 6.03656693e-01 -9.10722025e-02 6.81947978e+01] [ 1.11453482e-01 3.69442111e-03 9.93762785e-01 1.84532346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61710568099997 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:140.00, Y:68.22, Z:18.46 [[ 5.97913656e-01 -7.98975522e-01 -6.43224314e-02 1.40000746e+02] [ 7.93772862e-01 6.01353884e-01 -9.10941858e-02 6.82156377e+01] [ 1.11462569e-01 3.40905722e-03 9.93762786e-01 1.84564435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64710568099997 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:140.02, Y:68.23, Z:18.46 [[ 5.91527759e-01 -8.03715714e-01 -6.43114446e-02 1.40022519e+02] [ 7.98539796e-01 5.95008092e-01 -9.11019418e-02 6.82348327e+01] [ 1.11485892e-01 2.53407956e-03 9.93762786e-01 1.84587837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67710568099997 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:140.04, Y:68.25, Z:18.46 [[ 5.83283616e-01 -8.09721482e-01 -6.42755330e-02 1.40041989e+02] [ 8.04578628e-01 5.86812621e-01 -9.11272717e-02 6.82533472e+01] [ 1.11505404e-01 1.43832448e-03 9.93762787e-01 1.84626348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70710568099997 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:140.06, Y:68.28, Z:18.47 [[ 5.79132305e-01 -8.12696997e-01 -6.42601250e-02 1.40059486e+02] [ 8.07571071e-01 5.82685854e-01 -9.11381357e-02 6.82751058e+01] [ 1.11511155e-01 8.86420626e-04 9.93762787e-01 1.84665712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73710568099997 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:140.08, Y:68.30, Z:18.47 [[ 5.74749264e-01 -8.15805341e-01 -6.42256025e-02 1.40080341e+02] [ 8.10695917e-01 5.78326497e-01 -9.11624575e-02 6.82953203e+01] [ 1.11514188e-01 3.28121731e-04 9.93762788e-01 1.84710351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76710568099998 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:140.10, Y:68.32, Z:18.48 [[ 5.75019302e-01 -8.15617393e-01 -6.41955707e-02 1.40100731e+02] [ 8.10504438e-01 5.78591486e-01 -9.11836008e-02 6.83156809e+01] [ 1.11513941e-01 4.01535562e-04 9.93762788e-01 1.84763569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79710568099998 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:140.12, Y:68.34, Z:18.48 [[ 5.76582817e-01 -8.14515220e-01 -6.41655052e-02 1.40117175e+02] [ 8.09393082e-01 5.80141820e-01 -9.12047529e-02 6.83382618e+01] [ 1.11512752e-01 6.51977243e-04 9.93762789e-01 1.84807481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82710568099998 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:140.13, Y:68.36, Z:18.49 [[ 5.83062950e-01 -8.09891836e-01 -6.41311929e-02 1.40133023e+02] [ 8.04738831e-01 5.86577110e-01 -9.12288735e-02 6.83597387e+01] [ 1.11503410e-01 1.58331487e-03 9.93762790e-01 1.84862183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85710568099998 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:140.15, Y:68.38, Z:18.49 [[ 5.87469471e-01 -8.06702370e-01 -6.41163579e-02 1.40149600e+02] [ 8.01529154e-01 5.90953811e-01 -9.12392985e-02 6.83829742e+01] [ 1.11492764e-01 2.20917238e-03 9.93762790e-01 1.84913886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88710568099998 meters Centerline goodness : 0.996394 Centerline is valid? [True, True] Translation: X:140.17, Y:68.41, Z:18.50 [[ 5.97875846e-01 -7.99022733e-01 -6.40870088e-02 1.40165670e+02] [ 7.93802602e-01 6.01289497e-01 -9.12599089e-02 6.84056914e+01] [ 1.11453587e-01 3.68966095e-03 9.93762791e-01 1.84951397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91710568099998 meters Centerline goodness : 0.996111 Centerline is valid? [True, True] Translation: X:140.18, Y:68.43, Z:18.50 [[ 6.02298698e-01 -7.95696831e-01 -6.40533478e-02 1.40182013e+02] [ 7.90455360e-01 6.05679488e-01 -9.12835289e-02 6.84279679e+01] [ 1.11429814e-01 4.34863850e-03 9.93762792e-01 1.84975104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94710568099998 meters Centerline goodness : 0.996884 Centerline is valid? [True, True] Translation: X:140.20, Y:68.45, Z:18.50 [[ 6.08040257e-01 -7.91320852e-01 -6.40183933e-02 1.40201387e+02] [ 7.86052507e-01 6.11379014e-01 -9.13080365e-02 6.84486242e+01] [ 1.11393455e-01 5.19714349e-03 9.93762793e-01 1.84968613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97710568099998 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:140.22, Y:68.47, Z:18.50 [[ 6.09443087e-01 -7.90243788e-01 -6.39834294e-02 1.40218985e+02] [ 7.84966990e-01 6.12768467e-01 -9.13325308e-02 6.84705554e+01] [ 1.11381993e-01 5.43709952e-03 9.93762793e-01 1.84983788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00710568099998 meters Centerline goodness : 0.996054 Centerline is valid? [True, True] Translation: X:140.24, Y:68.49, Z:18.50 [[ 6.11702772e-01 -7.88496816e-01 -6.39725729e-02 1.40236525e+02] [ 7.83209736e-01 6.15011780e-01 -9.13401344e-02 6.84925380e+01] [ 1.11365291e-01 5.76907150e-03 9.93762794e-01 1.85007318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03710568099999 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:140.26, Y:68.51, Z:18.50 [[ 6.16457560e-01 -7.84785898e-01 -6.39622664e-02 1.40256681e+02] [ 7.79478177e-01 6.19733356e-01 -9.13473511e-02 6.85132430e+01] [ 1.11327663e-01 6.45457429e-03 9.93762794e-01 1.85020153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.067105681 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:140.28, Y:68.53, Z:18.50 [[ 6.19640107e-01 -7.82278003e-01 -6.39317099e-02 1.40275881e+02] [ 7.76954853e-01 6.22890770e-01 -9.13687319e-02 6.85345554e+01] [ 1.11298221e-01 6.94367852e-03 9.93762794e-01 1.85029560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.097105681 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:140.30, Y:68.55, Z:18.51 [[ 6.26351070e-01 -7.76917644e-01 -6.39007908e-02 1.40296361e+02] [ 7.71564550e-01 6.29552181e-01 -9.13903509e-02 6.85534380e+01] [ 1.11231658e-01 7.93885915e-03 9.93762795e-01 1.85063889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.127105681 meters Centerline goodness : 0.995934 Centerline is valid? [True, True] Translation: X:140.31, Y:68.57, Z:18.52 [[ 6.31444280e-01 -7.72784710e-01 -6.38898546e-02 1.40313378e+02] [ 7.67409936e-01 6.34608854e-01 -9.13979957e-02 6.85744043e+01] [ 1.11176041e-01 8.68303237e-03 9.93762795e-01 1.85159334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.157105681 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:140.33, Y:68.60, Z:18.52 [[ 6.33111428e-01 -7.71420370e-01 -6.38790473e-02 1.40331286e+02] [ 7.66038032e-01 6.36263121e-01 -9.14055483e-02 6.85950868e+01] [ 1.11155984e-01 8.93611751e-03 9.93762795e-01 1.85190357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.187105681 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:140.36, Y:68.61, Z:18.52 [[ 6.34846873e-01 -7.69995645e-01 -6.38447707e-02 1.40357782e+02] [ 7.64603880e-01 6.37982410e-01 -9.14294836e-02 6.86123225e+01] [ 1.11132145e-01 9.22776240e-03 9.93762796e-01 1.85154116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21710568099996 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:140.38, Y:68.63, Z:18.51 [[ 6.33857686e-01 -7.70812731e-01 -6.38135349e-02 1.40378929e+02] [ 7.65422860e-01 6.36996475e-01 -9.14512797e-02 6.86322998e+01] [ 1.11140807e-01 9.12275809e-03 9.93762797e-01 1.85138084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24710568099997 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:140.40, Y:68.65, Z:18.52 [[ 6.28190740e-01 -7.75439446e-01 -6.37970273e-02 1.40403953e+02] [ 7.70071583e-01 6.31367020e-01 -9.14627941e-02 6.86492273e+01] [ 1.11203197e-01 8.32780246e-03 9.93762797e-01 1.85150942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27710568099997 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:140.43, Y:68.67, Z:18.52 [[ 6.20914172e-01 -7.81280882e-01 -6.37634248e-02 1.40428958e+02] [ 7.75940588e-01 6.24136585e-01 -9.14862142e-02 6.86656460e+01] [ 1.11273516e-01 7.32845756e-03 9.93762798e-01 1.85233791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30710568099997 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:140.45, Y:68.69, Z:18.53 [[ 6.16867767e-01 -7.84482156e-01 -6.37330786e-02 1.40448575e+02] [ 7.79156442e-01 6.20114219e-01 -9.15073499e-02 6.86853228e+01] [ 1.11307671e-01 6.78989582e-03 9.93762798e-01 1.85284681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33710568099997 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:140.48, Y:68.70, Z:18.53 [[ 6.10060168e-01 -7.89790519e-01 -6.36987251e-02 1.40475125e+02] [ 7.84490620e-01 6.13348593e-01 -9.15312574e-02 6.87017328e+01] [ 1.11360043e-01 5.86852192e-03 9.93762799e-01 1.85325236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36710568099997 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:140.50, Y:68.72, Z:18.53 [[ 6.07045621e-01 -7.92112396e-01 -6.36676179e-02 1.40496677e+02] [ 7.86822830e-01 6.10350639e-01 -9.15528900e-02 6.87190817e+01] [ 1.11379750e-01 5.48164570e-03 9.93762800e-01 1.85346088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39710568099997 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:140.51, Y:68.74, Z:18.54 [[ 6.06746365e-01 -7.92342865e-01 -6.36524365e-02 1.40512578e+02] [ 7.87053455e-01 6.10051633e-01 -9.15634437e-02 6.87423801e+01] [ 1.11380914e-01 5.45791660e-03 9.93762800e-01 1.85377787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42710568099997 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:140.54, Y:68.76, Z:18.54 [[ 6.02333516e-01 -7.95705432e-01 -6.36176164e-02 1.40540095e+02] [ 7.90431947e-01 6.05664134e-01 -9.15876302e-02 6.87576230e+01] [ 1.11407683e-01 4.88090296e-03 9.93762801e-01 1.85444781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45710568099997 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:140.56, Y:68.78, Z:18.55 [[ 6.02091785e-01 -7.95890768e-01 -6.35874806e-02 1.40560681e+02] [ 7.90616112e-01 6.05420546e-01 -9.16085482e-02 6.87781205e+01] [ 1.11407565e-01 4.88346760e-03 9.93762802e-01 1.85515648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48710568099997 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:140.58, Y:68.80, Z:18.56 [[ 6.03076233e-01 -7.95147495e-01 -6.35572027e-02 1.40583697e+02] [ 7.89866538e-01 6.06394985e-01 -9.16295500e-02 6.87958596e+01] [ 1.11399776e-01 5.05789615e-03 9.93762802e-01 1.85588125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51710568099998 meters Centerline goodness : 0.997240 Centerline is valid? [True, True] Translation: X:140.60, Y:68.82, Z:18.56 [[ 6.04976371e-01 -7.93705547e-01 -6.35223973e-02 1.40602984e+02] [ 7.88414166e-01 6.08278478e-01 -9.16536727e-02 6.88158806e+01] [ 1.11385336e-01 5.36634846e-03 9.93762803e-01 1.85627656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54710568099998 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:140.63, Y:68.83, Z:18.57 [[ 6.11035217e-01 -7.89053395e-01 -6.34878206e-02 1.40626384e+02] [ 7.83734439e-01 6.14292718e-01 -9.16776176e-02 6.88325979e+01] [ 1.11338641e-01 6.26066151e-03 9.93762804e-01 1.85676597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57710568099998 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:140.65, Y:68.85, Z:18.57 [[ 6.16792954e-01 -7.84561725e-01 -6.34771716e-02 1.40648237e+02] [ 7.79218329e-01 6.20010209e-01 -9.16849904e-02 6.88507178e+01] [ 1.11289029e-01 7.08808054e-03 9.93762804e-01 1.85711622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60710568099998 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:140.67, Y:68.87, Z:18.57 [[ 6.18849646e-01 -7.82943203e-01 -6.34433430e-02 1.40666963e+02] [ 7.77589029e-01 6.22048931e-01 -9.17083929e-02 6.88713832e+01] [ 1.11267327e-01 7.42085897e-03 9.93762805e-01 1.85734056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63710568099998 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:140.69, Y:68.89, Z:18.57 [[ 6.21639455e-01 -7.80732742e-01 -6.34095758e-02 1.40690639e+02] [ 7.75364855e-01 6.24815677e-01 -9.17317346e-02 6.88902984e+01] [ 1.11237266e-01 7.85850896e-03 9.93762806e-01 1.85735685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66710568099998 meters Centerline goodness : 0.997537 Centerline is valid? [True, True] Translation: X:140.71, Y:68.91, Z:18.58 [[ 6.21473249e-01 -7.80867442e-01 -6.33801198e-02 1.40709508e+02] [ 7.75498200e-01 6.24647178e-01 -9.17520822e-02 6.89097807e+01] [ 1.11236427e-01 7.87029578e-03 9.93762807e-01 1.85752859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69710568099998 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:140.73, Y:68.93, Z:18.58 [[ 6.18605812e-01 -7.83142173e-01 -6.33654993e-02 1.40731819e+02] [ 7.77783592e-01 6.21797706e-01 -9.17621783e-02 6.89284953e+01] [ 1.11263354e-01 7.47997117e-03 9.93762807e-01 1.85785947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72710568099998 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:140.75, Y:68.95, Z:18.58 [[ 6.16278306e-01 -7.84977752e-01 -6.33322924e-02 1.40749753e+02] [ 7.79626358e-01 6.19482234e-01 -9.17850913e-02 6.89501751e+01] [ 1.11282485e-01 7.18963609e-03 9.93762808e-01 1.85815180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75710568099998 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:140.77, Y:68.97, Z:18.59 [[ 6.11175496e-01 -7.88959885e-01 -6.32993955e-02 1.40769606e+02] [ 7.83627067e-01 6.14410248e-01 -9.18077731e-02 6.89698455e+01] [ 1.11324447e-01 6.50754157e-03 9.93762808e-01 1.85867794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78710568099999 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:140.79, Y:68.99, Z:18.59 [[ 6.08323193e-01 -7.91163882e-01 -6.32661408e-02 1.40787360e+02] [ 7.85840431e-01 6.11573334e-01 -9.18306838e-02 6.89911266e+01] [ 1.11345005e-01 6.14564340e-03 9.93762809e-01 1.85917270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.817105681 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:140.81, Y:69.01, Z:18.60 [[ 6.02937223e-01 -7.95278912e-01 -6.32309941e-02 1.40805369e+02] [ 7.89975147e-01 6.06219390e-01 -9.18548782e-02 6.90110085e+01] [ 1.11382102e-01 5.43181130e-03 9.93762810e-01 1.85953937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.847105681 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:140.82, Y:69.03, Z:18.60 [[ 5.96114094e-01 -8.00407113e-01 -6.32174084e-02 1.40824467e+02] [ 7.95130630e-01 5.99439942e-01 -9.18642274e-02 6.90319351e+01] [ 1.11423821e-01 4.49546285e-03 9.93762810e-01 1.85983801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.877105681 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:140.84, Y:69.05, Z:18.60 [[ 5.92713225e-01 -8.02930056e-01 -6.32009374e-02 1.40841536e+02] [ 7.97666534e-01 5.96059546e-01 -9.18755578e-02 6.90534319e+01] [ 1.11441169e-01 4.04258540e-03 9.93762810e-01 1.86028403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.907105681 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:140.86, Y:69.08, Z:18.60 [[ 5.87400830e-01 -8.06827289e-01 -6.31663730e-02 1.40859075e+02] [ 8.01583435e-01 5.90777887e-01 -9.18993155e-02 6.90760131e+01] [ 1.11464172e-01 3.34861598e-03 9.93762811e-01 1.86020727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.937105681 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:140.87, Y:69.10, Z:18.61 [[ 5.85551007e-01 -8.08173123e-01 -6.31365252e-02 1.40873412e+02] [ 8.02934827e-01 5.88936678e-01 -9.19198170e-02 6.90992659e+01] [ 1.11470541e-01 3.12922650e-03 9.93762812e-01 1.86079249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96710568099996 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:140.89, Y:69.12, Z:18.61 [[ 5.85372332e-01 -8.08305262e-01 -6.31017974e-02 1.40890171e+02] [ 8.03065166e-01 5.88755215e-01 -9.19436512e-02 6.91225996e+01] [ 1.11470049e-01 3.14641408e-03 9.93762813e-01 1.86093872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99710568099997 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:140.91, Y:69.14, Z:18.61 [[ 5.87149676e-01 -8.07017503e-01 -6.30714452e-02 1.40908140e+02] [ 8.01767760e-01 5.90517567e-01 -9.19644675e-02 6.91448025e+01] [ 1.11461731e-01 3.42825601e-03 9.93762814e-01 1.86103202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02710568099997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:140.92, Y:69.17, Z:18.61 [[ 5.89174882e-01 -8.05542572e-01 -6.30406450e-02 1.40922839e+02] [ 8.00282148e-01 5.92526065e-01 -9.19855759e-02 6.91667219e+01] [ 1.11451523e-01 3.74528802e-03 9.93762814e-01 1.86131581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05710568099997 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:140.94, Y:69.19, Z:18.62 [[ 5.91641506e-01 -8.03733868e-01 -6.30253721e-02 1.40937008e+02] [ 7.98462092e-01 5.94974803e-01 -9.19960393e-02 6.91912686e+01] [ 1.11438841e-01 4.10530484e-03 9.93762814e-01 1.86205096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08710568099997 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:140.95, Y:69.21, Z:18.63 [[ 5.93866564e-01 -8.02093662e-01 -6.29941456e-02 1.40951025e+02] [ 7.96810426e-01 5.97181664e-01 -9.20174167e-02 6.92140283e+01] [ 1.11425535e-01 4.45167511e-03 9.93762815e-01 1.86285541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11710568099997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:140.97, Y:69.24, Z:18.64 [[ 5.94344277e-01 -8.01740616e-01 -6.29830599e-02 1.40967455e+02] [ 7.96454611e-01 5.97654960e-01 -9.20250039e-02 6.92372452e+01] [ 1.11422321e-01 4.53138586e-03 9.93762815e-01 1.86363982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14710568099997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:140.98, Y:69.26, Z:18.64 [[ 5.96099985e-01 -8.00438494e-01 -6.29525627e-02 1.40984363e+02] [ 7.95143069e-01 5.99395578e-01 -9.20458618e-02 6.92595278e+01] [ 1.11410539e-01 4.81224295e-03 9.93762816e-01 1.86448060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17710568099997 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:141.00, Y:69.28, Z:18.65 [[ 5.96316751e-01 -8.00279448e-01 -6.29216792e-02 1.40999651e+02] [ 7.94980930e-01 5.99607367e-01 -9.20669687e-02 6.92827579e+01] [ 1.11407605e-01 4.87954062e-03 9.93762817e-01 1.86480447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20710568099997 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:141.01, Y:69.30, Z:18.65 [[ 6.00521027e-01 -7.97132222e-01 -6.28865409e-02 1.41010985e+02] [ 7.91813976e-01 6.03779663e-01 -9.20909639e-02 6.93020123e+01] [ 1.11378289e-01 5.50811817e-03 9.93762817e-01 1.86518271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23710568099997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:141.03, Y:69.33, Z:18.65 [[ 5.99539196e-01 -7.97985712e-01 -6.14130027e-02 1.41025485e+02] [ 7.92568730e-01 6.02634058e-01 -9.30967196e-02 6.93324784e+01] [ 1.11299419e-01 7.14110684e-03 9.93761261e-01 1.86515262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26710568099998 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:141.04, Y:69.36, Z:18.65 [[ 5.99513553e-01 -7.97888517e-01 -6.29079833e-02 1.41041013e+02] [ 7.92575995e-01 6.02781376e-01 -9.20755381e-02 6.93559046e+01] [ 1.11385775e-01 5.34117551e-03 9.93762890e-01 1.86531270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29710568099998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:141.06, Y:69.38, Z:18.65 [[ 5.98186689e-01 -7.98886606e-01 -6.28719031e-02 1.41057450e+02] [ 7.93576966e-01 6.01459190e-01 -9.21001683e-02 6.93777428e+01] [ 1.11392475e-01 5.19940062e-03 9.93762891e-01 1.86540839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32710568099998 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:141.07, Y:69.40, Z:18.66 [[ 5.96540789e-01 -8.00117600e-01 -6.28562932e-02 1.41073198e+02] [ 7.94813600e-01 5.99822422e-01 -9.21108205e-02 6.94020617e+01] [ 1.11402103e-01 4.98882486e-03 9.93762891e-01 1.86575402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35710568099998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:141.09, Y:69.43, Z:18.66 [[ 5.94431732e-01 -8.01688220e-01 -6.28244612e-02 1.41088186e+02] [ 7.96390613e-01 5.97723673e-01 -9.21325265e-02 6.94265090e+01] [ 1.11413229e-01 4.73368619e-03 9.93762892e-01 1.86579306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38710568099998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:141.10, Y:69.45, Z:18.66 [[ 5.93466041e-01 -8.02405852e-01 -6.27925719e-02 1.41104999e+02] [ 7.97109939e-01 5.96760705e-01 -9.21542556e-02 6.94492031e+01] [ 1.11417253e-01 4.63783809e-03 9.93762892e-01 1.86587803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41710568099998 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:141.12, Y:69.47, Z:18.66 [[ 5.89119499e-01 -8.05603319e-01 -6.27814368e-02 1.41124788e+02] [ 8.00324494e-01 5.92441474e-01 -9.21618409e-02 6.94709279e+01] [ 1.11440212e-01 4.04881588e-03 9.93762892e-01 1.86618526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44710568099998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:141.14, Y:69.49, Z:18.66 [[ 5.83263141e-01 -8.09855697e-01 -6.27523581e-02 1.41141390e+02] [ 8.04598985e-01 5.86619996e-01 -9.21816362e-02 6.94924762e+01] [ 1.11465611e-01 3.27566703e-03 9.93762893e-01 1.86645807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:141.16, Y:69.52, Z:18.67 [[ 5.80398025e-01 -8.11912642e-01 -6.27375011e-02 1.41157822e+02] [ 8.06666739e-01 5.83771748e-01 -9.21917466e-02 6.95160881e+01] [ 1.11476025e-01 2.89965213e-03 9.93762893e-01 1.86679656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:141.18, Y:69.54, Z:18.66 [[ 5.73007189e-01 -8.17147924e-01 -6.27059176e-02 1.41176794e+02] [ 8.11930514e-01 5.76424810e-01 -9.22132238e-02 6.95387575e+01] [ 1.11497091e-01 1.92599225e-03 9.93762894e-01 1.86642922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53710568099999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:141.19, Y:69.56, Z:18.67 [[ 5.67721291e-01 -8.20831562e-01 -6.26744142e-02 1.41193357e+02] [ 8.15633971e-01 5.71168976e-01 -9.22346308e-02 6.95611016e+01] [ 1.11506777e-01 1.24418234e-03 9.93762895e-01 1.86654093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.567105681 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:141.21, Y:69.58, Z:18.67 [[ 5.54310101e-01 -8.29948371e-01 -6.26579054e-02 1.41209631e+02] [ 8.24806221e-01 5.57839942e-01 -9.22458444e-02 6.95829523e+01] [ 1.11512371e-01 -5.47826805e-04 9.93762895e-01 1.86709656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.597105681 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:141.23, Y:69.61, Z:18.67 [[ 5.47512545e-01 -8.34450955e-01 -6.26228144e-02 1.41225438e+02] [ 8.29335103e-01 5.51080391e-01 -9.22696606e-02 6.96053092e+01] [ 1.11504711e-01 -1.41650154e-03 9.93762896e-01 1.86744478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.627105681 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:141.24, Y:69.63, Z:18.68 [[ 5.37781275e-01 -8.40758024e-01 -6.25879034e-02 1.41242169e+02] [ 8.35681233e-01 5.41404486e-01 -9.22933353e-02 6.96271991e+01] [ 1.11481734e-01 -2.66990872e-03 9.93762897e-01 1.86790572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.657105681 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:141.26, Y:69.65, Z:18.69 [[ 5.32062935e-01 -8.44391017e-01 -6.25527192e-02 1.41255683e+02] [ 8.39336156e-01 5.35716676e-01 -9.23171757e-02 6.96513011e+01] [ 1.11462329e-01 -3.38421137e-03 9.93762897e-01 1.86873143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.687105681 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:141.27, Y:69.67, Z:18.70 [[ 5.34858375e-01 -8.42623901e-01 -6.25418304e-02 1.41268702e+02] [ 8.37556103e-01 5.38494151e-01 -9.23245519e-02 6.96737320e+01] [ 1.11473284e-01 -3.00173194e-03 9.93762898e-01 1.86953804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71710568099996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:141.28, Y:69.70, Z:18.71 [[ 5.31830744e-01 -8.44584045e-01 -6.19180887e-02 1.41281438e+02] [ 8.39480365e-01 5.35416426e-01 -9.27467881e-02 6.97011577e+01] [ 1.11484419e-01 -2.65342636e-03 9.93762639e-01 1.87053305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74710568099997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:141.29, Y:69.73, Z:18.71 [[ 5.36045482e-01 -8.41871983e-01 -6.25044419e-02 1.41290982e+02] [ 8.36796127e-01 5.39670016e-01 -9.23499654e-02 6.97276578e+01] [ 1.11478622e-01 -2.79969322e-03 9.93762889e-01 1.87137449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77710568099997 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:141.30, Y:69.75, Z:18.72 [[ 5.37024082e-01 -8.41248881e-01 -6.24936400e-02 1.41302569e+02] [ 8.36167970e-01 5.40641526e-01 -9.23572745e-02 6.97533401e+01] [ 1.11482111e-01 -2.65709948e-03 9.93762889e-01 1.87152685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80710568099997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:141.31, Y:69.78, Z:18.71 [[ 5.39371177e-01 -8.39748564e-01 -6.24586445e-02 1.41312392e+02] [ 8.34654851e-01 5.42970572e-01 -9.23809350e-02 6.97809533e+01] [ 1.11489963e-01 -2.30379698e-03 9.93762890e-01 1.87103743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83710568099997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:141.32, Y:69.81, Z:18.71 [[ 5.39083266e-01 -8.39934224e-01 -6.24478257e-02 1.41324310e+02] [ 8.34840906e-01 5.42683217e-01 -9.23882478e-02 6.98061466e+01] [ 1.11489438e-01 -2.32904098e-03 9.93762890e-01 1.87124159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86710568099997 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:141.33, Y:69.84, Z:18.72 [[ 5.37715191e-01 -8.40813332e-01 -6.24124485e-02 1.41330566e+02] [ 8.35723128e-01 5.41319544e-01 -9.24121406e-02 6.98353233e+01] [ 1.11486438e-01 -2.46811486e-03 9.93762891e-01 1.87168640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89710568099997 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:141.34, Y:69.86, Z:18.72 [[ 5.36639212e-01 -8.41501685e-01 -6.23960662e-02 1.41340764e+02] [ 8.36414821e-01 5.40248276e-01 -9.24232006e-02 6.98617704e+01] [ 1.11483646e-01 -2.59108097e-03 9.93762891e-01 1.87218104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92710568099997 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:141.35, Y:69.89, Z:18.72 [[ 5.37701769e-01 -8.40825724e-01 -6.23611201e-02 1.41347623e+02] [ 8.35731591e-01 5.41300564e-01 -9.24467740e-02 6.98925175e+01] [ 1.11487735e-01 -2.40836429e-03 9.93762892e-01 1.87209979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95710568099997 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:141.35, Y:69.92, Z:18.72 [[ 5.39977416e-01 -8.39368374e-01 -6.23307471e-02 1.41354350e+02] [ 8.34262165e-01 5.43559056e-01 -9.24672481e-02 6.99235382e+01] [ 1.11494526e-01 -2.06995832e-03 9.93762892e-01 1.87199968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98710568099997 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:141.36, Y:69.95, Z:18.72 [[ 5.41783079e-01 -8.38206308e-01 -6.22999281e-02 1.41364407e+02] [ 8.33090030e-01 5.45350320e-01 -9.24880079e-02 6.99504761e+01] [ 1.11499317e-01 -1.79301122e-03 9.93762893e-01 1.87221879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01710568099998 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:141.37, Y:69.98, Z:18.73 [[ 5.47260630e-01 -8.34641165e-01 -6.22890700e-02 1.41367651e+02] [ 8.29500809e-01 5.50793085e-01 -9.24953200e-02 6.99821978e+01] [ 1.11508791e-01 -1.04978690e-03 9.93762893e-01 1.87259977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04710568099998 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:141.37, Y:70.01, Z:18.73 [[ 5.56671900e-01 -8.28396212e-01 -6.22584261e-02 1.41372016e+02] [ 8.23213913e-01 5.60142530e-01 -9.25159419e-02 7.00134531e+01] [ 1.11513448e-01 2.49022581e-04 9.93762894e-01 1.87288667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07710568099998 meters Centerline goodness : 0.996777 Centerline is valid? [True, True] Translation: X:141.38, Y:70.04, Z:18.73 [[ 5.62387856e-01 -8.24528712e-01 -6.22278213e-02 1.41382767e+02] [ 8.19320271e-01 5.65819128e-01 -9.25365227e-02 7.00407325e+01] [ 1.11508711e-01 1.05690122e-03 9.93762894e-01 1.87318845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10710568099998 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:141.39, Y:70.07, Z:18.73 [[ 5.72968390e-01 -8.17214019e-01 -6.21970348e-02 1.41390178e+02] [ 8.11959556e-01 5.76328762e-01 -9.25572108e-02 7.00697026e+01] [ 1.11484990e-01 2.53087923e-03 9.93762895e-01 1.87334127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13710568099998 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:141.40, Y:70.10, Z:18.74 [[ 5.76735236e-01 -8.14562694e-01 -6.21617618e-02 1.41401872e+02] [ 8.09290242e-01 5.80067309e-01 -9.25808944e-02 7.00954948e+01] [ 1.11470949e-01 3.08775669e-03 9.93762896e-01 1.87372244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16710568099998 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:141.41, Y:70.12, Z:18.74 [[ 5.81585545e-01 -8.11109524e-01 -6.21256304e-02 1.41412707e+02] [ 8.05814718e-01 5.84881979e-01 -9.26051339e-02 7.01216249e+01] [ 1.11449068e-01 3.79605989e-03 9.93762897e-01 1.87407204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19710568099998 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:141.43, Y:70.15, Z:18.74 [[ 5.81896160e-01 -8.10888000e-01 -6.21088525e-02 1.41426298e+02] [ 8.05590743e-01 5.85188654e-01 -9.26163852e-02 7.01457237e+01] [ 1.11446911e-01 3.85880233e-03 9.93762897e-01 1.87432809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22710568099998 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:141.44, Y:70.17, Z:18.75 [[ 5.80991698e-01 -8.11538981e-01 -6.20735803e-02 1.41441806e+02] [ 8.06242896e-01 5.84286076e-01 -9.26400195e-02 7.01699320e+01] [ 1.11449716e-01 3.77669903e-03 9.93762898e-01 1.87476578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25710568099998 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:141.46, Y:70.19, Z:18.76 [[ 5.80007914e-01 -8.12244754e-01 -6.20425634e-02 1.41457511e+02] [ 8.06950464e-01 5.83305175e-01 -9.26607875e-02 7.01931559e+01] [ 1.11452987e-01 3.67871471e-03 9.93762899e-01 1.87552049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28710568099999 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:141.47, Y:70.22, Z:18.76 [[ 5.79693013e-01 -8.12471947e-01 -6.20108485e-02 1.41473000e+02] [ 8.07176687e-01 5.82988715e-01 -9.26820071e-02 7.02167153e+01] [ 1.11453156e-01 3.67340073e-03 9.93762899e-01 1.87583794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.317105681 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:141.49, Y:70.24, Z:18.76 [[ 5.79724322e-01 -8.12452368e-01 -6.19746776e-02 1.41489680e+02] [ 8.07154420e-01 5.83015699e-01 -9.27061877e-02 7.02386345e+01] [ 1.11451572e-01 3.72089678e-03 9.93762900e-01 1.87593746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.347105681 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:141.51, Y:70.26, Z:18.76 [[ 5.79804556e-01 -8.12396042e-01 -6.19624680e-02 1.41505894e+02] [ 8.07096906e-01 5.83094019e-01 -9.27143476e-02 7.02614117e+01] [ 1.11450713e-01 3.74648504e-03 9.93762900e-01 1.87631806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.377105681 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:141.52, Y:70.29, Z:18.77 [[ 5.80889625e-01 -8.11623285e-01 -6.19264601e-02 1.41519893e+02] [ 8.06317220e-01 5.84167897e-01 -9.27383921e-02 7.02856395e+01] [ 1.11444088e-01 3.93839866e-03 9.93762901e-01 1.87676295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.407105681 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:141.53, Y:70.31, Z:18.77 [[ 5.80826570e-01 -8.11669260e-01 -6.19153284e-02 1.41534390e+02] [ 8.06362665e-01 5.84103985e-01 -9.27458235e-02 7.03097673e+01] [ 1.11443924e-01 3.94302936e-03 9.93762901e-01 1.87719355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.437105681 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:141.55, Y:70.33, Z:18.77 [[ 5.75289543e-01 -8.15604782e-01 -6.18933007e-02 1.41551689e+02] [ 8.10319046e-01 5.78600492e-01 -9.27605212e-02 7.03317319e+01] [ 1.11467419e-01 3.21083749e-03 9.93762902e-01 1.87736451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46710568099996 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:141.57, Y:70.35, Z:18.77 [[ 5.70441200e-01 -8.19005816e-01 -6.18571784e-02 1.41572078e+02] [ 8.13737222e-01 5.73779358e-01 -9.27846032e-02 7.03544342e+01] [ 1.11483502e-01 2.59267190e-03 9.93762903e-01 1.87731791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49710568099997 meters Centerline goodness : 0.995858 Centerline is valid? [True, True] Translation: X:141.59, Y:70.37, Z:18.78 [[ 5.56578584e-01 -8.28467941e-01 -6.21381545e-02 1.41590263e+02] [ 8.23276992e-01 5.60036361e-01 -9.25973458e-02 7.03743115e+01] [ 1.11513558e-01 3.80786686e-04 9.93762840e-01 1.87775531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52710568099997 meters Centerline goodness : 0.996263 Centerline is valid? [True, True] Translation: X:141.61, Y:70.40, Z:18.78 [[ 5.50306083e-01 -8.32672183e-01 -6.18081720e-02 1.41608337e+02] [ 8.27482904e-01 5.53766224e-01 -9.28170962e-02 7.03979825e+01] [ 1.11513492e-01 -6.73929306e-05 9.93762918e-01 1.87774530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55710568099997 meters Centerline goodness : 0.997047 Centerline is valid? [True, True] Translation: X:141.62, Y:70.42, Z:18.78 [[ 5.42097759e-01 -8.38001171e-01 -6.23222013e-02 1.41624860e+02] [ 8.32885034e-01 5.45665539e-01 -9.24750721e-02 7.04192857e+01] [ 1.11501296e-01 -1.77669941e-03 9.93762700e-01 1.87835662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58710568099997 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:141.64, Y:70.44, Z:18.79 [[ 5.39682342e-01 -8.39571343e-01 -6.21524726e-02 1.41639655e+02] [ 8.34452578e-01 5.43246139e-01 -9.25879415e-02 7.04402267e+01] [ 1.11498273e-01 -1.89521394e-03 9.93762820e-01 1.87913790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61710568099997 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:141.66, Y:70.46, Z:18.79 [[ 5.41496331e-01 -8.38436058e-01 -6.16984610e-02 1.41655267e+02] [ 8.33275344e-01 5.44998843e-01 -9.28895219e-02 7.04625284e+01] [ 1.11507514e-01 -1.11247103e-03 9.93762968e-01 1.87948020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64710568099997 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:141.67, Y:70.49, Z:18.80 [[ 5.49244691e-01 -8.33381916e-01 -6.16834700e-02 1.41670978e+02] [ 8.28187847e-01 5.52697546e-01 -9.28994757e-02 7.04870427e+01] [ 1.11513046e-01 -6.09563085e-05 9.93762968e-01 1.87965807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67710568099997 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:141.69, Y:70.51, Z:18.80 [[ 5.53317379e-01 -8.30685661e-01 -6.16539561e-02 1.41685726e+02] [ 8.25472584e-01 5.56741468e-01 -9.29190589e-02 7.05121336e+01] [ 1.11511844e-01 5.20079711e-04 9.93762969e-01 1.87997215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70710568099997 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:141.70, Y:70.54, Z:18.80 [[ 5.65650291e-01 -8.22304351e-01 -6.20910755e-02 1.41697036e+02] [ 8.17072244e-01 5.69045507e-01 -9.26291503e-02 7.05366977e+01] [ 1.11502001e-01 1.66281145e-03 9.93762818e-01 1.88043946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73710568099997 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:141.71, Y:70.56, Z:18.80 [[ 5.74839816e-01 -8.15944942e-01 -6.15876355e-02 1.41708190e+02] [ 8.10639518e-01 5.78118939e-01 -9.29627029e-02 7.05623289e+01] [ 1.11457426e-01 3.51329186e-03 9.93762999e-01 1.88045297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76710568099998 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:141.72, Y:70.59, Z:18.80 [[ 5.78937412e-01 -8.13045342e-01 -6.15527868e-02 1.41723917e+02] [ 8.07721060e-01 5.82185825e-01 -9.29857714e-02 7.05886707e+01] [ 1.11436808e-01 4.11545961e-03 9.93763000e-01 1.88046228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79710568099998 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:141.74, Y:70.61, Z:18.81 [[ 5.84693768e-01 -8.08884062e-01 -6.19658977e-02 1.41735745e+02] [ 8.03565370e-01 5.87951600e-01 -9.27125206e-02 7.06132349e+01] [ 1.11426629e-01 4.41478342e-03 9.93762857e-01 1.88088486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82710568099998 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:141.75, Y:70.64, Z:18.81 [[ 5.85140597e-01 -8.08598284e-01 -6.14759954e-02 1.41751806e+02] [ 8.03244068e-01 5.88339376e-01 -9.30362586e-02 7.06364168e+01] [ 1.11397708e-01 5.05906324e-03 9.93763028e-01 1.88134739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85710568099998 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:141.77, Y:70.66, Z:18.82 [[ 5.83217696e-01 -8.09988704e-01 -6.14444257e-02 1.41767846e+02] [ 8.04639934e-01 5.86425572e-01 -9.30571038e-02 7.06602105e+01] [ 1.11407785e-01 4.83191103e-03 9.93763029e-01 1.88183916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88710568099998 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:141.78, Y:70.68, Z:18.82 [[ 5.77536354e-01 -8.14051727e-01 -6.14129165e-02 1.41783409e+02] [ 8.08723343e-01 5.80777978e-01 -9.30778937e-02 7.06816501e+01] [ 1.11437490e-01 4.08980816e-03 9.93763030e-01 1.88245323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91710568099998 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:141.80, Y:70.70, Z:18.83 [[ 5.74602697e-01 -8.16126114e-01 -6.13995647e-02 1.41799728e+02] [ 8.10808500e-01 5.77861958e-01 -9.30867006e-02 7.07042927e+01] [ 1.11450960e-01 3.70458030e-03 9.93763030e-01 1.88301349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94710568099998 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:141.82, Y:70.72, Z:18.84 [[ 5.70990103e-01 -8.18660103e-01 -6.13672340e-02 1.41818084e+02] [ 8.13354676e-01 5.74269161e-01 -9.31080097e-02 7.07248202e+01] [ 1.11465123e-01 3.25042537e-03 9.93763031e-01 1.88357197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97710568099998 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:141.84, Y:70.75, Z:18.84 [[ 5.68864199e-01 -8.20139614e-01 -6.13558145e-02 1.41835513e+02] [ 8.14841907e-01 5.72155717e-01 -9.31155343e-02 7.07472084e+01] [ 1.11472818e-01 2.97480494e-03 9.93763031e-01 1.88380572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00710568099998 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:141.85, Y:70.77, Z:18.84 [[ 5.64029493e-01 -8.23474670e-01 -6.13204685e-02 1.41854806e+02] [ 8.18193907e-01 5.67348124e-01 -9.31388054e-02 7.07678085e+01] [ 1.11487500e-01 2.36099952e-03 9.93763032e-01 1.88373454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03710568099999 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:141.87, Y:70.79, Z:18.84 [[ 5.60929145e-01 -8.25590475e-01 -6.13095609e-02 1.41870600e+02] [ 8.20321448e-01 5.64266379e-01 -9.31459849e-02 7.07900138e+01] [ 1.11495362e-01 1.95474988e-03 9.93763032e-01 1.88404053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.067105681 meters Centerline goodness : 0.996790 Centerline is valid? [True, True] Translation: X:141.89, Y:70.81, Z:18.84 [[ 5.58466395e-01 -8.27260996e-01 -6.12742149e-02 1.41887512e+02] [ 8.21999405e-01 5.61815337e-01 -9.31692309e-02 7.08140624e+01] [ 1.11500064e-01 1.66451632e-03 9.93763033e-01 1.88434892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.097105681 meters Centerline goodness : 0.997076 Centerline is valid? [True, True] Translation: X:141.91, Y:70.84, Z:18.85 [[ 5.63014118e-01 -8.24151734e-01 -6.15550291e-02 1.41905048e+02] [ 8.18891764e-01 5.66365727e-01 -9.29846306e-02 7.08361914e+01] [ 1.11496103e-01 1.94475344e-03 9.93762968e-01 1.88455765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.127105681 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:141.92, Y:70.86, Z:18.85 [[ 5.66326405e-01 -8.21904147e-01 -6.12207219e-02 1.41921385e+02] [ 8.16607119e-01 5.69618983e-01 -9.32042293e-02 7.08591064e+01] [ 1.11477428e-01 2.79073883e-03 9.93763048e-01 1.88478896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.157105681 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:141.94, Y:70.88, Z:18.85 [[ 5.73294816e-01 -8.17061496e-01 -6.11846811e-02 1.41936985e+02] [ 8.11734162e-01 5.76538127e-01 -9.32278827e-02 7.08825893e+01] [ 1.11448215e-01 3.78136601e-03 9.93763049e-01 1.88504269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18710568099996 meters Centerline goodness : 0.997484 Centerline is valid? [True, True] Translation: X:141.95, Y:70.91, Z:18.85 [[ 5.78483862e-01 -8.13398242e-01 -6.11532681e-02 1.41951408e+02] [ 8.08048218e-01 5.81689606e-01 -9.32484838e-02 7.09053709e+01] [ 1.11420373e-01 4.52795371e-03 9.93763049e-01 1.88533009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21710568099996 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:141.97, Y:70.93, Z:18.86 [[ 5.79676144e-01 -8.12550823e-01 -6.11287873e-02 1.41967609e+02] [ 8.07194431e-01 5.82871236e-01 -9.32645294e-02 7.09282652e+01] [ 1.11412382e-01 4.72040602e-03 9.93763050e-01 1.88555156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24710568099997 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:141.99, Y:70.95, Z:18.86 [[ 5.79600425e-01 -8.12607512e-01 -6.10931924e-02 1.41985075e+02] [ 8.07248990e-01 5.82791942e-01 -9.32878402e-02 7.09536251e+01] [ 1.11411020e-01 4.75225400e-03 9.93763051e-01 1.88583169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27710568099997 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:142.00, Y:70.97, Z:18.86 [[ 5.79644454e-01 -8.12510707e-01 -6.19569062e-02 1.42000673e+02] [ 8.07211323e-01 5.82934310e-01 -9.27225438e-02 7.09734871e+01] [ 1.11454866e-01 3.73379206e-03 9.93762483e-01 1.88628933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30710568099997 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:142.02, Y:70.99, Z:18.87 [[ 5.78232690e-01 -8.13588164e-01 -6.10020865e-02 1.42021158e+02] [ 8.08228893e-01 5.81422796e-01 -9.33466059e-02 7.09934012e+01] [ 1.11413697e-01 4.67241021e-03 9.93763129e-01 1.88672648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33710568099997 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:142.04, Y:71.01, Z:18.87 [[ 5.74202299e-01 -8.16438504e-01 -6.09908959e-02 1.42040261e+02] [ 8.11094305e-01 5.77417591e-01 -9.33539171e-02 7.10141139e+01] [ 1.11434949e-01 4.13466544e-03 9.93763129e-01 1.88743301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36710568099997 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:142.06, Y:71.04, Z:18.88 [[ 5.71290409e-01 -8.18481012e-01 -6.09598377e-02 1.42056169e+02] [ 8.13146158e-01 5.74521180e-01 -9.33741937e-02 7.10369187e+01] [ 1.11447722e-01 3.77452349e-03 9.93763130e-01 1.88779253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39710568099997 meters Centerline goodness : 0.996900 Centerline is valid? [True, True] Translation: X:142.07, Y:71.06, Z:18.88 [[ 5.68349720e-01 -8.20528350e-01 -6.09247381e-02 1.42072234e+02] [ 8.15202690e-01 5.71595624e-01 -9.33970899e-02 7.10596293e+01] [ 1.11459274e-01 3.41619944e-03 9.93763131e-01 1.88809293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42710568099997 meters Centerline goodness : 0.996773 Centerline is valid? [True, True] Translation: X:142.09, Y:71.08, Z:18.88 [[ 5.62687092e-01 -8.24424487e-01 -6.08892619e-02 1.42089578e+02] [ 8.19118819e-01 5.65965569e-01 -9.34202127e-02 7.10798012e+01] [ 1.11479137e-01 2.69080754e-03 9.93763132e-01 1.88839330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45710568099997 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:142.11, Y:71.10, Z:18.89 [[ 5.57366481e-01 -8.28031981e-01 -6.08740017e-02 1.42107849e+02] [ 8.22746456e-01 5.60677335e-01 -9.34301554e-02 7.10995998e+01] [ 1.11493830e-01 1.99096776e-03 9.93763132e-01 1.88866430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48710568099997 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:142.12, Y:71.12, Z:18.89 [[ 5.55038603e-01 -8.29595286e-01 -6.08589316e-02 1.42124335e+02] [ 8.24318013e-01 5.58362593e-01 -9.34399708e-02 7.11203739e+01] [ 1.11498710e-01 1.69567736e-03 9.93763132e-01 1.88886653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51710568099998 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:142.14, Y:71.14, Z:18.89 [[ 5.48593555e-01 -8.33872360e-01 -6.08440521e-02 1.42142477e+02] [ 8.28619934e-01 5.51956670e-01 -9.34496588e-02 7.11417731e+01] [ 1.11508368e-01 8.49286074e-04 9.93763132e-01 1.88916012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54710568099998 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:142.16, Y:71.17, Z:18.89 [[ 5.44591804e-01 -8.36493887e-01 -6.08090832e-02 1.42157603e+02] [ 8.31255111e-01 5.47976140e-01 -9.34724081e-02 7.11651456e+01] [ 1.11511025e-01 3.56446183e-04 9.93763133e-01 1.88949962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57710568099998 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:142.17, Y:71.19, Z:18.90 [[ 5.37828662e-01 -8.40860774e-01 -6.07740830e-02 1.42172611e+02] [ 8.35646903e-01 5.41251243e-01 -9.34951592e-02 7.11881959e+01] [ 1.11510460e-01 -5.01297853e-04 9.93763134e-01 1.88970304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60710568099998 meters Centerline goodness : 0.997190 Centerline is valid? [True, True] Translation: X:142.19, Y:71.21, Z:18.90 [[ 5.32718166e-01 -8.44110237e-01 -6.07393101e-02 1.42189972e+02] [ 8.38914665e-01 5.36168459e-01 -9.35177441e-02 7.12119393e+01] [ 1.11505787e-01 -1.13649692e-03 9.93763135e-01 1.88987924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63710568099998 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:142.21, Y:71.24, Z:18.90 [[ 5.31175864e-01 -8.45071255e-01 -6.08832952e-02 1.42205565e+02] [ 8.39892618e-01 5.34651561e-01 -9.34242872e-02 7.12351160e+01] [ 1.11501528e-01 -1.51070377e-03 9.93763114e-01 1.89012870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66710568099998 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:142.22, Y:71.26, Z:18.90 [[ 5.29658620e-01 -8.46038557e-01 -6.06671760e-02 1.42218363e+02] [ 8.40850198e-01 5.33119728e-01 -9.35644233e-02 7.12581685e+01] [ 1.11501978e-01 -1.45480355e-03 9.93763147e-01 1.89043984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69710568099998 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:142.23, Y:71.28, Z:18.91 [[ 5.30380030e-01 -8.45588227e-01 -6.06430104e-02 1.42232287e+02] [ 8.40395139e-01 5.33834037e-01 -9.35800834e-02 7.12826779e+01] [ 1.11503520e-01 -1.33108369e-03 9.93763147e-01 1.89074021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72710568099998 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:142.24, Y:71.31, Z:18.91 [[ 5.35963123e-01 -8.42063048e-01 -6.06082060e-02 1.42242297e+02] [ 8.36844687e-01 5.39378827e-01 -9.36026196e-02 7.13089209e+01] [ 1.11510090e-01 -5.52102846e-04 9.93763148e-01 1.89101254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75710568099998 meters Centerline goodness : 0.997197 Centerline is valid? [True, True] Translation: X:142.25, Y:71.34, Z:18.91 [[ 5.39540108e-01 -8.39778141e-01 -6.05734769e-02 1.42252871e+02] [ 8.34542791e-01 5.42929713e-01 -9.36250887e-02 7.13350763e+01] [ 1.11511443e-01 -3.66680628e-05 9.93763149e-01 1.89148970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78710568099999 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:142.26, Y:71.36, Z:18.92 [[ 5.47710816e-01 -8.34474688e-01 -6.05380652e-02 1.42260697e+02] [ 8.29203989e-01 5.51045188e-01 -9.36479805e-02 7.13629418e+01] [ 1.11506079e-01 1.09360668e-03 9.93763150e-01 1.89206729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.817105681 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:142.27, Y:71.39, Z:18.92 [[ 5.51143940e-01 -8.32212004e-01 -6.05271681e-02 1.42273751e+02] [ 8.26926845e-01 5.54455345e-01 -9.36550231e-02 7.13883946e+01] [ 1.11500446e-01 1.56585827e-03 9.93763150e-01 1.89243898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.847105681 meters Centerline goodness : 0.996509 Centerline is valid? [True, True] Translation: X:142.28, Y:71.41, Z:18.93 [[ 5.59154978e-01 -8.26853056e-01 -6.04957451e-02 1.42283474e+02] [ 8.21533987e-01 5.62411632e-01 -9.36753162e-02 7.14142788e+01] [ 1.11479232e-01 2.67970867e-03 9.93763151e-01 1.89320683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.877105681 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:142.29, Y:71.44, Z:18.94 [[ 5.65070447e-01 -8.22822579e-01 -6.04846487e-02 1.42293547e+02] [ 8.17479532e-01 5.68287610e-01 -9.36824804e-02 7.14403253e+01] [ 1.11456737e-01 3.49223876e-03 9.93763151e-01 1.89368255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.907105681 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:142.31, Y:71.46, Z:18.94 [[ 5.67743013e-01 -8.20983509e-01 -6.04479086e-02 1.42307135e+02] [ 8.15627530e-01 5.70938599e-01 -9.37061808e-02 7.14633347e+01] [ 1.11443273e-01 3.89805105e-03 9.93763152e-01 1.89402275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93710568099996 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:142.32, Y:71.49, Z:18.94 [[ 5.71458768e-01 -8.18402624e-01 -6.04319658e-02 1.42320513e+02] [ 8.13031139e-01 5.74628220e-01 -9.37164614e-02 7.14875783e+01] [ 1.11423711e-01 4.42202352e-03 9.93763152e-01 1.89448661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96710568099996 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:142.33, Y:71.51, Z:18.95 [[ 5.72156509e-01 -8.17917671e-01 -6.03954715e-02 1.42334793e+02] [ 8.12541032e-01 5.75317208e-01 -9.37399743e-02 7.15112447e+01] [ 1.11418135e-01 4.56013774e-03 9.93763153e-01 1.89482603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99710568099997 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:142.35, Y:71.53, Z:18.95 [[ 5.72745448e-01 -8.17508052e-01 -6.03592359e-02 1.42350764e+02] [ 8.12126708e-01 5.75898128e-01 -9.37633007e-02 7.15325201e+01] [ 1.11413024e-01 4.68315609e-03 9.93763154e-01 1.89491094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02710568099997 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:142.37, Y:71.56, Z:18.95 [[ 5.72941067e-01 -8.17372119e-01 -6.03436291e-02 1.42367034e+02] [ 8.11988976e-01 5.76090673e-01 -9.37733439e-02 7.15553928e+01] [ 1.11411119e-01 4.72823812e-03 9.93763154e-01 1.89519924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05710568099997 meters Centerline goodness : 0.995354 Centerline is valid? [True, True] Translation: X:142.38, Y:71.58, Z:18.96 [[ 5.73928095e-01 -8.16681993e-01 -6.03080741e-02 1.42383879e+02] [ 8.11292676e-01 5.77067124e-01 -9.37962047e-02 7.15762641e+01] [ 1.11403478e-01 4.90477828e-03 9.93763155e-01 1.89553030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08710568099997 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:142.40, Y:71.60, Z:18.96 [[ 5.74627836e-01 -8.16190937e-01 -6.02926566e-02 1.42402621e+02] [ 8.10797906e-01 5.77760477e-01 -9.38061142e-02 7.15978645e+01] [ 1.11398414e-01 5.01844470e-03 9.93763155e-01 1.89569514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11710568099997 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:142.42, Y:71.62, Z:18.96 [[ 5.74867007e-01 -8.16025149e-01 -6.02567902e-02 1.42420210e+02] [ 8.10628816e-01 5.77993956e-01 -9.38291476e-02 7.16190876e+01] [ 1.11395005e-01 5.09339075e-03 9.93763156e-01 1.89568783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14710568099997 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:142.44, Y:71.64, Z:18.95 [[ 5.72493670e-01 -8.17693096e-01 -6.02411723e-02 1.42440313e+02] [ 8.12304829e-01 5.75634497e-01 -9.38391737e-02 7.16409141e+01] [ 1.11408541e-01 4.78813774e-03 9.93763156e-01 1.89530734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17710568099997 meters Centerline goodness : 0.996735 Centerline is valid? [True, True] Translation: X:142.46, Y:71.66, Z:18.95 [[ 5.69842770e-01 -8.19544991e-01 -6.02098397e-02 1.42457170e+02] [ 8.14164823e-01 5.72997450e-01 -9.38592733e-02 7.16641056e+01] [ 1.11421982e-01 4.46429481e-03 9.93763157e-01 1.89543753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20710568099997 meters Centerline goodness : 0.996735 Centerline is valid? [True, True] Translation: X:142.47, Y:71.69, Z:18.96 [[ 5.69532166e-01 -8.19763164e-01 -6.01786229e-02 1.42472194e+02] [ 8.14382101e-01 5.72685318e-01 -9.38792841e-02 7.16879873e+01] [ 1.11422193e-01 4.45887864e-03 9.93763158e-01 1.89575500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23710568099997 meters Centerline goodness : 0.996695 Centerline is valid? [True, True] Translation: X:142.49, Y:71.71, Z:18.96 [[ 5.67500340e-01 -8.21173676e-01 -6.01428054e-02 1.42491850e+02] [ 8.15798033e-01 5.70662721e-01 -9.39022247e-02 7.17073454e+01] [ 1.11431292e-01 4.22516215e-03 9.93763158e-01 1.89595871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.26710568099998 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:142.51, Y:71.73, Z:18.97 [[ 5.67636775e-01 -8.21081148e-01 -6.01185526e-02 1.42509402e+02] [ 8.15703353e-01 5.70795495e-01 -9.39177494e-02 7.17291827e+01] [ 1.11429492e-01 4.27226351e-03 9.93763159e-01 1.89669629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29710568099998 meters Centerline goodness : 0.996550 Centerline is valid? [True, True] Translation: X:142.53, Y:71.75, Z:18.97 [[ 5.69372322e-01 -8.19880938e-01 -6.00866545e-02 1.42526144e+02] [ 8.14494345e-01 5.72516013e-01 -9.39381529e-02 7.17512640e+01] [ 1.11418673e-01 4.54554394e-03 9.93763160e-01 1.89731468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32710568099998 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:142.55, Y:71.77, Z:18.98 [[ 5.71146942e-01 -8.18646938e-01 -6.00696358e-02 1.42545213e+02] [ 8.13252418e-01 5.74277010e-01 -9.39490344e-02 7.17724181e+01] [ 1.11407700e-01 4.80692714e-03 9.93763160e-01 1.89771841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35710568099998 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:142.56, Y:71.79, Z:18.98 [[ 5.70954745e-01 -8.18783639e-01 -6.00335960e-02 1.42563270e+02] [ 8.13387462e-01 5.74081954e-01 -9.39720584e-02 7.17939521e+01] [ 1.11406988e-01 4.82321835e-03 9.93763161e-01 1.89815843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38710568099998 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:142.58, Y:71.81, Z:18.99 [[ 5.67794963e-01 -8.20980656e-01 -5.99970146e-02 1.42584058e+02] [ 8.15594131e-01 5.70938767e-01 -9.39954083e-02 7.18137700e+01] [ 1.11423034e-01 4.43690636e-03 9.93763162e-01 1.89892962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41710568099998 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:142.60, Y:71.83, Z:19.00 [[ 5.64707886e-01 -8.23109489e-01 -5.99647537e-02 1.42601730e+02] [ 8.17732646e-01 5.67868219e-01 -9.40159849e-02 7.18346046e+01] [ 1.11437527e-01 4.05643139e-03 9.93763162e-01 1.89952305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44710568099998 meters Centerline goodness : 0.997196 Centerline is valid? [True, True] Translation: X:142.62, Y:71.85, Z:19.00 [[ 5.56831890e-01 -8.28458975e-01 -5.99497471e-02 1.42622581e+02] [ 8.23111497e-01 5.60041658e-01 -9.40255529e-02 7.18519942e+01] [ 1.11470669e-01 3.01110026e-03 9.93763163e-01 1.90027473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47710568099998 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:142.64, Y:71.87, Z:19.01 [[ 5.49818515e-01 -8.33131763e-01 -5.99255018e-02 1.42641604e+02] [ 8.27809899e-01 5.53070575e-01 -9.40410027e-02 7.18696382e+01] [ 1.11491578e-01 2.09856092e-03 9.93763163e-01 1.90072304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50710568099998 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:142.66, Y:71.89, Z:19.01 [[ 5.45243027e-01 -8.36162338e-01 -5.95196350e-02 1.42659727e+02] [ 8.30830277e-01 5.48478516e-01 -9.42993574e-02 7.18933823e+01] [ 1.11494812e-01 1.96535227e-03 9.93763073e-01 1.90088709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53710568099999 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:142.68, Y:71.91, Z:19.01 [[ 5.38718733e-01 -8.40355905e-01 -5.98671826e-02 1.42679632e+02] [ 8.35073537e-01 5.42034574e-01 -9.40782047e-02 7.19142440e+01] [ 1.11509258e-01 6.88191290e-04 9.93763157e-01 1.90074223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.567105681 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:142.70, Y:71.94, Z:19.01 [[ 5.36096457e-01 -8.42033765e-01 -5.98308164e-02 1.42696025e+02] [ 8.36759194e-01 5.39424685e-01 -9.41013270e-02 7.19372969e+01] [ 1.11510714e-01 3.83402264e-04 9.93763158e-01 1.90097321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.597105681 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:142.71, Y:71.96, Z:19.01 [[ 5.34714458e-01 -8.42914598e-01 -5.97948905e-02 1.42712532e+02] [ 8.37642957e-01 5.38047323e-01 -9.41241500e-02 7.19577247e+01] [ 1.11511101e-01 2.42775018e-04 9.93763159e-01 1.90110534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.627105681 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:142.73, Y:71.98, Z:19.01 [[ 5.32562187e-01 -8.44324662e-01 -5.91048453e-02 1.42728347e+02] [ 8.39012948e-01 5.35831384e-01 -9.45621540e-02 7.19832623e+01] [ 1.11511390e-01 7.70496990e-04 9.93762857e-01 1.90141674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.657105681 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:142.74, Y:72.01, Z:19.02 [[ 5.34395445e-01 -8.43120122e-01 -5.97492117e-02 1.42741713e+02] [ 8.37846504e-01 5.37725204e-01 -9.41532807e-02 7.20085686e+01] [ 1.11511183e-01 2.54416129e-04 9.93763147e-01 1.90161755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68710568099996 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:142.75, Y:72.03, Z:19.02 [[ 5.43889472e-01 -8.37029268e-01 -5.97180564e-02 1.42751976e+02] [ 8.31716202e-01 5.47155917e-01 -9.41730373e-02 7.20298734e+01] [ 1.11500676e-01 1.55124845e-03 9.93763147e-01 1.90185443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71710568099996 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:142.76, Y:72.06, Z:19.02 [[ 5.53397429e-01 -8.30865992e-01 -5.84207948e-02 1.42764725e+02] [ 8.25429181e-01 5.56455574e-01 -9.49940060e-02 7.20563439e+01] [ 1.11435866e-01 4.34720994e-03 9.93762119e-01 1.90229964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74710568099997 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:142.78, Y:72.09, Z:19.03 [[ 5.55984390e-01 -8.29128835e-01 -5.85383115e-02 1.42778676e+02] [ 8.23690266e-01 5.59039010e-01 -9.49196031e-02 7.20854568e+01] [ 1.11425780e-01 4.55638021e-03 9.93762313e-01 1.90259530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77710568099997 meters Centerline goodness : 0.997378 Centerline is valid? [True, True] Translation: X:142.79, Y:72.11, Z:19.03 [[ 5.64637078e-01 -8.23177969e-01 -5.96908879e-02 1.42789826e+02] [ 8.17783240e-01 5.67766631e-01 -9.41893000e-02 7.21078636e+01] [ 1.11425051e-01 4.36856338e-03 9.93763238e-01 1.90307823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80710568099997 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:142.80, Y:72.13, Z:19.03 [[ 5.66523653e-01 -8.21946121e-01 -5.87837073e-02 1.42803507e+02] [ 8.16484977e-01 5.69536831e-01 -9.47632826e-02 7.21330901e+01] [ 1.11369799e-01 5.68962709e-03 9.93762746e-01 1.90317149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83710568099997 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:142.82, Y:72.15, Z:19.04 [[ 5.71609625e-01 -8.18410437e-01 -5.88794745e-02 1.42820557e+02] [ 8.12936850e-01 5.74599924e-01 -9.47027255e-02 7.21538739e+01] [ 1.11337841e-01 6.26769494e-03 9.93762850e-01 1.90360637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86710568099997 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:142.84, Y:72.18, Z:19.04 [[ 5.70692829e-01 -8.19069651e-01 -5.86054829e-02 1.42836731e+02] [ 8.13581869e-01 5.73657665e-01 -9.48758445e-02 7.21793807e+01] [ 1.11329409e-01 6.46460567e-03 9.93762533e-01 1.90389279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89710568099997 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:142.85, Y:72.20, Z:19.04 [[ 5.73709542e-01 -8.16889017e-01 -5.95793237e-02 1.42853536e+02] [ 8.11452711e-01 5.76766396e-01 -9.42603948e-02 7.22027256e+01] [ 1.11363633e-01 5.73228420e-03 9.93763192e-01 1.90448185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92710568099997 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:142.87, Y:72.23, Z:19.05 [[ 5.75274028e-01 -8.15790183e-01 -5.95497226e-02 1.42869411e+02] [ 8.10346124e-01 5.78317051e-01 -9.42790920e-02 7.22252004e+01] [ 1.11350578e-01 5.98042614e-03 9.93763193e-01 1.90503828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95710568099997 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:142.89, Y:72.25, Z:19.05 [[ 5.79126892e-01 -8.13062288e-01 -5.95126797e-02 1.42886793e+02] [ 8.07601534e-01 5.82139851e-01 -9.43024692e-02 7.22459186e+01] [ 1.11318484e-01 6.55056451e-03 9.93763194e-01 1.90524017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98710568099997 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:142.90, Y:72.27, Z:19.06 [[ 5.80708301e-01 -8.11935404e-01 -5.94875498e-02 1.42903446e+02] [ 8.06467204e-01 5.83707722e-01 -9.43183190e-02 7.22676784e+01] [ 1.11303725e-01 6.79667276e-03 9.93763194e-01 1.90569902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01710568099998 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:142.92, Y:72.29, Z:19.06 [[ 5.80483983e-01 -8.12098530e-01 -5.94501746e-02 1.42920221e+02] [ 8.06628791e-01 5.83480595e-01 -9.43418714e-02 7.22903024e+01] [ 1.11302918e-01 6.80972279e-03 9.93763195e-01 1.90586989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.04710568099998 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:142.94, Y:72.31, Z:19.06 [[ 5.79827850e-01 -8.12569855e-01 -5.94129172e-02 1.42941654e+02] [ 8.07100179e-01 5.82824575e-01 -9.43653289e-02 7.23108719e+01] [ 1.11305730e-01 6.76346959e-03 9.93763196e-01 1.90558721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07710568099998 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:142.96, Y:72.33, Z:19.06 [[ 5.78619362e-01 -8.13433285e-01 -5.93794924e-02 1.42959709e+02] [ 8.07965950e-01 5.81620356e-01 -9.43863569e-02 7.23341369e+01] [ 1.11313326e-01 6.63716568e-03 9.93763197e-01 1.90570709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10710568099998 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:142.98, Y:72.35, Z:19.06 [[ 5.73259733e-01 -8.17221514e-01 -5.93487673e-02 1.42978741e+02] [ 8.11772056e-01 5.76293066e-01 -9.44056726e-02 7.23540029e+01] [ 1.11352630e-01 5.94129976e-03 9.93763198e-01 1.90627440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13710568099998 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:143.00, Y:72.37, Z:19.07 [[ 5.66047629e-01 -8.22234269e-01 -5.93370732e-02 1.42998437e+02] [ 8.16810949e-01 5.69127450e-01 -9.44130222e-02 7.23727905e+01] [ 1.11399979e-01 4.97509625e-03 9.93763198e-01 1.90736712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16710568099998 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:143.02, Y:72.40, Z:19.08 [[ 5.61144437e-01 -8.25612008e-01 -5.90062033e-02 1.43015316e+02] [ 8.20185456e-01 5.64218683e-01 -9.46207959e-02 7.23962671e+01] [ 1.11412468e-01 4.69990349e-03 9.93763137e-01 1.90770636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19710568099998 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:143.03, Y:72.42, Z:19.08 [[ 5.52928802e-01 -8.31116298e-01 -5.92911333e-02 1.43033900e+02] [ 8.25739460e-01 5.56089082e-01 -9.44419227e-02 7.24182748e+01] [ 1.11463373e-01 3.26063079e-03 9.93763194e-01 1.90769069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22710568099998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:143.05, Y:72.44, Z:19.08 [[ 5.50486446e-01 -8.32738286e-01 -5.92589190e-02 1.43049950e+02] [ 8.27368592e-01 5.53658847e-01 -9.44621319e-02 7.24388051e+01] [ 1.11471459e-01 2.97115486e-03 9.93763194e-01 1.90787560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:143.07, Y:72.46, Z:19.08 [[ 5.44729868e-01 -8.36567479e-01 -5.85168606e-02 1.43066280e+02] [ 8.31169935e-01 5.47855286e-01 -9.49269444e-02 7.24605248e+01] [ 1.11471566e-01 3.07208677e-03 9.93762875e-01 1.90815124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28710568099999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:143.08, Y:72.49, Z:19.09 [[ 5.39183999e-01 -8.40176338e-01 -5.81750488e-02 1.43082752e+02] [ 8.34776598e-01 5.42306407e-01 -9.51409048e-02 7.24864432e+01] [ 1.11483839e-01 2.73528418e-03 9.93762483e-01 1.90860287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.317105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:143.10, Y:72.51, Z:19.09 [[ 5.39761264e-01 -8.39734269e-01 -5.91957304e-02 1.43097178e+02] [ 8.34401397e-01 5.42995164e-01 -9.45016463e-02 7.25093005e+01] [ 1.11499266e-01 1.61532796e-03 9.93763203e-01 1.90904769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.347105681 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:143.11, Y:72.53, Z:19.09 [[ 5.42915039e-01 -8.37733089e-01 -5.87071661e-02 1.43109944e+02] [ 8.32355156e-01 5.46073689e-01 -9.48072807e-02 7.25342735e+01] [ 1.11481635e-01 2.60708616e-03 9.93763074e-01 1.90920346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.377105681 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:143.12, Y:72.56, Z:19.10 [[ 5.46014799e-01 -8.35705513e-01 -5.88568993e-02 1.43123862e+02] [ 8.30325914e-01 5.49170468e-01 -9.47136416e-02 7.25594629e+01] [ 1.11475183e-01 2.84464125e-03 9.93763147e-01 1.90982557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.407105681 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:143.14, Y:72.58, Z:19.11 [[ 5.54695721e-01 -8.29950144e-01 -5.91220402e-02 1.43136377e+02] [ 8.24555398e-01 5.57825330e-01 -9.45478519e-02 7.25813060e+01] [ 1.11449775e-01 3.69589156e-03 9.93763195e-01 1.91078924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43710568099996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:143.15, Y:72.61, Z:19.11 [[ 5.58550379e-01 -8.27404328e-01 -5.85111295e-02 1.43148673e+02] [ 8.21955363e-01 5.61585060e-01 -9.49294543e-02 7.26083319e+01] [ 1.11404017e-01 4.92934592e-03 9.93762973e-01 1.91149091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46710568099996 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:143.16, Y:72.63, Z:19.12 [[ 5.60077963e-01 -8.26331265e-01 -5.90704371e-02 1.43161801e+02] [ 8.20912923e-01 5.63166552e-01 -9.45801650e-02 7.26333520e+01] [ 1.11421042e-01 4.48058097e-03 9.93763189e-01 1.91171831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49710568099997 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:143.18, Y:72.66, Z:19.12 [[ 5.63519947e-01 -8.23990454e-01 -5.90339072e-02 1.43176087e+02] [ 8.18556918e-01 5.66581726e-01 -9.46029604e-02 7.26577377e+01] [ 1.11399469e-01 4.98804205e-03 9.93763190e-01 1.91159545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52710568099997 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:143.19, Y:72.68, Z:19.12 [[ 5.64653948e-01 -8.23216364e-01 -5.89977659e-02 1.43191471e+02] [ 8.17776295e-01 5.67704101e-01 -9.46254941e-02 7.26813370e+01] [ 1.11390529e-01 5.18368435e-03 9.93763191e-01 1.91158001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55710568099997 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:143.21, Y:72.70, Z:19.12 [[ 5.65249845e-01 -8.22809887e-01 -5.89618763e-02 1.43207340e+02] [ 8.17365310e-01 5.68291944e-01 -9.46478520e-02 7.27028950e+01] [ 1.11384748e-01 5.30629137e-03 9.93763192e-01 1.91156957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58710568099997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:143.22, Y:72.73, Z:19.12 [[ 5.59433209e-01 -8.26808884e-01 -5.84940515e-02 1.43223418e+02] [ 8.21355717e-01 5.62460122e-01 -9.49389152e-02 7.27278158e+01] [ 1.11396910e-01 5.06755839e-03 9.93763075e-01 1.91185078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61710568099997 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:143.24, Y:72.75, Z:19.12 [[ 5.55848427e-01 -8.29195068e-01 -5.88902869e-02 1.43238847e+02] [ 8.23780784e-01 5.58944138e-01 -9.46925065e-02 7.27506448e+01] [ 1.11434940e-01 4.12199407e-03 9.93763183e-01 1.91220504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64710568099997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:143.25, Y:72.77, Z:19.13 [[ 5.52485045e-01 -8.31442304e-01 -5.88554988e-02 1.43254274e+02] [ 8.26038324e-01 5.55598705e-01 -9.47141239e-02 7.27735183e+01] [ 1.11449368e-01 3.71123941e-03 9.93763184e-01 1.91258131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67710568099997 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:143.27, Y:72.80, Z:19.13 [[ 5.45929643e-01 -8.35763695e-01 -5.88206643e-02 1.43271829e+02] [ 8.30382057e-01 5.49081758e-01 -9.47357525e-02 7.27955897e+01] [ 1.11474056e-01 2.87543128e-03 9.93763184e-01 1.91289112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70710568099997 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:143.29, Y:72.82, Z:19.13 [[ 5.42897741e-01 -8.37738968e-01 -5.87831943e-02 1.43289232e+02] [ 8.32366288e-01 5.46065101e-01 -9.47589969e-02 7.28161210e+01] [ 1.11482755e-01 2.51529617e-03 9.93763185e-01 1.91317669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73710568099997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:143.31, Y:72.84, Z:19.13 [[ 5.42608702e-01 -8.37927650e-01 -5.87626468e-02 1.43305094e+02] [ 8.32554695e-01 5.45775593e-01 -9.47717373e-02 7.28389227e+01] [ 1.11483078e-01 2.50085191e-03 9.93763186e-01 1.91341756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:143.32, Y:72.86, Z:19.13 [[ 5.47386133e-01 -8.34817186e-01 -5.87255236e-02 1.43320396e+02] [ 8.29423783e-01 5.50518071e-01 -9.47947353e-02 7.28580623e+01] [ 1.11465736e-01 3.18097761e-03 9.93763187e-01 1.91325335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79710568099998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:143.34, Y:72.88, Z:19.13 [[ 5.50502372e-01 -8.32868477e-01 -5.72471640e-02 1.43337270e+02] [ 8.27368261e-01 5.53445359e-01 -9.57078634e-02 7.28844150e+01] [ 1.11395240e-01 5.32291929e-03 9.93761927e-01 1.91287919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:143.35, Y:72.91, Z:19.13 [[ 5.50048672e-01 -8.33119214e-01 -5.79554453e-02 1.43354393e+02] [ 8.27665964e-01 5.53075675e-01 -9.52698753e-02 7.29097895e+01] [ 1.11424911e-01 4.43531884e-03 9.93762958e-01 1.91315798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:143.37, Y:72.93, Z:19.14 [[ 5.46178499e-01 -8.35611771e-01 -5.86686864e-02 1.43372302e+02] [ 8.30219296e-01 5.49311794e-01 -9.48286527e-02 7.29315945e+01] [ 1.11467340e-01 3.08549564e-03 9.93763308e-01 1.91389945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:143.39, Y:72.95, Z:19.14 [[ 5.41956315e-01 -8.38358616e-01 -5.86360181e-02 1.43387692e+02] [ 8.32979847e-01 5.45113080e-01 -9.48488485e-02 7.29545063e+01] [ 1.11480610e-01 2.56131102e-03 9.93763309e-01 1.91441571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91710568099998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:143.40, Y:72.98, Z:19.15 [[ 5.29836430e-01 -8.46071616e-01 -5.86189183e-02 1.43402166e+02] [ 8.40737667e-01 5.33068350e-01 -9.48594154e-02 7.29779189e+01] [ 1.11505749e-01 9.76841388e-04 9.93763309e-01 1.91525613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:143.42, Y:73.00, Z:19.16 [[ 5.23564510e-01 -8.49968237e-01 -5.86020418e-02 1.43416113e+02] [ 8.44657177e-01 5.26833908e-01 -9.48698402e-02 7.30009708e+01] [ 1.11509894e-01 1.71846172e-04 9.93763309e-01 1.91579055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.43, Y:73.02, Z:19.16 [[ 5.13800333e-01 -8.55906724e-01 -5.85909377e-02 1.43431500e+02] [ 8.50632661e-01 5.17129083e-01 -9.48766976e-02 7.30241296e+01] [ 1.11504681e-01 -1.09168638e-03 9.93763309e-01 1.91647751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.44, Y:73.05, Z:19.17 [[ 5.08365717e-01 -8.59147873e-01 -5.85596365e-02 1.43442807e+02] [ 8.53892802e-01 5.11724368e-01 -9.48960134e-02 7.30494319e+01] [ 1.11496101e-01 -1.76177227e-03 9.93763310e-01 1.91680527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:143.45, Y:73.08, Z:19.17 [[ 5.06766989e-01 -8.60094251e-01 -5.85243431e-02 1.43452835e+02] [ 8.54842940e-01 5.10131516e-01 -9.49177747e-02 7.30757276e+01] [ 1.11493344e-01 -1.92792664e-03 9.93763311e-01 1.91700928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.067105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:143.46, Y:73.10, Z:19.17 [[ 5.06726418e-01 -8.60120524e-01 -5.84895057e-02 1.43461443e+02] [ 8.54866913e-01 5.10087348e-01 -9.49392372e-02 7.31033789e+01] [ 1.11493943e-01 -1.89252367e-03 9.93763311e-01 1.91702534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.097105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:143.48, Y:73.13, Z:19.17 [[ 5.06416908e-01 -8.60305130e-01 -5.84550910e-02 1.43476054e+02] [ 8.55050301e-01 5.09775932e-01 -9.49604221e-02 7.31275623e+01] [ 1.11493937e-01 -1.89247983e-03 9.93763312e-01 1.91734294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.127105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:143.49, Y:73.15, Z:19.17 [[ 5.06692520e-01 -8.60145169e-01 -5.84207061e-02 1.43489600e+02] [ 8.54886842e-01 5.10046065e-01 -9.49815714e-02 7.31536260e+01] [ 1.11495191e-01 -1.81664119e-03 9.93763313e-01 1.91748167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.157105681 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:143.50, Y:73.18, Z:19.18 [[ 5.07622154e-01 -8.59598804e-01 -5.83921664e-02 1.43499506e+02] [ 8.54334851e-01 5.10966859e-01 -9.49991137e-02 7.31793566e+01] [ 1.11497586e-01 -1.66280803e-03 9.93763314e-01 1.91776144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:143.51, Y:73.21, Z:19.18 [[ 5.08836327e-01 -8.58926806e-01 -5.77090499e-02 1.43509264e+02] [ 8.53610609e-01 5.12097881e-01 -9.54184946e-02 7.32075106e+01] [ 1.11510185e-01 -7.08660889e-04 9.93763038e-01 1.91809147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21710568099996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:143.52, Y:73.23, Z:19.19 [[ 5.12685353e-01 -8.56591579e-01 -5.83489117e-02 1.43521848e+02] [ 8.51304982e-01 5.15994143e-01 -9.50256349e-02 7.32308067e+01] [ 1.11505855e-01 -9.54468068e-04 9.93763319e-01 1.91862528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24710568099997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:143.53, Y:73.26, Z:19.19 [[ 5.19853824e-01 -8.52287226e-01 -5.79524474e-02 1.43529065e+02] [ 8.46946017e-01 5.23073884e-01 -9.52688592e-02 7.32590980e+01] [ 1.11509843e-01 4.43286227e-04 9.93763231e-01 1.91923099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27710568099997 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:143.54, Y:73.29, Z:19.20 [[ 5.24226838e-01 -8.49580856e-01 -5.82974463e-02 1.43539132e+02] [ 8.44246480e-01 5.27458048e-01 -9.50572864e-02 7.32858412e+01] [ 1.11508308e-01 6.14166830e-04 9.93763312e-01 1.91969886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30710568099997 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:143.55, Y:73.31, Z:19.20 [[ 5.33295228e-01 -8.43920485e-01 -5.82615984e-02 1.43546512e+02] [ 8.38549429e-01 5.36465089e-01 -9.50792530e-02 7.33145426e+01] [ 1.11494643e-01 1.85008189e-03 9.93763313e-01 1.91989103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33710568099997 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:143.56, Y:73.34, Z:19.20 [[ 5.43060304e-01 -8.37672534e-01 -5.82257015e-02 1.43555260e+02] [ 8.32262689e-01 5.46163503e-01 -9.51012309e-02 7.33400591e+01] [ 1.11464442e-01 3.18662450e-03 9.93763314e-01 1.92010265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36710568099997 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:143.57, Y:73.37, Z:19.20 [[ 5.44467194e-01 -8.36805602e-01 -5.75487439e-02 1.43566383e+02] [ 8.31346971e-01 5.47484303e-01 -9.55151866e-02 7.33680506e+01] [ 1.11434677e-01 4.16191169e-03 9.93763046e-01 1.92043039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39710568099997 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:143.57, Y:73.39, Z:19.20 [[ 5.48216438e-01 -8.34311601e-01 -5.81626119e-02 1.43574326e+02] [ 8.28878654e-01 5.51279030e-01 -9.51399399e-02 7.33949455e+01] [ 1.11440184e-01 3.94753144e-03 9.93763303e-01 1.92038708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42710568099997 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:143.59, Y:73.42, Z:19.20 [[ 5.51047974e-01 -8.32445197e-01 -5.81474320e-02 1.43585033e+02] [ 8.27000908e-01 5.54090358e-01 -9.51492166e-02 7.34198919e+01] [ 1.11425440e-01 4.34380400e-03 9.93763303e-01 1.92040765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45710568099997 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:143.60, Y:73.44, Z:19.21 [[ 5.52614236e-01 -8.31408006e-01 -5.81225754e-02 1.43597861e+02] [ 8.25956421e-01 5.55643526e-01 -9.51643981e-02 7.34441901e+01] [ 1.11415875e-01 4.58248677e-03 9.93763304e-01 1.92084432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48710568099997 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:143.61, Y:73.47, Z:19.21 [[ 5.56989372e-01 -8.28485906e-01 -5.80856542e-02 1.43610298e+02] [ 8.23016110e-01 5.59985653e-01 -9.51869285e-02 7.34691023e+01] [ 1.11388162e-01 5.21267837e-03 9.93763305e-01 1.92101161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51710568099998 meters Centerline goodness : 0.997326 Centerline is valid? [True, True] Translation: X:143.62, Y:73.49, Z:19.21 [[ 5.58192070e-01 -8.27678686e-01 -5.80483119e-02 1.43624836e+02] [ 8.22202210e-01 5.61176122e-01 -9.52096959e-02 7.34928071e+01] [ 1.11378363e-01 5.41784694e-03 9.93763305e-01 1.92131508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54710568099998 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:143.64, Y:73.52, Z:19.22 [[ 5.60337201e-01 -8.26230597e-01 -5.80105256e-02 1.43641909e+02] [ 8.20744053e-01 5.63302698e-01 -9.52327133e-02 7.35158407e+01] [ 1.11361667e-01 5.75063811e-03 9.93763306e-01 1.92175624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57710568099998 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:143.66, Y:73.54, Z:19.22 [[ 5.60328168e-01 -8.26239053e-01 -5.79773463e-02 1.43660392e+02] [ 8.20750483e-01 5.63289914e-01 -9.52529086e-02 7.35374810e+01] [ 1.11359727e-01 5.78795274e-03 9.93763307e-01 1.92185567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60710568099998 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:143.68, Y:73.56, Z:19.22 [[ 5.58658320e-01 -8.27371675e-01 -5.79395690e-02 1.43678070e+02] [ 8.21886751e-01 5.61626811e-01 -9.52758820e-02 7.35588246e+01] [ 1.11368981e-01 5.60690003e-03 9.93763308e-01 1.92210501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63710568099998 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:143.70, Y:73.58, Z:19.23 [[ 5.52514602e-01 -8.31489618e-01 -5.79018984e-02 1.43699654e+02] [ 8.26024464e-01 5.55519332e-01 -9.52987701e-02 7.35785545e+01] [ 1.11405562e-01 4.82557741e-03 9.93763309e-01 1.92250625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66710568099998 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:143.72, Y:73.60, Z:19.23 [[ 5.44965507e-01 -8.36459396e-01 -5.78642764e-02 1.43721118e+02] [ 8.31019264e-01 5.48015304e-01 -9.53216084e-02 7.35962736e+01] [ 1.11443164e-01 3.86066023e-03 9.93763310e-01 1.92290165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69710568099998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:143.75, Y:73.61, Z:19.23 [[ 5.37066809e-01 -8.41553820e-01 -5.78481686e-02 1.43746572e+02] [ 8.36141596e-01 5.40165862e-01 -9.53313828e-02 7.36135024e+01] [ 1.11474095e-01 2.83006150e-03 9.93763310e-01 1.92284790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72710568099998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:143.77, Y:73.63, Z:19.23 [[ 5.32548644e-01 -8.44422758e-01 -5.78113201e-02 1.43765235e+02] [ 8.39024814e-01 5.35672502e-01 -9.53537236e-02 7.36337334e+01] [ 1.11486789e-01 2.27536409e-03 9.93763311e-01 1.92303953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75710568099998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:143.78, Y:73.65, Z:19.23 [[ 5.23528103e-01 -8.50046167e-01 -5.77913392e-02 1.43784773e+02] [ 8.44680460e-01 5.26707014e-01 -9.53658319e-02 7.36540435e+01] [ 1.11504464e-01 1.11147811e-03 9.93763311e-01 1.92345561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78710568099999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:143.80, Y:73.68, Z:19.24 [[ 5.20736666e-01 -8.51761543e-01 -5.77546407e-02 1.43800525e+02] [ 8.46403844e-01 5.23929053e-01 -9.53880519e-02 7.36767421e+01] [ 1.11507209e-01 7.88306286e-04 9.93763312e-01 1.92382742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.817105681 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:143.82, Y:73.69, Z:19.24 [[ 5.22036670e-01 -8.50967911e-01 -5.77176760e-02 1.43817498e+02] [ 8.45602886e-01 5.25216729e-01 -9.54104135e-02 7.36942558e+01] [ 1.11505489e-01 1.00150122e-03 9.93763313e-01 1.92406949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.847105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:143.84, Y:73.72, Z:19.24 [[ 5.20628948e-01 -8.51905532e-01 -5.65903144e-02 1.43835260e+02] [ 8.46471525e-01 5.23691174e-01 -9.60911610e-02 7.37207609e+01] [ 1.11496440e-01 2.12575036e-03 9.93762560e-01 1.92439714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.877105681 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:143.85, Y:73.74, Z:19.25 [[ 5.24099166e-01 -8.49702531e-01 -5.76686457e-02 1.43851932e+02] [ 8.44326609e-01 5.27260698e-01 -9.54396915e-02 7.37442757e+01] [ 1.11501758e-01 1.32869068e-03 9.93763348e-01 1.92496389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.907105681 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:143.87, Y:73.77, Z:19.26 [[ 5.31382307e-01 -8.45169109e-01 -5.76369853e-02 1.43866047e+02] [ 8.39764156e-01 5.34493946e-01 -9.54588079e-02 7.37683294e+01] [ 1.11485455e-01 2.32364727e-03 9.93763349e-01 1.92589058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93710568099996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:143.88, Y:73.79, Z:19.26 [[ 5.36173790e-01 -8.42139790e-01 -5.76041816e-02 1.43879416e+02] [ 8.36715144e-01 5.39250967e-01 -9.54785991e-02 7.37911203e+01] [ 1.11469438e-01 2.99483128e-03 9.93763350e-01 1.92638522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96710568099996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:143.89, Y:73.81, Z:19.27 [[ 5.45441745e-01 -8.36168402e-01 -5.75821774e-02 1.43894042e+02] [ 8.30708717e-01 5.48456317e-01 -9.54918678e-02 7.38142822e+01] [ 1.11428591e-01 4.25123434e-03 9.93763350e-01 1.92695442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99710568099997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:143.91, Y:73.84, Z:19.27 [[ 5.49659113e-01 -8.33404755e-01 -5.75445368e-02 1.43908261e+02] [ 8.27927567e-01 5.52641761e-01 -9.55145452e-02 7.38375733e+01] [ 1.11403790e-01 4.85773180e-03 9.93763351e-01 1.92716966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02710568099997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:143.92, Y:73.86, Z:19.27 [[ 5.55888194e-01 -8.29264362e-01 -5.75233299e-02 1.43923417e+02] [ 8.23763678e-01 5.58827286e-01 -9.55273153e-02 7.38607281e+01] [ 1.11363005e-01 5.71687702e-03 9.93763351e-01 1.92704195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05710568099997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:143.94, Y:73.88, Z:19.27 [[ 5.57417370e-01 -8.28238678e-01 -5.75027597e-02 1.43939928e+02] [ 8.22731324e-01 5.60343943e-01 -9.55396960e-02 7.38835251e+01] [ 1.11350995e-01 5.94616439e-03 9.93763352e-01 1.92698063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08710568099997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:143.95, Y:73.90, Z:19.27 [[ 5.59583286e-01 -8.26779444e-01 -5.74656247e-02 1.43954729e+02] [ 8.21262195e-01 5.62491161e-01 -9.55620270e-02 7.39023311e+01] [ 1.11332626e-01 6.28056797e-03 9.93763353e-01 1.92715535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:143.97, Y:73.93, Z:19.27 [[ 5.52534964e-01 -8.31603229e-01 -5.60462630e-02 1.43974541e+02] [ 8.26024798e-01 5.55326390e-01 -9.64138648e-02 7.39285434e+01] [ 1.11302050e-01 6.97642821e-03 9.93762136e-01 1.92723979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:143.99, Y:73.95, Z:19.28 [[ 5.52457450e-01 -8.31561649e-01 -5.74107129e-02 1.43991002e+02] [ 8.26066262e-01 5.55406342e-01 -9.55945894e-02 7.39462291e+01] [ 1.11379068e-01 5.38689003e-03 9.93763395e-01 1.92750282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:144.01, Y:73.97, Z:19.28 [[ 5.41686627e-01 -8.38720907e-01 -5.58823524e-02 1.44010567e+02] [ 8.33169375e-01 5.44531481e-01 -9.65104115e-02 7.39719756e+01] [ 1.11375000e-01 5.71893473e-03 9.93761995e-01 1.92761865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20710568099997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:144.03, Y:74.00, Z:19.28 [[ 5.33921653e-01 -8.43586098e-01 -5.73599468e-02 1.44027049e+02] [ 8.38154151e-01 5.36985678e-01 -9.56242737e-02 7.39961337e+01] [ 1.11468778e-01 2.97939276e-03 9.93763470e-01 1.92755073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:144.04, Y:74.02, Z:19.28 [[ 5.30616922e-01 -8.45670778e-01 -5.73290264e-02 1.44042619e+02] [ 8.40248874e-01 5.33698682e-01 -9.56428077e-02 7.40194475e+01] [ 1.11478753e-01 2.57904231e-03 9.93763471e-01 1.92772027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.26710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:144.06, Y:74.04, Z:19.28 [[ 5.24916551e-01 -8.49223174e-01 -5.72941167e-02 1.44060336e+02] [ 8.43819855e-01 5.28030781e-01 -9.56637156e-02 7.40411615e+01] [ 1.11492901e-01 1.86955439e-03 9.93763472e-01 1.92836262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:144.07, Y:74.06, Z:19.29 [[ 5.22270456e-01 -8.50854123e-01 -5.72785458e-02 1.44074706e+02] [ 8.45459509e-01 5.25399741e-01 -9.56730378e-02 7.40644563e+01] [ 1.11497932e-01 1.54050984e-03 9.93763472e-01 1.92898625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:144.09, Y:74.09, Z:19.30 [[ 5.18001422e-01 -8.53462133e-01 -5.72443361e-02 1.44088982e+02] [ 8.48081016e-01 5.21153858e-01 -9.56935023e-02 7.40910797e+01] [ 1.11503887e-01 1.02153555e-03 9.93763473e-01 1.92952363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:144.10, Y:74.11, Z:19.30 [[ 5.14838858e-01 -8.55334158e-01 -5.78310290e-02 1.44103141e+02] [ 8.50003674e-01 5.18076706e-01 -9.53429695e-02 7.41135897e+01] [ 1.11511007e-01 -7.03215250e-05 9.93763196e-01 1.92950653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:144.12, Y:74.14, Z:19.30 [[ 5.13878279e-01 -8.55958955e-01 -5.71260097e-02 1.44116662e+02] [ 8.50585360e-01 5.17043404e-01 -9.57635795e-02 7.41378475e+01] [ 1.11506320e-01 6.20275864e-04 9.93763531e-01 1.92980609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:144.13, Y:74.16, Z:19.30 [[ 5.12280412e-01 -8.56918713e-01 -5.70885239e-02 1.44128815e+02] [ 8.51548557e-01 5.15451368e-01 -9.57859213e-02 7.41632748e+01] [ 1.11507106e-01 4.55601028e-04 9.93763532e-01 1.93012149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:144.14, Y:74.19, Z:19.30 [[ 5.12282297e-01 -8.56918890e-01 -5.70689447e-02 1.44140879e+02] [ 8.51547436e-01 5.15451053e-01 -9.57975851e-02 7.41869055e+01] [ 1.11507008e-01 4.78493439e-04 9.93763532e-01 1.93041177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:144.15, Y:74.21, Z:19.31 [[ 5.14313047e-01 -8.55702976e-01 -5.70482922e-02 1.44151759e+02] [ 8.50322666e-01 5.17466743e-01 -9.58098823e-02 7.42134417e+01] [ 1.11505395e-01 7.66816574e-04 9.93763533e-01 1.93127678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50710568099998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:144.16, Y:74.24, Z:19.32 [[ 5.20155308e-01 -8.52166380e-01 -5.70168151e-02 1.44161374e+02] [ 8.46762581e-01 5.23268582e-01 -9.58286109e-02 7.42385525e+01] [ 1.11497028e-01 1.56605515e-03 9.93763533e-01 1.93188105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53710568099999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:144.17, Y:74.26, Z:19.32 [[ 5.23597315e-01 -8.50057255e-01 -5.69957480e-02 1.44172989e+02] [ 8.44639556e-01 5.26686337e-01 -9.58411393e-02 7.42634270e+01] [ 1.11489337e-01 2.04130003e-03 9.93763534e-01 1.93236251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.567105681 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:144.18, Y:74.29, Z:19.33 [[ 5.28924274e-01 -8.46755495e-01 -5.69582632e-02 1.44182036e+02] [ 8.41316129e-01 5.31974978e-01 -9.58634114e-02 7.42889683e+01] [ 1.11473241e-01 2.78457976e-03 9.93763535e-01 1.93319260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.597105681 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:144.19, Y:74.31, Z:19.34 [[ 5.32218631e-01 -8.44690152e-01 -5.69374802e-02 1.44192345e+02] [ 8.39237635e-01 5.35245768e-01 -9.58757538e-02 7.43144146e+01] [ 1.11460850e-01 3.24278616e-03 9.93763535e-01 1.93373493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.627105681 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:144.20, Y:74.34, Z:19.34 [[ 5.34120255e-01 -8.43491530e-01 -5.68998422e-02 1.44204984e+02] [ 8.38029851e-01 5.37130828e-01 -9.58980859e-02 7.43383270e+01] [ 1.11451883e-01 3.53734387e-03 9.93763536e-01 1.93402894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.657105681 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:144.22, Y:74.36, Z:19.34 [[ 5.39900429e-01 -8.39804923e-01 -5.68789765e-02 1.44215938e+02] [ 8.34321409e-01 5.42871044e-01 -9.59104602e-02 7.43643196e+01] [ 1.11424026e-01 4.32675082e-03 9.93763536e-01 1.93408182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68710568099996 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:144.23, Y:74.39, Z:19.34 [[ 5.46301709e-01 -8.35657493e-01 -5.68418652e-02 1.44229012e+02] [ 8.30149184e-01 5.49226090e-01 -9.59324495e-02 7.43900072e+01] [ 1.11385706e-01 5.22083307e-03 9.93763537e-01 1.93353670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71710568099996 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:144.24, Y:74.41, Z:19.33 [[ 5.48735739e-01 -8.34062507e-01 -5.68227357e-02 1.44243723e+02] [ 8.28544540e-01 5.51641855e-01 -9.59437790e-02 7.44138014e+01] [ 1.11368908e-01 5.56761300e-03 9.93763537e-01 1.93337215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74710568099997 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:144.26, Y:74.44, Z:19.33 [[ 5.50668819e-01 -8.32790016e-01 -5.67859314e-02 1.44259839e+02] [ 8.27263114e-01 5.53557904e-01 -9.59655574e-02 7.44357561e+01] [ 1.11353459e-01 5.86833373e-03 9.93763538e-01 1.93314788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77710568099997 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:144.27, Y:74.46, Z:19.33 [[ 5.49954671e-01 -8.33263150e-01 -5.67660374e-02 1.44274967e+02] [ 8.27737532e-01 5.52846209e-01 -9.59773238e-02 7.44589802e+01] [ 1.11357256e-01 5.79579780e-03 9.93763538e-01 1.93346678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80710568099997 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:144.29, Y:74.48, Z:19.34 [[ 5.50121220e-01 -8.33155757e-01 -5.67285376e-02 1.44290615e+02] [ 8.27627313e-01 5.53007351e-01 -9.59994835e-02 7.44796116e+01] [ 1.11353821e-01 5.86126588e-03 9.93763539e-01 1.93391657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83710568099997 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:144.31, Y:74.50, Z:19.34 [[ 5.47641248e-01 -8.34843112e-01 -5.59110141e-02 1.44306073e+02] [ 8.29274478e-01 5.50449901e-01 -9.64818470e-02 7.45047087e+01] [ 1.11323418e-01 6.47186207e-03 9.93763157e-01 1.93410716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86710568099997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:144.33, Y:74.53, Z:19.34 [[ 5.45970489e-01 -8.35885794e-01 -5.66671446e-02 1.44325674e+02] [ 8.30368064e-01 5.48877050e-01 -9.60357322e-02 7.45258625e+01] [ 1.11378199e-01 5.37808845e-03 9.93763540e-01 1.93429071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:144.35, Y:74.54, Z:19.35 [[ 5.43397326e-01 -8.37563341e-01 -5.66303475e-02 1.44346099e+02] [ 8.32052346e-01 5.46316634e-01 -9.60574259e-02 7.45436235e+01] [ 1.11392279e-01 5.07793487e-03 9.93763541e-01 1.93467647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:144.36, Y:74.57, Z:19.35 [[ 5.40115781e-01 -8.39715119e-01 -5.61556940e-02 1.44362509e+02] [ 8.34186798e-01 5.43002390e-01 -9.63368601e-02 7.45676847e+01] [ 1.11388194e-01 5.18871989e-03 9.93763426e-01 1.93498804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.38, Y:74.59, Z:19.36 [[ 5.33513134e-01 -8.43917721e-01 -5.62727022e-02 1.44378295e+02] [ 8.38419383e-01 5.36456342e-01 -9.62680131e-02 7.45908872e+01] [ 1.11430130e-01 4.18012503e-03 9.93763479e-01 1.93574560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:74.61, Z:19.36 [[ 5.29751666e-01 -8.46265881e-01 -5.65440648e-02 1.44394475e+02] [ 8.40797532e-01 5.32750121e-01 -9.61083670e-02 7.46130077e+01] [ 1.11457089e-01 3.37145737e-03 9.93763528e-01 1.93607984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.41, Y:74.64, Z:19.36 [[ 5.29439095e-01 -8.46463855e-01 -5.65082808e-02 1.44408578e+02] [ 8.40994390e-01 5.32435512e-01 -9.61294022e-02 7.46375068e+01] [ 1.11457080e-01 3.37151655e-03 9.93763529e-01 1.93639746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.43, Y:74.66, Z:19.36 [[ 5.22442106e-01 -8.50802620e-01 -5.64725406e-02 1.44429508e+02] [ 8.45355794e-01 5.25479480e-01 -9.61503938e-02 7.46575091e+01] [ 1.11480168e-01 2.49362485e-03 9.93763530e-01 1.93648972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:74.68, Z:19.37 [[ 5.19577974e-01 -8.52557136e-01 -5.64363338e-02 1.44445750e+02] [ 8.47118263e-01 5.22629566e-01 -9.61716411e-02 7.46805425e+01] [ 1.11487116e-01 2.16041734e-03 9.93763531e-01 1.93685060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:74.70, Z:19.37 [[ 5.12239742e-01 -8.57002596e-01 -5.61871540e-02 1.44461149e+02] [ 8.51574167e-01 5.15309935e-01 -9.63177557e-02 7.47044064e+01] [ 1.11498365e-01 1.49025348e-03 9.93763500e-01 1.93708024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:74.73, Z:19.38 [[ 5.08709340e-01 -8.59113938e-01 -5.60182907e-02 1.44475854e+02] [ 8.53687341e-01 5.11782902e-01 -9.64167281e-02 7.47281259e+01] [ 1.11502158e-01 1.22598446e-03 9.93763435e-01 1.93763703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.49, Y:74.75, Z:19.38 [[ 5.04829521e-01 -8.61402534e-01 -5.59716852e-02 1.44490083e+02] [ 8.55986846e-01 5.07922308e-01 -9.64440200e-02 7.47504375e+01] [ 1.11506391e-01 7.76762153e-04 9.93763413e-01 1.93834154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:144.50, Y:74.78, Z:19.39 [[ 5.02396442e-01 -8.62829805e-01 -5.58797179e-02 1.44502169e+02] [ 8.57416914e-01 5.05494218e-01 -9.64978313e-02 7.47754522e+01] [ 1.11508079e-01 5.67951815e-04 9.93763365e-01 1.93923355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:74.80, Z:19.40 [[ 5.03987936e-01 -8.61872654e-01 -5.63177436e-02 1.44514752e+02] [ 8.56482406e-01 5.07124694e-01 -9.62415280e-02 7.47972588e+01] [ 1.11508060e-01 2.69412483e-04 9.93763493e-01 1.93981903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.53, Y:74.82, Z:19.41 [[ 5.05478445e-01 -8.61048953e-01 -5.55539552e-02 1.44527845e+02] [ 8.55604203e-01 5.08520305e-01 -9.66878806e-02 7.48240140e+01] [ 1.11503313e-01 1.34144194e-03 9.93763157e-01 1.94073227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28710568099999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:144.54, Y:74.85, Z:19.41 [[ 5.08260714e-01 -8.59363022e-01 -5.62693867e-02 1.44540738e+02] [ 8.53954161e-01 5.11365256e-01 -9.62697574e-02 7.48483115e+01] [ 1.11504879e-01 8.78658711e-04 9.93763498e-01 1.94123254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.317105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:144.55, Y:74.87, Z:19.41 [[ 5.15512518e-01 -8.55034964e-01 -5.62321366e-02 1.44551602e+02] [ 8.49597677e-01 5.18566999e-01 -9.62915108e-02 7.48730956e+01] [ 1.11492739e-01 1.86478658e-03 9.93763499e-01 1.94142437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.347105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:144.56, Y:74.90, Z:19.41 [[ 5.21978411e-01 -8.51104474e-01 -5.62113218e-02 1.44562557e+02] [ 8.45642894e-01 5.24989239e-01 -9.63036601e-02 7.49005334e+01] [ 1.11474815e-01 2.73372665e-03 9.93763499e-01 1.94111940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.377105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:144.57, Y:74.92, Z:19.41 [[ 5.25301026e-01 -8.49059941e-01 -5.61787241e-02 1.44574431e+02] [ 8.43584619e-01 5.28286790e-01 -9.63226723e-02 7.49247587e+01] [ 1.11462200e-01 3.20689101e-03 9.93763500e-01 1.94123549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.407105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:144.59, Y:74.95, Z:19.42 [[ 5.31183177e-01 -8.45393838e-01 -5.61577410e-02 1.44585948e+02] [ 8.39896640e-01 5.34128469e-01 -9.63349043e-02 7.49486618e+01] [ 1.11436383e-01 4.00478258e-03 9.93763500e-01 1.94154080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:144.60, Y:74.97, Z:19.42 [[ 5.34100623e-01 -8.43555360e-01 -5.61326980e-02 1.44599598e+02] [ 8.38046504e-01 5.37024051e-01 -9.63494943e-02 7.49724478e+01] [ 1.11420741e-01 4.41851353e-03 9.93763501e-01 1.94175071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46710568099996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:144.61, Y:75.00, Z:19.41 [[ 5.40349581e-01 -8.39568680e-01 -5.60960053e-02 1.44611994e+02] [ 8.34036083e-01 5.43227825e-01 -9.63708527e-02 7.49980098e+01] [ 1.11382861e-01 5.28785728e-03 9.93763502e-01 1.94101572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:144.62, Y:75.02, Z:19.41 [[ 5.45579949e-01 -8.36180544e-01 -5.60768899e-02 1.44624965e+02] [ 8.30628965e-01 5.48421406e-01 -9.63819744e-02 7.50238978e+01] [ 1.11346499e-01 6.00498363e-03 9.93763502e-01 1.94074691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:144.64, Y:75.05, Z:19.41 [[ 5.47374488e-01 -8.35009071e-01 -5.60448055e-02 1.44638387e+02] [ 8.29449527e-01 5.50200328e-01 -9.64006275e-02 7.50479211e+01] [ 1.11331269e-01 6.28090673e-03 9.93763502e-01 1.94103287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:144.65, Y:75.07, Z:19.41 [[ 5.48577303e-01 -8.34221934e-01 -5.60063164e-02 1.44653863e+02] [ 8.28656084e-01 5.51390699e-01 -9.64229837e-02 7.50702772e+01] [ 1.11319530e-01 6.48548556e-03 9.93763503e-01 1.94145081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:144.67, Y:75.09, Z:19.42 [[ 5.44010464e-01 -8.37220537e-01 -5.58066964e-02 1.44670259e+02] [ 8.31658439e-01 5.46831317e-01 -9.65388615e-02 7.50896391e+01] [ 1.11341167e-01 6.10604091e-03 9.93763483e-01 1.94177520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.69, Y:75.11, Z:19.43 [[ 5.39112865e-01 -8.40422633e-01 -5.52006926e-02 1.44685230e+02] [ 8.34841487e-01 5.41896635e-01 -9.68902895e-02 7.51135626e+01] [ 1.11341862e-01 6.15097325e-03 9.93763128e-01 1.94259695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:75.14, Z:19.43 [[ 5.28706122e-01 -8.46989721e-01 -5.54819695e-02 1.44701924e+02] [ 8.41460202e-01 5.31590605e-01 -9.67272339e-02 7.51370002e+01] [ 1.11420667e-01 4.45441155e-03 9.93763349e-01 1.94327598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.72, Y:75.16, Z:19.44 [[ 5.26279105e-01 -8.48470697e-01 -5.59265654e-02 1.44717487e+02] [ 8.42976452e-01 5.29229946e-01 -9.64695039e-02 7.51575028e+01] [ 1.11449560e-01 3.62510646e-03 9.93763480e-01 1.94356111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:75.18, Z:19.44 [[ 5.18484063e-01 -8.53314722e-01 -5.50296369e-02 1.44736699e+02] [ 8.47792578e-01 5.21383525e-01 -9.69895107e-02 7.51810941e+01] [ 1.11454123e-01 3.63379789e-03 9.93762936e-01 1.94366795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.75, Y:75.20, Z:19.44 [[ 5.13444168e-01 -8.56334843e-01 -5.53689757e-02 1.44754907e+02] [ 8.50850871e-01 5.16414509e-01 -9.67928220e-02 7.52011539e+01] [ 1.11480408e-01 2.58696882e-03 9.93763265e-01 1.94350597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.77, Y:75.23, Z:19.44 [[ 5.07804543e-01 -8.59737291e-01 -5.46473778e-02 1.44770487e+02] [ 8.54228027e-01 5.10729472e-01 -9.72105136e-02 7.52287893e+01] [ 1.11485530e-01 2.68261868e-03 9.93762436e-01 1.94378155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.78, Y:75.25, Z:19.44 [[ 5.00936870e-01 -8.63677603e-01 -5.58860479e-02 1.44783564e+02] [ 8.58270467e-01 5.04044502e-01 -9.64932443e-02 7.52534442e+01] [ 1.11508109e-01 3.71679383e-04 9.93763454e-01 1.94421420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.80, Y:75.28, Z:19.45 [[ 4.98161690e-01 -8.65283630e-01 -5.58495282e-02 1.44795512e+02] [ 8.59884143e-01 5.01282591e-01 -9.65143771e-02 7.52784882e+01] [ 1.11508707e-01 5.56415134e-05 9.93763455e-01 1.94462664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:75.30, Z:19.45 [[ 4.94069997e-01 -8.67628885e-01 -5.58117932e-02 1.44806692e+02] [ 8.62241746e-01 4.97212164e-01 -9.65361935e-02 7.53042272e+01] [ 1.11507892e-01 -4.27621133e-04 9.93763456e-01 1.94463566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:75.33, Z:19.45 [[ 4.93684808e-01 -8.67848940e-01 -5.57989931e-02 1.44820195e+02] [ 8.62462365e-01 4.96827942e-01 -9.65435915e-02 7.53255804e+01] [ 1.11507752e-01 -4.62427112e-04 9.93763456e-01 1.94492711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.83, Y:75.35, Z:19.46 [[ 4.81816896e-01 -8.74579436e-01 -5.44360969e-02 1.44830341e+02] [ 8.69146882e-01 4.84882084e-01 -9.73296592e-02 7.53542683e+01] [ 1.11517607e-01 -4.17889554e-04 9.93762370e-01 1.94570598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:75.38, Z:19.46 [[ 4.79758949e-01 -8.75627466e-01 -5.57484616e-02 1.44839594e+02] [ 8.70288484e-01 4.82982155e-01 -9.65722153e-02 7.53775173e+01] [ 1.11486796e-01 -2.18585959e-03 9.93763511e-01 1.94636100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:75.41, Z:19.47 [[ 4.69456993e-01 -8.81268825e-01 -5.45471369e-02 1.44843696e+02] [ 8.75887394e-01 4.72610604e-01 -9.72650500e-02 7.54090931e+01] [ 1.11496212e-01 -2.11539168e-03 9.93762607e-01 1.94686872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.85, Y:75.44, Z:19.47 [[ 4.60207635e-01 -8.86110503e-01 -5.49282284e-02 1.44851390e+02] [ 8.80788196e-01 4.63459109e-01 -9.70453903e-02 7.54388630e+01] [ 1.11449927e-01 -3.71910572e-03 9.93763091e-01 1.94721841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.86, Y:75.47, Z:19.47 [[ 4.57328829e-01 -8.87551793e-01 -5.56970207e-02 1.44861240e+02] [ 8.82292936e-01 4.60681227e-01 -9.66021856e-02 7.54650167e+01] [ 1.11398015e-01 -4.96212358e-03 9.93763483e-01 1.94748107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.067105681 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:144.86, Y:75.50, Z:19.48 [[ 4.54857967e-01 -8.88822893e-01 -5.56605374e-02 1.44861973e+02] [ 8.83570850e-01 4.58221028e-01 -9.66232022e-02 7.54951569e+01] [ 1.11385743e-01 -5.23019504e-03 9.93763484e-01 1.94796585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.097105681 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:144.87, Y:75.52, Z:19.49 [[ 4.55529029e-01 -8.88480421e-01 -5.56403194e-02 1.44868039e+02] [ 8.83224439e-01 4.58885931e-01 -9.66348433e-02 7.55236543e+01] [ 1.11390726e-01 -5.12291358e-03 9.93763484e-01 1.94853400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.127105681 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:144.87, Y:75.56, Z:19.49 [[ 4.59183157e-01 -8.86599663e-01 -5.56045523e-02 1.44867013e+02] [ 8.81327446e-01 4.62514501e-01 -9.66554197e-02 7.55552970e+01] [ 1.11412574e-01 -4.62327727e-03 9.93763485e-01 1.94902156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.157105681 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:144.87, Y:75.58, Z:19.49 [[ 4.64284519e-01 -8.83940059e-01 -5.55864900e-02 1.44874279e+02] [ 8.78647503e-01 4.67583455e-01 -9.66658063e-02 7.55794403e+01] [ 1.11438102e-01 -3.96049322e-03 9.93763485e-01 1.94897723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18710568099996 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:144.88, Y:75.61, Z:19.49 [[ 4.66293719e-01 -8.82929906e-01 -5.48174162e-02 1.44875920e+02] [ 8.77578108e-01 4.69496321e-01 -9.71075119e-02 7.56142938e+01] [ 1.11475702e-01 -2.82594163e-03 9.93763142e-01 1.94889270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21710568099996 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:144.88, Y:75.64, Z:19.49 [[ 4.72435556e-01 -8.79613470e-01 -5.55408650e-02 1.44877060e+02] [ 8.74287594e-01 4.75680418e-01 -9.66920003e-02 7.56444417e+01] [ 1.11471288e-01 -2.87795023e-03 9.93763488e-01 1.94899409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24710568099997 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:144.88, Y:75.67, Z:19.49 [[ 4.80087547e-01 -8.75461791e-01 -5.55211750e-02 1.44883336e+02] [ 8.70106525e-01 4.83283671e-01 -9.67033051e-02 7.56683554e+01] [ 1.11492526e-01 -1.88328414e-03 9.93763488e-01 1.94902000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27710568099997 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:144.89, Y:75.70, Z:19.49 [[ 4.90632378e-01 -8.69671346e-01 -5.43288114e-02 1.44885218e+02] [ 8.64201609e-01 4.93630489e-01 -9.73884957e-02 7.57044371e+01] [ 1.11514342e-01 8.30902974e-04 9.93762477e-01 1.94889309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30710568099997 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:144.89, Y:75.74, Z:19.49 [[ 5.03230699e-01 -8.62363038e-01 -5.55774563e-02 1.44886682e+02] [ 8.56928128e-01 5.06289390e-01 -9.66707646e-02 7.57366329e+01] [ 1.11503571e-01 1.02181091e-03 9.93763508e-01 1.94850702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33710568099997 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:144.89, Y:75.76, Z:19.49 [[ 5.06475564e-01 -8.60462046e-01 -5.55659093e-02 1.44894838e+02] [ 8.55014930e-01 5.09512463e-01 -9.66774013e-02 7.57634982e+01] [ 1.11498758e-01 1.45505927e-03 9.93763508e-01 1.94876290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36710568099997 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:144.90, Y:75.79, Z:19.49 [[ 5.09075842e-01 -8.58928557e-01 -5.55294510e-02 1.44899916e+02] [ 8.53470012e-01 5.12092149e-01 -9.66983378e-02 7.57934206e+01] [ 1.11493160e-01 1.83406656e-03 9.93763509e-01 1.94939674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39710568099997 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:144.91, Y:75.82, Z:19.50 [[ 5.09215399e-01 -8.58847941e-01 -5.54967698e-02 1.44908822e+02] [ 8.53386877e-01 5.12227140e-01 -9.67170905e-02 7.58187034e+01] [ 1.11492226e-01 1.88961672e-03 9.93763510e-01 1.94974516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42710568099997 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:144.92, Y:75.85, Z:19.50 [[ 5.08966465e-01 -8.58996529e-01 -5.54806334e-02 1.44917168e+02] [ 8.53535336e-01 5.11977973e-01 -9.67263461e-02 7.58451989e+01] [ 1.11492458e-01 1.87578541e-03 9.93763510e-01 1.94964668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45710568099997 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:144.93, Y:75.87, Z:19.50 [[ 5.08066487e-01 -8.59530089e-01 -5.54659537e-02 1.44929840e+02] [ 8.54071140e-01 5.11082061e-01 -9.67347632e-02 7.58705969e+01] [ 1.11494094e-01 1.77582101e-03 9.93763510e-01 1.94966769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48710568099997 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:144.94, Y:75.90, Z:19.50 [[ 5.07031412e-01 -8.60143379e-01 -5.54302749e-02 1.44940663e+02] [ 8.54685845e-01 5.10049544e-01 -9.67552034e-02 7.58962653e+01] [ 1.11495534e-01 1.68245606e-03 9.93763511e-01 1.94993724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51710568099998 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:144.95, Y:75.92, Z:19.50 [[ 5.06254298e-01 -8.60603384e-01 -5.53931472e-02 1.44952344e+02] [ 8.55146269e-01 5.09273185e-01 -9.67764547e-02 7.59211161e+01] [ 1.11496389e-01 1.62425293e-03 9.93763512e-01 1.95048992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54710568099998 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:144.97, Y:75.95, Z:19.51 [[ 5.06881961e-01 -8.60236275e-01 -5.53554752e-02 1.44965099e+02] [ 8.54774622e-01 5.09892629e-01 -9.67979982e-02 7.59466588e+01] [ 1.11494498e-01 1.74870375e-03 9.93763513e-01 1.95124194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57710568099998 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:144.98, Y:75.97, Z:19.52 [[ 5.06824501e-01 -8.60272228e-01 -5.53228602e-02 1.44980423e+02] [ 8.54808756e-01 5.09831864e-01 -9.68166352e-02 7.59692495e+01] [ 1.11494019e-01 1.77857751e-03 9.93763513e-01 1.95157604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60710568099998 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:144.99, Y:75.99, Z:19.52 [[ 5.05954531e-01 -8.60786561e-01 -5.52857089e-02 1.44994798e+02] [ 8.55323829e-01 5.08963239e-01 -9.68378453e-02 7.59920958e+01] [ 1.11495109e-01 1.70836235e-03 9.93763514e-01 1.95182995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63710568099998 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:145.01, Y:76.02, Z:19.52 [[ 5.03620515e-01 -8.62155227e-01 -5.52697170e-02 1.45009682e+02] [ 8.56699673e-01 5.06642216e-01 -9.68469718e-02 7.60154206e+01] [ 1.11499095e-01 1.42457333e-03 9.93763514e-01 1.95199961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66710568099998 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:145.02, Y:76.04, Z:19.52 [[ 5.02769251e-01 -8.62654246e-01 -5.52334253e-02 1.45023830e+02] [ 8.57199418e-01 5.05792262e-01 -9.68676652e-02 7.60390895e+01] [ 1.11499942e-01 1.35602351e-03 9.93763515e-01 1.95203492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69710568099998 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:145.04, Y:76.06, Z:19.52 [[ 5.02367213e-01 -8.62890748e-01 -5.51972950e-02 1.45039221e+02] [ 8.57435082e-01 5.05388710e-01 -9.68882488e-02 7.60644010e+01] [ 1.11500063e-01 1.34538232e-03 9.93763516e-01 1.95186715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72710568099998 meters Centerline goodness : 0.996153 Centerline is valid? [True, True] Translation: X:145.05, Y:76.09, Z:19.52 [[ 5.03271565e-01 -8.62365506e-01 -5.51676180e-02 1.45054452e+02] [ 8.56904836e-01 5.06284007e-01 -9.69051438e-02 7.60870876e+01] [ 1.11498136e-01 1.49620478e-03 9.93763517e-01 1.95193238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75710568099998 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:145.07, Y:76.11, Z:19.52 [[ 5.04696722e-01 -8.61533174e-01 -5.51526010e-02 1.45069279e+02] [ 8.56066603e-01 5.07698442e-01 -9.69136898e-02 7.61098662e+01] [ 1.11495248e-01 1.69772176e-03 9.93763517e-01 1.95232235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78710568099999 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:145.08, Y:76.13, Z:19.53 [[ 5.06060111e-01 -8.60733740e-01 -5.51415773e-02 1.45083896e+02] [ 8.55261745e-01 5.09051932e-01 -9.69199617e-02 7.61335460e+01] [ 1.11492208e-01 1.88684501e-03 9.93763517e-01 1.95283093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.817105681 meters Centerline goodness : 0.996701 Centerline is valid? [True, True] Translation: X:145.10, Y:76.16, Z:19.53 [[ 5.10730298e-01 -8.57973153e-01 -5.51056416e-02 1.45096970e+02] [ 8.52482793e-01 5.13688280e-01 -9.69403894e-02 7.61570429e+01] [ 1.11479374e-01 2.53378268e-03 9.93763518e-01 1.95340519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.847105681 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:145.11, Y:76.18, Z:19.54 [[ 5.16087798e-01 -8.54762796e-01 -5.50812760e-02 1.45111376e+02] [ 8.49252575e-01 5.19008614e-01 -9.69542320e-02 7.61808715e+01] [ 1.11460527e-01 3.25898070e-03 9.93763518e-01 1.95384283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.877105681 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:145.13, Y:76.20, Z:19.54 [[ 5.18326296e-01 -8.53408292e-01 -5.50648549e-02 1.45126283e+02] [ 8.47889453e-01 5.21230797e-01 -9.69635574e-02 7.62043976e+01] [ 1.11451002e-01 3.56985184e-03 9.93763518e-01 1.95416596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.907105681 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:145.14, Y:76.23, Z:19.54 [[ 5.18022771e-01 -8.53594804e-01 -5.50301733e-02 1.45139994e+02] [ 8.48074928e-01 5.20925300e-01 -9.69832365e-02 7.62290569e+01] [ 1.11450996e-01 3.56981465e-03 9.93763519e-01 1.95448357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93710568099996 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:145.16, Y:76.25, Z:19.55 [[ 5.20630518e-01 -8.52009016e-01 -5.49954523e-02 1.45155888e+02] [ 8.46478234e-01 5.23512208e-01 -9.70029216e-02 7.62507203e+01] [ 1.11438154e-01 3.95022796e-03 9.93763520e-01 1.95450471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96710568099996 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:145.17, Y:76.27, Z:19.55 [[ 5.20555629e-01 -8.52055971e-01 -5.49768950e-02 1.45170565e+02] [ 8.46524344e-01 5.23435695e-01 -9.70134379e-02 7.62745323e+01] [ 1.11437748e-01 3.96161117e-03 9.93763520e-01 1.95472199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99710568099997 meters Centerline goodness : 0.996293 Centerline is valid? [True, True] Translation: X:145.19, Y:76.30, Z:19.55 [[ 5.19833288e-01 -8.52499064e-01 -5.49426862e-02 1.45185577e+02] [ 8.46967854e-01 5.22714155e-01 -9.70328080e-02 7.62988128e+01] [ 1.11439698e-01 3.90619460e-03 9.93763521e-01 1.95524777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02710568099997 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:145.20, Y:76.32, Z:19.56 [[ 5.18611186e-01 -8.53244990e-01 -5.49128870e-02 1.45199990e+02] [ 8.47716148e-01 5.21496592e-01 -9.70496691e-02 7.63211272e+01] [ 1.11444027e-01 3.78050297e-03 9.93763521e-01 1.95564179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05710568099997 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:145.21, Y:76.34, Z:19.56 [[ 5.17028493e-01 -8.54206194e-01 -5.48936680e-02 1.45214661e+02] [ 8.48681568e-01 5.19921963e-01 -9.70605386e-02 7.63445497e+01] [ 1.11450137e-01 3.59581975e-03 9.93763522e-01 1.95591947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08710568099997 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:145.23, Y:76.37, Z:19.56 [[ 5.12844894e-01 -8.56726883e-01 -5.48558343e-02 1.45232355e+02] [ 8.51214207e-01 5.15761064e-01 -9.70819166e-02 7.63668577e+01] [ 1.11465191e-01 3.09389967e-03 9.93763523e-01 1.95589269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11710568099997 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:145.25, Y:76.39, Z:19.56 [[ 5.09392461e-01 -8.58786527e-01 -5.48180749e-02 1.45248591e+02] [ 8.53283357e-01 5.12326531e-01 -9.71032331e-02 7.63898514e+01] [ 1.11475703e-01 2.68830392e-03 9.93763524e-01 1.95612752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14710568099997 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:145.27, Y:76.41, Z:19.56 [[ 5.02363812e-01 -8.62919287e-01 -5.47805026e-02 1.45266092e+02] [ 8.57437962e-01 5.05338488e-01 -9.71244250e-02 7.64112050e+01] [ 1.11493236e-01 1.82091392e-03 9.93763525e-01 1.95629167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17710568099997 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:145.28, Y:76.43, Z:19.56 [[ 4.97862645e-01 -8.65525058e-01 -5.47645976e-02 1.45281936e+02] [ 8.60058320e-01 5.00864044e-01 -9.71333923e-02 7.64349270e+01] [ 1.11501003e-01 1.25833981e-03 9.93763525e-01 1.95646999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20710568099997 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:145.30, Y:76.45, Z:19.57 [[ 4.87741066e-01 -8.71270891e-01 -5.47328636e-02 1.45301777e+02] [ 8.65837512e-01 4.90802439e-01 -9.71512707e-02 7.64548543e+01] [ 1.11508097e-01 -5.10214344e-06 9.93763525e-01 1.95690413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23710568099997 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:145.32, Y:76.48, Z:19.57 [[ 4.82490775e-01 -8.74191604e-01 -5.46963574e-02 1.45318128e+02] [ 8.68774424e-01 4.85580722e-01 -9.71718195e-02 7.64770092e+01] [ 1.11506285e-01 -6.34289859e-04 9.93763526e-01 1.95736659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26710568099998 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:145.34, Y:76.50, Z:19.58 [[ 4.75034117e-01 -8.78266548e-01 -5.46850841e-02 1.45335762e+02] [ 8.72875134e-01 4.78168804e-01 -9.71781634e-02 7.64990451e+01] [ 1.11497031e-01 -1.57030706e-03 9.93763526e-01 1.95849624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29710568099998 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:145.35, Y:76.52, Z:19.59 [[ 4.70627276e-01 -8.80637755e-01 -5.46544669e-02 1.45352554e+02] [ 8.75260132e-01 4.73785562e-01 -9.71953799e-02 7.65220707e+01] [ 1.11488419e-01 -2.09407901e-03 9.93763527e-01 1.95871404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32710568099998 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:145.37, Y:76.55, Z:19.59 [[ 4.69647613e-01 -8.81162762e-01 -5.46196542e-02 1.45367265e+02] [ 8.75786397e-01 4.72808039e-01 -9.72149393e-02 7.65458332e+01] [ 1.11486796e-01 -2.17838598e-03 9.93763528e-01 1.95888420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35710568099998 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:145.38, Y:76.57, Z:19.59 [[ 4.72368657e-01 -8.79709252e-01 -5.45846561e-02 1.45379566e+02] [ 8.74320891e-01 4.75508585e-01 -9.72345864e-02 7.65698179e+01] [ 1.11493638e-01 -1.79393418e-03 9.93763528e-01 1.95909978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38710568099998 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:145.39, Y:76.59, Z:19.60 [[ 4.76056387e-01 -8.77720270e-01 -5.45659571e-02 1.45391070e+02] [ 8.72317585e-01 4.79171603e-01 -9.72450788e-02 7.65949845e+01] [ 1.11500434e-01 -1.30470307e-03 9.93763529e-01 1.95966036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41710568099998 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:145.40, Y:76.62, Z:19.60 [[ 4.88481818e-01 -8.70868535e-01 -5.45298777e-02 1.45400752e+02] [ 8.65419880e-01 4.91515911e-01 -9.72653060e-02 7.66207699e+01] [ 1.11507597e-01 3.21093247e-04 9.93763530e-01 1.96043160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44710568099998 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:145.41, Y:76.65, Z:19.61 [[ 5.01180019e-01 -8.63625546e-01 -5.44931683e-02 1.45411105e+02] [ 8.58130832e-01 5.04129879e-01 -9.72858684e-02 7.66464412e+01] [ 1.11490195e-01 1.99546552e-03 9.93763530e-01 1.96058048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47710568099998 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:145.42, Y:76.67, Z:19.61 [[ 5.05964527e-01 -8.60833553e-01 -5.44563191e-02 1.45423180e+02] [ 8.55320354e-01 5.08879690e-01 -9.73064907e-02 7.66718050e+01] [ 1.11476407e-01 2.65603443e-03 9.93763531e-01 1.96078961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50710568099998 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:145.44, Y:76.70, Z:19.61 [[ 5.13403727e-01 -8.56420000e-01 -5.44187187e-02 1.45436827e+02] [ 8.50879545e-01 5.16266748e-01 -9.73275143e-02 7.66968891e+01] [ 1.11447805e-01 3.66453398e-03 9.93763532e-01 1.96118491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53710568099999 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:145.45, Y:76.72, Z:19.62 [[ 5.16168916e-01 -8.54758340e-01 -5.43859353e-02 1.45449809e+02] [ 8.49206753e-01 5.19010289e-01 -9.73458300e-02 7.67208310e+01] [ 1.11434020e-01 4.06198805e-03 9.93763533e-01 1.96172106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.567105681 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:145.46, Y:76.75, Z:19.62 [[ 5.20693797e-01 -8.52011886e-01 -5.43480989e-02 1.45461870e+02] [ 8.46443136e-01 5.23501381e-01 -9.73669496e-02 7.67455546e+01] [ 1.11409103e-01 4.69579142e-03 9.93763534e-01 1.96213334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.597105681 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:145.48, Y:76.77, Z:19.62 [[ 5.22434651e-01 -8.50948010e-01 -5.43094840e-02 1.45476046e+02] [ 8.45371323e-01 5.25226436e-01 -9.73884837e-02 7.67690000e+01] [ 1.11397313e-01 4.96743822e-03 9.93763535e-01 1.96225626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.627105681 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:145.49, Y:76.79, Z:19.62 [[ 5.25832951e-01 -8.48853344e-01 -5.42927940e-02 1.45492041e+02] [ 8.43264594e-01 5.28600507e-01 -9.73977872e-02 7.67920382e+01] [ 1.11375636e-01 5.43177501e-03 9.93763535e-01 1.96207934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65710568099996 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:145.51, Y:76.82, Z:19.62 [[ 5.26759532e-01 -8.48279394e-01 -5.42813408e-02 1.45507080e+02] [ 8.42686978e-01 5.29519673e-01 -9.74041699e-02 7.68172394e+01] [ 1.11368988e-01 5.56639592e-03 9.93763535e-01 1.96208388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68710568099996 meters Centerline goodness : 0.996750 Centerline is valid? [True, True] Translation: X:145.53, Y:76.84, Z:19.62 [[ 5.24594431e-01 -8.49622069e-01 -5.42496414e-02 1.45527424e+02] [ 8.44034912e-01 5.27365202e-01 -9.74218219e-02 7.68393960e+01] [ 1.11381103e-01 5.31835394e-03 9.93763536e-01 1.96203790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71710568099996 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:145.55, Y:76.86, Z:19.62 [[ 5.21486384e-01 -8.51535342e-01 -5.42172695e-02 1.45545221e+02] [ 8.45956501e-01 5.24273857e-01 -9.74398343e-02 7.68607868e+01] [ 1.11398160e-01 4.94809521e-03 9.93763536e-01 1.96231610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74710568099997 meters Centerline goodness : 0.997481 Centerline is valid? [True, True] Translation: X:145.57, Y:76.88, Z:19.63 [[ 5.13673163e-01 -8.56273611e-01 -5.41791988e-02 1.45565506e+02] [ 8.50718300e-01 5.16507239e-01 -9.74609981e-02 7.68816352e+01] [ 1.11437229e-01 3.97186324e-03 9.93763537e-01 1.96264813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77710568099997 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:145.59, Y:76.90, Z:19.63 [[ 5.05554772e-01 -8.61092482e-01 -5.41674228e-02 1.45586330e+02] [ 8.55563519e-01 5.08439911e-01 -9.74675427e-02 7.69024700e+01] [ 1.11469448e-01 2.93151048e-03 9.93763537e-01 1.96339043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80710568099997 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:145.60, Y:76.92, Z:19.64 [[ 5.01904640e-01 -8.63227188e-01 -5.41345823e-02 1.45603714e+02] [ 8.57708538e-01 5.04809456e-01 -9.74857793e-02 7.69247619e+01] [ 1.11480024e-01 2.49687156e-03 9.93763538e-01 1.96379884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83710568099997 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:145.62, Y:76.94, Z:19.64 [[ 4.96237160e-01 -8.66499960e-01 -5.40971371e-02 1.45621990e+02] [ 8.60998214e-01 4.99173865e-01 -9.75065542e-02 7.69447563e+01] [ 1.11493302e-01 1.80883716e-03 9.93763539e-01 1.96406921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86710568099997 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:145.64, Y:76.97, Z:19.64 [[ 4.93045044e-01 -8.68321468e-01 -5.40778401e-02 1.45637327e+02] [ 8.62829401e-01 4.95999809e-01 -9.75172553e-02 7.69689360e+01] [ 1.11498925e-01 1.42044909e-03 9.93763539e-01 1.96422311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89710568099997 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:145.65, Y:76.99, Z:19.64 [[ 4.87013573e-01 -8.71720646e-01 -5.40453096e-02 1.45654684e+02] [ 8.66247206e-01 4.90002702e-01 -9.75352809e-02 7.69925808e+01] [ 1.11505866e-01 6.84407253e-04 9.93763540e-01 1.96426555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92710568099997 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:145.67, Y:77.02, Z:19.65 [[ 4.84079510e-01 -8.73355408e-01 -5.40125857e-02 1.45670326e+02] [ 8.67890041e-01 4.87083372e-01 -9.75533993e-02 7.70167014e+01] [ 1.11507421e-01 3.46616444e-04 9.93763541e-01 1.96475604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95710568099997 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:145.69, Y:77.04, Z:19.65 [[ 4.76566775e-01 -8.77479509e-01 -5.39798159e-02 1.45686542e+02] [ 8.72038080e-01 4.79613786e-01 -9.75715287e-02 7.70385376e+01] [ 1.11506481e-01 -5.73106219e-04 9.93763541e-01 1.96536378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98710568099997 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:145.70, Y:77.06, Z:19.66 [[ 4.68336989e-01 -8.81900802e-01 -5.39577637e-02 1.45701547e+02] [ 8.76486722e-01 4.71432332e-01 -9.75837223e-02 7.70585347e+01] [ 1.11496597e-01 -1.59119674e-03 9.93763542e-01 1.96561673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01710568099998 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:145.72, Y:77.08, Z:19.66 [[ 4.61769038e-01 -8.85405812e-01 -5.31592270e-02 1.45715870e+02] [ 8.79964134e-01 4.64816369e-01 -9.80248191e-02 7.70847374e+01] [ 1.11501023e-01 -1.51338681e-03 9.93763167e-01 1.96613304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:145.73, Y:77.11, Z:19.66 [[ 4.56122511e-01 -8.88281520e-01 -5.39276962e-02 1.45729288e+02] [ 8.82908732e-01 4.59288971e-01 -9.76002610e-02 7.71089445e+01] [ 1.11464904e-01 -3.09555778e-03 9.93763550e-01 1.96640489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07710568099998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:145.74, Y:77.13, Z:19.67 [[ 4.54917107e-01 -8.88900141e-01 -5.39162866e-02 1.45740645e+02] [ 8.83530914e-01 4.58089601e-01 -9.76065635e-02 7.71346089e+01] [ 1.11460978e-01 -3.23381055e-03 9.93763550e-01 1.96685431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10710568099998 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:145.75, Y:77.16, Z:19.67 [[ 4.57903449e-01 -8.87367678e-01 -5.38798283e-02 1.45751086e+02] [ 8.81985468e-01 4.61053864e-01 -9.76266848e-02 7.71607986e+01] [ 1.11472268e-01 -2.81762985e-03 9.93763551e-01 1.96746613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13710568099998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:145.76, Y:77.19, Z:19.68 [[ 4.61615180e-01 -8.85444422e-01 -5.38479439e-02 1.45762172e+02] [ 8.80047032e-01 4.64739516e-01 -9.76442682e-02 7.71865277e+01] [ 1.11483840e-01 -2.31464687e-03 9.93763551e-01 1.96811514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16710568099998 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:145.77, Y:77.22, Z:19.69 [[ 4.72613583e-01 -8.79625037e-01 -5.38163154e-02 1.45765869e+02] [ 8.74187159e-01 4.75666904e-01 -9.76616971e-02 7.72159134e+01] [ 1.11504314e-01 -8.89287348e-04 9.93763552e-01 1.96905658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19710568099998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:145.77, Y:77.24, Z:19.70 [[ 4.78073332e-01 -8.76671585e-01 -5.37849567e-02 1.45774468e+02] [ 8.71212898e-01 4.81089292e-01 -9.76789642e-02 7.72433977e+01] [ 1.11507739e-01 -1.60440078e-04 9.93763553e-01 1.96956448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22710568099998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:145.78, Y:77.27, Z:19.70 [[ 4.89216689e-01 -8.70504203e-01 -5.37537282e-02 1.45782210e+02] [ 8.65005615e-01 4.92159272e-01 -9.76961467e-02 7.72699132e+01] [ 1.11500302e-01 1.29730871e-03 9.93763553e-01 1.96961910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25710568099998 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:145.79, Y:77.30, Z:19.69 [[ 4.98684089e-01 -8.65116683e-01 -5.37336476e-02 1.45791140e+02] [ 8.59585140e-01 5.01564246e-01 -9.77071899e-02 7.72992069e+01] [ 1.11478996e-01 2.53637603e-03 9.93763553e-01 1.96915093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28710568099999 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:145.80, Y:77.33, Z:19.69 [[ 5.02691504e-01 -8.62796122e-01 -5.37038550e-02 1.45801136e+02] [ 8.57249546e-01 5.05542601e-01 -9.77235625e-02 7.73262852e+01] [ 1.11465097e-01 3.08719927e-03 9.93763554e-01 1.96903965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.317105681 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:145.81, Y:77.35, Z:19.69 [[ 5.08836284e-01 -8.59188553e-01 -5.36718351e-02 1.45811653e+02] [ 8.53619937e-01 5.11644088e-01 -9.77411454e-02 7.73515917e+01] [ 1.11438950e-01 3.91889283e-03 9.93763555e-01 1.96932155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.347105681 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:145.83, Y:77.38, Z:19.70 [[ 5.09860815e-01 -8.58581651e-01 -5.36609500e-02 1.45826003e+02] [ 8.53009068e-01 5.12660736e-01 -9.77471211e-02 7.73762710e+01] [ 1.11433747e-01 4.06414984e-03 9.93763555e-01 1.96996250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.377105681 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:145.84, Y:77.40, Z:19.70 [[ 5.07775851e-01 -8.59818456e-01 -5.36274853e-02 1.45840127e+02] [ 8.54250766e-01 5.10585488e-01 -9.77654776e-02 7.74001955e+01] [ 1.11441978e-01 3.83162821e-03 9.93763555e-01 1.97029622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40710568099996 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:145.85, Y:77.42, Z:19.71 [[ 5.05606111e-01 -8.61098515e-01 -5.35892486e-02 1.45853492e+02] [ 8.55535728e-01 5.08425443e-01 -9.77864324e-02 7.74235318e+01] [ 1.11449889e-01 3.59390099e-03 9.93763556e-01 1.97054429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43710568099996 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:145.87, Y:77.45, Z:19.71 [[ 5.01951044e-01 -8.63235842e-01 -5.35633209e-02 1.45868696e+02] [ 8.57683557e-01 5.04790999e-01 -9.78006324e-02 7.74464983e+01] [ 1.11463294e-01 3.15074998e-03 9.93763557e-01 1.97071006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46710568099996 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:145.88, Y:77.47, Z:19.71 [[ 5.00970853e-01 -8.63807367e-01 -5.35260391e-02 1.45882816e+02] [ 8.58256148e-01 5.03812892e-01 -9.78210325e-02 7.74699837e+01] [ 1.11465637e-01 3.06643399e-03 9.93763558e-01 1.97103543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49710568099997 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:145.90, Y:77.49, Z:19.71 [[ 4.99396326e-01 -8.64720926e-01 -5.34886017e-02 1.45896031e+02] [ 8.59172721e-01 5.02244241e-01 -9.78414992e-02 7.74939383e+01] [ 1.11469934e-01 2.90573773e-03 9.93763559e-01 1.97110274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52710568099997 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:145.91, Y:77.52, Z:19.71 [[ 4.95730311e-01 -8.66829057e-01 -5.34681627e-02 1.45910662e+02] [ 8.61291766e-01 4.98599388e-01 -9.78526674e-02 7.75181907e+01] [ 1.11480729e-01 2.45684500e-03 9.93763559e-01 1.97099864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55710568099997 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:145.93, Y:77.54, Z:19.71 [[ 4.92240118e-01 -8.68816454e-01 -5.34568503e-02 1.45925278e+02] [ 8.63290080e-01 4.95130168e-01 -9.78588470e-02 7.75417428e+01] [ 1.11489476e-01 2.02128183e-03 9.93763559e-01 1.97126941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58710568099997 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:145.94, Y:77.56, Z:19.72 [[ 4.84696559e-01 -8.73049508e-01 -5.34209968e-02 1.45941223e+02] [ 8.67546229e-01 4.87630347e-01 -9.78784155e-02 7.75610640e+01] [ 1.11502402e-01 1.09614682e-03 9.93763560e-01 1.97218902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61710568099997 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:145.96, Y:77.59, Z:19.73 [[ 4.76839714e-01 -8.77426514e-01 -5.24080133e-02 1.45956291e+02] [ 8.71888822e-01 4.79709464e-01 -9.84312551e-02 7.75882102e+01] [ 1.11506813e-01 1.24197048e-03 9.93762893e-01 1.97267205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64710568099997 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:145.97, Y:77.61, Z:19.73 [[ 4.68786827e-01 -8.81693784e-01 -5.34320354e-02 1.45971721e+02] [ 8.76245299e-01 4.71821143e-01 -9.78722907e-02 7.76106084e+01] [ 1.11503754e-01 -9.38329306e-04 9.93763570e-01 1.97314378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67710568099997 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:145.98, Y:77.64, Z:19.74 [[ 4.65718326e-01 -8.83319461e-01 -5.34150791e-02 1.45984754e+02] [ 8.77880505e-01 4.68769689e-01 -9.78815440e-02 7.76353964e+01] [ 1.11500043e-01 -1.30682788e-03 9.93763570e-01 1.97375744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70710568099997 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:146.00, Y:77.66, Z:19.74 [[ 4.67520465e-01 -8.82368927e-01 -5.33825017e-02 1.45997048e+02] [ 8.76921738e-01 4.70557106e-01 -9.78993079e-02 7.76570085e+01] [ 1.11502823e-01 -1.04234626e-03 9.93763571e-01 1.97439292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73710568099997 meters Centerline goodness : 0.997728 Centerline is valid? [True, True] Translation: X:146.01, Y:77.68, Z:19.75 [[ 4.70082493e-01 -8.81050006e-01 -5.26624740e-02 1.46012291e+02] [ 8.75550028e-01 4.73023125e-01 -9.82917694e-02 7.76832150e+01] [ 1.11510532e-01 9.66094415e-05 9.93763247e-01 1.97465426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76710568099998 meters Centerline goodness : 0.997435 Centerline is valid? [True, True] Translation: X:146.03, Y:77.71, Z:19.75 [[ 4.73165051e-01 -8.79355242e-01 -5.33778378e-02 1.46025771e+02] [ 8.73888429e-01 4.76166205e-01 -9.79017822e-02 7.77065248e+01] [ 1.11507168e-01 -3.22573038e-04 9.93763577e-01 1.97482543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79710568099998 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:146.04, Y:77.73, Z:19.75 [[ 4.81454807e-01 -8.74845027e-01 -5.33614833e-02 1.46038475e+02] [ 8.69349112e-01 4.84402329e-01 -9.79106954e-02 7.77311484e+01] [ 1.11505112e-01 7.49816810e-04 9.93763577e-01 1.97500095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82710568099998 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:146.05, Y:77.76, Z:19.75 [[ 4.81124964e-01 -8.75028717e-01 -5.33246142e-02 1.46051772e+02] [ 8.69531702e-01 4.84070432e-01 -9.79307713e-02 7.77560554e+01] [ 1.11505106e-01 7.49496259e-04 9.93763578e-01 1.97531855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85710568099998 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:146.06, Y:77.78, Z:19.76 [[ 4.86317720e-01 -8.72155676e-01 -5.32874541e-02 1.46063386e+02] [ 8.66639049e-01 4.89226290e-01 -9.79509872e-02 7.77807596e+01] [ 1.11498133e-01 1.45431218e-03 9.93763579e-01 1.97567104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88710568099998 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:146.07, Y:77.81, Z:19.76 [[ 4.98302570e-01 -8.65366401e-01 -5.32497994e-02 1.46074562e+02] [ 8.59808009e-01 5.01130504e-01 -9.79714536e-02 7.78056198e+01] [ 1.11466303e-01 3.03482309e-03 9.93763580e-01 1.97599766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91710568099998 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:146.09, Y:77.83, Z:19.76 [[ 5.03041797e-01 -8.62621290e-01 -5.32302659e-02 1.46087857e+02] [ 8.57046359e-01 5.05836984e-01 -9.79820655e-02 7.78303837e+01] [ 1.11447253e-01 3.66826870e-03 9.93763580e-01 1.97608647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94710568099998 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:146.10, Y:77.85, Z:19.76 [[ 5.08276464e-01 -8.59549603e-01 -5.31931955e-02 1.46101380e+02] [ 8.53955703e-01 5.11033491e-01 -9.80021865e-02 7.78535659e+01] [ 1.11421245e-01 4.38757220e-03 9.93763581e-01 1.97610394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97710568099998 meters Centerline goodness : 0.997632 Centerline is valid? [True, True] Translation: X:146.12, Y:77.87, Z:19.76 [[ 5.11433861e-01 -8.57675916e-01 -5.31735824e-02 1.46117490e+02] [ 8.52070824e-01 5.14168063e-01 -9.80128270e-02 7.78737984e+01] [ 1.11403399e-01 4.81942037e-03 9.93763581e-01 1.97636928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00710568099998 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:146.13, Y:77.90, Z:19.77 [[ 5.09190690e-01 -8.59063511e-01 -5.22946030e-02 1.46133343e+02] [ 8.53416974e-01 5.11839240e-01 -9.84888869e-02 7.78988557e+01] [ 1.11374639e-01 5.52052237e-03 9.93763158e-01 1.97650222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03710568099999 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:146.15, Y:77.92, Z:19.77 [[ 5.05317756e-01 -8.61297130e-01 -5.31151537e-02 1.46151225e+02] [ 8.55708354e-01 5.08085136e-01 -9.80444122e-02 7.79210626e+01] [ 1.11432391e-01 4.09250165e-03 9.93763590e-01 1.97715118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.067105681 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:146.17, Y:77.94, Z:19.77 [[ 5.02783475e-01 -8.62780927e-01 -5.30834196e-02 1.46165927e+02] [ 8.57198517e-01 5.05563672e-01 -9.80615908e-02 7.79445193e+01] [ 1.11442719e-01 3.80071880e-03 9.93763591e-01 1.97744507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.097105681 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:146.18, Y:77.97, Z:19.78 [[ 4.96388192e-01 -8.66478362e-01 -5.30472519e-02 1.46183198e+02] [ 8.60914597e-01 4.99205513e-01 -9.80811522e-02 7.79667696e+01] [ 1.11466677e-01 3.01717229e-03 9.93763592e-01 1.97751191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.127105681 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:146.20, Y:77.99, Z:19.78 [[ 4.92394233e-01 -8.68756427e-01 -5.30112200e-02 1.46198763e+02] [ 8.63203611e-01 4.95233071e-01 -9.81006231e-02 7.79902588e+01] [ 1.11478456e-01 2.54470451e-03 9.93763593e-01 1.97772119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15710568099996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:146.22, Y:78.01, Z:19.78 [[ 4.83404123e-01 -8.73793035e-01 -5.29734389e-02 1.46216441e+02] [ 8.68267585e-01 4.86295863e-01 -9.81210204e-02 7.80108261e+01] [ 1.11498228e-01 1.43698598e-03 9.93763594e-01 1.97801498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18710568099996 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:146.23, Y:78.03, Z:19.78 [[ 4.77638447e-01 -8.76959245e-01 -5.29527790e-02 1.46232539e+02] [ 8.71451732e-01 4.80564205e-01 -9.81321687e-02 7.80344407e+01] [ 1.11505123e-01 7.25905630e-04 9.93763594e-01 1.97846788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21710568099996 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:146.25, Y:78.06, Z:19.79 [[ 4.65478908e-01 -8.83475408e-01 -5.29205926e-02 1.46250481e+02] [ 8.78006876e-01 4.68476891e-01 -9.81495232e-02 7.80552326e+01] [ 1.11504765e-01 -7.78111302e-04 9.93763595e-01 1.97888988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24710568099997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:146.27, Y:78.08, Z:19.79 [[ 4.57991900e-01 -8.87380859e-01 -5.29020951e-02 1.46266908e+02] [ 8.81936728e-01 4.61033970e-01 -9.81594923e-02 7.80759255e+01] [ 1.11494517e-01 -1.70004832e-03 9.93763595e-01 1.97944554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27710568099997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:146.28, Y:78.10, Z:19.80 [[ 4.55481281e-01 -8.88724932e-01 -5.20076653e-02 1.46280603e+02] [ 8.83234361e-01 4.58439727e-01 -9.86411709e-02 7.80979306e+01] [ 1.11507248e-01 -1.00575008e-03 9.93763112e-01 1.97986417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:146.30, Y:78.13, Z:19.80 [[ 4.47919462e-01 -8.92602180e-01 -5.12786846e-02 1.46296491e+02] [ 8.87091980e-01 4.50843733e-01 -9.90340678e-02 7.81264311e+01] [ 1.11516698e-01 -1.12962349e-03 9.93761918e-01 1.98026321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33710568099997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:146.31, Y:78.15, Z:19.81 [[ 4.47836390e-01 -8.92546342e-01 -5.29489862e-02 1.46309207e+02] [ 8.87140366e-01 4.50945532e-01 -9.81330628e-02 7.81495245e+01] [ 1.11465415e-01 -3.02562644e-03 9.93763708e-01 1.98057569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36710568099997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:146.32, Y:78.18, Z:19.81 [[ 4.52146540e-01 -8.90372152e-01 -5.29238855e-02 1.46318702e+02] [ 8.84949636e-01 4.55226743e-01 -9.81465979e-02 7.81755243e+01] [ 1.11479366e-01 -2.45832857e-03 9.93763708e-01 1.98117434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:146.33, Y:78.20, Z:19.81 [[ 4.56212568e-01 -8.88297775e-01 -5.28881525e-02 1.46329336e+02] [ 8.82859017e-01 4.59264001e-01 -9.81658497e-02 7.82013307e+01] [ 1.11490130e-01 -1.90828795e-03 9.93763709e-01 1.98141985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42710568099997 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:146.34, Y:78.23, Z:19.82 [[ 4.65006933e-01 -8.83727988e-01 -5.28525855e-02 1.46339642e+02] [ 8.78257049e-01 4.68000281e-01 -9.81849954e-02 7.82272407e+01] [ 1.11503853e-01 -7.61452270e-04 9.93763710e-01 1.98168860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45710568099997 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:146.35, Y:78.25, Z:19.82 [[ 4.73602089e-01 -8.79153872e-01 -5.28160172e-02 1.46349379e+02] [ 8.73651824e-01 4.76537863e-01 -9.82046625e-02 7.82523069e+01] [ 1.11505841e-01 3.67123492e-04 9.93763711e-01 1.98184337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48710568099997 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:146.36, Y:78.28, Z:19.82 [[ 4.79697159e-01 -8.75844289e-01 -5.27959914e-02 1.46359616e+02] [ 8.70320805e-01 4.82592401e-01 -9.82154275e-02 7.82756818e+01] [ 1.11500366e-01 1.16421184e-03 9.93763711e-01 1.98219625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51710568099998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:146.37, Y:78.31, Z:19.82 [[ 4.84197190e-01 -8.73433780e-01 -5.16382939e-02 1.46368777e+02] [ 8.67828973e-01 4.86933436e-01 -9.88367451e-02 7.83050423e+01] [ 1.11471764e-01 3.04326667e-03 9.93762942e-01 1.98241213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54710568099998 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:146.38, Y:78.33, Z:19.83 [[ 4.88520771e-01 -8.70955723e-01 -5.27596911e-02 1.46379842e+02] [ 8.65401222e-01 4.91355975e-01 -9.82345692e-02 7.83307902e+01] [ 1.11481750e-01 2.33132632e-03 9.93763747e-01 1.98268024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57710568099998 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:146.39, Y:78.35, Z:19.83 [[ 4.90782685e-01 -8.69685398e-01 -5.27225252e-02 1.46391343e+02] [ 8.64121423e-01 4.93599247e-01 -9.82545122e-02 7.83538640e+01] [ 1.11474313e-01 2.66294973e-03 9.93763748e-01 1.98278216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60710568099998 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:146.40, Y:78.38, Z:19.83 [[ 4.87722145e-01 -8.71461406e-01 -5.17892613e-02 1.46402556e+02] [ 8.65854255e-01 4.90452829e-01 -9.87543981e-02 7.83812398e+01] [ 1.11460836e-01 3.32275460e-03 9.93763272e-01 1.98285659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63710568099998 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:146.42, Y:78.41, Z:19.83 [[ 4.86490987e-01 -8.72096607e-01 -5.26690480e-02 1.46417084e+02] [ 8.66543519e-01 4.89328911e-01 -9.82829907e-02 7.84055686e+01] [ 1.11484751e-01 2.17376695e-03 9.93763767e-01 1.98297094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66710568099998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:146.43, Y:78.43, Z:19.83 [[ 4.83313315e-01 -8.73863783e-01 -5.26339058e-02 1.46433701e+02] [ 8.68319027e-01 4.86167483e-01 -9.83018070e-02 7.84275133e+01] [ 1.11491282e-01 1.80755037e-03 9.93763768e-01 1.98312989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69710568099998 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:146.45, Y:78.45, Z:19.83 [[ 4.84572006e-01 -8.73167881e-01 -5.26100992e-02 1.46448014e+02] [ 8.67617646e-01 4.87415501e-01 -9.83145465e-02 7.84471796e+01] [ 1.11488082e-01 1.99502655e-03 9.93763768e-01 1.98346929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72710568099998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:146.46, Y:78.48, Z:19.84 [[ 4.79413017e-01 -8.76093870e-01 -5.12121948e-02 1.46461878e+02] [ 8.70480095e-01 4.82131773e-01 -9.90623896e-02 7.84756761e+01] [ 1.11478979e-01 2.91260290e-03 9.93762524e-01 1.98415883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75710568099998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:146.48, Y:78.50, Z:19.84 [[ 4.78636003e-01 -8.76434046e-01 -5.26397153e-02 1.46475661e+02] [ 8.70905030e-01 4.81520416e-01 -9.82981026e-02 7.84991073e+01] [ 1.11498901e-01 1.20481809e-03 9.93763827e-01 1.98435642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78710568099999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:146.49, Y:78.52, Z:19.84 [[ 4.78254262e-01 -8.76643935e-01 -5.26143689e-02 1.46494447e+02] [ 8.71114693e-01 4.81138241e-01 -9.83116674e-02 7.85213024e+01] [ 1.11499112e-01 1.18482412e-03 9.93763827e-01 1.98435911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.817105681 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:146.51, Y:78.54, Z:19.85 [[ 4.77630885e-01 -8.76985988e-01 -5.25767439e-02 1.46509826e+02] [ 8.71456598e-01 4.80514577e-01 -9.83317852e-02 7.85413339e+01] [ 1.11499490e-01 1.14794720e-03 9.93763828e-01 1.98462301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.847105681 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:146.52, Y:78.57, Z:19.85 [[ 4.74517713e-01 -8.78731038e-01 -5.16207630e-02 1.46523745e+02] [ 8.73156202e-01 4.77313750e-01 -9.88424558e-02 7.85668928e+01] [ 1.11495234e-01 1.82950666e-03 9.93763285e-01 1.98506262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.877105681 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:146.54, Y:78.59, Z:19.86 [[ 4.67563681e-01 -8.82440195e-01 -5.18025699e-02 1.46539025e+02] [ 8.76898286e-01 4.70424009e-01 -9.87453720e-02 7.85870856e+01] [ 1.11506058e-01 7.44164863e-04 9.93763476e-01 1.98554980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90710568099996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:146.56, Y:78.61, Z:19.86 [[ 4.62432743e-01 -8.85179899e-01 -5.11126684e-02 1.46555543e+02] [ 8.79614011e-01 4.65248088e-01 -9.91131086e-02 7.86121549e+01] [ 1.11513003e-01 8.73727459e-04 9.93762591e-01 1.98607852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93710568099996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:146.57, Y:78.64, Z:19.86 [[ 4.52888273e-01 -8.90071143e-01 -5.16291805e-02 1.46574568e+02] [ 8.84566905e-01 4.55820729e-01 -9.88375080e-02 7.86375251e+01] [ 1.11506064e-01 -9.07116138e-04 9.93763339e-01 1.98619385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96710568099996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:146.59, Y:78.66, Z:19.86 [[ 4.53139767e-01 -8.89891058e-01 -5.25191145e-02 1.46588261e+02] [ 8.84440195e-01 4.56169243e-01 -9.83624055e-02 7.86580092e+01] [ 1.11489430e-01 -1.87809839e-03 9.93763845e-01 1.98631725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99710568099997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:146.60, Y:78.69, Z:19.87 [[ 4.52845976e-01 -8.90093081e-01 -5.16219805e-02 1.46601634e+02] [ 8.84588629e-01 4.55777894e-01 -9.88406252e-02 7.86857974e+01] [ 1.11505514e-01 -9.04637609e-04 9.93763403e-01 1.98667626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.61, Y:78.71, Z:19.87 [[ 4.60190109e-01 -8.86269786e-01 -5.24493131e-02 1.46613160e+02] [ 8.80790820e-01 4.63168469e-01 -9.83996933e-02 7.87108821e+01] [ 1.11501543e-01 -9.14307921e-04 9.93763840e-01 1.98745751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05710568099997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:146.62, Y:78.73, Z:19.88 [[ 4.67345073e-01 -8.82519999e-01 -5.24121516e-02 1.46624511e+02] [ 8.77014912e-01 4.70274866e-01 -9.84194834e-02 7.87330869e+01] [ 1.11505280e-01 2.96221439e-05 9.93763841e-01 1.98771323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08710568099997 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:146.64, Y:78.76, Z:19.88 [[ 4.75174987e-01 -8.78392925e-01 -5.13283687e-02 1.46637132e+02] [ 8.72799501e-01 4.77933936e-01 -9.89958801e-02 7.87600338e+01] [ 1.11488850e-01 2.24099147e-03 9.93763158e-01 1.98810658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11710568099997 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:146.65, Y:78.79, Z:19.88 [[ 4.76518262e-01 -8.77641696e-01 -5.17242630e-02 1.46651473e+02] [ 8.72066682e-01 4.79313247e-01 -9.87851899e-02 7.87864797e+01] [ 1.11490126e-01 1.96594066e-03 9.93763597e-01 1.98841735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14710568099997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:146.67, Y:78.81, Z:19.89 [[ 4.79903494e-01 -8.75754855e-01 -5.24029626e-02 1.46665035e+02] [ 8.70208005e-01 4.82753322e-01 -9.84238732e-02 7.88101266e+01] [ 1.11492889e-01 1.63248313e-03 9.93763891e-01 1.98907230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17710568099997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:146.68, Y:78.83, Z:19.90 [[ 4.80525591e-01 -8.75415754e-01 -5.23680628e-02 1.46677389e+02] [ 8.69864871e-01 4.83367554e-01 -9.84424388e-02 7.88343433e+01] [ 1.11491084e-01 1.75097287e-03 9.93763892e-01 1.98951312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:146.69, Y:78.86, Z:19.90 [[ 4.83152768e-01 -8.73970805e-01 -5.23300553e-02 1.46692130e+02] [ 8.68409240e-01 4.85973766e-01 -9.84626388e-02 7.88569793e+01] [ 1.11484506e-01 2.12859292e-03 9.93763893e-01 1.98999640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23710568099997 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:146.71, Y:78.88, Z:19.90 [[ 4.87188114e-01 -8.71729080e-01 -5.23082509e-02 1.46706312e+02] [ 8.66153299e-01 4.89980909e-01 -9.84742210e-02 7.88815049e+01] [ 1.11472886e-01 2.66850597e-03 9.93763893e-01 1.98998845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26710568099998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:146.72, Y:78.91, Z:19.90 [[ 4.92643046e-01 -8.68660096e-01 -5.22729966e-02 1.46720303e+02] [ 8.63064952e-01 4.95396841e-01 -9.84929316e-02 7.89067051e+01] [ 1.11452757e-01 3.40686652e-03 9.93763894e-01 1.98984798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29710568099998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:146.74, Y:78.93, Z:19.90 [[ 4.95441919e-01 -8.67068949e-01 -5.22373597e-02 1.46735384e+02] [ 8.61462983e-01 4.98173613e-01 -9.85118287e-02 7.89310349e+01] [ 1.11439822e-01 3.80633780e-03 9.93763894e-01 1.98990784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:146.75, Y:78.95, Z:19.90 [[ 4.99643464e-01 -8.64656707e-01 -5.22033241e-02 1.46752784e+02] [ 8.59035691e-01 5.02344053e-01 -9.85298616e-02 7.89546424e+01] [ 1.11418535e-01 4.38528277e-03 9.93763895e-01 1.98951867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:146.77, Y:78.98, Z:19.90 [[ 5.00405610e-01 -8.64217873e-01 -5.21698506e-02 1.46766889e+02] [ 8.58592655e-01 5.03097433e-01 -9.85475822e-02 7.89772769e+01] [ 1.11413100e-01 4.52111245e-03 9.93763896e-01 1.98968162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:146.79, Y:79.00, Z:19.90 [[ 4.99723056e-01 -8.64613969e-01 -5.21493157e-02 1.46785597e+02] [ 8.58989759e-01 5.02416984e-01 -9.85584476e-02 7.89978675e+01] [ 1.11415713e-01 4.45620054e-03 9.93763896e-01 1.99024965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41710568099998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:146.80, Y:79.02, Z:19.91 [[ 4.97890749e-01 -8.65671702e-01 -5.21277943e-02 1.46801677e+02] [ 8.60052033e-01 5.00594137e-01 -9.85698291e-02 7.90214670e+01] [ 1.11423980e-01 4.24439062e-03 9.93763896e-01 1.99066199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:146.82, Y:79.04, Z:19.91 [[ 4.93235745e-01 -8.68334567e-01 -5.20920291e-02 1.46821501e+02] [ 8.62727519e-01 4.95965212e-01 -9.85887267e-02 7.90427465e+01] [ 1.11443834e-01 3.68625709e-03 9.93763897e-01 1.99109228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:146.84, Y:79.06, Z:19.91 [[ 4.90488317e-01 -8.69891661e-01 -5.20548628e-02 1.46837270e+02] [ 8.64291208e-01 4.93231287e-01 -9.86083467e-02 7.90645823e+01] [ 1.11453666e-01 3.37568174e-03 9.93763898e-01 1.99128138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:79.09, Z:19.92 [[ 4.85624414e-01 -8.72617814e-01 -5.20296001e-02 1.46857247e+02] [ 8.67031345e-01 4.88395754e-01 -9.86216746e-02 7.90850518e+01] [ 1.11470066e-01 2.78179884e-03 9.93763899e-01 1.99161139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:79.11, Z:19.92 [[ 4.81346338e-01 -8.74987210e-01 -5.19911974e-02 1.46875577e+02] [ 8.69412207e-01 4.84140669e-01 -9.86419156e-02 7.91066059e+01] [ 1.11481468e-01 2.27914313e-03 9.93763899e-01 1.99229615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.567105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.89, Y:79.13, Z:19.93 [[ 4.79895755e-01 -8.75784789e-01 -5.19717977e-02 1.46890592e+02] [ 8.70213325e-01 4.82697136e-01 -9.86521357e-02 7.91291198e+01] [ 1.11484678e-01 2.11619032e-03 9.93763900e-01 1.99273067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.597105681 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:146.91, Y:79.15, Z:19.93 [[ 4.77998061e-01 -8.76823988e-01 -5.19379108e-02 1.46908961e+02] [ 8.71256680e-01 4.80807690e-01 -9.86699732e-02 7.91510184e+01] [ 1.11488346e-01 1.91280425e-03 9.93763900e-01 1.99314435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.627105681 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:146.92, Y:79.17, Z:19.93 [[ 4.77333424e-01 -8.77188164e-01 -5.19011407e-02 1.46923343e+02] [ 8.71620898e-01 4.80143135e-01 -9.86893109e-02 7.91746541e+01] [ 1.11489072e-01 1.86958777e-03 9.93763901e-01 1.99338290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:146.94, Y:79.20, Z:19.94 [[ 4.77291917e-01 -8.77212946e-01 -5.18639908e-02 1.46939037e+02] [ 8.71643707e-01 4.80097714e-01 -9.87088304e-02 7.91982881e+01] [ 1.11488447e-01 1.90600570e-03 9.93763902e-01 1.99369868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:79.22, Z:19.94 [[ 4.77526251e-01 -8.77087666e-01 -5.18257276e-02 1.46953764e+02] [ 8.71515514e-01 4.80326254e-01 -9.87289161e-02 7.92211957e+01] [ 1.11487172e-01 1.97872354e-03 9.93763903e-01 1.99395515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:79.25, Z:19.94 [[ 4.77211992e-01 -8.77260715e-01 -5.17914359e-02 1.46966666e+02] [ 8.71687628e-01 4.80010134e-01 -9.87469017e-02 7.92463590e+01] [ 1.11487192e-01 1.97725181e-03 9.93763904e-01 1.99427272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:146.99, Y:79.27, Z:19.95 [[ 4.77615149e-01 -8.77043388e-01 -5.17558259e-02 1.46985562e+02] [ 8.71467008e-01 4.80406721e-01 -9.87655624e-02 7.92688296e+01] [ 1.11485530e-01 2.06843401e-03 9.93763905e-01 1.99496874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.00, Y:79.29, Z:19.96 [[ 4.76921748e-01 -8.77414626e-01 -5.18577025e-02 1.46997583e+02] [ 8.71846207e-01 4.79729187e-01 -9.87122040e-02 7.92902188e+01] [ 1.11489185e-01 1.86605565e-03 9.93763895e-01 1.99584062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:147.01, Y:79.32, Z:19.97 [[ 4.70967524e-01 -8.80683283e-01 -5.08581038e-02 1.47010383e+02] [ 8.75077453e-01 4.73700302e-01 -9.92344408e-02 7.93162714e+01] [ 1.11485612e-01 2.23141898e-03 9.93763543e-01 1.99677795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.03, Y:79.34, Z:19.98 [[ 4.64329561e-01 -8.84155442e-01 -5.16450609e-02 1.47027364e+02] [ 8.78615432e-01 4.67192565e-01 -9.88232263e-02 7.93387023e+01] [ 1.11503282e-01 5.10397856e-04 9.93763935e-01 1.99757685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.04, Y:79.36, Z:19.98 [[ 4.55586053e-01 -8.88694413e-01 -5.16099618e-02 1.47042927e+02] [ 8.83180848e-01 4.58499659e-01 -9.88415533e-02 7.93622457e+01] [ 1.11503086e-01 -5.50096653e-04 9.93763935e-01 1.99806715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:147.05, Y:79.39, Z:19.98 [[ 4.51128298e-01 -8.90967652e-01 -5.15742342e-02 1.47054550e+02] [ 8.85466635e-01 4.54065524e-01 -9.88601921e-02 7.93870579e+01] [ 1.11499315e-01 -1.06863341e-03 9.93763936e-01 1.99825710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:79.41, Z:19.98 [[ 4.47339088e-01 -8.92878003e-01 -5.15423378e-02 1.47065912e+02] [ 8.87387611e-01 4.50296128e-01 -9.88768191e-02 7.94133747e+01] [ 1.11494252e-01 -1.50656593e-03 9.93763937e-01 1.99790089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.08, Y:79.44, Z:19.98 [[ 4.47196384e-01 -8.92951515e-01 -5.15071456e-02 1.47078607e+02] [ 8.87459500e-01 4.50150404e-01 -9.88951482e-02 7.94383356e+01] [ 1.11494535e-01 -1.48495304e-03 9.93763938e-01 1.99790065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:79.46, Z:19.98 [[ 4.52429742e-01 -8.90313408e-01 -5.14719760e-02 1.47089205e+02] [ 8.84802079e-01 4.55347570e-01 -9.89134496e-02 7.94606984e+01] [ 1.11501610e-01 -7.91124908e-04 9.93763938e-01 1.99795994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:147.10, Y:79.49, Z:19.99 [[ 4.52657004e-01 -8.90258352e-01 -5.04153080e-02 1.47099899e+02] [ 8.84684707e-01 4.55455694e-01 -9.94639625e-02 7.94902769e+01] [ 1.11510562e-01 4.21407252e-04 9.93763159e-01 1.99850936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.11, Y:79.51, Z:19.98 [[ 4.60547041e-01 -8.86138293e-01 -5.15300672e-02 1.47107615e+02] [ 8.80603899e-01 4.63420865e-01 -9.88831376e-02 7.95144327e+01] [ 1.11504243e-01 1.62758322e-04 9.93763944e-01 1.99830042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.12, Y:79.54, Z:19.99 [[ 4.63904027e-01 -8.84466464e-01 -5.01211416e-02 1.47117184e+02] [ 8.78841713e-01 4.66598755e-01 -9.96134811e-02 7.95400773e+01] [ 1.11491246e-01 2.16254503e-03 9.93763063e-01 1.99907428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.12, Y:79.56, Z:19.99 [[ 4.74987296e-01 -8.78559066e-01 -5.02099094e-02 1.47124425e+02] [ 8.72905694e-01 4.77621149e-01 -9.95675015e-02 7.95640893e+01] [ 1.11457246e-01 3.46478253e-03 9.93763190e-01 1.99948044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.13, Y:79.60, Z:20.00 [[ 4.81268340e-01 -8.75149790e-01 -4.99362548e-02 1.47133880e+02] [ 8.69463043e-01 4.83830513e-01 -9.97098346e-02 7.95956682e+01] [ 1.11421725e-01 4.56945849e-03 9.93762708e-01 2.00023867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.15, Y:79.62, Z:20.01 [[ 4.83881902e-01 -8.73616327e-01 -5.15055227e-02 1.47146443e+02] [ 8.68006687e-01 4.86605201e-01 -9.88927219e-02 7.96205201e+01] [ 1.11457152e-01 3.14526029e-03 9.93764263e-01 2.00062688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.16, Y:79.64, Z:20.01 [[ 4.85559361e-01 -8.72687313e-01 -5.14680531e-02 1.47158922e+02] [ 8.67070406e-01 4.88267636e-01 -9.89122189e-02 7.96442936e+01] [ 1.11449623e-01 3.40132818e-03 9.93764264e-01 2.00094668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:79.67, Z:20.01 [[ 4.83813648e-01 -8.73658335e-01 -5.14341015e-02 1.47171689e+02] [ 8.68044995e-01 4.86529308e-01 -9.89298706e-02 7.96681952e+01] [ 1.11455104e-01 3.21650728e-03 9.93764265e-01 2.00103079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:147.19, Y:79.69, Z:20.01 [[ 4.82550790e-01 -8.74380498e-01 -5.10243015e-02 1.47185871e+02] [ 8.68748712e-01 4.85228189e-01 -9.91427313e-02 7.96914443e+01] [ 1.11446900e-01 3.51410704e-03 9.93764177e-01 2.00110171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:79.72, Z:20.01 [[ 4.78484029e-01 -8.76613092e-01 -5.10149152e-02 1.47202432e+02] [ 8.70993287e-01 4.81186498e-01 -9.91476067e-02 7.97163731e+01] [ 1.11461778e-01 3.00689761e-03 9.93764172e-01 2.00122107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:79.74, Z:20.02 [[ 4.76164816e-01 -8.77853464e-01 -5.13844730e-02 1.47215389e+02] [ 8.72261287e-01 4.78923807e-01 -9.89557183e-02 7.97391875e+01] [ 1.11477868e-01 2.29854495e-03 9.93764259e-01 2.00186950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:79.76, Z:20.03 [[ 4.68155884e-01 -8.82152548e-01 -5.13512340e-02 1.47227924e+02] [ 8.76583833e-01 4.70961926e-01 -9.89729642e-02 7.97630327e+01] [ 1.11493729e-01 1.32111405e-03 9.93764259e-01 2.00276416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.377105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.24, Y:79.79, Z:20.03 [[ 4.61121599e-01 -8.85851947e-01 -5.13146946e-02 1.47242751e+02] [ 8.80303641e-01 4.63967781e-01 -9.89919053e-02 7.97869243e+01] [ 1.11500537e-01 4.74793239e-04 9.93764260e-01 2.00308303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.26, Y:79.81, Z:20.03 [[ 4.58324249e-01 -8.87304648e-01 -5.12771323e-02 1.47255744e+02] [ 8.81763186e-01 4.61183732e-01 -9.90113586e-02 7.98100636e+01] [ 1.11501418e-01 1.65019085e-04 9.93764261e-01 2.00325085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:79.83, Z:20.03 [[ 4.52543910e-01 -8.90268087e-01 -5.12517664e-02 1.47268827e+02] [ 8.84743861e-01 4.55436550e-01 -9.90244872e-02 7.98347381e+01] [ 1.11500268e-01 -5.31757093e-04 9.93764261e-01 2.00310025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:79.86, Z:20.03 [[ 4.50870757e-01 -8.91118666e-01 -5.12160437e-02 1.47281950e+02] [ 8.85597799e-01 4.53769800e-01 -9.90429598e-02 7.98581878e+01] [ 1.11499324e-01 -7.01241311e-04 9.93764262e-01 2.00301838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49710568099997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:147.29, Y:79.88, Z:20.03 [[ 4.41442210e-01 -8.95866183e-01 -5.05228453e-02 1.47294055e+02] [ 8.90335263e-01 4.44322594e-01 -9.94009664e-02 7.98842471e+01] [ 1.11498406e-01 -1.10248851e-03 9.93764001e-01 2.00323098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:147.31, Y:79.91, Z:20.04 [[ 4.38478565e-01 -8.97283823e-01 -5.11692145e-02 1.47305289e+02] [ 8.91800860e-01 4.41448669e-01 -9.90671432e-02 7.99076984e+01] [ 1.11479927e-01 -2.19393077e-03 9.93764264e-01 2.00402178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:147.32, Y:79.94, Z:20.04 [[ 4.29296032e-01 -9.01756082e-01 -5.04071911e-02 1.47315965e+02] [ 8.96257690e-01 4.32238149e-01 -9.94602169e-02 7.99355763e+01] [ 1.11476767e-01 -2.47995625e-03 9.93763946e-01 2.00436348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:79.96, Z:20.05 [[ 4.27611469e-01 -9.02515181e-01 -5.11349184e-02 1.47328689e+02] [ 8.97066397e-01 4.30643805e-01 -9.90847789e-02 7.99590358e+01] [ 1.11446453e-01 -3.50162911e-03 9.93764271e-01 2.00507193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:79.99, Z:20.05 [[ 4.22619231e-01 -9.04892155e-01 -5.06277886e-02 1.47340131e+02] [ 8.99429126e-01 4.25626105e-01 -9.93461962e-02 7.99857596e+01] [ 1.11446102e-01 -3.55049458e-03 9.93764137e-01 2.00513517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:147.35, Y:80.01, Z:20.06 [[ 4.21376971e-01 -9.05445629e-01 -5.10848360e-02 1.47345547e+02] [ 9.00014794e-01 4.24441342e-01 -9.91106356e-02 8.00130110e+01] [ 1.11421808e-01 -4.21416875e-03 9.93764269e-01 2.00590196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67710568099997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:147.35, Y:80.04, Z:20.06 [[ 4.23502479e-01 -9.04455422e-01 -5.10493847e-02 1.47353657e+02] [ 8.99015230e-01 4.26550207e-01 -9.91288925e-02 8.00401815e+01] [ 1.11432790e-01 -3.91284265e-03 9.93764269e-01 2.00635448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.36, Y:80.07, Z:20.07 [[ 4.31288540e-01 -9.00770511e-01 -5.10164870e-02 1.47357279e+02] [ 8.95302248e-01 4.34285610e-01 -9.91458204e-02 8.00689333e+01] [ 1.11463357e-01 -2.91471930e-03 9.93764270e-01 2.00676971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73710568099997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:147.37, Y:80.09, Z:20.07 [[ 4.36375147e-01 -8.98319456e-01 -5.09792684e-02 1.47365485e+02] [ 8.92832116e-01 4.39337142e-01 -9.91649540e-02 8.00943728e+01] [ 1.11478894e-01 -2.24280669e-03 9.93764271e-01 2.00708481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:147.37, Y:80.12, Z:20.07 [[ 4.48034200e-01 -8.92563668e-01 -5.09456040e-02 1.47369036e+02] [ 8.87036274e-01 4.50920760e-01 -9.91822461e-02 8.01234714e+01] [ 1.11498900e-01 -7.53560436e-04 9.93764272e-01 2.00739538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79710568099998 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:147.37, Y:80.16, Z:20.08 [[ 4.58887789e-01 -8.87034593e-01 -5.09080372e-02 1.47369542e+02] [ 8.81470276e-01 4.61702513e-01 -9.92015246e-02 8.01559199e+01] [ 1.11499553e-01 6.48446736e-04 9.93764272e-01 2.00751433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82710568099998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:147.38, Y:80.18, Z:20.07 [[ 4.64227913e-01 -8.84253515e-01 -5.08740247e-02 1.47376800e+02] [ 8.78670428e-01 4.67005220e-01 -9.92189645e-02 8.01835199e+01] [ 1.11493153e-01 1.35871173e-03 9.93764273e-01 2.00745115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:147.38, Y:80.21, Z:20.07 [[ 4.70816835e-01 -8.80774561e-01 -5.06722752e-02 1.47383108e+02] [ 8.75159836e-01 4.73529654e-01 -9.93223471e-02 8.02121431e+01] [ 1.11475422e-01 2.41629315e-03 9.93764254e-01 2.00719998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88710568099998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:147.39, Y:80.24, Z:20.07 [[ 4.72194282e-01 -8.80028286e-01 -5.08210263e-02 1.47394485e+02] [ 8.74417440e-01 4.74915085e-01 -9.92461778e-02 8.02380344e+01] [ 1.11475116e-01 2.42468599e-03 9.93764268e-01 2.00740782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91710568099998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:147.40, Y:80.26, Z:20.08 [[ 4.71223372e-01 -8.80550710e-01 -5.07836670e-02 1.47402917e+02] [ 8.74940825e-01 4.73946152e-01 -9.92652908e-02 8.02649775e+01] [ 1.11476846e-01 2.34342151e-03 9.93764268e-01 2.00799839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94710568099998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:147.41, Y:80.29, Z:20.08 [[ 4.66691549e-01 -8.82961926e-01 -5.07664696e-02 1.47411352e+02] [ 8.77365159e-01 4.69441193e-01 -9.92740852e-02 8.02925463e+01] [ 1.11487110e-01 1.78964493e-03 9.93764269e-01 2.00802281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97710568099998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:147.42, Y:80.32, Z:20.08 [[ 4.64042362e-01 -8.84368556e-01 -5.05662259e-02 1.47424226e+02] [ 8.78768964e-01 4.66786288e-01 -9.93764065e-02 8.03168479e+01] [ 1.11488990e-01 1.67883244e-03 9.93764251e-01 2.00832207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00710568099998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:147.44, Y:80.34, Z:20.09 [[ 4.56274672e-01 -8.88426521e-01 -5.01172627e-02 1.47437704e+02] [ 8.82826039e-01 4.59017287e-01 -9.96057981e-02 8.03426322e+01] [ 1.11497123e-01 1.20277831e-03 9.93764029e-01 2.00861149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03710568099999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:147.45, Y:80.37, Z:20.09 [[ 4.50642587e-01 -8.91293546e-01 -5.01704454e-02 1.47450371e+02] [ 8.85713538e-01 4.53426535e-01 -9.95786361e-02 8.03689516e+01] [ 1.11502407e-01 4.37731449e-04 9.93764067e-01 2.00867702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.067105681 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:147.46, Y:80.39, Z:20.09 [[ 4.43534032e-01 -8.94820853e-01 -5.07267495e-02 1.47461894e+02] [ 8.89295292e-01 4.46424120e-01 -9.92944604e-02 8.03942273e+01] [ 1.11496398e-01 -1.07058711e-03 9.93764261e-01 2.00864625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.097105681 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:147.47, Y:80.42, Z:20.09 [[ 4.42348194e-01 -8.95408305e-01 -5.07153106e-02 1.47472372e+02] [ 8.89885911e-01 4.45244331e-01 -9.93003025e-02 8.04189596e+01] [ 1.11495020e-01 -1.20553084e-03 9.93764261e-01 2.00888771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.127105681 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:147.48, Y:80.45, Z:20.09 [[ 4.39964929e-01 -8.96605818e-01 -5.02878495e-02 1.47481632e+02] [ 8.91066279e-01 4.42828359e-01 -9.95184960e-02 8.04476855e+01] [ 1.11497748e-01 -1.02515893e-03 9.93764158e-01 2.00900748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15710568099996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:147.49, Y:80.47, Z:20.09 [[ 4.42088989e-01 -8.95538450e-01 -5.06775145e-02 1.47492648e+02] [ 8.90014689e-01 4.44982533e-01 -9.93196829e-02 8.04727138e+01] [ 1.11495204e-01 -1.19559411e-03 9.93764253e-01 2.00941424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18710568099996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:147.50, Y:80.50, Z:20.10 [[ 4.43759353e-01 -8.94712879e-01 -5.06606406e-02 1.47504636e+02] [ 8.89182752e-01 4.46640711e-01 -9.93282891e-02 8.04984258e+01] [ 1.11497404e-01 -9.68710597e-04 9.93764253e-01 2.00963244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21710568099996 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:147.51, Y:80.53, Z:20.10 [[ 4.49754931e-01 -8.91716050e-01 -5.06259736e-02 1.47514359e+02] [ 8.86164729e-01 4.52595243e-01 -9.93459552e-02 8.05257367e+01] [ 1.11501458e-01 -1.81618996e-04 9.93764254e-01 2.01019480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24710568099997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:147.52, Y:80.55, Z:20.11 [[ 4.53574932e-01 -8.89780896e-01 -5.05938601e-02 1.47524967e+02] [ 8.84215633e-01 4.56387825e-01 -9.93623070e-02 8.05523917e+01] [ 1.11501104e-01 3.32369635e-04 9.93764254e-01 2.01073111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27710568099997 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:147.53, Y:80.58, Z:20.11 [[ 4.60054755e-01 -8.86449742e-01 -5.05616189e-02 1.47534499e+02] [ 8.80862313e-01 4.62823355e-01 -9.93787107e-02 8.05789458e+01] [ 1.11495331e-01 1.18182377e-03 9.93764255e-01 2.01085801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30710568099997 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:147.55, Y:80.60, Z:20.11 [[ 4.62359431e-01 -8.85250555e-01 -5.05491090e-02 1.47547309e+02] [ 8.79655250e-01 4.65112081e-01 -9.93850735e-02 8.06041181e+01] [ 1.11491693e-01 1.48583691e-03 9.93764255e-01 2.01106566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33710568099997 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:147.56, Y:80.63, Z:20.11 [[ 4.66979364e-01 -8.82824290e-01 -5.05128345e-02 1.47561411e+02] [ 8.77212698e-01 4.69698654e-01 -9.94035068e-02 8.06289232e+01] [ 1.11481641e-01 2.10888652e-03 9.93764256e-01 2.01144561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36710568099997 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:147.57, Y:80.65, Z:20.12 [[ 4.70534544e-01 -8.80936430e-01 -5.04801873e-02 1.47574147e+02] [ 8.75312157e-01 4.73227508e-01 -9.94200834e-02 8.06528699e+01] [ 1.11471387e-01 2.59466193e-03 9.93764257e-01 2.01199444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39710568099997 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:147.59, Y:80.68, Z:20.13 [[ 4.71437151e-01 -8.80454819e-01 -5.04611260e-02 1.47586487e+02] [ 8.74826763e-01 4.74122198e-01 -9.94297571e-02 8.06780888e+01] [ 1.11468149e-01 2.73013791e-03 9.93764257e-01 2.01284128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42710568099997 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:147.60, Y:80.70, Z:20.14 [[ 4.70387013e-01 -8.81018154e-01 -5.04288723e-02 1.47598357e+02] [ 8.75391564e-01 4.73075131e-01 -9.94461130e-02 8.07020973e+01] [ 1.11470476e-01 2.63315057e-03 9.93764257e-01 2.01385108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45710568099997 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:147.61, Y:80.72, Z:20.14 [[ 4.66566998e-01 -8.83048259e-01 -5.04084230e-02 1.47612926e+02] [ 8.77432253e-01 4.69277157e-01 -9.94564775e-02 8.07249790e+01] [ 1.11480391e-01 2.17313397e-03 9.93764258e-01 2.01430161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48710568099997 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:147.63, Y:80.75, Z:20.15 [[ 4.64897883e-01 -8.83930003e-01 -5.03756605e-02 1.47627213e+02] [ 8.78317343e-01 4.67614962e-01 -9.94730694e-02 8.07486234e+01] [ 1.11483643e-01 1.99900312e-03 9.93764258e-01 2.01452104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51710568099998 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:147.64, Y:80.77, Z:20.15 [[ 4.65174486e-01 -8.83786485e-01 -5.03403002e-02 1.47643741e+02] [ 8.78171053e-01 4.67885830e-01 -9.94909610e-02 8.07702527e+01] [ 1.11482280e-01 2.07326225e-03 9.93764259e-01 2.01471763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54710568099998 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:147.66, Y:80.79, Z:20.15 [[ 4.67045918e-01 -8.82800742e-01 -5.03086571e-02 1.47657337e+02] [ 8.77177868e-01 4.69741794e-01 -9.95069592e-02 8.07943554e+01] [ 1.11476896e-01 2.34467853e-03 9.93764260e-01 2.01496260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57710568099998 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:147.67, Y:80.82, Z:20.15 [[ 4.73547962e-01 -8.79332200e-01 -5.02713695e-02 1.47670756e+02] [ 8.73687604e-01 4.76198054e-01 -9.95257936e-02 8.08169236e+01] [ 1.11455363e-01 3.20876438e-03 9.93764261e-01 2.01495929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60710568099998 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:147.69, Y:80.84, Z:20.15 [[ 4.73787031e-01 -8.79249751e-01 -4.94542763e-02 1.47685571e+02] [ 8.73561529e-01 4.76343018e-01 -9.99379046e-02 8.08430937e+01] [ 1.11427577e-01 4.14792985e-03 9.93763900e-01 2.01479862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63710568099998 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:147.70, Y:80.87, Z:20.15 [[ 4.73452957e-01 -8.79386269e-01 -5.02203838e-02 1.47698198e+02] [ 8.73739263e-01 4.76097894e-01 -9.95514750e-02 8.08683772e+01] [ 1.11454019e-01 3.25341904e-03 9.93764266e-01 2.01510237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66710568099998 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:147.72, Y:80.89, Z:20.15 [[ 4.73538291e-01 -8.79342486e-01 -5.01824603e-02 1.47719248e+02] [ 8.73693217e-01 4.76178391e-01 -9.95705881e-02 8.08903257e+01] [ 1.11452452e-01 3.30641090e-03 9.93764267e-01 2.01510926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69710568099998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:147.74, Y:80.91, Z:20.16 [[ 4.70412639e-01 -8.81020463e-01 -5.01486957e-02 1.47736235e+02] [ 8.75378810e-01 4.73068971e-01 -9.95875908e-02 8.09085626e+01] [ 1.11462497e-01 2.94815586e-03 9.93764268e-01 2.01586285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72710568099998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:147.75, Y:80.93, Z:20.16 [[ 4.67662022e-01 -8.82539340e-01 -4.91583817e-02 1.47749478e+02] [ 8.76853692e-01 4.70224004e-01 -1.00084908e-01 8.09316378e+01] [ 1.11444320e-01 3.70120202e-03 9.93763787e-01 2.01619991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75710568099998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:147.77, Y:80.96, Z:20.17 [[ 4.61209828e-01 -8.85941700e-01 -4.89162416e-02 1.47766581e+02] [ 8.80262076e-01 4.63785874e-01 -1.00206490e-01 8.09582515e+01] [ 1.11463770e-01 3.15710542e-03 9.93763483e-01 2.01676343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78710568099999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:147.78, Y:80.98, Z:20.17 [[ 4.55883149e-01 -8.88631156e-01 -5.00522009e-02 1.47783083e+02] [ 8.83028601e-01 4.58620942e-01 -9.96359401e-02 8.09796629e+01] [ 1.11494588e-01 1.22482119e-03 9.93764286e-01 2.01693470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.817105681 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:147.80, Y:81.00, Z:20.17 [[ 4.52859248e-01 -8.90177855e-01 -5.00188769e-02 1.47796735e+02] [ 8.84582805e-01 4.55612343e-01 -9.96526666e-02 8.10042831e+01] [ 1.11497815e-01 8.82793172e-04 9.93764287e-01 2.01714167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.847105681 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:147.81, Y:81.03, Z:20.18 [[ 4.51628156e-01 -8.90805169e-01 -4.99815889e-02 1.47809583e+02] [ 8.85211874e-01 4.54384812e-01 -9.96713653e-02 8.10267978e+01] [ 1.11498642e-01 7.70098879e-04 9.93764288e-01 2.01755492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.877105681 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:147.82, Y:81.05, Z:20.18 [[ 4.48023340e-01 -8.92680406e-01 -4.89569092e-02 1.47821979e+02] [ 8.87042021e-01 4.50687882e-01 -1.00184267e-01 8.10517461e+01] [ 1.11496818e-01 1.45805423e-03 9.93763721e-01 2.01791338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90710568099996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:147.83, Y:81.08, Z:20.18 [[ 4.47376227e-01 -8.93001313e-01 -4.90220989e-02 1.47834095e+02] [ 8.87368415e-01 4.50052166e-01 -1.00151600e-01 8.10766182e+01] [ 1.11498012e-01 1.30478265e-03 9.93763800e-01 2.01840496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93710568099996 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:147.85, Y:81.10, Z:20.18 [[ 4.45840808e-01 -8.93776000e-01 -4.88920901e-02 1.47847137e+02] [ 8.88140603e-01 4.48511851e-01 -1.00216709e-01 8.11042315e+01] [ 1.11499971e-01 1.25764817e-03 9.93763641e-01 2.01848611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96710568099996 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:147.86, Y:81.13, Z:20.18 [[ 4.49805716e-01 -8.91728559e-01 -4.99499203e-02 1.47857950e+02] [ 8.86139215e-01 4.52570263e-01 -9.96867507e-02 8.11254447e+01] [ 1.11499371e-01 5.77087062e-04 9.93764337e-01 2.01832324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:147.87, Y:81.15, Z:20.19 [[ 4.51026573e-01 -8.91192268e-01 -4.84909569e-02 1.47869853e+02] [ 8.85520015e-01 4.53619682e-01 -1.00416566e-01 8.11530652e+01] [ 1.11486920e-01 2.35082686e-03 9.93763121e-01 2.01856579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:147.88, Y:81.18, Z:20.19 [[ 4.54650634e-01 -8.89325382e-01 -4.89200083e-02 1.47881097e+02] [ 8.83665455e-01 4.57269009e-01 -1.00201884e-01 8.11802300e+01] [ 1.11481683e-01 2.32792870e-03 9.93763762e-01 2.01882399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:147.89, Y:81.20, Z:20.19 [[ 4.56975322e-01 -8.88077255e-01 -4.99233795e-02 1.47893965e+02] [ 8.82464434e-01 4.59691772e-01 -9.96995362e-02 8.12049720e+01] [ 1.11490257e-01 1.50462079e-03 9.93764388e-01 2.01929568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08710568099997 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:147.91, Y:81.22, Z:20.19 [[ 4.66544764e-01 -8.83089669e-01 -4.98860734e-02 1.47906251e+02] [ 8.77445845e-01 4.69196196e-01 -9.97181995e-02 8.12201346e+01] [ 1.11466468e-01 2.75067604e-03 9.93764389e-01 2.01947842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11710568099997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:147.92, Y:81.25, Z:20.20 [[ 4.66898072e-01 -8.83067160e-01 -4.68890295e-02 1.47919113e+02] [ 8.77269190e-01 4.69206692e-01 -1.01211900e-01 8.12490241e+01] [ 1.11377551e-01 6.12133992e-03 9.93759312e-01 2.02040859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14710568099997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:147.93, Y:81.28, Z:20.22 [[ 4.64477169e-01 -8.84259582e-01 -4.84350127e-02 1.47933574e+02] [ 8.78546320e-01 4.66977712e-01 -1.00439933e-01 8.12757962e+01] [ 1.11433045e-01 4.09965372e-03 9.93763488e-01 2.02156557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17710568099997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:147.95, Y:81.30, Z:20.22 [[ 4.64118392e-01 -8.84368617e-01 -4.98624833e-02 1.47949495e+02] [ 8.78731244e-01 4.66782661e-01 -9.97263667e-02 8.12992607e+01] [ 1.11469812e-01 2.46911900e-03 9.93764753e-01 2.02199720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20710568099997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:147.97, Y:81.32, Z:20.22 [[ 4.66162165e-01 -8.83294914e-01 -4.98290249e-02 1.47969196e+02] [ 8.77649624e-01 4.68809616e-01 -9.97430818e-02 8.13153313e+01] [ 1.11462883e-01 2.76402596e-03 9.93764754e-01 2.02248754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:147.98, Y:81.34, Z:20.23 [[ 4.66852217e-01 -8.82999091e-01 -4.85964294e-02 1.47983080e+02] [ 8.77287607e-01 4.69355733e-01 -1.00357611e-01 8.13403882e+01] [ 1.11424692e-01 4.21912813e-03 9.93763924e-01 2.02251119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26710568099998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:148.00, Y:81.37, Z:20.23 [[ 4.68701235e-01 -8.82007377e-01 -4.88071650e-02 1.47997260e+02] [ 8.76301459e-01 4.71216713e-01 -1.00252497e-01 8.13656291e+01] [ 1.11422194e-01 4.21867940e-03 9.93764206e-01 2.02269978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:148.02, Y:81.39, Z:20.23 [[ 4.76501129e-01 -8.77815763e-01 -4.88483370e-02 1.48016286e+02] [ 8.72089845e-01 4.78970620e-01 -1.00231969e-01 8.13866234e+01] [ 1.11382120e-01 5.16050760e-03 9.93764254e-01 2.02271933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:148.04, Y:81.41, Z:20.23 [[ 4.83896681e-01 -8.73764220e-01 -4.87861621e-02 1.48035121e+02] [ 8.68014584e-01 4.86310622e-01 -1.00262958e-01 8.14078305e+01] [ 1.11331415e-01 6.16981263e-03 9.93764182e-01 2.02269016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35710568099998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:148.05, Y:81.44, Z:20.23 [[ 4.82014207e-01 -8.74830946e-01 -4.83023794e-02 1.48048810e+02] [ 8.69062700e-01 4.84385177e-01 -1.00503850e-01 8.14362587e+01] [ 1.11320835e-01 6.46648717e-03 9.93763481e-01 2.02283463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:148.06, Y:81.46, Z:20.23 [[ 4.85644619e-01 -8.72740625e-01 -4.97303313e-02 1.48064407e+02] [ 8.67033016e-01 4.88154918e-01 -9.97924059e-02 8.14562758e+01] [ 1.11368992e-01 5.34580584e-03 9.93764746e-01 2.02283589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:148.08, Y:81.48, Z:20.23 [[ 4.84575564e-01 -8.73385200e-01 -4.88345644e-02 1.48080639e+02] [ 8.67636111e-01 4.86990576e-01 -1.00238507e-01 8.14812935e+01] [ 1.11328801e-01 6.20249953e-03 9.93764271e-01 2.02344868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:148.10, Y:81.50, Z:20.24 [[ 4.82923120e-01 -8.74270192e-01 -4.93648713e-02 1.48101403e+02] [ 8.68552080e-01 4.85409547e-01 -9.99742793e-02 8.14958173e+01] [ 1.11366712e-01 5.40392930e-03 9.93764687e-01 2.02370165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.12, Y:81.52, Z:20.24 [[ 4.72195017e-01 -8.80200984e-01 -4.77293740e-02 1.48121946e+02] [ 8.74431215e-01 4.74565004e-01 -1.00787437e-01 8.15198442e+01] [ 1.11363892e-01 5.85527107e-03 9.93762446e-01 2.02426801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:148.14, Y:81.54, Z:20.25 [[ 4.67158558e-01 -8.82832767e-01 -4.86743008e-02 1.48138782e+02] [ 8.77124577e-01 4.69668938e-01 -1.00317323e-01 8.15443274e+01] [ 1.11424227e-01 4.17067029e-03 9.93764181e-01 2.02463960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53710568099999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:148.15, Y:81.57, Z:20.25 [[ 4.57630126e-01 -8.87789076e-01 -4.90430820e-02 1.48154843e+02] [ 8.82127671e-01 4.60243405e-01 -1.00133814e-01 8.15679334e+01] [ 1.11469461e-01 2.56199014e-03 9.93764557e-01 2.02463926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.567105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:148.17, Y:81.59, Z:20.25 [[ 4.52871852e-01 -8.90200500e-01 -4.94990431e-02 1.48170870e+02] [ 8.84577691e-01 4.55566614e-01 -9.99068023e-02 8.15909267e+01] [ 1.11487197e-01 1.45922932e-03 9.93764799e-01 2.02508669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.597105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:81.61, Z:20.25 [[ 4.53008016e-01 -8.90140226e-01 -4.93367650e-02 1.48185586e+02] [ 8.84508256e-01 4.55683701e-01 -9.99875517e-02 8.16143943e+01] [ 1.11484901e-01 1.65638642e-03 9.93764747e-01 2.02491269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.627105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:148.20, Y:81.64, Z:20.25 [[ 4.50506459e-01 -8.91433037e-01 -4.88985801e-02 1.48200897e+02] [ 8.85785028e-01 4.53148754e-01 -1.00205244e-01 8.16407411e+01] [ 1.11484595e-01 1.82947935e-03 9.93764478e-01 2.02519433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:148.21, Y:81.66, Z:20.26 [[ 4.50992624e-01 -8.91142800e-01 -4.97007372e-02 1.48213121e+02] [ 8.85536609e-01 4.53721842e-01 -9.98068368e-02 8.16639048e+01] [ 1.11492454e-01 1.00032492e-03 9.93764777e-01 2.02563336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.22, Y:81.69, Z:20.26 [[ 4.49481331e-01 -8.91933907e-01 -4.91979495e-02 1.48223734e+02] [ 8.86305075e-01 4.52163721e-01 -1.00056398e-01 8.16892134e+01] [ 1.11489222e-01 1.36909076e-03 9.93764700e-01 2.02602022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.23, Y:81.71, Z:20.26 [[ 4.47587368e-01 -8.92881497e-01 -4.92765710e-02 1.48234876e+02] [ 8.87262635e-01 4.50290506e-01 -1.00017385e-01 8.17136956e+01] [ 1.11492445e-01 1.04525801e-03 9.93764732e-01 2.02607138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:148.25, Y:81.74, Z:20.26 [[ 4.42410596e-01 -8.95488822e-01 -4.87097010e-02 1.48246092e+02] [ 8.89854766e-01 4.45082815e-01 -1.00298468e-01 8.17389826e+01] [ 1.11496008e-01 1.02854554e-03 9.93764349e-01 2.02640439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.26, Y:81.76, Z:20.27 [[ 4.40767772e-01 -8.96278480e-01 -4.90780781e-02 1.48259041e+02] [ 8.90669465e-01 4.43491504e-01 -1.00115888e-01 8.17638152e+01] [ 1.11497427e-01 4.15511528e-04 9.93764636e-01 2.02704961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.27, Y:81.79, Z:20.28 [[ 4.39886776e-01 -8.96704463e-01 -4.92009135e-02 1.48271442e+02] [ 8.91104883e-01 4.42629729e-01 -1.00055039e-01 8.17886094e+01] [ 1.11497587e-01 1.69714474e-04 9.93764690e-01 2.02794970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.28, Y:81.81, Z:20.29 [[ 4.43342844e-01 -8.94985201e-01 -4.94834554e-02 1.48282088e+02] [ 8.89390557e-01 4.46095738e-01 -9.99151152e-02 8.18141584e+01] [ 1.11496908e-01 2.86533425e-04 9.93764739e-01 2.02876849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.29, Y:81.84, Z:20.29 [[ 4.46151483e-01 -8.93590350e-01 -4.94483635e-02 1.48292841e+02] [ 8.87985174e-01 4.48882869e-01 -9.99324794e-02 8.18391793e+01] [ 1.11495223e-01 6.75610165e-04 9.93764740e-01 2.02905063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.30, Y:81.87, Z:20.30 [[ 4.50758795e-01 -8.91283742e-01 -4.92930039e-02 1.48300414e+02] [ 8.85656183e-01 4.53443784e-01 -1.00009298e-01 8.18666402e+01] [ 1.11488267e-01 1.42341694e-03 9.93764731e-01 2.02960133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.31, Y:81.89, Z:20.30 [[ 4.53165714e-01 -8.90056496e-01 -4.93990895e-02 1.48310957e+02] [ 8.84427370e-01 4.55847400e-01 -9.99568707e-02 8.18924931e+01] [ 1.11485709e-01 1.60711996e-03 9.93764738e-01 2.03010226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.32, Y:81.92, Z:20.31 [[ 4.56031176e-01 -8.88593813e-01 -4.93619613e-02 1.48322567e+02] [ 8.82954106e-01 4.58690534e-01 -9.99752026e-02 8.19161782e+01] [ 1.11479211e-01 2.00746283e-03 9.93764739e-01 2.03071205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.33, Y:81.94, Z:20.31 [[ 4.55980310e-01 -8.88621793e-01 -4.93281482e-02 1.48334621e+02] [ 8.82980447e-01 4.58636188e-01 -9.99918834e-02 8.19410333e+01] [ 1.11478641e-01 2.03853957e-03 9.93764739e-01 2.03104736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:81.97, Z:20.31 [[ 4.53826768e-01 -8.89725662e-01 -4.92900698e-02 1.48343903e+02] [ 8.84088741e-01 4.56492023e-01 -1.00010650e-01 8.19664686e+01] [ 1.11482566e-01 1.81071446e-03 9.93764740e-01 2.03111657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.36, Y:81.99, Z:20.31 [[ 4.52526358e-01 -8.90389664e-01 -4.92558866e-02 1.48355656e+02] [ 8.84754823e-01 4.55196008e-01 -1.00027483e-01 8.19906736e+01] [ 1.11484520e-01 1.68568939e-03 9.93764741e-01 2.03061291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:82.02, Z:20.31 [[ 4.50246118e-01 -8.91572530e-01 -4.87530163e-02 1.48367892e+02] [ 8.85917778e-01 4.52873704e-01 -1.00275119e-01 8.20180260e+01] [ 1.11481500e-01 1.95731900e-03 9.93764582e-01 2.03100439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:82.04, Z:20.31 [[ 4.51925493e-01 -8.90694574e-01 -4.92597701e-02 1.48378584e+02] [ 8.85061742e-01 4.54599380e-01 -1.00025577e-01 8.20442139e+01] [ 1.11485699e-01 1.60617003e-03 9.93764740e-01 2.03123248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:82.07, Z:20.31 [[ 4.52746156e-01 -8.90279885e-01 -4.92203713e-02 1.48388831e+02] [ 8.84642499e-01 4.55410425e-01 -1.00044960e-01 8.20694280e+01] [ 1.11483486e-01 1.75253894e-03 9.93764741e-01 2.03149658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.40, Y:82.09, Z:20.32 [[ 4.60023864e-01 -8.86543225e-01 -4.91848976e-02 1.48400963e+02] [ 8.80882355e-01 4.62637864e-01 -1.00062397e-01 8.20941985e+01] [ 1.11464436e-01 2.70498215e-03 9.93764742e-01 2.03170063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.41, Y:82.12, Z:20.32 [[ 4.64365451e-01 -8.84279017e-01 -4.91461944e-02 1.48412837e+02] [ 8.78603406e-01 4.66947286e-01 -1.00081403e-01 8.21185155e+01] [ 1.11448567e-01 3.29433198e-03 9.93764743e-01 2.03181757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:148.42, Y:82.14, Z:20.32 [[ 4.72612418e-01 -8.79900885e-01 -4.91114591e-02 1.48422198e+02] [ 8.74199637e-01 4.75137134e-01 -1.00098445e-01 8.21445658e+01] [ 1.11411388e-01 4.37454855e-03 9.93764744e-01 2.03203674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.43, Y:82.17, Z:20.32 [[ 4.75047634e-01 -8.78590637e-01 -4.90737916e-02 1.48433465e+02] [ 8.72880539e-01 4.77552268e-01 -1.00116909e-01 8.21700058e+01] [ 1.11397079e-01 4.72474294e-03 9.93764745e-01 2.03217862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.45, Y:82.19, Z:20.32 [[ 4.75622623e-01 -8.78281600e-01 -4.90362390e-02 1.48448756e+02] [ 8.72567996e-01 4.78119247e-01 -1.00135298e-01 8.21938609e+01] [ 1.11392160e-01 4.83916034e-03 9.93764745e-01 2.03222794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.46, Y:82.22, Z:20.32 [[ 4.70352243e-01 -8.81117485e-01 -4.89974003e-02 1.48462313e+02] [ 8.75416988e-01 4.72878647e-01 -1.00154299e-01 8.22176999e+01] [ 1.11417528e-01 4.21464259e-03 9.93764746e-01 2.03217921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.347105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:82.24, Z:20.32 [[ 4.66052603e-01 -8.83400930e-01 -4.89670143e-02 1.48474408e+02] [ 8.77711269e-01 4.68603317e-01 -1.00169153e-01 8.22423044e+01] [ 1.11435628e-01 3.70519424e-03 9.93764747e-01 2.03248055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.377105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.49, Y:82.27, Z:20.33 [[ 4.58582162e-01 -8.87304003e-01 -4.89285907e-02 1.48487469e+02] [ 8.81634083e-01 4.61176458e-01 -1.00187918e-01 8.22662658e+01] [ 1.11461855e-01 2.80727888e-03 9.93764748e-01 2.03316889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.50, Y:82.29, Z:20.34 [[ 4.54571562e-01 -8.89366326e-01 -4.89104505e-02 1.48500658e+02] [ 8.83707231e-01 4.57189387e-01 -1.00196773e-01 8.22911462e+01] [ 1.11472975e-01 2.32408488e-03 9.93764748e-01 2.03352541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43710568099996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:148.51, Y:82.31, Z:20.34 [[ 4.46566695e-01 -8.93414617e-01 -4.88723813e-02 1.48514086e+02] [ 8.87777239e-01 4.49230964e-01 -1.00215339e-01 8.23145323e+01] [ 1.11488835e-01 1.36504473e-03 9.93764749e-01 2.03362812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46710568099996 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:148.53, Y:82.34, Z:20.34 [[ 4.37992799e-01 -8.97650437e-01 -4.88467072e-02 1.48525911e+02] [ 8.92037438e-01 4.40708051e-01 -1.00227851e-01 8.23397712e+01] [ 1.11496711e-01 3.25985482e-04 9.93764749e-01 2.03407281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:148.54, Y:82.36, Z:20.34 [[ 4.34585494e-01 -8.99307057e-01 -4.88084572e-02 1.48537819e+02] [ 8.93702317e-01 4.37317749e-01 -1.00246475e-01 8.23634680e+01] [ 1.11497167e-01 -5.45675966e-05 9.93764750e-01 2.03436094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:148.55, Y:82.39, Z:20.35 [[ 4.34261578e-01 -8.99465385e-01 -4.87740030e-02 1.48549960e+02] [ 8.93859757e-01 4.36992012e-01 -1.00263235e-01 8.23890138e+01] [ 1.11497159e-01 -5.66477799e-05 9.93764751e-01 2.03467849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:148.56, Y:82.41, Z:20.35 [[ 4.31058651e-01 -9.01006703e-01 -4.87376601e-02 1.48562840e+02] [ 8.95408841e-01 4.33804967e-01 -1.00280898e-01 8.24136647e+01] [ 1.11496401e-01 -4.13182991e-04 9.93764752e-01 2.03507218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:148.57, Y:82.44, Z:20.36 [[ 4.24916416e-01 -9.03921565e-01 -4.87015812e-02 1.48574631e+02] [ 8.98340528e-01 4.27696765e-01 -1.00298417e-01 8.24391168e+01] [ 1.11491411e-01 -1.13216032e-03 9.93764753e-01 2.03562527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:148.58, Y:82.46, Z:20.36 [[ 4.18350870e-01 -9.06980820e-01 -4.86656150e-02 1.48584111e+02] [ 9.01418076e-01 4.21167638e-01 -1.00315865e-01 8.24646721e+01] [ 1.11480948e-01 -1.90083550e-03 9.93764753e-01 2.03612565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:148.59, Y:82.49, Z:20.37 [[ 4.17827607e-01 -9.07223774e-01 -4.86324478e-02 1.48594176e+02] [ 9.01660799e-01 4.20643917e-01 -1.00331942e-01 8.24866418e+01] [ 1.11480466e-01 -1.92851649e-03 9.93764754e-01 2.03664407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:82.52, Z:20.37 [[ 4.08782428e-01 -9.11399948e-01 -4.74031831e-02 1.48601384e+02] [ 9.05796073e-01 4.11518300e-01 -1.00926520e-01 8.25168634e+01] [ 1.11491703e-01 -1.68062901e-03 9.93763944e-01 2.03701085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:148.61, Y:82.54, Z:20.37 [[ 4.04806051e-01 -9.13111873e-01 -4.85671605e-02 1.48610958e+02] [ 9.07586028e-01 4.07694491e-01 -1.00363360e-01 8.25430325e+01] [ 1.11443539e-01 -3.45118082e-03 9.93764774e-01 2.03739846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:148.62, Y:82.57, Z:20.38 [[ 3.98689504e-01 -9.15801098e-01 -4.85286367e-02 1.48618662e+02] [ 9.10292461e-01 4.01610624e-01 -1.00381984e-01 8.25700373e+01] [ 1.11419547e-01 -4.15400872e-03 9.93764775e-01 2.03772375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:148.62, Y:82.60, Z:20.38 [[ 3.97978339e-01 -9.16112409e-01 -4.84901503e-02 1.48620484e+02] [ 9.10603808e-01 4.00899526e-01 -1.00400572e-01 8.25988647e+01] [ 1.11417888e-01 -4.19806269e-03 9.93764776e-01 2.03788631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79710568099998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:148.63, Y:82.63, Z:20.38 [[ 3.99984052e-01 -9.15240296e-01 -4.84557485e-02 1.48626853e+02] [ 9.09723324e-01 4.02889396e-01 -1.00417172e-01 8.26256876e+01] [ 1.11428150e-01 -3.91605711e-03 9.93764777e-01 2.03792371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:148.63, Y:82.66, Z:20.38 [[ 4.05404349e-01 -9.12853672e-01 -4.84302277e-02 1.48628506e+02] [ 9.07318114e-01 4.08274123e-01 -1.00429479e-01 8.26564341e+01] [ 1.11450228e-01 -3.22707521e-03 9.93764777e-01 2.03809303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:148.63, Y:82.69, Z:20.38 [[ 4.08267251e-01 -9.11578810e-01 -4.83934333e-02 1.48633697e+02] [ 9.06032192e-01 4.11115586e-01 -1.00447206e-01 8.26851064e+01] [ 1.11460839e-01 -2.83670383e-03 9.93764778e-01 2.03836306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88710568099998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:148.63, Y:82.72, Z:20.39 [[ 4.13052394e-01 -9.09422573e-01 -4.83560112e-02 1.48632233e+02] [ 9.03858970e-01 4.15867409e-01 -1.00465218e-01 8.27171821e+01] [ 1.11475026e-01 -2.20961557e-03 9.93764779e-01 2.03866488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:148.64, Y:82.74, Z:20.39 [[ 4.14127331e-01 -9.08935612e-01 -4.83177712e-02 1.48639226e+02] [ 9.03366557e-01 4.16931540e-01 -1.00483606e-01 8.27442163e+01] [ 1.11478331e-01 -2.03565095e-03 9.93764780e-01 2.03885916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94710568099998 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:148.64, Y:82.77, Z:20.39 [[ 4.13788313e-01 -9.09091854e-01 -4.82828430e-02 1.48642497e+02] [ 9.03521902e-01 4.16590740e-01 -1.00500387e-01 8.27727271e+01] [ 1.11478268e-01 -2.03872074e-03 9.93764781e-01 2.03876206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:148.65, Y:82.80, Z:20.39 [[ 4.11782310e-01 -9.10003586e-01 -4.82576619e-02 1.48649693e+02] [ 9.04438424e-01 4.14594235e-01 -1.00512476e-01 8.27998777e+01] [ 1.11474062e-01 -2.25682394e-03 9.93764781e-01 2.03893227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:148.65, Y:82.83, Z:20.39 [[ 4.08301597e-01 -9.11572570e-01 -4.82209030e-02 1.48652793e+02] [ 9.06016131e-01 4.11130718e-01 -1.00530109e-01 8.28280737e+01] [ 1.11465584e-01 -2.64231207e-03 9.93764782e-01 2.03930674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03710568099999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:148.66, Y:82.86, Z:20.40 [[ 4.07715747e-01 -9.11835978e-01 -4.81977082e-02 1.48656663e+02] [ 9.06280056e-01 4.10545883e-01 -1.00541228e-01 8.28569791e+01] [ 1.11464479e-01 -2.68837979e-03 9.93764782e-01 2.04000037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.067105681 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:148.66, Y:82.88, Z:20.40 [[ 4.09611934e-01 -9.10987472e-01 -4.81652274e-02 1.48663637e+02] [ 9.05423860e-01 4.12426922e-01 -1.00556786e-01 8.28831807e+01] [ 1.11470609e-01 -2.42068667e-03 9.93764783e-01 2.04038222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.097105681 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:148.67, Y:82.91, Z:20.40 [[ 4.16302813e-01 -9.07951155e-01 -4.81317667e-02 1.48669052e+02] [ 9.02365147e-01 4.19073089e-01 -1.00572799e-01 8.29102888e+01] [ 1.11485918e-01 -1.56368940e-03 9.93764784e-01 2.04023649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12710568099996 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:148.68, Y:82.93, Z:20.40 [[ 4.23592186e-01 -9.04574694e-01 -4.81069964e-02 1.48678832e+02] [ 8.98965247e-01 4.26314689e-01 -1.00584646e-01 8.29319533e+01] [ 1.11495045e-01 -6.39647699e-04 9.93764784e-01 2.04010190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15710568099996 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:148.68, Y:82.97, Z:20.41 [[ 4.24526879e-01 -9.04220088e-01 -4.65076560e-02 1.48683530e+02] [ 8.98523213e-01 4.27064987e-01 -1.01348571e-01 8.29662596e+01] [ 1.11503205e-01 1.23698389e-03 9.93763304e-01 2.04062843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18710568099996 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:148.69, Y:83.00, Z:20.41 [[ 4.26912449e-01 -9.03013006e-01 -4.80964810e-02 1.48687439e+02] [ 8.97393100e-01 4.29613155e-01 -1.00589068e-01 8.29950472e+01] [ 1.11496118e-01 -2.18724645e-04 9.93764845e-01 2.04106597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21710568099996 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:148.70, Y:83.02, Z:20.41 [[ 4.27581149e-01 -9.02698653e-01 -4.80572865e-02 1.48697199e+02] [ 8.97074657e-01 4.30273323e-01 -1.00607791e-01 8.30212346e+01] [ 1.11496285e-01 -9.29791329e-05 9.93764846e-01 2.04137330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24710568099997 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:148.71, Y:83.05, Z:20.42 [[ 4.28875669e-01 -9.02085276e-01 -4.80397246e-02 1.48708421e+02] [ 8.96456490e-01 4.31557814e-01 -1.00616176e-01 8.30467133e+01] [ 1.11496289e-01 8.63067514e-05 9.93764846e-01 2.04170710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27710568099997 meters Centerline goodness : 0.997435 Centerline is valid? [True, True] Translation: X:148.72, Y:83.07, Z:20.42 [[ 4.30465341e-01 -9.01329665e-01 -4.80044238e-02 1.48719829e+02] [ 8.95694292e-01 4.33133618e-01 -1.00633015e-01 8.30693711e+01] [ 1.11495852e-01 3.21736847e-04 9.93764847e-01 2.04209752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30710568099997 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:148.73, Y:83.10, Z:20.43 [[ 4.30767034e-01 -9.01232200e-01 -4.71198778e-02 1.48728328e+02] [ 8.95549711e-01 4.33334449e-01 -1.01054297e-01 8.30979560e+01] [ 1.11492053e-01 1.33266679e-03 9.93764432e-01 2.04257376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33710568099997 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:148.74, Y:83.12, Z:20.43 [[ 4.37106221e-01 -8.98130364e-01 -4.79583244e-02 1.48736981e+02] [ 8.92473069e-01 4.39727667e-01 -1.00654861e-01 8.31244563e+01] [ 1.11489789e-01 1.19535311e-03 9.93764861e-01 2.04264223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36710568099997 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:148.75, Y:83.15, Z:20.43 [[ 4.40816669e-01 -8.96315671e-01 -4.79466676e-02 1.48748809e+02] [ 8.90646983e-01 4.43413388e-01 -1.00660414e-01 8.31495999e+01] [ 1.11483700e-01 1.66923332e-03 9.93764861e-01 2.04276360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39710568099997 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:148.76, Y:83.17, Z:20.43 [[ 4.47494258e-01 -8.93002545e-01 -4.79097535e-02 1.48761447e+02] [ 8.87312769e-01 4.50044436e-01 -1.00677980e-01 8.31740021e+01] [ 1.11467210e-01 2.54188197e-03 9.93764861e-01 2.04315169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42710568099997 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:148.77, Y:83.20, Z:20.43 [[ 4.50702934e-01 -8.91388309e-01 -4.78930961e-02 1.48773566e+02] [ 8.85688565e-01 4.53230753e-01 -1.00685903e-01 8.31987862e+01] [ 1.11456861e-01 2.96106455e-03 9.93764862e-01 2.04348307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45710568099997 meters Centerline goodness : 0.997179 Centerline is valid? [True, True] Translation: X:148.79, Y:83.22, Z:20.43 [[ 4.58597083e-01 -8.87354756e-01 -4.78565887e-02 1.48786643e+02] [ 8.81631011e-01 4.61070076e-01 -1.00703253e-01 8.32228110e+01] [ 1.11424751e-01 3.99036534e-03 9.93764862e-01 2.04343715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48710568099997 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:148.80, Y:83.25, Z:20.43 [[ 4.61444585e-01 -8.85879013e-01 -4.78254116e-02 1.48800125e+02] [ 8.80145842e-01 4.63895645e-01 -1.00718057e-01 8.32480714e+01] [ 1.11410013e-01 4.38246496e-03 9.93764863e-01 2.04338432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51710568099998 meters Centerline goodness : 0.997187 Centerline is valid? [True, True] Translation: X:148.82, Y:83.27, Z:20.43 [[ 4.63529019e-01 -8.84791845e-01 -4.77937159e-02 1.48817254e+02] [ 8.79051393e-01 4.65962973e-01 -1.00733095e-01 8.32716265e+01] [ 1.11397923e-01 4.67958035e-03 9.93764864e-01 2.04320416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54710568099998 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:148.83, Y:83.29, Z:20.44 [[ 4.61934776e-01 -8.85626912e-01 -4.77622838e-02 1.48832839e+02] [ 8.79889334e-01 4.64375496e-01 -1.00747997e-01 8.32944229e+01] [ 1.11404772e-01 4.51347927e-03 9.93764864e-01 2.04355613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57710568099998 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:148.85, Y:83.31, Z:20.44 [[ 4.56186711e-01 -8.88603151e-01 -4.77297175e-02 1.48854563e+02] [ 8.82879913e-01 4.58660869e-01 -1.00763423e-01 8.33149203e+01] [ 1.11430449e-01 3.82732569e-03 9.93764865e-01 2.04449934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60710568099998 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:148.88, Y:83.33, Z:20.45 [[ 4.48656138e-01 -8.92430748e-01 -4.76972693e-02 1.48876853e+02] [ 8.86727020e-01 4.51174944e-01 -1.00778780e-01 8.33339775e+01] [ 1.11457895e-01 2.92056089e-03 9.93764866e-01 2.04488920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63710568099998 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:148.89, Y:83.36, Z:20.45 [[ 4.44959233e-01 -8.94281518e-01 -4.76639063e-02 1.48893226e+02] [ 8.88586586e-01 4.47497863e-01 -1.00794557e-01 8.33578135e+01] [ 1.11468206e-01 2.49596113e-03 9.93764866e-01 2.04524745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66710568099998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:148.91, Y:83.38, Z:20.46 [[ 4.40317556e-01 -8.96577853e-01 -4.76298584e-02 1.48911081e+02] [ 8.90894430e-01 4.42881846e-01 -1.00810644e-01 8.33793684e+01] [ 1.11478990e-01 1.95552071e-03 9.93764867e-01 2.04570136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69710568099998 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:148.93, Y:83.40, Z:20.46 [[ 4.38864212e-01 -8.97292192e-01 -4.75912464e-02 1.48926058e+02] [ 8.91610968e-01 4.41433370e-01 -1.00828869e-01 8.34038404e+01] [ 1.11481321e-01 1.81730477e-03 9.93764868e-01 2.04615990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72710568099998 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:148.95, Y:83.43, Z:20.47 [[ 4.37202980e-01 -8.98104586e-01 -4.75573980e-02 1.48945656e+02] [ 8.92426403e-01 4.39778848e-01 -1.00844831e-01 8.34251663e+01] [ 1.11483943e-01 1.64818313e-03 9.93764869e-01 2.04656399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75710568099998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:148.96, Y:83.45, Z:20.47 [[ 4.34749832e-01 -8.99296692e-01 -4.75188745e-02 1.48961322e+02] [ 8.93623590e-01 4.37336870e-01 -1.00862981e-01 8.34480271e+01] [ 1.11487501e-01 1.38617672e-03 9.93764869e-01 2.04674060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78710568099999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:148.98, Y:83.47, Z:20.47 [[ 4.28291357e-01 -9.02392233e-01 -4.74844381e-02 1.48981056e+02] [ 8.96736037e-01 4.30915152e-01 -1.00879190e-01 8.34679992e+01] [ 1.11494362e-01 6.24678484e-04 9.93764870e-01 2.04709151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.817105681 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:149.00, Y:83.49, Z:20.48 [[ 4.24717424e-01 -9.04081605e-01 -4.74506201e-02 1.48996336e+02] [ 8.98434069e-01 4.27359805e-01 -1.00895095e-01 8.34917589e+01] [ 1.11495887e-01 2.20651051e-04 9.93764871e-01 2.04750730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.847105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:149.01, Y:83.51, Z:20.48 [[ 4.18547752e-01 -9.06956318e-01 -4.74132657e-02 1.49011035e+02] [ 9.01324940e-01 4.21224394e-01 -1.00912646e-01 8.35144806e+01] [ 1.11494986e-01 -4.97997853e-04 9.93764872e-01 2.04775564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87710568099996 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:149.02, Y:83.54, Z:20.48 [[ 4.18843042e-01 -9.06821567e-01 -4.73830386e-02 1.49024846e+02] [ 9.01187722e-01 4.21514487e-01 -1.00926837e-01 8.35355605e+01] [ 1.11495270e-01 -4.28509214e-04 9.93764872e-01 2.04828426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90710568099996 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:149.04, Y:83.56, Z:20.48 [[ 4.16570825e-01 -9.07928379e-01 -4.62039788e-02 1.49038896e+02] [ 9.02239561e-01 4.19124941e-01 -1.01479356e-01 8.35631119e+01] [ 1.11501227e-01 5.86281392e-04 9.93764123e-01 2.04837054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93710568099996 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:149.05, Y:83.59, Z:20.48 [[ 4.19220561e-01 -9.06649580e-01 -4.73356094e-02 1.49052926e+02] [ 9.01012156e-01 4.21884380e-01 -1.00948822e-01 8.35863871e+01] [ 1.11495362e-01 -3.30137527e-04 9.93764899e-01 2.04847564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:149.06, Y:83.61, Z:20.49 [[ 4.20514726e-01 -9.06051585e-01 -4.73063506e-02 1.49064335e+02] [ 9.00408830e-01 4.23167232e-01 -1.00962532e-01 8.36115596e+01] [ 1.11495759e-01 -1.38824433e-04 9.93764900e-01 2.04891185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99710568099997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:149.08, Y:83.63, Z:20.49 [[ 4.26471094e-01 -9.03265260e-01 -4.72681351e-02 1.49075055e+02] [ 8.97603192e-01 4.29082119e-01 -1.00980420e-01 8.36341458e+01] [ 1.11494017e-01 6.37201302e-04 9.93764901e-01 2.04935836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:149.09, Y:83.66, Z:20.50 [[ 4.27709674e-01 -9.02734811e-01 -4.61984441e-02 1.49086209e+02] [ 8.97014868e-01 4.30192986e-01 -1.01480645e-01 8.36621254e+01] [ 1.11484357e-01 1.96356220e-03 9.93764249e-01 2.05046403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:149.10, Y:83.69, Z:20.51 [[ 4.29063239e-01 -9.02038252e-01 -4.72411886e-02 1.49098532e+02] [ 8.96367337e-01 4.31654977e-01 -1.00992965e-01 8.36867172e+01] [ 1.11491411e-01 9.86910080e-04 9.93764907e-01 2.05091700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:149.11, Y:83.71, Z:20.51 [[ 4.31518042e-01 -9.00868469e-01 -4.72036069e-02 1.49111965e+02] [ 8.95188609e-01 4.34090115e-01 -1.01010527e-01 8.37097406e+01] [ 1.11487818e-01 1.33173379e-03 9.93764908e-01 2.05149332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:149.12, Y:83.74, Z:20.52 [[ 4.32048510e-01 -9.00616009e-01 -4.71687276e-02 1.49123507e+02] [ 8.94932869e-01 4.34613326e-01 -1.01026812e-01 8.37352019e+01] [ 1.11486522e-01 1.43563895e-03 9.93764909e-01 2.05191718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14710568099997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:149.13, Y:83.76, Z:20.52 [[ 4.32729352e-01 -9.00291106e-01 -4.71299494e-02 1.49132519e+02] [ 8.94604072e-01 4.35285519e-01 -1.01044899e-01 8.37603812e+01] [ 1.11484809e-01 1.56244922e-03 9.93764910e-01 2.05239956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:149.14, Y:83.79, Z:20.53 [[ 4.32268106e-01 -9.00514489e-01 -4.70950052e-02 1.49144135e+02] [ 8.94827003e-01 4.34823265e-01 -1.01061184e-01 8.37851704e+01] [ 1.11485064e-01 1.54364407e-03 9.93764911e-01 2.05285895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:149.16, Y:83.81, Z:20.53 [[ 4.27423135e-01 -9.02826237e-01 -4.70558117e-02 1.49159194e+02] [ 8.97150566e-01 4.30004430e-01 -1.01079430e-01 8.38076888e+01] [ 1.11491369e-01 9.87538533e-04 9.93764912e-01 2.05316960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:149.17, Y:83.83, Z:20.54 [[ 4.22494239e-01 -9.05145120e-01 -4.70205265e-02 1.49172133e+02] [ 8.99481792e-01 4.25102501e-01 -1.01095841e-01 8.38325462e+01] [ 1.11494951e-01 4.18303024e-04 9.93764912e-01 2.05352135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:149.18, Y:83.86, Z:20.54 [[ 4.09724402e-01 -9.10998722e-01 -4.69813064e-02 1.49182417e+02] [ 9.05370555e-01 4.12407691e-01 -1.01114064e-01 8.38573227e+01] [ 1.11490236e-01 -1.10659187e-03 9.93764913e-01 2.05373064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:149.19, Y:83.88, Z:20.54 [[ 3.96484328e-01 -9.16839907e-01 -4.69548925e-02 1.49194589e+02] [ 9.11249763e-01 3.99245957e-01 -1.01126329e-01 8.38828167e+01] [ 1.11463205e-01 -2.69263011e-03 9.93764914e-01 2.05392865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:149.21, Y:83.91, Z:20.54 [[ 3.90753639e-01 -9.19298909e-01 -4.69159794e-02 1.49206828e+02] [ 9.13723970e-01 3.93545832e-01 -1.01144379e-01 8.39064709e+01] [ 1.11445505e-01 -3.34572076e-03 9.93764915e-01 2.05416923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:83.93, Z:20.54 [[ 3.81513776e-01 -9.23173551e-01 -4.68810630e-02 1.49217727e+02] [ 9.17624938e-01 3.84357924e-01 -1.01160560e-01 8.39322175e+01] [ 1.11407862e-01 -4.42508521e-03 9.93764915e-01 2.05440079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:149.22, Y:83.96, Z:20.55 [[ 3.75549247e-01 -9.25617856e-01 -4.68438599e-02 1.49223243e+02] [ 9.20085601e-01 3.78425081e-01 -1.01177785e-01 8.39607092e+01] [ 1.11378856e-01 -5.10312002e-03 9.93764916e-01 2.05470548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:83.99, Z:20.55 [[ 3.73104760e-01 -9.26607738e-01 -4.68074494e-02 1.49230575e+02] [ 9.21081022e-01 3.75991222e-01 -1.01194627e-01 8.39877188e+01] [ 1.11366914e-01 -5.35725631e-03 9.93764917e-01 2.05503986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.24, Y:84.01, Z:20.55 [[ 3.72762690e-01 -9.26747304e-01 -4.67697649e-02 1.49242229e+02] [ 9.21219511e-01 3.75647088e-01 -1.01212041e-01 8.40134667e+01] [ 1.11366912e-01 -5.35714741e-03 9.93764918e-01 2.05535742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.24, Y:84.04, Z:20.55 [[ 3.71188797e-01 -9.27380710e-01 -4.67321732e-02 1.49244061e+02] [ 9.21855681e-01 3.74078485e-01 -1.01229395e-01 8.40401924e+01] [ 1.11359689e-01 -5.50510205e-03 9.93764919e-01 2.05533524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:149.25, Y:84.07, Z:20.56 [[ 3.69328076e-01 -9.28157819e-01 -4.60416724e-02 1.49251997e+02] [ 9.22599446e-01 3.72153633e-01 -1.01547703e-01 8.40678863e+01] [ 1.11386870e-01 -4.97360362e-03 9.93764675e-01 2.05563477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53710568099999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:149.26, Y:84.10, Z:20.56 [[ 3.67971355e-01 -9.28683651e-01 -4.63007364e-02 1.49256263e+02] [ 9.23144086e-01 3.70833257e-01 -1.01428263e-01 8.40959510e+01] [ 1.11364623e-01 -5.41955556e-03 9.93764836e-01 2.05614437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.567105681 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:149.26, Y:84.13, Z:20.57 [[ 3.66684562e-01 -9.29209502e-01 -4.59579564e-02 1.49258784e+02] [ 9.23654465e-01 3.69516807e-01 -1.01586209e-01 8.41268574e+01] [ 1.11377108e-01 -5.19917692e-03 9.93764614e-01 2.05694731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.597105681 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:149.26, Y:84.16, Z:20.57 [[ 3.64444057e-01 -9.30072984e-01 -4.63117020e-02 1.49263438e+02] [ 9.24544946e-01 3.67328155e-01 -1.01423218e-01 8.41567584e+01] [ 1.11342587e-01 -5.85416112e-03 9.93764840e-01 2.05737695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62710568099996 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:149.26, Y:84.19, Z:20.58 [[ 3.67610698e-01 -9.28808920e-01 -4.66515317e-02 1.49263235e+02] [ 9.23290446e-01 3.70512904e-01 -1.01266674e-01 8.41878484e+01] [ 1.11342384e-01 -5.84620103e-03 9.93764910e-01 2.05773579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65710568099996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:149.27, Y:84.21, Z:20.58 [[ 3.71749545e-01 -9.27162016e-01 -4.66140695e-02 1.49269378e+02] [ 9.21628534e-01 3.74623030e-01 -1.01283915e-01 8.42141338e+01] [ 1.11369303e-01 -5.30860716e-03 9.93764910e-01 2.05806442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68710568099996 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:149.27, Y:84.25, Z:20.58 [[ 3.80050390e-01 -9.23817426e-01 -4.60767289e-02 1.49270396e+02] [ 9.18228693e-01 3.82815243e-01 -1.01531064e-01 8.42469545e+01] [ 1.11435040e-01 -3.72205414e-03 9.93764750e-01 2.05820787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71710568099996 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:149.28, Y:84.27, Z:20.59 [[ 3.86106072e-01 -9.21277093e-01 -4.65898942e-02 1.49275259e+02] [ 9.15698318e-01 3.88890605e-01 -1.01295057e-01 8.42749874e+01] [ 1.11439188e-01 -3.55165122e-03 9.93764908e-01 2.05854607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74710568099997 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:149.27, Y:84.31, Z:20.59 [[ 4.02168412e-01 -9.14381503e-01 -4.65514335e-02 1.49272446e+02] [ 9.08752823e-01 4.04850636e-01 -1.01312729e-01 8.43078588e+01] [ 1.11484863e-01 -1.55896730e-03 9.93764909e-01 2.05903449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77710568099997 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:149.28, Y:84.34, Z:20.59 [[ 4.09565978e-01 -9.11093753e-01 -4.65175666e-02 1.49277120e+02] [ 9.05441764e-01 4.12198728e-01 -1.01328277e-01 8.43359658e+01] [ 1.11494042e-01 -6.18332941e-04 9.93764910e-01 2.05943129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80710568099997 meters Centerline goodness : 0.997586 Centerline is valid? [True, True] Translation: X:149.28, Y:84.37, Z:20.60 [[ 4.19761852e-01 -9.06442521e-01 -4.64967022e-02 1.49279276e+02] [ 9.00760298e-01 4.22328694e-01 -1.01337850e-01 8.43664681e+01] [ 1.11493828e-01 6.55380133e-04 9.93764910e-01 2.06012598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83710568099997 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:149.29, Y:84.39, Z:20.60 [[ 4.25403792e-01 -9.03810131e-01 -4.64635540e-02 1.49285450e+02] [ 8.98110369e-01 4.27931449e-01 -1.01353046e-01 8.43948940e+01] [ 1.11487126e-01 1.38657050e-03 9.93764911e-01 2.06016089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86710568099997 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:149.29, Y:84.42, Z:20.60 [[ 4.30020497e-01 -9.01624680e-01 -4.64252907e-02 1.49293422e+02] [ 8.95910189e-01 4.32514672e-01 -1.01370570e-01 8.44235793e+01] [ 1.11477827e-01 1.99853187e-03 9.93764912e-01 2.06004760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89710568099997 meters Centerline goodness : 0.996763 Centerline is valid? [True, True] Translation: X:149.30, Y:84.45, Z:20.60 [[ 4.32135816e-01 -9.00614467e-01 -4.63920039e-02 1.49302264e+02] [ 8.94892514e-01 4.34612825e-01 -1.01385801e-01 8.44497697e+01] [ 1.11472079e-01 2.29657896e-03 9.93764912e-01 2.06041723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92710568099997 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:149.31, Y:84.48, Z:20.61 [[ 4.35383405e-01 -8.99051031e-01 -4.63522790e-02 1.49309455e+02] [ 8.93318260e-01 4.37835269e-01 -1.01403960e-01 8.44758965e+01] [ 1.11461997e-01 2.74226408e-03 9.93764913e-01 2.06104653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95710568099997 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:149.32, Y:84.50, Z:20.62 [[ 4.37481641e-01 -8.98032652e-01 -4.63375647e-02 1.49319875e+02] [ 8.92293466e-01 4.39918452e-01 -1.01410683e-01 8.44989184e+01] [ 1.11454855e-01 3.01860590e-03 9.93764914e-01 2.06152904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98710568099997 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:149.34, Y:84.52, Z:20.61 [[ 4.37578186e-01 -8.98021533e-01 -4.56361426e-02 1.49335200e+02] [ 8.92248819e-01 4.39935125e-01 -1.01730682e-01 8.45244804e+01] [ 1.11433285e-01 3.79633281e-03 9.93764666e-01 2.06095717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01710568099998 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:149.35, Y:84.55, Z:20.61 [[ 4.35421752e-01 -8.99068193e-01 -4.56539326e-02 1.49349500e+02] [ 8.93301993e-01 4.37794550e-01 -1.01722568e-01 8.45509195e+01] [ 1.11442569e-01 3.50947006e-03 9.93764679e-01 2.06102176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04710568099998 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:149.37, Y:84.57, Z:20.61 [[ 4.34997154e-01 -8.99242718e-01 -4.62602382e-02 1.49365504e+02] [ 8.93506555e-01 4.37441106e-01 -1.01446115e-01 8.45741661e+01] [ 1.11460810e-01 2.79494544e-03 9.93764900e-01 2.06115577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07710568099998 meters Centerline goodness : 0.997192 Centerline is valid? [True, True] Translation: X:149.38, Y:84.60, Z:20.61 [[ 4.35765406e-01 -8.98872632e-01 -4.62223101e-02 1.49380962e+02] [ 8.93132567e-01 4.38200179e-01 -1.01463394e-01 8.45969784e+01] [ 1.11457293e-01 2.93158651e-03 9.93764901e-01 2.06143068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10710568099998 meters Centerline goodness : 0.997523 Centerline is valid? [True, True] Translation: X:149.39, Y:84.62, Z:20.62 [[ 4.35989731e-01 -8.98764641e-01 -4.62068665e-02 1.49394515e+02] [ 8.93023231e-01 4.38421329e-01 -1.01470427e-01 8.46215437e+01] [ 1.11456107e-01 2.97625878e-03 9.93764901e-01 2.06184690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13710568099998 meters Centerline goodness : 0.997311 Centerline is valid? [True, True] Translation: X:149.41, Y:84.64, Z:20.62 [[ 4.37003421e-01 -8.98274121e-01 -4.61694068e-02 1.49411332e+02] [ 8.92528189e-01 4.39424312e-01 -1.01487468e-01 8.46422012e+01] [ 1.11451526e-01 3.14287371e-03 9.93764902e-01 2.06222853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16710568099998 meters Centerline goodness : 0.997589 Centerline is valid? [True, True] Translation: X:149.43, Y:84.67, Z:20.63 [[ 4.29381540e-01 -9.01991396e-01 -4.51997239e-02 1.49430824e+02] [ 8.96219731e-01 4.31741721e-01 -1.01927823e-01 8.46659253e+01] [ 1.11452626e-01 3.25704127e-03 9.93764411e-01 2.06275859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19710568099998 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:149.45, Y:84.69, Z:20.63 [[ 4.25717915e-01 -9.03679836e-01 -4.61195341e-02 1.49446556e+02] [ 8.97962255e-01 4.28204987e-01 -1.01509984e-01 8.46900992e+01] [ 1.11481140e-01 1.80101779e-03 9.93764918e-01 2.06338545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22710568099998 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:149.46, Y:84.71, Z:20.64 [[ 4.20346821e-01 -9.06192413e-01 -4.60853638e-02 1.49464127e+02] [ 9.00488005e-01 4.22863957e-01 -1.01525495e-01 8.47122368e+01] [ 1.11489472e-01 1.17660163e-03 9.93764918e-01 2.06404505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25710568099998 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:149.48, Y:84.74, Z:20.65 [[ 4.17864188e-01 -9.07341848e-01 -4.60466191e-02 1.49481228e+02] [ 9.01642429e-01 4.20392598e-01 -1.01543064e-01 8.47356553e+01] [ 1.11491929e-01 9.13624691e-04 9.93764919e-01 2.06488836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28710568099999 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:149.50, Y:84.76, Z:20.65 [[ 4.15675293e-01 -9.08348493e-01 -4.60115851e-02 1.49495020e+02] [ 9.02653440e-01 4.18213521e-01 -1.01558937e-01 8.47584005e+01] [ 1.11493574e-01 6.83025249e-04 9.93764920e-01 2.06515367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.317105681 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:149.51, Y:84.78, Z:20.65 [[ 4.08219068e-01 -9.11724846e-01 -4.59891109e-02 1.49513807e+02] [ 9.06049641e-01 4.10801367e-01 -1.01569113e-01 8.47799138e+01] [ 1.11495473e-01 -2.05968885e-04 9.93764920e-01 2.06542451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.347105681 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:149.53, Y:84.80, Z:20.66 [[ 4.03191032e-01 -9.13961470e-01 -4.59502215e-02 1.49529106e+02] [ 9.08298583e-01 4.05800230e-01 -1.01586703e-01 8.48034887e+01] [ 1.11492943e-01 -7.77673307e-04 9.93764921e-01 2.06567271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37710568099996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:149.55, Y:84.83, Z:20.66 [[ 3.94453575e-01 -9.17768212e-01 -4.59117196e-02 1.49546773e+02] [ 9.12128464e-01 3.97112417e-01 -1.01604101e-01 8.48262094e+01] [ 1.11481128e-01 -1.79928524e-03 9.93764922e-01 2.06605591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40710568099996 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:149.56, Y:84.85, Z:20.66 [[ 3.91041745e-01 -9.19229040e-01 -4.58729320e-02 1.49559387e+02] [ 9.13597170e-01 3.93717232e-01 -1.01621611e-01 8.48494957e+01] [ 1.11474499e-01 -2.17108892e-03 9.93764923e-01 2.06649033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43710568099996 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:149.57, Y:84.87, Z:20.67 [[ 3.89659249e-01 -9.19817015e-01 -4.58511534e-02 1.49572977e+02] [ 9.14188028e-01 3.92340796e-01 -1.01631436e-01 8.48747101e+01] [ 1.11471602e-01 -2.31494649e-03 9.93764923e-01 2.06685954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46710568099996 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:149.58, Y:84.90, Z:20.67 [[ 3.93239638e-01 -9.18282508e-01 -4.60415322e-02 1.49581389e+02] [ 9.12653064e-01 3.95920288e-01 -1.01545610e-01 8.49000323e+01] [ 1.11476334e-01 -2.08818650e-03 9.93764895e-01 2.06711923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49710568099997 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:149.59, Y:84.92, Z:20.67 [[ 3.96939534e-01 -9.16701869e-01 -4.57896229e-02 1.49592092e+02] [ 9.11048631e-01 3.99569547e-01 -1.01659080e-01 8.49249988e+01] [ 1.11487208e-01 -1.36406530e-03 9.93764933e-01 2.06731859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52710568099997 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:149.60, Y:84.95, Z:20.68 [[ 4.04461241e-01 -9.13409810e-01 -4.57561368e-02 1.49603194e+02] [ 9.07733450e-01 4.07040969e-01 -1.01674150e-01 8.49507093e+01] [ 1.11494788e-01 -4.11122964e-04 9.93764934e-01 2.06791666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55710568099997 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:149.61, Y:84.98, Z:20.69 [[ 4.11639011e-01 -9.10199478e-01 -4.57190917e-02 1.49611504e+02] [ 9.04501148e-01 4.14169837e-01 -1.01690805e-01 8.49770581e+01] [ 1.11494387e-01 5.06931602e-04 9.93764934e-01 2.06893072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58710568099997 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:149.62, Y:85.00, Z:20.70 [[ 4.15520652e-01 -9.08435700e-01 -4.56855245e-02 1.49619166e+02] [ 9.02724971e-01 4.18023373e-01 -1.01705884e-01 8.50022809e+01] [ 1.11490873e-01 1.01943129e-03 9.93764935e-01 2.06956636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61710568099997 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:149.63, Y:85.03, Z:20.70 [[ 4.23407585e-01 -9.04787739e-01 -4.56635922e-02 1.49626410e+02] [ 8.99054401e-01 4.25858068e-01 -1.01715730e-01 8.50294183e+01] [ 1.11477354e-01 2.01315794e-03 9.93764935e-01 2.06983459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64710568099997 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:149.64, Y:85.05, Z:20.70 [[ 4.31330920e-01 -9.01039348e-01 -4.56259882e-02 1.49638259e+02] [ 8.95282961e-01 4.33726756e-01 -1.01732595e-01 8.50534556e+01] [ 1.11454283e-01 3.03224392e-03 9.93764936e-01 2.06969752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67710568099997 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:149.65, Y:85.08, Z:20.70 [[ 4.34175783e-01 -8.99673696e-01 -4.55920061e-02 1.49650495e+02] [ 8.93908186e-01 4.36549580e-01 -1.01747822e-01 8.50785999e+01] [ 1.11443010e-01 3.42137271e-03 9.93764937e-01 2.07004413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70710568099997 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:149.66, Y:85.10, Z:20.70 [[ 4.36571913e-01 -8.98515293e-01 -4.55547292e-02 1.49661577e+02] [ 8.92741758e-01 4.38926120e-01 -1.01764509e-01 8.51035669e+01] [ 1.11432128e-01 3.75891735e-03 9.93764938e-01 2.07038436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73710568099997 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:149.67, Y:85.13, Z:20.71 [[ 4.36801301e-01 -8.98405783e-01 -4.55156230e-02 1.49672491e+02] [ 8.92629847e-01 4.39149611e-01 -1.01781997e-01 8.51282157e+01] [ 1.11429703e-01 3.82990502e-03 9.93764939e-01 2.07060735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76710568099998 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:149.69, Y:85.15, Z:20.71 [[ 4.35983111e-01 -8.98804231e-01 -4.54937555e-02 1.49685792e+02] [ 8.93029428e-01 4.38334205e-01 -1.01791770e-01 8.51522297e+01] [ 1.11432343e-01 3.75223008e-03 9.93764939e-01 2.07088055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79710568099998 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:149.70, Y:85.18, Z:20.71 [[ 4.33054532e-01 -9.00220769e-01 -4.54570140e-02 1.49702082e+02] [ 8.94451949e-01 4.35420265e-01 -1.01808175e-01 8.51755074e+01] [ 1.11442739e-01 3.42937691e-03 9.93764940e-01 2.07116091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82710568099998 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:149.72, Y:85.20, Z:20.71 [[ 4.30743697e-01 -9.01330693e-01 -4.54186101e-02 1.49716056e+02] [ 8.95566173e-01 4.33119887e-01 -1.01825305e-01 8.51991563e+01] [ 1.11449976e-01 3.18523747e-03 9.93764941e-01 2.07149955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85710568099998 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:149.73, Y:85.22, Z:20.72 [[ 4.26031297e-01 -9.03569608e-01 -4.53794806e-02 1.49732327e+02] [ 8.97815735e-01 4.28433149e-01 -1.01842741e-01 8.52227944e+01] [ 1.11464079e-01 2.64578318e-03 9.93764941e-01 2.07168664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88710568099998 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:149.74, Y:85.25, Z:20.72 [[ 4.20638629e-01 -9.06094563e-01 -4.53407867e-02 1.49744814e+02] [ 9.00353264e-01 4.23070382e-01 -1.01859965e-01 8.52478206e+01] [ 1.11477104e-01 2.02351057e-03 9.93764942e-01 2.07187244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91710568099998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:149.76, Y:85.27, Z:20.72 [[ 4.17016022e-01 -9.07769443e-01 -4.53020547e-02 1.49756216e+02] [ 9.02036045e-01 4.19466343e-01 -1.01877188e-01 8.52733538e+01] [ 1.11483685e-01 1.62033331e-03 9.93764943e-01 2.07222922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94710568099998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:149.77, Y:85.29, Z:20.72 [[ 4.11801887e-01 -9.10148594e-01 -4.52630475e-02 1.49770669e+02] [ 9.04427453e-01 4.14280690e-01 -1.01894515e-01 8.52938164e+01] [ 1.11490757e-01 1.02321093e-03 9.93764944e-01 2.07247714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97710568099998 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:149.78, Y:85.32, Z:20.73 [[ 4.05117084e-01 -9.13201426e-01 -4.40829110e-02 1.49783068e+02] [ 9.07441313e-01 4.07505754e-01 -1.02417405e-01 8.53207510e+01] [ 1.11491760e-01 1.48838567e-03 9.93764244e-01 2.07274495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00710568099998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:149.80, Y:85.35, Z:20.73 [[ 3.97984346e-01 -9.16278591e-01 -4.51885350e-02 1.49796486e+02] [ 9.10591905e-01 4.00541138e-01 -1.01927326e-01 8.53455315e+01] [ 1.11493694e-01 -5.82834105e-04 9.93764971e-01 2.07306354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03710568099999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:149.81, Y:85.37, Z:20.74 [[ 3.96483284e-01 -9.16930952e-01 -4.51512572e-02 1.49807978e+02] [ 9.11246591e-01 3.99045241e-01 -1.01943836e-01 8.53709348e+01] [ 1.11492853e-01 -7.24902260e-04 9.93764971e-01 2.07354509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.067105681 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:149.82, Y:85.40, Z:20.74 [[ 3.97780944e-01 -9.16370637e-01 -4.51129210e-02 1.49819046e+02] [ 9.10680744e-01 4.00330587e-01 -1.01960798e-01 8.53952940e+01] [ 1.11493964e-01 -5.25405869e-04 9.93764972e-01 2.07388498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.097105681 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:149.83, Y:85.42, Z:20.74 [[ 3.99832056e-01 -9.15478826e-01 -4.50870906e-02 1.49830383e+02] [ 9.09781957e-01 4.02366074e-01 -1.01972219e-01 8.54186638e+01] [ 1.11494923e-01 -2.47659417e-04 9.93764973e-01 2.07428866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12710568099996 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:149.84, Y:85.45, Z:20.74 [[ 3.99032773e-01 -9.15868268e-01 -4.42511291e-02 1.49843231e+02] [ 9.10132554e-01 4.01478516e-01 -1.02341269e-01 8.54454894e+01] [ 1.11496998e-01 5.63127019e-04 9.93764611e-01 2.07429770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:149.86, Y:85.47, Z:20.75 [[ 3.97519920e-01 -9.16505652e-01 -4.46688101e-02 1.49855977e+02] [ 9.10794498e-01 4.00021729e-01 -1.02156738e-01 8.54698484e+01] [ 1.11495723e-01 -7.47680011e-05 9.93764911e-01 2.07456440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18710568099996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:149.87, Y:85.50, Z:20.75 [[ 3.90366122e-01 -9.19592204e-01 -4.43223298e-02 1.49866195e+02] [ 9.13883397e-01 3.92873843e-01 -1.02309722e-01 8.54973710e+01] [ 1.11496307e-01 -5.67191746e-04 9.93764686e-01 2.07536006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21710568099996 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:149.88, Y:85.52, Z:20.75 [[ 3.89996177e-01 -9.19713974e-01 -4.50465004e-02 1.49877681e+02] [ 9.14042564e-01 3.92586613e-01 -1.01989912e-01 8.55217808e+01] [ 1.11486200e-01 -1.39874309e-03 9.93764998e-01 2.07547711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24710568099997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:149.89, Y:85.55, Z:20.76 [[ 3.85003117e-01 -9.21844437e-01 -4.44458512e-02 1.49888048e+02] [ 9.16156583e-01 3.87557749e-01 -1.02255105e-01 8.55508027e+01] [ 1.11488634e-01 -1.35082485e-03 9.93764791e-01 2.07616800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:149.90, Y:85.57, Z:20.76 [[ 3.84804619e-01 -9.21880076e-01 -4.54150875e-02 1.49896907e+02] [ 9.16242378e-01 3.87467715e-01 -1.01826689e-01 8.55734364e+01] [ 1.11468876e-01 -2.42784762e-03 9.93764960e-01 2.07636552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:149.90, Y:85.60, Z:20.76 [[ 3.81662250e-01 -9.23253720e-01 -4.40056393e-02 1.49904593e+02] [ 9.17552977e-01 3.84188676e-01 -1.02448016e-01 8.56002262e+01] [ 1.11491980e-01 -1.27696508e-03 9.93764513e-01 2.07641756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:149.92, Y:85.63, Z:20.77 [[ 3.81517231e-01 -9.23305551e-01 -4.41753505e-02 1.49915570e+02] [ 9.17613792e-01 3.84063371e-01 -1.02373120e-01 8.56252156e+01] [ 1.11487804e-01 -1.47880168e-03 9.93764702e-01 2.07672091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:149.92, Y:85.65, Z:20.77 [[ 3.78304918e-01 -9.24625056e-01 -4.42028846e-02 1.49923631e+02] [ 9.18943591e-01 3.80873877e-01 -1.02360966e-01 8.56530255e+01] [ 1.11481238e-01 -1.89630051e-03 9.93764730e-01 2.07665516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:149.93, Y:85.68, Z:20.77 [[ 3.76706417e-01 -9.25270241e-01 -4.43537609e-02 1.49932070e+02] [ 9.19600978e-01 3.79301866e-01 -1.02294358e-01 8.56809007e+01] [ 1.11473389e-01 -2.25282100e-03 9.93764866e-01 2.07689624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42710568099997 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:149.94, Y:85.71, Z:20.77 [[ 3.76748998e-01 -9.25243085e-01 -4.45581223e-02 1.49937393e+02] [ 9.19584237e-01 3.79366755e-01 -1.02204194e-01 8.57083482e+01] [ 1.11467594e-01 -2.46961908e-03 9.93765001e-01 2.07672386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45710568099997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:149.95, Y:85.74, Z:20.77 [[ 3.74858381e-01 -9.26013425e-01 -4.45009090e-02 1.49947121e+02] [ 9.20356970e-01 3.77481381e-01 -1.02229425e-01 8.57362618e+01] [ 1.11464085e-01 -2.63516497e-03 9.93764969e-01 2.07685158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48710568099997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:149.95, Y:85.76, Z:20.77 [[ 3.69087748e-01 -9.28315119e-01 -4.47802842e-02 1.49954051e+02] [ 9.22689799e-01 3.71776609e-01 -1.02106254e-01 8.57611366e+01] [ 1.11435042e-01 -3.63214399e-03 9.93765082e-01 2.07749347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51710568099998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:149.96, Y:85.79, Z:20.78 [[ 3.58014766e-01 -9.32667757e-01 -4.42298845e-02 1.49958213e+02] [ 9.27045215e-01 3.60710189e-01 -1.02349051e-01 8.57919880e+01] [ 1.11411830e-01 -4.36063128e-03 9.93764755e-01 2.07785348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54710568099998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:149.97, Y:85.82, Z:20.78 [[ 3.54843453e-01 -9.33859609e-01 -4.46358077e-02 1.49967602e+02] [ 9.28268220e-01 3.57602296e-01 -1.02170005e-01 8.58197358e+01] [ 1.11374308e-01 -5.17964461e-03 9.93765030e-01 2.07813489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:149.97, Y:85.84, Z:20.78 [[ 3.49677206e-01 -9.35789484e-01 -4.49876972e-02 1.49972066e+02] [ 9.30232812e-01 3.52505161e-01 -1.02014833e-01 8.58442171e+01] [ 1.11322804e-01 -6.17677026e-03 9.93765103e-01 2.07765793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60710568099998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:149.98, Y:85.87, Z:20.78 [[ 3.46353883e-01 -9.37072196e-01 -4.39850880e-02 1.49982101e+02] [ 9.31470232e-01 3.49092573e-01 -1.02457713e-01 8.58741272e+01] [ 1.11365142e-01 -5.48417323e-03 9.93764423e-01 2.07807388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63710568099998 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:149.98, Y:85.90, Z:20.78 [[ 3.43368240e-01 -9.38119541e-01 -4.50552894e-02 1.49984350e+02] [ 9.32585841e-01 3.46240860e-01 -1.01984881e-01 8.59006807e+01] [ 1.11273992e-01 -6.99955584e-03 9.93765116e-01 2.07826265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66710568099998 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:149.99, Y:85.93, Z:20.79 [[ 3.39476534e-01 -9.39578116e-01 -4.41434860e-02 1.49990327e+02] [ 9.34005223e-01 3.42273394e-01 -1.02387341e-01 8.59315921e+01] [ 1.11310046e-01 -6.47214675e-03 9.93764653e-01 2.07871636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69710568099998 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:149.99, Y:85.96, Z:20.79 [[ 3.38249710e-01 -9.39980145e-01 -4.49940053e-02 1.49990881e+02] [ 9.34458707e-01 3.41145837e-01 -1.02011971e-01 8.59598182e+01] [ 1.11238745e-01 -7.53952047e-03 9.93765112e-01 2.07858992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72710568099998 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:149.99, Y:85.99, Z:20.79 [[ 3.35111099e-01 -9.41130111e-01 -4.44371980e-02 1.49993307e+02] [ 9.35586794e-01 3.37965558e-01 -1.02257676e-01 8.59913921e+01] [ 1.11256021e-01 -7.30717329e-03 9.93764913e-01 2.07896068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75710568099998 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:149.99, Y:86.02, Z:20.79 [[ 3.35439971e-01 -9.40997718e-01 -4.47584671e-02 1.49994407e+02] [ 9.35471566e-01 3.38327184e-01 -1.02115943e-01 8.60181402e+01] [ 1.11233875e-01 -7.61650453e-03 9.93765070e-01 2.07893407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78710568099999 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:150.00, Y:86.05, Z:20.80 [[ 3.32190082e-01 -9.42199849e-01 -4.36943332e-02 1.50001016e+02] [ 9.36623606e-01 3.34981428e-01 -1.02584910e-01 8.60511445e+01] [ 1.11292277e-01 -6.84745439e-03 9.93764128e-01 2.07988802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.817105681 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:150.00, Y:86.08, Z:20.80 [[ 3.29035997e-01 -9.43234889e-01 -4.52023870e-02 1.49998088e+02] [ 9.37754108e-01 3.32008374e-01 -1.01919933e-01 8.60813497e+01] [ 1.11142008e-01 -8.85339719e-03 9.93765099e-01 2.08046737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.847105681 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:150.00, Y:86.11, Z:20.81 [[ 3.28747421e-01 -9.43346588e-01 -4.49705260e-02 1.50001899e+02] [ 9.37853322e-01 3.31696593e-01 -1.02022140e-01 8.61085381e+01] [ 1.11158808e-01 -8.63624196e-03 9.93765131e-01 2.08084004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87710568099996 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:150.00, Y:86.14, Z:20.81 [[ 3.30929064e-01 -9.42584658e-01 -4.49457058e-02 1.49998439e+02] [ 9.37083160e-01 3.33862851e-01 -1.02033073e-01 8.61392609e+01] [ 1.11180511e-01 -8.35215471e-03 9.93765131e-01 2.08114931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90710568099996 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:150.00, Y:86.17, Z:20.81 [[ 3.32931699e-01 -9.41880126e-01 -4.49256203e-02 1.50002456e+02] [ 9.36371258e-01 3.35851625e-01 -1.02041916e-01 8.61679514e+01] [ 1.11199595e-01 -8.09407118e-03 9.93765131e-01 2.08135965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93710568099996 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:150.00, Y:86.20, Z:20.82 [[ 3.39931833e-01 -9.39378158e-01 -4.48890392e-02 1.49998530e+02] [ 9.33845657e-01 3.42806727e-01 -1.02058006e-01 8.61991536e+01] [ 1.11259326e-01 -7.22666934e-03 9.93765132e-01 2.08162769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96710568099996 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:149.99, Y:86.23, Z:20.82 [[ 3.52358215e-01 -9.34789000e-01 -4.48688540e-02 1.49994976e+02] [ 9.29217760e-01 3.55157297e-01 -1.02066879e-01 8.62291391e+01] [ 1.11346497e-01 -5.72883263e-03 9.93765132e-01 2.08201229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99710568099997 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:150.00, Y:86.26, Z:20.82 [[ 3.58944395e-01 -9.32329870e-01 -4.38170623e-02 1.49999587e+02] [ 9.26682988e-01 3.61588930e-01 -1.02528461e-01 8.62560785e+01] [ 1.11434111e-01 -3.80251001e-03 9.93764549e-01 2.08222671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02710568099997 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:150.00, Y:86.29, Z:20.82 [[ 3.70454651e-01 -9.27814414e-01 -4.38607354e-02 1.49999803e+02] [ 9.22137485e-01 3.73033925e-01 -1.02509262e-01 8.62903505e+01] [ 1.11471114e-01 -2.47059511e-03 9.93764603e-01 2.08241564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05710568099997 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:150.00, Y:86.32, Z:20.83 [[ 3.89313130e-01 -9.20010784e-01 -4.48937059e-02 1.49999155e+02] [ 9.14333836e-01 3.91890833e-01 -1.02054939e-01 8.63172093e+01] [ 1.11485076e-01 -1.31650656e-03 9.93765236e-01 2.08275581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08710568099997 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:150.00, Y:86.35, Z:20.83 [[ 3.93968195e-01 -9.18083565e-01 -4.37221784e-02 1.50004898e+02] [ 9.12336136e-01 3.96386550e-01 -1.02569383e-01 8.63482780e+01] [ 1.11498149e-01 5.19751567e-04 9.93764506e-01 2.08309720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11710568099997 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:150.01, Y:86.38, Z:20.83 [[ 4.05045679e-01 -9.13196272e-01 -4.48393410e-02 1.50008361e+02] [ 9.07473300e-01 4.07519495e-01 -1.02078747e-01 8.63776739e+01] [ 1.11490836e-01 6.56050515e-04 9.93765245e-01 2.08300386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14710568099997 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:150.02, Y:86.40, Z:20.83 [[ 4.12700720e-01 -9.09764202e-01 -4.48019192e-02 1.50016197e+02] [ 9.04018886e-01 4.15122187e-01 -1.02095168e-01 8.64014079e+01] [ 1.11480800e-01 1.63296846e-03 9.93765246e-01 2.08279698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17710568099997 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:150.03, Y:86.43, Z:20.83 [[ 4.09140875e-01 -9.11438988e-01 -4.33902814e-02 1.50026335e+02] [ 9.05637030e-01 4.11426212e-01 -1.02713395e-01 8.64310442e+01] [ 1.11468892e-01 2.72840281e-03 9.93764178e-01 2.08313226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20710568099997 meters Centerline goodness : 0.996871 Centerline is valid? [True, True] Translation: X:150.04, Y:86.46, Z:20.83 [[ 4.06335428e-01 -9.12627546e-01 -4.47490951e-02 1.50035758e+02] [ 9.06896778e-01 4.08791061e-01 -1.02118084e-01 8.64562202e+01] [ 1.11488807e-01 9.11385428e-04 9.93765272e-01 2.08346214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23710568099997 meters Centerline goodness : 0.996490 Centerline is valid? [True, True] Translation: X:150.05, Y:86.48, Z:20.84 [[ 4.04133882e-01 -9.13605367e-01 -4.47329734e-02 1.50046250e+02] [ 9.07879759e-01 4.06601522e-01 -1.02125146e-01 8.64814452e+01] [ 1.11490577e-01 6.60070600e-04 9.93765272e-01 2.08374917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26710568099998 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:150.06, Y:86.51, Z:20.84 [[ 4.00787217e-01 -9.15080225e-01 -4.46966325e-02 1.50056305e+02] [ 9.09361924e-01 4.03271742e-01 -1.02141049e-01 8.65067889e+01] [ 1.11492143e-01 2.91411066e-04 9.93765273e-01 2.08401462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.29710568099998 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:150.07, Y:86.53, Z:20.84 [[ 3.98306680e-01 -9.16163417e-01 -4.46808928e-02 1.50066116e+02] [ 9.10451101e-01 4.00804932e-01 -1.02147934e-01 8.65323689e+01] [ 1.11492522e-01 6.43621813e-06 9.93765273e-01 2.08438603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32710568099998 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:150.08, Y:86.55, Z:20.85 [[ 3.99411337e-01 -9.15684205e-01 -4.46432492e-02 1.50077526e+02] [ 9.09967052e-01 4.01898498e-01 -1.02164383e-01 8.65545298e+01] [ 1.11492367e-01 1.81726978e-04 9.93765274e-01 2.08462261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35710568099998 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:150.09, Y:86.58, Z:20.85 [[ 3.95605013e-01 -9.17392494e-01 -4.34475060e-02 1.50091511e+02] [ 9.11627984e-01 3.97982388e-01 -1.02686114e-01 8.65808630e+01] [ 1.11494812e-01 1.01517909e-03 9.93764497e-01 2.08467589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38710568099998 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:150.10, Y:86.61, Z:20.85 [[ 3.92256105e-01 -9.18804402e-01 -4.39729456e-02 1.50104332e+02] [ 9.13073996e-01 3.94713149e-01 -1.02456855e-01 8.66068871e+01] [ 1.11494509e-01 3.87734445e-05 9.93765049e-01 2.08480755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41710568099998 meters Centerline goodness : 0.996750 Centerline is valid? [True, True] Translation: X:150.12, Y:86.63, Z:20.85 [[ 3.89352255e-01 -9.20009101e-01 -4.45878435e-02 1.50116471e+02] [ 9.14316794e-01 3.91895769e-01 -1.02188584e-01 8.66308525e+01] [ 1.11488215e-01 -9.80058428e-04 9.93765273e-01 2.08511627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44710568099998 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:150.13, Y:86.66, Z:20.86 [[ 3.87142672e-01 -9.20942313e-01 -4.45624003e-02 1.50125652e+02] [ 9.15254860e-01 3.89697020e-01 -1.02199678e-01 8.66565680e+01] [ 1.11485843e-01 -1.22009693e-03 9.93765273e-01 2.08589950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47710568099998 meters Centerline goodness : 0.996605 Centerline is valid? [True, True] Translation: X:150.14, Y:86.68, Z:20.86 [[ 3.86427022e-01 -9.21244566e-01 -4.45264577e-02 1.50136942e+02] [ 9.15557308e-01 3.88981801e-01 -1.02215335e-01 8.66812878e+01] [ 1.11485304e-01 -1.26775605e-03 9.93765274e-01 2.08616825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.50710568099998 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:150.15, Y:86.70, Z:20.86 [[ 3.85913224e-01 -9.21460666e-01 -4.45109558e-02 1.50152086e+02] [ 9.15774060e-01 3.88469454e-01 -1.02222085e-01 8.67041382e+01] [ 1.11484778e-01 -1.31312415e-03 9.93765274e-01 2.08596421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53710568099999 meters Centerline goodness : 0.996600 Centerline is valid? [True, True] Translation: X:150.17, Y:86.73, Z:20.86 [[ 3.86739271e-01 -9.21115172e-01 -4.44924243e-02 1.50167701e+02] [ 9.15425355e-01 3.89288346e-01 -1.02230151e-01 8.67273067e+01] [ 1.11486125e-01 -1.19307928e-03 9.93765274e-01 2.08604804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.567105681 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:150.18, Y:86.75, Z:20.86 [[ 3.91218316e-01 -9.19223595e-01 -4.44545883e-02 1.50177869e+02] [ 9.13519580e-01 3.93735457e-01 -1.02246601e-01 8.67460292e+01] [ 1.11490836e-01 -6.09393610e-04 9.93765275e-01 2.08629771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.597105681 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:150.19, Y:86.78, Z:20.87 [[ 3.95036165e-01 -9.17682478e-01 -4.24887970e-02 1.50189462e+02] [ 9.11874793e-01 3.97309622e-01 -1.03099105e-01 8.67769999e+01] [ 1.11493450e-01 1.98341196e-03 9.93763189e-01 2.08731255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62710568099996 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:150.20, Y:86.80, Z:20.88 [[ 3.98062720e-01 -9.16282112e-01 -4.44202865e-02 1.50201202e+02] [ 9.10557958e-01 4.00533424e-01 -1.02260366e-01 8.68018830e+01] [ 1.11491153e-01 2.58793831e-04 9.93765393e-01 2.08790877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65710568099996 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:150.22, Y:86.82, Z:20.88 [[ 4.07206874e-01 -9.12256975e-01 -4.43821221e-02 1.50215277e+02] [ 9.06506603e-01 4.09615928e-01 -1.02276927e-01 8.68229743e+01] [ 1.11482464e-01 1.41518082e-03 9.93765394e-01 2.08843657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68710568099996 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:150.23, Y:86.85, Z:20.89 [[ 4.10565469e-01 -9.10778181e-01 -4.38075514e-02 1.50230541e+02] [ 9.04992419e-01 4.12888740e-01 -1.02526138e-01 8.68488056e+01] [ 1.11466214e-01 2.44818998e-03 9.93765208e-01 2.08853781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71710568099996 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:150.25, Y:86.87, Z:20.89 [[ 4.18993632e-01 -9.06904564e-01 -4.43672057e-02 1.50245027e+02] [ 9.01122779e-01 4.21326290e-01 -1.02283401e-01 8.68684708e+01] [ 1.11454353e-01 2.87579395e-03 9.93765393e-01 2.08896306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74710568099997 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:150.26, Y:86.90, Z:20.89 [[ 4.18691175e-01 -9.07109857e-01 -4.30047262e-02 1.50257565e+02] [ 9.01268097e-01 4.20871839e-01 -1.02872307e-01 8.68957834e+01] [ 1.11415962e-01 4.31293919e-03 9.93764500e-01 2.08937269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77710568099997 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:150.27, Y:86.92, Z:20.89 [[ 4.23688286e-01 -9.04726216e-01 -4.42573175e-02 1.50274316e+02] [ 8.98927538e-01 4.25978537e-01 -1.02330683e-01 8.69181067e+01] [ 1.11433918e-01 3.57219009e-03 9.93765426e-01 2.08939307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80710568099997 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:150.29, Y:86.94, Z:20.90 [[ 4.25073288e-01 -9.04077108e-01 -4.42411794e-02 1.50288906e+02] [ 8.98274213e-01 4.27352831e-01 -1.02337659e-01 8.69424393e+01] [ 1.11427728e-01 3.76029473e-03 9.93765426e-01 2.08955023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83710568099997 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:150.31, Y:86.96, Z:20.90 [[ 4.27608738e-01 -9.02882593e-01 -4.42017093e-02 1.50308483e+02] [ 8.97071585e-01 4.29867521e-01 -1.02354704e-01 8.69632120e+01] [ 1.11415160e-01 4.11566858e-03 9.93765427e-01 2.08953576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86710568099997 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:150.32, Y:86.99, Z:20.90 [[ 4.27925704e-01 -9.02733246e-01 -4.41845825e-02 1.50323624e+02] [ 8.96920694e-01 4.30180508e-01 -1.02362097e-01 8.69866379e+01] [ 1.11413014e-01 4.17330609e-03 9.93765427e-01 2.08969411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89710568099997 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:150.34, Y:87.01, Z:20.90 [[ 4.28033469e-01 -9.02684075e-01 -4.41453377e-02 1.50342789e+02] [ 8.96869533e-01 4.30283135e-01 -1.02379019e-01 8.70092881e+01] [ 1.11410905e-01 4.22903843e-03 9.93765428e-01 2.08958678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92710568099997 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:150.36, Y:87.03, Z:20.90 [[ 4.26685495e-01 -9.03323946e-01 -4.41059694e-02 1.50362982e+02] [ 8.97511041e-01 4.28939384e-01 -1.02395977e-01 8.70295238e+01] [ 1.11415525e-01 4.10528370e-03 9.93765429e-01 2.08968802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95710568099997 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:150.38, Y:87.05, Z:20.90 [[ 4.25228775e-01 -9.04011424e-01 -4.40889262e-02 1.50379005e+02] [ 8.98201410e-01 4.27490103e-01 -1.02403315e-01 8.70525425e+01] [ 1.11421346e-01 3.94410043e-03 9.93765429e-01 2.08994177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98710568099997 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:150.40, Y:87.07, Z:20.90 [[ 4.22565704e-01 -9.05261181e-01 -4.40501975e-02 1.50399296e+02] [ 8.99456133e-01 4.24839750e-01 -1.02419972e-01 8.70742597e+01] [ 1.11431100e-01 3.65794722e-03 9.93765430e-01 2.09001158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01710568099998 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:150.41, Y:87.10, Z:20.91 [[ 4.20817168e-01 -9.06087371e-01 -4.38016812e-02 1.50414434e+02] [ 9.00275718e-01 4.23074346e-01 -1.02526725e-01 8.70975506e+01] [ 1.11429538e-01 3.71141593e-03 9.93765407e-01 2.09064321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.04710568099998 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:150.44, Y:87.12, Z:20.91 [[ 4.20379480e-01 -9.06281441e-01 -4.39891140e-02 1.50437648e+02] [ 9.00479181e-01 4.22660635e-01 -1.02446246e-01 8.71172430e+01] [ 1.11437598e-01 3.45501831e-03 9.93765427e-01 2.09098787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07710568099998 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:150.46, Y:87.13, Z:20.91 [[ 4.23442482e-01 -9.04855223e-01 -4.39714638e-02 1.50461325e+02] [ 8.99044504e-01 4.25702003e-01 -1.02453821e-01 8.71341209e+01] [ 1.11424615e-01 3.85099751e-03 9.93765428e-01 2.09121869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10710568099998 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:150.48, Y:87.16, Z:20.92 [[ 4.18910952e-01 -9.07027581e-01 -4.25978990e-02 1.50480728e+02] [ 9.01168239e-01 4.21044109e-01 -1.03042047e-01 8.71585538e+01] [ 1.11397573e-01 4.77756829e-03 9.93764437e-01 2.09194030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13710568099998 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:150.50, Y:87.18, Z:20.92 [[ 4.19090139e-01 -9.06882142e-01 -4.39116783e-02 1.50497429e+02] [ 9.01079715e-01 4.21370805e-01 -1.02479225e-01 8.71813574e+01] [ 1.11439678e-01 3.38011000e-03 9.93765452e-01 2.09216124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16710568099998 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:150.52, Y:87.20, Z:20.92 [[ 4.22990336e-01 -9.05071352e-01 -4.38750765e-02 1.50520398e+02] [ 8.99257558e-01 4.25241863e-01 -1.02494893e-01 8.72014645e+01] [ 1.11422711e-01 3.89935511e-03 9.93765453e-01 2.09200973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19710568099998 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:150.54, Y:87.23, Z:20.92 [[ 4.24593416e-01 -9.04321965e-01 -4.38430564e-02 1.50536428e+02] [ 8.98502796e-01 4.26831014e-01 -1.02508588e-01 8.72252428e+01] [ 1.11414344e-01 4.13136286e-03 9.93765453e-01 2.09208367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.22710568099998 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:150.56, Y:87.25, Z:20.92 [[ 4.28436080e-01 -9.02509543e-01 -4.38069721e-02 1.50556944e+02] [ 8.96679358e-01 4.30644815e-01 -1.02524006e-01 8.72466789e+01] [ 1.11394140e-01 4.64417575e-03 9.93765454e-01 2.09239417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25710568099998 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:150.57, Y:87.27, Z:20.93 [[ 4.28090270e-01 -9.02675536e-01 -4.37675481e-02 1.50567803e+02] [ 8.96844506e-01 4.30296770e-01 -1.02540834e-01 8.72727330e+01] [ 1.11394137e-01 4.64404816e-03 9.93765455e-01 2.09271173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.28710568099999 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:150.58, Y:87.30, Z:20.93 [[ 4.29890175e-01 -9.01821656e-01 -4.37279997e-02 1.50583327e+02] [ 8.95984551e-01 4.32080552e-01 -1.02557696e-01 8.72952554e+01] [ 1.11382770e-01 4.90893387e-03 9.93765456e-01 2.09298576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.317105681 meters Centerline goodness : 0.997481 Centerline is valid? [True, True] Translation: X:150.60, Y:87.32, Z:20.94 [[ 4.32652300e-01 -9.00501076e-01 -4.37012530e-02 1.50602218e+02] [ 8.94656156e-01 4.34821737e-01 -1.02569092e-01 8.73168583e+01] [ 1.11365833e-01 5.27915874e-03 9.93765456e-01 2.09366154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.347105681 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:150.62, Y:87.34, Z:20.94 [[ 4.31212568e-01 -9.01193312e-01 -4.36615946e-02 1.50619161e+02] [ 8.95350191e-01 4.33386841e-01 -1.02585972e-01 8.73387942e+01] [ 1.11372152e-01 5.14394319e-03 9.93765457e-01 2.09414439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37710568099996 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:150.63, Y:87.36, Z:20.95 [[ 4.28442989e-01 -9.02514410e-01 -4.36388050e-02 1.50633844e+02] [ 8.96677023e-01 4.30632610e-01 -1.02595665e-01 8.73626156e+01] [ 1.11386359e-01 4.82647963e-03 9.93765457e-01 2.09451698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40710568099996 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:150.65, Y:87.38, Z:20.95 [[ 4.22213975e-01 -9.05447118e-01 -4.35990366e-02 1.50653235e+02] [ 8.99623238e-01 4.24439268e-01 -1.02612562e-01 8.73823268e+01] [ 1.11415392e-01 4.10175134e-03 9.93765458e-01 2.09479540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43710568099996 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:150.67, Y:87.41, Z:20.95 [[ 4.17834914e-01 -9.07499605e-01 -4.31097553e-02 1.50668042e+02] [ 9.01665293e-01 4.20033008e-01 -1.02820094e-01 8.74068148e+01] [ 1.11416715e-01 4.09125506e-03 9.93765353e-01 2.09499153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46710568099996 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:150.69, Y:87.43, Z:20.96 [[ 4.08184469e-01 -9.11890229e-01 -4.29144366e-02 1.50685278e+02] [ 9.06070925e-01 4.10422315e-01 -1.02902875e-01 8.74307649e+01] [ 1.11449169e-01 3.11983205e-03 9.93765239e-01 2.09551154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49710568099997 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:150.70, Y:87.45, Z:20.96 [[ 4.01684236e-01 -9.14744373e-01 -4.35029414e-02 1.50701529e+02] [ 9.08967760e-01 4.04029542e-01 -1.02653501e-01 8.74528002e+01] [ 1.11478185e-01 1.69152181e-03 9.93765442e-01 2.09624919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52710568099997 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:150.71, Y:87.48, Z:20.97 [[ 3.98825549e-01 -9.15996015e-01 -4.34681839e-02 1.50714014e+02] [ 9.10225161e-01 4.01184988e-01 -1.02668216e-01 8.74759602e+01] [ 1.11482460e-01 1.38087308e-03 9.93765442e-01 2.09672322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55710568099997 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:150.73, Y:87.50, Z:20.97 [[ 3.94908983e-01 -9.17692963e-01 -4.34340893e-02 1.50729487e+02] [ 9.11930665e-01 3.97289238e-01 -1.02682638e-01 8.74995961e+01] [ 1.11487031e-01 9.41418275e-04 9.93765443e-01 2.09730559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58710568099997 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:150.74, Y:87.52, Z:20.97 [[ 3.93550601e-01 -9.18278155e-01 -4.33953374e-02 1.50742236e+02] [ 9.12517590e-01 3.95935047e-01 -1.02699013e-01 8.75235891e+01] [ 1.11487995e-01 8.18249599e-04 9.93765444e-01 2.09745459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61710568099997 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:150.76, Y:87.55, Z:20.98 [[ 3.93542653e-01 -9.18283200e-01 -4.33606427e-02 1.50758455e+02] [ 9.12521052e-01 3.95923269e-01 -1.02713659e-01 8.75469438e+01] [ 1.11487715e-01 8.54706727e-04 9.93765445e-01 2.09768762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64710568099997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:150.77, Y:87.57, Z:20.98 [[ 3.94247069e-01 -9.17982822e-01 -4.33218976e-02 1.50771204e+02] [ 9.12217065e-01 3.96618928e-01 -1.02729999e-01 8.75712975e+01] [ 1.11486659e-01 9.82026528e-04 9.93765445e-01 2.09804271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67710568099997 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:150.78, Y:87.59, Z:20.98 [[ 3.94135029e-01 -9.18032756e-01 -4.32832283e-02 1.50784967e+02] [ 9.12265511e-01 3.96503264e-01 -1.02746289e-01 8.75943793e+01] [ 1.11486400e-01 1.01011508e-03 9.93765446e-01 2.09820585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70710568099997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:150.80, Y:87.62, Z:20.98 [[ 3.95238114e-01 -9.17559998e-01 -4.32490769e-02 1.50799250e+02] [ 9.11788348e-01 3.97595592e-01 -1.02760662e-01 8.76156950e+01] [ 1.11484715e-01 1.18092589e-03 9.93765447e-01 2.09842742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73710568099997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:150.81, Y:87.64, Z:20.99 [[ 3.93553976e-01 -9.18332695e-01 -4.21939464e-02 1.50810585e+02] [ 9.12517492e-01 3.95803729e-01 -1.03204819e-01 8.76432222e+01] [ 1.11476881e-01 2.11395286e-03 9.93764779e-01 2.09930208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:150.82, Y:87.67, Z:21.00 [[ 3.94269456e-01 -9.17975326e-01 -4.32769785e-02 1.50822384e+02] [ 9.12207467e-01 3.96636147e-01 -1.02748738e-01 8.76666226e+01] [ 1.11486020e-01 1.03310620e-03 9.93765465e-01 2.10005564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79710568099998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:150.84, Y:87.69, Z:21.00 [[ 3.96907754e-01 -9.16839400e-01 -4.32406077e-02 1.50835858e+02] [ 9.11063102e-01 3.99253773e-01 -1.02764042e-01 8.76905233e+01] [ 1.11482099e-01 1.39292302e-03 9.93765466e-01 2.10041139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:150.85, Y:87.71, Z:21.01 [[ 4.00086961e-01 -9.15458428e-01 -4.32005937e-02 1.50847025e+02] [ 9.09672221e-01 4.02408430e-01 -1.02780861e-01 8.77149691e+01] [ 1.11475888e-01 1.82290219e-03 9.93765467e-01 2.10086995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.86, Y:87.74, Z:21.02 [[ 4.07872195e-01 -9.12017721e-01 -4.31734782e-02 1.50855256e+02] [ 9.06210752e-01 4.10141227e-01 -1.02792250e-01 8.77414345e+01] [ 1.11455577e-01 2.80183034e-03 9.93765467e-01 2.10150650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88710568099998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:150.86, Y:87.77, Z:21.02 [[ 4.11734005e-01 -9.10282655e-01 -4.31346340e-02 1.50864987e+02] [ 9.04464433e-01 4.13974022e-01 -1.02808547e-01 8.77676600e+01] [ 1.11441455e-01 3.31603269e-03 9.93765468e-01 2.10181800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:150.88, Y:87.79, Z:21.02 [[ 4.21116758e-01 -9.05982085e-01 -4.30945286e-02 1.50876158e+02] [ 9.00139338e-01 4.23292002e-01 -1.02825356e-01 8.77885915e+01] [ 1.11399500e-01 4.51040008e-03 9.93765469e-01 2.10179232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:150.89, Y:87.82, Z:21.02 [[ 4.24822770e-01 -9.04320416e-01 -4.15956579e-02 1.50890177e+02] [ 8.98407699e-01 4.26803589e-01 -1.03451941e-01 8.78151205e+01] [ 1.11306878e-01 6.57888078e-03 9.93764307e-01 2.10173170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:150.90, Y:87.84, Z:21.02 [[ 4.24746398e-01 -9.04324958e-01 -4.22713537e-02 1.50903614e+02] [ 8.98439664e-01 4.26804679e-01 -1.03169450e-01 8.78427527e+01] [ 1.11340320e-01 5.84259136e-03 9.93765162e-01 2.10183819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.00710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:150.92, Y:87.87, Z:21.02 [[ 4.25331032e-01 -9.04014633e-01 -4.30239035e-02 1.50920116e+02] [ 8.98158911e-01 4.27471031e-01 -1.02854700e-01 8.78656913e+01] [ 1.11373626e-01 5.10499333e-03 9.93765493e-01 2.10168349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.93, Y:87.89, Z:21.02 [[ 4.26783193e-01 -9.03331687e-01 -4.29880140e-02 1.50934367e+02] [ 8.97471054e-01 4.28909703e-01 -1.02869698e-01 8.78878470e+01] [ 1.11363434e-01 5.32255980e-03 9.93765493e-01 2.10184430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.067105681 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:150.95, Y:87.91, Z:21.02 [[ 4.23446347e-01 -9.04937892e-01 -4.21971856e-02 1.50952738e+02] [ 8.99052625e-01 4.25504654e-01 -1.03199646e-01 8.79124388e+01] [ 1.11344369e-01 5.76202280e-03 9.93765179e-01 2.10200255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.097105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:87.93, Z:21.02 [[ 4.21249548e-01 -9.05927860e-01 -4.29363496e-02 1.50972406e+02] [ 9.00078187e-01 4.23406013e-01 -1.02891233e-01 8.79322408e+01] [ 1.11391543e-01 4.69681383e-03 9.93765498e-01 2.10233071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:87.96, Z:21.03 [[ 4.16771117e-01 -9.08035311e-01 -4.21154377e-02 1.50988001e+02] [ 9.02162021e-01 4.18863434e-01 -1.03233291e-01 8.79580369e+01] [ 1.11380090e-01 5.02970558e-03 9.93765152e-01 2.10264771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.01, Y:87.98, Z:21.03 [[ 4.10209685e-01 -9.10982340e-01 -4.28857885e-02 1.51007487e+02] [ 9.05157125e-01 4.12431371e-01 -1.02912311e-01 8.79790140e+01] [ 1.11438743e-01 3.39724976e-03 9.93765498e-01 2.10283924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:88.00, Z:21.03 [[ 4.07360719e-01 -9.12261736e-01 -4.28458923e-02 1.51021075e+02] [ 9.06441764e-01 4.09596101e-01 -1.02928919e-01 8.80036485e+01] [ 1.11447625e-01 3.09189222e-03 9.93765499e-01 2.10307341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.04, Y:88.03, Z:21.03 [[ 4.02017671e-01 -9.14630653e-01 -4.28084137e-02 1.51037438e+02] [ 9.08822212e-01 4.04282842e-01 -1.02944504e-01 8.80278297e+01] [ 1.11462906e-01 2.48027248e-03 9.93765500e-01 2.10305276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.05, Y:88.05, Z:21.04 [[ 3.97112468e-01 -9.16772833e-01 -4.27698577e-02 1.51054945e+02] [ 9.10974897e-01 3.99404393e-01 -1.02960520e-01 8.80500965e+01] [ 1.11473877e-01 1.92463962e-03 9.93765501e-01 2.10378105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:88.08, Z:21.04 [[ 3.94174182e-01 -9.18054311e-01 -4.24616918e-02 1.51068075e+02] [ 9.12250019e-01 3.96450091e-01 -1.03088447e-01 8.80758221e+01] [ 1.11474735e-01 1.89912508e-03 9.93765454e-01 2.10428157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.08, Y:88.10, Z:21.05 [[ 3.90992286e-01 -9.19399913e-01 -4.27648436e-02 1.51080097e+02] [ 9.13617153e-01 3.93322248e-01 -1.02962647e-01 8.81003029e+01] [ 1.11484213e-01 1.18690582e-03 9.93765496e-01 2.10464289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.09, Y:88.12, Z:21.05 [[ 3.91303344e-01 -9.19270747e-01 -4.26964449e-02 1.51090086e+02] [ 9.13484124e-01 3.93623688e-01 -1.02991003e-01 8.81238591e+01] [ 1.11482948e-01 1.29819911e-03 9.93765499e-01 2.10498592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.10, Y:88.15, Z:21.05 [[ 3.94003900e-01 -9.18137024e-01 -4.22531995e-02 1.51101855e+02] [ 9.12323971e-01 3.96257473e-01 -1.03174548e-01 8.81489537e+01] [ 1.11471519e-01 2.10256761e-03 9.93765405e-01 2.10520919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:151.11, Y:88.17, Z:21.06 [[ 3.95119115e-01 -9.17670152e-01 -4.19806762e-02 1.51112458e+02] [ 9.11842447e-01 3.97334980e-01 -1.03287299e-01 8.81737728e+01] [ 1.11464063e-01 2.53102379e-03 9.93765242e-01 2.10598955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.12, Y:88.20, Z:21.07 [[ 3.96174338e-01 -9.17200312e-01 -4.23022613e-02 1.51123219e+02] [ 9.11384091e-01 3.98419672e-01 -1.03154268e-01 8.82000732e+01] [ 1.11467180e-01 2.31346582e-03 9.93765423e-01 2.10658243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.13, Y:88.22, Z:21.08 [[ 4.00101228e-01 -9.15481925e-01 -4.25658501e-02 1.51132658e+02] [ 9.09667589e-01 4.02351284e-01 -1.03045243e-01 8.82246171e+01] [ 1.11462482e-01 2.50775399e-03 9.93765479e-01 2.10764515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:88.25, Z:21.08 [[ 4.01094143e-01 -9.15056629e-01 -4.23657194e-02 1.51142664e+02] [ 9.09231183e-01 4.03315359e-01 -1.03127962e-01 8.82513420e+01] [ 1.11454671e-01 2.84378836e-03 9.93765450e-01 2.10823643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.15, Y:88.28, Z:21.09 [[ 4.05243836e-01 -9.13217455e-01 -4.25595150e-02 1.51154014e+02] [ 9.07390277e-01 4.07460440e-01 -1.03047926e-01 8.82754588e+01] [ 1.11446483e-01 3.14144665e-03 9.93765472e-01 2.10869948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.17, Y:88.30, Z:21.09 [[ 4.07366894e-01 -9.12273674e-01 -4.25318376e-02 1.51166603e+02] [ 9.06440177e-01 4.09566815e-01 -1.03059348e-01 8.83006535e+01] [ 1.11437959e-01 3.43040000e-03 9.93765472e-01 2.10884063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:88.33, Z:21.09 [[ 4.12551926e-01 -9.09942409e-01 -4.24937735e-02 1.51179617e+02] [ 9.04094894e-01 4.14714309e-01 -1.03075040e-01 8.83259976e+01] [ 1.11415127e-01 4.10540284e-03 9.93765473e-01 2.10870318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.19, Y:88.35, Z:21.08 [[ 4.19510713e-01 -9.06757072e-01 -4.24543678e-02 1.51187267e+02] [ 9.00891553e-01 4.21623767e-01 -1.03091268e-01 8.83508483e+01] [ 1.11378507e-01 5.00111017e-03 9.93765474e-01 2.10839408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:88.38, Z:21.08 [[ 4.25036990e-01 -9.04205708e-01 -4.18998086e-02 1.51200190e+02] [ 8.98305338e-01 4.27051113e-01 -1.03319244e-01 8.83779860e+01] [ 1.11315210e-01 6.27567888e-03 9.93765334e-01 2.10814738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:88.40, Z:21.08 [[ 4.27650936e-01 -9.02949313e-01 -4.23935764e-02 1.51213920e+02] [ 8.97062606e-01 4.29704220e-01 -1.03116262e-01 8.84027989e+01] [ 1.11325456e-01 6.06807367e-03 9.93765476e-01 2.10827884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:88.43, Z:21.08 [[ 4.28270600e-01 -9.02672216e-01 -4.20376464e-02 1.51228139e+02] [ 8.96770085e-01 4.30279304e-01 -1.03262458e-01 8.84271866e+01] [ 1.11300081e-01 6.52617115e-03 9.93765416e-01 2.10835857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.72710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:151.24, Y:88.45, Z:21.09 [[ 4.29041414e-01 -9.02291652e-01 -4.23466551e-02 1.51239255e+02] [ 8.96399932e-01 4.31080284e-01 -1.03135588e-01 8.84495554e+01] [ 1.11313188e-01 6.28989989e-03 9.93765471e-01 2.10873571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.25, Y:88.48, Z:21.09 [[ 4.24432390e-01 -9.04522125e-01 -4.11931123e-02 1.51253059e+02] [ 8.98595545e-01 4.26369909e-01 -1.03608625e-01 8.84785659e+01] [ 1.11279798e-01 6.95890928e-03 9.93764751e-01 2.10888281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.78710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:151.27, Y:88.50, Z:21.09 [[ 4.22321736e-01 -9.05457913e-01 -4.23121568e-02 1.51265549e+02] [ 8.99580134e-01 4.24400432e-01 -1.03149680e-01 8.85029816e+01] [ 1.11354991e-01 5.49917615e-03 9.93765478e-01 2.10930790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.817105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.28, Y:88.53, Z:21.10 [[ 4.20116870e-01 -9.06484892e-01 -4.22724067e-02 1.51281554e+02] [ 9.00610584e-01 4.22205353e-01 -1.03165968e-01 8.85267529e+01] [ 1.11366027e-01 5.27078657e-03 9.93765479e-01 2.10965778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.847105681 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.30, Y:88.55, Z:21.10 [[ 4.16458792e-01 -9.08173136e-01 -4.22330366e-02 1.51295803e+02] [ 9.02305692e-01 4.18566478e-01 -1.03182082e-01 8.85498309e+01] [ 1.11384529e-01 4.86397596e-03 9.93765480e-01 2.10980474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87710568099996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:151.31, Y:88.57, Z:21.10 [[ 4.14020271e-01 -9.09289046e-01 -4.21977045e-02 1.51307428e+02] [ 9.03425831e-01 4.16139693e-01 -1.03196530e-01 8.85748961e+01] [ 1.11395614e-01 4.60295893e-03 9.93765480e-01 2.11001787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:88.60, Z:21.10 [[ 4.07681814e-01 -9.12150295e-01 -4.21589669e-02 1.51320056e+02] [ 9.06300359e-01 4.09837614e-01 -1.03212353e-01 8.85995146e+01] [ 1.11423509e-01 3.86911236e-03 9.93765481e-01 2.11032449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.33, Y:88.62, Z:21.11 [[ 3.99571995e-01 -9.15733672e-01 -4.21196243e-02 1.51334843e+02] [ 9.09901420e-01 4.01775188e-01 -1.03228406e-01 8.86240902e+01] [ 1.11452347e-01 2.92247406e-03 9.93765482e-01 2.11060852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.35, Y:88.65, Z:21.11 [[ 3.95342498e-01 -9.17569263e-01 -4.20827390e-02 1.51346966e+02] [ 9.11745653e-01 3.97568429e-01 -1.03243441e-01 8.86463624e+01] [ 1.11463776e-01 2.44776529e-03 9.93765483e-01 2.11090892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:88.67, Z:21.11 [[ 3.82562525e-01 -9.23001544e-01 -4.14012596e-02 1.51361479e+02] [ 9.17179344e-01 3.84792789e-01 -1.03520819e-01 8.86730246e+01] [ 1.11480782e-01 1.63080591e-03 9.93765252e-01 2.11118679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02710568099997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:151.37, Y:88.70, Z:21.12 [[ 3.76678494e-01 -9.25390411e-01 -4.20226111e-02 1.51372849e+02] [ 9.19610350e-01 3.79015202e-01 -1.03268001e-01 8.86973372e+01] [ 1.11490427e-01 2.54407112e-04 9.93765475e-01 2.11167618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.38, Y:88.72, Z:21.13 [[ 3.67023926e-01 -9.29263124e-01 -4.19938485e-02 1.51382798e+02] [ 9.23506375e-01 3.69417487e-01 -1.03279696e-01 8.87220006e+01] [ 1.11487275e-01 -8.75467211e-04 9.93765476e-01 2.11273216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.39, Y:88.75, Z:21.14 [[ 3.59269251e-01 -9.32290440e-01 -4.19540282e-02 1.51391093e+02] [ 9.26551958e-01 3.61706279e-01 -1.03295870e-01 8.87470541e+01] [ 1.11476787e-01 -1.76155726e-03 9.93765477e-01 2.11351296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.40, Y:88.77, Z:21.14 [[ 3.56717709e-01 -9.33271579e-01 -4.19122473e-02 1.51399800e+02] [ 9.27537810e-01 3.59165802e-01 -1.03312819e-01 8.87722144e+01] [ 1.11472364e-01 -2.02168181e-03 9.93765478e-01 2.11405289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:88.80, Z:21.14 [[ 3.56371302e-01 -9.33405188e-01 -4.18837733e-02 1.51410208e+02] [ 9.27670983e-01 3.58818372e-01 -1.03324362e-01 8.87985378e+01] [ 1.11472163e-01 -2.03252376e-03 9.93765478e-01 2.11437045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:88.82, Z:21.15 [[ 3.55359386e-01 -9.33792636e-01 -4.18451809e-02 1.51418497e+02] [ 9.28059263e-01 3.57808401e-01 -1.03339989e-01 8.88247416e+01] [ 1.11470678e-01 -2.11197262e-03 9.93765479e-01 2.11478742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:88.85, Z:21.15 [[ 3.57427157e-01 -9.33004838e-01 -4.18067065e-02 1.51421662e+02] [ 9.27264247e-01 3.59859204e-01 -1.03355552e-01 8.88530868e+01] [ 1.11475758e-01 -1.82378317e-03 9.93765480e-01 2.11507986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:88.88, Z:21.15 [[ 3.62409157e-01 -9.31082700e-01 -4.17685208e-02 1.51421977e+02] [ 9.25327425e-01 3.64806247e-01 -1.03370981e-01 8.88828535e+01] [ 1.11484350e-01 -1.18696758e-03 9.93765481e-01 2.11476137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:88.91, Z:21.15 [[ 3.65068518e-01 -9.30045014e-01 -4.17282678e-02 1.51427261e+02] [ 9.24281067e-01 3.67444677e-01 -1.03387228e-01 8.89107269e+01] [ 1.11487606e-01 -8.25225743e-04 9.93765482e-01 2.11462551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:88.94, Z:21.14 [[ 3.69302519e-01 -9.28373602e-01 -4.16905874e-02 1.51430136e+02] [ 9.22597182e-01 3.71648192e-01 -1.03402420e-01 8.89406790e+01] [ 1.11490309e-01 -2.76844196e-04 9.93765483e-01 2.11407871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:88.97, Z:21.14 [[ 3.70760481e-01 -9.27793923e-01 -4.16545482e-02 1.51435805e+02] [ 9.22012205e-01 3.73093061e-01 -1.03416937e-01 8.89671277e+01] [ 1.11490628e-01 -6.30886387e-05 9.93765483e-01 2.11415638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:89.00, Z:21.15 [[ 3.76314854e-01 -9.25556743e-01 -4.16154637e-02 1.51437390e+02] [ 9.19759418e-01 3.78608370e-01 -1.03432662e-01 8.89961150e+01] [ 1.11488761e-01 6.47032412e-04 9.93765484e-01 2.11474653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:151.44, Y:89.02, Z:21.16 [[ 3.86108299e-01 -9.21516021e-01 -4.15764982e-02 1.51440279e+02] [ 9.15693028e-01 3.88335838e-01 -1.03448323e-01 8.90240121e+01] [ 1.11474931e-01 1.87094630e-03 9.93765485e-01 2.11585039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:89.05, Z:21.17 [[ 3.91381419e-01 -9.19290496e-01 -4.15399597e-02 1.51447073e+02] [ 9.13453295e-01 3.93571452e-01 -1.03462993e-01 8.90513360e+01] [ 1.11461488e-01 2.54867988e-03 9.93765486e-01 2.11664087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.45, Y:89.08, Z:21.17 [[ 3.98026793e-01 -9.16434542e-01 -4.15018380e-02 1.51451397e+02] [ 9.10580062e-01 4.00170208e-01 -1.03478282e-01 8.90793158e+01] [ 1.11438871e-01 3.39638259e-03 9.93765487e-01 2.11749577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.46, Y:89.11, Z:21.18 [[ 4.01291203e-01 -9.15011614e-01 -4.14622378e-02 1.51459314e+02] [ 9.09147914e-01 4.03409262e-01 -1.03494147e-01 8.91064969e+01] [ 1.11424597e-01 3.83598387e-03 9.93765488e-01 2.11753751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:89.13, Z:21.18 [[ 4.01816493e-01 -9.14782838e-01 -4.14230137e-02 1.51469014e+02] [ 9.08916328e-01 4.03926752e-01 -1.03509844e-01 8.91327096e+01] [ 1.11420892e-01 3.94190903e-03 9.93765489e-01 2.11756671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:89.16, Z:21.18 [[ 4.02837595e-01 -9.14335450e-01 -4.13830384e-02 1.51478915e+02] [ 9.08464971e-01 4.04936785e-01 -1.03525824e-01 8.91584148e+01] [ 1.11414845e-01 4.10905312e-03 9.93765489e-01 2.11763756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.567105681 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.49, Y:89.18, Z:21.18 [[ 4.03341725e-01 -9.14114966e-01 -4.13434726e-02 1.51489260e+02] [ 9.08241736e-01 4.05433203e-01 -1.03541622e-01 8.91843274e+01] [ 1.11410963e-01 4.21278919e-03 9.93765490e-01 2.11791962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:89.21, Z:21.18 [[ 4.05346183e-01 -9.13229657e-01 -4.13045548e-02 1.51502243e+02] [ 9.07350298e-01 4.07420366e-01 -1.03557145e-01 8.92098834e+01] [ 1.11399773e-01 4.49879328e-03 9.93765491e-01 2.11800930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.51, Y:89.23, Z:21.18 [[ 4.05811701e-01 -9.13024538e-01 -4.12681027e-02 1.51512932e+02] [ 9.07142671e-01 4.07878761e-01 -1.03571669e-01 8.92348203e+01] [ 1.11395858e-01 4.59453850e-03 9.93765492e-01 2.11809036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:89.26, Z:21.18 [[ 4.08702762e-01 -9.11735626e-01 -4.12334906e-02 1.51523141e+02] [ 9.05845876e-01 4.10747250e-01 -1.03585447e-01 8.92607710e+01] [ 1.11379086e-01 4.98447107e-03 9.93765493e-01 2.11813786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.53, Y:89.29, Z:21.18 [[ 4.10271389e-01 -9.11032549e-01 -4.11956515e-02 1.51533006e+02] [ 9.05137810e-01 4.12301445e-01 -1.03600494e-01 8.92852691e+01] [ 1.11368449e-01 5.21657666e-03 9.93765493e-01 2.11836282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:89.31, Z:21.19 [[ 4.11997947e-01 -9.10254234e-01 -4.11694060e-02 1.51546157e+02] [ 9.04354639e-01 4.14013845e-01 -1.03610922e-01 8.93065730e+01] [ 1.11356985e-01 5.45574400e-03 9.93765494e-01 2.11917725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.56, Y:89.33, Z:21.19 [[ 4.09210826e-01 -9.11532406e-01 -4.06838126e-02 1.51560748e+02] [ 9.05620151e-01 4.11189659e-01 -1.03803694e-01 8.93306408e+01] [ 1.11349194e-01 5.63351494e-03 9.93765375e-01 2.11943360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.57, Y:89.35, Z:21.20 [[ 4.04149251e-01 -9.13801396e-01 -4.03781032e-02 1.51574454e+02] [ 9.07888289e-01 4.06126172e-01 -1.03924915e-01 8.93542165e+01] [ 1.11365337e-01 5.34236965e-03 9.93765174e-01 2.11954291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.59, Y:89.38, Z:21.20 [[ 4.01081438e-01 -9.15157618e-01 -4.02518905e-02 1.51587052e+02] [ 9.09246244e-01 4.03063876e-01 -1.03974898e-01 8.93783372e+01] [ 1.11377503e-01 5.10352120e-03 9.93765066e-01 2.12005413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:151.60, Y:89.40, Z:21.20 [[ 3.91600865e-01 -9.19264940e-01 -4.00091683e-02 1.51603122e+02] [ 9.13364663e-01 3.93616864e-01 -1.04070923e-01 8.94041731e+01] [ 1.11417034e-01 4.21130273e-03 9.93764816e-01 2.12015213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:89.43, Z:21.21 [[ 3.87659640e-01 -9.20889140e-01 -4.10267668e-02 1.51616053e+02] [ 9.15039181e-01 3.89815579e-01 -1.03668279e-01 8.94291402e+01] [ 1.11459865e-01 2.64690872e-03 9.93765411e-01 2.12061003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.63, Y:89.45, Z:21.21 [[ 3.79626561e-01 -9.24231294e-01 -4.09901129e-02 1.51632318e+02] [ 9.18398775e-01 3.81829245e-01 -1.03682770e-01 8.94529646e+01] [ 1.11478085e-01 1.71546401e-03 9.93765412e-01 2.12101582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.64, Y:89.47, Z:21.21 [[ 3.78805591e-01 -9.24569759e-01 -4.09522293e-02 1.51644472e+02] [ 9.18737593e-01 3.81009206e-01 -1.03697731e-01 8.94725547e+01] [ 1.11478963e-01 1.65692781e-03 9.93765413e-01 2.12125754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.66, Y:89.50, Z:21.21 [[ 3.70958846e-01 -9.27808541e-01 -3.95075343e-02 1.51659075e+02] [ 9.21934010e-01 3.73049896e-01 -1.04266275e-01 8.95003394e+01] [ 1.11477422e-01 2.25515752e-03 9.93764408e-01 2.12117587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.67, Y:89.52, Z:21.22 [[ 3.69675500e-01 -9.28262314e-01 -4.08546276e-02 1.51674524e+02] [ 9.22447956e-01 3.71925581e-01 -1.03735870e-01 8.95241126e+01] [ 1.11488980e-01 6.62342120e-04 9.93765449e-01 2.12181836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.69, Y:89.55, Z:21.22 [[ 3.69999488e-01 -9.28134987e-01 -4.08145179e-02 1.51686302e+02] [ 9.22318114e-01 3.72243055e-01 -1.03751649e-01 8.95490208e+01] [ 1.11488456e-01 7.44087868e-04 9.93765450e-01 2.12241530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.70, Y:89.57, Z:21.23 [[ 3.72633734e-01 -9.27082252e-01 -4.07749850e-02 1.51697486e+02] [ 9.21257342e-01 3.74856349e-01 -1.03767183e-01 8.95739686e+01] [ 1.11485476e-01 1.10289863e-03 9.93765451e-01 2.12305662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:89.60, Z:21.24 [[ 3.74572455e-01 -9.26302269e-01 -4.07379664e-02 1.51706970e+02] [ 9.20471152e-01 3.76778733e-01 -1.03781714e-01 8.95998916e+01] [ 1.11482437e-01 1.37564874e-03 9.93765452e-01 2.12380219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:151.72, Y:89.63, Z:21.24 [[ 3.80551684e-01 -9.23863713e-01 -4.06971176e-02 1.51715540e+02] [ 9.18016759e-01 3.82715640e-01 -1.03797731e-01 8.96251974e+01] [ 1.11470380e-01 2.13976520e-03 9.93765453e-01 2.12444387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.73, Y:89.65, Z:21.25 [[ 3.83634422e-01 -9.22589082e-01 -4.06695867e-02 1.51725518e+02] [ 9.16733803e-01 3.85775747e-01 -1.03808517e-01 8.96509149e+01] [ 1.11461944e-01 2.54133545e-03 9.93765454e-01 2.12479769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:89.68, Z:21.25 [[ 3.87990897e-01 -9.20767255e-01 -4.06291391e-02 1.51735210e+02] [ 9.14900280e-01 3.90099965e-01 -1.03824345e-01 8.96765340e+01] [ 1.11447483e-01 3.11128989e-03 9.93765454e-01 2.12497959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.74, Y:89.71, Z:21.25 [[ 3.87379801e-01 -9.21026120e-01 -4.05928152e-02 1.51744346e+02] [ 9.15159075e-01 3.89488671e-01 -1.03838545e-01 8.97054124e+01] [ 1.11448454e-01 3.07607166e-03 9.93765455e-01 2.12509582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.22710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.75, Y:89.73, Z:21.25 [[ 3.92813609e-01 -9.18668601e-01 -4.17788225e-02 1.51753659e+02] [ 9.12837196e-01 3.95021394e-01 -1.03374815e-01 8.97316401e+01] [ 1.11470725e-01 2.46977091e-03 9.93764649e-01 2.12495873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.76, Y:89.76, Z:21.25 [[ 4.01317232e-01 -9.14999326e-01 -4.14814669e-02 1.51764114e+02] [ 9.09135853e-01 4.03437279e-01 -1.03490884e-01 8.97557740e+01] [ 1.11429260e-01 3.82038646e-03 9.93765025e-01 2.12467063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.28710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.77, Y:89.78, Z:21.25 [[ 4.03736492e-01 -9.13982752e-01 -4.04026500e-02 1.51774246e+02] [ 9.08071941e-01 4.05718889e-01 -1.03911176e-01 8.97809530e+01] [ 1.11365141e-01 5.26422100e-03 9.93765613e-01 2.12472270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.317105681 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:151.79, Y:89.81, Z:21.26 [[ 4.06133836e-01 -9.12918247e-01 -4.04423259e-02 1.51785528e+02] [ 9.07003754e-01 4.08105216e-01 -1.03895732e-01 8.98067942e+01] [ 1.11353034e-01 5.51423086e-03 9.93765614e-01 2.12559392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:89.83, Z:21.25 [[ 4.08347328e-01 -9.11907340e-01 -4.09568395e-02 1.51797486e+02] [ 9.06007539e-01 4.10362744e-01 -1.03695508e-01 8.98326851e+01] [ 1.11367856e-01 5.23657845e-03 9.93765455e-01 2.12541155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:151.81, Y:89.86, Z:21.26 [[ 4.07904075e-01 -9.12113787e-01 -4.07762764e-02 1.51809173e+02] [ 9.06208104e-01 4.09901881e-01 -1.03765699e-01 8.98571609e+01] [ 1.11360397e-01 5.37465929e-03 9.93765553e-01 2.12586504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.83, Y:89.88, Z:21.26 [[ 4.03527676e-01 -9.14074566e-01 -4.04116595e-02 1.51826546e+02] [ 9.08164597e-01 4.05512447e-01 -1.03907264e-01 8.98800863e+01] [ 1.11366418e-01 5.22901821e-03 9.93765656e-01 2.12584535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:89.91, Z:21.26 [[ 4.00561932e-01 -9.15367043e-01 -4.06609793e-02 1.51840777e+02] [ 9.09473134e-01 4.02594080e-01 -1.03810529e-01 8.99056550e+01] [ 1.11394606e-01 4.60247761e-03 9.93765596e-01 2.12607363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:89.93, Z:21.26 [[ 3.94176724e-01 -9.18132871e-01 -4.07030899e-02 1.51854621e+02] [ 9.12254917e-01 3.96254628e-01 -1.03794198e-01 8.99303805e+01] [ 1.11425653e-01 3.78166308e-03 9.93765577e-01 2.12636762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:89.95, Z:21.26 [[ 3.89510911e-01 -9.20125183e-01 -4.06312404e-02 1.51868782e+02] [ 9.14254986e-01 3.91610530e-01 -1.03822030e-01 8.99535847e+01] [ 1.11440886e-01 3.29249932e-03 9.93765610e-01 2.12618131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:89.98, Z:21.27 [[ 3.86797415e-01 -9.21286765e-01 -4.02300323e-02 1.51881455e+02] [ 9.15406757e-01 3.88869123e-01 -1.03977273e-01 8.99796250e+01] [ 1.11437103e-01 3.39129707e-03 9.93765702e-01 2.12650758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.89, Y:90.00, Z:21.27 [[ 3.85064514e-01 -9.22007587e-01 -4.03401857e-02 1.51893275e+02] [ 9.16135886e-01 3.87159682e-01 -1.03934682e-01 9.00040177e+01] [ 1.11446659e-01 3.06446606e-03 9.93765692e-01 2.12690253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:90.03, Z:21.27 [[ 3.82075073e-01 -9.23259343e-01 -4.01350702e-02 1.51902879e+02] [ 9.17386209e-01 3.84166173e-01 -1.04013923e-01 9.00295056e+01] [ 1.11450363e-01 2.92176739e-03 9.93765707e-01 2.12693779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:151.91, Y:90.06, Z:21.28 [[ 3.81771674e-01 -9.23383896e-01 -4.01568205e-02 1.51911630e+02] [ 9.17512322e-01 3.83867152e-01 -1.04005525e-01 9.00569201e+01] [ 1.11451911e-01 2.86198594e-03 9.93765707e-01 2.12758616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.92, Y:90.08, Z:21.28 [[ 3.82399818e-01 -9.23117158e-01 -4.03124317e-02 1.51921059e+02] [ 9.17250407e-01 3.84508815e-01 -1.03945480e-01 9.00824478e+01] [ 1.11454341e-01 2.77213826e-03 9.93765689e-01 2.12794122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:90.11, Z:21.29 [[ 3.81691963e-01 -9.23414725e-01 -4.02056123e-02 1.51929742e+02] [ 9.17545297e-01 3.83793439e-01 -1.03986657e-01 9.01090268e+01] [ 1.11453460e-01 2.80040060e-03 9.93765709e-01 2.12852569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.94, Y:90.13, Z:21.29 [[ 3.80921328e-01 -9.23728045e-01 -4.03167473e-02 1.51938572e+02] [ 9.17864850e-01 3.83040200e-01 -1.03943843e-01 9.01331651e+01] [ 1.11458778e-01 2.58910169e-03 9.93765685e-01 2.12907115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:90.16, Z:21.30 [[ 3.74964656e-01 -9.26174165e-01 -4.00365140e-02 1.51948554e+02] [ 9.20313284e-01 3.77089788e-01 -1.04051676e-01 9.01592043e+01] [ 1.11467334e-01 2.16956506e-03 9.93765730e-01 2.12991117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:90.18, Z:21.31 [[ 3.64326590e-01 -9.30411879e-01 -3.99983923e-02 1.51958849e+02] [ 9.24574137e-01 3.66514482e-01 -1.04066328e-01 9.01836258e+01] [ 1.11484538e-01 9.32651307e-04 9.93765731e-01 2.13055834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.97, Y:90.21, Z:21.31 [[ 3.58373196e-01 -9.32724923e-01 -3.99107793e-02 1.51967775e+02] [ 9.26897555e-01 3.60588574e-01 -1.04099967e-01 9.02098812e+01] [ 1.11488005e-01 3.13434140e-04 9.93765730e-01 2.13090231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:90.24, Z:21.31 [[ 3.50783246e-01 -9.35609662e-01 -3.98205247e-02 1.51973661e+02] [ 9.29796577e-01 3.53035853e-01 -1.04134588e-01 9.02366309e+01] [ 1.11487399e-01 -4.96318843e-04 9.93765724e-01 2.13121576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:90.26, Z:21.31 [[ 3.51985292e-01 -9.35154520e-01 -3.99045977e-02 1.51979472e+02] [ 9.29342171e-01 3.54239787e-01 -1.04102361e-01 9.02598748e+01] [ 1.11487590e-01 -4.42525508e-04 9.93765728e-01 2.13120043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:90.29, Z:21.31 [[ 3.51896268e-01 -9.35240045e-01 -3.86662092e-02 1.51987408e+02] [ 9.29375293e-01 3.54013152e-01 -1.04576548e-01 9.02882365e+01] [ 1.11492522e-01 8.64677256e-04 9.93764897e-01 2.13135174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:90.32, Z:21.31 [[ 3.55987326e-01 -9.33673021e-01 -3.90859708e-02 1.51991269e+02] [ 9.27816503e-01 3.58125493e-01 -1.04415844e-01 9.03194281e+01] [ 1.11487939e-01 9.06108434e-04 9.93765374e-01 2.13124354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.00, Y:90.34, Z:21.31 [[ 3.61454276e-01 -9.31536749e-01 -3.98759620e-02 1.51996135e+02] [ 9.25700626e-01 3.63646489e-01 -1.04113316e-01 9.03441062e+01] [ 1.11486133e-01 7.19000298e-04 9.93765729e-01 2.13130019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:90.38, Z:21.31 [[ 3.69073082e-01 -9.28583621e-01 -3.89553451e-02 1.51997480e+02] [ 9.22692399e-01 3.71114050e-01 -1.04465782e-01 9.03751698e+01] [ 1.11462090e-01 2.61170749e-03 9.93765255e-01 2.13143284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.00710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.00, Y:90.40, Z:21.32 [[ 3.80141630e-01 -9.24085446e-01 -3.94769421e-02 1.52000699e+02] [ 9.18190605e-01 3.82170912e-01 -1.04266041e-01 9.04036418e+01] [ 1.11437670e-01 3.38850560e-03 9.93765648e-01 2.13192150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:90.43, Z:21.32 [[ 3.85524740e-01 -9.21841437e-01 -3.97371289e-02 1.52007455e+02] [ 9.15944944e-01 3.87548983e-01 -1.04166427e-01 9.04301088e+01] [ 1.11425013e-01 3.76171232e-03 9.93765725e-01 2.13228451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.067105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:90.46, Z:21.33 [[ 3.85207809e-01 -9.21969106e-01 -3.98486159e-02 1.52017346e+02] [ 9.16077655e-01 3.87246657e-01 -1.04123761e-01 9.04566206e+01] [ 1.11430134e-01 3.60485922e-03 9.93765732e-01 2.13260162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:90.48, Z:21.34 [[ 3.93102302e-01 -9.18632427e-01 -3.98126086e-02 1.52022579e+02] [ 9.12722335e-01 3.95086464e-01 -1.04137527e-01 9.04824111e+01] [ 1.11393532e-01 4.59884445e-03 9.93765733e-01 2.13365714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:90.51, Z:21.34 [[ 3.94193154e-01 -9.18185331e-01 -3.93376980e-02 1.52031151e+02] [ 9.12255065e-01 3.96116504e-01 -1.04318801e-01 9.05095675e+01] [ 1.11366304e-01 5.23574285e-03 9.93765633e-01 2.13411190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:90.54, Z:21.35 [[ 3.96029345e-01 -9.17377039e-01 -3.97507976e-02 1.52040611e+02] [ 9.11458327e-01 3.97987652e-01 -1.04161162e-01 9.05363934e+01] [ 1.11375385e-01 5.01968124e-03 9.93765730e-01 2.13451573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.05, Y:90.56, Z:21.34 [[ 3.98566165e-01 -9.16272105e-01 -3.98803356e-02 1.52050710e+02] [ 9.10352817e-01 4.00522771e-01 -1.04111756e-01 9.05612040e+01] [ 1.11367680e-01 5.19024737e-03 9.93765717e-01 2.13428800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:90.59, Z:21.34 [[ 3.98364410e-01 -9.16390660e-01 -3.91657415e-02 1.52061514e+02] [ 9.10445472e-01 4.00241251e-01 -1.04383831e-01 9.05881674e+01] [ 1.11332113e-01 5.92453133e-03 9.93765596e-01 2.13415567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.08, Y:90.61, Z:21.34 [[ 3.97824809e-01 -9.16603408e-01 -3.96687917e-02 1.52075073e+02] [ 9.10677836e-01 3.99762227e-01 -1.04192324e-01 9.06121857e+01] [ 1.11361124e-01 5.32480191e-03 9.93765740e-01 2.13400923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:90.64, Z:21.35 [[ 3.96046390e-01 -9.17374825e-01 -3.96319084e-02 1.52086686e+02] [ 9.11451648e-01 3.97991117e-01 -1.04206351e-01 9.06366653e+01] [ 1.11369431e-01 5.14798098e-03 9.93765741e-01 2.13464679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:90.66, Z:21.35 [[ 3.87439256e-01 -9.21054678e-01 -3.93586471e-02 1.52100382e+02] [ 9.15139568e-01 3.89408478e-01 -1.04310159e-01 9.06612200e+01] [ 1.11401951e-01 4.39519509e-03 9.93765711e-01 2.13489112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.11, Y:90.68, Z:21.36 [[ 3.76320065e-01 -9.25644418e-01 -3.95679121e-02 1.52114113e+02] [ 9.19761687e-01 3.78383927e-01 -1.04230721e-01 9.06830163e+01] [ 1.11452447e-01 2.83106227e-03 9.93765736e-01 2.13566262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:90.71, Z:21.36 [[ 3.70370821e-01 -9.28042621e-01 -3.95265585e-02 1.52126464e+02] [ 9.22171599e-01 3.72467757e-01 -1.04246401e-01 9.07082631e+01] [ 1.11467472e-01 2.15955554e-03 9.93765737e-01 2.13628161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.14, Y:90.73, Z:21.37 [[ 3.62995399e-01 -9.30944456e-01 -3.97084404e-02 1.52141167e+02] [ 9.25097726e-01 3.65159211e-01 -1.04177486e-01 9.07310369e+01] [ 1.11483355e-01 1.08176007e-03 9.93765712e-01 2.13671942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:90.76, Z:21.37 [[ 3.60505626e-01 -9.31922033e-01 -3.94590726e-02 1.52154158e+02] [ 9.26070815e-01 3.62657173e-01 -1.04271857e-01 9.07555912e+01] [ 1.11483357e-01 1.04869556e-03 9.93765748e-01 2.13716036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:90.78, Z:21.37 [[ 3.61222347e-01 -9.31646129e-01 -3.94196244e-02 1.52164173e+02] [ 9.25791641e-01 3.63364978e-01 -1.04286768e-01 9.07819148e+01] [ 1.11482075e-01 1.17635234e-03 9.93765749e-01 2.13744307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.17, Y:90.81, Z:21.37 [[ 3.64201398e-01 -9.30487290e-01 -3.93795031e-02 1.52173093e+02] [ 9.24624350e-01 3.66320790e-01 -1.04301916e-01 9.08093772e+01] [ 1.11477138e-01 1.57565627e-03 9.93765750e-01 2.13724707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:152.18, Y:90.84, Z:21.37 [[ 3.65911701e-01 -9.29817737e-01 -3.93395945e-02 1.52181434e+02] [ 9.23949305e-01 3.68015832e-01 -1.04316966e-01 9.08357796e+01] [ 1.11473359e-01 1.82300761e-03 9.93765750e-01 2.13709307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:90.86, Z:21.37 [[ 3.70596708e-01 -9.27962144e-01 -3.92980844e-02 1.52189285e+02] [ 9.22081531e-01 3.72666551e-01 -1.04332602e-01 9.08627095e+01] [ 1.11461786e-01 2.42928090e-03 9.93765751e-01 2.13674803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:90.89, Z:21.37 [[ 3.72634649e-01 -9.27147322e-01 -3.92589110e-02 1.52197950e+02] [ 9.21260639e-01 3.74687160e-01 -1.04347340e-01 9.08896005e+01] [ 1.11455167e-01 2.71574497e-03 9.93765752e-01 2.13738474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.21, Y:90.92, Z:21.38 [[ 3.79964163e-01 -9.24155150e-01 -3.95536830e-02 1.52206033e+02] [ 9.18263734e-01 3.82003226e-01 -1.04236513e-01 9.09156414e+01] [ 1.11440345e-01 3.28542662e-03 9.93765695e-01 2.13776019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:90.94, Z:21.38 [[ 3.81965928e-01 -9.23344886e-01 -3.91950435e-02 1.52214416e+02] [ 9.17435391e-01 3.83951761e-01 -1.04371203e-01 9.09406909e+01] [ 1.11419623e-01 3.90732342e-03 9.93765767e-01 2.13827662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:90.97, Z:21.39 [[ 3.84523395e-01 -9.22283975e-01 -3.91666737e-02 1.52223293e+02] [ 9.16367934e-01 3.86489637e-01 -1.04381848e-01 9.09670987e+01] [ 1.11407219e-01 4.24617882e-03 9.93765768e-01 2.13892990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:90.99, Z:21.40 [[ 3.84006538e-01 -9.22500937e-01 -3.91279904e-02 1.52234084e+02] [ 9.16584546e-01 3.85971724e-01 -1.04396347e-01 9.09907732e+01] [ 1.11408026e-01 4.22476847e-03 9.93765769e-01 2.13994104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:91.02, Z:21.41 [[ 3.82639363e-01 -9.23070632e-01 -3.90861429e-02 1.52244476e+02] [ 9.17155585e-01 3.84608587e-01 -1.04412013e-01 9.10163034e+01] [ 1.11412529e-01 4.10407170e-03 9.93765770e-01 2.14052122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:91.04, Z:21.41 [[ 3.81988572e-01 -9.23341827e-01 -3.90461530e-02 1.52256041e+02] [ 9.17426665e-01 3.83957450e-01 -1.04426965e-01 9.10402685e+01] [ 1.11413846e-01 4.06792538e-03 9.93765771e-01 2.14098688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:91.07, Z:21.41 [[ 3.83489294e-01 -9.22720771e-01 -3.90171700e-02 1.52267086e+02] [ 9.16801334e-01 3.85445277e-01 -1.04437793e-01 9.10656903e+01] [ 1.11405905e-01 4.27978200e-03 9.93765771e-01 2.14116283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.817105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:91.09, Z:21.41 [[ 3.92228966e-01 -9.19041517e-01 -3.89759864e-02 1.52280177e+02] [ 9.13102293e-01 3.94124016e-01 -1.04453161e-01 9.10904039e+01] [ 1.11358163e-01 5.38049266e-03 9.93765772e-01 2.14099785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:91.12, Z:21.41 [[ 3.96722815e-01 -9.17112208e-01 -3.89384838e-02 1.52291275e+02] [ 9.11162446e-01 3.98584513e-01 -1.04467139e-01 9.11163892e+01] [ 1.11328365e-01 5.96521338e-03 9.93765773e-01 2.14117564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:91.14, Z:21.41 [[ 4.02843537e-01 -9.14441866e-01 -3.88993390e-02 1.52307513e+02] [ 9.08478436e-01 4.04660973e-01 -1.04481713e-01 9.11412166e+01] [ 1.11283497e-01 6.75057224e-03 9.93765774e-01 2.14126224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:91.16, Z:21.42 [[ 4.04230179e-01 -9.13823786e-01 -3.90390801e-02 1.52327323e+02] [ 9.07862435e-01 4.06054472e-01 -1.04429717e-01 9.11626911e+01] [ 1.11282353e-01 6.77152895e-03 9.93765759e-01 2.14165385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:91.19, Z:21.42 [[ 4.04218063e-01 -9.13837241e-01 -3.88491268e-02 1.52340771e+02] [ 9.07869361e-01 4.06020815e-01 -1.04500337e-01 9.11865475e+01] [ 1.11269854e-01 6.97099180e-03 9.93765780e-01 2.14192181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.36, Y:91.21, Z:21.42 [[ 4.02805025e-01 -9.14462713e-01 -3.88079744e-02 1.52358624e+02] [ 9.08496207e-01 4.04612317e-01 -1.04515617e-01 9.12090985e+01] [ 1.11277819e-01 6.84251829e-03 9.93765781e-01 2.14202066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:91.23, Z:21.43 [[ 3.99143405e-01 -9.16068575e-01 -3.87673602e-02 1.52380579e+02] [ 9.10107932e-01 4.00969936e-01 -1.04530680e-01 9.12304778e+01] [ 1.11301817e-01 6.44024956e-03 9.93765782e-01 2.14265202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.40, Y:91.25, Z:21.43 [[ 3.95813112e-01 -9.17514052e-01 -3.87291308e-02 1.52395706e+02] [ 9.11558738e-01 3.97656942e-01 -1.04544842e-01 9.12546363e+01] [ 1.11322270e-01 6.07634188e-03 9.93765782e-01 2.14317557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:91.28, Z:21.43 [[ 3.88486721e-01 -9.20641658e-01 -3.86911597e-02 1.52411476e+02] [ 9.14699864e-01 3.90373663e-01 -1.04558893e-01 9.12772996e+01] [ 1.11365283e-01 5.22894315e-03 9.93765783e-01 2.14349148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:91.30, Z:21.44 [[ 3.84449740e-01 -9.22336422e-01 -3.86512899e-02 1.52423594e+02] [ 9.16401500e-01 3.86358184e-01 -1.04573630e-01 9.13030043e+01] [ 1.11385310e-01 4.78320475e-03 9.93765784e-01 2.14377024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:91.32, Z:21.44 [[ 3.76168773e-01 -9.25746265e-01 -3.86122693e-02 1.52441837e+02] [ 9.19827228e-01 3.78125923e-01 -1.04588036e-01 9.13247787e+01] [ 1.11422283e-01 3.82613645e-03 9.93765785e-01 2.14426011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:91.35, Z:21.45 [[ 3.71095839e-01 -9.27793157e-01 -3.85711857e-02 1.52455144e+02] [ 9.21883366e-01 3.73080732e-01 -1.04603185e-01 9.13494677e+01] [ 1.11440285e-01 3.25967217e-03 9.93765786e-01 2.14461276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:91.38, Z:21.45 [[ 3.60998724e-01 -9.31769917e-01 -3.85323603e-02 1.52466412e+02] [ 9.25880516e-01 3.63043319e-01 -1.04617485e-01 9.13755557e+01] [ 1.11468341e-01 2.09041692e-03 9.93765787e-01 2.14472943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:91.40, Z:21.45 [[ 3.57651805e-01 -9.33061386e-01 -3.84920382e-02 1.52475823e+02] [ 9.27177777e-01 3.59713007e-01 -1.04632319e-01 9.14007914e+01] [ 1.11474463e-01 1.73297517e-03 9.93765788e-01 2.14510168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:91.43, Z:21.46 [[ 3.57062514e-01 -9.33288818e-01 -3.84492389e-02 1.52487724e+02] [ 9.27404831e-01 3.59122633e-01 -1.04648044e-01 9.14259725e+01] [ 1.11474841e-01 1.70788368e-03 9.93765789e-01 2.14574737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:91.45, Z:21.46 [[ 3.62768595e-01 -9.31087367e-01 -3.84091252e-02 1.52497332e+02] [ 9.25189337e-01 3.64788154e-01 -1.04662765e-01 9.14505905e+01] [ 1.11461372e-01 2.43265117e-03 9.93765790e-01 2.14601684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:91.48, Z:21.46 [[ 3.67294179e-01 -9.29312624e-01 -3.83801278e-02 1.52505935e+02] [ 9.23403739e-01 3.69281755e-01 -1.04673397e-01 9.14777180e+01] [ 1.11447390e-01 3.00557603e-03 9.93765790e-01 2.14611571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:91.50, Z:21.47 [[ 3.78017519e-01 -9.25009175e-01 -3.82201573e-02 1.52513935e+02] [ 9.19071870e-01 3.79918548e-01 -1.04732014e-01 9.15044797e+01] [ 1.11398620e-01 4.46346463e-03 9.93765780e-01 2.14684729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:91.53, Z:21.47 [[ 3.82997810e-01 -9.22953422e-01 -3.83361243e-02 1.52523253e+02] [ 9.17010106e-01 3.84879935e-01 -1.04689549e-01 9.15307537e+01] [ 1.11378382e-01 4.94125449e-03 9.93765787e-01 2.14729193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:91.56, Z:21.47 [[ 3.88972073e-01 -9.20453157e-01 -3.82976732e-02 1.52534347e+02] [ 9.14496419e-01 3.90811276e-01 -1.04703613e-01 9.15562157e+01] [ 1.11341934e-01 5.70369648e-03 9.93765788e-01 2.14705920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:91.58, Z:21.47 [[ 3.88799316e-01 -9.20527822e-01 -3.82572931e-02 1.52547988e+02] [ 9.14570017e-01 3.90635057e-01 -1.04718366e-01 9.15801847e+01] [ 1.11340809e-01 5.72545578e-03 9.93765789e-01 2.14678470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:91.61, Z:21.47 [[ 3.87926373e-01 -9.20897180e-01 -3.82297294e-02 1.52559698e+02] [ 9.14940154e-01 3.89764636e-01 -1.04728428e-01 9.16054707e+01] [ 1.11344710e-01 5.64900450e-03 9.93765789e-01 2.14703703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:91.63, Z:21.47 [[ 3.85647229e-01 -9.21855466e-01 -3.81931147e-02 1.52573598e+02] [ 9.15901716e-01 3.87496073e-01 -1.04741779e-01 9.16308012e+01] [ 1.11356463e-01 5.41223750e-03 9.93765790e-01 2.14739036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:91.65, Z:21.48 [[ 3.87858341e-01 -9.20895877e-01 -3.89447290e-02 1.52586265e+02] [ 9.14964257e-01 3.89778033e-01 -1.04467664e-01 9.16534772e+01] [ 1.11383641e-01 4.88561978e-03 9.93765473e-01 2.14785481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.60, Y:91.68, Z:21.48 [[ 3.87536588e-01 -9.21064772e-01 -3.81454923e-02 1.52596019e+02] [ 9.15105626e-01 3.89367824e-01 -1.04758731e-01 9.16792180e+01] [ 1.11342204e-01 5.69068642e-03 9.93765832e-01 2.14818889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:91.70, Z:21.48 [[ 3.86278423e-01 -9.21594762e-01 -3.81060854e-02 1.52607055e+02] [ 9.15636746e-01 3.88113327e-01 -1.04773063e-01 9.17049866e+01] [ 1.11347786e-01 5.58024155e-03 9.93765833e-01 2.14839484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:91.73, Z:21.49 [[ 3.86491679e-01 -9.21488014e-01 -3.85229989e-02 1.52618473e+02] [ 9.15544204e-01 3.88372442e-01 -1.04621494e-01 9.17298104e+01] [ 1.11368723e-01 5.16582840e-03 9.93765728e-01 2.14865480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.63, Y:91.75, Z:21.49 [[ 3.85705704e-01 -9.21831507e-01 -3.81809207e-02 1.52630469e+02] [ 9.15877267e-01 3.87552791e-01 -1.04745720e-01 9.17538039e+01] [ 1.11355027e-01 5.43198428e-03 9.93765843e-01 2.14916951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:91.78, Z:21.50 [[ 3.84913608e-01 -9.22169109e-01 -3.80216943e-02 1.52640060e+02] [ 9.16210889e-01 3.86747768e-01 -1.04803487e-01 9.17800117e+01] [ 1.11351344e-01 5.50439809e-03 9.93765858e-01 2.14956471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:91.81, Z:21.50 [[ 3.81794416e-01 -9.23466511e-01 -3.79819155e-02 1.52651138e+02] [ 9.17513125e-01 3.83644202e-01 -1.04817902e-01 9.18060899e+01] [ 1.11367364e-01 5.16998362e-03 9.93765859e-01 2.14955817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71710568099996 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:152.66, Y:91.83, Z:21.50 [[ 3.75615055e-01 -9.25990911e-01 -3.81334986e-02 1.52664454e+02] [ 9.20055474e-01 3.77521705e-01 -1.04763006e-01 9.18303710e+01] [ 1.11405814e-01 4.26562794e-03 9.93765842e-01 2.14950220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:152.68, Y:91.86, Z:21.50 [[ 3.71128291e-01 -9.27806421e-01 -3.79346450e-02 1.52675105e+02] [ 9.21873028e-01 3.73041220e-01 -1.04834964e-01 9.18559814e+01] [ 1.11417739e-01 3.93629492e-03 9.93765864e-01 2.14973446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.68, Y:91.88, Z:21.50 [[ 3.64580233e-01 -9.30400505e-01 -3.78966222e-02 1.52684815e+02] [ 9.24479330e-01 3.66530650e-01 -1.04848707e-01 9.18815707e+01] [ 1.11441563e-01 3.19112204e-03 9.93765865e-01 2.15006425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:152.69, Y:91.91, Z:21.50 [[ 3.65814114e-01 -9.29917612e-01 -3.78585289e-02 1.52693867e+02] [ 9.23992451e-01 3.67752383e-01 -1.04862460e-01 9.19071847e+01] [ 1.11436012e-01 3.37917287e-03 9.93765866e-01 2.15036185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:152.70, Y:91.93, Z:21.51 [[ 3.68432228e-01 -9.28884567e-01 -3.78306018e-02 1.52701542e+02] [ 9.22952950e-01 3.70350650e-01 -1.04872534e-01 9.19335530e+01] [ 1.11425066e-01 3.72255574e-03 9.93765866e-01 2.15068851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86710568099997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:152.71, Y:91.96, Z:21.51 [[ 3.75557040e-01 -9.26028471e-01 -3.77912797e-02 1.52705537e+02] [ 9.20080894e-01 3.77425394e-01 -1.04886702e-01 9.19599023e+01] [ 1.11391461e-01 4.61990489e-03 9.93765867e-01 2.15134136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:152.71, Y:91.99, Z:21.52 [[ 3.77131175e-01 -9.25390201e-01 -3.77498609e-02 1.52713232e+02] [ 9.19437996e-01 3.78984728e-01 -1.04901607e-01 9.19889355e+01] [ 1.11381540e-01 4.85300984e-03 9.93765868e-01 2.15181061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:152.72, Y:92.01, Z:21.52 [[ 3.82082855e-01 -9.23327289e-01 -3.84631040e-02 1.52720598e+02] [ 9.17390197e-01 3.83985225e-01 -1.04644985e-01 9.20135640e+01] [ 1.11390834e-01 4.69738017e-03 9.93765574e-01 2.15239440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:152.73, Y:92.04, Z:21.53 [[ 3.81746988e-01 -9.23498444e-01 -3.76810396e-02 1.52729851e+02] [ 9.17534731e-01 3.83563003e-01 -1.04925882e-01 9.20403671e+01] [ 1.11351941e-01 5.48147679e-03 9.93765917e-01 2.15270382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98710568099997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:152.74, Y:92.07, Z:21.53 [[ 3.82569849e-01 -9.23159443e-01 -3.76424526e-02 1.52738471e+02] [ 9.17192788e-01 3.84376175e-01 -1.04939723e-01 9.20668140e+01] [ 1.11344958e-01 5.62138793e-03 9.93765918e-01 2.15295435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:152.75, Y:92.09, Z:21.53 [[ 3.80620831e-01 -9.23966311e-01 -3.76037254e-02 1.52747041e+02] [ 9.18002146e-01 3.82435357e-01 -1.04953599e-01 9.20942677e+01] [ 1.11354583e-01 5.42722530e-03 9.93765919e-01 2.15291412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:152.76, Y:92.12, Z:21.53 [[ 3.80617900e-01 -9.23943064e-01 -3.81998462e-02 1.52755274e+02] [ 9.17999637e-01 3.82499919e-01 -1.04740051e-01 9.21198435e+01] [ 1.11385282e-01 4.79849318e-03 9.93765714e-01 2.15302386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:152.76, Y:92.15, Z:21.53 [[ 3.78669890e-01 -9.24770494e-01 -3.75319718e-02 1.52761690e+02] [ 9.18807735e-01 3.80488878e-01 -1.04978859e-01 9.21474308e+01] [ 1.11361849e-01 5.26766682e-03 9.93765964e-01 2.15286734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:152.77, Y:92.17, Z:21.53 [[ 3.77366121e-01 -9.25304844e-01 -3.74934146e-02 1.52772341e+02] [ 9.19343319e-01 3.79189147e-01 -1.04992628e-01 9.21742262e+01] [ 1.11367283e-01 5.15134044e-03 9.93765964e-01 2.15260472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13710568099998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:152.78, Y:92.20, Z:21.53 [[ 3.75890482e-01 -9.25906827e-01 -3.74552279e-02 1.52781707e+02] [ 9.19946890e-01 3.77718689e-01 -1.05006249e-01 9.21994356e+01] [ 1.11373542e-01 5.01402906e-03 9.93765965e-01 2.15280589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16710568099998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:152.79, Y:92.23, Z:21.53 [[ 3.72285203e-01 -9.27363924e-01 -3.74149690e-02 1.52789893e+02] [ 9.21409733e-01 3.74132035e-01 -1.05020592e-01 9.22269758e+01] [ 1.11390447e-01 4.62309576e-03 9.93765966e-01 2.15342405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:152.80, Y:92.25, Z:21.54 [[ 3.71321246e-01 -9.27723717e-01 -3.80688442e-02 1.52798297e+02] [ 9.21794674e-01 3.73248076e-01 -1.04787655e-01 9.22530142e+01] [ 1.11423115e-01 3.81822466e-03 9.93765722e-01 2.15391090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.22710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:152.81, Y:92.28, Z:21.54 [[ 3.72443178e-01 -9.27260116e-01 -3.84025573e-02 1.52807487e+02] [ 9.21340717e-01 3.74400464e-01 -1.04668888e-01 9.22761931e+01] [ 1.11433220e-01 3.60137360e-03 9.93765399e-01 2.15436646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:152.82, Y:92.30, Z:21.55 [[ 3.67890563e-01 -9.29121186e-01 -3.72874772e-02 1.52818573e+02] [ 9.23171421e-01 3.69751177e-01 -1.05064713e-01 9.23022312e+01] [ 1.11404939e-01 4.22958298e-03 9.93766094e-01 2.15455129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.28710568099999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:152.83, Y:92.33, Z:21.55 [[ 3.63385770e-01 -9.30893834e-01 -3.72485117e-02 1.52829271e+02] [ 9.24951758e-01 3.65270789e-01 -1.05078525e-01 9.23285622e+01] [ 1.11422745e-01 3.73096449e-03 9.93766095e-01 2.15471004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.317105681 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:152.84, Y:92.35, Z:21.55 [[ 3.55862119e-01 -9.33780123e-01 -3.76408614e-02 1.52839873e+02] [ 9.27867911e-01 3.57839118e-01 -1.04939531e-01 9.23540629e+01] [ 1.11459821e-01 2.41825663e-03 9.93765999e-01 2.15471930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34710568099996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:152.85, Y:92.38, Z:21.55 [[ 3.51870472e-01 -9.35310563e-01 -3.71661419e-02 1.52847380e+02] [ 9.29389180e-01 3.53819425e-01 -1.05107408e-01 9.23800332e+01] [ 1.11458172e-01 2.44238304e-03 9.93766125e-01 2.15484286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37710568099996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:152.86, Y:92.41, Z:21.55 [[ 3.43526006e-01 -9.38409063e-01 -3.71256495e-02 1.52855099e+02] [ 9.32503739e-01 3.45523087e-01 -1.05121709e-01 9.24093743e+01] [ 1.11474933e-01 1.49223374e-03 9.93766126e-01 2.15505156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40710568099996 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:152.86, Y:92.43, Z:21.55 [[ 3.41010683e-01 -9.39293004e-01 -3.79521694e-02 1.52864384e+02] [ 9.33424908e-01 3.43115941e-01 -1.04830298e-01 9.24345198e+01] [ 1.11488360e-01 3.22751219e-04 9.93765687e-01 2.15547686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43710568099996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:152.87, Y:92.46, Z:21.56 [[ 3.39230760e-01 -9.39950595e-01 -3.76214173e-02 1.52871190e+02] [ 9.34073628e-01 3.41310223e-01 -1.04946599e-01 9.24608464e+01] [ 1.11485193e-01 4.59940857e-04 9.93765989e-01 2.15593868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:152.87, Y:92.49, Z:21.56 [[ 3.42625224e-01 -9.38733495e-01 -3.72475618e-02 1.52872721e+02] [ 9.32834815e-01 3.44641620e-01 -1.05077887e-01 9.24887252e+01] [ 1.11477192e-01 1.25651224e-03 9.93766198e-01 2.15615230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49710568099997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:152.88, Y:92.52, Z:21.57 [[ 3.44843391e-01 -9.37935075e-01 -3.68894335e-02 1.52877617e+02] [ 9.32018258e-01 3.46805703e-01 -1.05203473e-01 9.25161124e+01] [ 1.11467493e-01 1.89709678e-03 9.93766270e-01 2.15654327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:152.88, Y:92.54, Z:21.57 [[ 3.52691507e-01 -9.34999120e-01 -3.72202492e-02 1.52882664e+02] [ 9.29078085e-01 3.54641341e-01 -1.05087735e-01 9.25435237e+01] [ 1.11456779e-01 2.48303385e-03 9.93766180e-01 2.15738253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:152.89, Y:92.57, Z:21.58 [[ 3.54019369e-01 -9.34503497e-01 -3.70607727e-02 1.52887819e+02] [ 9.28573921e-01 3.55942865e-01 -1.05143471e-01 9.25699801e+01] [ 1.11448459e-01 2.80915841e-03 9.93766245e-01 2.15753855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:92.60, Z:21.58 [[ 3.54798216e-01 -9.34220716e-01 -3.67407140e-02 1.52894627e+02] [ 9.28278072e-01 3.56680760e-01 -1.05255199e-01 9.25979608e+01] [ 1.11436293e-01 3.23875760e-03 9.93766302e-01 2.15838943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:92.62, Z:21.59 [[ 3.54705676e-01 -9.34236403e-01 -3.72320740e-02 1.52899942e+02] [ 9.28311585e-01 3.56644073e-01 -1.05083805e-01 9.26234431e+01] [ 1.11451714e-01 2.71085636e-03 9.93766153e-01 2.15884423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:152.91, Y:92.65, Z:21.59 [[ 3.53544954e-01 -9.34697310e-01 -3.67001792e-02 1.52906362e+02] [ 9.28755786e-01 3.55430907e-01 -1.05268992e-01 9.26512698e+01] [ 1.11439021e-01 3.13181711e-03 9.93766339e-01 2.15943591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:92.68, Z:21.59 [[ 3.54960508e-01 -9.34148038e-01 -3.70200091e-02 1.52911190e+02] [ 9.28215064e-01 3.56873446e-01 -1.05157686e-01 9.26783416e+01] [ 1.11444304e-01 2.96429553e-03 9.93766260e-01 2.15872139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:92.71, Z:21.59 [[ 3.57211084e-01 -9.33306628e-01 -3.65920848e-02 1.52920835e+02] [ 9.27353971e-01 3.59061521e-01 -1.05306394e-01 9.27057277e+01] [ 1.11421965e-01 3.68279604e-03 9.93766362e-01 2.15932646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:92.73, Z:21.58 [[ 3.62177773e-01 -9.31364971e-01 -3.72364144e-02 1.52924936e+02] [ 9.25424925e-01 3.64069137e-01 -1.05082691e-01 9.27329590e+01] [ 1.11426967e-01 3.59910902e-03 9.93766108e-01 2.15840537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.93, Y:92.76, Z:21.58 [[ 3.65363902e-01 -9.30152336e-01 -3.64122318e-02 1.52932449e+02] [ 9.24177675e-01 3.67141858e-01 -1.05368311e-01 9.27606096e+01] [ 1.11377035e-01 4.84640536e-03 9.93766405e-01 2.15848589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:92.79, Z:21.59 [[ 3.71244917e-01 -9.27818030e-01 -3.64817187e-02 1.52940318e+02] [ 9.21834529e-01 3.72992883e-01 -1.05344247e-01 9.27882918e+01] [ 1.11347713e-01 5.47840819e-03 9.93766408e-01 2.15914064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:92.81, Z:21.59 [[ 3.76247634e-01 -9.25779022e-01 -3.70259527e-02 1.52945931e+02] [ 9.19803996e-01 3.78024953e-01 -1.05155805e-01 9.28140462e+01] [ 1.11347773e-01 5.50800365e-03 9.93766238e-01 2.15906742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:92.84, Z:21.59 [[ 3.77324594e-01 -9.25364303e-01 -3.64287980e-02 1.52953664e+02] [ 9.19367790e-01 3.79027261e-01 -1.05362244e-01 9.28410655e+01] [ 1.11305967e-01 6.26430239e-03 9.93766442e-01 2.15920413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:92.87, Z:21.60 [[ 3.77148379e-01 -9.25439814e-01 -3.63352683e-02 1.52961541e+02] [ 9.19440618e-01 3.78841576e-01 -1.05394545e-01 9.28672340e+01] [ 1.11301619e-01 6.34126029e-03 9.93766440e-01 2.16035091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:152.98, Y:92.90, Z:21.60 [[ 3.81429179e-01 -9.23684056e-01 -3.63255505e-02 1.52975649e+02] [ 9.17676779e-01 3.83093477e-01 -1.05397897e-01 9.28953761e+01] [ 1.11270439e-01 6.86671917e-03 9.93766440e-01 2.15972553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:92.92, Z:21.61 [[ 3.71616262e-01 -9.27632333e-01 -3.74113468e-02 1.52976552e+02] [ 9.21679071e-01 3.73466967e-01 -1.05024355e-01 9.29203919e+01] [ 1.11395890e-01 4.54750305e-03 9.93765705e-01 2.16081277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:152.98, Y:92.95, Z:21.61 [[ 3.64477957e-01 -9.30516246e-01 -3.59907687e-02 1.52984507e+02] [ 9.24529373e-01 3.66213955e-01 -1.05511975e-01 9.29454786e+01] [ 1.11360929e-01 5.18226634e-03 9.93766516e-01 2.16057354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.99, Y:92.97, Z:21.61 [[ 3.59462033e-01 -9.32501403e-01 -3.50454186e-02 1.52994005e+02] [ 9.26492800e-01 3.61123333e-01 -1.05834916e-01 9.29737895e+01] [ 1.11346926e-01 5.57430614e-03 9.93765963e-01 2.16057560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03710568099999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.01, Y:93.00, Z:21.61 [[ 3.58292313e-01 -9.32918387e-01 -3.59151887e-02 1.53012435e+02] [ 9.26940649e-01 3.60059486e-01 -1.05537672e-01 9.29993342e+01] [ 1.11389639e-01 4.52208822e-03 9.93766521e-01 2.16054767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.067105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:93.02, Z:21.62 [[ 3.49205331e-01 -9.36342134e-01 -3.63186581e-02 1.53016717e+02] [ 9.30395911e-01 3.51075939e-01 -1.05399876e-01 9.30243583e+01] [ 1.11440952e-01 3.01546748e-03 9.93766482e-01 2.16183305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:93.05, Z:21.62 [[ 3.43610491e-01 -9.38452383e-01 -3.51987882e-02 1.53024984e+02] [ 9.32478190e-01 3.45390641e-01 -1.05781527e-01 9.30510189e+01] [ 1.11428258e-01 3.52554002e-03 9.93766227e-01 2.16193354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:93.08, Z:21.63 [[ 3.40387683e-01 -9.39623871e-01 -3.52591190e-02 1.53031554e+02] [ 9.33657920e-01 3.42195113e-01 -1.05761017e-01 9.30767238e+01] [ 1.11441074e-01 3.07979183e-03 9.93766271e-01 2.16262819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.04, Y:93.10, Z:21.63 [[ 3.38657003e-01 -9.40254090e-01 -3.51237955e-02 1.53040891e+02] [ 9.34286734e-01 3.40460198e-01 -1.05807146e-01 9.31026604e+01] [ 1.11443856e-01 3.01663480e-03 9.93766153e-01 2.16281201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.05, Y:93.13, Z:21.62 [[ 3.32009476e-01 -9.42626980e-01 -3.49869103e-02 1.53053239e+02] [ 9.36667622e-01 3.33839397e-01 -1.05853783e-01 9.31273152e+01] [ 1.11460641e-01 2.37335286e-03 9.93766015e-01 2.16206652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.06, Y:93.15, Z:21.63 [[ 3.26978661e-01 -9.44396800e-01 -3.46358052e-02 1.53063730e+02] [ 9.38434649e-01 3.28800960e-01 -1.05973290e-01 9.31542570e+01] [ 1.11469122e-01 2.14756473e-03 9.93765577e-01 2.16278652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:93.18, Z:21.62 [[ 3.19835081e-01 -9.46826682e-01 -3.49965016e-02 1.53068048e+02] [ 9.40891752e-01 3.21742716e-01 -1.05850532e-01 9.31812839e+01] [ 1.11481978e-01 9.26793880e-04 9.93766024e-01 2.16237523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:93.21, Z:21.63 [[ 3.17722348e-01 -9.47553102e-01 -3.45778477e-02 1.53076331e+02] [ 9.41606994e-01 3.19596417e-01 -1.05992453e-01 9.32110628e+01] [ 1.11484434e-01 1.11742796e-03 9.93765552e-01 2.16270251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:93.23, Z:21.63 [[ 3.23587189e-01 -9.45524988e-01 -3.56907434e-02 1.53085757e+02] [ 9.39608089e-01 3.25548902e-01 -1.05615114e-01 9.32338815e+01] [ 1.11480812e-01 6.40386710e-04 9.93766380e-01 2.16320279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:93.26, Z:21.64 [[ 3.35312572e-01 -9.41472819e-01 -3.45602308e-02 1.53088995e+02] [ 9.35492312e-01 3.37073607e-01 -1.05997728e-01 9.32620492e+01] [ 1.11443322e-01 3.21154071e-03 9.93765602e-01 2.16391994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.09, Y:93.29, Z:21.64 [[ 3.49478847e-01 -9.36302531e-01 -3.46713971e-02 1.53093261e+02] [ 9.30299791e-01 3.51162014e-01 -1.05960083e-01 9.32915623e+01] [ 1.11385972e-01 4.77601422e-03 9.93765745e-01 2.16375534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.10, Y:93.32, Z:21.64 [[ 3.53058317e-01 -9.34956178e-01 -3.47386121e-02 1.53100261e+02] [ 9.28949231e-01 3.54726109e-01 -1.05937316e-01 9.33174897e+01] [ 1.11369441e-01 5.13164345e-03 9.93765825e-01 2.16439615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:153.11, Y:93.34, Z:21.64 [[ 3.59387426e-01 -9.32540758e-01 -3.47622259e-02 1.53108158e+02] [ 9.26523396e-01 3.61017140e-01 -1.05929321e-01 9.33437543e+01] [ 1.11333169e-01 5.86165040e-03 9.93765851e-01 2.16433060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:93.37, Z:21.64 [[ 3.58818067e-01 -9.32761496e-01 -3.47215423e-02 1.53116976e+02] [ 9.26743834e-01 3.60446845e-01 -1.05943091e-01 9.33708384e+01] [ 1.11334906e-01 5.83631984e-03 9.93765805e-01 2.16433198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.12, Y:93.39, Z:21.65 [[ 3.57032351e-01 -9.33440240e-01 -3.48886667e-02 1.53122829e+02] [ 9.27431088e-01 3.58691563e-01 -1.05886449e-01 9.33947899e+01] [ 1.11352943e-01 5.44805371e-03 9.93765989e-01 2.16490609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.13, Y:93.42, Z:21.65 [[ 3.58506099e-01 -9.32921217e-01 -3.36359862e-02 1.53130850e+02] [ 9.26870124e-01 3.60013728e-01 -1.06310338e-01 9.34235177e+01] [ 1.11288587e-01 6.93671386e-03 9.93763922e-01 2.16527934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:93.45, Z:21.65 [[ 3.59369160e-01 -9.32558586e-01 -3.44715740e-02 1.53138392e+02] [ 9.26531996e-01 3.60966044e-01 -1.06028186e-01 9.34488845e+01] [ 1.11320563e-01 6.16424384e-03 9.93765432e-01 2.16537632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:93.47, Z:21.64 [[ 3.62952708e-01 -9.31181047e-01 -3.41641658e-02 1.53149904e+02] [ 9.25138882e-01 3.64491496e-01 -1.06131989e-01 9.34706467e+01] [ 1.11280645e-01 6.91429477e-03 9.93764967e-01 2.16431921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.16, Y:93.50, Z:21.66 [[ 3.67059013e-01 -9.29602574e-01 -3.32676331e-02 1.53161655e+02] [ 9.23526571e-01 3.68468996e-01 -1.06439049e-01 9.34957762e+01] [ 1.11204105e-01 8.34586901e-03 9.93762544e-01 2.16573003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:93.52, Z:21.66 [[ 3.66873458e-01 -9.29664438e-01 -3.35841942e-02 1.53169910e+02] [ 9.23598199e-01 3.68320739e-01 -1.06330618e-01 9.35242519e+01] [ 1.11221549e-01 7.99158009e-03 9.93763504e-01 2.16648587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.18, Y:93.55, Z:21.66 [[ 3.63798840e-01 -9.30844550e-01 -3.43340727e-02 1.53176488e+02] [ 9.24806198e-01 3.65351439e-01 -1.06074608e-01 9.35501165e+01] [ 1.11282974e-01 6.83745607e-03 9.93765238e-01 2.16621711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:153.19, Y:93.58, Z:21.66 [[ 3.64782735e-01 -9.30496516e-01 -3.33135110e-02 1.53188697e+02] [ 9.24425438e-01 3.66212819e-01 -1.06422652e-01 9.35772906e+01] [ 1.11225742e-01 8.02528907e-03 9.93762763e-01 2.16616997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:93.61, Z:21.67 [[ 3.68031182e-01 -9.29190791e-01 -3.40223850e-02 1.53205751e+02] [ 9.23136079e-01 3.69520828e-01 -1.06179743e-01 9.36057219e+01] [ 1.11233220e-01 7.67016546e-03 9.93764730e-01 2.16692033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:93.63, Z:21.67 [[ 3.66765378e-01 -9.29612963e-01 -3.60956680e-02 1.53217789e+02] [ 9.23626154e-01 3.68498562e-01 -1.05468185e-01 9.36325078e+01] [ 1.11345793e-01 5.34317558e-03 9.93767359e-01 2.16718106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:93.66, Z:21.68 [[ 3.63874726e-01 -9.30743769e-01 -3.62107764e-02 1.53231246e+02] [ 9.24766205e-01 3.65639519e-01 -1.05428690e-01 9.36576383e+01] [ 1.11367187e-01 4.87633328e-03 9.93767363e-01 2.16760901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.817105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:93.68, Z:21.68 [[ 3.61158732e-01 -9.31805111e-01 -3.61054897e-02 1.53241306e+02] [ 9.25829184e-01 3.62929058e-01 -1.05464785e-01 9.36837325e+01] [ 1.11376357e-01 4.66201185e-03 9.93767364e-01 2.16799719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:93.71, Z:21.69 [[ 3.55727372e-01 -9.33894959e-01 -3.60311407e-02 1.53254379e+02] [ 9.27926906e-01 3.57524077e-01 -1.05490245e-01 9.37063749e+01] [ 1.11398808e-01 4.09150254e-03 9.93767360e-01 2.16855695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:93.73, Z:21.69 [[ 3.55585944e-01 -9.33986574e-01 -3.50387799e-02 1.53263313e+02] [ 9.27985573e-01 3.57271474e-01 -1.05829436e-01 9.37332539e+01] [ 1.11361629e-01 5.11597756e-03 9.93766781e-01 2.16886807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.28, Y:93.76, Z:21.69 [[ 3.47956824e-01 -9.36857489e-01 -3.49870487e-02 1.53275891e+02] [ 9.30868686e-01 3.49685403e-01 -1.05847097e-01 9.37602550e+01] [ 1.11398106e-01 4.26187156e-03 9.93766722e-01 2.16915103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:93.78, Z:21.69 [[ 3.36455102e-01 -9.41003635e-01 -3.61956359e-02 1.53291060e+02] [ 9.35079742e-01 3.38392537e-01 -1.05434181e-01 9.37826474e+01] [ 1.11462281e-01 1.62806234e-03 9.93767332e-01 2.16943627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:93.81, Z:21.70 [[ 3.21886035e-01 -9.46111961e-01 -3.55181465e-02 1.53301653e+02] [ 9.40193115e-01 3.23839121e-01 -1.05665186e-01 9.38093756e+01] [ 1.11473262e-01 6.18230977e-04 9.93767241e-01 2.16972856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:93.83, Z:21.70 [[ 3.18275308e-01 -9.47316383e-01 -3.59513444e-02 1.53311545e+02] [ 9.41421496e-01 3.20299239e-01 -1.05517602e-01 9.38339812e+01] [ 1.11473741e-01 -2.61721235e-04 9.93767345e-01 2.17028853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:93.86, Z:21.71 [[ 3.16470759e-01 -9.47922386e-01 -3.59083453e-02 1.53321982e+02] [ 9.42029714e-01 3.18501125e-01 -1.05532233e-01 9.38585739e+01] [ 1.11473214e-01 -4.28862476e-04 9.93767346e-01 2.17144428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:93.89, Z:21.72 [[ 3.15793980e-01 -9.48159987e-01 -3.55921643e-02 1.53329774e+02] [ 9.42256680e-01 3.17793343e-01 -1.05639670e-01 9.38856327e+01] [ 1.11474261e-01 -1.76582631e-04 9.93767306e-01 2.17167726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:93.91, Z:21.72 [[ 3.16545478e-01 -9.47899499e-01 -3.58538677e-02 1.53334024e+02] [ 9.42004578e-01 3.18569314e-01 -1.05550778e-01 9.39120377e+01] [ 1.11473472e-01 -3.62885940e-04 9.93767344e-01 2.17184537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:93.94, Z:21.72 [[ 3.15654823e-01 -9.48202257e-01 -3.57003104e-02 1.53341224e+02] [ 9.42303372e-01 3.17667098e-01 -1.05602887e-01 9.39391328e+01] [ 1.11473710e-01 -3.06462340e-04 9.93767336e-01 2.17198655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:93.97, Z:21.72 [[ 3.14472358e-01 -9.48591422e-01 -3.57973625e-02 1.53348263e+02] [ 9.42698766e-01 3.16502789e-01 -1.05569978e-01 9.39662168e+01] [ 1.11472741e-01 -5.47289482e-04 9.93767341e-01 2.17197740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:94.00, Z:21.73 [[ 3.14061420e-01 -9.48728919e-01 -3.57611901e-02 1.53352619e+02] [ 9.42835757e-01 3.16090379e-01 -1.05582230e-01 9.39962370e+01] [ 1.11472683e-01 -5.57623593e-04 9.93767342e-01 2.17254019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:94.02, Z:21.73 [[ 3.16515287e-01 -9.47891654e-01 -3.63247122e-02 1.53356876e+02] [ 9.42014856e-01 3.18591700e-01 -1.05391370e-01 9.40188229e+01] [ 1.11472352e-01 -8.60438888e-04 9.93767163e-01 2.17340729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:94.05, Z:21.74 [[ 3.17250652e-01 -9.47694408e-01 -3.50333155e-02 1.53360714e+02] [ 9.41767267e-01 3.19178590e-01 -1.05827418e-01 9.40471284e+01] [ 1.11473937e-01 5.80587748e-04 9.93767188e-01 2.17419854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:94.07, Z:21.75 [[ 3.21540669e-01 -9.46224105e-01 -3.56586666e-02 1.53362876e+02] [ 9.40311351e-01 3.23511604e-01 -1.05616310e-01 9.40708175e+01] [ 1.11472691e-01 4.29690037e-04 9.93767405e-01 2.17463368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:94.10, Z:21.75 [[ 3.21557840e-01 -9.46264327e-01 -3.44148205e-02 1.53367658e+02] [ 9.40306170e-01 3.23389564e-01 -1.06035353e-01 9.41019576e+01] [ 1.11466866e-01 1.73603105e-03 9.93766635e-01 2.17480170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:94.13, Z:21.74 [[ 3.33152238e-01 -9.42200222e-01 -3.56136044e-02 1.53372609e+02] [ 9.36262092e-01 3.35045263e-01 -1.05631277e-01 9.41277667e+01] [ 1.11457982e-01 1.84762859e-03 9.93767430e-01 2.17435844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:94.16, Z:21.74 [[ 3.36973519e-01 -9.40871802e-01 -3.47721159e-02 1.53380033e+02] [ 9.34896779e-01 3.38747882e-01 -1.05914522e-01 9.41575369e+01] [ 1.11430968e-01 3.18205007e-03 9.93767082e-01 2.17410136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:94.19, Z:21.74 [[ 3.46363876e-01 -9.37425989e-01 -3.55609476e-02 1.53384300e+02] [ 9.31460037e-01 3.48167314e-01 -1.05649046e-01 9.41862531e+01] [ 1.11419321e-01 3.46941141e-03 9.93767427e-01 2.17405131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:94.21, Z:21.74 [[ 3.51373456e-01 -9.35561257e-01 -3.55222307e-02 1.53388053e+02] [ 9.29584452e-01 3.53140589e-01 -1.05662062e-01 9.42134417e+01] [ 1.11397673e-01 4.10593042e-03 9.93767427e-01 2.17386745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.40, Y:94.24, Z:21.74 [[ 3.52369542e-01 -9.35188009e-01 -3.54837213e-02 1.53396089e+02] [ 9.29208048e-01 3.54125965e-01 -1.05674993e-01 9.42394972e+01] [ 1.11391693e-01 4.26488942e-03 9.93767428e-01 2.17390399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:94.27, Z:21.74 [[ 3.54115242e-01 -9.34529429e-01 -3.54561812e-02 1.53406387e+02] [ 9.28545294e-01 3.55857387e-01 -1.05684232e-01 9.42653203e+01] [ 1.11382369e-01 4.50172732e-03 9.93767429e-01 2.17410391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.50710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:94.29, Z:21.75 [[ 3.54405886e-01 -9.34420657e-01 -3.54189637e-02 1.53417506e+02] [ 9.28434761e-01 3.56141968e-01 -1.05696704e-01 9.42910221e+01] [ 1.11379363e-01 4.57533694e-03 9.93767429e-01 2.17463865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:94.32, Z:21.75 [[ 3.53814298e-01 -9.34646223e-01 -3.53819157e-02 1.53427338e+02] [ 9.28660214e-01 3.55549986e-01 -1.05709104e-01 9.43172319e+01] [ 1.11380655e-01 4.54361517e-03 9.93767430e-01 2.17520755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.567105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:94.34, Z:21.76 [[ 3.51825059e-01 -9.35398312e-01 -3.53429731e-02 1.53436210e+02] [ 9.29414727e-01 3.53569085e-01 -1.05722123e-01 9.43429549e+01] [ 1.11388478e-01 4.34741240e-03 9.93767431e-01 2.17554424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:94.37, Z:21.76 [[ 3.49903876e-01 -9.36120120e-01 -3.53043633e-02 1.53444800e+02] [ 9.30138852e-01 3.51655829e-01 -1.05735015e-01 9.43678986e+01] [ 1.11395660e-01 4.15913157e-03 9.93767432e-01 2.17627213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:94.39, Z:21.77 [[ 3.46174806e-01 -9.37506576e-01 -3.52763796e-02 1.53454664e+02] [ 9.31531394e-01 3.47947402e-01 -1.05744350e-01 9.43934546e+01] [ 1.11410348e-01 3.74497486e-03 9.93767432e-01 2.17689102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:94.42, Z:21.77 [[ 3.44695689e-01 -9.38052792e-01 -3.52397635e-02 1.53464192e+02] [ 9.32079185e-01 3.46473584e-01 -1.05756551e-01 9.44198813e+01] [ 1.11414875e-01 3.60757727e-03 9.93767433e-01 2.17729143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:94.44, Z:21.77 [[ 3.41002892e-01 -9.39402997e-01 -3.51999687e-02 1.53472927e+02] [ 9.33435081e-01 3.42799796e-01 -1.05769795e-01 9.44448728e+01] [ 1.11427005e-01 3.21092032e-03 9.93767434e-01 2.17747457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:94.47, Z:21.78 [[ 3.37497970e-01 -9.40669456e-01 -3.51581420e-02 1.53481981e+02] [ 9.34706850e-01 3.39312413e-01 -1.05783697e-01 9.44711856e+01] [ 1.11437086e-01 2.83922675e-03 9.93767435e-01 2.17779277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:94.50, Z:21.78 [[ 3.27921016e-01 -9.44052140e-01 -3.51192772e-02 1.53491218e+02] [ 9.38106911e-01 3.29791606e-01 -1.05796598e-01 9.44970125e+01] [ 1.11459548e-01 1.74729126e-03 9.93767436e-01 2.17811425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:94.52, Z:21.78 [[ 3.22149030e-01 -9.46026705e-01 -3.54044581e-02 1.53498088e+02] [ 9.40103298e-01 3.24087771e-01 -1.05701968e-01 9.45234117e+01] [ 1.11471037e-01 7.67938647e-04 9.93767386e-01 2.17815236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:94.55, Z:21.79 [[ 3.21398294e-01 -9.46294687e-01 -3.50642678e-02 1.53505209e+02] [ 9.40360545e-01 3.23303717e-01 -1.05814706e-01 9.45497849e+01] [ 1.11468302e-01 1.03561197e-03 9.93767450e-01 2.17854147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:94.58, Z:21.80 [[ 3.27081390e-01 -9.44346836e-01 -3.50259681e-02 1.53511948e+02] [ 9.38399999e-01 3.28946814e-01 -1.05827382e-01 9.45753933e+01] [ 1.11459434e-01 1.74579879e-03 9.93767451e-01 2.17952471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.52, Y:94.60, Z:21.80 [[ 3.36962091e-01 -9.40859467e-01 -3.52138227e-02 1.53518446e+02] [ 9.34899789e-01 3.38786185e-01 -1.05765333e-01 9.46031909e+01] [ 1.11440271e-01 2.71751229e-03 9.93767418e-01 2.17994615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.52, Y:94.63, Z:21.80 [[ 3.41744443e-01 -9.39120296e-01 -3.55500379e-02 1.53523747e+02] [ 9.33162733e-01 3.43576000e-01 -1.05654369e-01 9.46286782e+01] [ 1.11436302e-01 2.93282278e-03 9.93767251e-01 2.18019204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.53, Y:94.66, Z:21.81 [[ 3.49787159e-01 -9.36179581e-01 -3.48817401e-02 1.53530187e+02] [ 9.30184833e-01 3.51492177e-01 -1.05874577e-01 9.46558269e+01] [ 1.11378276e-01 4.58710186e-03 9.93767497e-01 2.18076819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95710568099997 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:153.54, Y:94.68, Z:21.81 [[ 3.54374705e-01 -9.34441129e-01 -3.51901141e-02 1.53540826e+02] [ 9.28447873e-01 3.56085144e-01 -1.05772956e-01 9.46778315e+01] [ 1.11369278e-01 4.81107370e-03 9.93767446e-01 2.18066630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.55, Y:94.71, Z:21.81 [[ 3.52232701e-01 -9.35281077e-01 -3.43719574e-02 1.53550987e+02] [ 9.29265794e-01 3.53864421e-01 -1.06042707e-01 9.47061571e+01] [ 1.11342750e-01 5.41102487e-03 9.93767333e-01 2.18146344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:94.73, Z:21.82 [[ 3.45805999e-01 -9.37644821e-01 -3.52193314e-02 1.53561440e+02] [ 9.31668423e-01 3.47574518e-01 -1.05763430e-01 9.47300402e+01] [ 1.11409874e-01 3.76088941e-03 9.93767425e-01 2.18208393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:94.76, Z:21.83 [[ 3.40054889e-01 -9.39759533e-01 -3.48524437e-02 1.53569989e+02] [ 9.33781827e-01 3.41818718e-01 -1.05884202e-01 9.47560396e+01] [ 1.11418906e-01 3.46186192e-03 9.93767499e-01 2.18256984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:94.78, Z:21.83 [[ 3.28545258e-01 -9.43846462e-01 -3.48119170e-02 1.53579307e+02] [ 9.37889358e-01 3.30377461e-01 -1.05897524e-01 9.47811487e+01] [ 1.11452076e-01 2.14240297e-03 9.93767500e-01 2.18282199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.59, Y:94.81, Z:21.83 [[ 3.19007535e-01 -9.47113710e-01 -3.47823707e-02 1.53589516e+02] [ 9.41174340e-01 3.20896433e-01 -1.05907228e-01 9.48066905e+01] [ 1.11467726e-01 1.04892894e-03 9.93767501e-01 2.18332294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:94.83, Z:21.84 [[ 3.15354375e-01 -9.48337784e-01 -3.47428404e-02 1.53597183e+02] [ 9.42404320e-01 3.17261738e-01 -1.05920194e-01 9.48330738e+01] [ 1.11470696e-01 6.60593874e-04 9.93767502e-01 2.18375232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:94.86, Z:21.84 [[ 3.11482905e-01 -9.49617856e-01 -3.47034320e-02 1.53601362e+02] [ 9.43690792e-01 3.13410063e-01 -1.05933105e-01 9.48594822e+01] [ 1.11472372e-01 2.47041942e-04 9.93767503e-01 2.18407536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:94.89, Z:21.84 [[ 3.11362293e-01 -9.49658925e-01 -3.46619213e-02 1.53607913e+02] [ 9.43730602e-01 3.13285573e-01 -1.05946685e-01 9.48866095e+01] [ 1.11472295e-01 2.76287061e-04 9.93767504e-01 2.18433154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:94.92, Z:21.84 [[ 3.15067347e-01 -9.48437559e-01 -3.46231624e-02 1.53610661e+02] [ 9.42500390e-01 3.16963138e-01 -1.05959350e-01 9.49150845e+01] [ 1.11470094e-01 7.51987405e-04 9.93767504e-01 2.18442453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:94.94, Z:21.85 [[ 3.23538103e-01 -9.45582931e-01 -3.45834591e-02 1.53610714e+02] [ 9.39627669e-01 3.25376265e-01 -1.05972307e-01 9.49435692e+01] [ 1.11458242e-01 1.79050429e-03 9.93767505e-01 2.18460796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:94.97, Z:21.85 [[ 3.31992867e-01 -9.42649249e-01 -3.45417139e-02 1.53613417e+02] [ 9.36676366e-01 3.33772936e-01 -1.05985913e-01 9.49709453e+01] [ 1.11436630e-01 2.83215999e-03 9.93767506e-01 2.18458674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.317105681 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.62, Y:95.00, Z:21.85 [[ 3.34992772e-01 -9.41588836e-01 -3.45008227e-02 1.53620108e+02] [ 9.35608963e-01 3.36749214e-01 -1.05999222e-01 9.49976707e+01] [ 1.11425809e-01 3.22969434e-03 9.93767507e-01 2.18465606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:95.02, Z:21.85 [[ 3.37059746e-01 -9.40852373e-01 -3.44607113e-02 1.53626773e+02] [ 9.34867345e-01 3.38798537e-01 -1.06012261e-01 9.50243915e+01] [ 1.11417126e-01 3.51627207e-03 9.93767508e-01 2.18493073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.63, Y:95.05, Z:21.85 [[ 3.39056061e-01 -9.40136236e-01 -3.44215888e-02 1.53633298e+02] [ 9.34146263e-01 3.40777738e-01 -1.06024962e-01 9.50510358e+01] [ 1.11408020e-01 3.79360759e-03 9.93767509e-01 2.18517156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.64, Y:95.08, Z:21.86 [[ 3.38314353e-01 -9.40404909e-01 -3.43803174e-02 1.53641933e+02] [ 9.34414959e-01 3.40036107e-01 -1.06038344e-01 9.50772136e+01] [ 1.11409528e-01 3.74881081e-03 9.93767510e-01 2.18553472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.65, Y:95.10, Z:21.86 [[ 3.34941941e-01 -9.41612741e-01 -3.43415495e-02 1.53650601e+02] [ 9.35627732e-01 3.36680789e-01 -1.06050898e-01 9.51036113e+01] [ 1.11421017e-01 3.38998739e-03 9.93767511e-01 2.18556234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:95.13, Z:21.86 [[ 3.31556782e-01 -9.42811501e-01 -3.43012259e-02 1.53657482e+02] [ 9.36831446e-01 3.33312590e-01 -1.06063939e-01 9.51297385e+01] [ 1.11431332e-01 3.03175108e-03 9.93767511e-01 2.18568929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.67, Y:95.15, Z:21.86 [[ 3.30802300e-01 -9.43078032e-01 -3.42587869e-02 1.53668234e+02] [ 9.37097983e-01 3.32558122e-01 -1.06077645e-01 9.51549100e+01] [ 1.11432534e-01 2.98688874e-03 9.93767512e-01 2.18621438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.68, Y:95.18, Z:21.86 [[ 3.30347417e-01 -9.43238893e-01 -3.42195028e-02 1.53677582e+02] [ 9.37258396e-01 3.32101708e-01 -1.06090316e-01 9.51802424e+01] [ 1.11432868e-01 2.97414556e-03 9.93767513e-01 2.18625963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.69, Y:95.21, Z:21.86 [[ 3.31448439e-01 -9.42854041e-01 -3.41787909e-02 1.53686459e+02] [ 9.36870165e-01 3.33191169e-01 -1.06103430e-01 9.52082695e+01] [ 1.11428120e-01 3.14672688e-03 9.93767514e-01 2.18593978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.69, Y:95.24, Z:21.86 [[ 3.32379615e-01 -9.42526992e-01 -3.41564113e-02 1.53694565e+02] [ 9.36540668e-01 3.34113917e-01 -1.06110634e-01 9.52356143e+01] [ 1.11424269e-01 3.28014358e-03 9.93767514e-01 2.18596914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.70, Y:95.26, Z:21.86 [[ 3.32209554e-01 -9.42588302e-01 -3.41189738e-02 1.53703597e+02] [ 9.36601073e-01 3.33940726e-01 -1.06122671e-01 9.52612450e+01] [ 1.11423703e-01 3.29909768e-03 9.93767515e-01 2.18630095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.71, Y:95.29, Z:21.87 [[ 3.31460743e-01 -9.42853367e-01 -3.40779057e-02 1.53712892e+02] [ 9.36866179e-01 3.33192051e-01 -1.06135857e-01 9.52876475e+01] [ 1.11425037e-01 3.25343276e-03 9.93767516e-01 2.18691418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.72, Y:95.31, Z:21.88 [[ 3.28211844e-01 -9.43990580e-01 -3.40407100e-02 1.53722254e+02] [ 9.38008168e-01 3.29959581e-01 -1.06147785e-01 9.53133914e+01] [ 1.11434568e-01 2.90849643e-03 9.93767517e-01 2.18801941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:95.34, Z:21.88 [[ 3.26014425e-01 -9.44753110e-01 -3.40022973e-02 1.53730504e+02] [ 9.38773512e-01 3.27771764e-01 -1.06160089e-01 9.53385907e+01] [ 1.11440067e-01 2.68926424e-03 9.93767518e-01 2.18817944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.74, Y:95.36, Z:21.89 [[ 3.16697560e-01 -9.47918474e-01 -3.39591107e-02 1.53741848e+02] [ 9.41954997e-01 3.18508847e-01 -1.06173902e-01 9.53633462e+01] [ 1.11460480e-01 1.63706170e-03 9.93767519e-01 2.18888151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.75, Y:95.39, Z:21.89 [[ 3.16342735e-01 -9.48038377e-01 -3.39191721e-02 1.53750225e+02] [ 9.42074220e-01 3.18151782e-01 -1.06186660e-01 9.53903915e+01] [ 1.11460473e-01 1.63700074e-03 9.93767520e-01 2.18919901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.76, Y:95.42, Z:21.90 [[ 3.12658221e-01 -9.49261312e-01 -3.38791704e-02 1.53759048e+02] [ 9.43302854e-01 3.14485945e-01 -1.06199421e-01 9.54153147e+01] [ 1.11465524e-01 1.24580392e-03 9.93767521e-01 2.18959861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82710568099998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:153.77, Y:95.44, Z:21.90 [[ 3.10401458e-01 -9.50003150e-01 -3.38371139e-02 1.53768096e+02] [ 9.44047600e-01 3.12238636e-01 -1.06212819e-01 9.54409766e+01] [ 1.11467767e-01 1.02476785e-03 9.93767521e-01 2.18974397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:95.47, Z:21.90 [[ 3.09789686e-01 -9.50204301e-01 -3.37955076e-02 1.53779632e+02] [ 9.44248501e-01 3.11626047e-01 -1.06226056e-01 9.54662705e+01] [ 1.11468016e-01 9.96379312e-04 9.93767522e-01 2.19010301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:153.79, Y:95.49, Z:21.90 [[ 3.17264616e-01 -9.47736074e-01 -3.37564562e-02 1.53791802e+02] [ 9.41764685e-01 3.19049631e-01 -1.06238465e-01 9.54858149e+01] [ 1.11456010e-01 1.91506741e-03 9.93767523e-01 2.19035127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.80, Y:95.52, Z:21.91 [[ 3.17635963e-01 -9.47671386e-01 -3.20365281e-02 1.53800496e+02] [ 9.41643274e-01 3.19225419e-01 -1.06785188e-01 9.55165267e+01] [ 1.11424141e-01 3.75183485e-03 9.93765860e-01 2.19137391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.94710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.81, Y:95.54, Z:21.92 [[ 3.25054840e-01 -9.45090385e-01 -3.38159010e-02 1.53808492e+02] [ 9.39106518e-01 3.26797323e-01 -1.06218910e-01 9.55413924e+01] [ 1.11437417e-01 2.77023785e-03 9.93767593e-01 2.19230116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:95.57, Z:21.93 [[ 3.28213351e-01 -9.43999439e-01 -3.37795047e-02 1.53817572e+02] [ 9.38008605e-01 3.29931722e-01 -1.06230484e-01 9.55678449e+01] [ 1.11426447e-01 3.18079690e-03 9.93767593e-01 2.19282432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.00710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:95.59, Z:21.93 [[ 3.34289942e-01 -9.41866188e-01 -3.37389661e-02 1.53828505e+02] [ 9.35863130e-01 3.35965104e-01 -1.06243357e-01 9.55920672e+01] [ 1.11402141e-01 3.94103138e-03 9.93767594e-01 2.19317576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03710568099999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.84, Y:95.62, Z:21.92 [[ 3.38470669e-01 -9.40373412e-01 -3.36964880e-02 1.53840987e+02] [ 9.34361660e-01 3.40114356e-01 -1.06256828e-01 9.56203716e+01] [ 1.11381755e-01 4.48011329e-03 9.93767595e-01 2.19232921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.85, Y:95.65, Z:21.92 [[ 3.39454179e-01 -9.40005090e-01 -3.40777133e-02 1.53849397e+02] [ 9.34003399e-01 3.41134568e-01 -1.06136034e-01 9.56478491e+01] [ 1.11393498e-01 4.19962006e-03 9.93767504e-01 2.19220343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.86, Y:95.67, Z:21.92 [[ 3.40543454e-01 -9.39617442e-01 -3.39001312e-02 1.53856422e+02] [ 9.33608331e-01 3.42196859e-01 -1.06192255e-01 9.56736548e+01] [ 1.11380614e-01 4.51363254e-03 9.93767571e-01 2.19226759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.87, Y:95.70, Z:21.92 [[ 3.40757063e-01 -9.39550454e-01 -3.36090579e-02 1.53867562e+02] [ 9.33532081e-01 3.42376255e-01 -1.06284304e-01 9.56994329e+01] [ 1.11366409e-01 4.84199335e-03 9.93767618e-01 2.19236299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.88, Y:95.72, Z:21.93 [[ 3.41637124e-01 -9.39232172e-01 -3.35708515e-02 1.53877361e+02] [ 9.33211132e-01 3.43246362e-01 -1.06296370e-01 9.57238331e+01] [ 1.11360043e-01 4.98609383e-03 9.93767619e-01 2.19265919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:95.75, Z:21.93 [[ 3.39228137e-01 -9.40124103e-01 -3.30294254e-02 1.53887968e+02] [ 9.34090844e-01 3.40791665e-01 -1.06467534e-01 9.57518525e+01] [ 1.11348848e-01 5.26429927e-03 9.93767438e-01 2.19298894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:95.77, Z:21.94 [[ 3.39043477e-01 -9.40167604e-01 -3.36808183e-02 1.53897482e+02] [ 9.34154384e-01 3.40681735e-01 -1.06261673e-01 9.57743178e+01] [ 1.11378222e-01 4.56424303e-03 9.93767608e-01 2.19358134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24710568099997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:153.91, Y:95.80, Z:21.94 [[ 3.34967011e-01 -9.41666036e-01 -3.25910694e-02 1.53910728e+02] [ 9.35626904e-01 3.36508353e-01 -1.06604053e-01 9.57979891e+01] [ 1.11352583e-01 5.21575945e-03 9.93767276e-01 2.19391794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:95.82, Z:21.95 [[ 3.26743719e-01 -9.44557899e-01 -3.23870100e-02 1.53923381e+02] [ 9.38526187e-01 3.28314652e-01 -1.06668107e-01 9.58201325e+01] [ 1.11387333e-01 4.45707697e-03 9.93767074e-01 2.19482717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:153.93, Y:95.85, Z:21.95 [[ 3.22651044e-01 -9.45973207e-01 -3.21090991e-02 1.53933957e+02] [ 9.39939797e-01 3.24216762e-01 -1.06755189e-01 9.58456130e+01] [ 1.11397856e-01 4.26405304e-03 9.93766741e-01 2.19483904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.95, Y:95.87, Z:21.95 [[ 3.14317538e-01 -9.48776125e-01 -3.20678802e-02 1.53947091e+02] [ 9.42755412e-01 3.15931631e-01 -1.06768149e-01 9.58706918e+01] [ 1.11430329e-01 3.32693423e-03 9.93766680e-01 2.19523182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:95.90, Z:21.96 [[ 3.08722909e-01 -9.50598280e-01 -3.24511184e-02 1.53958503e+02] [ 9.44599685e-01 3.10415449e-01 -1.06647471e-01 9.58993556e+01] [ 1.11452231e-01 2.27120131e-03 9.93767197e-01 2.19560409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.97, Y:95.92, Z:21.97 [[ 3.01955361e-01 -9.52732127e-01 -3.35328789e-02 1.53970745e+02] [ 9.46782730e-01 3.03811406e-01 -1.06306595e-01 9.59228727e+01] [ 1.11469379e-01 3.51495513e-04 9.93767807e-01 2.19667411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.98, Y:95.95, Z:21.97 [[ 2.96674897e-01 -9.54392984e-01 -3.34370699e-02 1.53979387e+02] [ 9.48450573e-01 2.98553186e-01 -1.06336754e-01 9.59467641e+01] [ 1.11469796e-01 -1.65962500e-04 9.93767808e-01 2.19719168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:95.97, Z:21.98 [[ 2.93183415e-01 -9.55489389e-01 -3.29167560e-02 1.53986217e+02] [ 9.49535471e-01 2.95025468e-01 -1.06500527e-01 9.59747198e+01] [ 1.11471405e-01 -3.14392387e-05 9.93767641e-01 2.19763967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.99, Y:96.00, Z:21.98 [[ 2.91562643e-01 -9.55973430e-01 -3.32569733e-02 1.53992373e+02] [ 9.50034720e-01 2.93452671e-01 -1.06393421e-01 9.60026988e+01] [ 1.11468631e-01 -5.74932262e-04 9.93767787e-01 2.19805716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.00, Y:96.03, Z:21.99 [[ 2.94853872e-01 -9.54946877e-01 -3.37291712e-02 1.53995095e+02] [ 9.49018452e-01 2.96776003e-01 -1.06244915e-01 9.60274439e+01] [ 1.11468259e-01 -6.82881267e-04 9.93767760e-01 2.19862384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:154.00, Y:96.06, Z:21.99 [[ 2.97051373e-01 -9.54299385e-01 -3.27592062e-02 1.53998555e+02] [ 9.48332778e-01 2.98851708e-01 -1.06548572e-01 9.60558669e+01] [ 1.11469381e-01 5.83770656e-04 9.93767697e-01 2.19906705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.00, Y:96.08, Z:22.00 [[ 3.08617791e-01 -9.50604948e-01 -3.32459213e-02 1.53996740e+02] [ 9.44633079e-01 3.10400042e-01 -1.06396242e-01 9.60835176e+01] [ 1.11460329e-01 1.43057611e-03 9.93767854e-01 2.19951112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:154.00, Y:96.11, Z:22.00 [[ 3.13757401e-01 -9.48939523e-01 -3.27120053e-02 1.54001554e+02] [ 9.42940712e-01 3.15447423e-01 -1.06563305e-01 9.61136027e+01] [ 1.11441050e-01 2.58954411e-03 9.93767672e-01 2.19954271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.00, Y:96.14, Z:21.99 [[ 3.22868716e-01 -9.45854938e-01 -3.33800720e-02 1.54003527e+02] [ 9.39861214e-01 3.24576094e-01 -1.06354394e-01 9.61422677e+01] [ 1.11430202e-01 2.96587175e-03 9.93767837e-01 2.19940609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.01, Y:96.17, Z:21.99 [[ 3.29640259e-01 -9.43521280e-01 -3.32399546e-02 1.54008488e+02] [ 9.37511133e-01 3.31288854e-01 -1.06398170e-01 9.61695560e+01] [ 1.11400964e-01 3.91029277e-03 9.93767848e-01 2.19882258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.02, Y:96.20, Z:21.99 [[ 3.31842687e-01 -9.42750423e-01 -3.31974659e-02 1.54016210e+02] [ 9.36735144e-01 3.33472454e-01 -1.06411425e-01 9.61962733e+01] [ 1.11389857e-01 4.21462026e-03 9.93767849e-01 2.19918025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.72710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.02, Y:96.22, Z:21.99 [[ 3.33680351e-01 -9.42107712e-01 -3.30224414e-02 1.54022869e+02] [ 9.36083985e-01 3.35278647e-01 -1.06465964e-01 9.62235334e+01] [ 1.11374125e-01 4.61382154e-03 9.93767839e-01 2.19901478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.03, Y:96.25, Z:21.99 [[ 3.34207527e-01 -9.41923592e-01 -3.29435271e-02 1.54028583e+02] [ 9.35896608e-01 3.35793547e-01 -1.06490529e-01 9.62511463e+01] [ 1.11368165e-01 4.75820102e-03 9.93767826e-01 2.19904594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.78710568099999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.04, Y:96.28, Z:21.99 [[ 3.33924496e-01 -9.42028459e-01 -3.28148353e-02 1.54037189e+02] [ 9.35998112e-01 3.35497805e-01 -1.06530551e-01 9.62770800e+01] [ 1.11364116e-01 4.85853684e-03 9.93767794e-01 2.19918760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.05, Y:96.30, Z:22.00 [[ 3.32532496e-01 -9.42523085e-01 -3.27470957e-02 1.54049179e+02] [ 9.36493045e-01 3.34107069e-01 -1.06551596e-01 9.63033416e+01] [ 1.11368375e-01 4.76444086e-03 9.93767772e-01 2.19961661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.06, Y:96.33, Z:22.00 [[ 3.30060183e-01 -9.43381747e-01 -3.30326445e-02 1.54059025e+02] [ 9.37364499e-01 3.31682748e-01 -1.06462908e-01 9.63301943e+01] [ 1.11391523e-01 4.17553877e-03 9.93767827e-01 2.19970842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.07, Y:96.36, Z:22.00 [[ 3.26469374e-01 -9.44630772e-01 -3.30219960e-02 1.54068110e+02] [ 9.38619412e-01 3.28113617e-01 -1.06466211e-01 9.63564316e+01] [ 1.11406226e-01 3.76287096e-03 9.93767827e-01 2.20018079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:96.38, Z:22.01 [[ 3.20081506e-01 -9.46815727e-01 -3.29819345e-02 1.54080021e+02] [ 9.40814349e-01 3.21761813e-01 -1.06478620e-01 9.63802963e+01] [ 1.11427960e-01 3.05195998e-03 9.93767828e-01 2.20125952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:96.40, Z:22.02 [[ 3.15018928e-01 -9.48522636e-01 -3.26784957e-02 1.54095506e+02] [ 9.42520656e-01 3.16697212e-01 -1.06572458e-01 9.64030890e+01] [ 1.11435577e-01 2.77218443e-03 9.93767793e-01 2.20178314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:96.43, Z:22.02 [[ 3.10079655e-01 -9.50163618e-01 -3.22444744e-02 1.54106500e+02] [ 9.44156547e-01 3.11740451e-01 -1.06706636e-01 9.64304072e+01] [ 1.11440671e-01 2.64372530e-03 9.93767572e-01 2.20212414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.12, Y:96.46, Z:22.02 [[ 3.04792481e-01 -9.51846246e-01 -3.30192002e-02 1.54117018e+02] [ 9.45873942e-01 3.06573383e-01 -1.06467112e-01 9.64567321e+01] [ 1.11463129e-01 1.21837406e-03 9.93767823e-01 2.20247217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.13, Y:96.48, Z:22.03 [[ 3.03293420e-01 -9.52325224e-01 -3.30116468e-02 1.54125056e+02] [ 9.46355480e-01 3.05082880e-01 -1.06469444e-01 9.64821040e+01] [ 1.11464825e-01 1.05072887e-03 9.93767824e-01 2.20283398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.13, Y:96.51, Z:22.03 [[ 3.03355898e-01 -9.52310975e-01 -3.28482188e-02 1.54134507e+02] [ 9.46335683e-01 3.05126692e-01 -1.06519843e-01 9.65097713e+01] [ 1.11462884e-01 1.22798102e-03 9.93767839e-01 2.20326230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08710568099997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:154.14, Y:96.54, Z:22.03 [[ 3.06425784e-01 -9.51313878e-01 -3.32437088e-02 1.54142583e+02] [ 9.45345945e-01 3.08221547e-01 -1.06397943e-01 9.65393933e+01] [ 1.11464267e-01 1.17626775e-03 9.93767746e-01 2.20272621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.15, Y:96.56, Z:22.03 [[ 3.08019179e-01 -9.50770382e-01 -3.40568131e-02 1.54148106e+02] [ 9.44826579e-01 3.09895810e-01 -1.06147644e-01 9.65628733e+01] [ 1.11476100e-01 5.17728052e-04 9.93766980e-01 2.20327509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:96.59, Z:22.04 [[ 3.12762777e-01 -9.49268338e-01 -3.26966122e-02 1.54153624e+02] [ 9.43271141e-01 3.14457364e-01 -1.06565103e-01 9.65895905e+01] [ 1.11440569e-01 2.48782688e-03 9.93767986e-01 2.20367822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.16, Y:96.61, Z:22.04 [[ 3.16735809e-01 -9.47951538e-01 -3.26543969e-02 1.54161128e+02] [ 9.41945980e-01 3.18400521e-01 -1.06578037e-01 9.66148593e+01] [ 1.11427991e-01 2.99840302e-03 9.93767987e-01 2.20430172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:154.17, Y:96.64, Z:22.05 [[ 3.25328782e-01 -9.45048674e-01 -3.23138956e-02 1.54170253e+02] [ 9.39018073e-01 3.26900542e-01 -1.06682211e-01 9.66411908e+01] [ 1.11383312e-01 4.36346177e-03 9.93767940e-01 2.20523895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:154.18, Y:96.67, Z:22.06 [[ 3.34314508e-01 -9.41897919e-01 -3.25901886e-02 1.54181101e+02] [ 9.35860568e-01 3.35859969e-01 -1.06597745e-01 9.66669728e+01] [ 1.11349934e-01 5.13730024e-03 9.93767981e-01 2.20560266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:154.19, Y:96.69, Z:22.06 [[ 3.39208532e-01 -9.40147042e-01 -3.25747106e-02 1.54187769e+02] [ 9.34101297e-01 3.40720823e-01 -1.06602471e-01 9.66934143e+01] [ 1.11320880e-01 5.73238804e-03 9.93767982e-01 2.20558310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.20, Y:96.72, Z:22.06 [[ 3.40197541e-01 -9.39791836e-01 -3.25105927e-02 1.54195757e+02] [ 9.33742704e-01 3.41696220e-01 -1.06622021e-01 9.67204891e+01] [ 1.11311252e-01 5.91602072e-03 9.93767984e-01 2.20558872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.21, Y:96.75, Z:22.05 [[ 3.38815962e-01 -9.40292177e-01 -3.24709941e-02 1.54206186e+02] [ 9.34244141e-01 3.40319052e-01 -1.06634079e-01 9.67456125e+01] [ 1.11317689e-01 5.79349222e-03 9.93767985e-01 2.20540633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:154.22, Y:96.77, Z:22.06 [[ 3.36313363e-01 -9.41191588e-01 -3.24301880e-02 1.54216256e+02] [ 9.35146416e-01 3.37827926e-01 -1.06646488e-01 9.67715204e+01] [ 1.11330601e-01 5.53966503e-03 9.93767986e-01 2.20571486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.23, Y:96.80, Z:22.06 [[ 3.30084868e-01 -9.43395385e-01 -3.23902283e-02 1.54227148e+02] [ 9.37359198e-01 3.31634847e-01 -1.06658623e-01 9.67972902e+01] [ 1.11362982e-01 4.84511928e-03 9.93767987e-01 2.20608997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.24, Y:96.82, Z:22.06 [[ 3.27438996e-01 -9.44318357e-01 -3.23503538e-02 1.54235818e+02] [ 9.38285373e-01 3.29001394e-01 -1.06670716e-01 9.68235254e+01] [ 1.11374427e-01 4.57428851e-03 9.93767987e-01 2.20639191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.44710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:154.24, Y:96.85, Z:22.07 [[ 3.24082604e-01 -9.45473745e-01 -3.24015884e-02 1.54243449e+02] [ 9.39447866e-01 3.25672193e-01 -1.06655187e-01 9.68484749e+01] [ 1.11391975e-01 4.12548751e-03 9.93767985e-01 2.20671641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47710568099998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:154.25, Y:96.88, Z:22.07 [[ 3.18310655e-01 -9.47436222e-01 -3.22944475e-02 1.54252524e+02] [ 9.41416912e-01 3.19924914e-01 -1.06687619e-01 9.68750332e+01] [ 1.11411513e-01 3.55726696e-03 9.93767991e-01 2.20714981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.50710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:154.26, Y:96.90, Z:22.08 [[ 3.17127681e-01 -9.47826025e-01 -3.24939935e-02 1.54260746e+02] [ 9.41814792e-01 3.18771884e-01 -1.06627310e-01 9.68993768e+01] [ 1.11422311e-01 3.21114772e-03 9.93767959e-01 2.20797391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.27, Y:96.93, Z:22.08 [[ 3.10651904e-01 -9.49983619e-01 -3.20393265e-02 1.54269425e+02] [ 9.43969670e-01 3.12286059e-01 -1.06764598e-01 9.69272703e+01] [ 1.11430055e-01 2.92247332e-03 9.93767982e-01 2.20802948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.28, Y:96.95, Z:22.08 [[ 3.07795899e-01 -9.50899596e-01 -3.24290517e-02 1.54277058e+02] [ 9.44902759e-01 3.09491829e-01 -1.06647009e-01 9.69530003e+01] [ 1.11447124e-01 2.18321141e-03 9.93767967e-01 2.20848373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.29, Y:96.98, Z:22.09 [[ 3.03112537e-01 -9.52412173e-01 -3.21534262e-02 1.54285279e+02] [ 9.46414990e-01 3.04807093e-01 -1.06730048e-01 9.69766739e+01] [ 1.11451589e-01 1.92073111e-03 9.93768008e-01 2.20861821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.29, Y:97.01, Z:22.08 [[ 2.92322450e-01 -9.55809821e-01 -3.12277347e-02 1.54293024e+02] [ 9.49802239e-01 2.93981223e-01 -1.07008166e-01 9.70059330e+01] [ 1.11459824e-01 1.62071691e-03 9.93767619e-01 2.20826575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.30, Y:97.03, Z:22.09 [[ 2.88851989e-01 -9.56836377e-01 -3.20729811e-02 1.54301158e+02] [ 9.50862500e-01 2.90626965e-01 -1.06754268e-01 9.70290921e+01] [ 1.11467640e-01 3.39187650e-04 9.93768006e-01 2.20850561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.31, Y:97.06, Z:22.09 [[ 2.88683042e-01 -9.56917547e-01 -3.11594067e-02 1.54309046e+02] [ 9.50914175e-01 2.90357024e-01 -1.07028178e-01 9.70562931e+01] [ 1.11464494e-01 1.26729844e-03 9.93767609e-01 2.20881646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:154.32, Y:97.09, Z:22.09 [[ 2.82844539e-01 -9.58658503e-01 -3.11904120e-02 1.54317452e+02] [ 9.52666465e-01 2.84558546e-01 -1.07018880e-01 9.70851722e+01] [ 1.11470058e-01 5.55646335e-04 9.93767638e-01 2.20901460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.32, Y:97.11, Z:22.10 [[ 2.76005234e-01 -9.60622412e-01 -3.20264443e-02 1.54323853e+02] [ 9.54671254e-01 2.77854924e-01 -1.06768146e-01 9.71115696e+01] [ 1.11462579e-01 -1.10615858e-03 9.93768016e-01 2.20999408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:154.33, Y:97.14, Z:22.11 [[ 2.71858072e-01 -9.61801470e-01 -3.21110806e-02 1.54327413e+02] [ 9.55861314e-01 2.73742813e-01 -1.06742782e-01 9.71391076e+01] [ 1.11455542e-01 -1.67485264e-03 9.93768010e-01 2.21056827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.33, Y:97.17, Z:22.11 [[ 2.68497137e-01 -9.62749653e-01 -3.19748753e-02 1.54332272e+02] [ 9.56811300e-01 2.70387514e-01 -1.06783555e-01 9.71656672e+01] [ 1.11451437e-01 -1.92284337e-03 9.93768021e-01 2.21092004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.34, Y:97.19, Z:22.11 [[ 2.66862001e-01 -9.63205734e-01 -3.19278339e-02 1.54338824e+02] [ 9.57268934e-01 2.68757245e-01 -1.06797618e-01 9.71914599e+01] [ 1.11448915e-01 -2.06329747e-03 9.93768022e-01 2.21141289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:154.34, Y:97.22, Z:22.12 [[ 2.65028051e-01 -9.63713454e-01 -3.18827805e-02 1.54344422e+02] [ 9.57778672e-01 2.66929601e-01 -1.06811067e-01 9.72179818e+01] [ 1.11445720e-01 -2.22871837e-03 9.93768023e-01 2.21185864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.34, Y:97.25, Z:22.12 [[ 2.61021715e-01 -9.64807765e-01 -3.18377384e-02 1.54344081e+02] [ 9.58879318e-01 2.62942923e-01 -1.06824491e-01 9.72466016e+01] [ 1.11436606e-01 -2.64503709e-03 9.93768025e-01 2.21199119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.34, Y:97.28, Z:22.12 [[ 2.55328457e-01 -9.66340273e-01 -3.15254833e-02 1.54343140e+02] [ 9.60411924e-01 2.57250085e-01 -1.06917401e-01 9.72754694e+01] [ 1.11428524e-01 -2.97839499e-03 9.93767988e-01 2.21234050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.34, Y:97.31, Z:22.13 [[ 2.49182649e-01 -9.67935035e-01 -3.17769567e-02 1.54342313e+02] [ 9.62028309e-01 2.51169642e-01 -1.06842613e-01 9.73051034e+01] [ 1.11398115e-01 -3.94700667e-03 9.93768022e-01 2.21289269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:154.35, Y:97.33, Z:22.13 [[ 2.47183457e-01 -9.68441526e-01 -3.19585591e-02 1.54345552e+02] [ 9.62545697e-01 2.49202641e-01 -1.06788692e-01 9.73318651e+01] [ 1.11382761e-01 -4.36517550e-03 9.93767994e-01 2.21320609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:154.34, Y:97.36, Z:22.13 [[ 2.42608343e-01 -9.69618459e-01 -3.13246904e-02 1.54343099e+02] [ 9.63708399e-01 2.44585597e-01 -1.06976665e-01 9.73622437e+01] [ 1.11388117e-01 -4.23443588e-03 9.93767959e-01 2.21320963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:154.35, Y:97.39, Z:22.14 [[ 2.42346087e-01 -9.69672675e-01 -3.16745552e-02 1.54345348e+02] [ 9.63776256e-01 2.44363448e-01 -1.06872981e-01 9.73891351e+01] [ 1.11371913e-01 -4.62693549e-03 9.93768026e-01 2.21355324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.34, Y:97.42, Z:22.14 [[ 2.45404756e-01 -9.68904478e-01 -3.16325437e-02 1.54339068e+02] [ 9.63000159e-01 2.47398874e-01 -1.06885414e-01 9.74191732e+01] [ 1.11387612e-01 -4.23195551e-03 9.93768026e-01 2.21432786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:154.34, Y:97.45, Z:22.14 [[ 2.48435172e-01 -9.68133200e-01 -3.15922659e-02 1.54338913e+02] [ 9.62221189e-01 2.50406365e-01 -1.06897318e-01 9.74475517e+01] [ 1.11401747e-01 -3.84169406e-03 9.93768027e-01 2.21449039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.33, Y:97.48, Z:22.15 [[ 2.58443934e-01 -9.65510915e-01 -3.15500659e-02 1.54334507e+02] [ 9.59577314e-01 2.60349150e-01 -1.06909772e-01 9.74779999e+01] [ 1.11436584e-01 -2.64454549e-03 9.93768028e-01 2.21451450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.16710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.33, Y:97.51, Z:22.15 [[ 2.71025956e-01 -9.62056164e-01 -3.15098252e-02 1.54333892e+02] [ 9.56096828e-01 2.72849079e-01 -1.06921631e-01 9.75062827e+01] [ 1.11462041e-01 -1.14790672e-03 9.93768029e-01 2.21467463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19710568099998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:154.33, Y:97.54, Z:22.15 [[ 2.80254543e-01 -9.59409815e-01 -3.14674081e-02 1.54331818e+02] [ 9.53431849e-01 2.82015613e-01 -1.06934113e-01 9.75357684e+01] [ 1.11467938e-01 -3.32580521e-05 9.93768030e-01 2.21526752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.22710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:97.56, Z:22.16 [[ 2.84249058e-01 -9.58235230e-01 -3.14279585e-02 1.54334345e+02] [ 9.52248705e-01 2.85980805e-01 -1.06945706e-01 9.75642358e+01] [ 1.11466936e-01 4.71983401e-04 9.93768031e-01 2.21580996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:97.59, Z:22.17 [[ 2.90869553e-01 -9.56247718e-01 -3.13879573e-02 1.54334125e+02] [ 9.50248101e-01 2.92555382e-01 -1.06957445e-01 9.75918566e+01] [ 1.11460529e-01 1.28431746e-03 9.93768032e-01 2.21659259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.28710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.34, Y:97.62, Z:22.17 [[ 2.92303689e-01 -9.55811129e-01 -3.13630120e-02 1.54339997e+02] [ 9.49808211e-01 2.93977724e-01 -1.06964759e-01 9.76190709e+01] [ 1.11458134e-01 1.47734732e-03 9.93768032e-01 2.21712301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.35, Y:97.65, Z:22.17 [[ 2.93143251e-01 -9.55555260e-01 -3.13237948e-02 1.54346478e+02] [ 9.49549656e-01 2.94807623e-01 -1.06976243e-01 9.76462578e+01] [ 1.11456205e-01 1.61586494e-03 9.93768033e-01 2.21747533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.35, Y:97.67, Z:22.18 [[ 2.93367067e-01 -9.55487893e-01 -3.12833974e-02 1.54353417e+02] [ 9.49480650e-01 2.95025510e-01 -1.06988055e-01 9.76733609e+01] [ 1.11455191e-01 1.68379127e-03 9.93768034e-01 2.21778312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.36, Y:97.70, Z:22.18 [[ 2.97342262e-01 -9.54259663e-01 -3.12422108e-02 1.54359163e+02] [ 9.48244317e-01 2.98971067e-01 -1.07000081e-01 9.76999906e+01] [ 1.11446378e-01 2.19039721e-03 9.93768035e-01 2.21793506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.36, Y:97.73, Z:22.18 [[ 3.07892481e-01 -9.50909486e-01 -3.11988555e-02 1.54364955e+02] [ 9.44875212e-01 3.09449692e-01 -1.07012721e-01 9.77264047e+01] [ 1.11413888e-01 3.46938700e-03 9.93768036e-01 2.21778360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:97.75, Z:22.18 [[ 3.14179684e-01 -9.48852095e-01 -3.11581194e-02 1.54373000e+02] [ 9.42806496e-01 3.15692334e-01 -1.07024580e-01 9.77527727e+01] [ 1.11386877e-01 4.24887152e-03 9.93768037e-01 2.21812733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.38, Y:97.78, Z:22.18 [[ 3.25272833e-01 -9.45108067e-01 -3.11179199e-02 1.54384430e+02] [ 9.39044088e-01 3.26710021e-01 -1.07036267e-01 9.77785480e+01] [ 1.11327376e-01 5.59489123e-03 9.93768038e-01 2.21834087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.39, Y:97.81, Z:22.19 [[ 3.29651423e-01 -9.43591051e-01 -3.10784080e-02 1.54393445e+02] [ 9.37519439e-01 3.31056012e-01 -1.07047739e-01 9.78051767e+01] [ 1.11297982e-01 6.15182784e-03 9.93768038e-01 2.21854878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.40, Y:97.83, Z:22.19 [[ 3.29829711e-01 -9.43530033e-01 -3.10393028e-02 1.54402580e+02] [ 9.37457136e-01 3.31228731e-01 -1.07059077e-01 9.78314331e+01] [ 1.11294563e-01 6.21324843e-03 9.93768039e-01 2.21900391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.42, Y:97.85, Z:22.20 [[ 3.26686093e-01 -9.44624349e-01 -3.10005655e-02 1.54417414e+02] [ 9.38555123e-01 3.28100949e-01 -1.07070292e-01 9.78549972e+01] [ 1.11312520e-01 5.88263593e-03 9.93768040e-01 2.21976637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:154.43, Y:97.88, Z:22.20 [[ 3.18612012e-01 -9.47378924e-01 -3.09767563e-02 1.54433194e+02] [ 9.41321346e-01 3.20075931e-01 -1.07077180e-01 9.78795724e+01] [ 1.11357578e-01 4.95699399e-03 9.93768040e-01 2.22042220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.44, Y:97.90, Z:22.20 [[ 3.15200277e-01 -9.48512333e-01 -3.11951953e-02 1.54444221e+02] [ 9.42466120e-01 3.16710597e-01 -1.07014065e-01 9.79047182e+01] [ 1.11384009e-01 4.33044833e-03 9.93768006e-01 2.22035207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.46, Y:97.93, Z:22.20 [[ 3.08898009e-01 -9.50593362e-01 -3.08914216e-02 1.54458309e+02] [ 9.44548685e-01 3.10414256e-01 -1.07101689e-01 9.79301443e+01] [ 1.11399292e-01 3.90504673e-03 9.93768056e-01 2.22024663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.47, Y:97.96, Z:22.20 [[ 3.05446735e-01 -9.51709200e-01 -3.08527238e-02 1.54469503e+02] [ 9.45668959e-01 3.06980555e-01 -1.07112835e-01 9.79559079e+01] [ 1.11411457e-01 3.54080268e-03 9.93768056e-01 2.22037197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.48, Y:97.98, Z:22.21 [[ 2.96233885e-01 -9.54618235e-01 -3.08141179e-02 1.54484606e+02] [ 9.48591959e-01 2.97821685e-01 -1.07123940e-01 9.79805257e+01] [ 1.11439579e-01 2.50371652e-03 9.93768057e-01 2.22058503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:154.50, Y:98.01, Z:22.21 [[ 2.86018056e-01 -9.57730006e-01 -3.07718476e-02 1.54497229e+02] [ 9.51719741e-01 2.87665421e-01 -1.07136081e-01 9.80054287e+01] [ 1.11459436e-01 1.35667882e-03 9.93768058e-01 2.22069691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:154.51, Y:98.03, Z:22.21 [[ 2.80599155e-01 -9.59332634e-01 -3.07410395e-02 1.54506164e+02] [ 9.53330816e-01 2.82277031e-01 -1.07144921e-01 9.80305723e+01] [ 1.11465108e-01 7.58393964e-04 9.93768059e-01 2.22096907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:154.52, Y:98.06, Z:22.21 [[ 2.70281317e-01 -9.62291796e-01 -3.07003050e-02 1.54518057e+02] [ 9.56307024e-01 2.72019010e-01 -1.07156591e-01 9.80560819e+01] [ 1.11466975e-01 -3.96492733e-04 9.93768060e-01 2.22145038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:98.08, Z:22.22 [[ 2.66798055e-01 -9.63264658e-01 -3.06593664e-02 1.54526723e+02] [ 9.57284874e-01 2.68552835e-01 -1.07168303e-01 9.80811731e+01] [ 1.11465099e-01 -7.57452784e-04 9.93768061e-01 2.22170195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85710568099998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:154.54, Y:98.11, Z:22.22 [[ 2.66640788e-01 -9.63309568e-01 -3.06164424e-02 1.54536472e+02] [ 9.57328671e-01 2.68391769e-01 -1.07180565e-01 9.81067324e+01] [ 1.11465265e-01 -7.31287907e-04 9.93768061e-01 2.22212320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.54, Y:98.13, Z:22.23 [[ 2.73012121e-01 -9.61524568e-01 -3.05759092e-02 1.54541481e+02] [ 9.55530924e-01 2.74718951e-01 -1.07192127e-01 9.81338967e+01] [ 1.11467645e-01 4.85230484e-05 9.93768062e-01 2.22285903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:154.55, Y:98.16, Z:22.23 [[ 2.77652128e-01 -9.60196307e-01 -3.05343684e-02 1.54546797e+02] [ 9.54193196e-01 2.79325357e-01 -1.07203959e-01 9.81613859e+01] [ 1.11465868e-01 6.29720629e-04 9.93768063e-01 2.22339537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.94710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.55, Y:98.19, Z:22.24 [[ 2.88169338e-01 -9.57093834e-01 -3.04930232e-02 1.54551087e+02] [ 9.51071496e-01 2.89771980e-01 -1.07215718e-01 9.81881553e+01] [ 1.11451526e-01 1.89523719e-03 9.93768064e-01 2.22422893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.56, Y:98.21, Z:22.25 [[ 2.91385827e-01 -9.56120306e-01 -3.04673623e-02 1.54557530e+02] [ 9.50091859e-01 2.92965334e-01 -1.07223009e-01 9.82134796e+01] [ 1.11443977e-01 2.29647234e-03 9.93768065e-01 2.22477805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.00710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:154.56, Y:98.24, Z:22.25 [[ 2.92521561e-01 -9.55774802e-01 -3.04247359e-02 1.54564198e+02] [ 9.49743239e-01 2.94089125e-01 -1.07235103e-01 9.82405109e+01] [ 1.11440193e-01 2.47289260e-03 9.93768066e-01 2.22538945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:98.27, Z:22.25 [[ 2.86170220e-01 -9.57696916e-01 -3.03845814e-02 1.54569902e+02] [ 9.51674694e-01 2.87773294e-01 -1.07246480e-01 9.82671664e+01] [ 1.11453494e-01 1.77451154e-03 9.93768066e-01 2.22544921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.58, Y:98.29, Z:22.26 [[ 2.81814415e-01 -9.58989039e-01 -3.03423491e-02 1.54576271e+02] [ 9.52972889e-01 2.83440121e-01 -1.07258427e-01 9.82940110e+01] [ 1.11459895e-01 1.31153471e-03 9.93768067e-01 2.22582140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.58, Y:98.32, Z:22.26 [[ 2.72839046e-01 -9.61582389e-01 -3.03012225e-02 1.54581859e+02] [ 9.55580413e-01 2.74516323e-01 -1.07270044e-01 9.83192772e+01] [ 1.11467166e-01 3.12201850e-04 9.93768068e-01 2.22624468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.59, Y:98.35, Z:22.26 [[ 2.60826841e-01 -9.64916696e-01 -3.00853623e-02 1.54588982e+02] [ 9.58929103e-01 2.62554831e-01 -1.07330964e-01 9.83472456e+01] [ 1.11464496e-01 -8.54933136e-04 9.93768049e-01 2.22642335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:98.37, Z:22.27 [[ 2.53588730e-01 -9.66839080e-01 -3.02481358e-02 1.54595562e+02] [ 9.60870008e-01 2.55379601e-01 -1.07285073e-01 9.83742927e+01] [ 1.11452158e-01 -1.85824111e-03 9.93768063e-01 2.22653060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.60, Y:98.40, Z:22.26 [[ 2.43558257e-01 -9.69415740e-01 -3.02075759e-02 1.54598235e+02] [ 9.63464149e-01 2.45406389e-01 -1.07296492e-01 9.84015454e+01] [ 1.11428041e-01 -2.97096978e-03 9.93768064e-01 2.22626204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.60, Y:98.43, Z:22.27 [[ 2.41082649e-01 -9.70039196e-01 -3.00518620e-02 1.54601711e+02] [ 9.64086969e-01 2.42928757e-01 -1.07340283e-01 9.84288669e+01] [ 1.11424743e-01 -3.09472876e-03 9.93768056e-01 2.22678767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.61, Y:98.46, Z:22.27 [[ 2.41539371e-01 -9.69922479e-01 -3.01515647e-02 1.54607959e+02] [ 9.63972813e-01 2.43393699e-01 -1.07312270e-01 9.84553465e+01] [ 1.11423284e-01 -3.14515047e-03 9.93768061e-01 2.22728806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.61, Y:98.48, Z:22.28 [[ 2.44161479e-01 -9.69266943e-01 -3.01125349e-02 1.54610002e+02] [ 9.63310954e-01 2.45995392e-01 -1.07323221e-01 9.84821971e+01] [ 1.11432395e-01 -2.80353830e-03 9.93768062e-01 2.22773588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30710568099997 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:154.61, Y:98.51, Z:22.28 [[ 2.46325346e-01 -9.68720173e-01 -3.00840491e-02 1.54612807e+02] [ 9.62759141e-01 2.48142799e-01 -1.07331205e-01 9.85082861e+01] [ 1.11439044e-01 -2.52529704e-03 9.93768063e-01 2.22807243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.61, Y:98.53, Z:22.29 [[ 2.54718080e-01 -9.66548698e-01 -3.00385529e-02 1.54612546e+02] [ 9.60570638e-01 2.56478711e-01 -1.07343937e-01 9.85349101e+01] [ 1.11457392e-01 -1.51171045e-03 9.93768064e-01 2.22858031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.62, Y:98.56, Z:22.29 [[ 2.59476779e-01 -9.65283478e-01 -2.99934641e-02 1.54618260e+02] [ 9.59295370e-01 2.61202924e-01 -1.07356534e-01 9.85624097e+01] [ 1.11463869e-01 -9.16063596e-04 9.93768065e-01 2.22870255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.62, Y:98.59, Z:22.28 [[ 2.68462901e-01 -9.62824156e-01 -2.99552104e-02 1.54623014e+02] [ 9.56819035e-01 2.70128891e-01 -1.07367207e-01 9.85885023e+01] [ 1.11467508e-01 1.62396329e-04 9.93768066e-01 2.22832237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.63, Y:98.62, Z:22.28 [[ 2.76707552e-01 -9.60488578e-01 -2.99102170e-02 1.54626386e+02] [ 9.54468049e-01 2.78316968e-01 -1.07379740e-01 9.86161403e+01] [ 1.11461534e-01 1.16443846e-03 9.93768067e-01 2.22839100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.63, Y:98.64, Z:22.29 [[ 2.79487566e-01 -9.59684623e-01 -2.98684558e-02 1.54631243e+02] [ 9.53658227e-01 2.81074870e-01 -1.07391355e-01 9.86430988e+01] [ 1.11457104e-01 1.53024960e-03 9.93768068e-01 2.22879254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.64, Y:98.67, Z:22.29 [[ 2.85010676e-01 -9.58060160e-01 -2.98269081e-02 1.54635395e+02] [ 9.52023527e-01 2.86558587e-01 -1.07402893e-01 9.86681090e+01] [ 1.11445589e-01 2.21505293e-03 9.93768069e-01 2.22932887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.64, Y:98.70, Z:22.30 [[ 2.89509812e-01 -9.56711277e-01 -2.97926359e-02 1.54641802e+02] [ 9.50666471e-01 2.91025492e-01 -1.07412399e-01 9.86952897e+01] [ 1.11433070e-01 2.77408337e-03 9.93768069e-01 2.22969004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.65, Y:98.72, Z:22.30 [[ 2.90782631e-01 -9.56326490e-01 -2.97507364e-02 1.54648281e+02] [ 9.50278503e-01 2.92285563e-01 -1.07424003e-01 9.87212612e+01] [ 1.11428130e-01 2.96554899e-03 9.93768070e-01 2.22974035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:98.75, Z:22.30 [[ 2.90425719e-01 -9.56436314e-01 -2.97065393e-02 1.54655573e+02] [ 9.50387657e-01 2.91925947e-01 -1.07436224e-01 9.87485933e+01] [ 1.11428016e-01 2.96951423e-03 9.93768071e-01 2.23005787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:98.78, Z:22.30 [[ 2.89931628e-01 -9.56587460e-01 -2.96661855e-02 1.54659662e+02] [ 9.50538456e-01 2.91430452e-01 -1.07447366e-01 9.87761495e+01] [ 1.11428432e-01 2.95353951e-03 9.93768072e-01 2.23008499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.67, Y:98.80, Z:22.30 [[ 2.88111307e-01 -9.57138540e-01 -2.96258280e-02 1.54666650e+02] [ 9.51091270e-01 2.89617108e-01 -1.07458492e-01 9.88029820e+01] [ 1.11432811e-01 2.78314024e-03 9.93768073e-01 2.23024795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:98.83, Z:22.30 [[ 2.84965229e-01 -9.58081204e-01 -2.95842047e-02 1.54677588e+02] [ 9.52037738e-01 2.86486222e-01 -1.07469950e-01 9.88287145e+01] [ 1.11440406e-01 2.45991965e-03 9.93768074e-01 2.23036747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:154.69, Y:98.85, Z:22.31 [[ 2.83276612e-01 -9.58583112e-01 -2.95428334e-02 1.54685429e+02] [ 9.52541162e-01 2.84803615e-01 -1.07481322e-01 9.88549187e+01] [ 1.11443686e-01 2.30617980e-03 9.93768075e-01 2.23055661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.72710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:154.69, Y:98.88, Z:22.31 [[ 2.80618915e-01 -9.59365839e-01 -2.94993322e-02 1.54693012e+02] [ 9.53326903e-01 2.82157786e-01 -1.07493260e-01 9.88815806e+01] [ 1.11448828e-01 2.04213507e-03 9.93768076e-01 2.23117775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:154.70, Y:98.91, Z:22.32 [[ 2.79263243e-01 -9.59762591e-01 -2.94586340e-02 1.54702200e+02] [ 9.53724669e-01 2.80806086e-01 -1.07504412e-01 9.89078731e+01] [ 1.11450877e-01 1.92660484e-03 9.93768077e-01 2.23154522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.78710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:98.93, Z:22.32 [[ 2.76750061e-01 -9.60491540e-01 -2.94177714e-02 1.54714183e+02] [ 9.54456499e-01 2.78304131e-01 -1.07515593e-01 9.89333370e+01] [ 1.11454905e-01 1.67696383e-03 9.93768078e-01 2.23171734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:98.96, Z:22.32 [[ 2.75079893e-01 -9.60980591e-01 -2.91093904e-02 1.54724430e+02] [ 9.54939376e-01 2.76609944e-01 -1.07599847e-01 9.89593821e+01] [ 1.11453311e-01 1.80085122e-03 9.93768040e-01 2.23206753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.74, Y:98.98, Z:22.32 [[ 2.70274899e-01 -9.62335193e-01 -2.93675914e-02 1.54737214e+02] [ 9.56309271e-01 2.71863973e-01 -1.07529333e-01 9.89838644e+01] [ 1.11463251e-01 9.77979692e-04 9.93768075e-01 2.23210474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:99.01, Z:22.32 [[ 2.67257898e-01 -9.63178682e-01 -2.93264708e-02 1.54748978e+02] [ 9.57156547e-01 2.68861257e-01 -1.07540547e-01 9.90094156e+01] [ 1.11465514e-01 6.71036939e-04 9.93768076e-01 2.23245008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:99.04, Z:22.33 [[ 2.67424885e-01 -9.63133524e-01 -2.92873152e-02 1.54758020e+02] [ 9.57109950e-01 2.69022828e-01 -1.07551209e-01 9.90350487e+01] [ 1.11465131e-01 7.30688942e-04 9.93768077e-01 2.23275776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:99.06, Z:22.33 [[ 2.68999393e-01 -9.62705597e-01 -2.89354516e-02 1.54771155e+02] [ 9.56669137e-01 2.70548161e-01 -1.07646900e-01 9.90600653e+01] [ 1.11460706e-01 1.27529719e-03 9.93768024e-01 2.23328475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.78, Y:99.08, Z:22.34 [[ 2.69831641e-01 -9.62463467e-01 -2.92397188e-02 1.54780118e+02] [ 9.56434519e-01 2.71409203e-01 -1.07564195e-01 9.90848197e+01] [ 1.11462537e-01 1.05834685e-03 9.93768073e-01 2.23384843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.79, Y:99.11, Z:22.35 [[ 2.74314209e-01 -9.61196816e-01 -2.91958115e-02 1.54789648e+02] [ 9.55159324e-01 2.75858744e-01 -1.07576112e-01 9.91091395e+01] [ 1.11455736e-01 1.62300442e-03 9.93768074e-01 2.23489077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.80, Y:99.13, Z:22.35 [[ 2.82045071e-01 -9.58958070e-01 -2.91547095e-02 1.54796476e+02] [ 9.52907200e-01 2.83536332e-01 -1.07587250e-01 9.91336829e+01] [ 1.11438081e-01 2.56272089e-03 9.93768075e-01 2.23533432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.80, Y:99.16, Z:22.36 [[ 2.86301891e-01 -9.57697152e-01 -2.91099984e-02 1.54802924e+02] [ 9.51638507e-01 2.87761241e-01 -1.07599346e-01 9.91595904e+01] [ 1.11424317e-01 3.10370088e-03 9.93768076e-01 2.23550447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.81, Y:99.19, Z:22.36 [[ 2.93476277e-01 -9.55524316e-01 -2.90681249e-02 1.54810231e+02] [ 9.49453803e-01 2.94885439e-01 -1.07610657e-01 9.91857036e+01] [ 1.11396366e-01 3.98233329e-03 9.93768077e-01 2.23584601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.82, Y:99.21, Z:22.36 [[ 2.95838613e-01 -9.54814539e-01 -2.84378344e-02 1.54819634e+02] [ 9.48724520e-01 2.97161785e-01 -1.07780603e-01 9.92114572e+01] [ 1.11361125e-01 4.90599347e-03 9.93767896e-01 2.23611082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.83, Y:99.24, Z:22.36 [[ 2.94855433e-01 -9.55118874e-01 -2.84290346e-02 1.54829986e+02] [ 9.49029999e-01 2.96183883e-01 -1.07782973e-01 9.92380762e+01] [ 1.11365774e-01 4.80038848e-03 9.93767891e-01 2.23620142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:154.84, Y:99.26, Z:22.36 [[ 2.90882757e-01 -9.56339018e-01 -2.83355825e-02 1.54843734e+02] [ 9.50253326e-01 2.92225987e-01 -1.07808115e-01 9.92644509e+01] [ 1.11381500e-01 4.43354019e-03 9.93767833e-01 2.23618906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.85, Y:99.29, Z:22.36 [[ 2.89237931e-01 -9.56835174e-01 -2.84230463e-02 1.54852982e+02] [ 9.50754054e-01 2.90601463e-01 -1.07784597e-01 9.92890247e+01] [ 1.11391872e-01 4.15206719e-03 9.93767886e-01 2.23637915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:99.31, Z:22.37 [[ 2.85793406e-01 -9.57887243e-01 -2.78237119e-02 1.54866267e+02] [ 9.51795582e-01 2.87111396e-01 -1.07945430e-01 9.93135159e+01] [ 1.11388055e-01 4.36760606e-03 9.93767390e-01 2.23668204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:99.34, Z:22.37 [[ 2.84018309e-01 -9.58415736e-01 -2.78006706e-02 1.54877371e+02] [ 9.52325935e-01 2.85344990e-01 -1.07951608e-01 9.93406991e+01] [ 1.11395302e-01 4.18493353e-03 9.93767364e-01 2.23719940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.89, Y:99.37, Z:22.37 [[ 2.84600917e-01 -9.58227001e-01 -2.83431091e-02 1.54890632e+02] [ 9.52150458e-01 2.85984898e-01 -1.07806047e-01 9.93679833e+01] [ 1.11408367e-01 3.69479558e-03 9.93767842e-01 2.23739348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:154.90, Y:99.39, Z:22.37 [[ 2.87020626e-01 -9.57488513e-01 -2.88947560e-02 1.54900476e+02] [ 9.51422949e-01 2.88451254e-01 -1.07658007e-01 9.93946544e+01] [ 1.11416034e-01 3.40893476e-03 9.93768004e-01 2.23743261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:154.91, Y:99.42, Z:22.37 [[ 2.93463545e-01 -9.55534702e-01 -2.88544762e-02 1.54913614e+02] [ 9.49458605e-01 2.94848752e-01 -1.07668802e-01 9.94205484e+01] [ 1.11388983e-01 4.20073759e-03 9.93768005e-01 2.23736017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:99.45, Z:22.37 [[ 2.98146972e-01 -9.54079901e-01 -2.89814721e-02 1.54926708e+02] [ 9.48000274e-01 2.99516661e-01 -1.07634797e-01 9.94456887e+01] [ 1.11372630e-01 4.61654539e-03 9.93767993e-01 2.23727458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41710568099998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:154.94, Y:99.47, Z:22.37 [[ 2.99479039e-01 -9.53668089e-01 -2.88007155e-02 1.54936163e+02] [ 9.47582052e-01 3.00819873e-01 -1.07683144e-01 9.94714561e+01] [ 1.11357806e-01 4.95780344e-03 9.93768011e-01 2.23742205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.44710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:154.95, Y:99.50, Z:22.38 [[ 3.02706258e-01 -9.52649934e-01 -2.87580343e-02 1.54950617e+02] [ 9.46558351e-01 3.04021666e-01 -1.07694542e-01 9.94981457e+01] [ 1.11338263e-01 5.37865419e-03 9.93768012e-01 2.23750157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:154.96, Y:99.52, Z:22.38 [[ 3.05041749e-01 -9.51889948e-01 -2.92413968e-02 1.54961991e+02] [ 9.45806897e-01 3.06396721e-01 -1.07565623e-01 9.95208459e+01] [ 1.11350103e-01 5.15529085e-03 9.93767869e-01 2.23828681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.50710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:154.97, Y:99.55, Z:22.39 [[ 3.06603842e-01 -9.51405430e-01 -2.86669176e-02 1.54971620e+02] [ 9.45306379e-01 3.07884018e-01 -1.07718528e-01 9.95461165e+01] [ 1.11310078e-01 5.92789447e-03 9.93768045e-01 2.23894162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53710568099999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:99.57, Z:22.40 [[ 3.13074275e-01 -9.49294735e-01 -2.87054783e-02 1.54985049e+02] [ 9.43187994e-01 3.14317254e-01 -1.07708274e-01 9.95703975e+01] [ 1.11269524e-01 6.64602723e-03 9.93768043e-01 2.23992734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.99, Y:99.60, Z:22.40 [[ 3.16425641e-01 -9.48188388e-01 -2.85235921e-02 1.54994696e+02] [ 9.42073217e-01 3.17626466e-01 -1.07756583e-01 9.95974843e+01] [ 1.11233388e-01 7.22563371e-03 9.93768043e-01 2.24035978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.01, Y:99.62, Z:22.40 [[ 3.24855182e-01 -9.45329139e-01 -2.86693186e-02 1.55008439e+02] [ 9.39206633e-01 3.26018027e-01 -1.07717903e-01 9.96221910e+01] [ 1.11175587e-01 8.06630465e-03 9.93768043e-01 2.24036675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.02, Y:99.65, Z:22.40 [[ 3.28347565e-01 -9.44124811e-01 -2.85695318e-02 1.55024838e+02] [ 9.37995959e-01 3.29476454e-01 -1.07744363e-01 9.96467409e+01] [ 1.11137114e-01 8.57949375e-03 9.93768048e-01 2.24017838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:99.67, Z:22.40 [[ 3.26841186e-01 -9.44648510e-01 -2.85312346e-02 1.55037576e+02] [ 9.38520662e-01 3.27975509e-01 -1.07754503e-01 9.96723054e+01] [ 1.11147677e-01 8.44145642e-03 9.93768049e-01 2.24043199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:99.69, Z:22.41 [[ 3.21616756e-01 -9.46441121e-01 -2.84932885e-02 1.55056041e+02] [ 9.40318816e-01 3.22780621e-01 -1.07764536e-01 9.96937517e+01] [ 1.11189870e-01 7.86610524e-03 9.93768050e-01 2.24093289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:99.72, Z:22.42 [[ 3.19156300e-01 -9.47275001e-01 -2.84486969e-02 1.55074115e+02] [ 9.41154771e-01 3.20331022e-01 -1.07776307e-01 9.97179531e+01] [ 1.11206801e-01 7.62286044e-03 9.93768051e-01 2.24151449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:155.09, Y:99.74, Z:22.42 [[ 3.19398006e-01 -9.47194604e-01 -2.84129491e-02 1.55086156e+02] [ 9.41073301e-01 3.20567120e-01 -1.07785734e-01 9.97433007e+01] [ 1.11202323e-01 7.68788083e-03 9.93768051e-01 2.24165319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:155.10, Y:99.77, Z:22.42 [[ 3.21163107e-01 -9.46597976e-01 -2.83994859e-02 1.55104744e+02] [ 9.40474216e-01 3.22319284e-01 -1.07789281e-01 9.97664981e+01] [ 1.11186818e-01 7.90895637e-03 9.93768051e-01 2.24176890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:155.13, Y:99.79, Z:22.42 [[ 3.23060494e-01 -9.45941468e-01 -2.87516438e-02 1.55125569e+02] [ 9.39822901e-01 3.24244276e-01 -1.07696629e-01 9.97891398e+01] [ 1.11197263e-01 7.77107283e-03 9.93767970e-01 2.24187853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:155.14, Y:99.82, Z:22.42 [[ 3.23755529e-01 -9.45716870e-01 -2.83188677e-02 1.55140812e+02] [ 9.39588293e-01 3.24885789e-01 -1.07810319e-01 9.98158340e+01] [ 1.11158435e-01 8.29611033e-03 9.93768070e-01 2.24229184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:155.15, Y:99.84, Z:22.43 [[ 3.20623147e-01 -9.46766097e-01 -2.88921173e-02 1.55154180e+02] [ 9.40653659e-01 3.21838578e-01 -1.07659759e-01 9.98384212e+01] [ 1.11227208e-01 7.34073491e-03 9.93767891e-01 2.24250467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:155.16, Y:99.87, Z:22.43 [[ 3.20030472e-01 -9.46985775e-01 -2.82566507e-02 1.55164558e+02] [ 9.40860407e-01 3.21177802e-01 -1.07826312e-01 9.98650590e+01] [ 1.11185393e-01 7.92214175e-03 9.93768106e-01 2.24266729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92710568099997 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:155.18, Y:99.89, Z:22.43 [[ 3.22480563e-01 -9.46155391e-01 -2.82181415e-02 1.55179705e+02] [ 9.40026270e-01 3.23607671e-01 -1.07836389e-01 9.98900709e+01] [ 1.11161588e-01 8.24934522e-03 9.93768107e-01 2.24281982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95710568099997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:155.20, Y:99.91, Z:22.43 [[ 3.28375394e-01 -9.44126876e-01 -2.81787486e-02 1.55195748e+02] [ 9.37990055e-01 3.29459786e-01 -1.07846682e-01 9.99149130e+01] [ 1.11104716e-01 8.98281083e-03 9.93768107e-01 2.24318661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98710568099997 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:155.21, Y:99.94, Z:22.44 [[ 3.30857372e-01 -9.43261146e-01 -2.81391017e-02 1.55206929e+02] [ 9.37120713e-01 3.31921121e-01 -1.07857026e-01 9.99403884e+01] [ 1.11077304e-01 9.31555717e-03 9.93768108e-01 2.24362516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01710568099998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:155.22, Y:99.97, Z:22.44 [[ 3.31897232e-01 -9.42896929e-01 -2.80999967e-02 1.55218020e+02] [ 9.36754565e-01 3.32949770e-01 -1.07867213e-01 9.99686324e+01] [ 1.11063551e-01 9.47802926e-03 9.93768109e-01 2.24416887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.04710568099998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:155.23, Y:99.99, Z:22.45 [[ 3.36267362e-01 -9.41322599e-01 -2.89141022e-02 1.55231570e+02] [ 9.35191176e-01 3.37383826e-01 -1.07655085e-01 9.99907275e+01] [ 1.11093315e-01 9.16067819e-03 9.93767758e-01 2.24456710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07710568099998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:155.24, Y:100.02, Z:22.45 [[ 3.35618353e-01 -9.41580421e-01 -2.80469609e-02 1.55241756e+02] [ 9.35432994e-01 3.36640605e-01 -1.07880572e-01 1.00016583e+02] [ 1.11019980e-01 9.97064723e-03 9.93768157e-01 2.24495468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.10710568099998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:155.26, Y:100.04, Z:22.45 [[ 3.31852222e-01 -9.42915460e-01 -2.80095948e-02 1.55257498e+02] [ 9.36771447e-01 3.32894795e-01 -1.07890273e-01 1.00040201e+02] [ 1.11055654e-01 9.56503804e-03 9.93768158e-01 2.24519155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13710568099998 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:155.27, Y:100.06, Z:22.45 [[ 3.26829451e-01 -9.44669424e-01 -2.79676354e-02 1.55274533e+02] [ 9.38530216e-01 3.27899948e-01 -1.07901148e-01 1.00064007e+02] [ 1.11101502e-01 9.01680226e-03 9.93768159e-01 2.24503853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.16710568099998 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:155.29, Y:100.09, Z:22.45 [[ 3.25171592e-01 -9.45242446e-01 -2.79312502e-02 1.55285211e+02] [ 9.39104400e-01 3.26248732e-01 -1.07910566e-01 1.00090565e+02] [ 1.11114183e-01 8.85909065e-03 9.93768160e-01 2.24533008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19710568099998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:155.30, Y:100.12, Z:22.46 [[ 3.25334432e-01 -9.45187141e-01 -2.79065584e-02 1.55300559e+02] [ 9.39048420e-01 3.26407716e-01 -1.07916952e-01 1.00117907e+02] [ 1.11110631e-01 8.90349063e-03 9.93768160e-01 2.24586593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.22710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:155.31, Y:100.14, Z:22.46 [[ 3.25540556e-01 -9.45093541e-01 -2.86626087e-02 1.55312290e+02] [ 9.38969840e-01 3.26698186e-01 -1.07721562e-01 1.00141862e+02] [ 1.11170975e-01 8.15441215e-03 9.93767840e-01 2.24608706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25710568099998 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:155.32, Y:100.17, Z:22.46 [[ 3.25620577e-01 -9.45090922e-01 -2.78278340e-02 1.55321154e+02] [ 9.38950376e-01 3.26683077e-01 -1.07936823e-01 1.00168092e+02] [ 1.11100994e-01 9.01749539e-03 9.93768209e-01 2.24614155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.28710568099999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:155.33, Y:100.19, Z:22.46 [[ 3.25010363e-01 -9.45301810e-01 -2.77984019e-02 1.55332106e+02] [ 9.39161373e-01 3.26073491e-01 -1.07944403e-01 1.00193913e+02] [ 1.11104361e-01 8.97586423e-03 9.93768210e-01 2.24633737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31710568099996 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:155.34, Y:100.22, Z:22.47 [[ 3.23457497e-01 -9.45835443e-01 -2.77590071e-02 1.55344154e+02] [ 9.39695982e-01 3.24526241e-01 -1.07954532e-01 1.00219625e+02] [ 1.11115749e-01 8.83367543e-03 9.93768211e-01 2.24711806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34710568099996 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:155.35, Y:100.24, Z:22.47 [[ 3.22878187e-01 -9.46034922e-01 -2.77056386e-02 1.55354601e+02] [ 9.39895063e-01 3.23944641e-01 -1.07968234e-01 1.00244885e+02] [ 1.11116813e-01 8.82019486e-03 9.93768211e-01 2.24714098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37710568099996 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:155.37, Y:100.27, Z:22.48 [[ 3.21467754e-01 -9.46515611e-01 -2.76890228e-02 1.55367275e+02] [ 9.40377019e-01 3.22541475e-01 -1.07972495e-01 1.00273136e+02] [ 1.11128511e-01 8.67155487e-03 9.93768212e-01 2.24770851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40710568099996 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:155.38, Y:100.30, Z:22.48 [[ 3.20405690e-01 -9.46851072e-01 -2.85173951e-02 1.55377302e+02] [ 9.40730571e-01 3.21580102e-01 -1.07760066e-01 1.00299741e+02] [ 1.11203361e-01 7.69975299e-03 9.93767843e-01 2.24791925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43710568099996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:155.39, Y:100.33, Z:22.48 [[ 3.18465479e-01 -9.47494769e-01 -2.88687071e-02 1.55392289e+02] [ 9.41384133e-01 3.19692155e-01 -1.07670053e-01 1.00326647e+02] [ 1.11245911e-01 7.11265212e-03 9.93767456e-01 2.24838757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46710568099996 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:155.40, Y:100.35, Z:22.49 [[ 3.11531570e-01 -9.49775494e-01 -2.95734897e-02 1.55400200e+02] [ 9.43689921e-01 3.12882399e-01 -1.07489243e-01 1.00349389e+02] [ 1.11343673e-01 5.57808831e-03 9.93766306e-01 2.24865096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49710568099997 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:155.41, Y:100.38, Z:22.49 [[ 3.10977076e-01 -9.49987494e-01 -2.85835655e-02 1.55406474e+02] [ 9.43880420e-01 3.12219748e-01 -1.07743127e-01 1.00376331e+02] [ 1.11278977e-01 6.52617474e-03 9.93767779e-01 2.24893325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52710568099997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:155.42, Y:100.40, Z:22.50 [[ 3.11275793e-01 -9.49892301e-01 -2.84955655e-02 1.55417393e+02] [ 9.43782916e-01 3.12506605e-01 -1.07765620e-01 1.00399391e+02] [ 1.11270785e-01 6.65120091e-03 9.93767867e-01 2.24964920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55710568099997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:155.43, Y:100.43, Z:22.50 [[ 3.12002994e-01 -9.49682521e-01 -2.75180009e-02 1.55425712e+02] [ 9.43551567e-01 3.13118602e-01 -1.08014724e-01 1.00425739e+02] [ 1.11196094e-01 7.73626445e-03 9.93768373e-01 2.25015972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58710568099997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:155.44, Y:100.45, Z:22.51 [[ 3.17793208e-01 -9.47761781e-01 -2.74787961e-02 1.55440628e+02] [ 9.41623355e-01 3.18866936e-01 -1.08024697e-01 1.00454026e+02] [ 1.11143759e-01 8.45483888e-03 9.93768374e-01 2.25097408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61710568099997 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:155.45, Y:100.48, Z:22.51 [[ 3.17423295e-01 -9.47847012e-01 -2.87835760e-02 1.55446049e+02] [ 9.41735813e-01 3.18647061e-01 -1.07692662e-01 1.00477419e+02] [ 1.11247970e-01 7.07763537e-03 9.93767476e-01 2.25111974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64710568099997 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:155.46, Y:100.50, Z:22.51 [[ 3.21348182e-01 -9.46564857e-01 -2.73919085e-02 1.55456657e+02] [ 9.40420898e-01 3.22389024e-01 -1.08045599e-01 1.00501775e+02] [ 1.11103017e-01 8.96033352e-03 9.93768500e-01 2.25109542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67710568099997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:155.46, Y:100.53, Z:22.51 [[ 3.22244310e-01 -9.46261494e-01 -2.73457508e-02 1.55464828e+02] [ 9.40115674e-01 3.23274101e-01 -1.08057280e-01 1.00528586e+02] [ 1.11090616e-01 9.11267467e-03 9.93768501e-01 2.25130094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70710568099997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:155.47, Y:100.56, Z:22.51 [[ 3.19357187e-01 -9.47240902e-01 -2.73068051e-02 1.55474183e+02] [ 9.41097499e-01 3.20401301e-01 -1.08067121e-01 1.00557485e+02] [ 1.11114733e-01 8.81364576e-03 9.93768502e-01 2.25108993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73710568099997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:155.49, Y:100.58, Z:22.52 [[ 3.20742758e-01 -9.46746268e-01 -2.82061523e-02 1.55486249e+02] [ 9.40618877e-01 3.21879754e-01 -1.07840399e-01 1.00580899e+02] [ 1.11176484e-01 8.05778750e-03 9.93768012e-01 2.25237768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.76710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:155.49, Y:100.61, Z:22.53 [[ 3.19279073e-01 -9.47260800e-01 -2.75290763e-02 1.55494705e+02] [ 9.41121889e-01 3.20348887e-01 -1.08010094e-01 1.00607433e+02] [ 1.11132637e-01 8.57714650e-03 9.93768569e-01 2.25270149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79710568099998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:155.51, Y:100.63, Z:22.53 [[ 3.17994289e-01 -9.47702137e-01 -2.72083038e-02 1.55507863e+02] [ 9.41558522e-01 3.19036093e-01 -1.08090334e-01 1.00633298e+02] [ 1.11117872e-01 8.75389863e-03 9.93768679e-01 2.25310169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82710568099998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:155.52, Y:100.66, Z:22.53 [[ 3.16515622e-01 -9.48195040e-01 -2.72768616e-02 1.55516272e+02] [ 9.42054376e-01 3.17574772e-01 -1.08073200e-01 1.00658441e+02] [ 1.11136915e-01 8.51056916e-03 9.93768663e-01 2.25297104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:155.53, Y:100.68, Z:22.53 [[ 3.13532421e-01 -9.49193911e-01 -2.69877759e-02 1.55525037e+02] [ 9.43050992e-01 3.14578148e-01 -1.08145347e-01 1.00684041e+02] [ 1.11140669e-01 8.45622347e-03 9.93768708e-01 2.25307371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88710568099998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:155.53, Y:100.71, Z:22.54 [[ 3.13191679e-01 -9.49307583e-01 -2.69459573e-02 1.55534196e+02] [ 9.43164235e-01 3.14234876e-01 -1.08155765e-01 1.00711528e+02] [ 1.11140448e-01 8.45902251e-03 9.93768708e-01 2.25371917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91710568099998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:155.54, Y:100.74, Z:22.54 [[ 3.06316932e-01 -9.51533473e-01 -2.74588306e-02 1.55541647e+02] [ 9.45408286e-01 3.07462519e-01 -1.08027645e-01 1.00738842e+02] [ 1.11234481e-01 7.13089077e-03 9.93768605e-01 2.25356024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.94710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:155.55, Y:100.76, Z:22.54 [[ 3.03711372e-01 -9.52346079e-01 -2.82196613e-02 1.55553007e+02] [ 9.46240275e-01 3.04959598e-01 -1.07837776e-01 1.00763142e+02] [ 1.11304740e-01 6.04897887e-03 9.93767913e-01 2.25431414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97710568099998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:155.56, Y:100.79, Z:22.55 [[ 2.99916038e-01 -9.53568152e-01 -2.75345171e-02 1.55558989e+02] [ 9.47452569e-01 3.01111308e-01 -1.08007451e-01 1.00790666e+02] [ 1.11283420e-01 6.30551774e-03 9.93768706e-01 2.25463413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.00710568099998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:155.56, Y:100.82, Z:22.55 [[ 2.97768971e-01 -9.54248017e-01 -2.72830079e-02 1.55559561e+02] [ 9.48129779e-01 2.98949631e-01 -1.08069605e-01 1.00816283e+02] [ 1.11281451e-01 6.31194268e-03 9.93768886e-01 2.25455047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03710568099999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:155.56, Y:100.84, Z:22.55 [[ 2.99014263e-01 -9.53875690e-01 -2.66765573e-02 1.55563371e+02] [ 9.47743389e-01 3.00118461e-01 -1.08219120e-01 1.00843156e+02] [ 1.11233715e-01 7.07652960e-03 9.93769079e-01 2.25482003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06710568099996 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:155.57, Y:100.87, Z:22.55 [[ 3.00635690e-01 -9.53367152e-01 -2.66318290e-02 1.55568150e+02] [ 9.47232085e-01 3.01724406e-01 -1.08230127e-01 1.00870537e+02] [ 1.11218520e-01 7.31131595e-03 9.93769081e-01 2.25527319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09710568099996 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:155.57, Y:100.90, Z:22.56 [[ 3.03690555e-01 -9.52396276e-01 -2.67091999e-02 1.55571700e+02] [ 9.46259273e-01 3.04768344e-01 -1.08211109e-01 1.00897895e+02] [ 1.11199976e-01 7.58886354e-03 9.93769075e-01 2.25565388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12710568099996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:155.58, Y:100.93, Z:22.55 [[ 3.04534135e-01 -9.52134728e-01 -2.64276546e-02 1.55576096e+02] [ 9.45991303e-01 3.05574647e-01 -1.08280144e-01 1.00928063e+02] [ 1.11172907e-01 7.97466849e-03 9.93769083e-01 2.25521044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15710568099996 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:155.58, Y:100.95, Z:22.56 [[ 3.05865438e-01 -9.51682604e-01 -2.73231774e-02 1.55581418e+02] [ 9.45555227e-01 3.06998606e-01 -1.08060947e-01 1.00951549e+02] [ 1.11227901e-01 7.21653569e-03 9.93768723e-01 2.25628114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18710568099996 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:155.59, Y:100.98, Z:22.57 [[ 3.04490123e-01 -9.52157454e-01 -2.61141290e-02 1.55585641e+02] [ 9.46008149e-01 3.05495451e-01 -1.08356406e-01 1.00976399e+02] [ 1.11150107e-01 8.28927640e-03 9.93769059e-01 2.25682176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21710568099996 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:155.59, Y:101.00, Z:22.57 [[ 3.04409174e-01 -9.52197395e-01 -2.55963963e-02 1.55591965e+02] [ 9.46038578e-01 3.05356417e-01 -1.08482570e-01 1.01004965e+02] [ 1.11112844e-01 8.80791107e-03 9.93768764e-01 2.25675414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24710568099997 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:155.60, Y:101.03, Z:22.57 [[ 3.03364948e-01 -9.52508750e-01 -2.63967833e-02 1.55597210e+02] [ 9.46366032e-01 3.04409512e-01 -1.08287502e-01 1.01031281e+02] [ 1.11180225e-01 7.86961330e-03 9.93769101e-01 2.25709088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27710568099997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:155.60, Y:101.06, Z:22.57 [[ 3.02722409e-01 -9.52714378e-01 -2.63525513e-02 1.55603970e+02] [ 9.46571515e-01 3.03766114e-01 -1.08298265e-01 1.01056490e+02] [ 1.11182326e-01 7.83973720e-03 9.93769102e-01 2.25739316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:155.61, Y:101.08, Z:22.58 [[ 3.02302493e-01 -9.52848979e-01 -2.63063956e-02 1.55612178e+02] [ 9.46705691e-01 3.03343687e-01 -1.08309475e-01 1.01082079e+02] [ 1.11182452e-01 7.83781005e-03 9.93769104e-01 2.25827089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33710568099997 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:155.61, Y:101.10, Z:22.59 [[ 2.97062774e-01 -9.54496305e-01 -2.62775932e-02 1.55612442e+02] [ 9.48358262e-01 2.98134452e-01 -1.08316463e-01 1.01104651e+02] [ 1.11221920e-01 7.25621636e-03 9.93769104e-01 2.25851942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36710568099997 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:155.62, Y:101.14, Z:22.59 [[ 2.97755029e-01 -9.54337945e-01 -2.41045549e-02 1.55624276e+02] [ 9.48159333e-01 2.98576347e-01 -1.08839534e-01 1.01135246e+02] [ 1.11066747e-01 9.55255984e-03 9.93767038e-01 2.25910380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39710568099997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:155.63, Y:101.16, Z:22.60 [[ 2.97491342e-01 -9.54360227e-01 -2.63715556e-02 1.55630569e+02] [ 9.48223664e-01 2.98570885e-01 -1.08292706e-01 1.01161130e+02] [ 1.11224030e-01 7.21000935e-03 9.93769204e-01 2.25953355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42710568099997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:155.64, Y:101.19, Z:22.59 [[ 2.96008098e-01 -9.54828959e-01 -2.60934036e-02 1.55635586e+02] [ 9.48688628e-01 2.97065759e-01 -1.08359690e-01 1.01187966e+02] [ 1.11216427e-01 7.32083060e-03 9.93769245e-01 2.25947828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45710568099997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:155.64, Y:101.22, Z:22.60 [[ 2.93900068e-01 -9.55480993e-01 -2.60542015e-02 1.55643562e+02] [ 9.49342241e-01 2.94966852e-01 -1.08369116e-01 1.01215502e+02] [ 1.11229756e-01 7.11533641e-03 9.93769246e-01 2.25958759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:155.65, Y:101.24, Z:22.60 [[ 2.92232002e-01 -9.55993095e-01 -2.60318929e-02 1.55650558e+02] [ 9.49855773e-01 2.93306979e-01 -1.08374474e-01 1.01242930e+02] [ 1.11240585e-01 6.94394581e-03 9.93769246e-01 2.25982842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:155.65, Y:101.27, Z:22.60 [[ 2.88644919e-01 -9.57083356e-01 -2.59915603e-02 1.55654650e+02] [ 9.50949296e-01 2.89738353e-01 -1.08384146e-01 1.01268521e+02] [ 1.11263414e-01 6.56787714e-03 9.93769247e-01 2.26001869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:155.66, Y:101.30, Z:22.60 [[ 2.87564756e-01 -9.57409740e-01 -2.59441907e-02 1.55658680e+02] [ 9.51275963e-01 2.88659767e-01 -1.08395484e-01 1.01295489e+02] [ 1.11267937e-01 6.49063599e-03 9.93769248e-01 2.26035508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:155.66, Y:101.32, Z:22.61 [[ 2.87883318e-01 -9.57315222e-01 -2.58990594e-02 1.55664332e+02] [ 9.51180177e-01 2.88971197e-01 -1.08406267e-01 1.01321496e+02] [ 1.11263051e-01 6.57368392e-03 9.93769249e-01 2.26064482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60710568099998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:155.67, Y:101.35, Z:22.61 [[ 2.87981543e-01 -9.57286958e-01 -2.58516968e-02 1.55670244e+02] [ 9.51150858e-01 2.89063449e-01 -1.08417560e-01 1.01346348e+02] [ 1.11259497e-01 6.63339267e-03 9.93769250e-01 2.26103453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:155.68, Y:101.37, Z:22.61 [[ 2.87840766e-01 -9.57330553e-01 -2.58051734e-02 1.55676864e+02] [ 9.51193689e-01 2.88918324e-01 -1.08428633e-01 1.01372455e+02] [ 1.11257630e-01 6.66446255e-03 9.93769251e-01 2.26141483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.66710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:155.68, Y:101.40, Z:22.62 [[ 2.86808073e-01 -9.57641621e-01 -2.57615152e-02 1.55684259e+02] [ 9.51505055e-01 2.87887325e-01 -1.08439004e-01 1.01399809e+02] [ 1.11262118e-01 6.58896998e-03 9.93769252e-01 2.26189140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:155.69, Y:101.43, Z:22.62 [[ 2.86070202e-01 -9.57857539e-01 -2.59378926e-02 1.55691653e+02] [ 9.51725335e-01 2.87174074e-01 -1.08397135e-01 1.01425568e+02] [ 1.11277703e-01 6.32344080e-03 9.93769232e-01 2.26229261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.72710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:155.70, Y:101.45, Z:22.63 [[ 2.84141234e-01 -9.58426976e-01 -2.61053787e-02 1.55700857e+02] [ 9.52300420e-01 2.85276327e-01 -1.08357405e-01 1.01449860e+02] [ 1.11299906e-01 5.92864358e-03 9.93769179e-01 2.26265029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75710568099998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:155.71, Y:101.48, Z:22.64 [[ 2.77757308e-01 -9.60307962e-01 -2.56806491e-02 1.55708026e+02] [ 9.54180195e-01 2.78885320e-01 -1.08457983e-01 1.01475887e+02] [ 1.11315021e-01 5.62103062e-03 9.93769274e-01 2.26357255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.78710568099999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:155.72, Y:101.50, Z:22.64 [[ 2.72808271e-01 -9.61726674e-01 -2.56408345e-02 1.55715057e+02] [ 9.55603950e-01 2.73963345e-01 -1.08467395e-01 1.01501568e+02] [ 1.11340636e-01 5.08831973e-03 9.93769275e-01 2.26408767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81710568099996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:155.72, Y:101.53, Z:22.65 [[ 2.61761308e-01 -9.64793092e-01 -2.55989777e-02 1.55722359e+02] [ 9.58683078e-01 2.62981821e-01 -1.08477273e-01 1.01527309e+02] [ 1.11390189e-01 3.85384615e-03 9.93769276e-01 2.26452560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84710568099996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:155.73, Y:101.55, Z:22.64 [[ 2.50860957e-01 -9.67685777e-01 -2.55541901e-02 1.55726105e+02] [ 9.61588862e-01 2.52145300e-01 -1.08487822e-01 1.01554382e+02] [ 1.11425492e-01 2.64273436e-03 9.93769277e-01 2.26420414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87710568099996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:155.73, Y:101.58, Z:22.64 [[ 2.45615363e-01 -9.69031528e-01 -2.55145084e-02 1.55730160e+02] [ 9.62940702e-01 2.46928273e-01 -1.08497154e-01 1.01581263e+02] [ 1.11437417e-01 2.07960930e-03 9.93769278e-01 2.26420907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90710568099996 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:155.73, Y:101.61, Z:22.64 [[ 2.38496575e-01 -9.70809298e-01 -2.54694140e-02 1.55731771e+02] [ 9.64727150e-01 2.39849113e-01 -1.08507739e-01 1.01607594e+02] [ 1.11449138e-01 1.30768886e-03 9.93769279e-01 2.26421754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93710568099996 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:155.74, Y:101.63, Z:22.65 [[ 2.36228100e-01 -9.71365020e-01 -2.54220899e-02 1.55735903e+02] [ 9.65284863e-01 2.37589557e-01 -1.08518826e-01 1.01633968e+02] [ 1.11451414e-01 1.09563747e-03 9.93769280e-01 2.26467079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96710568099996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:155.73, Y:101.66, Z:22.65 [[ 2.33805284e-01 -9.71952217e-01 -2.53767153e-02 1.55734323e+02] [ 9.65874329e-01 2.35176831e-01 -1.08529435e-01 1.01661242e+02] [ 1.11453441e-01 8.64037610e-04 9.93769281e-01 2.26489297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99710568099997 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:155.73, Y:101.69, Z:22.65 [[ 2.33905868e-01 -9.71928933e-01 -2.53415622e-02 1.55734402e+02] [ 9.65850020e-01 2.35272861e-01 -1.08537643e-01 1.01688272e+02] [ 1.11453057e-01 9.11443197e-04 9.93769282e-01 2.26459359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02710568099997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:155.73, Y:101.72, Z:22.65 [[ 2.35129691e-01 -9.71642398e-01 -2.50015864e-02 1.55728690e+02] [ 9.65553359e-01 2.36451040e-01 -1.08616838e-01 1.01717640e+02] [ 1.11448376e-01 1.39867783e-03 9.93769240e-01 2.26492175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05710568099997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:155.73, Y:101.74, Z:22.66 [[ 2.38866515e-01 -9.70724283e-01 -2.52419313e-02 1.55726335e+02] [ 9.64636022e-01 2.40191306e-01 -1.08560958e-01 1.01743273e+02] [ 1.11445651e-01 1.58230160e-03 9.93769271e-01 2.26593405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:155.73, Y:101.77, Z:22.66 [[ 2.40661384e-01 -9.70311013e-01 -2.40548395e-02 1.55731443e+02] [ 9.64192500e-01 2.41841978e-01 -1.08836028e-01 1.01772596e+02] [ 1.11422266e-01 2.99913323e-03 9.93768627e-01 2.26562082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11710568099997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:155.73, Y:101.80, Z:22.66 [[ 2.42499224e-01 -9.69825050e-01 -2.51694016e-02 1.55733873e+02] [ 9.63730150e-01 2.43793095e-01 -1.08577736e-01 1.01799581e+02] [ 1.11437534e-01 2.07350554e-03 9.93769277e-01 2.26597490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14710568099997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:155.73, Y:101.83, Z:22.66 [[ 2.48394965e-01 -9.68332895e-01 -2.51265998e-02 1.55731500e+02] [ 9.62229252e-01 2.49646935e-01 -1.08587640e-01 1.01825464e+02] [ 1.11421762e-01 2.79507365e-03 9.93769278e-01 2.26606511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17710568099997 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:155.73, Y:101.85, Z:22.68 [[ 2.52349695e-01 -9.67329565e-01 -2.43545538e-02 1.55727319e+02] [ 9.61203727e-01 2.53490061e-01 -1.08766650e-01 1.01850897e+02] [ 1.11386833e-01 4.03754299e-03 9.93768923e-01 2.26754615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20710568099997 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:155.73, Y:101.88, Z:22.68 [[ 2.52237950e-01 -9.67375691e-01 -2.36704113e-02 1.55727518e+02] [ 9.61235277e-01 2.53302134e-01 -1.08925534e-01 1.01877623e+02] [ 1.11367679e-01 4.72231895e-03 9.93768051e-01 2.26763740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23710568099997 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:155.73, Y:101.91, Z:22.68 [[ 2.58086693e-01 -9.65847671e-01 -2.30116461e-02 1.55730387e+02] [ 9.59687651e-01 2.59039493e-01 -1.09078654e-01 1.01905328e+02] [ 1.11314289e-01 6.06775650e-03 9.93766729e-01 2.26830543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26710568099998 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:155.73, Y:101.93, Z:22.69 [[ 2.60747828e-01 -9.65124676e-01 -2.33437179e-02 1.55732502e+02] [ 9.58968563e-01 2.61721082e-01 -1.09001700e-01 1.01933204e+02] [ 1.11309774e-01 6.03606497e-03 9.93767428e-01 2.26911827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29710568099998 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:155.74, Y:101.96, Z:22.69 [[ 2.62582591e-01 -9.64626317e-01 -2.33763096e-02 1.55736942e+02] [ 9.58469000e-01 2.63547812e-01 -1.08994160e-01 1.01960668e+02] [ 1.11299411e-01 6.21450094e-03 9.93767488e-01 2.26944604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32710568099998 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:155.74, Y:101.99, Z:22.70 [[ 2.66678248e-01 -9.63494164e-01 -2.37003603e-02 1.55739219e+02] [ 9.57339024e-01 2.67653848e-01 -1.08919288e-01 1.01987794e+02] [ 1.11286591e-01 6.35712505e-03 9.93768022e-01 2.26961603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35710568099998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:155.74, Y:102.02, Z:22.69 [[ 2.67240411e-01 -9.63341763e-01 -2.35629041e-02 1.55738652e+02] [ 9.57183418e-01 2.68196918e-01 -1.08950982e-01 1.02015207e+02] [ 1.11276530e-01 6.56208428e-03 9.93767816e-01 2.26933020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38710568099998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:155.74, Y:102.04, Z:22.70 [[ 2.67212855e-01 -9.63359129e-01 -2.31620243e-02 1.55744820e+02] [ 9.57193212e-01 2.68124310e-01 -1.09043616e-01 1.02042001e+02] [ 1.11258465e-01 6.96732362e-03 9.93767081e-01 2.26962932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41710568099998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:155.75, Y:102.07, Z:22.70 [[ 2.67854992e-01 -9.63181165e-01 -2.31461950e-02 1.55750596e+02] [ 9.57014346e-01 2.68760550e-01 -1.09047273e-01 1.02068985e+02] [ 1.11253063e-01 7.05761573e-03 9.93767048e-01 2.26998351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.44710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:155.76, Y:102.10, Z:22.70 [[ 2.67537701e-01 -9.63264265e-01 -2.33566937e-02 1.55763574e+02] [ 9.57101702e-01 2.68469045e-01 -1.08998643e-01 1.02098507e+02] [ 1.11265047e-01 6.80651511e-03 9.93767458e-01 2.27022214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47710568099998 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:155.77, Y:102.12, Z:22.71 [[ 2.66164853e-01 -9.63599920e-01 -2.51289674e-02 1.55769413e+02] [ 9.57474149e-01 2.67304597e-01 -1.08588703e-01 1.02121811e+02] [ 1.11353154e-01 4.84215957e-03 9.93769102e-01 2.27064264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.50710568099998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:155.78, Y:102.14, Z:22.71 [[ 2.62133271e-01 -9.64736326e-01 -2.38740453e-02 1.55779011e+02] [ 9.58589394e-01 2.63157443e-01 -1.08878531e-01 1.02144971e+02] [ 1.11321707e-01 5.65527888e-03 9.93768331e-01 2.27053795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53710568099996 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:155.78, Y:102.17, Z:22.71 [[ 2.56788616e-01 -9.66193822e-01 -2.30022839e-02 1.55782216e+02] [ 9.60035328e-01 2.57748661e-01 -1.09077026e-01 1.02173135e+02] [ 1.11318357e-01 5.92673344e-03 9.93767124e-01 2.27061098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56710568099996 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:155.79, Y:102.20, Z:22.71 [[ 2.53278876e-01 -9.67115268e-01 -2.31920025e-02 1.55790399e+02] [ 9.60964073e-01 2.54282631e-01 -1.09033916e-01 1.02199017e+02] [ 1.11345689e-01 5.32930665e-03 9.93767446e-01 2.27099817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59710568099996 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:155.80, Y:102.23, Z:22.71 [[ 2.47430576e-01 -9.68627661e-01 -2.32070032e-02 1.55797845e+02] [ 9.62482952e-01 2.48473167e-01 -1.09030512e-01 1.02225232e+02] [ 1.11376287e-01 4.64113741e-03 9.93767469e-01 2.27129109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62710568099996 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:155.81, Y:102.25, Z:22.72 [[ 2.45860222e-01 -9.69023823e-01 -2.33577046e-02 1.55808491e+02] [ 9.62883985e-01 2.46929708e-01 -1.08996101e-01 1.02251713e+02] [ 1.11387530e-01 4.30704588e-03 9.93767713e-01 2.27200955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65710568099996 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:155.82, Y:102.28, Z:22.72 [[ 2.37760526e-01 -9.71035146e-01 -2.36786395e-02 1.55817930e+02] [ 9.64911594e-01 2.38917234e-01 -1.08922781e-01 1.02279465e+02] [ 1.11425083e-01 3.04974382e-03 9.93768157e-01 2.27205764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68710568099996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:155.82, Y:102.31, Z:22.73 [[ 2.33831106e-01 -9.71974038e-01 -2.42792664e-02 1.55824013e+02] [ 9.65869138e-01 2.35079819e-01 -1.08785511e-01 1.02305849e+02] [ 1.11444258e-01 1.98684225e-03 9.93768700e-01 2.27268858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71710568099996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:155.83, Y:102.33, Z:22.73 [[ 2.29075442e-01 -9.73112561e-01 -2.40080433e-02 1.55828390e+02] [ 9.67007371e-01 2.30323667e-01 -1.08847386e-01 1.02333940e+02] [ 1.11450379e-01 1.71830827e-03 9.93768515e-01 2.27258545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74710568099997 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:155.83, Y:102.37, Z:22.71 [[ 2.13870030e-01 -9.76561683e-01 -2.42258053e-02 1.55825713e+02] [ 9.70482266e-01 2.15237591e-01 -1.08797753e-01 1.02366426e+02] [ 1.11462020e-01 -2.42135800e-04 9.93768665e-01 2.27097506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:155.84, Y:102.39, Z:22.74 [[ 2.27763368e-01 -9.73401395e-01 -2.47704117e-02 1.55840250e+02] [ 9.67316361e-01 2.29104996e-01 -1.08673636e-01 1.02388329e+02] [ 1.11458094e-01 7.91048797e-04 9.93768820e-01 2.27385624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:155.84, Y:102.41, Z:22.74 [[ 2.28791389e-01 -9.73163883e-01 -2.46283981e-02 1.55841987e+02] [ 9.67073973e-01 2.30110729e-01 -1.08705947e-01 1.02414200e+02] [ 1.11455960e-01 1.05350169e-03 9.93768816e-01 2.27419040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83710568099997 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:155.85, Y:102.44, Z:22.74 [[ 2.30452500e-01 -9.72785813e-01 -2.40708900e-02 1.55845561e+02] [ 9.66680414e-01 2.31699114e-01 -1.08832429e-01 1.02442531e+02] [ 1.11447847e-01 1.81184747e-03 9.93768632e-01 2.27415980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86710568099997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:155.84, Y:102.47, Z:22.73 [[ 2.26798336e-01 -9.73634460e-01 -2.44633158e-02 1.55839281e+02] [ 9.67543238e-01 2.28111709e-01 -1.08743419e-01 1.02474227e+02] [ 1.11456709e-01 9.93510766e-04 9.93768794e-01 2.27297931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89710568099997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:155.85, Y:102.50, Z:22.75 [[ 2.41580487e-01 -9.70067944e-01 -2.46384204e-02 1.55851598e+02] [ 9.63961418e-01 2.42820679e-01 -1.08703733e-01 1.02496523e+02] [ 1.11432724e-01 2.51021398e-03 9.93768810e-01 2.27526915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92710568099997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:155.86, Y:102.52, Z:22.76 [[ 2.45834753e-01 -9.68996943e-01 -2.47021897e-02 1.55856663e+02] [ 9.62886453e-01 2.47055286e-01 -1.08689304e-01 1.02521982e+02] [ 1.11422410e-01 2.93420433e-03 9.93768805e-01 2.27617267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95710568099997 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:155.86, Y:102.55, Z:22.77 [[ 2.51302811e-01 -9.67595073e-01 -2.46307042e-02 1.55859330e+02] [ 9.61476247e-01 2.52480797e-01 -1.08705448e-01 1.02547484e+02] [ 1.11401635e-01 3.63614754e-03 9.93768813e-01 2.27659463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98710568099997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:155.87, Y:102.57, Z:22.77 [[ 2.54306487e-01 -9.66817081e-01 -2.43504114e-02 1.55865020e+02] [ 9.60688746e-01 2.55433986e-01 -1.08768622e-01 1.02574136e+02] [ 1.11379284e-01 4.26739987e-03 9.93768808e-01 2.27742355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01710568099998 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:155.87, Y:102.60, Z:22.78 [[ 2.56813326e-01 -9.66150978e-01 -2.44786297e-02 1.55868465e+02] [ 9.60022377e-01 2.57939334e-01 -1.08739757e-01 1.02600003e+02] [ 1.11373024e-01 4.42578645e-03 9.93768817e-01 2.27755540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04710568099998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:155.87, Y:102.63, Z:22.78 [[ 2.57798803e-01 -9.65900140e-01 -2.40145342e-02 1.55872915e+02] [ 9.59761003e-01 2.58866382e-01 -1.08843983e-01 1.02627386e+02] [ 1.11348974e-01 5.01163511e-03 9.93768730e-01 2.27779954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07710568099998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:155.88, Y:102.65, Z:22.77 [[ 2.61619316e-01 -9.64867304e-01 -2.42160871e-02 1.55881504e+02] [ 9.58727944e-01 2.62685271e-01 -1.08798790e-01 1.02653010e+02] [ 1.11337605e-01 5.24722555e-03 9.93768788e-01 2.27740564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10710568099998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:155.89, Y:102.68, Z:22.79 [[ 2.62656675e-01 -9.64590007e-01 -2.40330679e-02 1.55886525e+02] [ 9.58445940e-01 2.63695432e-01 -1.08839787e-01 1.02680113e+02] [ 1.11323181e-01 5.55310020e-03 9.93768742e-01 2.27860427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13710568099998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:155.89, Y:102.71, Z:22.78 [[ 2.62991443e-01 -9.64489801e-01 -2.43910749e-02 1.55890740e+02] [ 9.58352356e-01 2.64068354e-01 -1.08759674e-01 1.02708825e+02] [ 1.11338507e-01 5.22761948e-03 9.93768790e-01 2.27827832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.16710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:155.90, Y:102.74, Z:22.78 [[ 2.65337328e-01 -9.63842141e-01 -2.45851539e-02 1.55895325e+02] [ 9.57705862e-01 2.66421142e-01 -1.08716404e-01 1.02736887e+02] [ 1.11335457e-01 5.30117416e-03 9.93768743e-01 2.27818387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19710568099998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:155.90, Y:102.76, Z:22.78 [[ 2.65819996e-01 -9.63709844e-01 -2.45574285e-02 1.55901976e+02] [ 9.57572485e-01 2.66897617e-01 -1.08722574e-01 1.02763389e+02] [ 1.11331334e-01 5.38511640e-03 9.93768753e-01 2.27830853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.22710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:155.92, Y:102.79, Z:22.77 [[ 2.73876577e-01 -9.61458417e-01 -2.42761755e-02 1.55916562e+02] [ 9.55307122e-01 2.74871096e-01 -1.08785029e-01 1.02792430e+02] [ 1.11265101e-01 6.60246813e-03 9.93768829e-01 2.27717588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25710568099998 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:155.91, Y:102.82, Z:22.79 [[ 2.66545204e-01 -9.63488943e-01 -2.53517621e-02 1.55914723e+02] [ 9.57366362e-01 2.67707540e-01 -1.08546405e-01 1.02815218e+02] [ 1.11370119e-01 4.66159940e-03 9.93768065e-01 2.27854374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:155.92, Y:102.84, Z:22.79 [[ 2.66447527e-01 -9.63562063e-01 -2.35343698e-02 1.55924307e+02] [ 9.57405058e-01 2.67405948e-01 -1.08947755e-01 1.02842146e+02] [ 1.11271154e-01 6.49693513e-03 9.93768846e-01 2.27850232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31710568099996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:155.93, Y:102.87, Z:22.79 [[ 2.63683039e-01 -9.64306663e-01 -2.41643305e-02 1.55932120e+02] [ 9.58164205e-01 2.64730040e-01 -1.08808833e-01 1.02868705e+02] [ 1.11322106e-01 5.53764715e-03 9.93768949e-01 2.27879163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34710568099996 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:155.94, Y:102.89, Z:22.79 [[ 2.54251695e-01 -9.66833352e-01 -2.42764332e-02 1.55940411e+02] [ 9.60703671e-01 2.55371235e-01 -1.08784136e-01 1.02892023e+02] [ 1.11375634e-01 4.33609253e-03 9.93768920e-01 2.27908772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37710568099996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:155.95, Y:102.92, Z:22.80 [[ 2.47788454e-01 -9.68526023e-01 -2.36267697e-02 1.55954625e+02] [ 9.62390607e-01 2.48875988e-01 -1.08926864e-01 1.02917964e+02] [ 1.11378638e-01 4.25263792e-03 9.93768944e-01 2.28012598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40710568099996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:155.96, Y:102.94, Z:22.80 [[ 2.37747264e-01 -9.71019519e-01 -2.44403604e-02 1.55962295e+02] [ 9.64913423e-01 2.38989398e-01 -1.08748122e-01 1.02943562e+02] [ 1.11437536e-01 2.27173656e-03 9.93768844e-01 2.28020626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43710568099996 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:155.97, Y:102.97, Z:22.81 [[ 2.35124218e-01 -9.71657192e-01 -2.44725081e-02 1.55969295e+02] [ 9.65555195e-01 2.36386432e-01 -1.08741069e-01 1.02967653e+02] [ 1.11444010e-01 1.93810139e-03 9.93768824e-01 2.28125378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46710568099996 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:155.97, Y:103.00, Z:22.81 [[ 2.27390579e-01 -9.73497816e-01 -2.44034331e-02 1.55973188e+02] [ 9.67404438e-01 2.28693558e-01 -1.08756191e-01 1.02996192e+02] [ 1.11454822e-01 1.12214362e-03 9.93768868e-01 2.28097496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:155.98, Y:103.02, Z:22.82 [[ 2.24960014e-01 -9.74060917e-01 -2.44606043e-02 1.55977699e+02] [ 9.67972157e-01 2.26284581e-01 -1.08743694e-01 1.03022553e+02] [ 1.11458040e-01 7.85798941e-04 9.93768830e-01 2.28192140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52710568099997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:155.98, Y:103.05, Z:22.83 [[ 2.25237466e-01 -9.73998736e-01 -2.43833222e-02 1.55982595e+02] [ 9.67907785e-01 2.26551671e-01 -1.08760563e-01 1.03048349e+02] [ 1.11456734e-01 8.96146371e-04 9.93768883e-01 2.28255300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55710568099997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:155.98, Y:103.08, Z:22.83 [[ 2.27881556e-01 -9.73379735e-01 -2.45333960e-02 1.55982786e+02] [ 9.67288706e-01 2.29195979e-01 -1.08727928e-01 1.03077097e+02] [ 1.11456518e-01 1.04621261e-03 9.93768761e-01 2.28325763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:155.99, Y:103.10, Z:22.84 [[ 2.30558673e-01 -9.72744206e-01 -2.47266596e-02 1.55985459e+02] [ 9.66654034e-01 2.31877925e-01 -1.08685818e-01 1.03103141e+02] [ 1.11457067e-01 1.15633277e-03 9.93768577e-01 2.28405430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61710568099997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:155.99, Y:103.13, Z:22.84 [[ 2.36597642e-01 -9.71290486e-01 -2.48263455e-02 1.55987629e+02] [ 9.65194470e-01 2.37890180e-01 -1.08664148e-01 1.03130445e+02] [ 1.11450397e-01 1.74742971e-03 9.93768462e-01 2.28392976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:155.99, Y:103.16, Z:22.84 [[ 2.39212519e-01 -9.70660808e-01 -2.43919213e-02 1.55991373e+02] [ 9.64551852e-01 2.40440013e-01 -1.08758103e-01 1.03156662e+02] [ 1.11432022e-01 2.48902695e-03 9.93768942e-01 2.28376988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67710568099997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:155.99, Y:103.19, Z:22.83 [[ 2.39120715e-01 -9.70705080e-01 -2.35144960e-02 1.55992144e+02] [ 9.64577761e-01 2.40250476e-01 -1.08947009e-01 1.03185252e+02] [ 1.11404784e-01 3.36992680e-03 9.93769399e-01 2.28316488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:156.00, Y:103.21, Z:22.83 [[ 2.39256739e-01 -9.70669642e-01 -2.35936235e-02 1.55997434e+02] [ 9.64543795e-01 2.40394514e-01 -1.08930005e-01 1.03213918e+02] [ 1.11406826e-01 3.30515453e-03 9.93769387e-01 2.28333754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73710568099997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:156.00, Y:103.24, Z:22.84 [[ 2.40774609e-01 -9.70285542e-01 -2.39489951e-02 1.56001038e+02] [ 9.64165251e-01 2.41942643e-01 -1.08853689e-01 1.03244167e+02] [ 1.11413444e-01 3.11841564e-03 9.93769249e-01 2.28360244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76710568099998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:156.01, Y:103.27, Z:22.84 [[ 2.45794196e-01 -9.69013760e-01 -2.44447684e-02 1.56006533e+02] [ 9.62897639e-01 2.46986127e-01 -1.08747365e-01 1.03267005e+02] [ 1.11415212e-01 3.19166148e-03 9.93768818e-01 2.28403142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:156.01, Y:103.29, Z:22.84 [[ 2.48019109e-01 -9.68475168e-01 -2.32888296e-02 1.56009202e+02] [ 9.62333476e-01 2.49067248e-01 -1.08994434e-01 1.03293803e+02] [ 1.11358888e-01 4.62108218e-03 9.93769512e-01 2.28428035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82710568099998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:156.01, Y:103.32, Z:22.84 [[ 2.48608891e-01 -9.68325009e-01 -2.32442628e-02 1.56013426e+02] [ 9.62181832e-01 2.49648281e-01 -1.09003938e-01 1.03321047e+02] [ 1.11354129e-01 4.73414071e-03 9.93769513e-01 2.28436677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:156.02, Y:103.35, Z:22.84 [[ 2.48137941e-01 -9.68449398e-01 -2.30938399e-02 1.56016668e+02] [ 9.62303875e-01 2.49163418e-01 -1.09035970e-01 1.03350179e+02] [ 1.11349960e-01 4.83266953e-03 9.93769506e-01 2.28419481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:156.02, Y:103.37, Z:22.85 [[ 2.49740428e-01 -9.68018453e-01 -2.38745419e-02 1.56021663e+02] [ 9.61886099e-01 2.50843432e-01 -1.08870134e-01 1.03374784e+02] [ 1.11377070e-01 4.22468383e-03 9.93769239e-01 2.28478527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:156.03, Y:103.41, Z:22.85 [[ 2.45420890e-01 -9.69153573e-01 -2.25818072e-02 1.56027277e+02] [ 9.63001408e-01 2.46406071e-01 -1.09143654e-01 1.03405430e+02] [ 1.11341257e-01 5.03982070e-03 9.93769453e-01 2.28474679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.94710568099998 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:156.03, Y:103.43, Z:22.86 [[ 2.40556466e-01 -9.70330327e-01 -2.43237174e-02 1.56034332e+02] [ 9.64218077e-01 2.41767857e-01 -1.08774095e-01 1.03432790e+02] [ 1.11427497e-01 2.71294398e-03 9.93768863e-01 2.28589904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97710568099998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:156.04, Y:103.46, Z:22.86 [[ 2.37750997e-01 -9.71019274e-01 -2.44137942e-02 1.56039400e+02] [ 9.64912467e-01 2.38990131e-01 -1.08754991e-01 1.03455907e+02] [ 1.11437848e-01 2.29943310e-03 9.93768745e-01 2.28610100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.00710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:156.04, Y:103.48, Z:22.86 [[ 2.28894441e-01 -9.73178842e-01 -2.30277266e-02 1.56043361e+02] [ 9.67053711e-01 2.30034123e-01 -1.09047802e-01 1.03481994e+02] [ 1.11420177e-01 2.69138729e-03 9.93769742e-01 2.28649188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03710568099996 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:156.05, Y:103.51, Z:22.87 [[ 2.26056268e-01 -9.73843122e-01 -2.29812210e-02 1.56048541e+02] [ 9.67720359e-01 2.27208597e-01 -1.09057602e-01 1.03508962e+02] [ 1.11426527e-01 2.41375916e-03 9.93769743e-01 2.28679721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06710568099996 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:156.05, Y:103.54, Z:22.87 [[ 2.22551874e-01 -9.74651028e-01 -2.29354934e-02 1.56051520e+02] [ 9.68531471e-01 2.23721104e-01 -1.09067218e-01 1.03536038e+02] [ 1.11433630e-01 2.05936671e-03 9.93769744e-01 2.28696239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09710568099996 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:156.06, Y:103.56, Z:22.87 [[ 2.21378199e-01 -9.74919363e-01 -2.28895017e-02 1.56055315e+02] [ 9.68800232e-01 2.22549653e-01 -1.09076870e-01 1.03561805e+02] [ 1.11435203e-01 1.97188646e-03 9.93769746e-01 2.28716905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12710568099996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:156.06, Y:103.59, Z:22.87 [[ 2.20273693e-01 -9.75170634e-01 -2.28415116e-02 1.56056711e+02] [ 9.69051804e-01 2.21446711e-01 -1.09086918e-01 1.03589241e+02] [ 1.11436537e-01 1.89437039e-03 9.93769747e-01 2.28713588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15710568099996 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:156.06, Y:103.62, Z:22.87 [[ 2.19065481e-01 -9.75443755e-01 -2.27990318e-02 1.56058857e+02] [ 9.69325469e-01 2.20241329e-01 -1.09095796e-01 1.03616281e+02] [ 1.11438102e-01 1.79944086e-03 9.93769748e-01 2.28734767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18710568099996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:156.06, Y:103.64, Z:22.88 [[ 2.18660230e-01 -9.75535749e-01 -2.27531418e-02 1.56063154e+02] [ 9.69416967e-01 2.19833489e-01 -1.09105366e-01 1.03642442e+02] [ 1.11438088e-01 1.79972279e-03 9.93769749e-01 2.28779962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21710568099996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:156.06, Y:103.67, Z:22.88 [[ 2.19700518e-01 -9.75303067e-01 -2.27070346e-02 1.56063913e+02] [ 9.69182058e-01 2.20862094e-01 -1.09114961e-01 1.03669109e+02] [ 1.11435280e-01 1.96536304e-03 9.93769750e-01 2.28849842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24710568099997 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:156.07, Y:103.70, Z:22.89 [[ 2.23609215e-01 -9.74415418e-01 -2.26607922e-02 1.56065350e+02] [ 9.68288843e-01 2.24741064e-01 -1.09124564e-01 1.03696258e+02] [ 1.11425468e-01 2.45906586e-03 9.93769751e-01 2.28899693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:156.07, Y:103.72, Z:22.89 [[ 2.25957966e-01 -9.73874446e-01 -2.26177316e-02 1.56070366e+02] [ 9.67744284e-01 2.27070217e-01 -1.09133489e-01 1.03723177e+02] [ 1.11418129e-01 2.77140060e-03 9.93769752e-01 2.28930098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:156.08, Y:103.75, Z:22.90 [[ 2.25568859e-01 -9.73965667e-01 -2.25736552e-02 1.56075671e+02] [ 9.67835055e-01 2.26678623e-01 -1.09142605e-01 1.03750219e+02] [ 1.11418115e-01 2.77159803e-03 9.93769753e-01 2.28960913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:156.08, Y:103.78, Z:22.90 [[ 2.32117859e-01 -9.72426711e-01 -2.25297700e-02 1.56080830e+02] [ 9.66287917e-01 2.33181423e-01 -1.09151663e-01 1.03775727e+02] [ 1.11395517e-01 3.56580590e-03 9.93769754e-01 2.28973411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36710568099997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:156.08, Y:103.80, Z:22.90 [[ 2.33914264e-01 -9.71997218e-01 -2.24839078e-02 1.56084409e+02] [ 9.65855590e-01 2.34961339e-01 -1.09161110e-01 1.03802391e+02] [ 1.11387144e-01 3.81813258e-03 9.93769755e-01 2.29004972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39710568099997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:156.09, Y:103.83, Z:22.90 [[ 2.36269349e-01 -9.71428451e-01 -2.24401344e-02 1.56085890e+02] [ 9.65283482e-01 2.37296624e-01 -1.09170107e-01 1.03828903e+02] [ 1.11375916e-01 4.13245919e-03 9.93769756e-01 2.29044476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42710568099997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:156.09, Y:103.85, Z:22.91 [[ 2.37215353e-01 -9.71198657e-01 -2.24063752e-02 1.56090946e+02] [ 9.65052062e-01 2.38232853e-01 -1.09177036e-01 1.03854915e+02] [ 1.11370525e-01 4.27515048e-03 9.93769757e-01 2.29104120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45710568099997 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:156.10, Y:103.88, Z:22.91 [[ 2.37070920e-01 -9.71234916e-01 -2.23633084e-02 1.56096259e+02] [ 9.65087674e-01 2.38084500e-01 -1.09185857e-01 1.03880562e+02] [ 1.11369474e-01 4.30223826e-03 9.93769758e-01 2.29149553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48710568099997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:156.10, Y:103.91, Z:22.91 [[ 2.37426649e-01 -9.71149045e-01 -2.23185736e-02 1.56101728e+02] [ 9.65000610e-01 2.38432956e-01 -1.09195000e-01 1.03908180e+02] [ 1.11366104e-01 4.38836583e-03 9.93769759e-01 2.29149074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51710568099998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:156.11, Y:103.94, Z:22.91 [[ 2.38571227e-01 -9.70865879e-01 -2.24324377e-02 1.56106499e+02] [ 9.64718342e-01 2.39583069e-01 -1.09171766e-01 1.03935758e+02] [ 1.11365575e-01 4.40425802e-03 9.93769748e-01 2.29133440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54710568099998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:156.11, Y:103.96, Z:22.92 [[ 2.41355539e-01 -9.70182268e-01 -2.22231976e-02 1.56111584e+02] [ 9.64028122e-01 2.42326238e-01 -1.09214355e-01 1.03961130e+02] [ 1.11343095e-01 4.93570217e-03 9.93769769e-01 2.29162765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57710568099998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:156.12, Y:103.99, Z:22.92 [[ 2.47493994e-01 -9.68635181e-01 -2.21947864e-02 1.56117927e+02] [ 9.62474530e-01 2.48422510e-01 -1.09220129e-01 1.03986756e+02] [ 1.11308144e-01 5.66940935e-03 9.93769770e-01 2.29151027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60710568099998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:156.12, Y:104.01, Z:22.92 [[ 2.50060645e-01 -9.67976769e-01 -2.21506017e-02 1.56124776e+02] [ 9.61812945e-01 2.50967857e-01 -1.09229089e-01 1.04013175e+02] [ 1.11290310e-01 6.00916106e-03 9.93769771e-01 2.29159005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63710568099998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:156.13, Y:104.04, Z:22.92 [[ 2.54185535e-01 -9.66902735e-01 -2.21091428e-02 1.56133320e+02] [ 9.60734435e-01 2.55061791e-01 -1.09237481e-01 1.04039732e+02] [ 1.11261216e-01 6.52557267e-03 9.93769771e-01 2.29156218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.66710568099998 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:156.14, Y:104.07, Z:22.91 [[ 2.54994241e-01 -9.66690718e-01 -2.20679186e-02 1.56139793e+02] [ 9.60521034e-01 2.55860696e-01 -1.09245808e-01 1.04065974e+02] [ 1.11253222e-01 6.66035190e-03 9.93769772e-01 2.29141607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69710568099998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:156.14, Y:104.10, Z:22.92 [[ 2.50214827e-01 -9.67939744e-01 -2.20270677e-02 1.56144712e+02] [ 9.61773751e-01 2.51107158e-01 -1.09254044e-01 1.04096943e+02] [ 1.11282486e-01 6.15192619e-03 9.93769773e-01 2.29166078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.72710568099998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:156.16, Y:104.12, Z:22.92 [[ 2.49461209e-01 -9.68098972e-01 -2.35262503e-02 1.56157541e+02] [ 9.61959418e-01 2.50526839e-01 -1.08951280e-01 1.04115747e+02] [ 1.11369579e-01 4.54781992e-03 9.93768652e-01 2.29229052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75710568099998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:156.17, Y:104.14, Z:22.93 [[ 2.35825479e-01 -9.71547221e-01 -2.19622674e-02 1.56165950e+02] [ 9.65394134e-01 2.36801931e-01 -1.09265783e-01 1.04141646e+02] [ 1.11357575e-01 4.56541136e-03 9.93769917e-01 2.29310267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78710568099996 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:156.17, Y:104.16, Z:22.93 [[ 2.30570054e-01 -9.72799178e-01 -2.23430059e-02 1.56172868e+02] [ 9.66658538e-01 2.31622451e-01 -1.09189333e-01 1.04164889e+02] [ 1.11394435e-01 3.57773309e-03 9.93769832e-01 2.29334912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81710568099996 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:156.18, Y:104.19, Z:22.94 [[ 2.16597126e-01 -9.76016194e-01 -2.18649236e-02 1.56180136e+02] [ 9.69881680e-01 2.17683983e-01 -1.09284998e-01 1.04188916e+02] [ 1.11423571e-01 2.46442759e-03 9.93769950e-01 2.29401076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84710568099996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:156.19, Y:104.22, Z:22.95 [[ 2.09028427e-01 -9.77666150e-01 -2.18177995e-02 1.56185629e+02] [ 9.71539269e-01 2.10157515e-01 -1.09294405e-01 1.04215918e+02] [ 1.11438615e-01 1.64878857e-03 9.93769952e-01 2.29452837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87710568099996 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:156.19, Y:104.24, Z:22.95 [[ 1.99771455e-01 -9.79587281e-01 -2.23634521e-02 1.56188245e+02] [ 9.73483307e-01 2.01019294e-01 -1.09185594e-01 1.04241695e+02] [ 1.11452304e-01 4.17176774e-05 9.93769783e-01 2.29478159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:156.19, Y:104.26, Z:22.95 [[ 1.98404103e-01 -9.79863212e-01 -2.24476509e-02 1.56190584e+02] [ 9.73762868e-01 1.99669841e-01 -1.09168821e-01 1.04264465e+02] [ 1.11452631e-01 -1.99146825e-04 9.93769728e-01 2.29506654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.19, Y:104.30, Z:22.95 [[ 1.89008425e-01 -9.81735948e-01 -2.16873844e-02 1.56189933e+02] [ 9.75630528e-01 1.90247946e-01 -1.09319681e-01 1.04297932e+02] [ 1.11449041e-01 -4.96533532e-04 9.93770026e-01 2.29532241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96710568099996 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:156.19, Y:104.32, Z:22.96 [[ 1.91913536e-01 -9.81125757e-01 -2.36948200e-02 1.56191732e+02] [ 9.75063487e-01 1.93358236e-01 -1.08921021e-01 1.04316765e+02] [ 1.11446808e-01 -2.20053560e-03 9.93767964e-01 2.29570216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99710568099997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:156.19, Y:104.34, Z:22.96 [[ 1.90591213e-01 -9.81432152e-01 -2.15851874e-02 1.56192412e+02] [ 9.75322700e-01 1.91809502e-01 -1.09337762e-01 1.04344095e+02] [ 1.11447839e-01 -2.13706571e-04 9.93770262e-01 2.29606277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:156.19, Y:104.37, Z:22.96 [[ 1.86768608e-01 -9.82167800e-01 -2.15383138e-02 1.56189379e+02] [ 9.76062080e-01 1.88005456e-01 -1.09346995e-01 1.04373071e+02] [ 1.11446418e-01 -6.00145346e-04 9.93770263e-01 2.29626501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05710568099997 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:156.19, Y:104.40, Z:22.97 [[ 1.84623629e-01 -9.82573555e-01 -2.15249615e-02 1.56192701e+02] [ 9.76470246e-01 1.85872321e-01 -1.09349619e-01 1.04400825e+02] [ 1.11444938e-01 -8.29960903e-04 9.93770264e-01 2.29670230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08710568099997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:156.20, Y:104.43, Z:22.98 [[ 1.80928967e-01 -9.83259296e-01 -2.15839167e-02 1.56195316e+02] [ 9.77162089e-01 1.82207147e-01 -1.09338046e-01 1.04425908e+02] [ 1.11440394e-01 -1.30856543e-03 9.93770258e-01 2.29752595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11710568099997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:156.20, Y:104.45, Z:22.98 [[ 1.77630940e-01 -9.83863912e-01 -2.14255079e-02 1.56196692e+02] [ 9.77767312e-01 1.78911954e-01 -1.09369080e-01 1.04452761e+02] [ 1.11437570e-01 -1.52182875e-03 9.93770271e-01 2.29778545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14710568099997 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:156.19, Y:104.48, Z:22.98 [[ 1.75957578e-01 -9.84170826e-01 -2.11356766e-02 1.56193999e+02] [ 9.78069648e-01 1.77216748e-01 -1.09425715e-01 1.04480767e+02] [ 1.11439192e-01 -1.41788003e-03 9.93770243e-01 2.29825074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17710568099997 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:156.19, Y:104.51, Z:22.98 [[ 1.75748780e-01 -9.84203834e-01 -2.13349192e-02 1.56193354e+02] [ 9.78107562e-01 1.77031387e-01 -1.09386857e-01 1.04508370e+02] [ 1.11435914e-01 -1.64323924e-03 9.93770264e-01 2.29832291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:156.19, Y:104.54, Z:22.99 [[ 1.83182372e-01 -9.82858808e-01 -2.08034226e-02 1.56190358e+02] [ 9.76741212e-01 1.84359689e-01 -1.09490225e-01 1.04538155e+02] [ 1.11448745e-01 -2.62881010e-04 9.93770149e-01 2.29884355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23710568099997 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:156.19, Y:104.57, Z:22.99 [[ 1.93976037e-01 -9.80777878e-01 -2.11671985e-02 1.56185843e+02] [ 9.74655306e-01 1.95126627e-01 -1.09419536e-01 1.04566726e+02] [ 1.11446544e-01 5.94045709e-04 9.93770253e-01 2.29919863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.18, Y:104.60, Z:23.00 [[ 2.05329598e-01 -9.78462484e-01 -2.12349588e-02 1.56178618e+02] [ 9.72328328e-01 2.06416728e-01 -1.09406384e-01 1.04597092e+02] [ 1.11433293e-01 1.81701697e-03 9.93770255e-01 2.29964802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.18, Y:104.62, Z:23.00 [[ 2.12778901e-01 -9.76859838e-01 -2.16793997e-02 1.56178181e+02] [ 9.70726092e-01 2.13868990e-01 -1.09320213e-01 1.04624487e+02] [ 1.11427077e-01 2.21627587e-03 9.93770142e-01 2.29983443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.17, Y:104.65, Z:23.00 [[ 2.22499627e-01 -9.74703383e-01 -2.11478361e-02 1.56172238e+02] [ 9.68549549e-01 2.23468982e-01 -1.09422964e-01 1.04653301e+02] [ 1.11380818e-01 3.86384150e-03 9.93770287e-01 2.29995923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.17, Y:104.68, Z:23.00 [[ 2.25674847e-01 -9.73974116e-01 -2.11017928e-02 1.56172894e+02] [ 9.67816362e-01 2.26618977e-01 -1.09431842e-01 1.04681607e+02] [ 1.11365849e-01 4.27335400e-03 9.93770288e-01 2.30027304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.17, Y:104.71, Z:23.01 [[ 2.30687236e-01 -9.72800025e-01 -2.10597158e-02 1.56168981e+02] [ 9.66636795e-01 2.31594920e-01 -1.09439939e-01 1.04709742e+02] [ 1.11340499e-01 4.88930090e-03 9.93770289e-01 2.30090749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.17, Y:104.74, Z:23.01 [[ 2.33417433e-01 -9.72147826e-01 -2.10927826e-02 1.56170966e+02] [ 9.65982608e-01 2.34311525e-01 -1.09433586e-01 1.04736378e+02] [ 1.11327905e-01 5.16844557e-03 9.93770288e-01 2.30086352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.44710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.18, Y:104.76, Z:23.01 [[ 2.37208529e-01 -9.71232062e-01 -2.09856123e-02 1.56175476e+02] [ 9.65061722e-01 2.38066516e-01 -1.09454134e-01 1.04763493e+02] [ 1.11301336e-01 5.71104310e-03 9.93770294e-01 2.30103652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.18, Y:104.79, Z:23.01 [[ 2.36998269e-01 -9.71277524e-01 -2.12554181e-02 1.56183024e+02] [ 9.65111624e-01 2.37887909e-01 -1.09402453e-01 1.04790232e+02] [ 1.11316551e-01 5.41434090e-03 9.93770250e-01 2.30112952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.50710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.19, Y:104.82, Z:23.01 [[ 2.34366941e-01 -9.71918455e-01 -2.11341763e-02 1.56189161e+02] [ 9.65753034e-01 2.35259660e-01 -1.09425635e-01 1.04816411e+02] [ 1.11324813e-01 5.23535635e-03 9.93770284e-01 2.30122408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.20, Y:104.84, Z:23.02 [[ 2.28216333e-01 -9.73386683e-01 -2.08727267e-02 1.56198139e+02] [ 9.67222699e-01 2.29118677e-01 -1.09475487e-01 1.04842853e+02] [ 1.11344313e-01 4.79551910e-03 9.93770319e-01 2.30191404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.21, Y:104.87, Z:23.02 [[ 2.24914790e-01 -9.74154432e-01 -2.08921178e-02 1.56205770e+02] [ 9.67993868e-01 2.25840204e-01 -1.09471797e-01 1.04868817e+02] [ 1.11360716e-01 4.39838433e-03 9.93770318e-01 2.30205536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.22, Y:104.89, Z:23.03 [[ 2.18255519e-01 -9.75670165e-01 -2.07908238e-02 1.56215006e+02] [ 9.69514297e-01 2.19211638e-01 -1.09491032e-01 1.04893474e+02] [ 1.11384724e-01 3.74002110e-03 9.93770323e-01 2.30250323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:104.92, Z:23.03 [[ 2.14135949e-01 -9.76583604e-01 -2.07426852e-02 1.56221973e+02] [ 9.70430969e-01 2.15112647e-01 -1.09500151e-01 1.04918254e+02] [ 1.11398066e-01 3.31857467e-03 9.93770325e-01 2.30296360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.23, Y:104.95, Z:23.03 [[ 2.12272477e-01 -9.76991087e-01 -2.07077703e-02 1.56226979e+02] [ 9.70839700e-01 2.13257000e-01 -1.09506754e-01 1.04945236e+02] [ 1.11403199e-01 3.14134431e-03 9.93770325e-01 2.30324833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.23, Y:104.97, Z:23.03 [[ 2.10900869e-01 -9.77289043e-01 -2.06627616e-02 1.56231419e+02] [ 9.71138233e-01 2.11888987e-01 -1.09515246e-01 1.04971643e+02] [ 1.11406261e-01 3.03046269e-03 9.93770326e-01 2.30347388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.23, Y:105.00, Z:23.04 [[ 2.06885738e-01 -9.78153951e-01 -2.03258194e-02 1.56233404e+02] [ 9.72001112e-01 2.07861393e-01 -1.09578643e-01 1.04996250e+02] [ 1.11409736e-01 2.91353946e-03 9.93770286e-01 2.30380288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.24, Y:105.02, Z:23.05 [[ 1.98275409e-01 -9.79955073e-01 -1.93628046e-02 1.56237811e+02] [ 9.73793286e-01 1.99197401e-01 -1.09758974e-01 1.05024733e+02] [ 1.11415884e-01 2.90713633e-03 9.93769616e-01 2.30468481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.24, Y:105.05, Z:23.05 [[ 1.89573112e-01 -9.81652279e-01 -2.05143330e-02 1.56241909e+02] [ 9.75521404e-01 1.90678351e-01 -1.09543404e-01 1.05050273e+02] [ 1.11445171e-01 7.54313013e-04 9.93770298e-01 2.30485828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.24, Y:105.08, Z:23.05 [[ 1.85832993e-01 -9.82367878e-01 -2.04805153e-02 1.56244833e+02] [ 9.76240563e-01 1.86957804e-01 -1.09549726e-01 1.05077465e+02] [ 1.11447124e-01 3.64043711e-04 9.93770298e-01 2.30512350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:156.25, Y:105.10, Z:23.06 [[ 1.83113773e-01 -9.82879265e-01 -2.04376026e-02 1.56245920e+02] [ 9.76754198e-01 1.84250752e-01 -1.09557732e-01 1.05104816e+02] [ 1.11447666e-01 9.90154575e-05 9.93770299e-01 2.30556071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.25, Y:105.13, Z:23.06 [[ 1.81970216e-01 -9.83092535e-01 -2.03938186e-02 1.56250186e+02] [ 9.76967886e-01 1.83109440e-01 -1.09565881e-01 1.05131605e+02] [ 1.11447701e-01 1.36211963e-05 9.93770300e-01 2.30604846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.25, Y:105.16, Z:23.06 [[ 1.80565779e-01 -9.83352452e-01 -2.03458594e-02 1.56253258e+02] [ 9.77228439e-01 1.81708407e-01 -1.09574787e-01 1.05158265e+02] [ 1.11447649e-01 -9.70957376e-05 9.93770302e-01 2.30597118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:156.26, Y:105.18, Z:23.06 [[ 1.79926244e-01 -9.83470707e-01 -2.02956741e-02 1.56255802e+02] [ 9.77346395e-01 1.81067262e-01 -1.09584081e-01 1.05184699e+02] [ 1.11447616e-01 -1.18851795e-04 9.93770303e-01 2.30589927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:156.26, Y:105.21, Z:23.06 [[ 1.79097940e-01 -9.83622908e-01 -2.02460296e-02 1.56256252e+02] [ 9.77498528e-01 1.80238585e-01 -1.09593253e-01 1.05212459e+02] [ 1.11447550e-01 -1.62538338e-04 9.93770304e-01 2.30611547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:156.26, Y:105.24, Z:23.07 [[ 1.80409381e-01 -9.83384167e-01 -2.01998812e-02 1.56260663e+02] [ 9.77257323e-01 1.81536715e-01 -1.09601758e-01 1.05237897e+02] [ 1.11447654e-01 3.27034790e-05 9.93770305e-01 2.30667856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:156.26, Y:105.27, Z:23.07 [[ 1.81932703e-01 -9.83115403e-01 -1.96111376e-02 1.56263277e+02] [ 9.76975057e-01 1.82984875e-01 -1.09709950e-01 1.05266125e+02] [ 1.11446083e-01 8.00235511e-04 9.93770160e-01 2.30719049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:156.26, Y:105.29, Z:23.08 [[ 1.87316210e-01 -9.82093742e-01 -2.01126786e-02 1.56261546e+02] [ 9.75957398e-01 1.88390724e-01 -1.09617942e-01 1.05293458e+02] [ 1.11444137e-01 9.04100054e-04 9.93770289e-01 2.30835950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:156.26, Y:105.32, Z:23.09 [[ 1.89901896e-01 -9.81588590e-01 -2.05209758e-02 1.56263123e+02] [ 9.75457372e-01 1.91005822e-01 -1.09543102e-01 1.05319775e+02] [ 1.11445885e-01 7.85105643e-04 9.93770194e-01 2.30862355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.27, Y:105.35, Z:23.09 [[ 1.92359135e-01 -9.81120234e-01 -2.00262373e-02 1.56265534e+02] [ 9.74976849e-01 1.93392454e-01 -1.09633488e-01 1.05346555e+02] [ 1.11436557e-01 1.56388522e-03 9.93770320e-01 2.30933787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.27, Y:105.37, Z:23.09 [[ 1.92701655e-01 -9.81053889e-01 -1.99834893e-02 1.56266912e+02] [ 9.74909345e-01 1.93728053e-01 -1.09641280e-01 1.05374130e+02] [ 1.11435366e-01 1.64596555e-03 9.93770321e-01 2.30945876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.16710568099998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:156.27, Y:105.40, Z:23.10 [[ 1.93365702e-01 -9.80924147e-01 -1.99379676e-02 1.56268626e+02] [ 9.74778068e-01 1.94382853e-01 -1.09649557e-01 1.05400754e+02] [ 1.11433497e-01 1.76737008e-03 9.93770322e-01 2.30956513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19710568099998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:156.27, Y:105.43, Z:23.10 [[ 1.92966320e-01 -9.81003757e-01 -1.98903952e-02 1.56273245e+02] [ 9.74857214e-01 1.93980657e-01 -1.09658186e-01 1.05427879e+02] [ 1.11433445e-01 1.77004139e-03 9.93770323e-01 2.30987325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.22710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.27, Y:105.46, Z:23.10 [[ 1.97441171e-01 -9.80113841e-01 -1.98454650e-02 1.56273849e+02] [ 9.73961930e-01 1.98422423e-01 -1.09666317e-01 1.05455684e+02] [ 1.11423261e-01 2.32391866e-03 9.93770324e-01 2.30982337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25710568099998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:156.28, Y:105.48, Z:23.10 [[ 2.00472622e-01 -9.79499193e-01 -1.98005008e-02 1.56277328e+02] [ 9.73343492e-01 2.01429804e-01 -1.09674435e-01 1.05483122e+02] [ 1.11414432e-01 2.71403291e-03 9.93770325e-01 2.30988694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.28, Y:105.51, Z:23.10 [[ 2.07153888e-01 -9.78108908e-01 -1.97542699e-02 1.56279929e+02] [ 9.71946051e-01 2.08063851e-01 -1.09682762e-01 1.05512189e+02] [ 1.11391836e-01 3.52112587e-03 9.93770326e-01 2.30955370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.28, Y:105.54, Z:23.10 [[ 2.09780151e-01 -9.77549785e-01 -1.97156078e-02 1.56284395e+02] [ 9.71383881e-01 2.10669226e-01 -1.09689711e-01 1.05539602e+02] [ 1.11380625e-01 3.85930055e-03 9.93770327e-01 2.30980556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34710568099996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:156.29, Y:105.57, Z:23.10 [[ 2.14260867e-01 -9.76578355e-01 -1.96722606e-02 1.56289757e+02] [ 9.70407763e-01 2.15116796e-01 -1.09697484e-01 1.05565647e+02] [ 1.11360022e-01 4.41376371e-03 9.93770328e-01 2.31027563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.30, Y:105.59, Z:23.11 [[ 2.16868732e-01 -9.76003453e-01 -1.96268279e-02 1.56295291e+02] [ 9.69829907e-01 2.17703078e-01 -1.09705613e-01 1.05592175e+02] [ 1.11345878e-01 4.75703240e-03 9.93770329e-01 2.31101156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.30, Y:105.62, Z:23.11 [[ 2.19516281e-01 -9.75412232e-01 -1.95851916e-02 1.56300854e+02] [ 9.69235829e-01 2.20329199e-01 -1.09713045e-01 1.05615161e+02] [ 1.11330636e-01 5.10113025e-03 9.93770330e-01 2.31114489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43710568099996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:156.31, Y:105.65, Z:23.12 [[ 2.15121933e-01 -9.76430209e-01 -1.75100114e-02 1.56312155e+02] [ 9.70228266e-01 2.15729603e-01 -1.10081108e-01 1.05645298e+02] [ 1.11263947e-01 6.69215284e-03 9.93768358e-01 2.31156568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46710568099996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:156.33, Y:105.67, Z:23.12 [[ 2.10259614e-01 -9.77450648e-01 -1.95224271e-02 1.56325652e+02] [ 9.71281345e-01 2.11124016e-01 -1.09723287e-01 1.05670855e+02] [ 1.11370751e-01 4.10860686e-03 9.93770434e-01 2.31226677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:156.33, Y:105.70, Z:23.13 [[ 2.06198225e-01 -9.78316300e-01 -1.94810214e-02 1.56333095e+02] [ 9.72149972e-01 2.07083602e-01 -1.09730638e-01 1.05695918e+02] [ 1.11385472e-01 3.68778844e-03 9.93770435e-01 2.31257803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:156.34, Y:105.72, Z:23.13 [[ 1.96950394e-01 -9.80220604e-01 -1.94450375e-02 1.56341593e+02] [ 9.74062298e-01 1.97889937e-01 -1.09737015e-01 1.05720307e+02] [ 1.11414460e-01 2.67207037e-03 9.93770435e-01 2.31291122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.35, Y:105.75, Z:23.13 [[ 1.93106414e-01 -9.80986058e-01 -1.93976240e-02 1.56348938e+02] [ 9.74830655e-01 1.94064789e-01 -1.09745395e-01 1.05745930e+02] [ 1.11423098e-01 2.28314119e-03 9.93770436e-01 2.31326191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:156.36, Y:105.77, Z:23.14 [[ 1.88193716e-01 -9.81941270e-01 -1.93511478e-02 1.56360954e+02] [ 9.75789910e-01 1.89177696e-01 -1.09753590e-01 1.05770496e+02] [ 1.11432385e-01 1.77228111e-03 9.93770438e-01 2.31371580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:105.80, Z:23.14 [[ 1.88599644e-01 -9.81864345e-01 -1.93023975e-02 1.56369296e+02] [ 9.75711713e-01 1.89575633e-01 -1.09762163e-01 1.05795892e+02] [ 1.11430818e-01 1.86752954e-03 9.93770439e-01 2.31427466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:105.82, Z:23.15 [[ 1.91404678e-01 -9.81322306e-01 -1.92556982e-02 1.56372428e+02] [ 9.75166100e-01 1.92357859e-01 -1.09770355e-01 1.05822959e+02] [ 1.11424083e-01 2.23305530e-03 9.93770440e-01 2.31458740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:156.37, Y:105.85, Z:23.15 [[ 2.00257436e-01 -9.79554993e-01 -1.92087245e-02 1.56371426e+02] [ 9.73389670e-01 2.01149734e-01 -1.09778574e-01 1.05851431e+02] [ 1.11397980e-01 3.28640184e-03 9.93770441e-01 2.31460174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.38, Y:105.88, Z:23.15 [[ 2.04355152e-01 -9.78709168e-01 -1.91660118e-02 1.56375459e+02] [ 9.72539495e-01 2.05216854e-01 -1.09786031e-01 1.05878265e+02] [ 1.11381784e-01 3.79563762e-03 9.93770442e-01 2.31472517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.38, Y:105.90, Z:23.15 [[ 2.09233499e-01 -9.77678742e-01 -1.91212055e-02 1.56383411e+02] [ 9.71504176e-01 2.10059398e-01 -1.09793834e-01 1.05903966e+02] [ 1.11359687e-01 4.39621712e-03 9.93770443e-01 2.31517786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.39, Y:105.93, Z:23.16 [[ 2.09186516e-01 -9.77689686e-01 -1.90756376e-02 1.56389102e+02] [ 9.71514479e-01 2.10007603e-01 -1.09801751e-01 1.05930237e+02] [ 1.11358068e-01 4.43678761e-03 9.93770444e-01 2.31553905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.39, Y:105.96, Z:23.16 [[ 2.08865889e-01 -9.77759130e-01 -1.90295653e-02 1.56393833e+02] [ 9.71583507e-01 2.09683836e-01 -1.09809735e-01 1.05955486e+02] [ 1.11357663e-01 4.44669626e-03 9.93770445e-01 2.31578768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:156.40, Y:105.98, Z:23.16 [[ 2.08854352e-01 -9.77762282e-01 -1.89941847e-02 1.56400505e+02] [ 9.71586146e-01 2.09668405e-01 -1.09815855e-01 1.05981497e+02] [ 1.11356281e-01 4.48103255e-03 9.93770446e-01 2.31614713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.41, Y:106.00, Z:23.17 [[ 2.11517410e-01 -9.77190528e-01 -1.89487978e-02 1.56406328e+02] [ 9.71011543e-01 2.12309542e-01 -1.09823686e-01 1.06003538e+02] [ 1.11341676e-01 4.83012020e-03 9.93770447e-01 2.31657072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.42, Y:106.03, Z:23.17 [[ 2.09394353e-01 -9.77676710e-01 -1.73855344e-02 1.56415788e+02] [ 9.71477939e-01 2.10024447e-01 -1.10092447e-01 1.06034591e+02] [ 1.11286208e-01 6.16307353e-03 9.93769287e-01 2.31680076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.42, Y:106.06, Z:23.17 [[ 2.09755553e-01 -9.77570903e-01 -1.89139557e-02 1.56422271e+02] [ 9.71392885e-01 2.10554917e-01 -1.09829370e-01 1.06059631e+02] [ 1.11348423e-01 4.66443830e-03 9.93770482e-01 2.31709864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.94710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:156.43, Y:106.09, Z:23.17 [[ 2.12021731e-01 -9.77082831e-01 -1.88660226e-02 1.56428641e+02] [ 9.70902297e-01 2.12801389e-01 -1.09837603e-01 1.06086259e+02] [ 1.11335152e-01 4.97089406e-03 9.93770484e-01 2.31749257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97710568099998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:156.44, Y:106.11, Z:23.18 [[ 2.15443810e-01 -9.76334864e-01 -1.88201628e-02 1.56436911e+02] [ 9.70151008e-01 2.16196662e-01 -1.09845461e-01 1.06113985e+02] [ 1.11314809e-01 5.40712460e-03 9.93770485e-01 2.31760169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.00710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.44, Y:106.14, Z:23.18 [[ 2.14494551e-01 -9.76536975e-01 -1.91735023e-02 1.56442586e+02] [ 9.70358777e-01 2.15293059e-01 -1.09784980e-01 1.06139298e+02] [ 1.11337014e-01 4.94310366e-03 9.93770414e-01 2.31816842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03710568099996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:156.45, Y:106.16, Z:23.18 [[ 2.16122709e-01 -9.76186018e-01 -1.87572003e-02 1.56450875e+02] [ 9.70000807e-01 2.16864194e-01 -1.09856071e-01 1.06163651e+02] [ 1.11307725e-01 5.54789212e-03 9.93770502e-01 2.31810747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06710568099996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:156.45, Y:106.19, Z:23.18 [[ 2.13545965e-01 -9.76773453e-01 -1.76562120e-02 1.56454265e+02] [ 9.70575790e-01 2.14180155e-01 -1.10043163e-01 1.06192728e+02] [ 1.11268851e-01 6.36258168e-03 9.93769974e-01 2.31807297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09710568099996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:156.46, Y:106.22, Z:23.18 [[ 2.15822667e-01 -9.76253956e-01 -1.86759375e-02 1.56458339e+02] [ 9.70067886e-01 2.16556932e-01 -1.09869888e-01 1.06217838e+02] [ 1.11305317e-01 5.59548510e-03 9.93770505e-01 2.31800899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:106.24, Z:23.18 [[ 2.16888601e-01 -9.76033941e-01 -1.78067812e-02 1.56466547e+02] [ 9.69836042e-01 2.17518493e-01 -1.10017077e-01 1.06243526e+02] [ 1.11253705e-01 6.59179173e-03 9.93770175e-01 2.31788331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15710568099996 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:156.47, Y:106.27, Z:23.18 [[ 2.13484749e-01 -9.76785510e-01 -1.77293572e-02 1.56472248e+02] [ 9.70588863e-01 2.14127547e-01 -1.10030235e-01 1.06273595e+02] [ 1.11272282e-01 6.28186035e-03 9.93770103e-01 2.31845318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18710568099996 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:156.48, Y:106.30, Z:23.18 [[ 2.08241389e-01 -9.77895514e-01 -1.88649877e-02 1.56478357e+02] [ 9.71718101e-01 2.09044831e-01 -1.09837109e-01 1.06297728e+02] [ 1.11352844e-01 4.54118202e-03 9.93770558e-01 2.31824192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21710568099996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:156.49, Y:106.33, Z:23.18 [[ 1.95458077e-01 -9.80550184e-01 -1.78178900e-02 1.56487809e+02] [ 9.74367815e-01 1.96224821e-01 -1.10014460e-01 1.06326510e+02] [ 1.11371012e-01 4.14203630e-03 9.93770266e-01 2.31847012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24710568099997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:156.49, Y:106.35, Z:23.19 [[ 1.87991217e-01 -9.81993083e-01 -1.86785402e-02 1.56494959e+02] [ 9.75830498e-01 1.88901280e-01 -1.09868762e-01 1.06353283e+02] [ 1.11418765e-01 2.42727310e-03 9.93770581e-01 2.31910638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:156.50, Y:106.38, Z:23.20 [[ 1.75227328e-01 -9.84344032e-01 -1.90318266e-02 1.56503263e+02] [ 9.78200155e-01 1.76256735e-01 -1.09809013e-01 1.06378322e+02] [ 1.11444334e-01 6.24604032e-04 9.93770482e-01 2.31999464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30710568099997 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:156.51, Y:106.40, Z:23.20 [[ 1.69412436e-01 -9.85363072e-01 -1.89484099e-02 1.56508165e+02] [ 9.79223813e-01 1.70468804e-01 -1.09823091e-01 1.06402350e+02] [ 1.11445731e-01 5.06630481e-05 9.93770520e-01 2.32046895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33710568099997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:156.52, Y:106.43, Z:23.21 [[ 1.65572085e-01 -9.86024358e-01 -1.84891781e-02 1.56515772e+02] [ 9.79880580e-01 1.66601196e-01 -1.09900362e-01 1.06429525e+02] [ 1.11444753e-01 7.92455038e-05 9.93770628e-01 2.32059893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36710568099997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:156.52, Y:106.46, Z:23.21 [[ 1.65418605e-01 -9.86045688e-01 -1.87239370e-02 1.56519881e+02] [ 9.79906476e-01 1.66474834e-01 -1.09860950e-01 1.06455674e+02] [ 1.11444981e-01 -1.74661907e-04 9.93770590e-01 2.32114771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39710568099997 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:156.52, Y:106.48, Z:23.22 [[ 1.62904238e-01 -9.86465512e-01 -1.86548309e-02 1.56520246e+02] [ 9.80327695e-01 1.63968418e-01 -1.09872506e-01 1.06484704e+02] [ 1.11444241e-01 -3.89150493e-04 9.93770612e-01 2.32193426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42710568099997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:156.52, Y:106.51, Z:23.22 [[ 1.60796812e-01 -9.86802934e-01 -1.90880699e-02 1.56522513e+02] [ 9.80675822e-01 1.61922321e-01 -1.09800250e-01 1.06512098e+02] [ 1.11441993e-01 -1.06367847e-03 9.93770371e-01 2.32236466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45710568099997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:156.52, Y:106.54, Z:23.23 [[ 1.52025876e-01 -9.88190895e-01 -1.91543185e-02 1.56523285e+02] [ 9.82075388e-01 1.53213118e-01 -1.09789217e-01 1.06535957e+02] [ 1.11427398e-01 -2.12018291e-03 9.93770315e-01 2.32261270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48710568099997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:156.52, Y:106.57, Z:23.23 [[ 1.37587295e-01 -9.90321962e-01 -1.82249417e-02 1.56524192e+02] [ 9.84204222e-01 1.38760638e-01 -1.09943327e-01 1.06567470e+02] [ 1.11408196e-01 -2.81025957e-03 9.93770756e-01 2.32281315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:156.52, Y:106.59, Z:23.23 [[ 1.36850037e-01 -9.90394055e-01 -1.97909721e-02 1.56524801e+02] [ 9.84311924e-01 1.38201416e-01 -1.09683207e-01 1.06591279e+02] [ 1.11364737e-01 -4.47033880e-03 9.93769546e-01 2.32268100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:156.52, Y:106.62, Z:23.23 [[ 1.30596167e-01 -9.91269322e-01 -1.81596163e-02 1.56517594e+02] [ 9.85158728e-01 1.31805405e-01 -1.09952794e-01 1.06622774e+02] [ 1.11386367e-01 -3.53069108e-03 9.93770905e-01 2.32303725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.51, Y:106.65, Z:23.24 [[ 1.32209925e-01 -9.91033515e-01 -1.93159876e-02 1.56513998e+02] [ 9.84946789e-01 1.33537256e-01 -1.09761671e-01 1.06647953e+02] [ 1.11356898e-01 -4.51363772e-03 9.93770229e-01 2.32362460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:106.68, Z:23.24 [[ 1.31193934e-01 -9.91191976e-01 -1.80725782e-02 1.56513555e+02] [ 9.85078873e-01 1.32389836e-01 -1.09966111e-01 1.06675440e+02] [ 1.11390152e-01 -3.37602838e-03 9.93771018e-01 2.32397122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:106.70, Z:23.24 [[ 1.28642932e-01 -9.91527126e-01 -1.80265187e-02 1.56505509e+02] [ 9.85416111e-01 1.29849458e-01 -1.09973661e-01 1.06703521e+02] [ 1.11382601e-01 -3.61628782e-03 9.93771019e-01 2.32393853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.66710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.50, Y:106.73, Z:23.24 [[ 1.27798718e-01 -9.91636934e-01 -1.79910854e-02 1.56503627e+02] [ 9.85526172e-01 1.29006522e-01 -1.09979457e-01 1.06731289e+02] [ 1.11380659e-01 -3.67545190e-03 9.93771020e-01 2.32389961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.49, Y:106.76, Z:23.24 [[ 1.28258496e-01 -9.91578383e-01 -1.79462866e-02 1.56494023e+02] [ 9.85466086e-01 1.29458502e-01 -1.09986767e-01 1.06760099e+02] [ 1.11383800e-01 -3.57871953e-03 9.93771021e-01 2.32359143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.72710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:156.48, Y:106.79, Z:23.24 [[ 1.32089197e-01 -9.91076210e-01 -1.78994452e-02 1.56484986e+02] [ 9.84958327e-01 1.33260381e-01 -1.09994390e-01 1.06788670e+02] [ 1.11398110e-01 -3.10113702e-03 9.93771022e-01 2.32380193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:156.48, Y:106.82, Z:23.24 [[ 1.28632081e-01 -9.91531629e-01 -1.78554130e-02 1.56481666e+02] [ 9.85416919e-01 1.29819714e-01 -1.10001537e-01 1.06822073e+02] [ 1.11387988e-01 -3.44529942e-03 9.93771023e-01 2.32435158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:106.85, Z:23.25 [[ 1.33728658e-01 -9.90821000e-01 -1.97583257e-02 1.56470575e+02] [ 9.84741788e-01 1.35095611e-01 -1.09694064e-01 1.06850956e+02] [ 1.11356445e-01 -4.78760909e-03 9.93768998e-01 2.32481399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.47, Y:106.88, Z:23.25 [[ 1.38729329e-01 -9.90145272e-01 -1.91445336e-02 1.56465712e+02] [ 9.84045944e-01 1.39997586e-01 -1.09791874e-01 1.06876279e+02] [ 1.11390093e-01 -3.60774770e-03 9.93770211e-01 2.32481858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.45, Y:106.91, Z:23.25 [[ 1.46208819e-01 -9.89094921e-01 -1.77262167e-02 1.56452644e+02] [ 9.82958285e-01 1.47273368e-01 -1.10016204e-01 1.06907159e+02] [ 1.11427068e-01 -1.33879238e-03 9.93771712e-01 2.32467749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.45, Y:106.94, Z:23.25 [[ 1.51578890e-01 -9.88281286e-01 -1.79983337e-02 1.56450262e+02] [ 9.82143983e-01 1.52640378e-01 -1.09973232e-01 1.06935318e+02] [ 1.11431760e-01 -1.00733472e-03 9.93771577e-01 2.32478346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.44, Y:106.97, Z:23.25 [[ 1.60153834e-01 -9.86938353e-01 -1.74194383e-02 1.56439631e+02] [ 9.80782061e-01 1.61097464e-01 -1.10064325e-01 1.06965226e+02] [ 1.11432931e-01 5.42551091e-04 9.93771809e-01 2.32481101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93710568099996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:156.44, Y:106.99, Z:23.25 [[ 1.65178365e-01 -9.86106529e-01 -1.76074216e-02 1.56436839e+02] [ 9.79948609e-01 1.66111605e-01 -1.10034805e-01 1.06992547e+02] [ 1.11430837e-01 9.21000923e-04 9.93771765e-01 2.32510953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.43, Y:107.02, Z:23.26 [[ 1.76266412e-01 -9.84191185e-01 -1.72587460e-02 1.56429789e+02] [ 9.78017888e-01 1.77091313e-01 -1.10089408e-01 1.07019489e+02] [ 1.11405399e-01 2.52570263e-03 9.93771834e-01 2.32615274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:107.05, Z:23.28 [[ 1.76768126e-01 -9.84102179e-01 -1.72026668e-02 1.56422755e+02] [ 9.77927633e-01 1.77583609e-01 -1.10098171e-01 1.07046808e+02] [ 1.11402761e-01 2.63888409e-03 9.93771836e-01 2.32791087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.43, Y:107.07, Z:23.28 [[ 1.77405021e-01 -9.83992626e-01 -1.69106585e-02 1.56425982e+02] [ 9.77813313e-01 1.78183850e-01 -1.10143727e-01 1.07074662e+02] [ 1.11393822e-01 3.00458323e-03 9.93771799e-01 2.32755881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:156.43, Y:107.10, Z:23.28 [[ 1.74724559e-01 -9.84467700e-01 -1.71661226e-02 1.56427580e+02] [ 9.78294311e-01 1.75548775e-01 -1.10103902e-01 1.07101409e+02] [ 1.11407227e-01 2.44433557e-03 9.93771832e-01 2.32826346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:107.13, Z:23.28 [[ 1.75357696e-01 -9.84357455e-01 -1.70317176e-02 1.56430720e+02] [ 9.78181552e-01 1.76162915e-01 -1.10124831e-01 1.07128624e+02] [ 1.11402556e-01 2.65112471e-03 9.93771826e-01 2.32821414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:107.16, Z:23.29 [[ 1.75111707e-01 -9.84409010e-01 -1.65768139e-02 1.56434790e+02] [ 9.78226734e-01 1.75867593e-01 -1.10195496e-01 1.07155964e+02] [ 1.11392764e-01 3.08063892e-03 9.93771685e-01 2.32852512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.43, Y:107.18, Z:23.28 [[ 1.79199892e-01 -9.83672977e-01 -1.65793221e-02 1.56433978e+02] [ 9.77487647e-01 1.79930369e-01 -1.10195107e-01 1.07184327e+02] [ 1.11379073e-01 3.54086874e-03 9.93771686e-01 2.32771315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:107.21, Z:23.28 [[ 1.84116199e-01 -9.82772098e-01 -1.61316311e-02 1.56434704e+02] [ 9.76577406e-01 1.84765589e-01 -1.10264443e-01 1.07213227e+02] [ 1.11345389e-01 4.54768369e-03 9.93771364e-01 2.32808954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.44, Y:107.25, Z:23.28 [[ 1.86826184e-01 -9.82254912e-01 -1.64701208e-02 1.56439041e+02] [ 9.76062697e-01 1.87496416e-01 -1.10212092e-01 1.07245165e+02] [ 1.11344457e-01 4.51463399e-03 9.93771619e-01 2.32773242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:156.45, Y:107.27, Z:23.28 [[ 1.88526454e-01 -9.81891626e-01 -1.86175045e-02 1.56445220e+02] [ 9.75727582e-01 1.89426333e-01 -1.09878794e-01 1.07266871e+02] [ 1.11415714e-01 2.54944685e-03 9.93770617e-01 2.32793281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.45, Y:107.29, Z:23.29 [[ 1.87462234e-01 -9.82138678e-01 -1.61718353e-02 1.56449545e+02] [ 9.75942557e-01 1.88095040e-01 -1.10255979e-01 1.07293601e+02] [ 1.11328504e-01 4.88604992e-03 9.93771649e-01 2.32922569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.46, Y:107.32, Z:23.30 [[ 1.86396706e-01 -9.82339492e-01 -1.62908221e-02 1.56456101e+02] [ 9.76145542e-01 1.87049566e-01 -1.10237660e-01 1.07320753e+02] [ 1.11337998e-01 4.64572333e-03 9.93771738e-01 2.33017526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:156.46, Y:107.35, Z:23.30 [[ 1.89667785e-01 -9.81710203e-01 -1.64684225e-02 1.56461448e+02] [ 9.75516277e-01 1.90319914e-01 -1.10210364e-01 1.07347766e+02] [ 1.11328908e-01 4.83814143e-03 9.93771838e-01 2.33022294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:107.38, Z:23.30 [[ 1.91849503e-01 -9.81281326e-01 -1.67549213e-02 1.56466209e+02] [ 9.75089447e-01 1.92519973e-01 -1.10166375e-01 1.07375022e+02] [ 1.11329863e-01 4.79781733e-03 9.93771927e-01 2.32990064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:107.40, Z:23.30 [[ 1.99014792e-01 -9.79858371e-01 -1.64525445e-02 1.56474184e+02] [ 9.73658342e-01 1.99606084e-01 -1.10212724e-01 1.07403812e+02] [ 1.11276888e-01 5.91480497e-03 9.93771840e-01 2.33006151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:156.48, Y:107.43, Z:23.29 [[ 2.01044768e-01 -9.79434705e-01 -1.69899831e-02 1.56478339e+02] [ 9.73239459e-01 2.01683496e-01 -1.10130479e-01 1.07431096e+02] [ 1.11292213e-01 5.60583465e-03 9.93771915e-01 2.32926944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.44710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:156.48, Y:107.46, Z:23.29 [[ 2.05755534e-01 -9.78457267e-01 -1.69126413e-02 1.56482666e+02] [ 9.72258182e-01 2.06355766e-01 -1.10142298e-01 1.07457119e+02] [ 1.11259553e-01 6.21893340e-03 9.93771924e-01 2.32946281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47710568099998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:156.49, Y:107.48, Z:23.30 [[ 2.06903692e-01 -9.78223966e-01 -1.63931254e-02 1.56487653e+02] [ 9.72018821e-01 2.07438340e-01 -1.10221358e-01 1.07482535e+02] [ 1.11221737e-01 6.87077948e-03 9.93771864e-01 2.32970834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.50710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.50, Y:107.51, Z:23.30 [[ 2.04410896e-01 -9.78751360e-01 -1.61852232e-02 1.56499515e+02] [ 9.72545476e-01 2.04938014e-01 -1.10252923e-01 1.07509526e+02] [ 1.11227166e-01 6.79603309e-03 9.93771770e-01 2.33026346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.51, Y:107.53, Z:23.30 [[ 2.01995928e-01 -9.79243980e-01 -1.66994814e-02 1.56510109e+02] [ 9.73044866e-01 2.02596054e-01 -1.10174991e-01 1.07529993e+02] [ 1.11271446e-01 6.00555486e-03 9.93771905e-01 2.33034476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:107.56, Z:23.31 [[ 1.96109875e-01 -9.80466691e-01 -1.50327725e-02 1.56514293e+02] [ 9.74253745e-01 1.96560248e-01 -1.10425132e-01 1.07560436e+02] [ 1.11223009e-01 7.00972397e-03 9.93770751e-01 2.33099836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.52, Y:107.59, Z:23.32 [[ 1.91312593e-01 -9.81391954e-01 -1.64111283e-02 1.56523353e+02] [ 9.75196366e-01 1.91947925e-01 -1.10218158e-01 1.07587983e+02] [ 1.11317295e-01 5.08204879e-03 9.93771922e-01 2.33160205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:107.61, Z:23.32 [[ 1.87290856e-01 -9.82162963e-01 -1.66748165e-02 1.56533620e+02] [ 9.75973245e-01 1.87981099e-01 -1.10178638e-01 1.07614002e+02] [ 1.11347928e-01 4.36127663e-03 9.93771915e-01 2.33189345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.54, Y:107.64, Z:23.32 [[ 1.84183403e-01 -9.82754152e-01 -1.64544859e-02 1.56538428e+02] [ 9.76563893e-01 1.84868550e-01 -1.10211536e-01 1.07639703e+02] [ 1.11352761e-01 4.23027887e-03 9.93771939e-01 2.33203417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.55, Y:107.67, Z:23.33 [[ 1.82322071e-01 -9.83114479e-01 -1.56391821e-02 1.56548393e+02] [ 9.76915638e-01 1.82927625e-01 -1.10332773e-01 1.07667313e+02] [ 1.11330585e-01 4.83793805e-03 9.93771651e-01 2.33274086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.55, Y:107.69, Z:23.33 [[ 1.80637267e-01 -9.83413059e-01 -1.63992129e-02 1.56553287e+02] [ 9.77224612e-01 1.81338551e-01 -1.10219724e-01 1.07692164e+02] [ 1.11365325e-01 3.88407509e-03 9.93771945e-01 2.33323478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.56, Y:107.72, Z:23.33 [[ 1.77141030e-01 -9.84066051e-01 -1.53317458e-02 1.56562470e+02] [ 9.77866822e-01 1.77744798e-01 -1.10377826e-01 1.07721332e+02] [ 1.11344210e-01 4.56003631e-03 9.93771439e-01 2.33261879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.57, Y:107.75, Z:23.33 [[ 1.72546840e-01 -9.84865687e-01 -1.63452549e-02 1.56566971e+02] [ 9.78682499e-01 1.73292941e-01 -1.10227596e-01 1.07745639e+02] [ 1.11391894e-01 3.02260853e-03 9.93771961e-01 2.33297322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:156.58, Y:107.77, Z:23.33 [[ 1.61312556e-01 -9.86784919e-01 -1.52899430e-02 1.56575737e+02] [ 9.80595597e-01 1.62011140e-01 -1.10384170e-01 1.07772505e+02] [ 1.11402575e-01 2.81310179e-03 9.93771379e-01 2.33336481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83710568099997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:156.58, Y:107.80, Z:23.34 [[ 1.55313114e-01 -9.87749152e-01 -1.51475551e-02 1.56582453e+02] [ 9.81562153e-01 1.56033386e-01 -1.10405260e-01 1.07799213e+02] [ 1.11416227e-01 2.27911803e-03 9.93771216e-01 2.33431128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:156.59, Y:107.82, Z:23.34 [[ 1.45520817e-01 -9.89240374e-01 -1.50722919e-02 1.56591097e+02] [ 9.83059665e-01 1.46293941e-01 -1.10416386e-01 1.07823378e+02] [ 1.11433332e-01 1.25092051e-03 9.93771124e-01 2.33424462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:156.60, Y:107.85, Z:23.34 [[ 1.33623627e-01 -9.90925953e-01 -1.45079634e-02 1.56596898e+02] [ 9.84745762e-01 1.34408056e-01 -1.10500035e-01 1.07853105e+02] [ 1.11447340e-01 4.78760065e-04 9.93770226e-01 2.33445294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.60, Y:107.88, Z:23.35 [[ 1.29651298e-01 -9.91438846e-01 -1.54775739e-02 1.56601324e+02] [ 9.85278357e-01 1.30568477e-01 -1.10355930e-01 1.07881061e+02] [ 1.11432039e-01 -9.41929070e-04 9.93771610e-01 2.33479914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95710568099997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:156.60, Y:107.91, Z:23.35 [[ 1.22835896e-01 -9.92302092e-01 -1.57448938e-02 1.56603792e+02] [ 9.86152965e-01 1.23825095e-01 -1.10316250e-01 1.07907372e+02] [ 1.11416659e-01 -1.97607829e-03 9.93771817e-01 2.33503153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.61, Y:107.94, Z:23.35 [[ 1.19678422e-01 -9.92692703e-01 -1.54360613e-02 1.56607286e+02] [ 9.86540990e-01 1.20652869e-01 -1.10361955e-01 1.07936243e+02] [ 1.11417913e-01 -2.02036250e-03 9.93771587e-01 2.33545997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.61, Y:107.96, Z:23.36 [[ 1.16424008e-01 -9.93077697e-01 -1.55607814e-02 1.56605956e+02] [ 9.86931571e-01 1.17432463e-01 -1.10343510e-01 1.07963523e+02] [ 1.11407020e-01 -2.51079270e-03 9.93771690e-01 2.33600716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04710568099998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:156.61, Y:107.99, Z:23.36 [[ 1.13974539e-01 -9.93367007e-01 -1.52248030e-02 1.56606916e+02] [ 9.87216984e-01 1.14960848e-01 -1.10393073e-01 1.07991713e+02] [ 1.11411093e-01 -2.44818442e-03 9.93771390e-01 2.33598259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07710568099998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:156.61, Y:108.02, Z:23.36 [[ 1.09742650e-01 -9.93839329e-01 -1.54899586e-02 1.56606555e+02] [ 9.87698731e-01 1.10784562e-01 -1.10353965e-01 1.08020473e+02] [ 1.11390159e-01 -3.18887580e-03 9.93771636e-01 2.33625591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:156.60, Y:108.05, Z:23.37 [[ 1.07286306e-01 -9.94101156e-01 -1.58915137e-02 1.56603444e+02] [ 9.87971215e-01 1.08387897e-01 -1.10294796e-01 1.08045986e+02] [ 1.11366632e-01 -3.86723692e-03 9.93771864e-01 2.33678485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13710568099998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:156.60, Y:108.07, Z:23.37 [[ 1.05133922e-01 -9.94341983e-01 -1.51947207e-02 1.56603387e+02] [ 9.88200411e-01 1.06171560e-01 -1.10397226e-01 1.08074504e+02] [ 1.11385844e-01 -3.40893583e-03 9.93771389e-01 2.33726395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.16710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.60, Y:108.10, Z:23.38 [[ 1.01949356e-01 -9.94671592e-01 -1.53216644e-02 1.56597830e+02] [ 9.88535939e-01 1.03020723e-01 -1.10378565e-01 1.08101144e+02] [ 1.11368871e-01 -3.89299234e-03 9.93771513e-01 2.33759057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19710568099998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:156.60, Y:108.13, Z:23.38 [[ 9.89152288e-02 -9.94983464e-01 -1.49560368e-02 1.56597138e+02] [ 9.88843643e-01 9.99648014e-02 -1.10432280e-01 1.08130949e+02] [ 1.11373369e-01 -3.86574775e-03 9.93771115e-01 2.33777591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.22710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.59, Y:108.16, Z:23.38 [[ 9.31583073e-02 -9.95532181e-01 -1.54014914e-02 1.56591164e+02] [ 9.89407928e-01 9.42926647e-02 -1.10366868e-01 1.08160288e+02] [ 1.11326017e-01 -4.95676706e-03 9.93771578e-01 2.33800243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:108.19, Z:23.39 [[ 8.48898980e-02 -9.96274914e-01 -1.51657833e-02 1.56583340e+02] [ 9.90155087e-01 8.60490280e-02 -1.10401400e-01 1.08189769e+02] [ 1.11295146e-01 -5.64451392e-03 9.93771367e-01 2.33895679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:108.22, Z:23.39 [[ 8.42628653e-02 -9.96312467e-01 -1.61628257e-02 1.56579581e+02] [ 9.90215827e-01 8.55358762e-02 -1.10255296e-01 1.08217532e+02] [ 1.11231227e-01 -6.71425868e-03 9.93771872e-01 2.33913942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:108.25, Z:23.40 [[ 8.35768704e-02 -9.96380041e-01 -1.55473964e-02 1.56568648e+02] [ 9.90270285e-01 8.47861944e-02 -1.10345201e-01 1.08247348e+02] [ 1.11263960e-01 -6.17381814e-03 9.93771712e-01 2.33974237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.57, Y:108.28, Z:23.40 [[ 8.35054395e-02 -9.96377162e-01 -1.61056937e-02 1.56566252e+02] [ 9.90280172e-01 8.47767865e-02 -1.10263671e-01 1.08275990e+02] [ 1.11229592e-01 -6.74153283e-03 9.93771870e-01 2.34014495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.56, Y:108.30, Z:23.40 [[ 8.60643076e-02 -9.96160081e-01 -1.60632769e-02 1.56556733e+02] [ 9.90058885e-01 8.73153113e-02 -1.10269850e-01 1.08304062e+02] [ 1.11248993e-01 -6.41329178e-03 9.93771871e-01 2.34038861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:108.33, Z:23.40 [[ 8.99909224e-02 -9.95813535e-01 -1.60324111e-02 1.56543102e+02] [ 9.89706772e-01 9.12144549e-02 -1.10274337e-01 1.08334755e+02] [ 1.11275065e-01 -5.94369653e-03 9.93771871e-01 2.34041416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:108.36, Z:23.41 [[ 9.34223818e-02 -9.95498130e-01 -1.59916183e-02 1.56537766e+02] [ 9.89386302e-01 9.46203531e-02 -1.10280253e-01 1.08363805e+02] [ 1.11296918e-01 -5.51924423e-03 9.93771872e-01 2.34074244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:108.39, Z:23.41 [[ 1.03790742e-01 -9.94471263e-01 -1.59495993e-02 1.56525446e+02] [ 9.88346424e-01 1.04920308e-01 -1.10286330e-01 1.08392246e+02] [ 1.11350022e-01 -4.31702950e-03 9.93771873e-01 2.34113618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.52, Y:108.42, Z:23.41 [[ 1.08348958e-01 -9.93985677e-01 -1.59052705e-02 1.56522365e+02] [ 9.87854845e-01 1.09445519e-01 -1.10292723e-01 1.08420575e+02] [ 1.11370147e-01 -3.76199705e-03 9.93771874e-01 2.34146769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.51, Y:108.45, Z:23.42 [[ 1.14664450e-01 -9.93277585e-01 -1.58651335e-02 1.56513079e+02] [ 9.87139142e-01 1.15717569e-01 -1.10298496e-01 1.08450221e+02] [ 1.11392898e-01 -3.01377793e-03 9.93771875e-01 2.34186097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:156.51, Y:108.48, Z:23.42 [[ 1.17197315e-01 -9.92982589e-01 -1.58229830e-02 1.56510486e+02] [ 9.86840693e-01 1.18230095e-01 -1.10304542e-01 1.08477743e+02] [ 1.11401243e-01 -2.68736738e-03 9.93771876e-01 2.34215489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:156.50, Y:108.50, Z:23.42 [[ 1.28183717e-01 -9.91624913e-01 -1.57786470e-02 1.56502704e+02] [ 9.85471189e-01 1.29143505e-01 -1.10310884e-01 1.08501957e+02] [ 1.11424731e-01 -1.40934283e-03 9.93771877e-01 2.34242329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61710568099997 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:156.50, Y:108.54, Z:23.43 [[ 1.29320313e-01 -9.91501492e-01 -1.41791434e-02 1.56499834e+02] [ 9.85320403e-01 1.30094913e-01 -1.10539659e-01 1.08535449e+02] [ 1.11444871e-01 3.24023964e-04 9.93770565e-01 2.34273832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64710568099997 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:156.49, Y:108.56, Z:23.43 [[ 1.37611072e-01 -9.90360120e-01 -1.58121862e-02 1.56494063e+02] [ 9.84198132e-01 1.38516012e-01 -1.10305718e-01 1.08563485e+02] [ 1.11432625e-01 -3.83036097e-04 9.93771917e-01 2.34260581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67710568099997 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:156.49, Y:108.59, Z:23.43 [[ 1.49304729e-01 -9.88665504e-01 -1.57676819e-02 1.56490399e+02] [ 9.82492586e-01 1.50131823e-01 -1.10312079e-01 1.08585757e+02] [ 1.11428978e-01 9.78484471e-04 9.93771918e-01 2.34259910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70710568099997 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:156.49, Y:108.62, Z:23.43 [[ 1.50547221e-01 -9.88507954e-01 -1.36952257e-02 1.56489754e+02] [ 9.82305641e-01 1.51135018e-01 -1.10606663e-01 1.08617992e+02] [ 1.11405394e-01 3.19862819e-03 9.93769896e-01 2.34332861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73710568099997 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:156.49, Y:108.65, Z:23.44 [[ 1.55704391e-01 -9.87684324e-01 -1.53564255e-02 1.56488163e+02] [ 9.81500483e-01 1.56445560e-01 -1.10370233e-01 1.08646382e+02] [ 1.11413394e-01 2.11279093e-03 9.93771901e-01 2.34369692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76710568099998 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:156.49, Y:108.68, Z:23.44 [[ 1.55290690e-01 -9.87750339e-01 -1.52993491e-02 1.56490284e+02] [ 9.81566025e-01 1.56028073e-01 -1.10378345e-01 1.08675706e+02] [ 1.11413376e-01 2.12340816e-03 9.93771881e-01 2.34398224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79710568099998 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:156.49, Y:108.70, Z:23.45 [[ 1.52972591e-01 -9.88106205e-01 -1.56688985e-02 1.56491830e+02] [ 9.81928866e-01 1.53765746e-01 -1.10325868e-01 1.08702920e+02] [ 1.11423015e-01 1.49109020e-03 9.93771950e-01 2.34453123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82710568099998 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:156.50, Y:108.73, Z:23.45 [[ 1.51398062e-01 -9.88349362e-01 -1.56257705e-02 1.56495072e+02] [ 9.82172672e-01 1.52196245e-01 -1.10331976e-01 1.08730532e+02] [ 1.11424722e-01 1.35684260e-03 9.93771951e-01 2.34497690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85710568099998 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:156.50, Y:108.76, Z:23.45 [[ 1.46662264e-01 -9.89063882e-01 -1.55825900e-02 1.56498914e+02] [ 9.82890443e-01 1.47485206e-01 -1.10338075e-01 1.08756961e+02] [ 1.11429606e-01 8.66452999e-04 9.93771952e-01 2.34540734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88710568099998 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:156.50, Y:108.78, Z:23.46 [[ 1.41164861e-01 -9.89864173e-01 -1.55370612e-02 1.56501807e+02] [ 9.83694700e-01 1.42017015e-01 -1.10344486e-01 1.08783727e+02] [ 1.11432580e-01 2.93039236e-04 9.93771953e-01 2.34555542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91710568099998 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:156.51, Y:108.81, Z:23.46 [[ 1.38184374e-01 -9.90285332e-01 -1.54932031e-02 1.56505742e+02] [ 9.84117765e-01 1.39050209e-01 -1.10350643e-01 1.08811602e+02] [ 1.11432957e-01 1.59816680e-06 9.93771954e-01 2.34587117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.94710568099998 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:156.51, Y:108.84, Z:23.46 [[ 1.33099425e-01 -9.90982255e-01 -1.54503338e-02 1.56512665e+02] [ 9.84818521e-01 1.33992132e-01 -1.10356645e-01 1.08839105e+02] [ 1.11431700e-01 -5.27368849e-04 9.93771955e-01 2.34606759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97710568099998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:156.52, Y:108.87, Z:23.46 [[ 1.30534727e-01 -9.91324004e-01 -1.54079169e-02 1.56518666e+02] [ 9.85161907e-01 1.31438659e-01 -1.10362567e-01 1.08866603e+02] [ 1.11430258e-01 -7.73145290e-04 9.93771956e-01 2.34624128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00710568099996 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:156.52, Y:108.89, Z:23.47 [[ 1.30155508e-01 -9.91374525e-01 -1.53654061e-02 1.56522337e+02] [ 9.85212080e-01 1.31057065e-01 -1.10368486e-01 1.08894599e+02] [ 1.11430250e-01 -7.73117365e-04 9.93771957e-01 2.34655865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03710568099996 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:156.53, Y:108.92, Z:23.47 [[ 1.27126127e-01 -9.91768197e-01 -1.53229208e-02 1.56527680e+02] [ 9.85607832e-01 1.28041780e-01 -1.10374384e-01 1.08921042e+02] [ 1.11427778e-01 -1.07092273e-03 9.93771957e-01 2.34654708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06710568099996 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:156.54, Y:108.95, Z:23.47 [[ 1.19055568e-01 -9.92770028e-01 -1.52788309e-02 1.56535436e+02] [ 9.86616548e-01 1.20016394e-01 -1.10380487e-01 1.08947573e+02] [ 1.11416149e-01 -1.93293581e-03 9.93771958e-01 2.34691720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09710568099996 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:156.54, Y:108.97, Z:23.47 [[ 1.08566565e-01 -9.93972398e-01 -1.52372394e-02 1.56542238e+02] [ 9.87828638e-01 1.09587694e-01 -1.10386228e-01 1.08974358e+02] [ 1.11390678e-01 -3.06752784e-03 9.93771959e-01 2.34748971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12710568099996 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:156.55, Y:109.00, Z:23.48 [[ 1.03567374e-01 -9.94506368e-01 -1.51948461e-02 1.56546951e+02] [ 9.88367017e-01 1.04614681e-01 -1.10392064e-01 1.09000347e+02] [ 1.11375214e-01 -3.58506857e-03 9.93771960e-01 2.34792133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15710568099996 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:156.55, Y:109.02, Z:23.49 [[ 9.62166955e-02 -9.95245102e-01 -1.51504103e-02 1.56553714e+02] [ 9.89112783e-01 9.73044135e-02 -1.10398162e-01 1.09023139e+02] [ 1.11347431e-01 -4.36331821e-03 9.93771961e-01 2.34885349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18710568099996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:156.56, Y:109.05, Z:23.50 [[ 9.33541764e-02 -9.95536171e-01 -1.38827334e-02 1.56558899e+02] [ 9.89382596e-01 9.43190523e-02 -1.10571226e-01 1.09051833e+02] [ 1.11387061e-01 -3.41304909e-03 9.93771238e-01 2.34972935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21710568099996 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:156.56, Y:109.08, Z:23.50 [[ 9.18661979e-02 -9.95661171e-01 -1.48132912e-02 1.56562082e+02] [ 9.89526981e-01 9.29433863e-02 -1.10444017e-01 1.09081393e+02] [ 1.11341617e-01 -4.51207938e-03 9.93771948e-01 2.35036655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.56, Y:109.11, Z:23.51 [[ 9.16555418e-02 -9.95667463e-01 -1.56705091e-02 1.56562839e+02] [ 9.89550854e-01 9.28288745e-02 -1.10326366e-01 1.09105886e+02] [ 1.11303049e-01 -5.39474284e-03 9.93771869e-01 2.35084488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27710568099997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:156.57, Y:109.13, Z:23.51 [[ 9.23805527e-02 -9.95620531e-01 -1.43384482e-02 1.56566785e+02] [ 9.89476682e-01 9.34019638e-02 -1.10507782e-01 1.09134685e+02] [ 1.11363056e-01 -3.97879018e-03 9.93771824e-01 2.35067587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30710568099997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:156.57, Y:109.16, Z:23.51 [[ 9.20840285e-02 -9.95640536e-01 -1.48476971e-02 1.56566839e+02] [ 9.89506879e-01 9.31636809e-02 -1.10438516e-01 1.09161173e+02] [ 1.11340329e-01 -4.52227501e-03 9.93772046e-01 2.35102278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33710568099997 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:156.57, Y:109.19, Z:23.52 [[ 8.98458187e-02 -9.95848245e-01 -1.46287820e-02 1.56566200e+02] [ 9.89712695e-01 9.09150206e-02 -1.10468281e-01 1.09190085e+02] [ 1.11339620e-01 -4.55317806e-03 9.93771985e-01 2.35169562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36710568099997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:156.56, Y:109.22, Z:23.52 [[ 9.45746723e-02 -9.95404754e-01 -1.50002496e-02 1.56564386e+02] [ 9.89271377e-01 9.56558736e-02 -1.10417825e-01 1.09217172e+02] [ 1.11345290e-01 -4.39658790e-03 9.93772055e-01 2.35206846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39710568099997 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:156.56, Y:109.24, Z:23.53 [[ 1.04045842e-01 -9.94460054e-01 -1.49554158e-02 1.56560155e+02] [ 9.88315838e-01 1.05063636e-01 -1.10423897e-01 1.09244104e+02] [ 1.11383425e-01 -3.29152694e-03 9.93772056e-01 2.35253614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42710568099997 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:156.56, Y:109.27, Z:23.53 [[ 1.08999019e-01 -9.93930006e-01 -1.49116750e-02 1.56558942e+02] [ 9.87780019e-01 1.09981332e-01 -1.10429804e-01 1.09270987e+02] [ 1.11399502e-01 -2.69271433e-03 9.93772057e-01 2.35299644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45710568099997 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:156.55, Y:109.30, Z:23.53 [[ 1.18498325e-01 -9.92842721e-01 -1.48821678e-02 1.56554504e+02] [ 9.86683131e-01 1.19418503e-01 -1.10433780e-01 1.09299037e+02] [ 1.11420581e-01 -1.59776595e-03 9.93772057e-01 2.35333765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48710568099997 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:156.55, Y:109.33, Z:23.53 [[ 1.23260768e-01 -9.92263341e-01 -1.48406570e-02 1.56554292e+02] [ 9.86098742e-01 1.24146762e-01 -1.10439359e-01 1.09326707e+02] [ 1.11427347e-01 -1.02151298e-03 9.93772058e-01 2.35338416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51710568099998 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:156.55, Y:109.36, Z:23.53 [[ 1.33977456e-01 -9.90873903e-01 -1.47969247e-02 1.56552078e+02] [ 9.84699445e-01 1.34791900e-01 -1.10445218e-01 1.09356252e+02] [ 1.11431790e-01 2.26645732e-04 9.93772059e-01 2.35282143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54710568099998 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:156.55, Y:109.38, Z:23.53 [[ 1.40374807e-01 -9.89988470e-01 -1.47561247e-02 1.56554216e+02] [ 9.83808312e-01 1.41144801e-01 -1.10450669e-01 1.09383539e+02] [ 1.11427639e-01 9.87293195e-04 9.93772060e-01 2.35281542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57710568099998 meters Centerline goodness : 0.997775 Centerline is valid? [True, True] Translation: X:156.56, Y:109.41, Z:23.53 [[ 1.51963785e-01 -9.88276352e-01 -1.47262074e-02 1.56556521e+02] [ 9.82087221e-01 1.52657978e-01 -1.10454658e-01 1.09412337e+02] [ 1.11407799e-01 2.32268772e-03 9.93772060e-01 2.35266654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60710568099998 meters Centerline goodness : 0.997435 Centerline is valid? [True, True] Translation: X:156.56, Y:109.44, Z:23.53 [[ 1.55589300e-01 -9.87712650e-01 -1.46864026e-02 1.56560010e+02] [ 9.81520534e-01 1.56256328e-01 -1.10459950e-01 1.09440184e+02] [ 1.11397533e-01 2.77138059e-03 9.93772061e-01 2.35282203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63710568099998 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:156.57, Y:109.47, Z:23.53 [[ 1.57487588e-01 -9.87412367e-01 -1.46450761e-02 1.56565320e+02] [ 9.81218494e-01 1.58138093e-01 -1.10465429e-01 1.09467421e+02] [ 1.11390875e-01 3.02691439e-03 9.93772062e-01 2.35305370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.66710568099998 meters Centerline goodness : 0.997435 Centerline is valid? [True, True] Translation: X:156.57, Y:109.50, Z:23.53 [[ 1.57412793e-01 -9.87424905e-01 -1.46037617e-02 1.56570230e+02] [ 9.81230599e-01 1.58059148e-01 -1.10470891e-01 1.09495140e+02] [ 1.11389967e-01 3.05987361e-03 9.93772063e-01 2.35332033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69710568099998 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:156.58, Y:109.52, Z:23.53 [[ 1.57072495e-01 -9.87479701e-01 -1.45626507e-02 1.56580152e+02] [ 9.81285140e-01 1.57716389e-01 -1.10476310e-01 1.09522316e+02] [ 1.11389882e-01 3.06267684e-03 9.93772064e-01 2.35330947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.72710568099998 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:156.59, Y:109.55, Z:23.54 [[ 1.54845137e-01 -9.87832024e-01 -1.45215704e-02 1.56593748e+02] [ 9.81638445e-01 1.55498408e-01 -1.10481709e-01 1.09548225e+02] [ 1.11395452e-01 2.85262360e-03 9.93772064e-01 2.35391691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75710568099996 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:156.60, Y:109.57, Z:23.55 [[ 1.53195373e-01 -9.88089795e-01 -1.44822062e-02 1.56600309e+02] [ 9.81896847e-01 1.53854587e-01 -1.10486869e-01 1.09573525e+02] [ 1.11399102e-01 2.70604447e-03 9.93772065e-01 2.35461396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78710568099996 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:156.61, Y:109.60, Z:23.55 [[ 1.52432158e-01 -9.88208463e-01 -1.44385471e-02 1.56607566e+02] [ 9.82015505e-01 1.53091276e-01 -1.10492575e-01 1.09600150e+02] [ 1.11400113e-01 2.66374442e-03 9.93772066e-01 2.35543560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81710568099996 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:156.62, Y:109.63, Z:23.56 [[ 1.51902457e-01 -9.88290632e-01 -1.43968993e-02 1.56618807e+02] [ 9.82097533e-01 1.52560241e-01 -1.10498001e-01 1.09625943e+02] [ 1.11400534e-01 2.64575863e-03 9.93772067e-01 2.35593502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84710568099996 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:156.63, Y:109.65, Z:23.56 [[ 1.50876668e-01 -9.88448291e-01 -1.43598897e-02 1.56627414e+02] [ 9.82255437e-01 1.51536744e-01 -1.10502810e-01 1.09652838e+02] [ 1.11402365e-01 2.56721617e-03 9.93772068e-01 2.35647682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87710568099996 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:156.63, Y:109.68, Z:23.57 [[ 1.48449618e-01 -9.88816297e-01 -1.43192943e-02 1.56634593e+02] [ 9.82624590e-01 1.49120360e-01 -1.10508071e-01 1.09679680e+02] [ 1.11407480e-01 2.33439020e-03 9.93772069e-01 2.35688485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90710568099996 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:156.64, Y:109.71, Z:23.57 [[ 1.40362691e-01 -9.89997189e-01 -1.42786840e-02 1.56643089e+02] [ 9.83810645e-01 1.41079485e-01 -1.10513318e-01 1.09706039e+02] [ 1.11422303e-01 1.46442529e-03 9.93772069e-01 2.35747732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93710568099996 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:156.65, Y:109.73, Z:23.57 [[ 1.32834857e-01 -9.91035934e-01 -1.42365421e-02 1.56652439e+02] [ 9.84854438e-01 1.33593948e-01 -1.10518746e-01 1.09731845e+02] [ 1.11429965e-01 6.59820260e-04 9.93772070e-01 2.35745081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96710568099996 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:156.66, Y:109.76, Z:23.58 [[ 1.30066206e-01 -9.91403724e-01 -1.41928934e-02 1.56659351e+02] [ 9.85223764e-01 1.30837695e-01 -1.10524352e-01 1.09758635e+02] [ 1.11431219e-01 3.92307284e-04 9.93772071e-01 2.35770334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99710568099997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:156.67, Y:109.79, Z:23.58 [[ 1.29369646e-01 -9.91495488e-01 -1.41489017e-02 1.56666817e+02] [ 9.85315459e-01 1.30140572e-01 -1.10529983e-01 1.09785697e+02] [ 1.11431326e-01 3.58093182e-04 9.93772072e-01 2.35822717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02710568099997 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:156.67, Y:109.81, Z:23.58 [[ 1.32712988e-01 -9.91054103e-01 -1.41076955e-02 1.56671402e+02] [ 9.84870955e-01 1.33458470e-01 -1.10535242e-01 1.09812490e+02] [ 1.11429197e-01 7.75202754e-04 9.93772073e-01 2.35849942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:156.68, Y:109.84, Z:23.58 [[ 1.42668677e-01 -9.89674884e-01 -1.37576583e-02 1.56678992e+02] [ 9.83480317e-01 1.43312877e-01 -1.10579768e-01 1.09840408e+02] [ 1.11409669e-01 2.24588311e-03 9.93772027e-01 2.35790022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.69, Y:109.87, Z:23.58 [[ 1.52447664e-01 -9.88211704e-01 -1.40476858e-02 1.56686664e+02] [ 9.82014247e-01 1.53063002e-01 -1.10542916e-01 1.09866729e+02] [ 1.11389985e-01 3.05698182e-03 9.93772070e-01 2.35839249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:156.69, Y:109.89, Z:23.59 [[ 1.55637666e-01 -9.87714903e-01 -1.40066791e-02 1.56691187e+02] [ 9.81515054e-01 1.56228405e-01 -1.10548112e-01 1.09893944e+02] [ 1.11378259e-01 3.45768380e-03 9.93772070e-01 2.35905426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14710568099997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:156.70, Y:109.92, Z:23.60 [[ 1.60312422e-01 -9.86967523e-01 -1.39655255e-02 1.56696156e+02] [ 9.80764532e-01 1.60869197e-01 -1.10553311e-01 1.09920556e+02] [ 1.11359150e-01 4.02617690e-03 9.93772071e-01 2.35991383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.70, Y:109.95, Z:23.60 [[ 1.61469106e-01 -9.86779527e-01 -1.39245282e-02 1.56701646e+02] [ 9.80575484e-01 1.62014024e-01 -1.10558475e-01 1.09947338e+02] [ 1.11352808e-01 4.19772711e-03 9.93772072e-01 2.36024761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20710568099997 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:156.71, Y:109.97, Z:23.61 [[ 1.60240582e-01 -9.86980341e-01 -1.38839124e-02 1.56707460e+02] [ 9.80776578e-01 1.60788679e-01 -1.10563575e-01 1.09973803e+02] [ 1.11356451e-01 4.09975550e-03 9.93772073e-01 2.36059520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:156.72, Y:110.00, Z:23.61 [[ 1.56777370e-01 -9.87532155e-01 -1.41809646e-02 1.56715695e+02] [ 9.81333443e-01 1.57380441e-01 -1.10526334e-01 1.09999788e+02] [ 1.11380115e-01 3.41177311e-03 9.93772021e-01 2.36064149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26710568099998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:156.72, Y:110.02, Z:23.61 [[ 1.53975832e-01 -9.87978022e-01 -1.38156501e-02 1.56720019e+02] [ 9.81777158e-01 1.54555643e-01 -1.10571987e-01 1.10024987e+02] [ 1.11377979e-01 3.46152397e-03 9.93772088e-01 2.36089569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.73, Y:110.05, Z:23.61 [[ 1.48117114e-01 -9.88873981e-01 -1.37684800e-02 1.56726762e+02] [ 9.82676142e-01 1.48728398e-01 -1.10577860e-01 1.10050347e+02] [ 1.11395333e-01 2.84851666e-03 9.93772089e-01 2.36141709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.73, Y:110.08, Z:23.62 [[ 1.44356980e-01 -9.89431330e-01 -1.36640620e-02 1.56731392e+02] [ 9.83234673e-01 1.44980155e-01 -1.10590830e-01 1.10076765e+02] [ 1.11403050e-01 2.52957872e-03 9.93772087e-01 2.36206009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.74, Y:110.10, Z:23.62 [[ 1.38485841e-01 -9.90271533e-01 -1.35633223e-02 1.56739116e+02] [ 9.84077485e-01 1.39134512e-01 -1.10603306e-01 1.10100599e+02] [ 1.11414432e-01 1.96963169e-03 9.93772079e-01 2.36241134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.75, Y:110.13, Z:23.63 [[ 1.36580127e-01 -9.90545962e-01 -1.28283087e-02 1.56745038e+02] [ 9.84344661e-01 1.37158635e-01 -1.10693712e-01 1.10125472e+02] [ 1.11406723e-01 2.49108405e-03 9.93771773e-01 2.36269637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.75, Y:110.15, Z:23.62 [[ 1.31640239e-01 -9.91218579e-01 -1.25130092e-02 1.56752259e+02] [ 9.85016587e-01 1.32214446e-01 -1.10732400e-01 1.10154207e+02] [ 1.11414413e-01 2.25131805e-03 9.93771483e-01 2.36223575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:110.18, Z:23.63 [[ 1.30531086e-01 -9.91357572e-01 -1.31072448e-02 1.56756964e+02] [ 9.85163257e-01 1.31178573e-01 -1.10659568e-01 1.10180657e+02] [ 1.11422591e-01 1.53173762e-03 9.93771936e-01 2.36255135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.76, Y:110.21, Z:23.63 [[ 1.31569018e-01 -9.91214584e-01 -1.35366701e-02 1.56761057e+02] [ 9.85024834e-01 1.32257942e-01 -1.10607024e-01 1.10207627e+02] [ 1.11425627e-01 1.21850121e-03 9.93772029e-01 2.36304644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.77, Y:110.24, Z:23.63 [[ 1.33337695e-01 -9.90978793e-01 -1.34940790e-02 1.56765747e+02] [ 9.84787306e-01 1.34010818e-01 -1.10612220e-01 1.10235386e+02] [ 1.11422716e-01 1.45998061e-03 9.93772030e-01 2.36326514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.77, Y:110.26, Z:23.63 [[ 1.40484803e-01 -9.89991454e-01 -1.34514581e-02 1.56773619e+02] [ 9.83794790e-01 1.41108473e-01 -1.10617402e-01 1.10258302e+02] [ 1.11408398e-01 2.30658958e-03 9.93772030e-01 2.36329431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.78, Y:110.29, Z:23.63 [[ 1.44749570e-01 -9.89391331e-01 -1.23432611e-02 1.56778468e+02] [ 9.83180790e-01 1.45222652e-01 -1.10751592e-01 1.10286212e+02] [ 1.11369186e-01 3.89558808e-03 9.93771467e-01 2.36348830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.78, Y:110.31, Z:23.64 [[ 1.45390927e-01 -9.89295068e-01 -1.25198250e-02 1.56782876e+02] [ 9.83085921e-01 1.45879728e-01 -1.10730195e-01 1.10314795e+02] [ 1.11371224e-01 3.79110196e-03 9.93771643e-01 2.36374254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.79, Y:110.34, Z:23.64 [[ 1.43143824e-01 -9.89621149e-01 -1.26422586e-02 1.56789406e+02] [ 9.83414353e-01 1.43660414e-01 -1.10715385e-01 1.10342166e+02] [ 1.11382478e-01 3.41564505e-03 9.93771743e-01 2.36430384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.80, Y:110.37, Z:23.65 [[ 1.44176561e-01 -9.89461662e-01 -1.33693154e-02 1.56795393e+02] [ 9.83261812e-01 1.44767934e-01 -1.10627550e-01 1.10365460e+02] [ 1.11397168e-01 2.80436239e-03 9.93772009e-01 2.36494023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.80, Y:110.39, Z:23.66 [[ 1.37741788e-01 -9.90395277e-01 -1.20164628e-02 1.56800273e+02] [ 9.84184937e-01 1.38222294e-01 -1.10790824e-01 1.10392696e+02] [ 1.11387651e-01 3.43410454e-03 9.93771099e-01 2.36593066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:110.42, Z:23.66 [[ 1.31524086e-01 -9.91238337e-01 -1.21644343e-02 1.56803929e+02] [ 9.85032727e-01 1.32060086e-01 -1.10773016e-01 1.10421786e+02] [ 1.11408896e-01 2.58695376e-03 9.93771284e-01 2.36627527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.81, Y:110.45, Z:23.67 [[ 1.24959777e-01 -9.92072223e-01 -1.33326293e-02 1.56812003e+02] [ 9.85884501e-01 1.25667189e-01 -1.10632311e-01 1.10448449e+02] [ 1.11430717e-01 6.80156320e-04 9.93771972e-01 2.36661753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:110.48, Z:23.67 [[ 1.25588495e-01 -9.91997617e-01 -1.29713932e-02 1.56817552e+02] [ 9.85804949e-01 1.26251693e-01 -1.10675707e-01 1.10475609e+02] [ 1.11427698e-01 1.11233183e-03 9.93771921e-01 2.36688438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.82, Y:110.50, Z:23.67 [[ 1.27963127e-01 -9.91690038e-01 -1.32780758e-02 1.56820569e+02] [ 9.85499525e-01 1.28645713e-01 -1.10638906e-01 1.10503862e+02] [ 1.11427669e-01 1.07216303e-03 9.93771968e-01 2.36697903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.83, Y:110.53, Z:23.67 [[ 1.34401609e-01 -9.90838541e-01 -1.32360730e-02 1.56826179e+02] [ 9.84643241e-01 1.35039284e-01 -1.10643931e-01 1.10531745e+02] [ 1.11417661e-01 1.83791257e-03 9.93771969e-01 2.36702379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.83, Y:110.56, Z:23.67 [[ 1.37512776e-01 -9.90412109e-01 -1.31943825e-02 1.56830997e+02] [ 9.84214375e-01 1.38126335e-01 -1.10648903e-01 1.10557864e+02] [ 1.11410505e-01 2.22953689e-03 9.93771970e-01 2.36730864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.84, Y:110.59, Z:23.68 [[ 1.40601220e-01 -9.89981457e-01 -1.29619315e-02 1.56836492e+02] [ 9.83779390e-01 1.41169476e-01 -1.10676517e-01 1.10585024e+02] [ 1.11397529e-01 2.80957226e-03 9.93771954e-01 2.36772111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.84, Y:110.61, Z:23.68 [[ 1.40223851e-01 -9.90032993e-01 -1.31127394e-02 1.56839595e+02] [ 9.83832728e-01 1.40811319e-01 -1.10658648e-01 1.10613133e+02] [ 1.11402135e-01 2.61623956e-03 9.93771966e-01 2.36803715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.85, Y:110.64, Z:23.68 [[ 1.43882987e-01 -9.89508390e-01 -1.30702978e-02 1.56850714e+02] [ 9.83305566e-01 1.44442786e-01 -1.10663661e-01 1.10639541e+02] [ 1.11390531e-01 3.07052152e-03 9.93771967e-01 2.36827866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.86, Y:110.67, Z:23.68 [[ 1.45586919e-01 -9.89259683e-01 -1.30279941e-02 1.56859050e+02] [ 9.83055488e-01 1.46131307e-01 -1.10668641e-01 1.10665039e+02] [ 1.11383822e-01 3.30466536e-03 9.93771967e-01 2.36827736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.87, Y:110.69, Z:23.68 [[ 1.47542044e-01 -9.88970634e-01 -1.29780408e-02 1.56870975e+02] [ 9.82764901e-01 1.48068583e-01 -1.10674499e-01 1.10691856e+02] [ 1.11375469e-01 3.57477875e-03 9.93771969e-01 2.36815383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.88, Y:110.72, Z:23.68 [[ 1.48749120e-01 -9.88790367e-01 -1.29347776e-02 1.56877707e+02] [ 9.82583594e-01 1.49263247e-01 -1.10679555e-01 1.10718344e+02] [ 1.11369565e-01 3.75398618e-03 9.93771970e-01 2.36829307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.89, Y:110.74, Z:23.69 [[ 1.53334751e-01 -9.88090239e-01 -1.28893119e-02 1.56887945e+02] [ 9.81880753e-01 1.53814992e-01 -1.10684849e-01 1.10744727e+02] [ 1.11349189e-01 4.31606655e-03 9.93771971e-01 2.36882614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.90, Y:110.77, Z:23.69 [[ 1.62180093e-01 -9.86677543e-01 -1.28469092e-02 1.56900229e+02] [ 9.80463683e-01 1.62599943e-01 -1.10689771e-01 1.10768833e+02] [ 1.11304018e-01 5.35574941e-03 9.93771972e-01 2.36917964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:110.80, Z:23.69 [[ 1.63251323e-01 -9.86508666e-01 -1.22334420e-02 1.56906766e+02] [ 9.80289995e-01 1.63595749e-01 -1.10760810e-01 1.10797300e+02] [ 1.11267838e-01 6.08952801e-03 9.93771798e-01 2.36931012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.16710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.91, Y:110.82, Z:23.69 [[ 1.66220595e-01 -9.86005370e-01 -1.28110770e-02 1.56914292e+02] [ 9.79789583e-01 1.66610976e-01 -1.10693977e-01 1.10820889e+02] [ 1.11279322e-01 5.84745888e-03 9.93771966e-01 2.36947396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.93, Y:110.85, Z:23.69 [[ 1.61408664e-01 -9.86814902e-01 -1.19829910e-02 1.56926761e+02] [ 9.80595178e-01 1.61736663e-01 -1.10789659e-01 1.10850768e+02] [ 1.11266975e-01 6.13194761e-03 9.93771633e-01 2.36942895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.22710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:156.94, Y:110.88, Z:23.70 [[ 1.57069534e-01 -9.87499356e-01 -1.31978788e-02 1.56940157e+02] [ 9.81290637e-01 1.57560811e-01 -1.10649342e-01 1.10875833e+02] [ 1.11345622e-01 4.42868566e-03 9.93771875e-01 2.36980189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.95, Y:110.90, Z:23.70 [[ 1.53845282e-01 -9.88012280e-01 -1.27814084e-02 1.56947475e+02] [ 9.81801638e-01 1.54310245e-01 -1.10697296e-01 1.10901886e+02] [ 1.11342590e-01 4.48144896e-03 9.93771978e-01 2.37029310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:110.93, Z:23.71 [[ 1.47113418e-01 -9.89040762e-01 -1.24905346e-02 1.56958620e+02] [ 9.82830843e-01 1.47588143e-01 -1.10730639e-01 1.10928470e+02] [ 1.11360571e-01 4.01388011e-03 9.93771962e-01 2.37084595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:110.95, Z:23.72 [[ 1.40293339e-01 -9.90024493e-01 -1.30108280e-02 1.56970242e+02] [ 9.83823069e-01 1.40868985e-01 -1.10671127e-01 1.10953294e+02] [ 1.11399948e-01 2.72606913e-03 9.93771916e-01 2.37153108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.98, Y:110.98, Z:23.72 [[ 1.37631368e-01 -9.90403111e-01 -1.26208201e-02 1.56977874e+02] [ 9.84199325e-01 1.38180120e-01 -1.10715594e-01 1.10977977e+02] [ 1.11397015e-01 2.81653599e-03 9.93771992e-01 2.37195635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:156.99, Y:111.00, Z:23.72 [[ 1.29547470e-01 -9.91501329e-01 -1.19401816e-02 1.56987140e+02] [ 9.85295150e-01 1.30070809e-01 -1.10792835e-01 1.11004555e+02] [ 1.11404312e-01 2.58832837e-03 9.93771795e-01 2.37218221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:111.03, Z:23.72 [[ 1.26650453e-01 -9.91867854e-01 -1.25627702e-02 1.56993755e+02] [ 9.85669884e-01 1.27261423e-01 -1.10722217e-01 1.11030030e+02] [ 1.11420563e-01 1.64027463e-03 9.93771990e-01 2.37248527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:111.06, Z:23.73 [[ 1.20722227e-01 -9.92607455e-01 -1.25133636e-02 1.57004560e+02] [ 9.86412674e-01 1.21364706e-01 -1.10727800e-01 1.11056283e+02] [ 1.11427921e-01 1.02396618e-03 9.93771991e-01 2.37285615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.01, Y:111.08, Z:23.73 [[ 1.12547217e-01 -9.93568286e-01 -1.24573367e-02 1.57010660e+02] [ 9.87378307e-01 1.13234424e-01 -1.10734111e-01 1.11083199e+02] [ 1.11432500e-01 1.62711999e-04 9.93771992e-01 2.37290802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.01, Y:111.11, Z:23.73 [[ 1.07944685e-01 -9.94079283e-01 -1.24226931e-02 1.57013347e+02] [ 9.87892109e-01 1.08656692e-01 -1.10737997e-01 1.11108816e+02] [ 1.11432158e-01 -3.18702223e-04 9.93771992e-01 2.37323369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.02, Y:111.14, Z:23.74 [[ 9.92090425e-02 -9.94989281e-01 -1.24054714e-02 1.57016897e+02] [ 9.88808363e-01 9.99734506e-02 -1.10739921e-01 1.11135191e+02] [ 1.11425252e-01 -1.28023235e-03 9.93771993e-01 2.37361768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.02, Y:111.16, Z:23.74 [[ 8.90382549e-02 -9.95952333e-01 -1.22939153e-02 1.57020772e+02] [ 9.89777900e-01 8.98533734e-02 -1.10752340e-01 1.11161745e+02] [ 1.11408701e-01 -2.30705055e-03 9.93771995e-01 2.37397071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.02, Y:111.19, Z:23.74 [[ 8.36492041e-02 -9.96421832e-01 -1.20972803e-02 1.57022801e+02] [ 9.90248914e-01 8.44758686e-02 -1.10774163e-01 1.11189166e+02] [ 1.11399723e-01 -2.71314811e-03 9.93771976e-01 2.37419026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.02, Y:111.22, Z:23.74 [[ 7.76643452e-02 -9.96904235e-01 -1.22554377e-02 1.57018994e+02] [ 9.90738890e-01 7.85456173e-02 -1.10756664e-01 1.11215895e+02] [ 1.11376399e-01 -3.54009491e-03 9.93771989e-01 2.37449405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.02, Y:111.24, Z:23.75 [[ 7.65281193e-02 -9.96992732e-01 -1.22040353e-02 1.57017536e+02] [ 9.90827577e-01 7.74107131e-02 -1.10762328e-01 1.11242090e+02] [ 1.11373959e-01 -3.61566210e-03 9.93771990e-01 2.37482430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.01, Y:111.27, Z:23.75 [[ 7.68733378e-02 -9.96966630e-01 -1.21667186e-02 1.57014104e+02] [ 9.90800580e-01 7.77496552e-02 -1.10766427e-01 1.11270655e+02] [ 1.11376390e-01 -3.53980689e-03 9.93771991e-01 2.37531107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.02, Y:111.30, Z:23.75 [[ 7.82790574e-02 -9.96857764e-01 -1.21238457e-02 1.57015424e+02] [ 9.90689818e-01 7.91419197e-02 -1.10771120e-01 1.11298148e+02] [ 1.11382555e-01 -3.33991161e-03 9.93771992e-01 2.37533105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.01, Y:111.33, Z:23.76 [[ 7.67760217e-02 -9.96977793e-01 -1.18626556e-02 1.57010593e+02] [ 9.90807100e-01 7.76191862e-02 -1.10799605e-01 1.11326560e+02] [ 1.11385516e-01 -3.24685048e-03 9.93771968e-01 2.37588258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.00, Y:111.35, Z:23.76 [[ 7.89618301e-02 -9.96804853e-01 -1.20463390e-02 1.57002597e+02] [ 9.90635119e-01 7.98118616e-02 -1.10779633e-01 1.11353578e+02] [ 1.11387117e-01 -3.18616392e-03 9.93771985e-01 2.37609935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79710568099998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:157.00, Y:111.38, Z:23.76 [[ 8.04703859e-02 -9.96686085e-01 -1.18897188e-02 1.57000533e+02] [ 9.90512719e-01 8.12936818e-02 -1.10796616e-01 1.11382169e+02] [ 1.11396005e-01 -2.86107127e-03 9.93771978e-01 2.37640143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.00, Y:111.41, Z:23.77 [[ 8.14211231e-02 -9.96607139e-01 -1.20337650e-02 1.56998185e+02] [ 9.90435133e-01 8.22545322e-02 -1.10781045e-01 1.11410574e+02] [ 1.11395012e-01 -2.89874653e-03 9.93771980e-01 2.37696254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.00, Y:111.44, Z:23.77 [[ 7.96163729e-02 -9.96753407e-01 -1.19949879e-02 1.56997875e+02] [ 9.90582335e-01 8.04566500e-02 -1.10785221e-01 1.11436280e+02] [ 1.11390622e-01 -3.06170572e-03 9.93771984e-01 2.37748301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.99, Y:111.46, Z:23.78 [[ 7.65632331e-02 -9.96993907e-01 -1.18836628e-02 1.56993323e+02] [ 9.90823735e-01 7.74100466e-02 -1.10797162e-01 1.11463802e+02] [ 1.11384010e-01 -3.29162629e-03 9.93771990e-01 2.37771857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.99, Y:111.49, Z:23.78 [[ 7.56785785e-02 -9.97062011e-01 -1.18363366e-02 1.56993072e+02] [ 9.90891871e-01 7.65256120e-02 -1.10802217e-01 1.11490257e+02] [ 1.11382464e-01 -3.34317546e-03 9.93771991e-01 2.37778639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.94710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.99, Y:111.52, Z:23.77 [[ 7.64706507e-02 -9.97002162e-01 -1.17867882e-02 1.56990208e+02] [ 9.90830604e-01 7.73072800e-02 -1.10807488e-01 1.11516881e+02] [ 1.11386510e-01 -3.20518978e-03 9.93771992e-01 2.37743109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.98, Y:111.55, Z:23.78 [[ 7.94956942e-02 -9.96769144e-01 -1.14764593e-02 1.56984299e+02] [ 9.90590570e-01 8.02791103e-02 -1.10840370e-01 1.11545283e+02] [ 1.11403580e-01 -2.55714019e-03 9.93771957e-01 2.37825060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.98, Y:111.57, Z:23.79 [[ 8.19167938e-02 -9.96570455e-01 -1.17032708e-02 1.56980881e+02] [ 9.90393209e-01 8.27104099e-02 -1.10816419e-01 1.11572348e+02] [ 1.11404352e-01 -2.51311417e-03 9.93771983e-01 2.37873818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.97, Y:111.60, Z:23.79 [[ 9.64451088e-02 -9.95270021e-01 -1.16587770e-02 1.56973527e+02] [ 9.89081295e-01 9.71435788e-02 -1.10821100e-01 1.11600089e+02] [ 1.11429494e-01 -8.43325207e-04 9.93771984e-01 2.37923412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.97, Y:111.63, Z:23.79 [[ 1.04099369e-01 -9.94499544e-01 -1.15749078e-02 1.56971589e+02] [ 9.88304653e-01 1.04740859e-01 -1.10829891e-01 1.11627888e+02] [ 1.11432641e-01 9.77864929e-05 9.93771984e-01 2.37923170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:111.66, Z:23.80 [[ 1.17948697e-01 -9.92952167e-01 -1.15800893e-02 1.56966407e+02] [ 9.86748990e-01 1.18504371e-01 -1.10829349e-01 1.11655949e+02] [ 1.11420534e-01 1.64553593e-03 9.93771984e-01 2.37994755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.96, Y:111.68, Z:23.81 [[ 1.27686453e-01 -9.91744577e-01 -1.17840428e-02 1.56961998e+02] [ 9.85538075e-01 1.28204007e-01 -1.10808104e-01 1.11682342e+02] [ 1.11404097e-01 2.53507087e-03 9.93771956e-01 2.38051267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:111.71, Z:23.81 [[ 1.31323210e-01 -9.91273049e-01 -1.14872122e-02 1.56962576e+02] [ 9.85062181e-01 1.31784837e-01 -1.10838872e-01 1.11708182e+02] [ 1.11385427e-01 3.24009813e-03 9.93772000e-01 2.38103587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.96, Y:111.74, Z:23.81 [[ 1.32610226e-01 -9.91107342e-01 -1.09893181e-02 1.56964704e+02] [ 9.84891976e-01 1.33008151e-01 -1.10890157e-01 1.11736037e+02] [ 1.11365718e-01 3.88187756e-03 9.93771909e-01 2.38096515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:111.76, Z:23.81 [[ 1.32848642e-01 -9.91070842e-01 -1.13940952e-02 1.56968387e+02] [ 9.84858513e-01 1.33290306e-01 -1.10848559e-01 1.11762803e+02] [ 1.11377497e-01 3.50450893e-03 9.93771992e-01 2.38114677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.97, Y:111.79, Z:23.81 [[ 1.30847318e-01 -9.91337591e-01 -1.13472206e-02 1.56972181e+02] [ 9.85125788e-01 1.31296287e-01 -1.10853358e-01 1.11790419e+02] [ 1.11382949e-01 3.32642487e-03 9.93771993e-01 2.38108517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.98, Y:111.82, Z:23.81 [[ 1.31235284e-01 -9.91286784e-01 -1.13054073e-02 1.56976285e+02] [ 9.85074472e-01 1.31677150e-01 -1.10857622e-01 1.11817570e+02] [ 1.11380359e-01 3.41176333e-03 9.93771994e-01 2.38138514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:156.98, Y:111.84, Z:23.82 [[ 1.30201352e-01 -9.91423278e-01 -1.12912242e-02 1.56980494e+02] [ 9.85211317e-01 1.30648113e-01 -1.10859062e-01 1.11843259e+02] [ 1.11383432e-01 3.30975785e-03 9.93771994e-01 2.38162335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:111.87, Z:23.82 [[ 1.27485036e-01 -9.91777173e-01 -1.12073583e-02 1.56987951e+02] [ 9.85565770e-01 1.27939443e-01 -1.10867540e-01 1.11868603e+02] [ 1.11389759e-01 3.08836358e-03 9.93771998e-01 2.38203475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.99, Y:111.90, Z:23.82 [[ 1.24068959e-01 -9.92216805e-01 -1.06162366e-02 1.56993038e+02] [ 9.86002156e-01 1.24478730e-01 -1.10926975e-01 1.11896087e+02] [ 1.11385104e-01 3.29496205e-03 9.93771856e-01 2.38203916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.00, Y:111.92, Z:23.82 [[ 1.19369356e-01 -9.92787412e-01 -1.11404906e-02 1.56998469e+02] [ 9.86579327e-01 1.19867085e-01 -1.10874314e-01 1.11922574e+02] [ 1.11410001e-01 2.24401771e-03 9.93771994e-01 2.38235630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:111.95, Z:23.83 [[ 1.17138709e-01 -9.93053614e-01 -1.10924218e-02 1.57000833e+02] [ 9.86846224e-01 1.17645018e-01 -1.10879123e-01 1.11949883e+02] [ 1.11413882e-01 2.04172279e-03 9.93771995e-01 2.38274177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:111.98, Z:23.83 [[ 1.14634762e-01 -9.93346257e-01 -1.10492530e-02 1.57004762e+02] [ 9.87139760e-01 1.15151902e-01 -1.10883425e-01 1.11977498e+02] [ 1.11417977e-01 1.80393803e-03 9.93771996e-01 2.38305638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.01, Y:112.00, Z:23.83 [[ 1.11576981e-01 -9.93694852e-01 -1.10053828e-02 1.57010257e+02] [ 9.87489556e-01 1.12108325e-01 -1.10887779e-01 1.12003937e+02] [ 1.11422410e-01 1.50482302e-03 9.93771997e-01 2.38297738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.01, Y:112.03, Z:23.83 [[ 1.07956878e-01 -9.94095199e-01 -1.09566492e-02 1.57013961e+02] [ 9.87891398e-01 1.08505385e-01 -1.10892594e-01 1.12030559e+02] [ 1.11426651e-01 1.14763868e-03 9.93771998e-01 2.38319586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:112.06, Z:23.84 [[ 1.00057037e-01 -9.94921903e-01 -1.09085725e-02 1.57020276e+02] [ 9.88722141e-01 1.00649448e-01 -1.10897323e-01 1.12057929e+02] [ 1.11432118e-01 3.10510517e-04 9.93771999e-01 2.38367893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.03, Y:112.08, Z:23.84 [[ 9.19611094e-02 -9.95703330e-01 -1.08643189e-02 1.57027291e+02] [ 9.89508084e-01 9.25989995e-02 -1.10901659e-01 1.12084341e+02] [ 1.11431176e-01 -5.51691798e-04 9.93772000e-01 2.38399037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.03, Y:112.11, Z:23.85 [[ 8.79085524e-02 -9.96072743e-01 -1.05440162e-02 1.57031348e+02] [ 9.89876394e-01 8.85359825e-02 -1.10932884e-01 1.12111964e+02] [ 1.11430747e-01 -6.85323545e-04 9.93771965e-01 2.38454576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.03, Y:112.14, Z:23.85 [[ 8.08481022e-02 -9.96667974e-01 -1.07951372e-02 1.57033203e+02] [ 9.90479351e-01 8.15473657e-02 -1.10908445e-01 1.12139122e+02] [ 1.11419210e-01 -1.72562321e-03 9.93771997e-01 2.38472940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:112.17, Z:23.85 [[ 7.85988027e-02 -9.96852493e-01 -1.03602768e-02 1.57036356e+02] [ 9.90660000e-01 7.92636518e-02 -1.10950612e-01 1.12166755e+02] [ 1.11422588e-01 -1.54292650e-03 9.93771919e-01 2.38510013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:112.19, Z:23.86 [[ 7.45659301e-02 -9.97158289e-01 -1.07363757e-02 1.57038979e+02] [ 9.90973411e-01 7.52976450e-02 -1.10914215e-01 1.12194439e+02] [ 1.11407452e-01 -2.36904124e-03 9.93771990e-01 2.38567403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.72710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.04, Y:112.22, Z:23.86 [[ 7.03897161e-02 -9.97462257e-01 -1.06926574e-02 1.57039552e+02] [ 9.91279906e-01 7.11424651e-02 -1.10918429e-01 1.12221371e+02] [ 1.11397649e-01 -2.79189974e-03 9.93771991e-01 2.38569961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:112.25, Z:23.86 [[ 6.21661021e-02 -9.98017698e-01 -9.80056201e-03 1.57038554e+02] [ 9.91829300e-01 6.28706931e-02 -1.11004127e-01 1.12248923e+02] [ 1.11400252e-01 -2.81979064e-03 9.93771620e-01 2.38597658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:112.28, Z:23.86 [[ 5.79633149e-02 -9.98271954e-01 -9.66227178e-03 1.57039216e+02] [ 9.92084657e-01 5.86785946e-02 -1.11017370e-01 1.12277478e+02] [ 1.11392496e-01 -3.15085680e-03 9.93771495e-01 2.38648443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:112.30, Z:23.87 [[ 5.75553918e-02 -9.98285798e-01 -1.06226984e-02 1.57041686e+02] [ 9.92112564e-01 5.83798297e-02 -1.10925448e-01 1.12304833e+02] [ 1.11355450e-01 -4.15455492e-03 9.93771957e-01 2.38678923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:112.33, Z:23.87 [[ 4.95557288e-02 -9.98715353e-01 -1.05770449e-02 1.57037269e+02] [ 9.92548208e-01 5.04245371e-02 -1.10929801e-01 1.12332723e+02] [ 1.11320638e-01 -5.00101982e-03 9.93771958e-01 2.38716876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87710568099996 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:157.03, Y:112.36, Z:23.87 [[ 4.41100773e-02 -9.98971195e-01 -1.05286868e-02 1.57034700e+02] [ 9.92808098e-01 4.50071389e-02 -1.10934391e-01 1.12359154e+02] [ 1.11294127e-01 -5.55964094e-03 9.93771960e-01 2.38720280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.03, Y:112.39, Z:23.87 [[ 4.02406048e-02 -9.99135075e-01 -1.04783231e-02 1.57029649e+02] [ 9.92974669e-01 4.11559543e-02 -1.10939148e-01 1.12386612e+02] [ 1.11274439e-01 -5.94045101e-03 9.93771961e-01 2.38748648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.03, Y:112.41, Z:23.88 [[ 3.89883663e-02 -9.99185224e-01 -1.04305058e-02 1.57027367e+02] [ 9.93025180e-01 3.99061423e-02 -1.10943643e-01 1.12412949e+02] [ 1.11269490e-01 -6.03224344e-03 9.93771962e-01 2.38781301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:112.44, Z:23.88 [[ 3.85758924e-02 -9.99201751e-01 -1.03808056e-02 1.57019945e+02] [ 9.93041268e-01 3.94907092e-02 -1.10948294e-01 1.12440597e+02] [ 1.11269675e-01 -6.02863887e-03 9.93771963e-01 2.38813604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.02, Y:112.47, Z:23.88 [[ 3.96609493e-02 -9.99159750e-01 -1.03345330e-02 1.57017194e+02] [ 9.92997525e-01 4.05639518e-02 -1.10952604e-01 1.12466905e+02] [ 1.11278585e-01 -5.86168011e-03 9.93771964e-01 2.38845736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.01, Y:112.50, Z:23.88 [[ 3.88528004e-02 -9.99196896e-01 -9.79912319e-03 1.57011185e+02] [ 9.93026843e-01 3.97014821e-02 -1.11002166e-01 1.12495789e+02] [ 1.11302059e-01 -5.41804738e-03 9.93771853e-01 2.38825991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.01, Y:112.52, Z:23.89 [[ 3.80753739e-02 -9.99222365e-01 -1.02435624e-02 1.57009281e+02] [ 9.93060085e-01 3.89780822e-02 -1.10961148e-01 1.12523117e+02] [ 1.11274135e-01 -5.94758574e-03 9.93771952e-01 2.38850517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:112.55, Z:23.89 [[ 3.69551909e-02 -9.99264884e-01 -1.01982719e-02 1.57000433e+02] [ 9.93102883e-01 3.78597924e-02 -1.10965310e-01 1.12550303e+02] [ 1.11269842e-01 -6.02718901e-03 9.93771953e-01 2.38923122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:112.58, Z:23.90 [[ 3.81395900e-02 -9.99220848e-01 -1.01522827e-02 1.56990322e+02] [ 9.93057040e-01 3.90317940e-02 -1.10969518e-01 1.12579183e+02] [ 1.11279317e-01 -5.84946395e-03 9.93771954e-01 2.38974373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:112.61, Z:23.90 [[ 4.05360315e-02 -9.99126921e-01 -1.01106789e-02 1.56986639e+02] [ 9.92960338e-01 4.14088402e-02 -1.10973308e-01 1.12606468e+02] [ 1.11295091e-01 -5.54108565e-03 9.93771955e-01 2.38985888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.98, Y:112.63, Z:23.90 [[ 4.73822450e-02 -9.98826102e-01 -1.00667989e-02 1.56975982e+02] [ 9.92653031e-01 4.82079063e-02 -1.10977289e-01 1.12634377e+02] [ 1.11332312e-01 -4.73448531e-03 9.93771956e-01 2.39009325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:156.97, Y:112.66, Z:23.91 [[ 5.49934498e-02 -9.98436421e-01 -1.00216725e-02 1.56965481e+02] [ 9.92256608e-01 5.57670290e-02 -1.10981364e-01 1.12661917e+02] [ 1.11366715e-01 -3.84082270e-03 9.93771957e-01 2.39061776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23710568099997 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:156.96, Y:112.69, Z:23.91 [[ 5.97512942e-02 -9.98163440e-01 -9.97651402e-03 1.56961166e+02] [ 9.91979409e-01 6.04903954e-02 -1.10985423e-01 1.12688337e+02] [ 1.11385075e-01 -3.26497381e-03 9.93771958e-01 2.39081373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26710568099998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:156.95, Y:112.72, Z:23.91 [[ 7.02703985e-02 -9.97478560e-01 -9.92942534e-03 1.56951357e+02] [ 9.91286515e-01 7.09390303e-02 -1.10989636e-01 1.12716138e+02] [ 1.11414166e-01 -2.04361949e-03 9.93771959e-01 2.39089260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29710568099998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:156.95, Y:112.74, Z:23.91 [[ 7.67427937e-02 -9.97001918e-01 -9.88526374e-03 1.56948974e+02] [ 9.90805169e-01 7.73663078e-02 -1.10993569e-01 1.12741495e+02] [ 1.11425588e-01 -1.27641383e-03 9.93771960e-01 2.39101254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32710568099998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:156.94, Y:112.77, Z:23.91 [[ 8.35762753e-02 -9.96460250e-01 -9.05406191e-03 1.56941654e+02] [ 9.90251087e-01 8.40646744e-02 -1.11067162e-01 1.12771029e+02] [ 1.11435139e-01 3.16785051e-04 9.93771659e-01 2.39127931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35710568099998 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:156.94, Y:112.80, Z:23.91 [[ 8.68405682e-02 -9.96173752e-01 -9.82711648e-03 1.56940772e+02] [ 9.89970418e-01 8.73947854e-02 -1.10998754e-01 1.12799531e+02] [ 1.11432884e-01 -8.93597105e-05 9.93771958e-01 2.39149228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38710568099998 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:156.94, Y:112.83, Z:23.91 [[ 9.19586845e-02 -9.95714747e-01 -9.78482462e-03 1.56938779e+02] [ 9.89508253e-01 9.24763014e-02 -1.11002482e-01 1.12827685e+02] [ 1.11431673e-01 5.25477550e-04 9.93771959e-01 2.39145887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41710568099998 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:156.94, Y:112.86, Z:23.92 [[ 9.51597754e-02 -9.95414339e-01 -9.74218819e-03 1.56937685e+02] [ 9.89205835e-01 9.56526793e-02 -1.11006224e-01 1.12856017e+02] [ 1.11429054e-01 9.26297981e-04 9.93771960e-01 2.39154941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.44710568099998 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:156.94, Y:112.88, Z:23.92 [[ 9.65273565e-02 -9.95283071e-01 -9.69936570e-03 1.56938701e+02] [ 9.89073525e-01 9.70069539e-02 -1.11009966e-01 1.12882231e+02] [ 1.11427246e-01 1.12211275e-03 9.93771961e-01 2.39182571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47710568099998 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:156.94, Y:112.91, Z:23.92 [[ 9.73264962e-02 -9.95208696e-01 -9.33832715e-03 1.56939887e+02] [ 9.88995771e-01 9.77608356e-02 -1.11041363e-01 1.12910510e+02] [ 1.11422253e-01 1.57170077e-03 9.93771911e-01 2.39197988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50710568099996 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:156.94, Y:112.94, Z:23.92 [[ 9.57643665e-02 -9.95359835e-01 -9.38004682e-03 1.56942121e+02] [ 9.89147945e-01 9.62131103e-02 -1.11037742e-01 1.12939086e+02] [ 1.11424992e-01 1.35520495e-03 9.93771923e-01 2.39223173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53710568099996 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:156.95, Y:112.97, Z:23.92 [[ 9.23975893e-02 -9.95675849e-01 -9.60677184e-03 1.56946440e+02] [ 9.89467502e-01 9.28926194e-02 -1.11018125e-01 1.12966061e+02] [ 1.11430464e-01 7.52218607e-04 9.93771949e-01 2.39221080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56710568099996 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:156.95, Y:112.99, Z:23.93 [[ 8.88801227e-02 -9.95996438e-01 -9.56131267e-03 1.56952538e+02] [ 9.89789460e-01 8.93920115e-02 -1.11022040e-01 1.12993647e+02] [ 1.11432262e-01 4.03966064e-04 9.93771950e-01 2.39255076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59710568099996 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:156.96, Y:113.02, Z:23.93 [[ 8.69398644e-02 -9.96168084e-01 -9.51887254e-03 1.56956208e+02] [ 9.89961718e-01 8.74591127e-02 -1.11025679e-01 1.13020624e+02] [ 1.11432750e-01 2.29238073e-04 9.93771951e-01 2.39284440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62710568099996 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:156.96, Y:113.05, Z:23.93 [[ 8.25728747e-02 -9.96539861e-01 -9.48822221e-03 1.56960951e+02] [ 9.90335531e-01 8.31159054e-02 -1.11028299e-01 1.13048432e+02] [ 1.11432747e-01 -2.28597801e-04 9.93771951e-01 2.39320577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65710568099996 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:156.97, Y:113.08, Z:23.94 [[ 7.85322765e-02 -9.96869329e-01 -9.17728974e-03 1.56965067e+02] [ 9.90664139e-01 7.90658209e-02 -1.11054762e-01 1.13076411e+02] [ 1.11432696e-01 -3.70228548e-04 9.93771914e-01 2.39366147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68710568099996 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:156.97, Y:113.10, Z:23.94 [[ 7.13603328e-02 -9.97406157e-01 -9.41596345e-03 1.56974466e+02] [ 9.91207528e-01 7.19650621e-02 -1.11034525e-01 1.13101952e+02] [ 1.11424140e-01 -1.40971319e-03 9.93771943e-01 2.39398358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71710568099996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:156.98, Y:113.13, Z:23.95 [[ 6.26934808e-02 -9.97988676e-01 -9.38779971e-03 1.56980803e+02] [ 9.91795202e-01 6.33489009e-02 -1.11036906e-01 1.13128666e+02] [ 1.11408282e-01 -2.34948454e-03 9.93771943e-01 2.39478790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74710568099997 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:156.98, Y:113.16, Z:23.95 [[ 5.80181277e-02 -9.98271785e-01 -9.34559757e-03 1.56984207e+02] [ 9.92080933e-01 5.86978602e-02 -1.11040458e-01 1.13156235e+02] [ 1.11397123e-01 -2.82922965e-03 9.93771944e-01 2.39528776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77710568099997 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:156.99, Y:113.18, Z:23.96 [[ 5.06872475e-02 -9.98671242e-01 -9.30336623e-03 1.56989370e+02] [ 9.92485001e-01 5.14077243e-02 -1.11043997e-01 1.13182788e+02] [ 1.11374711e-01 -3.60493689e-03 9.93771945e-01 2.39570767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80710568099997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:156.99, Y:113.21, Z:23.96 [[ 4.67369685e-02 -9.98864191e-01 -9.27276430e-03 1.56993103e+02] [ 9.92680439e-01 4.74785095e-02 -1.11046552e-01 1.13209858e+02] [ 1.11360681e-01 -4.01491252e-03 9.93771945e-01 2.39606239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83710568099997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:157.00, Y:113.24, Z:23.96 [[ 3.83320657e-02 -9.99222424e-01 -9.23035702e-03 1.56997284e+02] [ 9.93044529e-01 3.91208995e-02 -1.11050077e-01 1.13236042e+02] [ 1.11324827e-01 -4.90937668e-03 9.93771946e-01 2.39623423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86710568099997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:157.00, Y:113.26, Z:23.97 [[ 3.38413206e-02 -9.99384878e-01 -9.19949198e-03 1.56999267e+02] [ 9.93210138e-01 3.46544873e-02 -1.11052634e-01 1.13263967e+02] [ 1.11303127e-01 -5.37886091e-03 9.93771947e-01 2.39653296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89710568099997 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:157.00, Y:113.29, Z:23.97 [[ 2.97316163e-02 -9.99515960e-01 -9.15844196e-03 1.57000405e+02] [ 9.93344001e-01 3.05656178e-02 -1.11056019e-01 1.13291664e+02] [ 1.11282197e-01 -5.79560842e-03 9.93771947e-01 2.39678552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92710568099997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:157.00, Y:113.32, Z:23.97 [[ 3.09913272e-02 -9.99478070e-01 -9.11734501e-03 1.57001094e+02] [ 9.93304457e-01 3.18129944e-02 -1.11059393e-01 1.13319525e+02] [ 1.11291478e-01 -5.61442144e-03 9.93771948e-01 2.39732021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95710568099997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:157.00, Y:113.35, Z:23.98 [[ 3.89031378e-02 -9.99201771e-01 -9.07555897e-03 1.56996765e+02] [ 9.93021270e-01 3.96712671e-02 -1.11062808e-01 1.13347815e+02] [ 1.11334193e-01 -4.69153137e-03 9.93771949e-01 2.39789093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98710568099997 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:156.99, Y:113.38, Z:23.98 [[ 5.18374836e-02 -9.98614675e-01 -9.03357419e-03 1.56991869e+02] [ 9.92424231e-01 5.25208582e-02 -1.11066223e-01 1.13377398e+02] [ 1.11386811e-01 -3.20774441e-03 9.93771950e-01 2.39784634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01710568099998 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:156.99, Y:113.40, Z:23.98 [[ 5.86110420e-02 -9.98238600e-01 -9.18933868e-03 1.56990070e+02] [ 9.92045463e-01 5.92697250e-02 -1.11053591e-01 1.13403915e+02] [ 1.11402631e-01 -2.60727507e-03 9.93771934e-01 2.39816693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04710568099998 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:156.99, Y:113.43, Z:23.98 [[ 7.30208555e-02 -9.97290022e-01 -8.97586695e-03 1.56986124e+02] [ 9.91085906e-01 7.35662607e-02 -1.11070844e-01 1.13431845e+02] [ 1.11430166e-01 -7.85367148e-04 9.93771956e-01 2.39816356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07710568099998 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:156.99, Y:113.46, Z:23.98 [[ 7.87946776e-02 -9.96850826e-01 -8.93475070e-03 1.56985186e+02] [ 9.90643282e-01 7.92995660e-02 -1.11074152e-01 1.13459707e+02] [ 1.11432882e-01 -9.90987648e-05 9.93771957e-01 2.39835056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10710568099998 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:156.98, Y:113.49, Z:23.98 [[ 8.66631993e-02 -9.96197987e-01 -8.89160062e-03 1.56981982e+02] [ 9.89986300e-01 8.71142472e-02 -1.11077606e-01 1.13488248e+02] [ 1.11429873e-01 8.23777912e-04 9.93771958e-01 2.39842722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13710568099998 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:156.98, Y:113.52, Z:23.98 [[ 9.14488975e-02 -9.95770454e-01 -8.84887913e-03 1.56982618e+02] [ 9.89556351e-01 9.18653284e-02 -1.11081009e-01 1.13515327e+02] [ 1.11424092e-01 1.40177131e-03 9.93771959e-01 2.39847238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.16710568099998 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:156.99, Y:113.54, Z:23.99 [[ 9.25963791e-02 -9.95664800e-01 -8.80434951e-03 1.56985633e+02] [ 9.89449897e-01 9.30006814e-02 -1.11084539e-01 1.13542918e+02] [ 1.11421776e-01 1.57456336e-03 9.93771960e-01 2.39875670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19710568099998 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:156.99, Y:113.57, Z:24.00 [[ 9.48036281e-02 -9.95457441e-01 -8.76097014e-03 1.56991401e+02] [ 9.89241356e-01 9.51893110e-02 -1.11087960e-01 1.13569321e+02] [ 1.11417287e-01 1.86482768e-03 9.93771961e-01 2.39950472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.22710568099998 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:156.99, Y:113.60, Z:24.00 [[ 9.51790911e-02 -9.95421953e-01 -8.72211782e-03 1.56994690e+02] [ 9.89205458e-01 9.55580947e-02 -1.11091011e-01 1.13596463e+02] [ 1.11415900e-01 1.94557487e-03 9.93771962e-01 2.40008082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25710568099996 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:157.00, Y:113.62, Z:24.00 [[ 9.61383873e-02 -9.95330141e-01 -8.67878687e-03 1.56999981e+02] [ 9.89112996e-01 9.65065649e-02 -1.11094396e-01 1.13622437e+02] [ 1.11413161e-01 2.09613517e-03 9.93771963e-01 2.40036551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28710568099996 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:157.01, Y:113.65, Z:24.01 [[ 9.54358847e-02 -9.95398140e-01 -8.63336568e-03 1.57009622e+02] [ 9.89180956e-01 9.58033824e-02 -1.11097926e-01 1.13649702e+02] [ 1.11413774e-01 2.06276790e-03 9.93771964e-01 2.40059602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31710568099996 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:157.02, Y:113.68, Z:24.01 [[ 9.42364575e-02 -9.95512782e-01 -8.59017731e-03 1.57016845e+02] [ 9.89295757e-01 9.46066277e-02 -1.11101265e-01 1.13676114e+02] [ 1.11415417e-01 1.97156367e-03 9.93771965e-01 2.40103810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34710568099996 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:157.03, Y:113.70, Z:24.01 [[ 9.15356774e-02 -9.95765136e-01 -8.54478892e-03 1.57027814e+02] [ 9.89548826e-01 9.19176475e-02 -1.11104756e-01 1.13703416e+02] [ 1.11419659e-01 1.71456323e-03 9.93771966e-01 2.40148067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37710568099996 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:157.03, Y:113.73, Z:24.02 [[ 8.96262298e-02 -9.95939181e-01 -8.50216269e-03 1.57032762e+02] [ 9.89723316e-01 9.00153640e-02 -1.11108018e-01 1.13730595e+02] [ 1.11422153e-01 1.54340408e-03 9.93771967e-01 2.40177637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40710568099996 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:157.04, Y:113.76, Z:24.02 [[ 8.47882986e-02 -9.96363085e-01 -8.45851678e-03 1.57039753e+02] [ 9.90148858e-01 8.52027493e-02 -1.11111340e-01 1.13757143e+02] [ 1.11427927e-01 1.04575077e-03 9.93771968e-01 2.40182995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43710568099996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:157.05, Y:113.78, Z:24.02 [[ 8.06744134e-02 -9.96705001e-01 -8.41311479e-03 1.57049563e+02] [ 9.90492182e-01 8.11094527e-02 -1.11114778e-01 1.13779582e+02] [ 1.11431038e-01 6.30995124e-04 9.93771969e-01 2.40166896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46710568099996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:157.06, Y:113.81, Z:24.02 [[ 7.51818566e-02 -9.97145819e-01 -6.92132511e-03 1.57055864e+02] [ 9.90924261e-01 7.54848021e-02 -1.11225686e-01 1.13807509e+02] [ 1.11430683e-01 1.50364460e-03 9.93771071e-01 2.40198208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:157.07, Y:113.84, Z:24.03 [[ 6.21777122e-02 -9.98039090e-01 -7.20471050e-03 1.57067105e+02] [ 9.91824386e-01 6.25933081e-02 -1.11204613e-01 1.13836616e+02] [ 1.11437517e-01 -2.31359160e-04 9.93771415e-01 2.40260421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52710568099997 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:157.07, Y:113.86, Z:24.03 [[ 5.67782122e-02 -9.98352591e-01 -8.26669042e-03 1.57073085e+02] [ 9.92150473e-01 5.73456434e-02 -1.11125675e-01 1.13862925e+02] [ 1.11416664e-01 -1.89228366e-03 9.93771979e-01 2.40301793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.08, Y:113.89, Z:24.04 [[ 5.22361526e-02 -9.98600914e-01 -8.22181451e-03 1.57081840e+02] [ 9.92400965e-01 5.28267994e-02 -1.11128995e-01 1.13885972e+02] [ 1.11407848e-01 -2.35438550e-03 9.93771980e-01 2.40372866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.09, Y:113.91, Z:24.04 [[ 5.08481707e-02 -9.98683448e-01 -6.77003566e-03 1.57086280e+02] [ 9.92469900e-01 5.12858653e-02 -1.11235145e-01 1.13914045e+02] [ 1.11435905e-01 -1.06295297e-03 9.93771055e-01 2.40399385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.09, Y:113.94, Z:24.05 [[ 5.04181163e-02 -9.98700829e-01 -7.39377529e-03 1.57094795e+02] [ 9.92493540e-01 5.09279229e-02 -1.11188664e-01 1.13943670e+02] [ 1.11420760e-01 -1.73235122e-03 9.93771811e-01 2.40450493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.10, Y:113.97, Z:24.04 [[ 5.17636972e-02 -9.98622274e-01 -8.60655055e-03 1.57099095e+02] [ 9.92427041e-01 5.24000577e-02 -1.11098161e-01 1.13970102e+02] [ 1.11396082e-01 -2.79052191e-03 9.93772170e-01 2.40439259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.10, Y:114.00, Z:24.05 [[ 5.91084805e-02 -9.98217414e-01 -8.25728026e-03 1.57102655e+02] [ 9.92014147e-01 5.96603817e-02 -1.11124121e-01 1.13996937e+02] [ 1.11418666e-01 -1.62296088e-03 9.93772231e-01 2.40541863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.10, Y:114.02, Z:24.06 [[ 7.09904640e-02 -9.97443175e-01 -8.21381971e-03 1.57103277e+02] [ 9.91233407e-01 7.14636193e-02 -1.11127334e-01 1.14024012e+02] [ 1.11430190e-01 -2.52831505e-04 9.93772232e-01 2.40620582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.11, Y:114.05, Z:24.07 [[ 7.06002296e-02 -9.97471231e-01 -8.17013651e-03 1.57105115e+02] [ 9.91261279e-01 7.10709476e-02 -1.11130545e-01 1.14052219e+02] [ 1.11430181e-01 -2.52897939e-04 9.93772233e-01 2.40652321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.11, Y:114.08, Z:24.07 [[ 7.71737307e-02 -9.96984542e-01 -8.12638536e-03 1.57105885e+02] [ 9.90771287e-01 7.75986275e-02 -1.11133745e-01 1.14078714e+02] [ 1.11429222e-01 5.25216398e-04 9.93772234e-01 2.40716538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.10, Y:114.11, Z:24.08 [[ 8.51492621e-02 -9.96339102e-01 -7.61555695e-03 1.57103877e+02] [ 9.90119374e-01 8.54674490e-02 -1.11170776e-01 1.14106431e+02] [ 1.11414673e-01 1.92579907e-03 9.93772138e-01 2.40750892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.11, Y:114.13, Z:24.08 [[ 8.96761069e-02 -9.95938582e-01 -8.03345993e-03 1.57106172e+02] [ 9.89719907e-01 9.00126506e-02 -1.11140579e-01 1.14133057e+02] [ 1.11412304e-01 2.01577923e-03 9.93772225e-01 2.40762667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.11, Y:114.16, Z:24.08 [[ 9.06690241e-02 -9.95849044e-01 -7.98810279e-03 1.57108961e+02] [ 9.89629771e-01 9.09943073e-02 -1.11143839e-01 1.14160684e+02] [ 1.11409358e-01 2.17203909e-03 9.93772226e-01 2.40789793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.11, Y:114.19, Z:24.08 [[ 9.11646515e-02 -9.95803130e-01 -8.07051301e-03 1.57111689e+02] [ 9.89584172e-01 9.14960334e-02 -1.11137946e-01 1.14188565e+02] [ 1.11409935e-01 2.14540024e-03 9.93772219e-01 2.40814134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.11, Y:114.22, Z:24.08 [[ 9.10900629e-02 -9.95810012e-01 -8.06357463e-03 1.57114168e+02] [ 9.89591038e-01 9.14211365e-02 -1.11138440e-01 1.14215902e+02] [ 1.11409952e-01 2.14396627e-03 9.93772220e-01 2.40816348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.94710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.12, Y:114.24, Z:24.09 [[ 9.25890460e-02 -9.95673344e-01 -7.86518681e-03 1.57118492e+02] [ 9.89452793e-01 9.28886223e-02 -1.11152480e-01 1.14243325e+02] [ 1.11402148e-01 2.50927101e-03 9.93772240e-01 2.40850732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.12, Y:114.27, Z:24.09 [[ 9.19966534e-02 -9.95727654e-01 -7.94066687e-03 1.57121806e+02] [ 9.89507695e-01 9.23083522e-02 -1.11147156e-01 1.14270688e+02] [ 1.11405286e-01 2.36781539e-03 9.93772235e-01 2.40857214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.13, Y:114.30, Z:24.09 [[ 8.83247480e-02 -9.96062184e-01 -7.67226403e-03 1.57126930e+02] [ 9.89841883e-01 8.86294358e-02 -1.11165952e-01 1.14297023e+02] [ 1.11408190e-01 2.22437644e-03 9.93772241e-01 2.40877469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.13, Y:114.32, Z:24.09 [[ 8.20151715e-02 -9.96600910e-01 -7.75491492e-03 1.57134390e+02] [ 9.90383183e-01 8.23684622e-02 -1.11160187e-01 1.14323607e+02] [ 1.11421104e-01 1.43648445e-03 9.93772245e-01 2.40906816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.14, Y:114.35, Z:24.09 [[ 7.61053916e-02 -9.97072294e-01 -7.40343522e-03 1.57139408e+02] [ 9.90854386e-01 7.64563507e-02 -1.11184584e-01 1.14351125e+02] [ 1.11425108e-01 1.12602008e-03 9.93772196e-01 2.40948259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:114.38, Z:24.10 [[ 6.75114235e-02 -9.97688994e-01 -7.67327952e-03 1.57146611e+02] [ 9.91476408e-01 6.79460149e-02 -1.11165962e-01 1.14376944e+02] [ 1.11430426e-01 -1.02903243e-04 9.93772232e-01 2.40991203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.15, Y:114.41, Z:24.10 [[ 6.26694572e-02 -9.98007754e-01 -7.28436001e-03 1.57149123e+02] [ 9.91794201e-01 6.30908641e-02 -1.11192648e-01 1.14405416e+02] [ 1.11430702e-01 -2.56203116e-04 9.93772174e-01 2.41019602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.15, Y:114.43, Z:24.11 [[ 5.78672044e-02 -9.98295250e-01 -7.61446441e-03 1.57153302e+02] [ 9.92086632e-01 5.83552614e-02 -1.11170044e-01 1.14432990e+02] [ 1.11424871e-01 -1.12110869e-03 9.93772228e-01 2.41064972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.16, Y:114.46, Z:24.11 [[ 5.69283828e-02 -9.98349558e-01 -7.57094171e-03 1.57156795e+02] [ 9.92141019e-01 5.74174322e-02 -1.11173008e-01 1.14459397e+02] [ 1.11424228e-01 -1.18254225e-03 9.93772229e-01 2.41091946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.16, Y:114.49, Z:24.11 [[ 5.42908154e-02 -9.98499151e-01 -7.20785288e-03 1.57160329e+02] [ 9.92288717e-01 5.47558395e-02 -1.11197576e-01 1.14485827e+02] [ 1.11425358e-01 -1.11526400e-03 9.93772180e-01 2.41094751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24710568099997 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:157.16, Y:114.51, Z:24.11 [[ 5.08227552e-02 -9.98683844e-01 -6.90127410e-03 1.57161577e+02] [ 9.92472349e-01 5.12752127e-02 -1.11218202e-01 1.14511257e+02] [ 1.11425685e-01 -1.19690829e-03 9.93772048e-01 2.41121625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:114.54, Z:24.12 [[ 4.85563172e-02 -9.98798726e-01 -6.58696896e-03 1.57162565e+02] [ 9.92585527e-01 4.89878746e-02 -1.11239198e-01 1.14540055e+02] [ 1.11428251e-01 -1.13676429e-03 9.93771831e-01 2.41170145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:114.57, Z:24.13 [[ 4.45730451e-02 -9.98981100e-01 -7.07143224e-03 1.57162121e+02] [ 9.92774170e-01 4.50832943e-02 -1.11206761e-01 1.14569435e+02] [ 1.11412256e-01 -2.06351130e-03 9.93772132e-01 2.41254393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.16, Y:114.60, Z:24.13 [[ 3.93312400e-02 -9.99195665e-01 -7.81515980e-03 1.57159813e+02] [ 9.92999276e-01 3.99567418e-02 -1.11157080e-01 1.14596905e+02] [ 1.11379941e-01 -3.38850222e-03 9.93772120e-01 2.41304752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:114.62, Z:24.13 [[ 3.63852213e-02 -9.99310242e-01 -7.42672643e-03 1.57158273e+02] [ 9.93111482e-01 3.69858172e-02 -1.11182881e-01 1.14623535e+02] [ 1.11380875e-01 -3.33015357e-03 9.93772213e-01 2.41345229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.15, Y:114.65, Z:24.14 [[ 3.31254095e-02 -9.99424269e-01 -7.33739982e-03 1.57153896e+02] [ 9.93226519e-01 3.37362947e-02 -1.11188776e-01 1.14650270e+02] [ 1.11372298e-01 -3.60452636e-03 9.93772217e-01 2.41396593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.15, Y:114.68, Z:24.14 [[ 3.12862875e-02 -9.99483871e-01 -7.29112494e-03 1.57153655e+02] [ 9.93286742e-01 3.19034343e-02 -1.11191810e-01 1.14680012e+02] [ 1.11367033e-01 -3.76339880e-03 9.93772218e-01 2.41420964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:114.71, Z:24.15 [[ 3.04886451e-02 -9.99504303e-01 -7.84798876e-03 1.57149076e+02] [ 9.93314031e-01 3.11725968e-02 -1.11155320e-01 1.14707633e+02] [ 1.11344863e-01 -4.40654224e-03 9.93772058e-01 2.41468731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:114.73, Z:24.15 [[ 3.19178145e-02 -9.99460459e-01 -7.74887352e-03 1.57146874e+02] [ 9.93268079e-01 3.25819042e-02 -1.11161786e-01 1.14732926e+02] [ 1.11354282e-01 -4.14866746e-03 9.93772113e-01 2.41534338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:114.76, Z:24.16 [[ 3.65783512e-02 -9.99304977e-01 -7.18246610e-03 1.57140782e+02] [ 9.93103596e-01 3.71505913e-02 -1.11198389e-01 1.14760639e+02] [ 1.11387936e-01 -3.06547918e-03 9.93772273e-01 2.41593310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54710568099998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:157.14, Y:114.79, Z:24.16 [[ 3.92934465e-02 -9.99202210e-01 -7.13929713e-03 1.57138407e+02] [ 9.92998870e-01 3.98440333e-02 -1.11201161e-01 1.14788162e+02] [ 1.11396904e-01 -2.71983712e-03 9.93772274e-01 2.41614575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.13, Y:114.82, Z:24.16 [[ 5.05831541e-02 -9.98694659e-01 -7.09378515e-03 1.57130082e+02] [ 9.92485104e-01 5.10585335e-02 -1.11204064e-01 1.14817290e+02] [ 1.11421103e-01 -1.41542380e-03 9.93772275e-01 2.41619119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.13, Y:114.85, Z:24.16 [[ 5.36325746e-02 -9.98534435e-01 -7.24768918e-03 1.57127186e+02] [ 9.92324724e-01 5.41061275e-02 -1.11194282e-01 1.14846498e+02] [ 1.11423464e-01 -1.22842555e-03 9.93772259e-01 2.41611610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.12, Y:114.87, Z:24.16 [[ 5.94177063e-02 -9.98202874e-01 -7.78194476e-03 1.57124353e+02] [ 9.91994770e-01 5.99147710e-02 -1.11160227e-01 1.14872599e+02] [ 1.11426711e-01 -1.11476280e-03 9.93772029e-01 2.41617540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.66710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.12, Y:114.90, Z:24.16 [[ 7.05099561e-02 -9.97486336e-01 -7.02538272e-03 1.57119379e+02] [ 9.91268142e-01 7.08536545e-02 -1.11208053e-01 1.14900389e+02] [ 1.11426288e-01 8.77236892e-04 9.93772314e-01 2.41643093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69710568099998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:157.12, Y:114.93, Z:24.16 [[ 7.91450871e-02 -9.96838650e-01 -6.98293540e-03 1.57118291e+02] [ 9.90617495e-01 7.94301918e-02 -1.11210719e-01 1.14927570e+02] [ 1.11413799e-01 1.88436406e-03 9.93772315e-01 2.41638446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.72710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.12, Y:114.96, Z:24.17 [[ 8.00915780e-02 -9.96763267e-01 -6.95186200e-03 1.57117823e+02] [ 9.90541690e-01 8.03673097e-02 -1.11212661e-01 1.14955547e+02] [ 1.11411398e-01 2.02108841e-03 9.93772316e-01 2.41716518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75710568099996 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:157.12, Y:114.98, Z:24.18 [[ 8.38451403e-02 -9.96449178e-01 -7.68297536e-03 1.57117677e+02] [ 9.90230159e-01 8.41789855e-02 -1.11167133e-01 1.14980613e+02] [ 1.11419143e-01 1.71290992e-03 9.93772026e-01 2.41753721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78710568099996 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:157.12, Y:115.01, Z:24.18 [[ 8.25829829e-02 -9.96560586e-01 -6.85929340e-03 1.57119979e+02] [ 9.90337965e-01 8.28328364e-02 -1.11217971e-01 1.15009197e+02] [ 1.11403621e-01 2.39169311e-03 9.93772365e-01 2.41765847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81710568099996 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:157.13, Y:115.03, Z:24.18 [[ 7.95874293e-02 -9.96802459e-01 -7.12025041e-03 1.57125380e+02] [ 9.90581900e-01 7.98850884e-02 -1.11201943e-01 1.15034596e+02] [ 1.11415172e-01 1.79708560e-03 9.93772323e-01 2.41775793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84710568099996 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:157.13, Y:115.06, Z:24.18 [[ 7.54208511e-02 -9.97128764e-01 -6.77673449e-03 1.57128895e+02] [ 9.90907686e-01 7.57061993e-02 -1.11222880e-01 1.15060309e+02] [ 1.11416573e-01 1.67340596e-03 9.93772382e-01 2.41844378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.13, Y:115.09, Z:24.19 [[ 7.37738014e-02 -9.97252205e-01 -6.74288443e-03 1.57131359e+02] [ 9.91031429e-01 7.40656500e-02 -1.11224932e-01 1.15087092e+02] [ 1.11418725e-01 1.52307565e-03 9.93772382e-01 2.41904988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.14, Y:115.11, Z:24.20 [[ 7.24012741e-02 -9.97353099e-01 -6.69709273e-03 1.57136777e+02] [ 9.91132488e-01 7.26965777e-02 -1.11227689e-01 1.15114285e+02] [ 1.11420136e-01 1.41532024e-03 9.93772383e-01 2.41950578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.14, Y:115.14, Z:24.20 [[ 7.17442665e-02 -9.97400863e-01 -6.65418528e-03 1.57141307e+02] [ 9.91180220e-01 7.20388835e-02 -1.11230256e-01 1.15142112e+02] [ 1.11420514e-01 1.38463632e-03 9.93772384e-01 2.41973998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.15, Y:115.17, Z:24.20 [[ 6.86411604e-02 -9.97619509e-01 -6.61113364e-03 1.57148599e+02] [ 9.91399573e-01 6.89503277e-02 -1.11232815e-01 1.15169012e+02] [ 1.11423866e-01 1.08087443e-03 9.93772385e-01 2.41961678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.15, Y:115.20, Z:24.20 [[ 6.69222987e-02 -9.97736582e-01 -6.56649562e-03 1.57152176e+02] [ 9.91516935e-01 6.72372055e-02 -1.11235450e-01 1.15197057e+02] [ 1.11425191e-01 9.33340419e-04 9.93772386e-01 2.42006851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:115.22, Z:24.20 [[ 6.39177856e-02 -9.97932471e-01 -6.73055575e-03 1.57158292e+02] [ 9.91714789e-01 6.42697043e-02 -1.11225821e-01 1.15222636e+02] [ 1.11428429e-01 4.34516509e-04 9.93772366e-01 2.42040658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.17, Y:115.25, Z:24.20 [[ 6.08197332e-02 -9.98128850e-01 -6.30548991e-03 1.57165860e+02] [ 9.91909658e-01 6.11435790e-02 -1.11250589e-01 1.15250163e+02] [ 1.11427963e-01 5.11754817e-04 9.93772382e-01 2.42039267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:115.28, Z:24.20 [[ 5.86179076e-02 -9.98259659e-01 -6.44942075e-03 1.57171971e+02] [ 9.92042098e-01 5.89715107e-02 -1.11242246e-01 1.15276482e+02] [ 1.11428978e-01 1.22690796e-04 9.93772392e-01 2.42048058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.17, Y:115.30, Z:24.21 [[ 5.72331271e-02 -9.98340327e-01 -6.40009945e-03 1.57174361e+02] [ 9.92122946e-01 5.75898586e-02 -1.11245083e-01 1.15303221e+02] [ 1.11429034e-01 1.72184741e-05 9.93772394e-01 2.42088563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.18, Y:115.33, Z:24.21 [[ 5.66160678e-02 -9.98375807e-01 -6.35358849e-03 1.57176930e+02] [ 9.92158351e-01 5.69714595e-02 -1.11247740e-01 1.15330246e+02] [ 1.11429025e-01 -5.35629263e-06 9.93772395e-01 2.42129866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:115.36, Z:24.22 [[ 5.92210280e-02 -9.98224967e-01 -6.30748296e-03 1.57181129e+02] [ 9.92006328e-01 5.95550564e-02 -1.11250354e-01 1.15355723e+02] [ 1.11428524e-01 3.31297324e-04 9.93772396e-01 2.42227655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.18, Y:115.38, Z:24.23 [[ 6.33531235e-02 -9.97971512e-01 -6.26434637e-03 1.57183948e+02] [ 9.91751308e-01 6.36565956e-02 -1.11252783e-01 1.15382633e+02] [ 1.11425875e-01 8.35537604e-04 9.93772397e-01 2.42314435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:115.41, Z:24.24 [[ 6.47250297e-02 -9.97883729e-01 -6.22359267e-03 1.57185821e+02] [ 9.91662900e-01 6.50154071e-02 -1.11255063e-01 1.15409679e+02] [ 1.11424246e-01 1.02928130e-03 9.93772397e-01 2.42359671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.19, Y:115.44, Z:24.24 [[ 6.83599061e-02 -9.97641600e-01 -6.17753296e-03 1.57189227e+02] [ 9.91419536e-01 6.86224833e-02 -1.11257620e-01 1.15436015e+02] [ 1.11419148e-01 1.48103362e-03 9.93772398e-01 2.42379291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:115.46, Z:24.24 [[ 6.99433777e-02 -9.97532133e-01 -6.12926571e-03 1.57192230e+02] [ 9.91309445e-01 7.01906960e-02 -1.11260280e-01 1.15463963e+02] [ 1.11415921e-01 1.70592076e-03 9.93772400e-01 2.42394593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.20, Y:115.49, Z:24.24 [[ 7.50364670e-02 -9.97162220e-01 -6.08572337e-03 1.57197149e+02] [ 9.90938185e-01 7.52471491e-02 -1.11262661e-01 1.15489589e+02] [ 1.11404856e-01 2.31818134e-03 9.93772401e-01 2.42356908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:115.52, Z:24.24 [[ 7.64767176e-02 -9.97059746e-01 -4.81405389e-03 1.57203367e+02] [ 9.90831725e-01 7.65365496e-02 -1.11331264e-01 1.15519302e+02] [ 1.11372373e-01 3.74433230e-03 9.93771691e-01 2.42388437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:115.55, Z:24.24 [[ 7.75726468e-02 -9.96968572e-01 -6.01259968e-03 1.57207985e+02] [ 9.90743778e-01 7.77593404e-02 -1.11266577e-01 1.15546746e+02] [ 1.11396816e-01 2.67429718e-03 9.93772407e-01 2.42433372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:115.57, Z:24.25 [[ 8.04247754e-02 -9.96742810e-01 -5.96878036e-03 1.57216965e+02] [ 9.90517378e-01 8.05887704e-02 -1.11268928e-01 1.15574372e+02] [ 1.11387521e-01 3.03659788e-03 9.93772408e-01 2.42471408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.44710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.22, Y:115.60, Z:24.25 [[ 8.21276518e-02 -9.96604207e-01 -5.92477353e-03 1.57222605e+02] [ 9.90378386e-01 8.22761009e-02 -1.11271271e-01 1.15599895e+02] [ 1.11380884e-01 3.27068059e-03 9.93772409e-01 2.42490814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47710568099995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:157.23, Y:115.63, Z:24.25 [[ 8.42226495e-02 -9.96429653e-01 -5.87305725e-03 1.57231841e+02] [ 9.90203412e-01 8.43522402e-02 -1.11274001e-01 1.15625500e+02] [ 1.11372120e-01 3.55626987e-03 9.93772411e-01 2.42513426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.24, Y:115.65, Z:24.26 [[ 8.31966648e-02 -9.96516061e-01 -5.83570537e-03 1.57240381e+02] [ 9.90289868e-01 8.33284993e-02 -1.11275960e-01 1.15652317e+02] [ 1.11374562e-01 3.47874885e-03 9.93772411e-01 2.42567406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.25, Y:115.68, Z:24.26 [[ 8.10219749e-02 -9.96695487e-01 -5.79189734e-03 1.57245185e+02] [ 9.90469485e-01 8.11625085e-02 -1.11278240e-01 1.15679806e+02] [ 1.11380605e-01 3.27928523e-03 9.93772412e-01 2.42603514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.25, Y:115.71, Z:24.26 [[ 7.34017321e-02 -9.97285889e-01 -5.74810337e-03 1.57254847e+02] [ 9.91060999e-01 7.35849635e-02 -1.11280503e-01 1.15705662e+02] [ 1.11401449e-01 2.47146057e-03 9.93772413e-01 2.42617425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.26, Y:115.73, Z:24.27 [[ 6.86022543e-02 -9.97627826e-01 -5.69668864e-03 1.57260123e+02] [ 9.91403696e-01 6.88097025e-02 -1.11283135e-01 1.15732212e+02] [ 1.11411139e-01 1.98655573e-03 9.93772414e-01 2.42650604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.26, Y:115.76, Z:24.27 [[ 6.81692828e-02 -9.97657781e-01 -5.64810568e-03 1.57261210e+02] [ 9.91433563e-01 6.83740146e-02 -1.11285601e-01 1.15759653e+02] [ 1.11411129e-01 1.98653803e-03 9.93772416e-01 2.42681412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.27, Y:115.78, Z:24.27 [[ 5.88632199e-02 -9.98250353e-01 -5.59950405e-03 1.57267926e+02] [ 9.92028089e-01 5.91205656e-02 -1.11288046e-01 1.15783018e+02] [ 1.11424377e-01 9.95907425e-04 9.93772417e-01 2.42678262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68710568099996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.27, Y:115.81, Z:24.27 [[ 5.32524791e-02 -9.98570532e-01 -4.58989338e-03 1.57271276e+02] [ 9.92345084e-01 5.34322468e-02 -1.11338353e-01 1.15810775e+02] [ 1.11424447e-01 1.37428521e-03 9.93771958e-01 2.42701116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.28, Y:115.84, Z:24.27 [[ 4.43927414e-02 -9.99002665e-01 -4.79172176e-03 1.57278764e+02] [ 9.92780120e-01 4.46502166e-02 -1.11328304e-01 1.15837888e+02] [ 1.11431224e-01 1.85042514e-04 9.93772131e-01 2.42725512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:115.86, Z:24.28 [[ 4.02386278e-02 -9.99178933e-01 -4.72369091e-03 1.57285485e+02] [ 9.92957121e-01 4.05143934e-02 -1.11331667e-01 1.15864397e+02] [ 1.11431633e-01 -2.10589027e-04 9.93772080e-01 2.42778073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.29, Y:115.89, Z:24.28 [[ 4.05648555e-02 -9.99165976e-01 -4.67383094e-03 1.57289056e+02] [ 9.92943795e-01 4.08330340e-02 -1.11334109e-01 1.15892142e+02] [ 1.11432100e-01 -1.24599395e-04 9.93772042e-01 2.42841547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.29, Y:115.92, Z:24.29 [[ 4.59473475e-02 -9.98932130e-01 -4.84164109e-03 1.57292175e+02] [ 9.92709440e-01 4.62007022e-02 -1.11325930e-01 1.15919278e+02] [ 1.11430736e-01 3.08788386e-04 9.93772155e-01 2.42928583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.30, Y:115.94, Z:24.29 [[ 5.78583078e-02 -9.98310097e-01 -5.41907226e-03 1.57295844e+02] [ 9.92087180e-01 5.81018028e-02 -1.11297834e-01 1.15943180e+02] [ 1.11424609e-01 1.06331220e-03 9.93772321e-01 2.42929669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.30, Y:115.97, Z:24.30 [[ 6.11579570e-02 -9.98120738e-01 -3.83354296e-03 1.57298320e+02] [ 9.91892069e-01 6.12040683e-02 -1.11374081e-01 1.15971668e+02] [ 1.11399408e-01 3.00895040e-03 9.93771160e-01 2.42980489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:116.00, Z:24.30 [[ 6.93877221e-02 -9.97578565e-01 -4.72774952e-03 1.57304558e+02] [ 9.91351375e-01 6.94822072e-02 -1.11331368e-01 1.15997996e+02] [ 1.11390281e-01 3.03816902e-03 9.93772094e-01 2.43035225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:116.02, Z:24.31 [[ 7.27308810e-02 -9.97340095e-01 -4.79098787e-03 1.57308145e+02] [ 9.91112746e-01 7.28115478e-02 -1.11328357e-01 1.16023661e+02] [ 1.11381073e-01 3.34860033e-03 9.93772129e-01 2.43057250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.31, Y:116.05, Z:24.31 [[ 7.55169020e-02 -9.97132473e-01 -4.90187410e-03 1.57313078e+02] [ 9.90905115e-01 7.55925397e-02 -1.11323053e-01 1.16051703e+02] [ 1.11374376e-01 3.54947994e-03 9.93772182e-01 2.43066392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.32, Y:116.08, Z:24.30 [[ 7.60688316e-02 -9.97090998e-01 -4.80369991e-03 1.57321380e+02] [ 9.90863437e-01 7.61300714e-02 -1.11327718e-01 1.16079206e+02] [ 1.11369571e-01 3.70875881e-03 9.93772139e-01 2.43037945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.33, Y:116.11, Z:24.30 [[ 7.65793401e-02 -9.97051482e-01 -4.89357605e-03 1.57327907e+02] [ 9.90824032e-01 7.66474166e-02 -1.11323454e-01 1.16107166e+02] [ 1.11370294e-01 3.67640386e-03 9.93772178e-01 2.43047191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04710568099998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:157.34, Y:116.13, Z:24.30 [[ 7.83338038e-02 -9.96915407e-01 -4.84622283e-03 1.57338439e+02] [ 9.90687783e-01 7.83856393e-02 -1.11325684e-01 1.16134422e+02] [ 1.11362164e-01 3.91947057e-03 9.93772160e-01 2.43040346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07710568099998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:157.34, Y:116.16, Z:24.31 [[ 8.06966010e-02 -9.96726275e-01 -4.97908496e-03 1.57343670e+02] [ 9.90498692e-01 8.07484951e-02 -1.11319459e-01 1.16158685e+02] [ 1.11357083e-01 4.05132480e-03 9.93772201e-01 2.43054087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.35, Y:116.19, Z:24.31 [[ 8.68431613e-02 -9.96213880e-01 -4.02115559e-03 1.57352180e+02] [ 9.89986144e-01 8.67497829e-02 -1.11363861e-01 1.16185222e+02] [ 1.11291058e-01 5.69030143e-03 9.93771564e-01 2.43129333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.36, Y:116.22, Z:24.31 [[ 8.71346992e-02 -9.96188941e-01 -3.89082550e-03 1.57356143e+02] [ 9.89961319e-01 8.70249597e-02 -1.11369848e-01 1.16215209e+02] [ 1.11284010e-01 5.85241143e-03 9.93771412e-01 2.43144419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.16710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.37, Y:116.24, Z:24.32 [[ 8.85580469e-02 -9.96057757e-01 -5.13968090e-03 1.57366312e+02] [ 9.89829980e-01 8.85787181e-02 -1.11312271e-01 1.16242781e+02] [ 1.11328717e-01 4.77018706e-03 9.93772188e-01 2.43164504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.37, Y:116.27, Z:24.32 [[ 8.72661702e-02 -9.96171273e-01 -5.23554940e-03 1.57371385e+02] [ 9.89943579e-01 8.73056120e-02 -1.11307868e-01 1.16268931e+02] [ 1.11338793e-01 4.53051280e-03 9.93772181e-01 2.43228091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:116.29, Z:24.33 [[ 8.19690272e-02 -9.96621944e-01 -5.07734857e-03 1.57381316e+02] [ 9.90394379e-01 8.20239308e-02 -1.11315085e-01 1.16290560e+02] [ 1.11355520e-01 4.09581173e-03 9.93772193e-01 2.43292034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:116.32, Z:24.34 [[ 6.48621971e-02 -9.97888254e-01 -3.45365831e-03 1.57390690e+02] [ 9.91659292e-01 6.48428276e-02 -1.11387869e-01 1.16319021e+02] [ 1.11376591e-01 3.80000955e-03 9.93771007e-01 2.43357408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:116.35, Z:24.34 [[ 5.40135941e-02 -9.98530815e-01 -4.32944411e-03 1.57395909e+02] [ 9.92304539e-01 5.41595813e-02 -1.11348292e-01 1.16348411e+02] [ 1.11419181e-01 1.71819438e-03 9.93772013e-01 2.43365778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:116.37, Z:24.34 [[ 3.74009690e-02 -9.99287709e-01 -5.02409158e-03 1.57404574e+02] [ 9.93068548e-01 3.77278659e-02 -1.11316967e-01 1.16374745e+02] [ 1.11427225e-01 -8.25904903e-04 9.93772253e-01 2.43367931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:116.40, Z:24.34 [[ 2.71846936e-02 -9.99621026e-01 -4.33551274e-03 1.57410962e+02] [ 9.93400994e-01 2.74984721e-02 -1.11347650e-01 1.16401313e+02] [ 1.11424672e-01 -1.27995092e-03 9.93772058e-01 2.43395795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.41, Y:116.43, Z:24.34 [[ 2.32987511e-02 -9.99718412e-01 -4.50169260e-03 1.57413225e+02] [ 9.93500772e-01 2.36552077e-02 -1.11340234e-01 1.16430479e+02] [ 1.11415370e-01 -1.87834668e-03 9.93772151e-01 2.43416357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.41, Y:116.46, Z:24.35 [[ 2.10202756e-02 -9.99766478e-01 -5.01376743e-03 1.57413417e+02] [ 9.93553420e-01 2.14478954e-02 -1.11317516e-01 1.16456201e+02] [ 1.11399056e-01 -2.64152090e-03 9.93772244e-01 2.43522763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:116.48, Z:24.36 [[ 2.06775354e-02 -9.99774213e-01 -4.89510089e-03 1.57411784e+02] [ 9.93560410e-01 2.10940794e-02 -1.11322735e-01 1.16483007e+02] [ 1.11400858e-01 -2.56169864e-03 9.93772251e-01 2.43566484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.41, Y:116.51, Z:24.35 [[ 2.35277388e-02 -9.99711437e-01 -4.84655501e-03 1.57408954e+02] [ 9.93496128e-01 2.39211622e-02 -1.11324849e-01 1.16508874e+02] [ 1.11408660e-01 -2.19581167e-03 9.93772252e-01 2.43532692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:116.54, Z:24.36 [[ 2.00744953e-02 -9.99790166e-01 -4.07902079e-03 1.57406921e+02] [ 9.93570884e-01 2.04039465e-02 -1.11357883e-01 1.16537442e+02] [ 1.11417745e-01 -1.81734299e-03 9.93771998e-01 2.43587277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.41, Y:116.57, Z:24.36 [[ 1.70207448e-02 -9.99843740e-01 -4.77397113e-03 1.57405714e+02] [ 9.93630550e-01 1.74465354e-02 -1.11328109e-01 1.16565167e+02] [ 1.11394002e-01 -2.84867622e-03 9.93772238e-01 2.43600837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:116.59, Z:24.36 [[ 1.35357424e-02 -9.99897231e-01 -4.72349200e-03 1.57403329e+02] [ 9.93685163e-01 1.39775704e-02 -1.11330253e-01 1.16591598e+02] [ 1.11384835e-01 -3.18672629e-03 9.93772239e-01 2.43647049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:116.62, Z:24.37 [[ 5.61702017e-03 -9.99973296e-01 -4.67499603e-03 1.57397215e+02] [ 9.93764499e-01 6.10263621e-03 -1.11332290e-01 1.16618642e+02] [ 1.11357846e-01 -4.02048937e-03 9.93772240e-01 2.43679003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:116.64, Z:24.37 [[ 4.84288003e-04 -9.99989171e-01 -4.62854827e-03 1.57391177e+02] [ 9.93782521e-01 9.96603561e-04 -1.11334221e-01 1.16644772e+02] [ 1.11337628e-01 -4.54585253e-03 9.93772241e-01 2.43734105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:116.67, Z:24.38 [[-1.36545542e-03 -9.99988578e-01 -4.58023109e-03 1.57383955e+02] [ 9.93782437e-01 -8.47029724e-04 -1.11336209e-01 1.16673476e+02] [ 1.11331057e-01 -4.70377784e-03 9.93772243e-01 2.43765868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.38, Y:116.70, Z:24.38 [[-1.32893957e-03 -9.99987657e-01 -4.78746478e-03 1.57379289e+02] [ 9.93783436e-01 -7.87710296e-04 -1.11327723e-01 1.16699097e+02] [ 1.11322578e-01 -4.90565101e-03 9.93772216e-01 2.43770431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.37, Y:116.73, Z:24.38 [[-9.85187598e-04 -9.99990186e-01 -4.31935786e-03 1.57369353e+02] [ 9.93781504e-01 -4.98120116e-04 -1.11346640e-01 1.16727566e+02] [ 1.11343395e-01 -4.40219528e-03 9.93772242e-01 2.43751147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:116.76, Z:24.38 [[-8.31644771e-04 -9.99989683e-01 -4.46561831e-03 1.57364475e+02] [ 9.93782231e-01 -3.29271788e-04 -1.11340775e-01 1.16756014e+02] [ 1.11338156e-01 -4.53044810e-03 9.93772253e-01 2.43754677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.35, Y:116.78, Z:24.38 [[-2.44825561e-03 -9.99986289e-01 -4.62911395e-03 1.57352844e+02] [ 9.93781165e-01 -1.91767759e-03 -1.11334267e-01 1.16783991e+02] [ 1.11323863e-01 -4.87290100e-03 9.93772234e-01 2.43766201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:116.81, Z:24.38 [[-6.12185520e-03 -9.99970722e-01 -4.59108407e-03 1.57347516e+02] [ 9.93767222e-01 -5.57271033e-03 -1.11335765e-01 1.16810010e+02] [ 1.11306921e-01 -5.24405030e-03 9.93772242e-01 2.43818538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.34, Y:116.84, Z:24.39 [[-1.58555352e-02 -9.99864897e-01 -4.33479162e-03 1.57338837e+02] [ 9.93664337e-01 -1.52744829e-02 -1.11345747e-01 1.16837537e+02] [ 1.11264492e-01 -6.07277425e-03 9.93772275e-01 2.43860407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:116.86, Z:24.39 [[-2.61623244e-02 -9.99648527e-01 -4.28439109e-03 1.57325168e+02] [ 9.93453708e-01 -2.55229718e-02 -1.11347689e-01 1.16863605e+02] [ 1.11199203e-01 -7.16945857e-03 9.93772276e-01 2.43921331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:116.89, Z:24.39 [[-2.97970718e-02 -9.99546988e-01 -4.23712021e-03 1.57319060e+02] [ 9.93353978e-01 -2.91404396e-02 -1.11349488e-01 1.16889462e+02] [ 1.11175574e-01 -7.52684890e-03 9.93772277e-01 2.43942030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:116.91, Z:24.40 [[-3.01999950e-02 -9.99535105e-01 -4.18738147e-03 1.57309041e+02] [ 9.93341777e-01 -2.95463821e-02 -1.11351358e-01 1.16914834e+02] [ 1.11175870e-01 -7.52231141e-03 9.93772278e-01 2.43976922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.94710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:116.94, Z:24.40 [[-3.19052949e-02 -9.99485614e-01 -3.24968772e-03 1.57301370e+02] [ 9.93282769e-01 -3.13451337e-02 -1.11385918e-01 1.16944230e+02] [ 1.11226761e-01 -6.78165939e-03 9.93771914e-01 2.44009418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.29, Y:116.97, Z:24.40 [[-2.93328796e-02 -9.99561297e-01 -4.09828428e-03 1.57285523e+02] [ 9.93366372e-01 -2.86945212e-02 -1.11354727e-01 1.16971526e+02] [ 1.11188277e-01 -7.33745258e-03 9.93772272e-01 2.44036133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.28, Y:117.00, Z:24.41 [[-2.87865423e-02 -9.99577365e-01 -4.05300545e-03 1.57279067e+02] [ 9.93381580e-01 -2.81565928e-02 -1.11356375e-01 1.16998622e+02] [ 1.11195193e-01 -7.23174595e-03 9.93772273e-01 2.44052117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:117.03, Z:24.41 [[-2.86729223e-02 -9.99580819e-01 -4.00631743e-03 1.57265889e+02] [ 9.93384440e-01 -2.80488567e-02 -1.11358055e-01 1.17025428e+02] [ 1.11199003e-01 -7.17277425e-03 9.93772274e-01 2.44055798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.26, Y:117.05, Z:24.41 [[-2.98678465e-02 -9.99545971e-01 -3.97031385e-03 1.57259688e+02] [ 9.93349938e-01 -2.92403679e-02 -1.11359338e-01 1.17052696e+02] [ 1.11192685e-01 -7.26997465e-03 9.93772275e-01 2.44089507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.25, Y:117.08, Z:24.41 [[-3.37003449e-02 -9.99424275e-01 -3.92486192e-03 1.57246501e+02] [ 9.93230167e-01 -3.30541530e-02 -1.11360941e-01 1.17080082e+02] [ 1.11167094e-01 -7.65119337e-03 9.93772276e-01 2.44130081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:117.11, Z:24.42 [[-3.92110212e-02 -9.99223421e-01 -3.87942473e-03 1.57232564e+02] [ 9.93032420e-01 -3.85357187e-02 -1.11362524e-01 1.17106584e+02] [ 1.11126545e-01 -8.21903280e-03 9.93772277e-01 2.44186871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.23, Y:117.13, Z:24.42 [[-4.20374442e-02 -9.99108687e-01 -3.83200008e-03 1.57226544e+02] [ 9.92919036e-01 -4.13498868e-02 -1.11364156e-01 1.17134383e+02] [ 1.11106442e-01 -8.48633030e-03 9.93772278e-01 2.44224455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:117.16, Z:24.43 [[-4.45325329e-02 -9.99000749e-01 -3.78894719e-03 1.57214893e+02] [ 9.92812295e-01 -4.38342892e-02 -1.11365620e-01 1.17161637e+02] [ 1.11088252e-01 -8.72110651e-03 9.93772279e-01 2.44261899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21710568099996 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:157.20, Y:117.19, Z:24.43 [[-4.08657828e-02 -9.99157630e-01 -3.74410612e-03 1.57201583e+02] [ 9.92966116e-01 -4.01952265e-02 -1.11367128e-01 1.17189999e+02] [ 1.11122820e-01 -8.26887537e-03 9.93772280e-01 2.44304966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24710568099997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:157.19, Y:117.22, Z:24.43 [[-3.68489236e-02 -9.99313987e-01 -3.70309702e-03 1.57194428e+02] [ 9.93119355e-01 -3.62078100e-02 -1.11368492e-01 1.17217777e+02] [ 1.11158010e-01 -7.78142637e-03 9.93772281e-01 2.44331897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:157.18, Y:117.25, Z:24.43 [[-2.54556020e-02 -9.99669245e-01 -3.66232719e-03 1.57181367e+02] [ 9.93467294e-01 -2.48896677e-02 -1.11369832e-01 1.17246258e+02] [ 1.11241842e-01 -6.47338842e-03 9.93772282e-01 2.44334866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30710568099997 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:157.18, Y:117.27, Z:24.43 [[-1.83053484e-02 -9.99825887e-01 -3.62086923e-03 1.57176557e+02] [ 9.93619662e-01 -1.77883908e-02 -1.11371180e-01 1.17273497e+02] [ 1.11287380e-01 -5.63645511e-03 9.93772283e-01 2.44342617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33710568099997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:157.16, Y:117.30, Z:24.44 [[-1.07019058e-02 -9.99938401e-01 -2.94335464e-03 1.57164954e+02] [ 9.93722989e-01 -1.03074959e-02 -1.11392889e-01 1.17303872e+02] [ 1.11355689e-01 -4.11699538e-03 9.93772087e-01 2.44363233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36710568099997 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:157.16, Y:117.33, Z:24.44 [[-4.03026237e-03 -9.99985531e-01 -3.56295736e-03 1.57155636e+02] [ 9.93772114e-01 -3.60839700e-03 -1.11373089e-01 1.17331373e+02] [ 1.11358621e-01 -3.98963044e-03 9.93772278e-01 2.44378800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39710568099997 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:157.15, Y:117.36, Z:24.44 [[-1.87611936e-05 -9.99993808e-01 -3.51908992e-03 1.57152575e+02] [ 9.93778440e-01 3.73294637e-04 -1.11374475e-01 1.17359717e+02] [ 1.11375099e-01 -3.49928520e-03 9.93772279e-01 2.44391736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42710568099997 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:157.14, Y:117.39, Z:24.44 [[ 9.79851890e-03 -9.99945464e-01 -3.61365128e-03 1.57143535e+02] [ 9.93727109e-01 1.01400646e-02 -1.11371504e-01 1.17385614e+02] [ 1.11402073e-01 -2.49970745e-03 9.93772273e-01 2.44378437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45710568099997 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:157.14, Y:117.42, Z:24.44 [[ 1.76558539e-02 -9.99840103e-01 -2.83520042e-03 1.57136918e+02] [ 9.93615608e-01 1.78618169e-02 -1.11395593e-01 1.17415536e+02] [ 1.11428423e-01 -8.50315075e-04 9.93772098e-01 2.44374184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48710568099997 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:157.13, Y:117.44, Z:24.44 [[ 2.04157853e-02 -9.99785688e-01 -3.43137309e-03 1.57134337e+02] [ 9.93563203e-01 2.06709797e-02 -1.11377162e-01 1.17442629e+02] [ 1.11424223e-01 -1.13543380e-03 9.93772284e-01 2.44432813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51710568099998 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:157.13, Y:117.47, Z:24.45 [[ 2.30987630e-02 -9.99727334e-01 -3.42116045e-03 1.57130195e+02] [ 9.93504144e-01 2.33361199e-02 -1.11377476e-01 1.17470744e+02] [ 1.11426944e-01 -8.26255163e-04 9.93772285e-01 2.44476720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54710568099998 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:157.13, Y:117.50, Z:24.45 [[ 2.27307048e-02 -9.99735911e-01 -3.37985892e-03 1.57130830e+02] [ 9.93512634e-01 2.29657518e-02 -1.11378730e-01 1.17498961e+02] [ 1.11426937e-01 -8.26215515e-04 9.93772285e-01 2.44508459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57710568099998 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:157.13, Y:117.53, Z:24.45 [[ 2.27846164e-02 -9.99734822e-01 -3.33859676e-03 1.57129671e+02] [ 9.93511361e-01 2.30147310e-02 -1.11379966e-01 1.17525505e+02] [ 1.11427268e-01 -7.79184003e-04 9.93772286e-01 2.44530336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60710568099998 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:157.13, Y:117.55, Z:24.45 [[ 2.15534276e-02 -9.99762223e-01 -3.30858285e-03 1.57129820e+02] [ 9.93538924e-01 2.17878628e-02 -1.11380858e-01 1.17553223e+02] [ 1.11426461e-01 -8.86566577e-04 9.93772287e-01 2.44530601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63710568099998 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:157.13, Y:117.58, Z:24.45 [[ 2.01348388e-02 -9.99791935e-01 -3.26737910e-03 1.57131305e+02] [ 9.93568797e-01 2.03735140e-02 -1.11382067e-01 1.17581242e+02] [ 1.11425460e-01 -1.00370596e-03 9.93772288e-01 2.44540788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.66710568099998 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:157.13, Y:117.61, Z:24.46 [[ 1.76727494e-02 -9.99838621e-01 -3.22593002e-03 1.57133851e+02] [ 9.93615904e-01 1.79221318e-02 -1.11383267e-01 1.17607824e+02] [ 1.11423108e-01 -1.23688680e-03 9.93772288e-01 2.44551875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69710568099998 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:157.13, Y:117.64, Z:24.46 [[ 1.49363003e-02 -9.99884439e-01 -2.83117186e-03 1.57134440e+02] [ 9.93660636e-01 1.51587426e-02 -1.11394580e-01 1.17636778e+02] [ 1.11424624e-01 -1.14940113e-03 9.93772223e-01 2.44589220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72710568099995 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:157.14, Y:117.66, Z:24.46 [[ 1.12805187e-02 -9.99931325e-01 -3.17727772e-03 1.57136771e+02] [ 9.93710075e-01 1.15642594e-02 -1.11384714e-01 1.17664982e+02] [ 1.11413808e-01 -1.90081553e-03 9.93772283e-01 2.44615805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75710568099996 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:157.14, Y:117.69, Z:24.47 [[ 6.39977024e-03 -9.99974607e-01 -3.13511029e-03 1.57140852e+02] [ 9.93754581e-01 6.70917845e-03 -1.11385901e-01 1.17691757e+02] [ 1.11404107e-01 -2.40268604e-03 9.93772284e-01 2.44657080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78710568099996 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:157.14, Y:117.72, Z:24.47 [[ 5.34261744e-03 -9.99980951e-01 -3.09099028e-03 1.57143208e+02] [ 9.93761010e-01 5.65368912e-03 -1.11387126e-01 1.17716908e+02] [ 1.11402479e-01 -2.47660682e-03 9.93772285e-01 2.44701621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81710568099996 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:157.14, Y:117.75, Z:24.47 [[-1.12710744e-03 -9.99996637e-01 -2.33561389e-03 1.57144698e+02] [ 9.93774403e-01 -8.59887823e-04 -1.11407795e-01 1.17746844e+02] [ 1.11405412e-01 -2.44664185e-03 9.93772030e-01 2.44732953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84710568099996 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:157.15, Y:117.77, Z:24.47 [[-2.74840704e-03 -9.99991612e-01 -3.03697458e-03 1.57146175e+02] [ 9.93774034e-01 -2.39303097e-03 -1.11388700e-01 1.17774831e+02] [ 1.11380498e-01 -3.32420797e-03 9.93772275e-01 2.44740476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87710568099996 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:157.15, Y:117.80, Z:24.48 [[-2.04203523e-03 -9.99993432e-01 -2.99447235e-03 1.57146302e+02] [ 9.93775341e-01 -1.69578159e-03 -1.11389842e-01 1.17802226e+02] [ 1.11384033e-01 -3.20329476e-03 9.93772276e-01 2.44757536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90710568099996 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:157.15, Y:117.83, Z:24.48 [[ 2.45978722e-03 -9.99992584e-01 -2.96350569e-03 1.57146442e+02] [ 9.93772822e-01 2.77459714e-03 -1.11390666e-01 1.17830300e+02] [ 1.11398063e-01 -2.67105408e-03 9.93772276e-01 2.44780889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93710568099996 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:157.15, Y:117.86, Z:24.48 [[ 5.37851617e-03 -9.99981266e-01 -2.92209356e-03 1.57147158e+02] [ 9.93760395e-01 5.67055971e-03 -1.11391753e-01 1.17857746e+02] [ 1.11406236e-01 -2.30473851e-03 9.93772277e-01 2.44819544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96710568099996 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:157.15, Y:117.88, Z:24.49 [[ 9.12185264e-03 -9.99954246e-01 -2.88053441e-03 1.57147896e+02] [ 9.93732128e-01 9.38597835e-03 -1.11392827e-01 1.17884262e+02] [ 1.11414767e-01 -1.84637063e-03 9.93772278e-01 2.44858302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99710568099997 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:157.15, Y:117.91, Z:24.49 [[ 1.39866729e-02 -9.99899634e-01 -2.25731843e-03 1.57148261e+02] [ 9.93673919e-01 1.41510972e-02 -1.11408661e-01 1.17913555e+02] [ 1.11429423e-01 -6.84801952e-04 9.93772114e-01 2.44926899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02710568099997 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:157.15, Y:117.94, Z:24.50 [[ 1.95182282e-02 -9.99805497e-01 -2.82971021e-03 1.57150230e+02] [ 9.93580789e-01 1.97119837e-02 -1.11394139e-01 1.17939973e+02] [ 1.11428252e-01 -6.37329487e-04 9.93772277e-01 2.44985363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05710568099997 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:157.15, Y:117.97, Z:24.50 [[ 2.67585882e-02 -9.99638043e-01 -2.78583458e-03 1.57150148e+02] [ 9.93411981e-01 2.69023683e-02 -1.11395236e-01 1.17967089e+02] [ 1.11429862e-01 2.13297805e-04 9.93772278e-01 2.45036952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08710568099997 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:157.15, Y:117.99, Z:24.51 [[ 3.07856011e-02 -9.99522240e-01 -2.74554500e-03 1.57151251e+02] [ 9.93295566e-01 3.08998071e-02 -1.11396229e-01 1.17994486e+02] [ 1.11427846e-01 7.02262204e-04 9.93772279e-01 2.45078410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11710568099997 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:157.16, Y:118.02, Z:24.51 [[ 3.90398421e-02 -9.99233993e-01 -2.70535517e-03 1.57157071e+02] [ 9.93006545e-01 3.90981372e-02 -1.11397205e-01 1.18022190e+02] [ 1.11417649e-01 1.66249392e-03 9.93772280e-01 2.45089020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14710568099997 meters Centerline goodness : 0.998347 Centerline is valid? [True, True] Translation: X:157.16, Y:118.05, Z:24.51 [[ 4.17843917e-02 -9.99123097e-01 -2.66471615e-03 1.57160960e+02] [ 9.92895486e-01 4.18210514e-02 -1.11398178e-01 1.18049750e+02] [ 1.11411934e-01 2.00892046e-03 9.93772280e-01 2.45117611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17710568099997 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:157.17, Y:118.08, Z:24.51 [[ 4.37297556e-02 -9.99039951e-01 -2.62390967e-03 1.57168169e+02] [ 9.92812264e-01 4.37497409e-02 -1.11399139e-01 1.18077554e+02] [ 1.11406986e-01 2.26640742e-03 9.93772281e-01 2.45113807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20710568099997 meters Centerline goodness : 0.998365 Centerline is valid? [True, True] Translation: X:157.17, Y:118.10, Z:24.51 [[ 4.37645795e-02 -9.99038540e-01 -2.58021688e-03 1.57172615e+02] [ 9.92810840e-01 4.37794777e-02 -1.11400151e-01 1.18104113e+02] [ 1.11406005e-01 2.31371348e-03 9.93772282e-01 2.45117990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23710568099997 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:157.18, Y:118.13, Z:24.51 [[ 4.46479483e-02 -9.98999569e-01 -2.53430450e-03 1.57181190e+02] [ 9.92771853e-01 4.46522224e-02 -1.11401196e-01 1.18132131e+02] [ 1.11402909e-01 2.45784864e-03 9.93772283e-01 2.45107097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26710568099998 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:157.19, Y:118.16, Z:24.51 [[ 4.30903616e-02 -9.99068070e-01 -2.49229565e-03 1.57189574e+02] [ 9.92840361e-01 4.30996631e-02 -1.11402136e-01 1.18159242e+02] [ 1.11405734e-01 2.32590659e-03 9.93772284e-01 2.45137140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29710568099998 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:157.20, Y:118.19, Z:24.51 [[ 4.17832517e-02 -9.99123696e-01 -2.44942867e-03 1.57195178e+02] [ 9.92895994e-01 4.17959231e-02 -1.11403078e-01 1.18186045e+02] [ 1.11407831e-01 2.22275494e-03 9.93772285e-01 2.45146136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32710568099998 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:157.21, Y:118.21, Z:24.52 [[ 3.94850660e-02 -9.99217268e-01 -2.40445712e-03 1.57206880e+02] [ 9.92989593e-01 3.95070493e-02 -1.11404049e-01 1.18212042e+02] [ 1.11411842e-01 2.01119532e-03 9.93772286e-01 2.45184958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35710568099998 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:157.21, Y:118.24, Z:24.52 [[ 3.21927963e-02 -9.99480237e-01 -1.69715563e-03 1.57214604e+02] [ 9.93252329e-01 3.21813918e-02 -1.11418893e-01 1.18239362e+02] [ 1.11415599e-01 1.90118194e-03 9.93772081e-01 2.45219574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38710568099998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.22, Y:118.27, Z:24.53 [[ 2.74327845e-02 -9.99620929e-01 -2.33235627e-03 1.57219694e+02] [ 9.93393848e-01 2.75218297e-02 -1.11405617e-01 1.18267013e+02] [ 1.11427577e-01 7.39217924e-04 9.93772282e-01 2.45258407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41710568099998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:157.23, Y:118.29, Z:24.53 [[ 1.80939322e-02 -9.99833670e-01 -2.28972151e-03 1.57232143e+02] [ 9.93607582e-01 1.82363913e-02 -1.11406494e-01 1.18292321e+02] [ 1.11429720e-01 -2.59303116e-04 9.93772283e-01 2.45293762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.44710568099998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:157.24, Y:118.32, Z:24.53 [[ 1.24747171e-02 -9.99919650e-01 -2.25292834e-03 1.57237449e+02] [ 9.93694346e-01 1.26480646e-02 -1.11407238e-01 1.18319065e+02] [ 1.11426781e-01 -8.48948385e-04 9.93772284e-01 2.45333219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.25, Y:118.35, Z:24.53 [[ 2.37112111e-03 -9.99994756e-01 -2.20563387e-03 1.57245757e+02] [ 9.93771326e-01 2.60209146e-03 -1.11408174e-01 1.18345357e+02] [ 1.11413329e-01 -1.92773342e-03 9.93772285e-01 2.45321361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.25, Y:118.37, Z:24.53 [[-3.27202900e-03 -9.99992294e-01 -2.16916670e-03 1.57254461e+02] [ 9.93770094e-01 -3.01000332e-03 -1.11408884e-01 1.18371383e+02] [ 1.11401497e-01 -2.52018610e-03 9.93772285e-01 2.45310463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.26, Y:118.40, Z:24.53 [[-6.90312531e-03 -9.99975279e-01 -1.33695953e-03 1.57257290e+02] [ 9.93750242e-01 -6.71117832e-03 -1.11424486e-01 1.18399853e+02] [ 1.11412759e-01 -2.09778104e-03 9.93772004e-01 2.45341334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.26, Y:118.43, Z:24.54 [[-6.24518487e-03 -9.99978350e-01 -2.07280307e-03 1.57262850e+02] [ 9.93756471e-01 -5.97538954e-03 -1.11410826e-01 1.18425724e+02] [ 1.11396028e-01 -2.75564267e-03 9.93772273e-01 2.45396416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59710568099996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.27, Y:118.45, Z:24.54 [[-3.94073862e-03 -9.99990188e-01 -2.02366902e-03 1.57267572e+02] [ 9.93767482e-01 -3.69075367e-03 -1.11411718e-01 1.18451592e+02] [ 1.11403156e-01 -2.45010093e-03 9.93772275e-01 2.45426389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.27, Y:118.48, Z:24.55 [[-9.48061265e-04 -9.99997575e-01 -1.98789916e-03 1.57269822e+02] [ 9.93774002e-01 -7.20683852e-04 -1.11412356e-01 1.18476448e+02] [ 1.11410654e-01 -2.08114825e-03 9.93772275e-01 2.45465501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.27, Y:118.50, Z:24.55 [[-7.67817588e-05 -9.99999277e-01 -1.20016952e-03 1.57270040e+02] [ 9.93772745e-01 5.74263733e-05 -1.11425883e-01 1.18503615e+02] [ 1.11425871e-01 -1.20125123e-03 9.93772022e-01 2.45537081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.27, Y:118.53, Z:24.56 [[-2.17387779e-03 -9.99996859e-01 -1.24761352e-03 1.57269374e+02] [ 9.93770781e-01 -2.02132713e-03 -1.11425083e-01 1.18532710e+02] [ 1.11422211e-01 -1.48206638e-03 9.93772054e-01 2.45569027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.27, Y:118.56, Z:24.56 [[-3.78367527e-03 -9.99991077e-01 -1.87875282e-03 1.57271176e+02] [ 9.93767684e-01 -3.55080566e-03 -1.11414462e-01 1.18559880e+02] [ 1.11406797e-01 -2.28859998e-03 9.93772252e-01 2.45604992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:118.59, Z:24.56 [[-5.64979145e-03 -9.99982362e-01 -1.83202458e-03 1.57271889e+02] [ 9.93759213e-01 -5.41051229e-03 -1.11415231e-01 1.18586534e+02] [ 1.11403353e-01 -2.45006412e-03 9.93772253e-01 2.45644623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.27, Y:118.61, Z:24.57 [[-1.04343219e-02 -9.99943966e-01 -1.78578679e-03 1.57271664e+02] [ 9.93721814e-01 -1.01704180e-02 -1.11415972e-01 1.18612789e+02] [ 1.11391567e-01 -2.93712541e-03 9.93772254e-01 2.45697983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.27, Y:118.64, Z:24.57 [[-1.42334769e-02 -9.99897186e-01 -1.73917284e-03 1.57271421e+02] [ 9.93675845e-01 -1.39511237e-02 -1.11416700e-01 1.18639585e+02] [ 1.11380981e-01 -3.31402106e-03 9.93772255e-01 2.45722249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:118.67, Z:24.58 [[-2.26536358e-02 -9.99742207e-01 -1.52734569e-03 1.57274769e+02] [ 9.93522229e-01 -2.23424738e-02 -1.11419906e-01 1.18667812e+02] [ 1.11357058e-01 -4.04151786e-03 9.93772243e-01 2.45753063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.27, Y:118.70, Z:24.58 [[-2.61490909e-02 -9.99656681e-01 -1.65690795e-03 1.57274742e+02] [ 9.93438626e-01 -2.58017658e-02 -1.11417980e-01 1.18695123e+02] [ 1.11336977e-01 -4.55951524e-03 9.93772252e-01 2.45775243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:118.72, Z:24.58 [[-3.26826979e-02 -9.99464482e-01 -1.60921563e-03 1.57275339e+02] [ 9.93248502e-01 -3.23000414e-02 -1.11418669e-01 1.18722374e+02] [ 1.11307024e-01 -5.23981372e-03 9.93772253e-01 2.45783260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.28, Y:118.75, Z:24.58 [[-3.47833576e-02 -9.99394197e-01 -1.16479796e-03 1.57277350e+02] [ 9.93176004e-01 -3.44370707e-02 -1.11424921e-01 1.18750248e+02] [ 1.11317307e-01 -5.03258226e-03 9.93772172e-01 2.45807356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.28, Y:118.78, Z:24.58 [[-3.62059071e-02 -9.99343154e-01 -1.54707497e-03 1.57278054e+02] [ 9.93128107e-01 -3.58082500e-02 -1.11419621e-01 1.18776689e+02] [ 1.11291038e-01 -5.57049209e-03 9.93772245e-01 2.45822487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:118.80, Z:24.59 [[-3.64633947e-02 -9.99334549e-01 -9.38423256e-04 1.57277358e+02] [ 9.93115475e-01 -3.61318392e-02 -1.11427749e-01 1.18802260e+02] [ 1.11319693e-01 -4.99499666e-03 9.93772095e-01 2.45870756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.27, Y:118.83, Z:24.59 [[-3.59457714e-02 -9.99353277e-01 -9.63892431e-04 1.57273780e+02] [ 9.93134196e-01 -3.56146035e-02 -1.11427414e-01 1.18831245e+02] [ 1.11321023e-01 -4.96261889e-03 9.93772108e-01 2.45910117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.27, Y:118.86, Z:24.59 [[-3.47250734e-02 -9.99395860e-01 -1.44351527e-03 1.57268868e+02] [ 9.93179500e-01 -3.43481438e-02 -1.11421213e-01 1.18857981e+02] [ 1.11304317e-01 -5.30277957e-03 9.93772222e-01 2.45920906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:118.89, Z:24.59 [[-3.27910002e-02 -9.99461255e-01 -1.39638379e-03 1.57266735e+02] [ 9.93243872e-01 -3.24313446e-02 -1.11421804e-01 1.18885093e+02] [ 1.11316489e-01 -5.04058203e-03 9.93772223e-01 2.45920992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.26, Y:118.91, Z:24.59 [[-3.00883789e-02 -9.99546513e-01 -1.20711630e-03 1.57259877e+02] [ 9.93327046e-01 -2.97665974e-02 -1.11424099e-01 1.18912517e+02] [ 1.11337638e-01 -4.55163177e-03 9.93772214e-01 2.45938998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.25, Y:118.94, Z:24.60 [[-2.27589625e-02 -9.99740107e-01 -1.32192092e-03 1.57253653e+02] [ 9.93519035e-01 -2.24700102e-02 -1.11422737e-01 1.18938368e+02] [ 1.11364076e-01 -3.84921949e-03 9.93772220e-01 2.45965695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.25, Y:118.96, Z:24.60 [[-1.95274430e-02 -9.99808495e-01 -1.28551371e-03 1.57249688e+02] [ 9.93586348e-01 -1.92626536e-02 -1.11423158e-01 1.18964889e+02] [ 1.11377057e-01 -3.45307822e-03 9.93772221e-01 2.46003890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19710568099998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:157.25, Y:118.99, Z:24.60 [[-1.65218473e-02 -9.99862737e-01 -1.23909290e-03 1.57245345e+02] [ 9.93639621e-01 -1.62809325e-02 -1.11423674e-01 1.18992189e+02] [ 1.11388206e-01 -3.07213672e-03 9.93772222e-01 2.46035548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22710568099995 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:157.24, Y:119.02, Z:24.61 [[-1.22358658e-02 -9.99924428e-01 -1.19259017e-03 1.57236837e+02] [ 9.93700161e-01 -1.20268073e-02 -1.11424172e-01 1.19019367e+02] [ 1.11401408e-01 -2.54844825e-03 9.93772223e-01 2.46062378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25710568099996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:157.23, Y:119.05, Z:24.61 [[-1.22224689e-02 -9.99924646e-01 -1.14577515e-03 1.57234037e+02] [ 9.93700205e-01 -1.20187079e-02 -1.11424653e-01 1.19046557e+02] [ 1.11402486e-01 -2.50044136e-03 9.93772224e-01 2.46091319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28710568099996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:157.23, Y:119.07, Z:24.61 [[-1.56846918e-02 -9.99876383e-01 -1.09943518e-03 1.57232549e+02] [ 9.93652501e-01 -1.54645402e-02 -1.11425111e-01 1.19073964e+02] [ 1.11394334e-01 -2.84012503e-03 9.93772225e-01 2.46139931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31710568099996 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:157.23, Y:119.10, Z:24.62 [[-1.77345364e-02 -9.99842171e-01 -1.05814287e-03 1.57230394e+02] [ 9.93618584e-01 -1.75062238e-02 -1.11425503e-01 1.19100862e+02] [ 1.11389393e-01 -3.02747005e-03 9.93772226e-01 2.46189025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34710568099996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.23, Y:119.13, Z:24.62 [[-1.96157206e-02 -9.99807081e-01 -1.01198176e-03 1.57225612e+02] [ 9.93583739e-01 -1.93808390e-02 -1.11425922e-01 1.19126549e+02] [ 1.11384813e-01 -3.19118838e-03 9.93772227e-01 2.46247913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37710568099996 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:157.22, Y:119.15, Z:24.63 [[-2.02156792e-02 -9.99795165e-01 -9.76516184e-04 1.57224150e+02] [ 9.93571816e-01 -1.99810124e-02 -1.11426233e-01 1.19152881e+02] [ 1.11383897e-01 -3.22279594e-03 9.93772228e-01 2.46295296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40710568099996 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:157.22, Y:119.18, Z:24.63 [[-2.41345600e-02 -9.99708287e-01 -9.29914255e-04 1.57223907e+02] [ 9.93485692e-01 -2.38806891e-02 -1.11426622e-01 1.19179485e+02] [ 1.11371911e-01 -3.61308900e-03 9.93772229e-01 2.46305507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43710568099996 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:157.22, Y:119.21, Z:24.63 [[-2.45277319e-02 -9.99698750e-01 -8.94139719e-04 1.57223845e+02] [ 9.93476094e-01 -2.42753970e-02 -1.11426909e-01 1.19206904e+02] [ 1.11371636e-01 -3.62135579e-03 9.93772230e-01 2.46336304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46710568099996 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:157.22, Y:119.23, Z:24.63 [[-2.75831337e-02 -9.99619152e-01 -8.50042147e-04 1.57224308e+02] [ 9.93397084e-01 -2.73166903e-02 -1.11427246e-01 1.19233882e+02] [ 1.11361589e-01 -3.91794201e-03 9.93772231e-01 2.46347768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.22, Y:119.26, Z:24.63 [[-3.47634701e-02 -9.99395244e-01 -8.04781436e-04 1.57224453e+02] [ 9.93175002e-01 -3.44573729e-02 -1.11427573e-01 1.19261189e+02] [ 1.11332456e-01 -4.67289790e-03 9.93772232e-01 2.46340136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52710568099997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:157.22, Y:119.29, Z:24.63 [[-3.91226804e-02 -9.99234127e-01 -7.59129533e-04 1.57223132e+02] [ 9.93015010e-01 -3.87945324e-02 -1.11427884e-01 1.19288871e+02] [ 1.11313094e-01 -5.11318452e-03 9.93772233e-01 2.46341119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55710568099997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:157.22, Y:119.32, Z:24.64 [[-3.96572153e-02 -9.99213126e-01 -6.59024963e-04 1.57221052e+02] [ 9.92993601e-01 -3.93368801e-02 -1.11428532e-01 1.19316257e+02] [ 1.11314928e-01 -5.07335286e-03 9.93772231e-01 2.46390762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58710568099997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.22, Y:119.34, Z:24.64 [[-3.81287579e-02 -9.99272588e-01 -7.02425892e-04 1.57216275e+02] [ 9.93052825e-01 -3.78131063e-02 -1.11428258e-01 1.19342689e+02] [ 1.11320643e-01 -4.94616710e-03 9.93772232e-01 2.46411534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61710568099997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:157.21, Y:119.37, Z:24.64 [[-3.17684037e-02 -9.99495224e-01 -2.56511378e-04 1.57213893e+02] [ 9.93271523e-01 -3.15419891e-02 -1.11430629e-01 1.19370361e+02] [ 1.11366291e-01 -3.79475865e-03 9.93772182e-01 2.46422951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:157.21, Y:119.40, Z:24.65 [[-2.77838425e-02 -9.99613938e-01 -1.82624769e-04 1.57211251e+02] [ 9.93389095e-01 -2.75904677e-02 -1.11431024e-01 1.19398910e+02] [ 1.11382966e-01 -3.27739947e-03 9.93772154e-01 2.46450997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67710568099997 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:157.20, Y:119.42, Z:24.65 [[-1.41995177e-02 -9.99899025e-01 -5.60571794e-04 1.57204493e+02] [ 9.93673087e-01 -1.40486332e-02 -1.11429046e-01 1.19424072e+02] [ 1.11409919e-01 -2.13926381e-03 9.93772234e-01 2.46483135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70710568099997 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:157.20, Y:119.45, Z:24.65 [[-8.69114044e-03 -9.99962231e-01 -3.22333115e-05 1.57200480e+02] [ 9.93734599e-01 -8.63342122e-03 -1.11431639e-01 1.19453631e+02] [ 1.11427152e-01 -1.00049938e-03 9.93772101e-01 2.46505394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73710568099997 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:157.20, Y:119.48, Z:24.65 [[ 5.22495298e-03 -9.99986240e-01 -4.68976156e-04 1.57195715e+02] [ 9.93758494e-01 5.24467138e-03 -1.11429569e-01 1.19481316e+02] [ 1.11430495e-01 1.16165219e-04 9.93772223e-01 2.46519720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76710568099998 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:157.19, Y:119.51, Z:24.66 [[ 1.23930909e-02 -9.99923071e-01 -5.12974071e-04 1.57194075e+02] [ 9.93695327e-01 1.23730688e-02 -1.11429366e-01 1.19508756e+02] [ 1.11427141e-01 8.71214333e-04 9.93772224e-01 2.46550895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79710568099998 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:157.19, Y:119.54, Z:24.66 [[ 2.50604507e-02 -9.99685827e-01 -4.70519497e-04 1.57193286e+02] [ 9.93458914e-01 2.49567987e-02 -1.11429546e-01 1.19536378e+02] [ 1.11406280e-01 2.32503285e-03 9.93772225e-01 2.46605856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82710568099998 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:157.20, Y:119.56, Z:24.67 [[ 3.22323283e-02 -9.99480312e-01 -4.28092908e-04 1.57195068e+02] [ 9.93254419e-01 3.20792760e-02 -1.11429709e-01 1.19562756e+02] [ 1.11385533e-01 3.16643379e-03 9.93772226e-01 2.46666166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85710568099998 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:157.20, Y:119.59, Z:24.67 [[ 3.32284297e-02 -9.99447765e-01 1.90903931e-04 1.57196713e+02] [ 9.93224013e-01 3.30002254e-02 -1.11431795e-01 1.19589850e+02] [ 1.11363958e-01 3.89231392e-03 9.93772066e-01 2.46687641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88710568099998 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:157.20, Y:119.62, Z:24.67 [[ 3.13978088e-02 -9.99506966e-01 -4.29296781e-05 1.57199495e+02] [ 9.93282053e-01 3.12070498e-02 -1.11431069e-01 1.19617870e+02] [ 1.11377470e-01 3.45605014e-03 9.93772165e-01 2.46689261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91710568099998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:157.21, Y:119.64, Z:24.67 [[ 3.03079365e-02 -9.99540562e-01 -3.07160781e-04 1.57208356e+02] [ 9.93314679e-01 3.01533988e-02 -1.11430345e-01 1.19643317e+02] [ 1.11388412e-01 3.07211650e-03 9.93772199e-01 2.46743729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.94710568099998 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:157.21, Y:119.67, Z:24.68 [[ 2.93966081e-02 -9.99567824e-01 6.53055204e-05 1.57213153e+02] [ 9.93342886e-01 2.92062567e-02 -1.11431169e-01 1.19670298e+02] [ 1.11381104e-01 3.34056918e-03 9.93772152e-01 2.46791805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97710568099995 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:157.22, Y:119.70, Z:24.68 [[ 2.83027903e-02 -9.99599372e-01 2.17383157e-04 1.57222527e+02] [ 9.93374694e-01 2.81023109e-02 -1.11431489e-01 1.19699096e+02] [ 1.11380738e-01 3.36976501e-03 9.93772095e-01 2.46840518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00710568099996 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:157.23, Y:119.73, Z:24.69 [[ 2.98035429e-02 -9.99555753e-01 -2.14098292e-04 1.57227049e+02] [ 9.93330041e-01 2.96417799e-02 -1.11430671e-01 1.19725598e+02] [ 1.11387514e-01 3.10835851e-03 9.93772187e-01 2.46855664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03710568099996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:157.24, Y:119.75, Z:24.69 [[ 3.30559757e-02 -9.99453486e-01 -1.78508424e-04 1.57236305e+02] [ 9.93228451e-01 3.28699908e-02 -1.11430728e-01 1.19752411e+02] [ 1.11375697e-01 3.50615179e-03 9.93772188e-01 2.46884568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06710568099996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:157.25, Y:119.78, Z:24.69 [[ 3.71594062e-02 -9.99309342e-01 -1.31084622e-04 1.57249679e+02] [ 9.93085307e-01 3.69425819e-02 -1.11430784e-01 1.19776059e+02] [ 1.11358666e-01 4.01052354e-03 9.93772189e-01 2.46929132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09710568099996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:157.26, Y:119.80, Z:24.70 [[ 3.33054423e-02 -9.99444700e-01 1.01975867e-03 1.57255598e+02] [ 9.93224589e-01 3.29844674e-02 -1.11431329e-01 1.19804518e+02] [ 1.11335814e-01 4.72411906e-03 9.93771613e-01 2.46950714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.27, Y:119.83, Z:24.70 [[ 3.09636934e-02 -9.99520508e-01 -5.49922053e-05 1.57269781e+02] [ 9.93295495e-01 3.07769823e-02 -1.11430862e-01 1.19831649e+02] [ 1.11379125e-01 3.39568755e-03 9.93772187e-01 2.46986688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:119.85, Z:24.70 [[ 3.37746676e-02 -9.99429473e-01 -7.90646606e-06 1.57277200e+02] [ 9.93205185e-01 3.35652059e-02 -1.11430866e-01 1.19854619e+02] [ 1.11367557e-01 3.75568772e-03 9.93772188e-01 2.47018766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.29, Y:119.75, Z:24.69 [[ 4.05344958e-02 -9.99178085e-01 -3.31580099e-04 1.57288143e+02] [ 9.92954215e-01 4.03189848e-02 -1.11428477e-01 1.19754840e+02] [ 1.11350261e-01 4.18745328e-03 9.93772401e-01 2.46903669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:119.78, Z:24.69 [[ 4.15895152e-02 -9.99134369e-01 -9.08599780e-04 1.57294411e+02] [ 9.92908935e-01 4.14317055e-02 -1.11423790e-01 1.19780830e+02] [ 1.11364983e-01 3.73190459e-03 9.93772566e-01 2.46927932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:119.81, Z:24.70 [[ 4.43558167e-02 -9.99015416e-01 -8.71668764e-04 1.57307192e+02] [ 9.92790561e-01 4.41766566e-02 -1.11424079e-01 1.19807824e+02] [ 1.11352880e-01 4.07692152e-03 9.93772567e-01 2.46956468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.31, Y:119.83, Z:24.70 [[ 4.54563140e-02 -9.98965987e-01 -8.24636612e-04 1.57313022e+02] [ 9.92741493e-01 4.52650583e-02 -1.11424428e-01 1.19834825e+02] [ 1.11346541e-01 4.24629278e-03 9.93772568e-01 2.46985979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:119.86, Z:24.70 [[ 5.00902401e-02 -9.98744394e-01 -7.77335109e-04 1.57324268e+02] [ 9.92521043e-01 4.98648423e-02 -1.11424758e-01 1.19859556e+02] [ 1.11323614e-01 4.80977141e-03 9.93772569e-01 2.47038020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:119.89, Z:24.71 [[ 5.01486732e-02 -9.98741758e-01 1.11172804e-04 1.57334154e+02] [ 9.92522454e-01 4.98239868e-02 -1.11430462e-01 1.19888580e+02] [ 1.11284717e-01 5.69843134e-03 9.93772227e-01 2.47064706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.34, Y:119.92, Z:24.71 [[ 5.12301564e-02 -9.98686617e-01 -7.15567517e-04 1.57339385e+02] [ 9.92463786e-01 5.09907777e-02 -1.11425191e-01 1.19915417e+02] [ 1.11315334e-01 4.99815512e-03 9.93772567e-01 2.47092960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:119.94, Z:24.71 [[ 5.53704525e-02 -9.98465656e-01 -6.68315640e-04 1.57351740e+02] [ 9.92244099e-01 5.51000145e-02 -1.11425475e-01 1.19940167e+02] [ 1.11291334e-01 5.50654670e-03 9.93772568e-01 2.47080299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.36, Y:119.97, Z:24.72 [[ 5.57417317e-02 -9.98445156e-01 3.59502103e-04 1.57358330e+02] [ 9.92229268e-01 5.53545856e-02 -1.11431364e-01 1.19969192e+02] [ 1.11238206e-01 6.56808571e-03 9.93772067e-01 2.47153451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.37, Y:120.00, Z:24.72 [[ 5.85125199e-02 -9.98286612e-01 -3.52936394e-04 1.57369811e+02] [ 9.92067617e-01 5.81874006e-02 -1.11427418e-01 1.19996119e+02] [ 1.11257036e-01 6.16976225e-03 9.93772512e-01 2.47160047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.37, Y:120.02, Z:24.72 [[ 5.99309445e-02 -9.98202481e-01 -2.97228934e-04 1.57374773e+02] [ 9.91984276e-01 5.95907896e-02 -1.11427711e-01 1.20023040e+02] [ 1.11245129e-01 6.38312151e-03 9.93772498e-01 2.47179951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.39, Y:120.05, Z:24.72 [[ 5.71140777e-02 -9.98367658e-01 4.45058081e-05 1.57386002e+02] [ 9.92150459e-01 5.67534401e-02 -1.11429416e-01 1.20051581e+02] [ 1.11244999e-01 6.40834477e-03 9.93772350e-01 2.47192479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:120.08, Z:24.72 [[ 5.09926304e-02 -9.98698878e-01 -5.49795427e-04 1.57397213e+02] [ 9.92476682e-01 5.07362725e-02 -1.11426503e-01 1.20077941e+02] [ 1.11309418e-01 5.13627134e-03 9.93772525e-01 2.47213448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:120.10, Z:24.73 [[ 4.75703991e-02 -9.98867763e-01 -4.99448574e-04 1.57401930e+02] [ 9.92644941e-01 4.73297564e-02 -1.11426729e-01 1.20103445e+02] [ 1.11324206e-01 4.80483886e-03 9.93772527e-01 2.47262168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:120.13, Z:24.73 [[ 3.61736929e-02 -9.99345518e-01 2.26802912e-05 1.57410373e+02] [ 9.93122092e-01 3.59458923e-02 -1.11428911e-01 1.20131979e+02] [ 1.11355168e-01 4.05331952e-03 9.93772407e-01 2.47284672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.42, Y:120.16, Z:24.73 [[ 3.14116588e-02 -9.99506435e-01 -4.40191459e-04 1.57416728e+02] [ 9.93280674e-01 3.12650743e-02 -1.11427095e-01 1.20158460e+02] [ 1.11385861e-01 3.06287622e-03 9.93772514e-01 2.47267709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.43, Y:120.19, Z:24.74 [[ 1.85666771e-02 -9.99827552e-01 -3.81541572e-04 1.57427577e+02] [ 9.93600496e-01 1.84935629e-02 -1.11427302e-01 1.20185830e+02] [ 1.11415142e-01 1.68973484e-03 9.93772515e-01 2.47351516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.43, Y:120.22, Z:24.74 [[ 1.21405678e-02 -9.99926240e-01 -3.48173787e-04 1.57431279e+02] [ 9.93698864e-01 1.21037573e-02 -1.11427406e-01 1.20216267e+02] [ 1.11423401e-01 1.00681208e-03 9.93772515e-01 2.47370279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.44, Y:120.24, Z:24.74 [[ 4.96337137e-03 -9.99987073e-01 -1.10413562e-03 1.57435503e+02] [ 9.93759975e-01 5.05549360e-03 -1.11425108e-01 1.20238675e+02] [ 1.11429250e-01 -5.44201588e-04 9.93772220e-01 2.47419037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:120.27, Z:24.74 [[ 6.52895382e-04 -9.99999682e-01 4.58202950e-04 1.57435752e+02] [ 9.93772281e-01 5.97772688e-04 -1.11428435e-01 1.20268659e+02] [ 1.11428126e-01 5.28100502e-04 9.93772355e-01 2.47443327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:120.29, Z:24.75 [[ 1.32781154e-03 -9.99998711e-01 -9.02409017e-04 1.57439268e+02] [ 9.93771751e-01 1.42009500e-03 -1.11425719e-01 1.20293545e+02] [ 1.11426857e-01 -7.48836233e-04 9.93772356e-01 2.47495504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:120.32, Z:24.76 [[ 3.72743512e-03 -9.99993040e-01 -1.61622354e-04 1.57440105e+02] [ 9.93765668e-01 3.72223203e-03 -1.11426850e-01 1.20320472e+02] [ 1.11426676e-01 2.54721606e-04 9.93772625e-01 2.47593170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.44, Y:120.35, Z:24.76 [[ 5.08259828e-03 -9.99987076e-01 -1.19678076e-04 1.57439092e+02] [ 9.93759730e-01 5.06428230e-03 -1.11426895e-01 1.20346745e+02] [ 1.11426061e-01 4.47406890e-04 9.93772626e-01 2.47631127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:120.37, Z:24.77 [[ 5.42997642e-03 -9.99985249e-01 1.33166332e-04 1.57437963e+02] [ 9.93758047e-01 5.38132382e-03 -1.11427042e-01 1.20373133e+02] [ 1.11424682e-01 7.37381325e-04 9.93772608e-01 2.47677754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:120.40, Z:24.77 [[ 4.53765789e-03 -9.99989697e-01 1.27114534e-04 1.57437364e+02] [ 9.93762450e-01 4.49523635e-03 -1.11427041e-01 1.20399002e+02] [ 1.11425322e-01 6.31939445e-04 9.93772609e-01 2.47739021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.44, Y:120.47, Z:24.78 [[ 4.56297824e-03 -9.99989589e-01 2.37546551e-05 1.57436186e+02] [ 9.93762281e-01 4.53191594e-03 -1.11427064e-01 1.20471207e+02] [ 1.11425796e-01 5.32045749e-04 9.93772614e-01 2.47832406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:120.40, Z:24.78 [[ 3.14098132e-03 -9.99995062e-01 1.00167606e-04 1.57434074e+02] [ 9.93767757e-01 3.11025995e-03 -1.11426983e-01 1.20404677e+02] [ 1.11426121e-01 4.49533408e-04 9.93772619e-01 2.47762751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:120.40, Z:24.78 [[ 2.66561869e-03 -9.99996412e-01 2.67167322e-04 1.57429537e+02] [ 9.93769207e-01 2.61924961e-03 -1.11426667e-01 1.20402580e+02] [ 1.11425568e-01 5.62523666e-04 9.93772623e-01 2.47797853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:120.38, Z:24.78 [[ 6.89450301e-03 -9.99976117e-01 4.79912202e-04 1.57427617e+02] [ 9.93749473e-01 6.79809635e-03 -1.11426082e-01 1.20382782e+02] [ 1.11420158e-01 1.24513995e-03 9.93772609e-01 2.47764495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:120.38, Z:24.77 [[ 1.15605013e-02 -9.99933115e-01 3.46409317e-04 1.57423916e+02] [ 9.93706715e-01 1.14499144e-02 -1.11426498e-01 1.20379379e+02] [ 1.11415078e-01 1.63237543e-03 9.93772618e-01 2.47727655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:120.37, Z:24.77 [[ 1.67961047e-02 -9.99858836e-01 4.45279359e-04 1.57420812e+02] [ 9.93633368e-01 1.66419036e-02 -1.11426103e-01 1.20367948e+02] [ 1.11402963e-01 2.31396893e-03 9.93772623e-01 2.47660548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.42, Y:120.36, Z:24.76 [[ 1.92836173e-02 -9.99813906e-01 5.43212248e-04 1.57419549e+02] [ 9.93589153e-01 1.91030201e-02 -1.11425626e-01 1.20363316e+02] [ 1.11394513e-01 2.68841892e-03 9.93772627e-01 2.47624239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:120.45, Z:24.77 [[ 2.59280210e-02 -9.99663607e-01 6.40188551e-04 1.57416982e+02] [ 9.93440591e-01 2.56952591e-02 -1.11425069e-01 1.20449864e+02] [ 1.11371137e-01 3.52502083e-03 9.93772632e-01 2.47689378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:120.41, Z:24.76 [[ 2.95347136e-02 -9.99563403e-01 8.38657036e-04 1.57416226e+02] [ 9.93342208e-01 2.92574049e-02 -1.11423799e-01 1.20412842e+02] [ 1.11350615e-01 4.12394343e-03 9.93772627e-01 2.47639961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:120.34, Z:24.75 [[ 3.52563251e-02 -9.99377890e-01 9.07897430e-04 1.57417309e+02] [ 9.93158773e-01 3.49357015e-02 -1.11423288e-01 1.20340423e+02] [ 1.11322253e-01 4.83006198e-03 9.93772623e-01 2.47542144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:120.35, Z:24.76 [[ 3.40398116e-02 -9.99420113e-01 8.54173470e-04 1.57422050e+02] [ 9.93200313e-01 3.37327375e-02 -1.11423700e-01 1.20351741e+02] [ 1.11330274e-01 4.64120712e-03 9.93772625e-01 2.47560759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.43, Y:120.38, Z:24.76 [[ 3.38417671e-02 -9.99426578e-01 1.11842056e-03 1.57425321e+02] [ 9.93208213e-01 3.35065183e-02 -1.11421539e-01 1.20377361e+02] [ 1.11320173e-01 4.88152626e-03 9.93772605e-01 2.47563584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:120.43, Z:24.77 [[ 2.78662731e-02 -9.99611138e-01 1.02129153e-03 1.57431404e+02] [ 9.93390384e-01 2.75790175e-02 -1.11422359e-01 1.20432486e+02] [ 1.11350865e-01 4.11946709e-03 9.93772617e-01 2.47650056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:120.35, Z:24.75 [[ 2.40587702e-02 -9.99709970e-01 1.07336866e-03 1.57436635e+02] [ 9.93488414e-01 2.37894124e-02 -1.11421875e-01 1.20347764e+02] [ 1.11364024e-01 3.74705261e-03 9.93772617e-01 2.47545538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:120.35, Z:24.75 [[ 2.32040516e-02 -9.99730189e-01 1.05902953e-03 1.57436728e+02] [ 9.93508338e-01 2.29416094e-02 -1.11422011e-01 1.20345325e+02] [ 1.11367652e-01 3.63759676e-03 9.93772617e-01 2.47542812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:120.34, Z:24.76 [[ 1.44920438e-02 -9.99894318e-01 1.15488684e-03 1.57445595e+02] [ 9.93670788e-01 1.42731503e-02 -1.11421018e-01 1.20339083e+02] [ 1.11392759e-01 2.76229559e-03 9.93772621e-01 2.47574849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:120.34, Z:24.76 [[ 1.00045916e-02 -9.99949171e-01 1.25042425e-03 1.57449335e+02] [ 9.93725061e-01 9.80298946e-03 -1.11419946e-01 1.20338940e+02] [ 1.11402025e-01 2.35728897e-03 9.93772626e-01 2.47580042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.44710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:120.33, Z:24.76 [[ 3.52416330e-03 -9.99992884e-01 1.34588994e-03 1.57454571e+02] [ 9.93767888e-01 3.35226674e-03 -1.11418794e-01 1.20331221e+02] [ 1.11413489e-01 1.73016023e-03 9.93772630e-01 2.47565567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:120.34, Z:24.76 [[ 2.07392138e-04 -9.99998940e-01 1.44114305e-03 1.57456787e+02] [ 9.93773679e-01 4.55322540e-05 -1.11417562e-01 1.20339690e+02] [ 1.11417379e-01 1.45527715e-03 9.93772635e-01 2.47566347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:120.35, Z:24.76 [[-6.47181702e-03 -9.99977877e-01 1.53678299e-03 1.57463130e+02] [ 9.93751893e-01 -6.60274907e-03 -1.11416244e-01 1.20350314e+02] [ 1.11423926e-01 8.06115466e-04 9.93772639e-01 2.47573173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.47, Y:120.34, Z:24.76 [[-1.04461129e-02 -9.99944102e-01 1.63429971e-03 1.57468494e+02] [ 9.93717847e-01 -1.05631645e-02 -1.11414814e-01 1.20335388e+02] [ 1.11425849e-01 4.60181062e-04 9.93772644e-01 2.47564608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.47, Y:120.35, Z:24.76 [[-1.43945720e-02 -9.99895212e-01 1.53652297e-03 1.57469056e+02] [ 9.93668382e-01 -1.44761417e-02 -1.11416278e-01 1.20347265e+02] [ 1.11426846e-01 -7.69953462e-05 9.93772636e-01 2.47602521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:120.34, Z:24.76 [[-1.47735134e-02 -9.99889324e-01 1.75579662e-03 1.57472472e+02] [ 9.93662847e-01 -1.48771562e-02 -1.11412825e-01 1.20340479e+02] [ 1.11426616e-01 9.87109952e-05 9.93772660e-01 2.47629159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:120.34, Z:24.76 [[-1.48105813e-02 -9.99888598e-01 1.85431414e-03 1.57474215e+02] [ 9.93662313e-01 -1.49249705e-02 -1.11411186e-01 1.20337592e+02] [ 1.11426450e-01 1.92497648e-04 9.93772665e-01 2.47633768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.48, Y:120.32, Z:24.76 [[-1.23056461e-02 -9.99922377e-01 1.95241851e-03 1.57477374e+02] [ 9.93696641e-01 -1.24465632e-02 -1.11409468e-01 1.20324722e+02] [ 1.11425120e-01 5.69146237e-04 9.93772669e-01 2.47621806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:120.32, Z:24.76 [[-1.04590380e-02 -9.99943202e-01 2.04963498e-03 1.57478926e+02] [ 9.93718016e-01 -1.06222829e-02 -1.11407680e-01 1.20323242e+02] [ 1.11423124e-01 8.71542050e-04 9.93772674e-01 2.47615329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:120.31, Z:24.76 [[-2.60406739e-03 -9.99994306e-01 2.14612354e-03 1.57483173e+02] [ 9.93770975e-01 -2.82695334e-03 -1.11405821e-01 1.20309977e+02] [ 1.11411254e-01 1.84264701e-03 9.93772679e-01 2.47579694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.49, Y:120.29, Z:24.75 [[ 1.38998885e-03 -9.99996521e-01 2.24175288e-03 1.57485332e+02] [ 9.93774568e-01 1.13159950e-03 -1.11403897e-01 1.20292248e+02] [ 1.11400973e-01 2.38264718e-03 9.93772683e-01 2.47541177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:120.29, Z:24.75 [[ 1.05232126e-02 -9.99941903e-01 2.33530251e-03 1.57488785e+02] [ 9.93723109e-01 1.01975948e-02 -1.11401937e-01 1.20291878e+02] [ 1.11371650e-01 3.49295034e-03 9.93772688e-01 2.47513287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:120.29, Z:24.75 [[ 1.72727421e-02 -9.99847868e-01 2.42781178e-03 1.57490869e+02] [ 9.93632035e-01 1.68948621e-02 -1.11399921e-01 1.20285322e+02] [ 1.11341956e-01 4.33653367e-03 9.93772692e-01 2.47477457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:120.28, Z:24.74 [[ 1.88488285e-02 -9.99819169e-01 2.52012056e-03 1.57492032e+02] [ 9.93604593e-01 1.84508831e-02 -1.11397833e-01 1.20276186e+02] [ 1.11331191e-01 4.60372203e-03 9.93772696e-01 2.47446483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.50, Y:120.26, Z:24.74 [[ 1.93005413e-02 -9.99810316e-01 2.61164232e-03 1.57497042e+02] [ 9.93596590e-01 1.88896093e-02 -1.11395688e-01 1.20258237e+02] [ 1.11325225e-01 4.74491598e-03 9.93772700e-01 2.47417691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89710568099997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:157.50, Y:120.26, Z:24.74 [[ 1.86593842e-02 -9.99822249e-01 2.70153772e-03 1.57504378e+02] [ 9.93608927e-01 1.82424396e-02 -1.11393509e-01 1.20264982e+02] [ 1.11324426e-01 4.76280627e-03 9.93772704e-01 2.47444944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.51, Y:120.27, Z:24.75 [[ 1.83695819e-02 -9.99827370e-01 2.79096411e-03 1.57507517e+02] [ 9.93614604e-01 1.79444936e-02 -1.11391268e-01 1.20268005e+02] [ 1.11321956e-01 4.81935373e-03 9.93772708e-01 2.47454260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.51, Y:120.39, Z:24.76 [[ 2.13454814e-02 -9.99768007e-01 2.88142238e-03 1.57507087e+02] [ 9.93557264e-01 2.08918463e-02 -1.11388929e-01 1.20387052e+02] [ 1.11302889e-01 5.24050844e-03 9.93772712e-01 2.47591185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.52, Y:120.26, Z:24.75 [[ 1.47909147e-02 -9.99887443e-01 2.51589945e-03 1.57516388e+02] [ 9.93671204e-01 1.44186614e-02 -1.11398566e-01 1.20258105e+02] [ 1.11349752e-01 4.14766354e-03 9.93772625e-01 2.47456353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:157.52, Y:120.31, Z:24.75 [[ 1.18207861e-02 -9.99925626e-01 3.00184033e-03 1.57524233e+02] [ 9.93711738e-01 1.14129413e-02 -1.11385483e-01 1.20311333e+02] [ 1.11342939e-01 4.29962795e-03 9.93772742e-01 2.47543343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04710568099998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:157.54, Y:120.26, Z:24.75 [[-2.60826969e-04 -9.99996450e-01 2.65188111e-03 1.57535462e+02] [ 9.93776043e-01 -5.54612118e-04 -1.11395099e-01 1.20261636e+02] [ 1.11396174e-01 2.60632107e-03 9.93772660e-01 2.47487293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07710568099998 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:157.54, Y:120.26, Z:24.75 [[-5.22289931e-03 -9.99981489e-01 3.12136047e-03 1.57540067e+02] [ 9.93762240e-01 -5.53808586e-03 -1.11381954e-01 1.20261788e+02] [ 1.11397179e-01 2.52015344e-03 9.93772770e-01 2.47484775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10710568099998 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:157.55, Y:120.27, Z:24.75 [[-1.22445314e-02 -9.99919872e-01 3.21251342e-03 1.57547624e+02] [ 9.93699019e-01 -1.25261901e-02 -1.11379326e-01 1.20272744e+02] [ 1.11410642e-01 1.82848378e-03 9.93772774e-01 2.47484315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13710568099998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:157.55, Y:120.26, Z:24.75 [[-1.46884724e-02 -9.99886657e-01 3.30480460e-03 1.57551104e+02] [ 9.93665587e-01 -1.49652036e-02 -1.11376588e-01 1.20264575e+02] [ 1.11413421e-01 1.64791867e-03 9.93772778e-01 2.47452241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16710568099998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:157.55, Y:120.26, Z:24.75 [[-1.67640226e-02 -9.99853701e-01 3.39759114e-03 1.57553640e+02] [ 9.93632521e-01 -1.70381732e-02 -1.11373758e-01 1.20263138e+02] [ 1.11415352e-01 1.50888486e-03 9.93772782e-01 2.47451978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.56, Y:120.26, Z:24.74 [[-1.73259943e-02 -9.99843803e-01 3.48994370e-03 1.57558165e+02] [ 9.93622930e-01 -1.76069334e-02 -1.11370864e-01 1.20261669e+02] [ 1.11414915e-01 1.53807714e-03 9.93772786e-01 2.47409937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22710568099995 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:157.56, Y:120.31, Z:24.75 [[-1.14552649e-02 -9.99927969e-01 3.58236004e-03 1.57559550e+02] [ 9.93709391e-01 -1.17830130e-02 -1.11367892e-01 1.20310178e+02] [ 1.11402081e-01 2.28407611e-03 9.93772791e-01 2.47491525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25710568099996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.56, Y:120.23, Z:24.74 [[-3.45651398e-03 -9.99987730e-01 3.54866347e-03 1.57562996e+02] [ 9.93771744e-01 -3.83024397e-03 -1.11368986e-01 1.20233357e+02] [ 1.11381211e-01 3.14161303e-03 9.93772789e-01 2.47419725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28710568099996 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:157.56, Y:120.22, Z:24.74 [[ 6.86302424e-04 -9.99992901e-01 3.70507824e-03 1.57563615e+02] [ 9.93779671e-01 2.69423782e-04 -1.11363783e-01 1.20224762e+02] [ 1.11361994e-01 3.75846067e-03 9.93772801e-01 2.47410661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31710568099996 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:157.57, Y:120.21, Z:24.74 [[ 8.71258539e-03 -9.99954848e-01 3.79386532e-03 1.57567048e+02] [ 9.93745918e-01 8.23598032e-03 -1.11360759e-01 1.20207593e+02] [ 1.11324484e-01 4.74037829e-03 9.93772805e-01 2.47396481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34710568099996 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:157.57, Y:120.20, Z:24.74 [[ 1.08418908e-02 -9.99933692e-01 3.88126710e-03 1.57569025e+02] [ 9.93726570e-01 1.03423517e-02 -1.11357713e-01 1.20201825e+02] [ 1.11310188e-01 5.06424640e-03 9.93772809e-01 2.47401984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37710568099996 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:157.57, Y:120.19, Z:24.74 [[ 1.32986538e-02 -9.99903698e-01 3.96744123e-03 1.57573103e+02] [ 9.93698627e-01 1.27742912e-02 -1.11354643e-01 1.20190783e+02] [ 1.11293238e-01 5.42330774e-03 9.93772813e-01 2.47403779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40710568099996 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:157.58, Y:120.19, Z:24.74 [[ 1.33746187e-02 -9.99902342e-01 4.05284365e-03 1.57575416e+02] [ 9.93698124e-01 1.28402971e-02 -1.11351535e-01 1.20192433e+02] [ 1.11288621e-01 5.51658745e-03 9.93772816e-01 2.47403752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.58, Y:120.17, Z:24.74 [[ 1.55222625e-02 -9.99870960e-01 4.13801764e-03 1.57581218e+02] [ 9.93668750e-01 1.49651568e-02 -1.11348370e-01 1.20169003e+02] [ 1.11272076e-01 5.84019745e-03 9.93772820e-01 2.47377525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46710568099996 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:157.58, Y:120.17, Z:24.74 [[ 1.67225513e-02 -9.99851254e-01 4.22207997e-03 1.57583045e+02] [ 9.93650578e-01 1.61486665e-02 -1.11345183e-01 1.20171972e+02] [ 1.11260440e-01 6.05724774e-03 9.93772823e-01 2.47370759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:157.59, Y:120.17, Z:24.73 [[ 2.08112967e-02 -9.99774152e-01 4.30519240e-03 1.57586064e+02] [ 9.93576777e-01 2.02028353e-02 -1.11341970e-01 1.20165618e+02] [ 1.11229846e-01 6.59470995e-03 9.93772827e-01 2.47312137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52710568099997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:157.59, Y:120.16, Z:24.73 [[ 2.21051923e-02 -9.99746019e-01 4.38830238e-03 1.57588516e+02] [ 9.93550364e-01 2.14794894e-02 -1.11338694e-01 1.20159201e+02] [ 1.11216158e-01 6.82116268e-03 9.93772830e-01 2.47281166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55710568099997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:157.59, Y:120.15, Z:24.73 [[ 1.77161844e-02 -9.99833569e-01 4.35552977e-03 1.57590063e+02] [ 9.93634876e-01 1.71213235e-02 -1.11339993e-01 1.20154563e+02] [ 1.11246891e-01 6.30032613e-03 9.93772829e-01 2.47273455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58710568099997 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:157.60, Y:120.15, Z:24.73 [[ 1.53626650e-02 -9.99869979e-01 4.90033157e-03 1.57595630e+02] [ 9.93675796e-01 1.47219279e-02 -1.11317915e-01 1.20147695e+02] [ 1.11231299e-01 6.57948072e-03 9.93772765e-01 2.47266010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61710568099997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:157.60, Y:120.15, Z:24.73 [[ 1.72107081e-02 -9.99839710e-01 4.93405523e-03 1.57601137e+02] [ 9.93647106e-01 1.65547820e-02 -1.11316522e-01 1.20153330e+02] [ 1.11216996e-01 6.81854586e-03 9.93772754e-01 2.47258726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:157.59, Y:120.55, Z:24.77 [[ 1.24426267e-02 -9.99911786e-01 4.64763249e-03 1.57592749e+02] [ 9.93713034e-01 1.18480316e-02 -1.11328483e-01 1.20547127e+02] [ 1.11263597e-01 6.00363174e-03 9.93772795e-01 2.47721988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67710568099997 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:157.17, Y:120.07, Z:25.05 [[-1.59218426e-01 9.87233166e-01 -4.49100860e-03 1.57173770e+02] [ 9.81025628e-01 1.58723763e-01 1.11335012e-01 1.20069022e+02] [ 1.10626446e-01 1.33207908e-02 -9.93772784e-01 2.50487195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70710568099997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:157.18, Y:120.08, Z:25.05 [[-2.40278720e-01 9.70629717e-01 -1.20036873e-02 1.57184552e+02] [ 9.64441414e-01 2.40112704e-01 1.10447494e-01 1.20076231e+02] [ 1.10085857e-01 1.49613293e-02 -9.93809470e-01 2.50532231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73710568099997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:157.20, Y:120.06, Z:25.05 [[-3.09275295e-01 9.50722901e-01 -2.17889266e-02 1.57200223e+02] [ 9.44601856e-01 3.09770439e-01 1.08487825e-01 1.20061185e+02] [ 1.09891426e-01 1.29707436e-02 -9.93858961e-01 2.50515941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76710568099998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:157.22, Y:120.05, Z:25.06 [[-3.76260020e-01 9.26021999e-01 -3.01936312e-02 1.57218787e+02] [ 9.20003748e-01 3.77274175e-01 1.06100426e-01 1.20050346e+02] [ 1.09642606e-01 1.21430947e-02 -9.93896898e-01 2.50554413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79710568099998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:157.24, Y:120.04, Z:25.06 [[-4.44863037e-01 8.94777563e-01 -3.83404537e-02 1.57238968e+02] [ 8.88898839e-01 4.46356923e-01 1.03074497e-01 1.20043090e+02] [ 1.09342274e-01 1.17732491e-02 -9.93934433e-01 2.50588404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82710568099998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:157.25, Y:120.04, Z:25.06 [[-5.07900943e-01 8.60174621e-01 -4.62196224e-02 1.57252812e+02] [ 8.54481036e-01 5.09880995e-01 9.94159425e-02 1.20040740e+02] [ 1.09081578e-01 1.09996602e-02 -9.93971940e-01 2.50600205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85710568099998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.26, Y:120.06, Z:25.06 [[-5.71846164e-01 8.18597330e-01 -5.37622161e-02 1.57257003e+02] [ 8.13117960e-01 5.74268135e-01 9.51593066e-02 1.20064621e+02] [ 1.08771082e-01 1.07014610e-02 -9.94009221e-01 2.50615704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88710568099998 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:157.33, Y:120.01, Z:25.06 [[-6.23022072e-01 7.79792048e-01 -6.13828903e-02 1.57325084e+02] [ 7.74625552e-01 6.25980427e-01 9.00208879e-02 1.20007921e+02] [ 1.08622060e-01 8.53624490e-03 -9.94046468e-01 2.50550749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:157.32, Y:120.04, Z:25.06 [[-6.82132530e-01 7.28124771e-01 -6.73017754e-02 1.57318188e+02] [ 7.23171479e-01 6.85378377e-01 8.53199433e-02 1.20035566e+02] [ 1.08250746e-01 9.52878437e-03 -9.94077954e-01 2.50557458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94710568099995 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:157.34, Y:120.04, Z:25.06 [[-7.35466566e-01 6.73518931e-01 -7.38997926e-02 1.57344015e+02] [ 6.68907808e-01 7.39117678e-01 7.91669354e-02 1.20035408e+02] [ 1.07941073e-01 8.79248592e-03 -9.94118412e-01 2.50558082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97710568099995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:157.37, Y:120.04, Z:25.06 [[-7.83707072e-01 6.15999921e-01 -7.96700892e-02 1.57369029e+02] [ 6.11732642e-01 7.87701780e-01 7.28634394e-02 1.20040450e+02] [ 1.07640144e-01 8.36679857e-03 -9.94154714e-01 2.50571003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00710568099996 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:157.40, Y:120.04, Z:25.06 [[-8.28049594e-01 5.54186839e-01 -8.49165343e-02 1.57399948e+02] [ 5.50285359e-01 8.32353539e-01 6.61332695e-02 1.20039588e+02] [ 1.07330765e-01 8.03330134e-03 -9.94190914e-01 2.50558623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03710568099996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:157.42, Y:120.05, Z:25.06 [[-8.64889278e-01 4.93902517e-01 -8.95926352e-02 1.57417918e+02] [ 4.90412302e-01 8.69488049e-01 5.90449574e-02 1.20049863e+02] [ 1.07062179e-01 7.13002013e-03 -9.94226761e-01 2.50573474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.44, Y:120.06, Z:25.06 [[-8.95568586e-01 4.34948686e-01 -9.36832317e-02 1.57441397e+02] [ 4.31912035e-01 9.00436717e-01 5.16305473e-02 1.20061557e+02] [ 1.06812460e-01 5.77578101e-03 -9.94262409e-01 2.50622874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09710568099996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.45, Y:120.08, Z:25.06 [[-9.24617399e-01 3.68295937e-01 -9.71636198e-02 1.57451562e+02] [ 3.65700403e-01 9.29694629e-01 4.39444225e-02 1.20078218e+02] [ 1.06517048e-01 5.09900278e-03 -9.94297802e-01 2.50631799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12710568099996 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:157.48, Y:120.09, Z:25.06 [[-9.47275053e-01 3.04410830e-01 -1.00020101e-01 1.57476854e+02] [ 3.02296711e-01 9.52532896e-01 3.60247215e-02 1.20093252e+02] [ 1.06238752e-01 3.88957225e-03 -9.94333042e-01 2.50627862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15710568099996 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:157.50, Y:120.11, Z:25.06 [[-9.67256353e-01 2.32299451e-01 -1.02235576e-01 1.57495867e+02] [ 2.30639985e-01 9.72638251e-01 2.79290378e-02 1.20108562e+02] [ 1.05926132e-01 3.43492767e-03 -9.94368069e-01 2.50624319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18710568099996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:157.49, Y:120.14, Z:25.07 [[-9.81658221e-01 1.59916373e-01 -1.03797356e-01 1.57488178e+02] [ 1.58720533e-01 9.87126314e-01 1.97340585e-02 1.20136119e+02] [ 1.05616901e-01 2.89732901e-03 -9.94402673e-01 2.50652797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21710568099996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:157.50, Y:120.16, Z:25.07 [[-9.91087102e-01 8.23572162e-02 -1.04707426e-01 1.57503640e+02] [ 8.16072965e-02 9.96598978e-01 1.14335590e-02 1.20157229e+02] [ 1.05292950e-01 2.78676297e-03 -9.94437343e-01 2.50668101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24710568099997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:157.52, Y:120.17, Z:25.07 [[-9.94470356e-01 3.50334678e-03 -1.04959220e-01 1.57522797e+02] [ 3.19124532e-03 9.99989974e-01 3.14134183e-03 1.20172563e+02] [ 1.04969173e-01 2.78902070e-03 -9.94471565e-01 2.50667572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27710568099997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:157.46, Y:120.62, Z:24.74 [[-9.89538612e-01 9.94040810e-02 1.04556987e-01 1.57464683e+02] [-9.94139653e-02 -9.95032937e-01 5.13000115e-03 1.20615693e+02] [ 1.04547589e-01 -5.31809048e-03 9.94505666e-01 2.47423960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.34, Y:120.59, Z:24.75 [[-9.89024946e-01 1.04396008e-01 1.04552039e-01 1.57335354e+02] [-1.04423188e-01 -9.94519208e-01 5.22895249e-03 1.20594886e+02] [ 1.04524893e-01 -5.74609277e-03 9.94505671e-01 2.47504392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33710568099997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:157.47, Y:120.60, Z:24.74 [[-9.89645917e-01 9.83641525e-02 1.04524889e-01 1.57465208e+02] [-9.83013855e-02 -9.95139994e-01 5.76453512e-03 1.20595397e+02] [ 1.04583921e-01 -4.57009280e-03 9.94505564e-01 2.47383790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.53, Y:120.24, Z:25.07 [[-9.91406039e-01 -7.86320104e-02 -1.04551767e-01 1.57533061e+02] [-7.85164297e-02 9.96899115e-01 -5.22725725e-03 1.20239284e+02] [ 1.04638594e-01 3.02669704e-03 -9.94505708e-01 2.50665685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.54, Y:120.26, Z:25.07 [[-9.82254451e-01 -1.56414800e-01 -1.03492047e-01 1.57535694e+02] [-1.55865461e-01 9.87687066e-01 -1.34245306e-02 1.20264413e+02] [ 1.04317552e-01 2.94453077e-03 -9.94539682e-01 2.50655746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.55, Y:120.30, Z:25.06 [[-9.67741502e-01 -2.30463678e-01 -1.01798223e-01 1.57545190e+02] [-2.29475756e-01 9.73077506e-01 -2.14719672e-02 1.20299890e+02] [ 1.04006070e-01 2.58091058e-03 -9.94573314e-01 2.50636851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.44, Y:120.58, Z:24.75 [[-9.37302540e-01 3.34015576e-01 9.94864001e-02 1.57444966e+02] [-3.32773063e-01 -9.42550810e-01 2.93267590e-02 1.20582157e+02] [ 1.03566581e-01 -5.61834841e-03 9.94606655e-01 2.47465721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:120.57, Z:24.75 [[-9.36372914e-01 3.36604790e-01 9.95137234e-02 1.57448426e+02] [-3.35386635e-01 -9.41626886e-01 2.92337504e-02 1.20566746e+02] [ 1.03545018e-01 -6.00188082e-03 9.94606659e-01 2.47453597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.46, Y:120.56, Z:24.74 [[-9.36499086e-01 3.36252609e-01 9.95170580e-02 1.57456532e+02] [-3.35033681e-01 -9.41752879e-01 2.92223944e-02 1.20559937e+02] [ 1.03546582e-01 -5.97482058e-03 9.94606659e-01 2.47436184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:120.54, Z:24.74 [[-9.37062189e-01 3.34672255e-01 9.95436319e-02 1.57473475e+02] [-3.33454077e-01 -9.42316151e-01 2.91315924e-02 1.20544594e+02] [ 1.03551108e-01 -5.89511606e-03 9.94606664e-01 2.47430106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.49, Y:120.53, Z:24.74 [[-9.37315591e-01 3.33954154e-01 9.95696028e-02 1.57489982e+02] [-3.32741374e-01 -9.42570797e-01 2.90425550e-02 1.20530061e+02] [ 1.03550282e-01 -5.90888682e-03 9.94606668e-01 2.47423048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.50, Y:120.52, Z:24.74 [[-9.37223777e-01 3.34213629e-01 9.95632579e-02 1.57503830e+02] [-3.33000003e-01 -9.42478788e-01 2.90642903e-02 1.20516886e+02] [ 1.03549941e-01 -5.91482124e-03 9.94606668e-01 2.47400956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:120.51, Z:24.74 [[-9.37049714e-01 3.34704136e-01 9.95538814e-02 1.57510916e+02] [-3.33489864e-01 -9.42304575e-01 2.90963724e-02 1.20510920e+02] [ 1.03548754e-01 -5.93546291e-03 9.94606669e-01 2.47390398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:120.50, Z:24.74 [[-9.36560676e-01 3.36071958e-01 9.95476773e-02 1.57518566e+02] [-3.34863114e-01 -9.41816788e-01 2.91175832e-02 1.20497486e+02] [ 1.03541277e-01 -6.06446182e-03 9.94606669e-01 2.47400807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.52, Y:120.49, Z:24.74 [[-9.36391258e-01 3.36551097e-01 9.95227143e-02 1.57519108e+02] [-3.35335932e-01 -9.41645909e-01 2.92026588e-02 1.20489903e+02] [ 1.03543344e-01 -6.02842783e-03 9.94606673e-01 2.47393576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:120.48, Z:24.74 [[-9.37349286e-01 3.33881026e-01 9.94976227e-02 1.57524834e+02] [-3.32641870e-01 -9.42598326e-01 2.92879019e-02 1.20475645e+02] [ 1.03564967e-01 -5.64408141e-03 9.94606677e-01 2.47367506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:120.47, Z:24.74 [[-9.37918638e-01 3.32285841e-01 9.94723551e-02 1.57531983e+02] [-3.31028707e-01 -9.43163397e-01 2.93734715e-02 1.20468976e+02] [ 1.03579073e-01 -5.37827869e-03 9.94606681e-01 2.47352330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78710568099996 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:157.54, Y:120.46, Z:24.73 [[-9.38718149e-01 3.30028062e-01 9.94470516e-02 1.57540346e+02] [-3.28749285e-01 -9.43957669e-01 2.94588923e-02 1.20455887e+02] [ 1.03596068e-01 -5.03955024e-03 9.94606685e-01 2.47340789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:120.45, Z:24.73 [[-9.37828676e-01 3.32554790e-01 9.94217593e-02 1.57557769e+02] [-3.31281128e-01 -9.43069438e-01 2.95440074e-02 1.20447743e+02] [ 1.03586624e-01 -5.22933525e-03 9.94606689e-01 2.47334973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.56, Y:120.44, Z:24.74 [[-9.36673093e-01 3.35803240e-01 9.93966824e-02 1.57562826e+02] [-3.34538849e-01 -9.41916096e-01 2.96281372e-02 1.20441724e+02] [ 1.03572559e-01 -5.50017276e-03 9.94606693e-01 2.47352577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.60, Y:120.44, Z:24.73 [[-9.35944517e-01 3.37835925e-01 9.93717716e-02 1.57598708e+02] [-3.36574101e-01 -9.41188134e-01 2.97114542e-02 1.20437875e+02] [ 1.03565129e-01 -5.63769199e-03 9.94606696e-01 2.47341730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.60, Y:120.43, Z:24.74 [[-9.34637282e-01 3.41428676e-01 9.93962294e-02 1.57596849e+02] [-3.40195661e-01 -9.39887755e-01 2.96297333e-02 1.20430336e+02] [ 1.03537739e-01 -6.12111254e-03 9.94606690e-01 2.47384210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.61, Y:120.42, Z:24.74 [[-9.33714723e-01 3.43958213e-01 9.93456809e-02 1.57605629e+02] [-3.42721555e-01 -9.38964323e-01 2.97982646e-02 1.20420426e+02] [ 1.03531408e-01 -6.22482789e-03 9.94606706e-01 2.47382714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.60, Y:120.41, Z:24.74 [[-9.33400956e-01 3.44815689e-01 9.93216816e-02 1.57602355e+02] [-3.43575396e-01 -9.38649695e-01 2.98780454e-02 1.20412739e+02] [ 1.03530685e-01 -6.23629002e-03 9.94606709e-01 2.47381665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.60, Y:120.40, Z:24.73 [[-9.33450552e-01 3.44688365e-01 9.92975258e-02 1.57600881e+02] [-3.43438871e-01 -9.38697104e-01 2.99581121e-02 1.20399563e+02] [ 1.03536513e-01 -6.13821386e-03 9.94606713e-01 2.47318471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.61, Y:120.40, Z:24.73 [[-9.32497694e-01 3.47262108e-01 9.92828202e-02 1.57609252e+02] [-3.46021937e-01 -9.37746456e-01 3.00067264e-02 1.20397109e+02] [ 1.03522312e-01 -6.37283055e-03 9.94606715e-01 2.47291322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.62, Y:120.39, Z:24.73 [[-9.33787794e-01 3.43818493e-01 9.91423230e-02 1.57617927e+02] [-3.42509853e-01 -9.39019993e-01 3.04705318e-02 1.20390099e+02] [ 1.03572956e-01 -5.50421183e-03 9.94606629e-01 2.47304386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.61, Y:120.38, Z:24.73 [[-9.34713764e-01 3.41266549e-01 9.92336692e-02 1.57605331e+02] [-3.39975463e-01 -9.39950256e-01 3.01695490e-02 1.20375712e+02] [ 1.03570571e-01 -5.53711994e-03 9.94606695e-01 2.47327819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.61, Y:120.37, Z:24.73 [[-9.36035267e-01 3.37635771e-01 9.91971009e-02 1.57605169e+02] [-3.36311664e-01 -9.41263511e-01 3.02897191e-02 1.20371070e+02] [ 1.03597504e-01 -5.00889678e-03 9.94606690e-01 2.47308490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.62, Y:120.37, Z:24.73 [[-9.40426122e-01 3.25212696e-01 9.91736375e-02 1.57615390e+02] [-3.23811386e-01 -9.45634209e-01 3.03665903e-02 1.20366789e+02] [ 1.03657585e-01 -3.55601820e-03 9.94606686e-01 2.47297844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.61, Y:120.36, Z:24.73 [[-9.42773161e-01 3.18339015e-01 9.91919253e-02 1.57612644e+02] [-3.16906015e-01 -9.47972615e-01 3.03067364e-02 1.20362332e+02] [ 1.03679045e-01 -2.86214012e-03 9.94606688e-01 2.47308430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20710568099997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:157.61, Y:120.35, Z:24.73 [[-9.47355633e-01 3.04439284e-01 9.91666658e-02 1.57606704e+02] [-3.02921342e-01 -9.52530923e-01 3.03891652e-02 1.20351969e+02] [ 1.03710971e-01 -1.25035269e-03 9.94606692e-01 2.47339305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23710568099997 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:157.60, Y:120.34, Z:24.74 [[-9.48866959e-01 2.99704124e-01 9.91409772e-02 1.57597621e+02] [-2.98151621e-01 -9.54031982e-01 3.04727427e-02 1.20344895e+02] [ 1.03716470e-01 -6.44464375e-04 9.94606695e-01 2.47353890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26710568099998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:157.52, Y:120.32, Z:24.74 [[-9.49474542e-01 2.97782423e-01 9.91146905e-02 1.57516405e+02] [-2.96210565e-01 -9.54633704e-01 3.05580046e-02 1.20315226e+02] [ 1.03717861e-01 -3.44771024e-04 9.94606699e-01 2.47446808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29710568099998 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:157.59, Y:120.34, Z:24.73 [[-9.53002453e-01 2.86369642e-01 9.88875780e-02 1.57586970e+02] [-2.84659720e-01 -9.58117754e-01 3.12923740e-02 1.20336252e+02] [ 1.03707130e-01 1.67239894e-03 9.94606472e-01 2.47325422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32710568099998 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:157.59, Y:120.34, Z:24.73 [[-9.53282213e-01 2.85367781e-01 9.90870933e-02 1.57590004e+02] [-2.83719445e-01 -9.58417453e-01 3.06473947e-02 1.20336118e+02] [ 1.03712579e-01 1.10268118e-03 9.94606699e-01 2.47313333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35710568099998 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:157.59, Y:120.33, Z:24.73 [[-9.53888294e-01 2.83344846e-01 9.90596869e-02 1.57590248e+02] [-2.81676447e-01 -9.59017046e-01 3.07357255e-02 1.20334107e+02] [ 1.03708738e-01 1.41566815e-03 9.94606703e-01 2.47274261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38710568099998 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:157.59, Y:120.33, Z:24.73 [[-9.54018653e-01 2.82914020e-01 9.90356878e-02 1.57587792e+02] [-2.81235298e-01 -9.59144032e-01 3.08128622e-02 1.20334228e+02] [ 1.03706880e-01 1.54371406e-03 9.94606706e-01 2.47257769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41710568099998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:157.58, Y:120.34, Z:24.72 [[-9.54007872e-01 2.82960082e-01 9.90079412e-02 1.57584189e+02] [-2.81272383e-01 -9.59130297e-01 3.09017627e-02 1.20338301e+02] [ 1.03705481e-01 1.63232532e-03 9.94606711e-01 2.47236812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44710568099995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:157.58, Y:120.34, Z:24.72 [[-9.53666728e-01 2.84117494e-01 9.89799076e-02 1.57583400e+02] [-2.82426720e-01 -9.58788135e-01 3.09912978e-02 1.20340959e+02] [ 1.03705931e-01 1.60079894e-03 9.94606715e-01 2.47248917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47710568099995 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:157.58, Y:120.35, Z:24.73 [[-9.52901636e-01 2.86682845e-01 9.89515935e-02 1.57582780e+02] [-2.84996499e-01 -9.58024498e-01 3.10814408e-02 1.20346239e+02] [ 1.03708567e-01 1.41669806e-03 9.94606719e-01 2.47278700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50710568099996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:157.59, Y:120.35, Z:24.73 [[-9.52329362e-01 2.88586704e-01 9.89267455e-02 1.57589182e+02] [-2.86902405e-01 -9.57452894e-01 3.11603286e-02 1.20351515e+02] [ 1.03710155e-01 1.29257464e-03 9.94606723e-01 2.47282942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53710568099996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:157.52, Y:120.34, Z:24.74 [[-9.50736278e-01 2.93802071e-01 9.88982999e-02 1.57523745e+02] [-2.92136515e-01 -9.55865928e-01 3.12503522e-02 1.20338566e+02] [ 1.03714933e-01 8.19038881e-04 9.94606727e-01 2.47395750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.61, Y:120.37, Z:24.73 [[-9.49680133e-01 2.97225570e-01 9.88160195e-02 1.57605325e+02] [-2.95551481e-01 -9.54807019e-01 3.15099778e-02 1.20374493e+02] [ 1.03715800e-01 7.19178914e-04 9.94606714e-01 2.47316959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:120.38, Z:24.73 [[-9.48486194e-01 3.00999572e-01 9.88594812e-02 1.57599481e+02] [-2.99360154e-01 -9.53624261e-01 3.13730292e-02 1.20377332e+02] [ 1.03718068e-01 1.62295579e-04 9.94606724e-01 2.47320206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:120.34, Z:24.75 [[-9.47556893e-01 3.03921445e-01 9.88316216e-02 1.57457239e+02] [-3.02288741e-01 -9.52697093e-01 3.14605504e-02 1.20341382e+02] [ 1.03718134e-01 -6.50250671e-05 9.94606729e-01 2.47458480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:120.38, Z:24.73 [[-9.46779907e-01 3.06317658e-01 9.88802285e-02 1.57556559e+02] [-3.04713873e-01 -9.51929227e-01 3.13081719e-02 1.20376843e+02] [ 1.03717225e-01 -4.88229341e-04 9.94606706e-01 2.47341069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.46, Y:120.35, Z:24.75 [[-9.46289518e-01 3.07831800e-01 9.88723016e-02 1.57455576e+02] [-3.06233655e-01 -9.51440586e-01 3.13330503e-02 1.20351041e+02] [ 1.03716430e-01 -6.27889162e-04 9.94606710e-01 2.47452017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:120.40, Z:24.73 [[-9.46414060e-01 3.07451295e-01 9.88641884e-02 1.57598278e+02] [-3.05848426e-01 -9.51563654e-01 3.13584374e-02 1.20398773e+02] [ 1.03716761e-01 -5.59390370e-04 9.94606717e-01 2.47281488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.48, Y:120.37, Z:24.74 [[-9.49755694e-01 2.96985707e-01 9.88109897e-02 1.57482689e+02] [-2.95308741e-01 -9.54881621e-01 3.15251860e-02 1.20369431e+02] [ 1.03715328e-01 7.61476019e-04 9.94606732e-01 2.47396920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:120.40, Z:24.74 [[-9.49860049e-01 2.96622292e-01 9.88994570e-02 1.57565832e+02] [-2.94972182e-01 -9.54994742e-01 3.12482720e-02 1.20398814e+02] [ 1.03717395e-01 5.08896488e-04 9.94606678e-01 2.47356238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:120.41, Z:24.74 [[-9.52284899e-01 2.88775116e-01 9.88048739e-02 1.57582040e+02] [-2.87051981e-01 -9.57395488e-01 3.15442564e-02 1.20408689e+02] [ 1.03704537e-01 1.67698417e-03 9.94606735e-01 2.47406884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:120.40, Z:24.75 [[-9.55073341e-01 2.79426466e-01 9.87712727e-02 1.57545693e+02] [-2.77642479e-01 -9.60163000e-01 3.16491220e-02 1.20400983e+02] [ 1.03680124e-01 2.80413175e-03 9.94606741e-01 2.47464136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:120.42, Z:24.74 [[-9.53747936e-01 2.83865055e-01 9.89217114e-02 1.57602549e+02] [-2.82153298e-01 -9.58862499e-01 3.11805156e-02 1.20422168e+02] [ 1.03703378e-01 1.82726523e-03 9.94606591e-01 2.47383628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:120.42, Z:24.74 [[-9.55418168e-01 2.78243870e-01 9.87748641e-02 1.57554262e+02] [-2.76454807e-01 -9.60506024e-01 3.16372854e-02 1.20416554e+02] [ 1.03676733e-01 2.92005128e-03 9.94606761e-01 2.47390745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:120.40, Z:24.74 [[-9.55147437e-01 2.79159277e-01 9.88102798e-02 1.57502911e+02] [-2.77386452e-01 -9.60241003e-01 3.15273424e-02 1.20403161e+02] [ 1.03682832e-01 2.70462735e-03 9.94606734e-01 2.47402890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:120.41, Z:24.73 [[-9.54462259e-01 2.81507087e-01 9.87702186e-02 1.57510667e+02] [-2.79733978e-01 -9.59555679e-01 3.16512359e-02 1.20413528e+02] [ 1.03685571e-01 2.58052394e-03 9.94606778e-01 2.47338759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.49, Y:120.41, Z:24.74 [[-9.54073086e-01 2.82843820e-01 9.87112946e-02 1.57485825e+02] [-2.81059067e-01 -9.59162380e-01 3.18328386e-02 1.20409925e+02] [ 1.03683882e-01 2.62715024e-03 9.94606832e-01 2.47367378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:120.42, Z:24.73 [[-9.52810024e-01 2.87075399e-01 9.86953607e-02 1.57508452e+02] [-2.85308182e-01 -9.57905420e-01 3.18817856e-02 1.20423210e+02] [ 1.03693297e-01 2.21869089e-03 9.94606846e-01 2.47342275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.54, Y:120.44, Z:24.73 [[-9.50186746e-01 2.95645415e-01 9.86860529e-02 1.57542812e+02] [-2.93921197e-01 -9.55296844e-01 3.19103483e-02 1.20440096e+02] [ 1.03708623e-01 1.31486725e-03 9.94606853e-01 2.47295905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:120.43, Z:24.74 [[-9.48506746e-01 3.01009420e-01 9.86320511e-02 1.57488083e+02] [-2.99296924e-01 -9.53620739e-01 3.20755111e-02 1.20426472e+02] [ 1.03712600e-01 9.03569164e-04 9.94606897e-01 2.47362401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:120.46, Z:24.72 [[-9.43261233e-01 3.17074507e-01 9.86002236e-02 1.57571351e+02] [-3.15438966e-01 -9.48400330e-01 3.21725313e-02 1.20458049e+02] [ 1.03713574e-01 -7.55251081e-04 9.94606919e-01 2.47241749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:120.46, Z:24.72 [[-9.41356052e-01 3.22720740e-01 9.84891255e-02 1.57569936e+02] [-3.21080531e-01 -9.46493681e-01 3.25116046e-02 1.20459684e+02] [ 1.03711504e-01 -1.01794498e-03 9.94606901e-01 2.47234808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:120.46, Z:24.72 [[-9.41055947e-01 3.23602886e-01 9.84625631e-02 1.57572304e+02] [-3.21959039e-01 -9.46192429e-01 3.25924144e-02 1.20460516e+02] [ 1.03711531e-01 -1.02962682e-03 9.94606886e-01 2.47232201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:120.47, Z:24.72 [[-9.39007716e-01 3.29509048e-01 9.84291431e-02 1.57595951e+02] [-3.27886884e-01 -9.44151106e-01 3.26937518e-02 1.20473068e+02] [ 1.03704871e-01 -1.57393979e-03 9.94606868e-01 2.47239563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:120.47, Z:24.73 [[-9.38145580e-01 3.31938959e-01 9.84855252e-02 1.57597386e+02] [-3.30348027e-01 -9.43298698e-01 3.25230219e-02 1.20473806e+02] [ 1.03696926e-01 -2.02316971e-03 9.94606884e-01 2.47258594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:120.46, Z:24.72 [[-9.35518980e-01 3.39264509e-01 9.85080276e-02 1.57569892e+02] [-3.37721079e-01 -9.40686530e-01 3.24549571e-02 1.20461925e+02] [ 1.03675990e-01 -2.90600899e-03 9.94606879e-01 2.47248271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.64, Y:120.48, Z:24.71 [[-9.34641274e-01 3.41713433e-01 9.83748907e-02 1.57637325e+02] [-3.40141265e-01 -9.39800168e-01 3.28567213e-02 1.20483093e+02] [ 1.03680322e-01 -2.75211191e-03 9.94606865e-01 2.47145623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.50, Y:120.44, Z:24.73 [[-9.36539377e-01 3.36487803e-01 9.83359210e-02 1.57499722e+02] [-3.34874474e-01 -9.41685597e-01 3.29745813e-02 1.20438725e+02] [ 1.03697065e-01 -2.04819600e-03 9.94606819e-01 2.47260821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.61, Y:120.47, Z:24.72 [[-9.37021879e-01 3.35111670e-01 9.84386483e-02 1.57609849e+02] [-3.33523332e-01 -9.42175791e-01 3.26644404e-02 1.20473482e+02] [ 1.03692747e-01 -2.22429075e-03 9.94606891e-01 2.47177566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:120.44, Z:24.73 [[-9.36812027e-01 3.35683844e-01 9.84864592e-02 1.57525247e+02] [-3.34113864e-01 -9.41971549e-01 3.25196478e-02 1.20444299e+02] [ 1.03687763e-01 -2.44089423e-03 9.94606902e-01 2.47317325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.60, Y:120.46, Z:24.73 [[-9.38197234e-01 3.31807690e-01 9.84357997e-02 1.57601402e+02] [-3.30200335e-01 -9.43345236e-01 3.26726946e-02 1.20463921e+02] [ 1.03699994e-01 -1.85010225e-03 9.94606901e-01 2.47269832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.62, Y:120.47, Z:24.72 [[-9.37042659e-01 3.35039380e-01 9.84868996e-02 1.57619674e+02] [-3.33466030e-01 -9.42201141e-01 3.25179331e-02 1.20466363e+02] [ 1.03689257e-01 -2.37134493e-03 9.94606915e-01 2.47229688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:120.44, Z:24.74 [[-9.42257585e-01 3.20130523e-01 9.83213719e-02 1.57534882e+02] [-3.18423289e-01 -9.47373427e-01 3.30181702e-02 1.20436019e+02] [ 1.03717179e-01 -1.96193261e-04 9.94606811e-01 2.47380641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:120.42, Z:24.74 [[-9.43655739e-01 3.15932764e-01 9.84902763e-02 1.57507057e+02] [-3.14255965e-01 -9.48781541e-01 3.25080781e-02 1.20423806e+02] [ 1.03716123e-01 -2.74722363e-04 9.94606902e-01 2.47444536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:120.42, Z:24.75 [[-9.44564704e-01 3.13251754e-01 9.83405266e-02 1.57492017e+02] [-3.11513374e-01 -9.49669990e-01 3.29594787e-02 1.20415774e+02] [ 1.03715662e-01 4.97970963e-04 9.94606864e-01 2.47470847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:120.45, Z:24.73 [[-9.45611435e-01 3.10116924e-01 9.82166327e-02 1.57598523e+02] [-3.08323007e-01 -9.50697621e-01 3.33310208e-02 1.20447463e+02] [ 1.03710833e-01 1.23574691e-03 9.94606724e-01 2.47308255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.62, Y:120.46, Z:24.72 [[-9.49001099e-01 2.99609252e-01 9.81387292e-02 1.57621699e+02] [-2.97734926e-01 -9.54058365e-01 3.35641263e-02 1.20455102e+02] [ 1.03686198e-01 2.63306543e-03 9.94606575e-01 2.47228887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:120.42, Z:24.74 [[-9.50359686e-01 2.95249446e-01 9.82050483e-02 1.57495979e+02] [-2.93372424e-01 -9.55415806e-01 3.33655301e-02 1.20416225e+02] [ 1.03677810e-01 2.89860168e-03 9.94606711e-01 2.47366288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:120.45, Z:24.73 [[-9.51851081e-01 2.90400190e-01 9.82204133e-02 1.57590879e+02] [-2.88502156e-01 -9.56899324e-01 3.33195156e-02 1.20451994e+02] [ 1.03663041e-01 3.37841595e-03 9.94606737e-01 2.47257025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.55, Y:120.44, Z:24.73 [[-9.50356996e-01 2.95194029e-01 9.83974822e-02 1.57550322e+02] [-2.93376393e-01 -9.55434575e-01 3.27881826e-02 1.20441822e+02] [ 1.03691232e-01 2.29298036e-03 9.94606893e-01 2.47297987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:120.43, Z:24.73 [[-9.49585820e-01 2.97719802e-01 9.82328315e-02 1.57516155e+02] [-2.95864675e-01 -9.54649920e-01 3.32809854e-02 1.20433568e+02] [ 1.03686373e-01 2.53952708e-03 9.94606800e-01 2.47320951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.54, Y:120.45, Z:24.73 [[-9.50263762e-01 2.95576118e-01 9.81506007e-02 1.57538526e+02] [-2.93684213e-01 -9.55314375e-01 3.35265343e-02 1.20448055e+02] [ 1.03674323e-01 3.03376869e-03 9.94606672e-01 2.47279578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:120.47, Z:24.72 [[-9.50162376e-01 2.95894290e-01 9.81734591e-02 1.57588389e+02] [-2.94011104e-01 -9.55216207e-01 3.34584545e-02 1.20474256e+02] [ 1.03677045e-01 2.92687757e-03 9.94606708e-01 2.47209700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:120.48, Z:24.72 [[-9.51007603e-01 2.93165219e-01 9.81768471e-02 1.57600117e+02] [-2.91268572e-01 -9.56056393e-01 3.34483672e-02 1.20482672e+02] [ 1.03668500e-01 3.21382148e-03 9.94606713e-01 2.47166106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:120.49, Z:24.71 [[-9.50026611e-01 2.96287509e-01 9.83013204e-02 1.57604596e+02] [-2.94445678e-01 -9.55095575e-01 3.30784870e-02 1.20492428e+02] [ 1.03687899e-01 2.48104398e-03 9.94606789e-01 2.47122916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.65, Y:120.52, Z:24.70 [[-9.48180836e-01 3.02151894e-01 9.82717469e-02 1.57645075e+02] [-3.00332338e-01 -9.53257833e-01 3.31661152e-02 1.20517177e+02] [ 1.03699517e-01 1.93329131e-03 9.94606793e-01 2.47039954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:120.49, Z:24.72 [[-9.45727571e-01 3.09779178e-01 9.81642680e-02 1.57556013e+02] [-3.07967424e-01 -9.50807445e-01 3.34853473e-02 1.20490760e+02] [ 1.03708380e-01 1.43661942e-03 9.94606710e-01 2.47173870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:120.51, Z:24.71 [[-9.45909158e-01 3.09251375e-01 9.80788024e-02 1.57586874e+02] [-3.07410476e-01 -9.50978694e-01 3.37390367e-02 1.20505334e+02] [ 1.03704695e-01 1.76361249e-03 9.94606568e-01 2.47143641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:120.49, Z:24.72 [[-9.40751666e-01 3.24539347e-01 9.82879191e-02 1.57516845e+02] [-3.22845604e-01 -9.45872022e-01 3.31184973e-02 1.20488785e+02] [ 1.03716048e-01 -5.75541073e-04 9.94606782e-01 2.47223536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:120.51, Z:24.72 [[-9.39630903e-01 3.27804085e-01 9.81745760e-02 1.57569241e+02] [-3.26093030e-01 -9.44745546e-01 3.34542889e-02 1.20509654e+02] [ 1.03716446e-01 -5.79361282e-04 9.94606738e-01 2.47152909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.58, Y:120.52, Z:24.72 [[-9.36558083e-01 3.36447836e-01 9.82945104e-02 1.57583934e+02] [-3.34821323e-01 -9.41700162e-01 3.30981318e-02 1.20520987e+02] [ 1.03699751e-01 -1.91277515e-03 9.94606808e-01 2.47167311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:120.52, Z:24.72 [[-9.35620232e-01 3.39049349e-01 9.82869344e-02 1.57581658e+02] [-3.37434772e-01 -9.40766070e-01 3.31206142e-02 1.20521807e+02] [ 1.03694536e-01 -2.17711267e-03 9.94606808e-01 2.47183455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:120.52, Z:24.72 [[-9.35740906e-01 3.38724941e-01 9.82566572e-02 1.57579909e+02] [-3.37099177e-01 -9.40883217e-01 3.32101946e-02 1.20520182e+02] [ 1.03697161e-01 -2.04610067e-03 9.94606813e-01 2.47168216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:120.52, Z:24.72 [[-9.37891145e-01 3.32733890e-01 9.82260569e-02 1.57577145e+02] [-3.31065821e-01 -9.43019884e-01 3.33004576e-02 1.20517167e+02] [ 1.03709316e-01 -1.28708588e-03 9.94606817e-01 2.47162201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:120.52, Z:24.71 [[-9.39565832e-01 3.27984410e-01 9.81950779e-02 1.57593645e+02] [-3.26280891e-01 -9.44682901e-01 3.33915596e-02 1.20521942e+02] [ 1.03715122e-01 -6.65609091e-04 9.94606822e-01 2.47134638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.58, Y:120.51, Z:24.71 [[-9.37470413e-01 3.33929939e-01 9.81836077e-02 1.57575325e+02] [-3.32255343e-01 -9.42597019e-01 3.34252523e-02 1.20506436e+02] [ 1.03709268e-01 -1.28684312e-03 9.94606823e-01 2.47099363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.67, Y:120.55, Z:24.71 [[-9.47765348e-01 3.03618543e-01 9.77579930e-02 1.57670199e+02] [-3.01651678e-01 -9.52787720e-01 3.46673640e-02 1.20548358e+02] [ 1.03668270e-01 3.36766369e-03 9.94606228e-01 2.47055971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:120.51, Z:24.72 [[-9.47635860e-01 3.03847074e-01 9.83017458e-02 1.57560661e+02] [-3.02046054e-01 -9.52719386e-01 3.30749469e-02 1.20509302e+02] [ 1.03703705e-01 1.65135131e-03 9.94606864e-01 2.47213716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:120.52, Z:24.72 [[-9.50612665e-01 2.94516906e-01 9.79558788e-02 1.57575348e+02] [-2.92561713e-01 -9.55638932e-01 3.40862906e-02 1.20517350e+02] [ 1.03649440e-01 3.74471985e-03 9.94606842e-01 2.47197000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27710568099997 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:157.59, Y:120.53, Z:24.72 [[-9.52123361e-01 2.89576477e-01 9.80131077e-02 1.57593316e+02] [-2.87612368e-01 -9.57146075e-01 3.39192787e-02 1.20527332e+02] [ 1.03635086e-01 4.10555569e-03 9.94606914e-01 2.47160055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.68, Y:120.56, Z:24.71 [[-9.53022550e-01 2.86586750e-01 9.80614854e-02 1.57682684e+02] [-2.84621358e-01 -9.58044731e-01 3.37783288e-02 1.20560870e+02] [ 1.03627711e-01 4.28111589e-03 9.94606942e-01 2.47074495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.70, Y:120.57, Z:24.70 [[-9.53501150e-01 2.84975687e-01 9.81040983e-02 1.57695907e+02] [-2.83014583e-01 -9.58524992e-01 3.36539178e-02 1.20570987e+02] [ 1.03625778e-01 4.32415886e-03 9.94606957e-01 2.47034477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:120.57, Z:24.70 [[-9.53660208e-01 2.84442243e-01 9.81061607e-02 1.57685938e+02] [-2.82478947e-01 -9.58683192e-01 3.36479006e-02 1.20570998e+02] [ 1.03623612e-01 4.37573889e-03 9.94606958e-01 2.47034104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.64, Y:120.56, Z:24.71 [[-9.52782551e-01 2.87365666e-01 9.81141439e-02 1.57643774e+02] [-2.85420176e-01 -9.57812459e-01 3.36246276e-02 1.20562427e+02] [ 1.03637513e-01 4.03320222e-03 9.94606957e-01 2.47105270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.70, Y:120.60, Z:24.70 [[-9.54473755e-01 2.81708724e-01 9.80818285e-02 1.57700684e+02] [-2.79723793e-01 -9.59488225e-01 3.37186293e-02 1.20595859e+02] [ 1.03607192e-01 4.74772565e-03 9.94606962e-01 2.47041406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.65, Y:120.58, Z:24.71 [[-9.53480962e-01 2.85033276e-01 9.81330014e-02 1.57645073e+02] [-2.83081148e-01 -9.58508296e-01 3.35694785e-02 1.20579468e+02] [ 1.03629714e-01 4.22825599e-03 9.94606960e-01 2.47127269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.62, Y:120.58, Z:24.71 [[-9.53029781e-01 2.86555690e-01 9.80819739e-02 1.57617016e+02] [-2.84596341e-01 -9.58054291e-01 3.37179163e-02 1.20576385e+02] [ 1.03629917e-01 4.22040750e-03 9.94606972e-01 2.47149239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.65, Y:120.59, Z:24.71 [[-9.54501928e-01 2.81665559e-01 9.79315184e-02 1.57654814e+02] [-2.79635727e-01 -9.59498468e-01 3.41547995e-02 1.20593000e+02] [ 1.03585373e-01 5.21567056e-03 9.94606891e-01 2.47098291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:120.57, Z:24.72 [[-9.53834039e-01 2.83867787e-01 9.80800975e-02 1.57557143e+02] [-2.81893791e-01 -9.58852788e-01 3.37227009e-02 1.20570971e+02] [ 1.03617163e-01 4.51768942e-03 9.94606995e-01 2.47191647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.67, Y:120.62, Z:24.71 [[-9.55861407e-01 2.77045806e-01 9.78498423e-02 1.57666198e+02] [-2.74967809e-01 -9.60838186e-01 3.43901644e-02 1.20620165e+02] [ 1.03545516e-01 5.96667421e-03 9.94606819e-01 2.47071290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.66, Y:120.39, Z:25.07 [[-8.91969348e-01 -4.41329734e-01 -9.80752123e-02 1.57659903e+02] [-4.40233015e-01 8.97249597e-01 -3.37350406e-02 1.20388899e+02] [ 1.02886221e-01 1.30853241e-02 -9.94607058e-01 2.50678868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.67, Y:120.40, Z:25.07 [[-8.56365858e-01 -5.07545312e-01 -9.50540601e-02 1.57673411e+02] [-5.06084954e-01 8.61523082e-01 -4.06939568e-02 1.20396285e+02] [ 1.02545294e-01 1.32565145e-02 -9.94639999e-01 2.50709070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.73, Y:120.44, Z:25.06 [[-8.18846350e-01 -5.66087786e-01 -9.50540601e-02 1.57727432e+02] [-5.64991002e-01 8.24092937e-01 -4.06939568e-02 1.20436573e+02] [ 1.01369731e-01 2.03825907e-02 -9.94639999e-01 2.50644129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69710568099995 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:157.55, Y:120.67, Z:24.71 [[-8.67440210e-01 4.89922481e-01 8.67377920e-02 1.57552195e+02] [-4.86952921e-01 -8.71753561e-01 5.40609040e-02 1.20667562e+02] [ 1.02099631e-01 4.65738075e-03 9.94763275e-01 2.47108814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72710568099995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.76, Y:120.46, Z:25.06 [[-7.71462569e-01 -6.30329012e-01 -8.67804214e-02 1.57762674e+02] [-6.28143933e-01 7.76221631e-01 -5.39923877e-02 1.20455249e+02] [ 1.01393809e-01 1.28574891e-02 -9.94763279e-01 2.50580044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75710568099996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:157.54, Y:120.70, Z:24.71 [[-8.30061954e-01 5.51602707e-01 8.20463688e-02 1.57536677e+02] [-5.48307401e-01 -8.34090954e-01 6.04257845e-02 1.20695477e+02] [ 1.01765160e-01 5.17051351e-03 9.94795013e-01 2.47095010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78710568099996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:157.31, Y:120.54, Z:24.74 [[-8.36994309e-01 5.41026264e-01 8.20433306e-02 1.57306044e+02] [-5.37679700e-01 -8.40980836e-01 6.04299127e-02 1.20537114e+02] [ 1.01691039e-01 6.46645963e-03 9.94795013e-01 2.47434884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81710568099996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:157.72, Y:120.42, Z:25.06 [[-7.17532231e-01 -6.91676506e-01 -8.20433306e-02 1.57716072e+02] [-6.89157701e-01 7.22087175e-01 -6.04299127e-02 1.20424969e+02] [ 1.01040388e-01 1.31803831e-02 -9.94795013e-01 2.50644333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84710568099996 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:157.47, Y:120.70, Z:24.71 [[-7.96898699e-01 5.99117868e-01 7.75257604e-02 1.57471102e+02] [-5.95530657e-01 -8.00636564e-01 6.57596309e-02 1.20702690e+02] [ 1.01467728e-01 6.23479726e-03 9.94819294e-01 2.47120311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87710568099996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:157.43, Y:120.67, Z:24.72 [[-7.97199194e-01 5.98717818e-01 7.75268940e-02 1.57426945e+02] [-5.95128861e-01 -8.00935382e-01 6.57582937e-02 1.20671365e+02] [ 1.01464695e-01 6.28396663e-03 9.94819294e-01 2.47220752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90710568099996 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:157.70, Y:120.41, Z:25.07 [[-6.70585123e-01 -7.37763679e-01 -7.75908975e-02 1.57699993e+02] [-7.34948634e-01 6.74934284e-01 -6.56827019e-02 1.20405451e+02] [ 1.00827069e-01 1.29794814e-02 -9.94819298e-01 2.50697016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93710568099996 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:157.39, Y:120.68, Z:24.72 [[-7.53322050e-01 6.53619694e-01 7.27130257e-02 1.57390139e+02] [-6.49812251e-01 -7.56799279e-01 7.07028240e-02 1.20677666e+02] [ 1.01241924e-01 6.01218139e-03 9.94843669e-01 2.47221625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96710568099996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:157.37, Y:120.68, Z:24.72 [[-7.53126341e-01 6.53839480e-01 7.27643412e-02 1.57372748e+02] [-6.50038122e-01 -7.56610218e-01 7.06499731e-02 1.20676880e+02] [ 1.01247986e-01 5.90876002e-03 9.94843672e-01 2.47245100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99710568099997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:157.37, Y:120.69, Z:24.72 [[-7.53873307e-01 6.52972351e-01 7.28158282e-02 1.57373914e+02] [-6.49172080e-01 -7.57358365e-01 7.05968682e-02 1.20688850e+02] [ 1.01245480e-01 5.95109192e-03 9.94843675e-01 2.47220765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02710568099997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:157.40, Y:120.72, Z:24.71 [[-7.53376175e-01 6.53540132e-01 7.28672440e-02 1.57400633e+02] [-6.49747590e-01 -7.56869637e-01 7.05437594e-02 1.20715167e+02] [ 1.01254182e-01 5.80067143e-03 9.94843678e-01 2.47142357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05710568099997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:157.70, Y:120.40, Z:25.07 [[-6.21510441e-01 -7.79998714e-01 -7.29847809e-02 1.57704722e+02] [-7.76920871e-01 6.25647412e-01 -7.04221306e-02 1.20400817e+02] [ 1.00591911e-01 1.29353101e-02 -9.94843679e-01 2.50746891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08710568099997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:157.31, Y:120.65, Z:24.73 [[-7.08581100e-01 7.02392626e-01 6.75086953e-02 1.57305128e+02] [-6.98368094e-01 -7.11762366e-01 7.53414832e-02 1.20650576e+02] [ 1.00969451e-01 6.23963218e-03 9.94869960e-01 2.47250833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11710568099997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:157.30, Y:120.65, Z:24.72 [[-7.08973275e-01 7.01985722e-01 6.76235317e-02 1.57302064e+02] [-6.97969119e-01 -7.12164526e-01 7.52382709e-02 1.20653812e+02] [ 1.00975272e-01 6.14278648e-03 9.94869972e-01 2.47245063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14710568099997 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:157.31, Y:120.67, Z:24.72 [[-7.03368150e-01 7.07596598e-01 6.76779210e-02 1.57306079e+02] [-7.03610156e-01 -7.06596996e-01 7.51893154e-02 1.20668593e+02] [ 1.01024719e-01 5.26689703e-03 9.94869974e-01 2.47213755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17710568099997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:157.29, Y:120.66, Z:24.73 [[-7.04260576e-01 7.06720145e-01 6.75549906e-02 1.57289974e+02] [-7.02719123e-01 -7.07471369e-01 7.53000432e-02 1.20660492e+02] [ 1.01009279e-01 5.55866804e-03 9.94869955e-01 2.47281261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20710568099997 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:157.27, Y:120.65, Z:24.73 [[-6.97552836e-01 7.13323945e-01 6.77420807e-02 1.57270943e+02] [-7.09369640e-01 -7.00820942e-01 7.51313580e-02 1.20650192e+02] [ 1.01068066e-01 4.35391647e-03 9.94869986e-01 2.47342088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23710568099997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:157.27, Y:120.65, Z:24.74 [[-6.93650791e-01 7.17113763e-01 6.77969926e-02 1.57268414e+02] [-7.13182151e-01 -6.96946158e-01 7.50817743e-02 1.20652783e+02] [ 1.01093027e-01 3.72892703e-03 9.94869989e-01 2.47365353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26710568099998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:157.24, Y:120.63, Z:24.74 [[-6.84313357e-01 7.26024287e-01 6.78525168e-02 1.57243375e+02] [-7.22140591e-01 -6.87665058e-01 7.50315630e-02 1.20633067e+02] [ 1.01134542e-01 2.34604423e-03 9.94869992e-01 2.47444688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29710568099998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:157.23, Y:120.63, Z:24.75 [[-6.75464376e-01 7.34258968e-01 6.79090876e-02 1.57232983e+02] [-7.30421298e-01 -6.78868675e-01 7.49803277e-02 1.20625599e+02] [ 1.01156330e-01 1.04429637e-03 9.94869995e-01 2.47452699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:157.23, Y:120.62, Z:24.75 [[-6.71850167e-01 7.37561370e-01 6.79748360e-02 1.57225873e+02] [-7.33746467e-01 -6.75279953e-01 7.49206753e-02 1.20619988e+02] [ 1.01160640e-01 4.59172517e-04 9.94869999e-01 2.47476597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35710568099998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:157.21, Y:120.61, Z:24.75 [[-6.66163436e-01 7.42696233e-01 6.80336796e-02 1.57212933e+02] [-7.38913225e-01 -6.69628365e-01 7.48672031e-02 1.20605781e+02] [ 1.01160871e-01 -3.97192324e-04 9.94870002e-01 2.47541708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38710568099998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:157.22, Y:120.60, Z:24.75 [[-6.62549427e-01 7.45916567e-01 6.80935575e-02 1.57221039e+02] [-7.42155996e-01 -6.66038690e-01 7.48127035e-02 1.20604679e+02] [ 1.01156979e-01 -9.68928103e-04 9.94870005e-01 2.47533570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.21, Y:120.58, Z:24.76 [[-6.61419388e-01 7.46913278e-01 6.81538498e-02 1.57207060e+02] [-7.43163625e-01 -6.64920376e-01 7.47577378e-02 1.20584174e+02] [ 1.01154430e-01 -1.20324488e-03 9.94870008e-01 2.47556837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44710568099995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:157.21, Y:120.58, Z:24.76 [[-6.59738136e-01 7.48393163e-01 6.82148406e-02 1.57212872e+02] [-7.44657116e-01 -6.63253635e-01 7.47020439e-02 1.20582038e+02] [ 1.01150240e-01 -1.51287929e-03 9.94870012e-01 2.47561545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47710568099995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:157.21, Y:120.57, Z:24.76 [[-6.56659934e-01 7.51089900e-01 6.82765909e-02 1.57210268e+02] [-7.47374152e-01 -6.60196877e-01 7.46455628e-02 1.20570941e+02] [ 1.01141520e-01 -2.01140894e-03 9.94870015e-01 2.47551746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50710568099996 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:157.22, Y:120.57, Z:24.76 [[-6.61610581e-01 7.46745322e-01 6.81385651e-02 1.57216018e+02] [-7.42993318e-01 -6.65109079e-01 7.47719317e-02 1.20565683e+02] [ 1.01155168e-01 -1.15659748e-03 9.94869989e-01 2.47564191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53710568099996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:157.22, Y:120.56, Z:24.76 [[-6.64102318e-01 7.44510322e-01 6.83556253e-02 1.57221362e+02] [-7.40766985e-01 -6.67610025e-01 7.45729743e-02 1.20563539e+02] [ 1.01155250e-01 -1.11150537e-03 9.94870032e-01 2.47553984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56710568099996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:157.55, Y:120.25, Z:25.08 [[-6.25364416e-01 -7.76828027e-01 -7.38753255e-02 1.57552384e+02] [-7.73834057e-01 6.29563680e-01 -6.95012642e-02 1.20248803e+02] [ 1.00499752e-01 1.37036254e-02 -9.94842706e-01 2.50785890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59710568099996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:157.19, Y:120.51, Z:24.76 [[-6.25034696e-01 7.78072527e-01 6.27277547e-02 1.57185382e+02] [-7.74109675e-01 -6.28174282e-01 7.84301160e-02 1.20511762e+02] [ 1.00428281e-01 4.63381957e-04 9.94944192e-01 2.47573096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62710568099996 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:157.18, Y:120.50, Z:24.76 [[-6.30264243e-01 7.73837293e-01 6.27919462e-02 1.57183392e+02] [-7.69858466e-01 -6.33383552e-01 7.83786903e-02 1.20500235e+02] [ 1.00423739e-01 1.05837451e-03 9.94944196e-01 2.47567510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65710568099996 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:157.20, Y:120.51, Z:24.75 [[-6.40641063e-01 7.65262774e-01 6.28642683e-02 1.57203065e+02] [-7.61247905e-01 -6.43713837e-01 7.83206413e-02 1.20507514e+02] [ 1.00402471e-01 2.32012634e-03 9.94944200e-01 2.47532410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68710568099996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:157.22, Y:120.52, Z:24.75 [[-6.45547790e-01 7.61122976e-01 6.29274765e-02 1.57217747e+02] [-7.57093351e-01 -6.48601182e-01 7.82698236e-02 1.20518546e+02] [ 1.00387797e-01 2.88493760e-03 9.94944203e-01 2.47513705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71710568099996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:157.35, Y:120.07, Z:25.12 [[-5.28740104e-01 -8.46443337e-01 -6.29887224e-02 1.57354649e+02] [-8.42903071e-01 5.32349476e-01 -7.82205044e-02 1.20068538e+02] [ 9.97412382e-02 1.17350699e-02 -9.94944206e-01 2.51150690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74710568099997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:157.19, Y:120.50, Z:24.75 [[-5.92537764e-01 8.03579141e-01 5.62099862e-02 1.57188200e+02] [-7.99307203e-01 -5.95183347e-01 8.28539645e-02 1.20496016e+02] [ 1.00034965e-01 4.16505598e-03 9.94975205e-01 2.47525292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77710568099997 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:157.19, Y:120.50, Z:24.75 [[-5.91597700e-01 8.04239769e-01 5.66617615e-02 1.57192230e+02] [-8.00000244e-01 -5.94294641e-01 8.25438641e-02 1.20498991e+02] [ 1.00058839e-01 3.50333711e-03 9.94975354e-01 2.47507848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:157.18, Y:120.48, Z:24.75 [[-5.87514544e-01 8.07222885e-01 5.67263121e-02 1.57179025e+02] [-8.03001332e-01 -5.90239525e-01 8.24994798e-02 1.20476444e+02] [ 1.00077580e-01 2.91834011e-03 9.94975357e-01 2.47532956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83710568099997 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:157.18, Y:120.48, Z:24.75 [[-5.85868253e-01 8.08413941e-01 5.67916443e-02 1.57182560e+02] [-8.04202278e-01 -5.88608490e-01 8.24544817e-02 1.20481311e+02] [ 1.00085396e-01 2.63549336e-03 9.94975360e-01 2.47525118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86710568099997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:157.17, Y:120.46, Z:24.76 [[-5.84539300e-01 8.09370750e-01 5.68576863e-02 1.57169874e+02] [-8.05167994e-01 -5.87293174e-01 8.24089167e-02 1.20463468e+02] [ 1.00091498e-01 2.39126128e-03 9.94975364e-01 2.47551433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89710568099997 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:157.18, Y:120.47, Z:24.75 [[-5.87135919e-01 8.07484388e-01 5.69242907e-02 1.57176046e+02] [-8.03277238e-01 -5.89883068e-01 8.23628841e-02 1.20474140e+02] [ 1.00085418e-01 2.63222062e-03 9.94975367e-01 2.47536409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92710568099997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:157.17, Y:120.47, Z:24.75 [[-5.88732951e-01 8.06316021e-01 5.69911145e-02 1.57172654e+02] [-8.02107885e-01 -5.91478584e-01 8.23166197e-02 1.20467806e+02] [ 1.00082233e-01 2.74948412e-03 9.94975370e-01 2.47545212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95710568099997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:157.17, Y:120.46, Z:24.75 [[-5.90147832e-01 8.05276345e-01 5.70573898e-02 1.57170622e+02] [-8.01067803e-01 -5.92892836e-01 8.22706561e-02 1.20462112e+02] [ 1.00079531e-01 2.84501143e-03 9.94975373e-01 2.47546217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98710568099997 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:157.17, Y:120.46, Z:24.76 [[-5.90903692e-01 8.04717137e-01 5.71240451e-02 1.57172463e+02] [-8.00510460e-01 -5.93651548e-01 8.22243487e-02 1.20461594e+02] [ 1.00079120e-01 2.85827562e-03 9.94975377e-01 2.47556591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01710568099998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:157.16, Y:120.45, Z:24.76 [[-5.88447968e-01 8.06509899e-01 5.71906628e-02 1.57160309e+02] [-8.02316090e-01 -5.91215417e-01 8.21779874e-02 1.20446776e+02] [ 1.00089362e-01 2.47248068e-03 9.94975380e-01 2.47577885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04710568099998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:157.17, Y:120.46, Z:24.76 [[-5.86971242e-01 8.07580513e-01 5.72579730e-02 1.57167684e+02] [-8.03396321e-01 -5.89753203e-01 8.21310623e-02 1.20460363e+02] [ 1.00095518e-01 2.20772682e-03 9.94975383e-01 2.47575666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07710568099998 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:157.16, Y:120.44, Z:24.76 [[-5.81285168e-01 8.11678120e-01 5.73252447e-02 1.57157045e+02] [-8.07518172e-01 -5.84103248e-01 8.20840820e-02 1.20444352e+02] [ 1.00109715e-01 1.42308254e-03 9.94975387e-01 2.47606202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10710568099998 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:157.15, Y:120.44, Z:24.76 [[-5.83926294e-01 8.09786236e-01 5.72392714e-02 1.57154594e+02] [-8.05611271e-01 -5.86722094e-01 8.21441692e-02 1.20440436e+02] [ 1.00102763e-01 1.85353820e-03 9.94975377e-01 2.47625516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13710568099998 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:157.16, Y:120.44, Z:24.76 [[-5.82303502e-01 8.10941992e-01 5.74083346e-02 1.57158870e+02] [-8.06784216e-01 -5.85124764e-01 8.20258477e-02 1.20436052e+02] [ 1.00109243e-01 1.44780021e-03 9.94975398e-01 2.47641744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16710568099998 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:157.16, Y:120.43, Z:24.76 [[-5.88918223e-01 8.06169985e-01 5.71426467e-02 1.57158066e+02] [-8.01971280e-01 -5.91678334e-01 8.22120118e-02 1.20434867e+02] [ 1.00086922e-01 2.58939040e-03 9.94975328e-01 2.47628697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19710568099995 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:157.14, Y:120.40, Z:24.77 [[-5.92166865e-01 8.03761985e-01 5.74897895e-02 1.57135766e+02] [-7.99575574e-01 -5.94945425e-01 8.19685493e-02 1.20396189e+02] [ 1.00086491e-01 2.57162744e-03 9.94975417e-01 2.47742772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22710568099995 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:157.15, Y:120.41, Z:24.77 [[-5.93747713e-01 8.02611005e-01 5.72645385e-02 1.57147137e+02] [-7.98403959e-01 -5.96495028e-01 8.21267316e-02 1.20408925e+02] [ 1.00073831e-01 3.04232488e-03 9.94975363e-01 2.47736571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25710568099996 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:157.15, Y:120.41, Z:24.78 [[-6.00171981e-01 7.97824183e-01 5.71853697e-02 1.57149663e+02] [-7.93589960e-01 -6.02877297e-01 8.21823558e-02 1.20407456e+02] [ 1.00042832e-01 3.94181203e-03 9.94975323e-01 2.47764822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28710568099996 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:157.14, Y:120.39, Z:24.78 [[-6.02245779e-01 7.96252147e-01 5.72934589e-02 1.57141420e+02] [-7.92018063e-01 -6.04951195e-01 8.21062676e-02 1.20389179e+02] [ 1.00037038e-01 4.07069877e-03 9.94975387e-01 2.47780656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31710568099996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:157.14, Y:120.38, Z:24.78 [[-6.02848387e-01 7.95801857e-01 5.72121232e-02 1.57136348e+02] [-7.91560334e-01 -6.05542222e-01 8.21635860e-02 1.20380953e+02] [ 1.00030290e-01 4.24533793e-03 9.94975335e-01 2.47766980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34710568099996 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:157.16, Y:120.42, Z:24.77 [[-6.03091705e-01 7.95612134e-01 5.72863709e-02 1.57160872e+02] [-7.91374715e-01 -6.05791889e-01 8.21111872e-02 1.20417824e+02] [ 1.00032276e-01 4.18559044e-03 9.94975389e-01 2.47712964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37710568099996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:157.15, Y:120.41, Z:24.77 [[-6.00580204e-01 7.97504237e-01 5.73620953e-02 1.57147437e+02] [-7.93280418e-01 -6.03301516e-01 8.20576664e-02 1.20406419e+02] [ 1.00047976e-01 3.77798313e-03 9.94975442e-01 2.47719641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40710568099996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:156.97, Y:120.17, Z:24.80 [[-6.08072948e-01 7.91792069e-01 5.75552730e-02 1.56971994e+02] [-7.87555605e-01 -6.10774261e-01 8.19205128e-02 1.20167445e+02] [ 1.00017292e-01 4.48566985e-03 9.94975588e-01 2.47967225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43710568099996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:157.17, Y:120.44, Z:24.76 [[-6.11948208e-01 7.88785296e-01 5.77680464e-02 1.57167055e+02] [-7.84549691e-01 -6.14650720e-01 8.17696408e-02 1.20444132e+02] [ 1.00005862e-01 4.71688223e-03 9.94975667e-01 2.47632160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46710568099996 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:157.28, Y:119.99, Z:25.12 [[-4.73047030e-01 -8.79117684e-01 -5.81257668e-02 1.57281663e+02] [-8.75417135e-01 4.76445395e-01 -8.15145721e-02 1.19991252e+02] [ 9.93546558e-02 1.23240660e-02 -9.94975763e-01 2.51235696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49710568099997 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:157.17, Y:120.51, Z:24.75 [[-5.44583353e-01 8.37135189e-01 5.13190761e-02 1.57173503e+02] [-8.32755948e-01 -5.46982273e-01 8.56032926e-02 1.20514927e+02] [ 9.97321534e-02 3.88186225e-03 9.95006748e-01 2.47509969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52710568099997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:157.18, Y:120.52, Z:24.75 [[-5.47482395e-01 8.35284026e-01 5.06322250e-02 1.57176424e+02] [-8.30858588e-01 -5.49795742e-01 8.60153950e-02 1.20524813e+02] [ 9.96846671e-02 5.02369550e-03 9.95006397e-01 2.47490940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55710568099997 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:157.13, Y:120.46, Z:24.76 [[-5.56273981e-01 8.29436452e-01 5.09355457e-02 1.57129294e+02] [-8.25003193e-01 -5.58571749e-01 8.58331638e-02 1.20463642e+02] [ 9.96443117e-02 5.72476789e-03 9.95006652e-01 2.47559778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58710568099997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:157.42, Y:120.22, Z:25.11 [[-3.97012561e-01 -9.16366976e-01 -5.15033084e-02 1.57424869e+02] [-9.12463708e-01 4.00126438e-01 -8.54916116e-02 1.20220891e+02] [ 9.89495250e-02 1.30536560e-02 -9.95006831e-01 2.51088551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61710568099997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:157.09, Y:120.45, Z:24.75 [[-4.90394271e-01 8.70371546e-01 4.43489653e-02 1.57091626e+02] [-8.65818631e-01 -4.92367247e-01 8.90651016e-02 1.20453636e+02] [ 9.93557081e-02 5.27885521e-03 9.95037978e-01 2.47495827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64710568099997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:157.14, Y:120.56, Z:24.74 [[-4.90302795e-01 8.70415793e-01 4.44917598e-02 1.57138894e+02] [-8.65869437e-01 -4.92290805e-01 8.89937140e-02 1.20555647e+02] [ 9.93644184e-02 5.10981166e-03 9.95037990e-01 2.47391446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67710568099997 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:157.48, Y:120.35, Z:25.09 [[-3.38779729e-01 -9.39805247e-01 -4.46586306e-02 1.57484943e+02] [-9.35662846e-01 3.41511402e-01 -8.89100767e-02 1.20348022e+02] [ 9.88095881e-02 1.16644898e-02 -9.95037992e-01 2.50922014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70710568099997 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:157.07, Y:120.47, Z:24.76 [[-4.29085516e-01 9.02465416e-01 3.79709387e-02 1.57073607e+02] [-8.97809149e-01 -4.30730204e-01 9.17072710e-02 1.20474505e+02] [ 9.91178707e-02 5.25960556e-03 9.95061799e-01 2.47566633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73710568099997 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:157.44, Y:120.29, Z:25.10 [[-2.83690460e-01 -9.58163833e-01 -3.79709387e-02 1.57444034e+02] [-9.53819567e-01 2.86038477e-01 -9.17072710e-02 1.20292132e+02] [ 9.87317397e-02 1.02009464e-02 -9.95061799e-01 2.50954403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76710568099998 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:157.01, Y:120.38, Z:24.77 [[-3.51379357e-01 9.35690776e-01 3.18640669e-02 1.57014497e+02] [-9.30984203e-01 -3.52805813e-01 9.37895116e-02 1.20379556e+02] [ 9.89998090e-02 3.29075530e-03 9.95082011e-01 2.47679003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79710568099998 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:157.41, Y:120.21, Z:25.11 [[-2.32929441e-01 -9.71971479e-01 -3.18640669e-02 1.57408380e+02] [-9.67477519e-01 2.34927174e-01 -9.37895116e-02 1.20209969e+02] [ 9.86464655e-02 8.98142991e-03 -9.95082011e-01 2.51087152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82710568099998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:157.38, Y:120.15, Z:25.11 [[-1.70047799e-01 -9.84920518e-01 -3.18640669e-02 1.57379475e+02] [-9.80564085e-01 1.72329925e-01 -9.37895116e-02 1.20145260e+02] [ 9.78663466e-02 1.52960596e-02 -9.95082011e-01 2.51120594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85710568099998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:157.35, Y:120.08, Z:25.12 [[-1.03260100e-01 -9.94143869e-01 -3.18640669e-02 1.57352470e+02] [-9.89951202e-01 1.05830734e-01 -9.37895116e-02 1.20082899e+02] [ 9.66124656e-02 2.18591570e-02 -9.95082011e-01 2.51234677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88710568099998 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:157.33, Y:120.03, Z:25.14 [[-1.89603120e-02 -9.99312357e-01 -3.18640669e-02 1.57333231e+02] [-9.95351686e-01 2.18757365e-02 -9.37895116e-02 1.20031493e+02] [ 9.44220679e-02 2.99376743e-02 -9.95082011e-01 2.51360335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91710568099998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:157.31, Y:119.70, Z:25.16 [[ 5.69743483e-02 -9.98371778e-01 -2.77785781e-03 1.57310605e+02] [-9.93831743e-01 -5.64496645e-02 -9.54562791e-02 1.19701023e+02] [ 9.51440460e-02 8.19928257e-03 -9.95429748e-01 2.51621434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94710568099995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:156.85, Y:119.63, Z:24.83 [[-1.35753259e-02 9.99905363e-01 -2.23040709e-03 1.56852522e+02] [-9.95355342e-01 -1.33008719e-02 9.53458419e-02 1.19629239e+02] [ 9.53071523e-02 3.51439849e-03 9.95441709e-01 2.48346497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97710568099995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:157.34, Y:119.66, Z:25.17 [[ 1.36722442e-01 -9.90608272e-01 1.49204748e-03 1.57339688e+02] [-9.86075416e-01 -1.36240456e-01 -9.53614874e-02 1.19660386e+02] [ 9.46691554e-02 1.15667840e-02 -9.95441591e-01 2.51690927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00710568099996 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:156.89, Y:119.56, Z:24.84 [[ 6.34972635e-02 9.97929105e-01 -1.02761833e-02 1.56890270e+02] [-9.93455968e-01 6.41854957e-02 9.44746610e-02 1.19555349e+02] [ 9.49385958e-02 4.21005318e-03 9.95474228e-01 2.48406630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03710568099996 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:156.89, Y:119.52, Z:24.85 [[ 6.05532065e-02 9.98108569e-01 -1.06110569e-02 1.56886060e+02] [-9.93642252e-01 6.12862603e-02 9.44408296e-02 1.19523384e+02] [ 9.49125133e-02 4.82489942e-03 9.95473925e-01 2.48499860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06710568099996 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:157.38, Y:119.60, Z:25.17 [[ 2.14848722e-01 -9.76601761e-01 9.43543366e-03 1.57377227e+02] [-9.72077041e-01 -2.14766882e-01 -9.45590417e-02 1.19595530e+02] [ 9.43729453e-02 1.11439208e-02 -9.95474540e-01 2.51716556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09710568099996 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:157.41, Y:119.59, Z:25.18 [[ 2.89643769e-01 -9.57000647e-01 1.60077822e-02 1.57409791e+02] [-9.52507180e-01 -2.89845729e-01 -9.33783982e-02 1.19593096e+02] [ 9.40029748e-02 1.17989437e-02 -9.95501997e-01 2.51768348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12710568099996 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:157.44, Y:119.60, Z:25.18 [[ 3.63716426e-01 -9.31224852e-01 2.30355508e-02 1.57443819e+02] [-9.26791994e-01 -3.64249378e-01 -9.15368216e-02 1.19595724e+02] [ 9.36320481e-02 1.19442816e-02 -9.95535220e-01 2.51821083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15710568099996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.47, Y:119.60, Z:25.18 [[ 4.36279356e-01 -8.99328245e-01 2.94793393e-02 1.57469459e+02] [-8.94972650e-01 -4.37093364e-01 -8.92936026e-02 1.19596217e+02] [ 9.31894824e-02 1.25737531e-02 -9.95568994e-01 2.51840539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18710568099996 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:157.49, Y:119.60, Z:25.19 [[ 5.06624642e-01 -8.61376007e-01 3.69167656e-02 1.57494669e+02] [-8.57153590e-01 -5.07827669e-01 -8.60161766e-02 1.19596960e+02] [ 9.28396257e-02 1.19345765e-02 -9.95609547e-01 2.51850449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21710568099996 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:157.10, Y:119.32, Z:24.85 [[ 4.29944439e-01 9.01759256e-01 -4.44749753e-02 1.57100517e+02] [-8.98041324e-01 4.32212960e-01 8.19374025e-02 1.19318938e+02] [ 9.31104718e-02 4.71183513e-03 9.95644635e-01 2.48505509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24710568099997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:157.12, Y:119.29, Z:24.86 [[ 4.32218285e-01 9.00603935e-01 -4.58247295e-02 1.57117199e+02] [-8.96955564e-01 4.34599237e-01 8.12047976e-02 1.19290591e+02] [ 9.30487528e-02 6.00454774e-03 9.95643448e-01 2.48559125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27710568099997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:157.13, Y:119.27, Z:24.86 [[ 4.37138995e-01 8.98295838e-01 -4.44306883e-02 1.57131207e+02] [-8.94557552e-01 4.39373690e-01 8.19606378e-02 1.19266604e+02] [ 9.31465753e-02 3.91761693e-03 9.95644700e-01 2.48571721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.56, Y:119.53, Z:25.21 [[ 5.73400157e-01 -8.18069304e-01 4.44395576e-02 1.57560433e+02] [-8.14025595e-01 -5.75017889e-01 -8.19558285e-02 1.19525962e+02] [ 9.25990882e-02 1.08185475e-02 -9.95644700e-01 2.52050086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33710568099997 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:157.19, Y:119.22, Z:24.86 [[ 5.11623684e-01 8.57718621e-01 -5.05961896e-02 1.57185453e+02] [-8.54174480e-01 5.14108625e-01 7.79633154e-02 1.19220150e+02] [ 9.28825248e-02 3.33009537e-03 9.95671506e-01 2.48565892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36710568099997 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:157.21, Y:119.19, Z:24.86 [[ 5.21505828e-01 8.51627202e-01 -5.25621548e-02 1.57206944e+02] [-8.48179735e-01 5.24127896e-01 7.66882419e-02 1.19192556e+02] [ 9.28590845e-02 4.58878949e-03 9.95668687e-01 2.48620028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39710568099997 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:157.62, Y:119.49, Z:25.22 [[ 6.16925465e-01 -7.85401623e-01 5.04703988e-02 1.57615224e+02] [-7.81563074e-01 -6.18925354e-01 -7.80420942e-02 1.19486860e+02] [ 9.25317970e-02 8.70035525e-03 -9.95671718e-01 2.52151655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42710568099997 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:157.64, Y:119.49, Z:25.22 [[ 6.73447172e-01 -7.37087874e-01 5.63060647e-02 1.57640543e+02] [-7.33452598e-01 -6.75746503e-01 -7.35795538e-02 1.19494907e+02] [ 9.22832232e-02 8.25411303e-03 -9.95698587e-01 2.52173069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45710568099997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.32, Y:119.13, Z:24.87 [[ 6.62863726e-01 7.46191410e-01 -6.17256829e-02 1.57322441e+02] [-7.43020891e-01 6.65731387e-01 6.87144432e-02 1.19128288e+02] [ 9.23668518e-02 3.15160042e-04 9.95724995e-01 2.48710879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:157.34, Y:119.11, Z:24.87 [[ 6.65110428e-01 7.44188563e-01 -6.17373477e-02 1.57342337e+02] [-7.41010382e-01 6.67969595e-01 6.87039613e-02 1.19108573e+02] [ 9.23673734e-02 5.22945071e-05 9.95724995e-01 2.48738393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.70, Y:119.46, Z:25.23 [[ 7.20781474e-01 -6.90405347e-01 6.17618264e-02 1.57697633e+02] [-6.87017004e-01 -7.23388157e-01 -6.86819490e-02 1.19461067e+02] [ 9.20961586e-02 7.07325154e-03 -9.95724996e-01 2.52257433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54710568099998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.72, Y:119.47, Z:25.23 [[ 7.72639430e-01 -6.31324589e-01 6.67650638e-02 1.57720224e+02] [-6.28170921e-01 -7.75486574e-01 -6.34181936e-02 1.19474995e+02] [ 9.18128756e-02 7.05952528e-03 -9.95751254e-01 2.52268511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57710568099998 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:157.74, Y:119.49, Z:25.22 [[ 8.17944300e-01 -5.70974329e-01 7.03948738e-02 1.57744645e+02] [-5.67982225e-01 -8.20926567e-01 -5.89556081e-02 1.19490706e+02] [ 9.14511609e-02 8.23936654e-03 -9.95775476e-01 2.52249294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.77, Y:119.51, Z:25.22 [[ 8.55621185e-01 -5.12199679e-01 7.45913920e-02 1.57766218e+02] [-5.09514879e-01 -8.58835943e-01 -5.28716454e-02 1.19505137e+02] [ 9.11426083e-02 7.23267583e-03 -9.95811585e-01 2.52238872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63710568099998 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:157.79, Y:119.53, Z:25.23 [[ 8.90757320e-01 -4.47687727e-01 7.82757659e-02 1.57789173e+02] [-4.45313741e-01 -8.94165819e-01 -4.65097823e-02 1.19527842e+02] [ 9.08133731e-02 6.57165492e-03 -9.95846245e-01 2.52292698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66710568099998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:157.81, Y:119.54, Z:25.22 [[ 9.18325473e-01 -3.87366573e-01 8.13969481e-02 1.57809503e+02] [-3.85335199e-01 -9.21910266e-01 -3.99780552e-02 1.19543064e+02] [ 9.05268444e-02 5.34775724e-03 -9.95879657e-01 2.52229873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69710568099995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:157.83, Y:119.56, Z:25.22 [[ 9.44808879e-01 -3.16577970e-01 8.43479177e-02 1.57831665e+02] [-3.14953011e-01 -9.48558361e-01 -3.22744102e-02 1.19564879e+02] [ 9.02262898e-02 3.92751866e-03 -9.95913546e-01 2.52245832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.85, Y:119.58, Z:25.23 [[ 9.65667473e-01 -2.45018730e-01 8.63258513e-02 1.57850114e+02] [-2.43707288e-01 -9.69511422e-01 -2.55804761e-02 1.19583365e+02] [ 8.99615946e-02 3.66399459e-03 -9.95938495e-01 2.52271025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75710568099996 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:157.87, Y:119.61, Z:25.23 [[ 9.82198695e-01 -1.66055338e-01 8.78142875e-02 1.57865206e+02] [-1.65058666e-01 -9.86109426e-01 -1.85428574e-02 1.19607663e+02] [ 8.96736370e-02 3.71826123e-03 -9.95964263e-01 2.52287609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.88, Y:119.63, Z:25.24 [[ 9.92220627e-01 -8.74518702e-02 8.86024713e-02 1.57881234e+02] [-8.66767468e-02 -9.96157238e-01 -1.25657614e-02 1.19627796e+02] [ 8.93608924e-02 4.78823366e-03 -9.95987803e-01 2.52382936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81710568099996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:157.90, Y:119.64, Z:25.24 [[ 9.96025130e-01 -2.96061389e-03 8.90234530e-02 1.57896668e+02] [-2.58302049e-03 -9.99987175e-01 -4.35640930e-03 1.19640690e+02] [ 8.90352089e-02 4.10914374e-03 -9.96020003e-01 2.52376283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84710568099996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:157.91, Y:119.66, Z:25.24 [[ 9.92942721e-01 7.85735807e-02 8.88309969e-02 1.57909858e+02] [ 7.86509419e-02 -9.96898736e-01 2.63447446e-03 1.19660103e+02] [ 8.87625086e-02 4.37075933e-03 -9.96043229e-01 2.52410519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87710568099996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:157.92, Y:119.68, Z:25.25 [[ 9.82357734e-01 1.64953531e-01 8.81113814e-02 1.57921347e+02] [ 1.64770270e-01 -9.86287183e-01 9.39951051e-03 1.19683548e+02] [ 8.84536086e-02 5.28445428e-03 -9.96066280e-01 2.52468312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.93, Y:119.72, Z:25.25 [[ 9.65945622e-01 2.43686290e-01 8.69830265e-02 1.57931655e+02] [ 2.43273955e-01 -9.69834197e-01 1.54729720e-02 1.19717055e+02] [ 8.81296648e-02 6.21465535e-03 -9.96089625e-01 2.52474467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.94, Y:119.75, Z:25.25 [[ 9.40630693e-01 3.28624222e-01 8.49707072e-02 1.57940260e+02] [ 3.27882973e-01 -9.44439847e-01 2.29375685e-02 1.19747477e+02] [ 8.77875622e-02 6.28466722e-03 -9.96119394e-01 2.52483969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.95, Y:119.77, Z:25.25 [[ 9.08342129e-01 4.09939540e-01 8.28501673e-02 1.57949705e+02] [ 4.08990760e-01 -9.12080757e-01 2.89007066e-02 1.19773469e+02] [ 8.74135857e-02 7.63322352e-03 -9.96142861e-01 2.52494817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.95, Y:119.81, Z:25.25 [[ 8.70904293e-01 4.84853798e-01 8.02652277e-02 1.57952313e+02] [ 4.83687503e-01 -8.74552857e-01 3.46943679e-02 1.19806165e+02] [ 8.70178803e-02 8.60781361e-03 -9.96169561e-01 2.52546355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.96, Y:119.83, Z:25.26 [[ 8.25514348e-01 5.59089202e-01 7.71059349e-02 1.57959084e+02] [ 5.57702388e-01 -8.29052301e-01 4.05009787e-02 1.19833878e+02] [ 8.65685126e-02 9.56802497e-03 -9.96199953e-01 2.52604514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.95, Y:119.88, Z:25.26 [[ 7.75574865e-01 6.27078020e-01 7.25036975e-02 1.57953741e+02] [ 6.25330501e-01 -7.78910446e-01 4.75424256e-02 1.19875149e+02] [ 8.62866975e-02 8.46606313e-03 -9.96234376e-01 2.52634375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.96, Y:119.90, Z:25.27 [[ 7.17156065e-01 6.93547426e-01 6.84042813e-02 1.57956944e+02] [ 6.91594697e-01 -7.20349573e-01 5.28513826e-02 1.19904454e+02] [ 8.59299352e-02 9.40534856e-03 -9.96256787e-01 2.52708526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.96, Y:119.93, Z:25.28 [[ 6.54500736e-01 7.53361069e-01 6.38426694e-02 1.57955346e+02] [ 7.51201463e-01 -6.57529954e-01 5.78854117e-02 1.19934441e+02] [ 8.55870832e-02 1.00726622e-02 -9.96279776e-01 2.52752129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14710568099997 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:157.95, Y:119.97, Z:25.28 [[ 5.94119063e-01 8.02150910e-01 5.98034813e-02 1.57948922e+02] [ 7.99852123e-01 -5.97016804e-01 6.17050898e-02 1.19968439e+02] [ 8.52004772e-02 1.11737714e-02 -9.96301172e-01 2.52780082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.94, Y:120.00, Z:25.28 [[ 5.24735136e-01 8.49576658e-01 5.35960710e-02 1.57941243e+02] [ 8.47018406e-01 -5.27362653e-01 6.66967158e-02 1.19999749e+02] [ 8.49285391e-02 1.03987484e-02 -9.96332780e-01 2.52815042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.93, Y:120.03, Z:25.28 [[ 4.56811715e-01 8.88232325e-01 4.86456001e-02 1.57930645e+02] [ 8.85532578e-01 -4.59261279e-01 7.00794689e-02 1.20031281e+02] [ 8.45878901e-02 1.10641412e-02 -9.96354592e-01 2.52837078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.91, Y:120.06, Z:25.29 [[ 3.86004957e-01 9.21500757e-01 4.28547329e-02 1.57913965e+02] [ 9.18639048e-01 -3.88219766e-01 7.34010430e-02 1.20064467e+02] [ 8.42761711e-02 1.10348646e-02 -9.96381332e-01 2.52862692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.89, Y:120.10, Z:25.29 [[ 3.13449771e-01 9.48917171e-01 3.61309219e-02 1.57892523e+02] [ 9.45877041e-01 -3.15361253e-01 7.65761277e-02 1.20096549e+02] [ 8.40586953e-02 1.01726398e-02 -9.96408879e-01 2.52869804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.86, Y:120.13, Z:25.29 [[ 2.44007118e-01 9.69312378e-01 2.99004924e-02 1.57864850e+02] [ 9.66140741e-01 -2.45643728e-01 7.89381182e-02 1.20128034e+02] [ 8.38605635e-02 9.62662114e-03 -9.96430998e-01 2.52857105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.84, Y:120.15, Z:25.29 [[ 1.69975542e-01 9.85167286e-01 2.35315287e-02 1.57842913e+02] [ 9.81893369e-01 -1.71340533e-01 8.07950064e-02 1.20152557e+02] [ 8.36285018e-02 9.37227696e-03 -9.96452926e-01 2.52878982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:120.18, Z:25.29 [[ 1.03026568e-01 9.94521611e-01 1.76717686e-02 1.57818101e+02] [ 9.91175294e-01 -1.04137297e-01 8.20180435e-02 1.20177426e+02] [ 8.34090070e-02 9.06578292e-03 -9.96474159e-01 2.52927997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.79, Y:120.20, Z:25.30 [[ 3.29588768e-02 9.99401580e-01 1.04973794e-02 1.57788054e+02] [ 9.95984953e-01 -3.37172534e-02 8.29284071e-02 1.20199554e+02] [ 8.32327239e-02 7.72200481e-03 -9.96500218e-01 2.52980824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.98, Y:120.25, Z:24.94 [[ 5.42703399e-02 -9.98518548e-01 -3.92939960e-03 1.57982016e+02] [ 9.95043074e-01 5.44090144e-02 -8.32402555e-02 1.20247749e+02] [ 8.33307338e-02 6.07555102e-04 9.96521761e-01 2.49368377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.99, Y:120.28, Z:24.94 [[ 5.16135804e-02 -9.98659538e-01 -3.89433565e-03 1.57985427e+02] [ 9.95184323e-01 5.17585784e-02 -8.32418960e-02 1.20276103e+02] [ 8.33318787e-02 4.20830511e-04 9.96521761e-01 2.49391358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.99, Y:120.30, Z:24.94 [[ 5.40157074e-02 -9.98530946e-01 -4.27241829e-03 1.57990530e+02] [ 9.95056698e-01 5.41838593e-02 -8.32242628e-02 1.20300513e+02] [ 8.33334980e-02 2.44118997e-04 9.96521685e-01 2.49433001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.99, Y:120.33, Z:24.95 [[ 5.57998580e-02 -9.98435880e-01 -3.48852822e-03 1.57991541e+02] [ 9.94958951e-01 5.58964528e-02 -8.32602737e-02 1.20325114e+02] [ 8.33250410e-02 1.17496907e-03 9.96521729e-01 2.49467470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.99, Y:120.35, Z:24.95 [[ 5.90839777e-02 -9.98247867e-01 -3.20634296e-03 1.57990052e+02] [ 9.94770011e-01 5.91456025e-02 -8.32731803e-02 1.20354739e+02] [ 8.33169157e-02 1.73053690e-03 9.96521599e-01 2.49470092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.99, Y:120.38, Z:24.95 [[ 6.23325845e-02 -9.98048197e-01 -3.80068856e-03 1.57990768e+02] [ 9.94571406e-01 6.24324544e-02 -8.32460596e-02 1.20381718e+02] [ 8.33208660e-02 1.40888588e-03 9.96521775e-01 2.49499689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.99, Y:120.41, Z:24.96 [[ 7.03164551e-02 -9.97517626e-01 -3.76585718e-03 1.57991399e+02] [ 9.94040089e-01 7.03855974e-02 -8.32476353e-02 1.20408092e+02] [ 8.33060456e-02 2.11026560e-03 9.96521776e-01 2.49567686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.99, Y:120.43, Z:24.96 [[ 7.67307620e-02 -9.97044869e-01 -3.73083924e-03 1.57992677e+02] [ 9.93566922e-01 7.67746155e-02 -8.32492047e-02 1.20432016e+02] [ 8.32896261e-02 2.68093645e-03 9.96521776e-01 2.49599471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.99, Y:120.46, Z:24.96 [[ 7.88864266e-02 -9.96879897e-01 -2.72063142e-03 1.57990745e+02] [ 9.93401561e-01 7.88384948e-02 -8.32936354e-02 1.20461504e+02] [ 8.32482412e-02 3.86805775e-03 9.96521334e-01 2.49610445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.99, Y:120.49, Z:24.96 [[ 7.82950514e-02 -9.96924545e-01 -3.36703757e-03 1.57993305e+02] [ 9.93446284e-01 7.83031028e-02 -8.32652662e-02 1.20489254e+02] [ 8.32728371e-02 3.17428733e-03 9.96521730e-01 2.49609151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.00, Y:120.52, Z:24.96 [[ 7.88866132e-02 -9.96877396e-01 -3.51575128e-03 1.57996144e+02] [ 9.93399202e-01 7.89050049e-02 -8.32587826e-02 1.20516497e+02] [ 8.32762087e-02 3.07545886e-03 9.96521758e-01 2.49629037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.00, Y:120.54, Z:24.96 [[ 7.95363731e-02 -9.96825447e-01 -3.60467914e-03 1.57999632e+02] [ 9.93347289e-01 7.95599150e-02 -8.32549326e-02 1.20543773e+02] [ 8.32774234e-02 3.04109714e-03 9.96521762e-01 2.49613881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.00, Y:120.57, Z:24.96 [[ 7.98196430e-02 -9.96802927e-01 -3.57067474e-03 1.58002286e+02] [ 9.93324745e-01 7.98393603e-02 -8.32563911e-02 1.20570782e+02] [ 8.32752947e-02 3.09865583e-03 9.96521763e-01 2.49594704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.00, Y:120.60, Z:24.96 [[ 8.14599481e-02 -9.96670343e-01 -3.53614463e-03 1.58004020e+02] [ 9.93192124e-01 8.14710614e-02 -8.32578577e-02 1.20596459e+02] [ 8.32687310e-02 3.27010977e-03 9.96521763e-01 2.49603043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.01, Y:120.63, Z:24.96 [[ 8.39071048e-02 -9.96468304e-01 -3.24304591e-03 1.58007692e+02] [ 9.92990102e-01 8.38852308e-02 -8.32701979e-02 1.20626779e+02] [ 8.32481565e-02 3.76664874e-03 9.96521729e-01 2.49624235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.01, Y:120.65, Z:24.96 [[ 8.33849577e-02 -9.96509314e-01 -4.01688909e-03 1.58008596e+02] [ 9.93031227e-01 8.34294493e-02 -8.32376641e-02 1.20654366e+02] [ 8.32822344e-02 2.95187280e-03 9.96521628e-01 2.49648169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:120.68, Z:24.97 [[ 8.59123863e-02 -9.96294879e-01 -3.94669323e-03 1.58012586e+02] [ 9.92816673e-01 8.59422008e-02 -8.32405710e-02 1.20680467e+02] [ 8.32713421e-02 3.23305325e-03 9.96521666e-01 2.49666521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:120.71, Z:24.97 [[ 8.42500516e-02 -9.96438880e-01 -3.38916889e-03 1.58013788e+02] [ 9.92960719e-01 8.42391708e-02 -8.32632776e-02 1.20707085e+02] [ 8.32522679e-02 3.64962385e-03 9.96521821e-01 2.49678793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.02, Y:120.74, Z:24.97 [[ 7.78536677e-02 -9.96959159e-01 -3.35274194e-03 1.58015862e+02] [ 9.93480991e-01 7.78620703e-02 -8.32647444e-02 1.20736216e+02] [ 8.32726010e-02 3.15158036e-03 9.96521822e-01 2.49698170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.02, Y:120.76, Z:24.97 [[ 7.67690781e-02 -9.97040531e-01 -4.08522256e-03 1.58018957e+02] [ 9.93562852e-01 7.68423515e-02 -8.32352788e-02 1.20761464e+02] [ 8.33028647e-02 2.33097025e-03 9.96521550e-01 2.49718428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01710568099998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:158.02, Y:120.79, Z:24.98 [[ 7.03921865e-02 -9.97513961e-01 -3.29213418e-03 1.58024441e+02] [ 9.94035949e-01 7.04215596e-02 -8.32666616e-02 1.20786640e+02] [ 8.32914947e-02 2.58882265e-03 9.96521864e-01 2.49769975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.03, Y:120.81, Z:24.98 [[ 6.20761269e-02 -9.98066092e-01 -3.26048111e-03 1.58028547e+02] [ 9.94588402e-01 6.21318466e-02 -8.32679011e-02 1.20813380e+02] [ 8.33094484e-02 1.92611209e-03 9.96521864e-01 2.49819203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07710568099998 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:158.03, Y:120.84, Z:24.98 [[ 5.62233143e-02 -9.98413004e-01 -3.22686655e-03 1.58028772e+02] [ 9.94935641e-01 5.62966204e-02 -8.32692038e-02 1.20841406e+02] [ 8.33187176e-02 1.47114608e-03 9.96521865e-01 2.49843311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10710568099998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:158.03, Y:120.87, Z:24.99 [[ 5.28703186e-02 -9.98594265e-01 -3.77129991e-03 1.58030142e+02] [ 9.95118394e-01 5.30006865e-02 -8.32484795e-02 1.20868110e+02] [ 8.33313357e-02 6.48483728e-04 9.96521685e-01 2.49852477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13710568099998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:158.03, Y:120.89, Z:24.99 [[ 5.27783386e-02 -9.98600300e-01 -3.44794758e-03 1.58031563e+02] [ 9.95123686e-01 5.28820723e-02 -8.32606506e-02 1.20893716e+02] [ 8.33264452e-02 9.63224506e-04 9.96521839e-01 2.49860591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16710568099995 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:158.03, Y:120.92, Z:24.99 [[ 5.11723680e-02 -9.98685023e-01 -3.10074432e-03 1.58030050e+02] [ 9.95207851e-01 5.12527486e-02 -8.32735839e-02 1.20919712e+02] [ 8.33230027e-02 1.17542139e-03 9.96521899e-01 2.49895227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.03, Y:120.95, Z:24.99 [[ 5.32550742e-02 -9.98576239e-01 -3.06465487e-03 1.58027793e+02] [ 9.95098846e-01 5.33251941e-02 -8.32749121e-02 1.20946990e+02] [ 8.33197719e-02 1.38517711e-03 9.96521900e-01 2.49891464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.03, Y:120.97, Z:24.99 [[ 5.46769497e-02 -9.98499498e-01 -3.03045353e-03 1.58025826e+02] [ 9.95021957e-01 5.47392664e-02 -8.32761568e-02 1.20973883e+02] [ 8.33170856e-02 1.53791844e-03 9.96521900e-01 2.49900671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:158.02, Y:121.00, Z:24.99 [[ 5.67451612e-02 -9.98384200e-01 -2.99613245e-03 1.58020006e+02] [ 9.94906493e-01 5.67974127e-02 -8.32773916e-02 1.21003144e+02] [ 8.33130046e-02 1.74471738e-03 9.96521901e-01 2.49922897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.02, Y:121.03, Z:25.00 [[ 6.28722170e-02 -9.98015620e-01 -3.45058928e-03 1.58015551e+02] [ 9.94538092e-01 6.29410136e-02 -8.32611111e-02 1.21028754e+02] [ 8.33130730e-02 1.80306817e-03 9.96521791e-01 2.50011465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.01, Y:121.06, Z:25.01 [[ 6.54926572e-02 -9.97848764e-01 -2.92513598e-03 1.58013810e+02] [ 9.94370729e-01 6.55085097e-02 -8.32795788e-02 1.21055477e+02] [ 8.32920461e-02 2.54553131e-03 9.96521929e-01 2.50059474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.01, Y:121.08, Z:25.01 [[ 7.01940995e-02 -9.97529162e-01 -2.89137879e-03 1.58011990e+02] [ 9.94051093e-01 7.01907475e-02 -8.32807509e-02 1.21082949e+02] [ 8.32779256e-02 2.97163906e-03 9.96521930e-01 2.50102592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.01, Y:121.11, Z:25.01 [[ 7.10978685e-02 -9.97465250e-01 -2.85786230e-03 1.58011986e+02] [ 9.93987193e-01 7.10885707e-02 -8.32819010e-02 1.21110872e+02] [ 8.32739636e-02 3.08048713e-03 9.96521930e-01 2.50128299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:158.01, Y:121.14, Z:25.02 [[ 7.03297745e-02 -9.97519402e-01 -2.96070847e-03 1.58011194e+02] [ 9.94041325e-01 7.03317301e-02 -8.32784012e-02 1.21136427e+02] [ 8.32800527e-02 2.91388460e-03 9.96521923e-01 2.50176712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.02, Y:121.16, Z:25.02 [[ 6.91818444e-02 -9.97600132e-01 -2.80175485e-03 1.58015647e+02] [ 9.94122074e-01 6.91745491e-02 -8.32837496e-02 1.21163508e+02] [ 8.32776897e-02 2.97643706e-03 9.96521935e-01 2.50187823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.02, Y:121.19, Z:25.02 [[ 6.92512738e-02 -9.97595405e-01 -2.76917980e-03 1.58018949e+02] [ 9.94117356e-01 6.92410205e-02 -8.32848328e-02 1.21190737e+02] [ 8.32763073e-02 3.01469106e-03 9.96521936e-01 2.50203259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.02, Y:121.22, Z:25.02 [[ 7.10466819e-02 -9.97469240e-01 -2.73592155e-03 1.58022610e+02] [ 9.93991229e-01 7.10273958e-02 -8.32859253e-02 1.21216785e+02] [ 8.32694740e-02 3.19770662e-03 9.96521936e-01 2.50177233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.02, Y:121.24, Z:25.02 [[ 7.39583136e-02 -9.97257676e-01 -2.70108498e-03 1.58024336e+02] [ 9.93779763e-01 7.39259697e-02 -8.32870552e-02 1.21244128e+02] [ 8.32583354e-02 3.47548656e-03 9.96521937e-01 2.50190697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:158.03, Y:121.27, Z:25.02 [[ 8.27514263e-02 -9.96566647e-01 -2.66835688e-03 1.58026570e+02] [ 9.93089206e-01 8.26856797e-02 -8.32881037e-02 1.21269974e+02] [ 8.32227812e-02 4.24229297e-03 9.96521937e-01 2.50202835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:158.03, Y:121.30, Z:25.02 [[ 8.71496356e-02 -9.96191750e-01 -2.63418350e-03 1.58028381e+02] [ 9.92714701e-01 8.70656913e-02 -8.32891846e-02 1.21295262e+02] [ 8.32013455e-02 4.64362940e-03 9.96521938e-01 2.50200075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.04, Y:121.32, Z:25.02 [[ 9.31660571e-02 -9.95647172e-01 -2.60653204e-03 1.58035564e+02] [ 9.92170765e-01 9.30588052e-02 -8.32900500e-02 1.21322030e+02] [ 8.31700635e-02 5.17368066e-03 9.96521938e-01 2.50241477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.04, Y:121.35, Z:25.03 [[ 9.53470056e-02 -9.95440771e-01 -2.57287379e-03 1.58040255e+02] [ 9.91964701e-01 9.52293337e-02 -8.32910897e-02 1.21348617e+02] [ 8.31563596e-02 5.38935602e-03 9.96521939e-01 2.50274801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.04, Y:121.38, Z:25.03 [[ 9.45819511e-02 -9.95513841e-01 -2.53912338e-03 1.58040825e+02] [ 9.92037776e-01 9.44641386e-02 -8.32921186e-02 1.21375274e+02] [ 8.31583130e-02 5.35902478e-03 9.96521939e-01 2.50291396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.04, Y:121.40, Z:25.03 [[ 9.11688127e-02 -9.95832305e-01 -2.50370262e-03 1.58044579e+02] [ 9.92355948e-01 9.10599651e-02 -8.32931834e-02 1.21401679e+02] [ 8.31740299e-02 5.10917645e-03 9.96521940e-01 2.50295654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.05, Y:121.43, Z:25.03 [[ 8.50366432e-02 -9.96374767e-01 -2.46860391e-03 1.58054344e+02] [ 9.92897881e-01 8.49462734e-02 -8.32942237e-02 1.21428028e+02] [ 8.32019614e-02 4.63198959e-03 9.96521941e-01 2.50291316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.06, Y:121.46, Z:25.03 [[ 8.10513953e-02 -9.96706951e-01 -2.43417948e-03 1.58059868e+02] [ 9.93229797e-01 8.09720614e-02 -8.32952297e-02 1.21455462e+02] [ 8.32180350e-02 4.33349500e-03 9.96521941e-01 2.50315538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79710568099998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:158.07, Y:121.48, Z:25.04 [[ 7.19143671e-02 -9.97407914e-01 -2.40346232e-03 1.58068138e+02] [ 9.93930216e-01 7.18643401e-02 -8.32961161e-02 1.21481832e+02] [ 8.32529286e-02 3.60131366e-03 9.96521942e-01 2.50353360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82710568099998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:158.07, Y:121.51, Z:25.04 [[ 6.69967570e-02 -9.97750384e-01 -2.36762015e-03 1.58070968e+02] [ 9.94272512e-01 6.69608861e-02 -8.32971349e-02 1.21508425e+02] [ 8.32682863e-02 3.22657828e-03 9.96521942e-01 2.50378857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85710568099998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:158.08, Y:121.53, Z:25.04 [[ 5.86920822e-02 -9.98273410e-01 -2.33183616e-03 1.58076241e+02] [ 9.94795368e-01 5.86821691e-02 -8.32981367e-02 1.21533405e+02] [ 8.32911522e-02 2.56924128e-03 9.96521943e-01 2.50402173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88710568099998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:158.08, Y:121.56, Z:25.04 [[ 5.53655055e-02 -9.98463518e-01 -2.29455426e-03 1.58082715e+02] [ 9.94985462e-01 5.53640734e-02 -8.32991637e-02 1.21560089e+02] [ 8.32982119e-02 2.32885217e-03 9.96521944e-01 2.50418429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91710568099995 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:158.09, Y:121.58, Z:25.05 [[ 5.75337407e-02 -9.98341002e-01 -2.26115954e-03 1.58088257e+02] [ 9.94862966e-01 5.75219715e-02 -8.33000703e-02 1.21584925e+02] [ 8.32919419e-02 2.54302075e-03 9.96521944e-01 2.50466858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94710568099995 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:158.09, Y:121.61, Z:25.05 [[ 6.06203314e-02 -9.98158418e-01 -2.22450575e-03 1.58089552e+02] [ 9.94680457e-01 6.05947528e-02 -8.33010491e-02 1.21610295e+02] [ 8.32824368e-02 2.83706481e-03 9.96521945e-01 2.50503585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97710568099995 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:158.09, Y:121.64, Z:25.05 [[ 7.04515223e-02 -9.97512804e-01 -2.18855197e-03 1.58090308e+02] [ 9.94035317e-01 7.03886825e-02 -8.33019938e-02 1.21635964e+02] [ 8.32488546e-02 3.69325432e-03 9.96521946e-01 2.50538964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00710568099996 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:158.09, Y:121.66, Z:25.06 [[ 7.82398497e-02 -9.96932222e-01 -2.16136866e-03 1.58089715e+02] [ 9.93455392e-01 7.81475878e-02 -8.33026991e-02 1.21660724e+02] [ 8.32160506e-02 4.37036731e-03 9.96521946e-01 2.50559483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03710568099996 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:158.09, Y:121.69, Z:25.06 [[ 8.17793818e-02 -9.96648832e-01 -1.79951738e-03 1.58092066e+02] [ 9.93173338e-01 8.16446278e-02 -8.33119115e-02 1.21688733e+02] [ 8.31796402e-02 5.02596394e-03 9.96521895e-01 2.50575478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06710568099996 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:158.09, Y:121.71, Z:25.06 [[ 8.49415736e-02 -9.96383722e-01 -2.09946809e-03 1.58092145e+02] [ 9.92907760e-01 8.48207779e-02 -8.33043558e-02 1.21713956e+02] [ 8.31811826e-02 4.99142490e-03 9.96521940e-01 2.50639437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09710568099996 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:158.10, Y:121.74, Z:25.06 [[ 8.76465265e-02 -9.96150642e-01 -1.40861742e-03 1.58096629e+02] [ 9.92677447e-01 8.74587581e-02 -8.33213817e-02 1.21743170e+02] [ 8.31238439e-02 5.90452695e-03 9.96521732e-01 2.50628712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12710568099996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:158.10, Y:121.77, Z:25.06 [[ 8.81970078e-02 -9.96100937e-01 -2.05213821e-03 1.58099326e+02] [ 9.92625540e-01 8.80609120e-02 -8.33055466e-02 1.21769776e+02] [ 8.31614462e-02 5.31029514e-03 9.96521939e-01 2.50618659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15710568099996 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:158.10, Y:121.79, Z:25.07 [[ 8.82623905e-02 -9.96095218e-01 -2.01692751e-03 1.58101137e+02] [ 9.92619946e-01 8.81231339e-02 -8.33063991e-02 1.21794783e+02] [ 8.31588438e-02 5.35077946e-03 9.96521939e-01 2.50675500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18710568099996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:158.11, Y:121.83, Z:25.06 [[ 9.03242345e-02 -9.95911716e-01 -1.17782631e-03 1.58107422e+02] [ 9.92440095e-01 9.01079222e-02 -8.33259873e-02 1.21825775e+02] [ 8.30914585e-02 6.35743396e-03 9.96521647e-01 2.50604790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21710568099996 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:158.11, Y:121.85, Z:25.07 [[ 9.22120978e-02 -9.95736342e-01 -2.46303976e-03 1.58110393e+02] [ 9.92260128e-01 9.20962146e-02 -8.32954179e-02 1.21850996e+02] [ 8.31671114e-02 5.23686908e-03 9.96521855e-01 2.50692547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24710568099997 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:158.11, Y:121.88, Z:25.07 [[ 9.34906104e-02 -9.95618293e-01 -1.92860916e-03 1.58112326e+02] [ 9.92144199e-01 9.33257611e-02 -8.33078021e-02 1.21878307e+02] [ 8.31227607e-02 5.87503888e-03 9.96521997e-01 2.50715024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27710568099997 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:158.12, Y:121.91, Z:25.07 [[ 9.46488346e-02 -9.95508917e-01 -1.89575307e-03 1.58116362e+02] [ 9.92035152e-01 9.44772084e-02 -8.33085498e-02 1.21905201e+02] [ 8.31135097e-02 6.00440347e-03 9.96521998e-01 2.50725211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30710568099997 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:158.12, Y:121.93, Z:25.07 [[ 9.43816894e-02 -9.95534342e-01 -1.86317907e-03 1.58119744e+02] [ 9.92060665e-01 9.42082837e-02 -8.33092784e-02 1.21932357e+02] [ 8.31127745e-02 6.01448377e-03 9.96521998e-01 2.50736675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33710568099997 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:158.12, Y:121.96, Z:25.08 [[ 9.16772564e-02 -9.95787090e-01 -1.83072269e-03 1.58122671e+02] [ 9.92313085e-01 9.15105844e-02 -8.33099916e-02 1.21958494e+02] [ 8.31265447e-02 5.82098138e-03 9.96521999e-01 2.50778604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36710568099997 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:158.12, Y:121.99, Z:25.08 [[ 9.07689629e-02 -9.95871318e-01 -1.14616961e-03 1.58124300e+02] [ 9.92400091e-01 9.05484773e-02 -8.33248647e-02 1.21987162e+02] [ 8.30846267e-02 6.42585273e-03 9.96521778e-01 2.50778688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39710568099997 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:158.13, Y:122.02, Z:25.08 [[ 9.11870970e-02 -9.95833092e-01 -1.16890583e-03 1.58131469e+02] [ 9.92361852e-01 9.09670461e-02 -8.33243731e-02 1.22016143e+02] [ 8.30835000e-02 6.43813013e-03 9.96521792e-01 2.50800213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42710568099997 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:158.14, Y:122.04, Z:25.08 [[ 8.93236789e-02 -9.96001226e-01 -1.68480421e-03 1.58140451e+02] [ 9.92527392e-01 8.91530676e-02 -8.33133045e-02 1.22043187e+02] [ 8.31303589e-02 5.76963653e-03 9.96521979e-01 2.50808100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45710568099997 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:158.14, Y:122.07, Z:25.08 [[ 8.69435157e-02 -9.96211665e-01 -1.77298477e-03 1.58143499e+02] [ 9.92737102e-01 8.67885478e-02 -8.33114282e-02 1.22069914e+02] [ 8.31496914e-02 5.48328070e-03 9.96521983e-01 2.50834659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48710568099997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:158.15, Y:122.10, Z:25.09 [[ 8.33458886e-02 -9.96519162e-01 -1.73829849e-03 1.58149384e+02] [ 9.93044183e-01 8.32005789e-02 -8.33121520e-02 1.22095444e+02] [ 8.31667834e-02 5.21751814e-03 9.96521984e-01 2.50867676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51710568099998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:158.15, Y:122.12, Z:25.09 [[ 8.23316625e-02 -9.96603516e-01 -1.71157754e-03 1.58153418e+02] [ 9.93128482e-01 8.21876642e-02 -8.33127010e-02 1.22122580e+02] [ 8.31704013e-02 5.15945678e-03 9.96521984e-01 2.50913718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54710568099998 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:158.16, Y:122.15, Z:25.10 [[ 7.84750971e-02 -9.96914662e-01 -1.67819556e-03 1.58160428e+02] [ 9.93439203e-01 7.83417649e-02 -8.33133734e-02 1.22148411e+02] [ 8.31877963e-02 4.87083981e-03 9.96521984e-01 2.51002538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57710568099998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:158.17, Y:122.18, Z:25.11 [[ 7.42575121e-02 -9.97237746e-01 -1.64304116e-03 1.58166514e+02] [ 9.93761856e-01 7.41359539e-02 -8.33140668e-02 1.22175345e+02] [ 8.32057406e-02 4.55390369e-03 9.96521985e-01 2.51084412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60710568099998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:158.17, Y:122.20, Z:25.11 [[ 7.16162985e-02 -9.97430952e-01 -1.61318679e-03 1.58168851e+02] [ 9.93954834e-01 7.15014589e-02 -8.33146449e-02 1.22202562e+02] [ 8.32159507e-02 4.36325167e-03 9.96521986e-01 2.51100911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63710568099998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:158.17, Y:122.23, Z:25.11 [[ 7.00060301e-02 -9.97545317e-01 -1.57978177e-03 1.58172671e+02] [ 9.94069108e-01 6.98940195e-02 -8.33152783e-02 1.22228866e+02] [ 8.32211830e-02 4.26215963e-03 9.96521986e-01 2.51093775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66710568099995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:158.18, Y:122.25, Z:25.11 [[ 7.35728030e-02 -9.97288652e-01 -1.54490944e-03 1.58176146e+02] [ 9.93812971e-01 7.34454577e-02 -8.33159250e-02 1.22254839e+02] [ 8.32034931e-02 4.59443509e-03 9.96521987e-01 2.51119011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.18, Y:122.28, Z:25.11 [[ 7.64716120e-02 -9.97070615e-01 -1.51041908e-03 1.58177595e+02] [ 9.93595434e-01 7.63312911e-02 -8.33165503e-02 1.22280571e+02] [ 8.31877763e-02 4.87060540e-03 9.96521987e-01 2.51141620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:158.18, Y:122.31, Z:25.12 [[ 7.89637714e-02 -9.96876398e-01 -1.47306851e-03 1.58179572e+02] [ 9.93401714e-01 7.88116540e-02 -8.33172107e-02 1.22311179e+02] [ 8.31730559e-02 5.11569240e-03 9.96521988e-01 2.51195689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:158.18, Y:122.34, Z:25.12 [[ 8.60567859e-02 -9.96286963e-01 -2.55290120e-03 1.58182649e+02] [ 9.92809366e-01 8.59698468e-02 -8.32991522e-02 1.22335651e+02] [ 8.32093319e-02 4.63391309e-03 9.96521316e-01 2.51170660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:158.18, Y:122.36, Z:25.12 [[ 8.56603561e-02 -9.96323539e-01 -1.30702191e-03 1.58182620e+02] [ 9.92850783e-01 8.54710821e-02 -8.33187610e-02 1.22363334e+02] [ 8.31241554e-02 5.83943701e-03 9.96522090e-01 2.51190637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:158.18, Y:122.39, Z:25.12 [[ 8.55953615e-02 -9.96329168e-01 -1.27373928e-03 1.58183714e+02] [ 9.92856553e-01 8.54035446e-02 -8.33192699e-02 1.22390382e+02] [ 8.31222007e-02 5.86710263e-03 9.96522091e-01 2.51203589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84710568099996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:158.19, Y:122.42, Z:25.12 [[ 8.32722284e-02 -9.96526064e-01 -1.24066896e-03 1.58188157e+02] [ 9.93053158e-01 8.30857562e-02 -8.33197623e-02 1.22416314e+02] [ 8.31333968e-02 5.70617204e-03 9.96522091e-01 2.51219941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:158.19, Y:122.44, Z:25.12 [[ 8.09898310e-02 -9.96714187e-01 -1.21514747e-03 1.58190274e+02] [ 9.93240973e-01 8.08091887e-02 -8.33201346e-02 1.22444147e+02] [ 8.31445553e-02 5.54114936e-03 9.96522091e-01 2.51220372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:122.47, Z:25.12 [[ 7.41122027e-02 -9.97249206e-01 -1.18448158e-03 1.58194948e+02] [ 9.93774945e-01 7.39529712e-02 -8.33205706e-02 1.22471998e+02] [ 8.31789687e-02 4.99796290e-03 9.96522092e-01 2.51206317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:158.19, Y:122.51, Z:25.12 [[ 6.50886877e-02 -9.97878816e-01 -1.15373416e-03 1.58194202e+02] [ 9.94403352e-01 6.49583281e-02 -8.33209964e-02 1.22506449e+02] [ 8.32192018e-02 4.27597719e-03 9.96522092e-01 2.51184892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.20, Y:122.52, Z:25.13 [[ 5.74649722e-02 -9.98340155e-01 -3.83549583e-03 1.58203006e+02] [ 9.94860801e-01 5.75846600e-02 -8.32826108e-02 1.22524969e+02] [ 8.33652403e-02 9.70048455e-04 9.96518588e-01 2.51256118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.20, Y:122.55, Z:25.13 [[ 5.11642972e-02 -9.98689708e-01 -1.04054534e-03 1.58204979e+02] [ 9.95213387e-01 5.10730101e-02 -8.33178421e-02 1.22551420e+02] [ 8.32618151e-02 3.22733418e-03 9.96522481e-01 2.51316010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02710568099997 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:158.21, Y:122.58, Z:25.14 [[ 3.79931177e-02 -9.99277457e-01 -1.04236641e-03 1.58208675e+02] [ 9.95800233e-01 3.79478221e-02 -8.33178199e-02 1.22577674e+02] [ 8.32971747e-02 2.12751503e-03 9.96522481e-01 2.51374011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.21, Y:122.60, Z:25.14 [[ 3.13910253e-02 -9.99506700e-01 -9.80209860e-04 1.58210427e+02] [ 9.96029291e-01 3.13635219e-02 -8.33185513e-02 1.22604334e+02] [ 8.33081930e-02 1.63913701e-03 9.96522483e-01 2.51412558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:158.21, Y:122.63, Z:25.15 [[ 2.04404123e-02 -9.99790625e-01 -9.46274121e-04 1.58212659e+02] [ 9.96313117e-01 2.04481748e-02 -8.33189367e-02 1.22631047e+02] [ 8.33208414e-02 7.60288099e-04 9.96522483e-01 2.51450478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:122.66, Z:25.15 [[ 1.59468121e-02 -9.99872424e-01 -9.13788170e-04 1.58211689e+02] [ 9.96394969e-01 1.59674966e-02 -8.33192931e-02 1.22657673e+02] [ 8.33232544e-02 4.18183176e-04 9.96522484e-01 2.51468589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.21, Y:122.68, Z:25.15 [[ 1.04408417e-02 -9.99945108e-01 -8.77464552e-04 1.58207970e+02] [ 9.96467787e-01 1.04776476e-02 -8.33196757e-02 1.22684885e+02] [ 8.33242958e-02 -4.43761773e-06 9.96522484e-01 2.51492078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:158.21, Y:122.71, Z:25.15 [[ 9.14065514e-03 -9.99957868e-01 -8.42762981e-04 1.58206128e+02] [ 9.96480566e-01 9.17909097e-03 -8.33200267e-02 1.22712343e+02] [ 8.33242521e-02 -7.81973017e-05 9.96522485e-01 2.51528445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:158.20, Y:122.74, Z:25.16 [[ 9.38026789e-03 -9.99955678e-01 -8.08037202e-04 1.58201371e+02] [ 9.96478337e-01 9.41497699e-03 -8.33203635e-02 1.22737932e+02] [ 8.33242782e-02 -2.36242365e-05 9.96522486e-01 2.51601712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.23710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.20, Y:122.77, Z:25.16 [[ 1.11075548e-02 -9.99938016e-01 -7.66292048e-04 1.58198104e+02] [ 9.96460593e-01 1.11327787e-02 -8.33207501e-02 1.22765060e+02] [ 8.33241164e-02 1.61909965e-04 9.96522486e-01 2.51609679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.26710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:158.19, Y:122.79, Z:25.16 [[ 1.58139163e-02 -9.99874683e-01 -7.34307584e-04 1.58192190e+02] [ 9.96397175e-01 1.58201073e-02 -8.33210320e-02 1.22790763e+02] [ 8.33222072e-02 5.85969824e-04 9.96522487e-01 2.51607841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.29710568099998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:158.19, Y:122.82, Z:25.16 [[ 1.95780671e-02 -9.99808214e-01 -4.84745478e-04 1.58188401e+02] [ 9.96330790e-01 1.95503711e-02 -8.33231012e-02 1.22819301e+02] [ 8.33165979e-02 1.14833842e-03 9.96522466e-01 2.51591560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32710568099998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:158.19, Y:122.85, Z:25.16 [[ 2.14645704e-02 -9.99769392e-01 -6.60207576e-04 1.58186968e+02] [ 9.96291929e-01 2.14449333e-02 -8.33217122e-02 1.22845774e+02] [ 8.33166556e-02 1.13070528e-03 9.96522482e-01 2.51616647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:158.18, Y:122.87, Z:25.16 [[ 2.59484735e-02 -9.99663088e-01 -6.22515393e-04 1.58182756e+02] [ 9.96185782e-01 2.59100990e-02 -8.33219939e-02 1.22871533e+02] [ 8.33100511e-02 1.54193757e-03 9.96522482e-01 2.51607739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:158.18, Y:122.90, Z:25.16 [[ 2.89287234e-02 -9.99581307e-01 -5.83434151e-04 1.58181486e+02] [ 9.96104179e-01 2.88767258e-02 -8.33222676e-02 1.22898385e+02] [ 8.33042288e-02 1.82924563e-03 9.96522483e-01 2.51624342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41710568099995 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:158.18, Y:122.92, Z:25.16 [[ 3.39883080e-02 -9.99422081e-01 -5.45972977e-04 1.58179886e+02] [ 9.95945326e-01 3.39155888e-02 -8.33225131e-02 1.22924278e+02] [ 8.32928765e-02 2.28823200e-03 9.96522484e-01 2.51627856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44710568099995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:158.18, Y:122.95, Z:25.17 [[ 3.74285638e-02 -9.99299177e-01 -5.07075887e-04 1.58179190e+02] [ 9.95822774e-01 3.73406364e-02 -8.33227499e-02 1.22951843e+02] [ 8.32832899e-02 2.61369315e-03 9.96522485e-01 2.51669927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47710568099995 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:158.18, Y:122.98, Z:25.17 [[ 3.85557813e-02 -9.99256262e-01 -6.11831885e-04 1.58179119e+02] [ 9.95779731e-01 3.84726583e-02 -8.33221546e-02 1.22979049e+02] [ 8.32837236e-02 2.60330098e-03 9.96522476e-01 2.51679765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50710568099996 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:158.18, Y:123.01, Z:25.17 [[ 4.00101884e-02 -9.99199181e-01 -4.26943168e-04 1.58176399e+02] [ 9.95723216e-01 3.99066057e-02 -8.33231034e-02 1.23005500e+02] [ 8.32734145e-02 2.90865584e-03 9.96522493e-01 2.51688502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53710568099996 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:158.17, Y:123.03, Z:25.17 [[ 3.99647843e-02 -9.99201013e-01 -3.90284821e-04 1.58174608e+02] [ 9.95725136e-01 3.98583064e-02 -8.33232752e-02 1.23032212e+02] [ 8.32722570e-02 2.94138031e-03 9.96522493e-01 2.51709405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56710568099996 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:158.17, Y:123.06, Z:25.17 [[ 3.84555934e-02 -9.99260247e-01 -3.54940372e-04 1.58172640e+02] [ 9.95784302e-01 3.83514217e-02 -8.33234258e-02 1.23059046e+02] [ 8.32753995e-02 2.85080773e-03 9.96522494e-01 2.51730990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59710568099996 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:158.17, Y:123.09, Z:25.17 [[ 3.72245797e-02 -9.99306874e-01 -3.20516670e-04 1.58172125e+02] [ 9.95830887e-01 3.71218230e-02 -8.33235582e-02 1.23086266e+02] [ 8.32777027e-02 2.78250404e-03 9.96522494e-01 2.51745740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:158.17, Y:123.11, Z:25.18 [[ 3.31207737e-02 -9.99451316e-01 -2.85874602e-04 1.58170091e+02] [ 9.95975011e-01 3.30294058e-02 -8.33236772e-02 1.23112053e+02] [ 8.32874010e-02 2.47502069e-03 9.96522495e-01 2.51763392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65710568099996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:158.17, Y:123.14, Z:25.18 [[ 3.01644535e-02 -9.99544918e-01 -2.49612536e-04 1.58168405e+02] [ 9.96068431e-01 3.00803475e-02 -8.33237858e-02 1.23138266e+02] [ 8.32933751e-02 2.26478529e-03 9.96522496e-01 2.51779746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68710568099996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:158.17, Y:123.16, Z:25.18 [[ 2.29021174e-02 -9.99737705e-01 -1.17748270e-04 1.58167502e+02] [ 9.96260898e-01 2.28322841e-02 -8.33241289e-02 1.23163158e+02] [ 8.33049619e-02 1.79099099e-03 9.96522491e-01 2.51830371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71710568099996 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:158.17, Y:123.19, Z:25.19 [[ 9.09053262e-03 -9.99958668e-01 1.56797081e-04 1.58168484e+02] [ 9.96481387e-01 9.04585536e-03 -8.33247682e-02 1.23190575e+02] [ 8.33199059e-02 9.13711897e-04 9.96522432e-01 2.51865447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:158.17, Y:123.22, Z:25.19 [[ 1.91238992e-03 -9.99998157e-01 -1.69240588e-04 1.58168348e+02] [ 9.96520651e-01 1.91984141e-03 -8.33241104e-02 1.23217464e+02] [ 8.33242818e-02 -9.30355252e-06 9.96522485e-01 2.51897013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77710568099997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:158.17, Y:123.24, Z:25.19 [[-8.07799763e-03 -9.99967363e-01 -1.34463980e-04 1.58166163e+02] [ 9.96490072e-01 -8.03870269e-03 -8.33241666e-02 1.23243316e+02] [ 8.33203663e-02 -8.07084441e-04 9.96522486e-01 2.51918662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80710568099997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:158.17, Y:123.27, Z:25.20 [[-1.06620608e-02 -9.99943153e-01 -1.07551600e-04 1.58165171e+02] [ 9.96465944e-01 -1.06160223e-02 -8.33242014e-02 1.23269818e+02] [ 8.33183229e-02 -9.95579209e-04 9.96522486e-01 2.51971417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83710568099997 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:158.16, Y:123.30, Z:25.20 [[-1.14429210e-02 -9.99934525e-01 -7.24529858e-05 1.58163146e+02] [ 9.96457314e-01 -1.13970915e-02 -8.33242320e-02 1.23296545e+02] [ 8.33179506e-02 -1.02566891e-03 9.96522487e-01 2.52038181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86710568099997 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:158.16, Y:123.32, Z:25.21 [[-1.02245273e-02 -9.99947727e-01 -3.71149110e-05 1.58156233e+02] [ 9.96470430e-01 -1.01858790e-02 -8.33242477e-02 1.23323520e+02] [ 8.33195141e-02 -8.88934961e-04 9.96522488e-01 2.52085264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:158.15, Y:123.35, Z:25.21 [[-8.50179656e-03 -9.99963859e-01 -1.87734400e-06 1.58152600e+02] [ 9.96486474e-01 -8.47207504e-03 -8.33242486e-02 1.23349203e+02] [ 8.33212213e-02 -7.10276558e-04 9.96522488e-01 2.52105244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.92710568099997 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:158.15, Y:123.32, Z:25.21 [[-6.34232383e-03 -9.99979887e-01 3.47814234e-05 1.58149673e+02] [ 9.96502428e-01 -6.32316641e-03 -8.33242333e-02 1.23317567e+02] [ 8.33227773e-02 -4.93809498e-04 9.96522489e-01 2.52089784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.95710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:158.14, Y:123.33, Z:25.21 [[-2.05776447e-04 -9.99999973e-01 1.04282751e-04 1.58142828e+02] [ 9.96522474e-01 -2.13750128e-04 -8.33241466e-02 1.23327578e+02] [ 8.33241666e-02 8.67739585e-05 9.96522491e-01 2.52091733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.98710568099997 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:158.14, Y:123.31, Z:25.21 [[ 2.73908057e-03 -9.99996234e-01 1.72868214e-04 1.58139364e+02] [ 9.96518810e-01 2.71515146e-03 -8.33240045e-02 1.23308653e+02] [ 8.33232213e-02 4.00497589e-04 9.96522494e-01 2.52075298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.01710568099998 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:158.13, Y:123.31, Z:25.20 [[ 1.06556254e-02 -9.99943198e-01 2.41234532e-04 1.58130601e+02] [ 9.96466164e-01 1.05984716e-02 -8.33238067e-02 1.23307572e+02] [ 8.33165171e-02 1.12824932e-03 9.96522496e-01 2.52041083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.04710568099998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:158.13, Y:123.30, Z:25.20 [[ 1.45585578e-02 -9.99893971e-01 3.08761758e-04 1.58125941e+02] [ 9.96417307e-01 1.44822074e-02 -8.33235567e-02 1.23298578e+02] [ 8.33102504e-02 1.52072638e-03 9.96522498e-01 2.52003724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07710568099998 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:158.12, Y:123.28, Z:25.20 [[ 2.34711053e-02 -9.99724445e-01 3.75982313e-04 1.58119781e+02] [ 9.96248780e-01 2.33581684e-02 -8.33232536e-02 1.23284386e+02] [ 8.32915112e-02 2.33026078e-03 9.96522501e-01 2.51981305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10710568099998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:158.12, Y:123.38, Z:25.20 [[ 3.20947173e-02 -9.99484771e-01 3.50090506e-04 1.58115307e+02] [ 9.96010120e-01 3.19539562e-02 -8.33233781e-02 1.23382640e+02] [ 8.32692606e-02 3.02293395e-03 9.96522500e-01 2.52049561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13710568099998 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:158.11, Y:123.27, Z:25.20 [[ 3.25077917e-02 -9.99471446e-01 2.69126446e-04 1.58114656e+02] [ 9.95996575e-01 3.23723351e-02 -8.33237908e-02 1.23269576e+02] [ 8.32710374e-02 2.97672145e-03 9.96522490e-01 2.51965147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16710568099995 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:158.11, Y:123.26, Z:25.19 [[ 3.50389226e-02 -9.99385837e-01 4.71955471e-04 1.58111624e+02] [ 9.95912085e-01 3.48777826e-02 -8.33226194e-02 1.23261106e+02] [ 8.32549849e-02 3.38956097e-03 9.96522513e-01 2.51920650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19710568099995 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:158.11, Y:123.26, Z:25.19 [[ 3.52207585e-02 -9.99379417e-01 5.28263817e-04 1.58110585e+02] [ 9.95905918e-01 3.50542998e-02 -8.33222560e-02 1.23264623e+02] [ 8.32520297e-02 3.46077411e-03 9.96522515e-01 2.51924630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22710568099995 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:158.11, Y:123.27, Z:25.19 [[ 3.56215028e-02 -9.99365190e-01 5.71180543e-04 1.58112841e+02] [ 9.95891934e-01 3.54500796e-02 -8.33219495e-02 1.23267101e+02] [ 8.32488074e-02 3.53688716e-03 9.96522517e-01 2.51867422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25710568099996 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:158.11, Y:123.28, Z:25.19 [[ 3.45507277e-02 -9.99402734e-01 6.49735670e-04 1.58113643e+02] [ 9.95929622e-01 3.43764882e-02 -8.33213372e-02 1.23277153e+02] [ 8.32492365e-02 3.52590383e-03 9.96522520e-01 2.51870869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28710568099996 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:158.12, Y:123.28, Z:25.19 [[ 3.20894936e-02 -9.99484744e-01 7.15040165e-04 1.58115908e+02] [ 9.96011479e-01 3.19183724e-02 -8.33207769e-02 1.23281645e+02] [ 8.32550225e-02 3.38590975e-03 9.96522522e-01 2.51884284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31710568099996 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:158.12, Y:123.27, Z:25.19 [[ 2.90829782e-02 -9.99576695e-01 7.81287367e-04 1.58117344e+02] [ 9.96103193e-01 2.89167911e-02 -8.33201559e-02 1.23269447e+02] [ 8.32622938e-02 3.20144112e-03 9.96522524e-01 2.51876476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34710568099996 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:158.12, Y:123.28, Z:25.19 [[ 2.32888541e-02 -9.99728419e-01 8.47375132e-04 1.58120768e+02] [ 9.96254249e-01 2.31373007e-02 -8.33194840e-02 1.23275790e+02] [ 8.32772500e-02 2.78461638e-03 9.96522526e-01 2.51911850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37710568099996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:158.12, Y:123.28, Z:25.20 [[ 1.70271382e-02 -9.99854618e-01 9.05000645e-04 1.58124575e+02] [ 9.96379752e-01 1.68925480e-02 -8.33188582e-02 1.23284625e+02] [ 8.32914574e-02 2.32040603e-03 9.96522528e-01 2.51981165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40710568099996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:158.13, Y:123.36, Z:25.21 [[ 1.55348841e-02 -9.99878862e-01 9.63469033e-04 1.58125064e+02] [ 9.96403985e-01 1.54006115e-02 -8.33181822e-02 1.23357141e+02] [ 8.32932512e-02 2.25434269e-03 9.96522530e-01 2.52074252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43710568099996 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:158.13, Y:123.28, Z:25.20 [[ 8.00760945e-03 -9.99967626e-01 7.90372411e-04 1.58127066e+02] [ 9.96491397e-01 7.91391611e-03 -8.33202568e-02 1.23282628e+02] [ 8.33113045e-02 1.45479538e-03 9.96522509e-01 2.52024164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46710568099996 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:158.12, Y:123.28, Z:25.20 [[ 5.29026196e-03 -9.99985452e-01 1.05283163e-03 1.58124118e+02] [ 9.96509614e-01 5.18415361e-03 -8.33169431e-02 1.23280969e+02] [ 8.33102730e-02 1.48992529e-03 9.96522543e-01 2.52010412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49710568099997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:158.12, Y:123.28, Z:25.20 [[ 3.71157713e-03 -9.99992484e-01 1.12061413e-03 1.58123812e+02] [ 9.96516653e-01 3.60531040e-03 -8.33160316e-02 1.23278079e+02] [ 8.33113653e-02 1.42594452e-03 9.96522545e-01 2.51965818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52710568099997 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:158.13, Y:123.29, Z:25.19 [[-5.17726977e-04 -9.99999170e-01 1.17975751e-03 1.58125976e+02] [ 9.96523056e-01 -6.14219102e-04 -8.33151943e-02 1.23294727e+02] [ 8.33158498e-02 1.13252103e-03 9.96522547e-01 2.51924981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55710568099997 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:158.13, Y:123.29, Z:25.19 [[-3.86843203e-03 -9.99991749e-01 1.23963177e-03 1.58125990e+02] [ 9.96515459e-01 -3.95826403e-03 -8.33143036e-02 1.23287810e+02] [ 8.33185229e-02 9.13016502e-04 9.96522549e-01 2.51927135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58710568099997 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:158.12, Y:123.30, Z:25.19 [[-7.50834597e-03 -9.99970967e-01 1.30009484e-03 1.58122248e+02] [ 9.96494489e-01 -7.59056103e-03 -8.33133602e-02 1.23299863e+02] [ 8.33208098e-02 6.69991814e-04 9.96522551e-01 2.51939798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61710568099997 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:158.12, Y:123.31, Z:25.20 [[-9.20888004e-03 -9.99956671e-01 1.36095835e-03 1.58120009e+02] [ 9.96480176e-01 -9.29025359e-03 -8.33123661e-02 1.23308314e+02] [ 8.33213999e-02 5.88954436e-04 9.96522552e-01 2.51967485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64710568099997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:158.12, Y:123.30, Z:25.20 [[-1.10225438e-02 -9.99938237e-01 1.42301306e-03 1.58119578e+02] [ 9.96461718e-01 -1.11027817e-02 -8.33113063e-02 1.23297273e+02] [ 8.33219602e-02 4.99675515e-04 9.96522554e-01 2.51961383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.67710568099997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:158.12, Y:123.29, Z:25.20 [[-1.18677240e-02 -9.99928460e-01 1.49419766e-03 1.58119675e+02] [ 9.96452013e-01 -1.19509541e-02 -8.33100298e-02 1.23294933e+02] [ 8.33219269e-02 5.00195826e-04 9.96522557e-01 2.51959288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.70710568099997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:158.12, Y:123.30, Z:25.20 [[-1.57412160e-02 -9.99874875e-01 1.56485890e-03 1.58117816e+02] [ 9.96398257e-01 -1.58168656e-02 -8.33087027e-02 1.23301533e+02] [ 8.33230299e-02 2.47842403e-04 9.96522559e-01 2.51953582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.73710568099997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:158.11, Y:123.45, Z:25.21 [[-1.58347365e-02 -9.99873284e-01 1.63604118e-03 1.58114278e+02] [ 9.96396796e-01 -1.59159917e-02 -8.33073050e-02 1.23445264e+02] [ 8.33227879e-02 3.10996962e-04 9.96522562e-01 2.52071405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.76710568099998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:157.76, Y:123.32, Z:25.56 [[-9.79781813e-02 9.95187438e-01 -1.49675500e-03 1.57758482e+02] [ 9.91716728e-01 9.77617808e-02 8.33100579e-02 1.23315169e+02] [ 8.30554484e-02 6.67821098e-03 -9.96522551e-01 2.55553020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.79710568099998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:157.79, Y:123.24, Z:25.55 [[-1.71183354e-01 9.85200802e-01 -8.69709544e-03 1.57786986e+02] [ 9.81748911e-01 1.71312651e-01 8.25896564e-02 1.23240892e+02] [ 8.28573182e-02 5.59961041e-03 -9.96545688e-01 2.55494545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82710568099998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:157.80, Y:123.26, Z:25.55 [[-2.45869075e-01 9.69191944e-01 -1.46756144e-02 1.57803923e+02] [ 9.65775747e-01 2.46236746e-01 8.15148600e-02 1.23258249e+02] [ 8.26172212e-02 5.86863076e-03 -9.96564074e-01 2.55515084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85710568099998 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:157.83, Y:123.23, Z:25.55 [[-3.17902886e-01 9.47882570e-01 -2.13632585e-02 1.57831217e+02] [ 9.44535419e-01 3.18577839e-01 7.97558902e-02 1.23232385e+02] [ 8.24050789e-02 5.17627331e-03 -9.96585475e-01 2.55473417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88710568099998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:157.86, Y:123.22, Z:25.55 [[-3.88871622e-01 9.20892080e-01 -2.71410878e-02 1.57857942e+02] [ 9.17620306e-01 3.89781237e-01 7.77403390e-02 1.23222250e+02] [ 8.21695493e-02 5.32579845e-03 -9.96604135e-01 2.55457856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91710568099995 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:157.88, Y:123.22, Z:25.55 [[-4.59850229e-01 8.87380539e-01 -3.30687956e-02 1.57881945e+02] [ 8.84210054e-01 4.61007136e-01 7.51332252e-02 1.23224490e+02] [ 8.19167127e-02 5.31026929e-03 -9.96625031e-01 2.55456162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94710568099995 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:157.90, Y:123.23, Z:25.54 [[-5.28948848e-01 8.47768227e-01 -3.87575739e-02 1.57903477e+02] [ 8.44715929e-01 5.30339543e-01 7.20761302e-02 1.23226500e+02] [ 8.16585271e-02 5.38544602e-03 -9.96645816e-01 2.55441520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.93, Y:123.22, Z:25.54 [[-5.95671242e-01 8.02012250e-01 -4.41828330e-02 1.57933513e+02] [ 7.99093723e-01 5.97281830e-01 6.85830705e-02 1.23224738e+02] [ 8.13940660e-02 5.54673828e-03 -9.96666564e-01 2.55425578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.00710568099996 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:157.91, Y:123.28, Z:25.55 [[-6.62016572e-01 7.47866202e-01 -4.92970777e-02 1.57909093e+02] [ 7.45088241e-01 6.63821521e-01 6.46877318e-02 1.23282375e+02] [ 8.11022293e-02 6.09367755e-03 -9.96687160e-01 2.55506769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03710568099996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:157.94, Y:123.28, Z:25.55 [[-7.18277275e-01 6.93602006e-01 -5.47175858e-02 1.57937016e+02] [ 6.91035859e-01 7.20339913e-01 5.98318612e-02 1.23279796e+02] [ 8.09147599e-02 5.16405236e-03 -9.96707647e-01 2.55498060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.06710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.99, Y:123.26, Z:25.55 [[-7.70628317e-01 6.34565721e-01 -5.88076761e-02 1.57986302e+02] [ 6.32155133e-01 7.72848408e-01 5.55448070e-02 1.23259111e+02] [ 8.06962493e-02 5.62882681e-03 -9.96722846e-01 2.55475259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.02, Y:123.26, Z:25.54 [[-8.15676023e-01 5.75083985e-01 -6.28572662e-02 1.58021868e+02] [ 5.72880480e-01 8.18077620e-01 5.05664136e-02 1.23258880e+02] [ 8.05020574e-02 5.23611031e-03 -9.96740689e-01 2.55439803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:123.27, Z:25.54 [[-8.55624172e-01 5.13345907e-01 -6.62061686e-02 1.58039146e+02] [ 5.11333047e-01 8.58165636e-01 4.57193243e-02 1.23273411e+02] [ 8.02856867e-02 5.26515704e-03 -9.96757988e-01 2.55393972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.05, Y:123.29, Z:25.54 [[-8.89478777e-01 4.51678338e-01 -6.93843217e-02 1.58047834e+02] [ 4.49905314e-01 8.92169105e-01 4.02429622e-02 1.23290391e+02] [ 8.00794225e-02 4.57888577e-03 -9.96777969e-01 2.55425936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.06, Y:123.30, Z:25.55 [[-9.20877346e-01 3.83124554e-01 -7.21144274e-02 1.58058936e+02] [ 3.81587900e-01 9.23686699e-01 3.45478984e-02 1.23302793e+02] [ 7.98472855e-02 4.29638409e-03 -9.96797849e-01 2.55451087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:123.32, Z:25.55 [[-9.47172646e-01 3.11979823e-01 -7.43812467e-02 1.58067670e+02] [ 3.10685908e-01 9.50080105e-01 2.86716034e-02 1.23316067e+02] [ 7.96131044e-02 4.04775326e-03 -9.96817621e-01 2.55465284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:123.33, Z:25.55 [[-9.67868918e-01 2.39640575e-01 -7.61718589e-02 1.58085333e+02] [ 2.38596639e-01 9.70854416e-01 2.26571779e-02 1.23332715e+02] [ 7.93813647e-02 3.75482873e-03 -9.96837249e-01 2.55472941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.11, Y:123.36, Z:25.54 [[-9.84058033e-01 1.60083671e-01 -7.74790670e-02 1.58110767e+02] [ 1.59275400e-01 9.87095595e-01 1.65418790e-02 1.23356549e+02] [ 7.91273304e-02 3.93765951e-03 -9.96856740e-01 2.55425600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.10, Y:123.57, Z:25.21 [[-9.90869553e-01 -1.09757949e-01 7.82989182e-02 1.58098544e+02] [ 1.09281804e-01 -9.93956888e-01 -1.03533716e-02 1.23568758e+02] [ 7.89621139e-02 -1.70219368e-03 9.96876164e-01 2.52115821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:158.11, Y:123.56, Z:25.21 [[-9.90361123e-01 -1.14278309e-01 7.82643840e-02 1.58108205e+02] [ 1.13795526e-01 -9.93447475e-01 -1.06157133e-02 1.23560754e+02] [ 7.89647004e-02 -1.60725301e-03 9.96876117e-01 2.52063014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.07, Y:123.56, Z:25.21 [[-9.89683526e-01 -1.19974627e-01 7.83109716e-02 1.58073087e+02] [ 1.19537731e-01 -9.92776641e-01 -1.02601717e-02 1.23560494e+02] [ 7.89762636e-02 -7.93207019e-04 9.96876181e-01 2.52101288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.13, Y:123.54, Z:25.20 [[-9.88430934e-01 -1.29896243e-01 7.83023327e-02 1.58127632e+02] [ 1.29485160e-01 -9.91527590e-01 -1.03262689e-02 1.23542040e+02] [ 7.89802668e-02 -6.78135221e-05 9.96876177e-01 2.52016581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.42710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.05, Y:123.54, Z:25.21 [[-9.86820552e-01 -1.41607275e-01 7.83107758e-02 1.58045660e+02] [ 1.41238052e-01 -9.89922475e-01 -1.02618386e-02 1.23542984e+02] [ 7.89747481e-02 9.33868139e-04 9.96876179e-01 2.52111227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.45710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.10, Y:123.53, Z:25.21 [[-9.86508803e-01 -1.43766838e-01 7.83037485e-02 1.58104741e+02] [ 1.43400137e-01 -9.89611029e-01 -1.03156158e-02 1.23531497e+02] [ 7.89732966e-02 1.05232246e-03 9.96876176e-01 2.52093066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.48710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.14, Y:123.52, Z:25.21 [[-9.86186768e-01 -1.45955629e-01 7.83109995e-02 1.58135777e+02] [ 1.45600205e-01 -9.89290305e-01 -1.02602737e-02 1.23524957e+02] [ 7.89698573e-02 1.28355142e-03 9.96876178e-01 2.52106336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.51710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.14, Y:123.52, Z:25.21 [[-9.86359239e-01 -1.44784244e-01 7.83133146e-02 1.58143435e+02] [ 1.44426541e-01 -9.89462513e-01 -1.02425727e-02 1.23523638e+02] [ 7.89710522e-02 1.20766486e-03 9.96876178e-01 2.52129403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.54710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.14, Y:123.52, Z:25.21 [[-9.86779624e-01 -1.41885828e-01 7.83223205e-02 1.58143867e+02] [ 1.41524511e-01 -9.89882477e-01 -1.01732394e-02 1.23520975e+02] [ 7.89733311e-02 1.04578269e-03 9.96876181e-01 2.52126997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.15, Y:123.52, Z:25.21 [[-9.86774498e-01 -1.41916551e-01 7.83312344e-02 1.58145514e+02] [ 1.41560814e-01 -9.89877994e-01 -1.01041364e-02 1.23519906e+02] [ 7.89723094e-02 1.11812920e-03 9.96876183e-01 2.52087518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:123.52, Z:25.20 [[-9.86094269e-01 -1.46563709e-01 7.83401009e-02 1.58150091e+02] [ 1.46228094e-01 -9.89200003e-01 -1.00349198e-02 1.23519841e+02] [ 7.89647831e-02 1.56014674e-03 9.96876185e-01 2.52032482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:123.52, Z:25.20 [[-9.85706035e-01 -1.49147791e-01 7.83488928e-02 1.58152844e+02] [ 1.48825807e-01 -9.88813209e-01 -9.96580115e-03 1.23519608e+02] [ 7.89587973e-02 1.83698688e-03 9.96876188e-01 2.52018629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.17, Y:123.52, Z:25.20 [[-9.84902736e-01 -1.54358957e-01 7.83576007e-02 1.58169282e+02] [ 1.54058891e-01 -9.88012100e-01 -9.89685895e-03 1.23515343e+02] [ 7.89459264e-02 2.32424161e-03 9.96876190e-01 2.51995667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:123.51, Z:25.20 [[-9.84696319e-01 -1.55666012e-01 7.83661413e-02 1.58178795e+02] [ 1.55375487e-01 -9.87806587e-01 -9.82876470e-03 1.23513940e+02] [ 7.89405952e-02 2.49782892e-03 9.96876193e-01 2.51994150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:123.52, Z:25.20 [[-9.84591148e-01 -1.56325662e-01 7.83744796e-02 1.58187303e+02] [ 1.56042543e-01 -9.87702097e-01 -9.76182109e-03 1.23515329e+02] [ 7.89366609e-02 2.61835048e-03 9.96876195e-01 2.51996798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:123.52, Z:25.20 [[-9.84809173e-01 -1.54942085e-01 7.83826764e-02 1.58178699e+02] [ 1.54659863e-01 -9.87920201e-01 -9.69555643e-03 1.23519362e+02] [ 7.89380791e-02 2.57438112e-03 9.96876197e-01 2.51995020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:123.52, Z:25.20 [[-9.85390225e-01 -1.51198475e-01 7.83908498e-02 1.58188482e+02] [ 1.50909721e-01 -9.88500652e-01 -9.62901712e-03 1.23524091e+02] [ 7.89452988e-02 2.34160195e-03 9.96876199e-01 2.51973557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:123.53, Z:25.20 [[-9.86156778e-01 -1.46110939e-01 7.83989994e-02 1.58188692e+02] [ 1.45811445e-01 -9.89266186e-01 -9.56220094e-03 1.23529306e+02] [ 7.89546213e-02 2.00164211e-03 9.96876202e-01 2.51995190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:123.53, Z:25.20 [[-9.86610658e-01 -1.43009583e-01 7.84070655e-02 1.58180972e+02] [ 1.42705604e-01 -9.89719629e-01 -9.49559887e-03 1.23532346e+02] [ 7.89589735e-02 1.82066858e-03 9.96876204e-01 2.52009781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.18, Y:123.54, Z:25.20 [[-9.87573594e-01 -1.36196398e-01 7.84151667e-02 1.58183662e+02] [ 1.35876315e-01 -9.90680945e-01 -9.42822228e-03 1.23536569e+02] [ 7.89685014e-02 1.34370053e-03 9.96876206e-01 2.52011717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:123.54, Z:25.20 [[-9.88160410e-01 -1.31866571e-01 7.84232819e-02 1.58175406e+02] [ 1.31538267e-01 -9.91266902e-01 -9.36023197e-03 1.23540350e+02] [ 7.89727054e-02 1.06625191e-03 9.96876208e-01 2.52017344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:123.55, Z:25.20 [[-9.89210974e-01 -1.23734246e-01 7.84314108e-02 1.58178116e+02] [ 1.23385841e-01 -9.92315273e-01 -9.29161679e-03 1.23546217e+02] [ 7.89783780e-02 4.85956279e-04 9.96876211e-01 2.52024407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:123.55, Z:25.20 [[-9.89719558e-01 -1.19592773e-01 7.84395593e-02 1.58178326e+02] [ 1.19236870e-01 -9.92823004e-01 -9.22231225e-03 1.23548844e+02] [ 7.89795208e-02 2.25384705e-04 9.96876213e-01 2.52034433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:123.55, Z:25.20 [[-9.90109232e-01 -1.16317116e-01 7.84476681e-02 1.58176632e+02] [ 1.15956452e-01 -9.93212126e-01 -9.15281469e-03 1.23552065e+02] [ 7.89798042e-02 3.42268947e-05 9.96876216e-01 2.52024531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.14, Y:123.56, Z:25.20 [[-9.89784870e-01 -1.19040353e-01 7.84557614e-02 1.58140495e+02] [ 1.18693766e-01 -9.92889365e-01 -9.08290788e-03 1.23558005e+02] [ 7.89791237e-02 3.22084997e-04 9.96876218e-01 2.52014614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:123.55, Z:25.20 [[-9.89811028e-01 -1.18830103e-01 7.84444706e-02 1.58186847e+02] [ 1.18475099e-01 -9.92914580e-01 -9.18078776e-03 1.23550160e+02] [ 7.89796125e-02 2.06471452e-04 9.96876210e-01 2.51993889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.16, Y:123.55, Z:25.20 [[-9.89772095e-01 -1.19143549e-01 7.84602702e-02 1.58162444e+02] [ 1.18800392e-01 -9.92876970e-01 -9.04372203e-03 1.23551757e+02] [ 7.89788965e-02 3.69887169e-04 9.96876220e-01 2.52029353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.10, Y:123.56, Z:25.21 [[-9.89702389e-01 -1.19718438e-01 7.84644996e-02 1.58104950e+02] [ 1.19380015e-01 -9.92807781e-01 -9.00675253e-03 1.23557110e+02] [ 7.89784401e-02 4.53088681e-04 9.96876221e-01 2.52080454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.18, Y:123.55, Z:25.20 [[-9.89713348e-01 -1.19626988e-01 7.84657385e-02 1.58184780e+02] [ 1.19289140e-01 -9.92818803e-01 -8.99589325e-03 1.23548220e+02] [ 7.89784122e-02 4.56754815e-04 9.96876222e-01 2.52010413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.17710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.18, Y:123.55, Z:25.21 [[-9.89629718e-01 -1.20315305e-01 7.84681385e-02 1.58181917e+02] [ 1.19981280e-01 -9.92735586e-01 -8.97491045e-03 1.23549145e+02] [ 7.89779325e-02 5.32869627e-04 9.96876222e-01 2.52054781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.20710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.20, Y:123.54, Z:25.21 [[-9.89575594e-01 -1.20754483e-01 7.84761068e-02 1.58202971e+02] [ 1.20427405e-01 -9.92682198e-01 -8.90468770e-03 1.23544955e+02] [ 7.89771152e-02 6.38812280e-04 9.96876225e-01 2.52063963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.23710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:123.54, Z:25.21 [[-9.88945049e-01 -1.25809235e-01 7.84839223e-02 1.58212627e+02] [ 1.25503542e-01 -9.92053829e-01 -8.83526458e-03 1.23540617e+02] [ 7.89718335e-02 1.11241909e-03 9.96876227e-01 2.52076880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.26710568099998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:158.22, Y:123.54, Z:25.21 [[-9.87848383e-01 -1.34144155e-01 7.84915093e-02 1.58218098e+02] [ 1.33870083e-01 -9.90960108e-01 -8.76734232e-03 1.23539055e+02] [ 7.89580422e-02 1.84685990e-03 9.96876229e-01 2.52061013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.29710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.22, Y:123.54, Z:25.20 [[-9.87332878e-01 -1.37882923e-01 7.84989709e-02 1.58222199e+02] [ 1.37625981e-01 -9.90446061e-01 -8.70001866e-03 1.23538211e+02] [ 7.89485805e-02 2.21368341e-03 9.96876232e-01 2.52038735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.23, Y:123.54, Z:25.20 [[-9.86943302e-01 -1.40640220e-01 7.85063449e-02 1.58230473e+02] [ 1.40397303e-01 -9.90057609e-01 -8.63296241e-03 1.23536026e+02] [ 7.89399459e-02 2.50183466e-03 9.96876234e-01 2.52012288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:123.54, Z:25.20 [[-9.86193938e-01 -1.45798249e-01 7.85136163e-02 1.58176206e+02] [ 1.45576915e-01 -9.89309850e-01 -8.56631889e-03 1.23539466e+02] [ 7.89232483e-02 2.98171832e-03 9.96876236e-01 2.52021037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.23, Y:123.53, Z:25.19 [[-9.86122001e-01 -1.46289610e-01 7.85031762e-02 1.58234567e+02] [ 1.46062197e-01 -9.89237484e-01 -8.66231821e-03 1.23533202e+02] [ 7.89254916e-02 2.92424382e-03 9.96876229e-01 2.51936910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.16, Y:123.54, Z:25.20 [[-9.86175703e-01 -1.45921546e-01 7.85136052e-02 1.58163429e+02] [ 1.45700568e-01 -9.89291643e-01 -8.56674074e-03 1.23543568e+02] [ 7.89229255e-02 2.99116529e-03 9.96876233e-01 2.52009428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44710568099995 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:158.24, Y:123.54, Z:25.20 [[-9.85721963e-01 -1.48947876e-01 7.85286108e-02 1.58241846e+02] [ 1.48747469e-01 -9.88839296e-01 -8.42833634e-03 1.23536650e+02] [ 7.89075590e-02 3.37293587e-03 9.96876231e-01 2.51951880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47710568099995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:158.24, Y:123.54, Z:25.20 [[-9.85017351e-01 -1.53546685e-01 7.85126298e-02 1.58236315e+02] [ 1.53349189e-01 -9.88134860e-01 -8.57467205e-03 1.23537605e+02] [ 7.88976789e-02 3.59364735e-03 9.96876242e-01 2.51964216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50710568099996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:158.25, Y:123.54, Z:25.19 [[-9.84274018e-01 -1.58245795e-01 7.85043071e-02 1.58253883e+02] [ 1.58057100e-01 -9.87392076e-01 -8.65108953e-03 1.23535145e+02] [ 7.88835293e-02 3.89312044e-03 9.96876237e-01 2.51912503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53710568099996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:158.24, Y:123.54, Z:25.19 [[-9.83908927e-01 -1.60491862e-01 7.85212368e-02 1.58242777e+02] [ 1.60322735e-01 -9.87028096e-01 -8.49460625e-03 1.23537480e+02] [ 7.88659821e-02 4.23082054e-03 9.96876250e-01 2.51927467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.27, Y:123.54, Z:25.19 [[-9.83539550e-01 -1.62741984e-01 7.85175166e-02 1.58267161e+02] [ 1.62577249e-01 -9.86658955e-01 -8.52907687e-03 1.23539863e+02] [ 7.88580498e-02 4.37647739e-03 9.96876248e-01 2.51868563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.27, Y:123.54, Z:25.19 [[-9.83670437e-01 -1.61943039e-01 7.85297616e-02 1.58269585e+02] [ 1.61784863e-01 -9.86790175e-01 -8.41480777e-03 1.23539651e+02] [ 7.88551167e-02 4.42752905e-03 9.96876255e-01 2.51866531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.16, Y:123.55, Z:25.20 [[-9.83331224e-01 -1.63986959e-01 7.85364899e-02 1.58163310e+02] [ 1.63840303e-01 -9.86451523e-01 -8.35153729e-03 1.23553819e+02] [ 7.88419833e-02 4.65511489e-03 9.96876257e-01 2.51956583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.25, Y:123.55, Z:25.19 [[-9.85141820e-01 -1.52738771e-01 7.85268258e-02 1.58248283e+02] [ 1.52549211e-01 -9.88259813e-01 -8.44275621e-03 1.23546031e+02] [ 7.88944424e-02 3.66189306e-03 9.96876250e-01 2.51867343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.28, Y:123.55, Z:25.18 [[-9.83718987e-01 -1.61606093e-01 7.86156771e-02 1.58281980e+02] [ 1.61511697e-01 -9.86841533e-01 -7.60002844e-03 1.23547932e+02] [ 7.88094263e-02 5.22105917e-03 9.96876028e-01 2.51825904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.28, Y:123.56, Z:25.18 [[-9.84263013e-01 -1.58292998e-01 7.85471073e-02 1.58279027e+02] [ 1.58136140e-01 -9.87382830e-01 -8.25281247e-03 1.23556714e+02] [ 7.88624275e-02 4.29819828e-03 9.96876243e-01 2.51802980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.29, Y:123.56, Z:25.18 [[-9.84702520e-01 -1.55532224e-01 7.85536373e-02 1.58287099e+02] [ 1.55371600e-01 -9.87822143e-01 -8.19018350e-03 1.23561264e+02] [ 7.88708599e-02 4.14010996e-03 9.96876245e-01 2.51795012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.27, Y:123.57, Z:25.18 [[-9.86712306e-01 -1.42222126e-01 7.85601218e-02 1.58271898e+02] [ 1.42024376e-01 -9.89829794e-01 -8.12750603e-03 1.23568784e+02] [ 7.89170604e-02 3.13794207e-03 9.96876247e-01 2.51825219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.29, Y:123.57, Z:25.18 [[-9.86155970e-01 -1.45997909e-01 7.86194168e-02 1.58285925e+02] [ 1.45857991e-01 -9.89276725e-01 -7.55036373e-03 1.23571984e+02] [ 7.88786965e-02 4.02143391e-03 9.96876110e-01 2.51814906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:158.28, Y:123.58, Z:25.18 [[-9.87062729e-01 -1.39765272e-01 7.85674078e-02 1.58279752e+02] [ 1.39565319e-01 -9.90180083e-01 -8.05758963e-03 1.23578886e+02] [ 7.89220536e-02 3.01193895e-03 9.96876240e-01 2.51807796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:158.30, Y:123.33, Z:25.54 [[-9.96857597e-01 -1.00538872e-02 -7.85738595e-02 1.58297502e+02] [-1.07147924e-02 9.99910639e-01 7.99417880e-03 1.23327917e+02] [ 7.84864655e-02 8.81096046e-03 -9.96876242e-01 2.55427093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:158.30, Y:123.34, Z:25.54 [[-9.93020457e-01 -8.78361076e-02 -7.87095327e-02 1.58302211e+02] [-8.82842464e-02 9.96092837e-01 2.22520817e-03 1.23337315e+02] [ 7.82065481e-02 9.15848901e-03 -9.96895109e-01 2.55442546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.92710568099997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:158.31, Y:123.35, Z:25.54 [[-9.83423797e-01 -1.63525179e-01 -7.83399751e-02 1.58314518e+02] [-1.63687075e-01 9.86502526e-01 -4.39414829e-03 1.23352266e+02] [ 7.80011372e-02 8.50193139e-03 -9.96917018e-01 2.55416793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.95710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.32, Y:123.37, Z:25.54 [[-9.66959957e-01 -2.42848752e-01 -7.75430560e-02 1.58324675e+02] [-2.42792639e-01 9.70023587e-01 -1.02943763e-02 1.23369758e+02] [ 7.77185698e-02 8.87263359e-03 -9.96935856e-01 2.55414126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.98710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:158.34, Y:123.39, Z:25.54 [[-9.43473188e-01 -3.22572897e-01 -7.61910111e-02 1.58344032e+02] [-3.22273416e-01 9.46502252e-01 -1.65327512e-02 1.23388960e+02] [ 7.74479811e-02 8.95612998e-03 -9.96956167e-01 2.55371390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.01710568099998 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:158.23, Y:123.67, Z:25.19 [[-9.65340807e-01 2.50156368e-01 7.44239083e-02 1.58234845e+02] [-2.49169929e-01 -9.68200530e-01 2.24071440e-02 1.23674659e+02] [ 7.76625572e-02 3.08633047e-03 9.96974925e-01 2.51892251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.04710568099998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:158.16, Y:123.33, Z:25.55 [[-9.13614604e-01 -3.99708382e-01 -7.44416896e-02 1.58163357e+02] [-3.99191477e-01 9.16595186e-01 -2.23479143e-02 1.23333512e+02] [ 7.71655430e-02 9.29910714e-03 -9.96974927e-01 2.55477577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07710568099998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:158.31, Y:123.41, Z:25.54 [[-8.82911439e-01 -4.63600933e-01 -7.44416896e-02 1.58309731e+02] [-4.63297071e-01 8.85921212e-01 -2.23479143e-02 1.23409691e+02] [ 7.63099858e-02 1.47573876e-02 -9.96974927e-01 2.55356264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10710568099998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:158.17, Y:123.70, Z:25.19 [[-9.22574907e-01 3.79485775e-01 6.96138513e-02 1.58169131e+02] [-3.78097526e-01 -9.25189754e-01 3.26524240e-02 1.23700982e+02] [ 7.67971524e-02 3.80348210e-03 9.97039483e-01 2.51907976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13710568099998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:158.16, Y:123.70, Z:25.19 [[-9.23998390e-01 3.76004218e-01 6.96261672e-02 1.58155023e+02] [-3.74608094e-01 -9.26609040e-01 3.26261125e-02 1.23696837e+02] [ 7.67837918e-02 4.06394965e-03 9.97039485e-01 2.51915443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16710568099995 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:158.16, Y:123.70, Z:25.19 [[-9.24974077e-01 3.73590650e-01 6.96633570e-02 1.58158674e+02] [-3.72193687e-01 -9.27584273e-01 3.25465112e-02 1.23704087e+02] [ 7.67777067e-02 4.17641742e-03 9.97039488e-01 2.51898245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19710568099995 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:158.02, Y:123.65, Z:25.20 [[-9.24429657e-01 3.74931175e-01 6.96880446e-02 1.58024514e+02] [-3.73541975e-01 -9.27043991e-01 3.24935648e-02 1.23645172e+02] [ 7.67867334e-02 4.00660516e-03 9.97039490e-01 2.52030785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22710568099995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:158.17, Y:123.72, Z:25.19 [[-9.25960356e-01 3.71144398e-01 6.96365903e-02 1.58171692e+02] [-3.69736257e-01 -9.28564537e-01 3.26036909e-02 1.23721560e+02] [ 7.67627455e-02 4.44255299e-03 9.97039490e-01 2.51902864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25710568099996 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:158.33, Y:123.41, Z:25.54 [[-8.39585227e-01 -5.38735913e-01 -6.97155824e-02 1.58325565e+02] [-5.37856666e-01 8.42412150e-01 -3.24341863e-02 1.23414883e+02] [ 7.62027146e-02 1.02657271e-02 -9.97039498e-01 2.55393204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28710568099996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:158.34, Y:123.44, Z:25.54 [[-7.93906245e-01 -6.04355418e-01 -6.68386317e-02 1.58339040e+02] [-6.03281384e-01 7.96645210e-01 -3.75230666e-02 1.23441541e+02] [ 7.59239444e-02 1.05327053e-02 -9.97057981e-01 2.55432712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31710568099996 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:158.05, Y:123.69, Z:25.19 [[-8.57789964e-01 5.10081673e-01 6.33487558e-02 1.58045996e+02] [-5.08309325e-01 -8.60114508e-01 4.27160724e-02 1.23691344e+02] [ 7.62758697e-02 4.44065493e-03 9.97076864e-01 2.51921666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34710568099996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:158.10, Y:123.74, Z:25.19 [[-8.58157758e-01 5.09460019e-01 6.33699487e-02 1.58104921e+02] [-5.07688302e-01 -8.60482781e-01 4.26845742e-02 1.23738249e+02] [ 7.62748336e-02 4.45791686e-03 9.97076866e-01 2.51865604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37710568099996 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:158.34, Y:123.45, Z:25.55 [[-7.45401319e-01 -6.63591989e-01 -6.34235391e-02 1.58338733e+02] [-6.62302180e-01 7.48024500e-01 -4.26047976e-02 1.23447926e+02] [ 7.57145635e-02 1.02478759e-02 -9.97076871e-01 2.55455799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40710568099996 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:158.29, Y:123.42, Z:25.55 [[-6.90582543e-01 -7.20784216e-01 -5.97148671e-02 1.58291506e+02] [-7.19304896e-01 6.93083052e-01 -4.72900619e-02 1.23423188e+02] [ 7.54732926e-02 1.02955050e-02 -9.97094672e-01 2.55512318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43710568099996 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:158.04, Y:123.75, Z:25.18 [[-7.67011054e-01 6.39227213e-01 5.55212864e-02 1.58040974e+02] [-6.37139032e-01 -7.69005541e-01 5.18105359e-02 1.23747621e+02] [ 7.58148813e-02 4.36447511e-03 9.97112358e-01 2.51833161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46710568099996 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:158.03, Y:123.75, Z:25.19 [[-7.66644423e-01 6.39652827e-01 5.56829372e-02 1.58031704e+02] [-6.37578326e-01 -7.68653094e-01 5.16362197e-02 1.23748412e+02] [ 7.58301159e-02 4.08438596e-03 9.97112387e-01 2.51874998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49710568099997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:158.00, Y:123.72, Z:25.19 [[-7.65212142e-01 6.41362212e-01 5.57215500e-02 1.58000057e+02] [-6.39295221e-01 -7.67228536e-01 5.15945184e-02 1.23722406e+02] [ 7.58419378e-02 3.85823132e-03 9.97112388e-01 2.51938984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:158.03, Y:123.76, Z:25.19 [[-7.66242793e-01 6.40140514e-01 5.56066948e-02 1.58031977e+02] [-6.38061336e-01 -7.68246648e-01 5.17186630e-02 1.23758145e+02] [ 7.58268684e-02 4.14857084e-03 9.97112369e-01 2.51918739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55710568099997 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:158.03, Y:123.76, Z:25.19 [[-7.66670080e-01 6.39614265e-01 5.57725866e-02 1.58026879e+02] [-6.37546683e-01 -7.68685855e-01 5.15391481e-02 1.23756890e+02] [ 7.58367727e-02 3.95589520e-03 9.97112398e-01 2.51929979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:158.02, Y:123.76, Z:25.19 [[-7.67835831e-01 6.38211020e-01 5.58106706e-02 1.58021191e+02] [-6.36142738e-01 -7.69850885e-01 5.14978749e-02 1.23758033e+02] [ 7.58324054e-02 4.03836071e-03 9.97112400e-01 2.51927234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61710568099997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:158.03, Y:123.77, Z:25.19 [[-7.69650409e-01 6.36018206e-01 5.58488218e-02 1.58030985e+02] [-6.33947171e-01 -7.71662631e-01 5.14564673e-02 1.23771415e+02] [ 7.58236988e-02 4.19828846e-03 9.97112401e-01 2.51881424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64710568099997 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:158.02, Y:123.77, Z:25.19 [[-7.70613345e-01 6.34847837e-01 5.58864714e-02 1.58021928e+02] [-6.32776696e-01 -7.72625456e-01 5.14155440e-02 1.23766532e+02] [ 7.58203573e-02 4.25784761e-03 9.97112403e-01 2.51897146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.67710568099997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:158.03, Y:123.78, Z:25.19 [[-7.71176949e-01 6.34159794e-01 5.59237721e-02 1.58028421e+02] [-6.32089784e-01 -7.73190222e-01 5.13749407e-02 1.23781516e+02] [ 7.58196356e-02 4.27032497e-03 9.97112405e-01 2.51924262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.70710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:158.05, Y:123.81, Z:25.19 [[-7.75445312e-01 6.28930007e-01 5.59608222e-02 1.58051782e+02] [-6.26849322e-01 -7.77447549e-01 5.13345518e-02 1.23808496e+02] [ 7.57924441e-02 4.72813408e-03 9.97112406e-01 2.51882813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.73710568099997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:158.35, Y:123.44, Z:25.54 [[-6.44217122e-01 -7.62768451e-01 -5.62902286e-02 1.58347621e+02] [-7.61129081e-01 6.46594289e-01 -5.09739918e-02 1.23441741e+02] [ 7.52782931e-02 1.00058116e-02 -9.97112362e-01 2.55417237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.76710568099998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.97, Y:123.75, Z:25.19 [[-7.16567214e-01 6.95594788e-01 5.17621375e-02 1.57966260e+02] [-6.93409204e-01 -7.18424925e-01 5.52204958e-02 1.23753850e+02] [ 7.55982988e-02 3.67685432e-03 9.97131575e-01 2.51945849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.79710568099998 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:157.95, Y:123.75, Z:25.20 [[-7.12329393e-01 6.99930963e-01 5.18023411e-02 1.57954553e+02] [-6.97759428e-01 -7.14203503e-01 5.51827552e-02 1.23753330e+02] [ 7.56215325e-02 3.16272660e-03 9.97131577e-01 2.51981796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82710568099998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:157.95, Y:123.76, Z:25.20 [[-7.06911989e-01 7.05399008e-01 5.18428360e-02 1.57951291e+02] [-7.03244763e-01 -7.08805945e-01 5.51446851e-02 1.23756490e+02] [ 7.56455165e-02 2.52423609e-03 9.97131578e-01 2.52007538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.94, Y:123.74, Z:25.20 [[-7.04582351e-01 7.07722984e-01 5.18834062e-02 1.57936076e+02] [-7.05577793e-01 -7.06486555e-01 5.51064879e-02 1.23741638e+02] [ 7.56550570e-02 2.21927953e-03 9.97131580e-01 2.52022289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88710568099995 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:157.93, Y:123.74, Z:25.20 [[-6.99556490e-01 7.12688269e-01 5.19244448e-02 1.57925881e+02] [-7.10559467e-01 -7.01478996e-01 5.50677921e-02 1.23736071e+02] [ 7.56700768e-02 1.62762557e-03 9.97131581e-01 2.52037003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91710568099995 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:157.92, Y:123.73, Z:25.20 [[-6.97436114e-01 7.14760361e-01 5.19662770e-02 1.57921083e+02] [-7.12640212e-01 -6.99368155e-01 5.50282877e-02 1.23732744e+02] [ 7.56755981e-02 1.34545648e-03 9.97131583e-01 2.52042665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94710568099995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.91, Y:123.72, Z:25.20 [[-6.94224616e-01 7.17876941e-01 5.20084535e-02 1.57913319e+02] [-7.15768453e-01 -6.96169374e-01 5.49883971e-02 1.23720850e+02] [ 7.56815948e-02 9.48288506e-04 9.97131585e-01 2.52045780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97710568099995 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:157.86, Y:123.66, Z:25.21 [[-6.92575712e-01 7.19464780e-01 5.20510659e-02 1.57857279e+02] [-7.17363783e-01 -6.94528558e-01 5.49480315e-02 1.23657768e+02] [ 7.56841251e-02 7.16122499e-04 9.97131586e-01 2.52116672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.92, Y:123.72, Z:25.20 [[-6.94104893e-01 7.17993780e-01 5.19935521e-02 1.57921412e+02] [-7.15884559e-01 -6.96048861e-01 5.50025482e-02 1.23722060e+02] [ 7.56815402e-02 9.56156674e-04 9.97131581e-01 2.52025385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03710568099996 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:157.92, Y:123.71, Z:25.20 [[-6.94789375e-01 7.17322712e-01 5.21138275e-02 1.57917240e+02] [-7.15220167e-01 -6.96740541e-01 5.48883540e-02 1.23711035e+02] [ 7.56824793e-02 8.62984741e-04 9.97131595e-01 2.52043873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06710568099996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:157.92, Y:123.71, Z:25.20 [[-6.95023755e-01 7.17092534e-01 5.21562911e-02 1.57917919e+02] [-7.14992370e-01 -6.96977482e-01 5.48479745e-02 1.23707764e+02] [ 7.56828334e-02 8.29294990e-04 9.97131597e-01 2.52047034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09710568099996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.91, Y:123.69, Z:25.21 [[-6.94690330e-01 7.17412442e-01 5.21989806e-02 1.57908912e+02] [-7.15316231e-01 -6.96648296e-01 5.48073167e-02 1.23691371e+02] [ 7.56837818e-02 7.35334919e-04 9.97131598e-01 2.52075659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12710568099996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:157.92, Y:123.70, Z:25.21 [[-6.95006842e-01 7.17102678e-01 5.22421180e-02 1.57918201e+02] [-7.15008685e-01 -6.96967178e-01 5.47661676e-02 1.23697400e+02] [ 7.56840070e-02 7.09293125e-04 9.97131600e-01 2.52072274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15710568099996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.92, Y:123.68, Z:25.21 [[-6.96787761e-01 7.15369178e-01 5.22853259e-02 1.57915553e+02] [-7.13273405e-01 -6.98746189e-01 5.47248860e-02 1.23684916e+02] [ 7.56826690e-02 8.37898336e-04 9.97131602e-01 2.52061834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18710568099996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.92, Y:123.68, Z:25.20 [[-6.98834922e-01 7.13366313e-01 5.23283397e-02 1.57919826e+02] [-7.11268007e-01 -7.00790634e-01 5.46837252e-02 1.23684270e+02] [ 7.56807378e-02 9.95422960e-04 9.97131604e-01 2.52046473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21710568099996 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:157.92, Y:123.68, Z:25.20 [[-7.04838483e-01 7.07431937e-01 5.23714384e-02 1.57921516e+02] [-7.05320235e-01 -7.06779720e-01 5.46424179e-02 1.23677345e+02] [ 7.56708621e-02 1.57544371e-03 9.97131605e-01 2.52034560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24710568099997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:157.92, Y:123.67, Z:25.20 [[-7.08066538e-01 7.04197778e-01 5.24143872e-02 1.57923883e+02] [-7.02080257e-01 -7.10001424e-01 5.46011894e-02 1.23674919e+02] [ 7.56643258e-02 1.86216863e-03 9.97131607e-01 2.52031075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27710568099997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:157.93, Y:123.67, Z:25.20 [[-7.10852602e-01 7.01382071e-01 5.24573036e-02 1.57931530e+02] [-6.99259927e-01 -7.12782413e-01 5.45599271e-02 1.23673982e+02] [ 7.56579981e-02 2.10277583e-03 9.97131609e-01 2.52030425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30710568099997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:157.93, Y:123.67, Z:25.21 [[-7.11623594e-01 7.00596620e-01 5.24998689e-02 1.57929138e+02] [-6.98475364e-01 -7.13554379e-01 5.45189383e-02 1.23667822e+02] [ 7.56572953e-02 2.12709779e-03 9.97131611e-01 2.52052843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33710568099997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:157.94, Y:123.67, Z:25.20 [[-7.10658978e-01 7.01571895e-01 5.25423020e-02 1.57939165e+02] [-6.99456309e-01 -7.12595971e-01 5.44780132e-02 1.23670267e+02] [ 7.56616756e-02 1.96424459e-03 9.97131612e-01 2.52044071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36710568099997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:157.95, Y:123.68, Z:25.20 [[-7.11604488e-01 7.00609680e-01 5.25844899e-02 1.57949814e+02] [-6.98494481e-01 -7.13541901e-01 5.44372613e-02 1.23678594e+02] [ 7.56605091e-02 2.00782352e-03 9.97131614e-01 2.52002115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39710568099997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:158.22, Y:123.38, Z:25.55 [[-6.24016361e-01 -7.79631069e-01 -5.27160048e-02 1.58216888e+02] [-7.77769625e-01 6.26198719e-01 -5.43099850e-02 1.23381329e+02] [ 7.53524464e-02 7.11058810e-03 -9.97131610e-01 2.55517846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.42710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.87, Y:123.60, Z:25.21 [[-6.53008154e-01 7.55805491e-01 4.83571247e-02 1.57870221e+02] [-7.53581992e-01 -6.54794701e-01 5.79489589e-02 1.23603827e+02] [ 7.54621303e-02 1.40008434e-03 9.97147685e-01 2.52075142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.45710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:157.88, Y:123.61, Z:25.20 [[-6.53068269e-01 7.55750565e-01 4.84037225e-02 1.57882082e+02] [-7.53529799e-01 -6.54858209e-01 5.79100106e-02 1.23609456e+02] [ 7.54630982e-02 1.34554309e-03 9.97147687e-01 2.52018398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.48710568099997 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:157.88, Y:123.61, Z:25.20 [[-6.53672085e-01 7.55225748e-01 4.84445600e-02 1.57880616e+02] [-7.53006075e-01 -6.55463378e-01 5.78758280e-02 1.23607612e+02] [ 7.54629504e-02 1.35276521e-03 9.97147689e-01 2.52020286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.51710568099998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:157.88, Y:123.60, Z:25.20 [[-6.54858962e-01 7.54193855e-01 4.84909214e-02 1.57880963e+02] [-7.51974234e-01 -6.56650316e-01 5.78369584e-02 1.23603683e+02] [ 7.54618575e-02 1.41112708e-03 9.97147691e-01 2.52036617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.54710568099998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:157.89, Y:123.61, Z:25.21 [[-6.55103260e-01 7.53978680e-01 4.85372838e-02 1.57887847e+02] [-7.51761352e-01 -6.56897449e-01 5.77980247e-02 1.23608993e+02] [ 7.54624962e-02 1.37522034e-03 9.97147692e-01 2.52054040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57710568099998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:157.89, Y:123.61, Z:25.21 [[-6.54618004e-01 7.54397069e-01 4.85832323e-02 1.57893325e+02] [-7.52183752e-01 -6.56417137e-01 5.77593761e-02 1.23606803e+02] [ 7.54643703e-02 1.26680956e-03 9.97147694e-01 2.52108728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60710568099998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:157.89, Y:123.59, Z:25.21 [[-6.54134022e-01 7.54813841e-01 4.86286578e-02 1.57886570e+02] [-7.52604512e-01 -6.55938047e-01 5.77211064e-02 1.23594518e+02] [ 7.54660768e-02 1.15919223e-03 9.97147696e-01 2.52134121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63710568099995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:157.89, Y:123.60, Z:25.21 [[-6.52484070e-01 7.56237627e-01 4.86743251e-02 1.57890715e+02] [-7.54035108e-01 -6.54296398e-01 5.76825710e-02 1.23596931e+02] [ 7.54691663e-02 9.34808676e-04 9.97147698e-01 2.52131667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66710568099995 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:157.87, Y:123.58, Z:25.21 [[-6.51803559e-01 7.56821295e-01 4.87201030e-02 1.57873739e+02] [-7.54623288e-01 -6.53621355e-01 5.76438801e-02 1.23575321e+02] [ 7.54706158e-02 8.07161873e-04 9.97147700e-01 2.52127164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69710568099995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.88, Y:123.58, Z:25.21 [[-6.48016998e-01 7.60063024e-01 4.87664874e-02 1.57880968e+02] [-7.57877065e-01 -6.49849262e-01 5.76046126e-02 1.23576249e+02] [ 7.54740018e-02 3.69765779e-04 9.97147701e-01 2.52095003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72710568099995 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:157.87, Y:123.56, Z:25.21 [[-6.45437024e-01 7.62252120e-01 4.88134453e-02 1.57871647e+02] [-7.60075386e-01 -6.47280235e-01 5.75647937e-02 1.23558415e+02] [ 7.54748644e-02 5.25508844e-05 9.97147703e-01 2.52098992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75710568099996 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:157.86, Y:123.55, Z:25.21 [[-6.44838544e-01 7.62755453e-01 4.88607377e-02 1.57864084e+02] [-7.60583199e-01 -6.46687030e-01 5.75246242e-02 1.23547644e+02] [ 7.54748262e-02 -6.85612942e-05 9.97147705e-01 2.52109678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78710568099996 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:157.86, Y:123.54, Z:25.21 [[-6.43796730e-01 7.63631897e-01 4.89090624e-02 1.57860527e+02] [-7.61465282e-01 -6.45651818e-01 5.74835080e-02 1.23540757e+02] [ 7.54744654e-02 -2.34858570e-04 9.97147707e-01 2.52134032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81710568099996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:157.87, Y:123.56, Z:25.21 [[-6.54041710e-01 7.54872545e-01 4.89579750e-02 1.57871004e+02] [-7.52684206e-01 -6.55871118e-01 5.74418198e-02 1.23558258e+02] [ 7.54713745e-02 7.19451439e-04 9.97147709e-01 2.52130880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84710568099996 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:158.11, Y:123.34, Z:25.55 [[-5.90687517e-01 -8.05390587e-01 -4.93382139e-02 1.58106364e+02] [-8.03384420e-01 5.92715106e-01 -5.71163443e-02 1.23337518e+02] [ 7.52444707e-02 5.89964076e-03 -9.97147664e-01 2.55513481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87710568099996 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:157.83, Y:123.51, Z:25.23 [[-5.93064832e-01 8.03922031e-01 4.45362038e-02 1.57834532e+02] [-8.01631427e-01 -5.94734646e-01 6.06445088e-02 1.23510434e+02] [ 7.52406801e-02 2.64504865e-04 9.97165367e-01 2.52263018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90710568099996 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:157.84, Y:123.50, Z:25.22 [[-6.01470085e-01 7.97650103e-01 4.45875643e-02 1.57838362e+02] [-7.95344889e-01 -6.03119667e-01 6.06067238e-02 1.23502134e+02] [ 7.52345964e-02 9.90639884e-04 9.97165370e-01 2.52244452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93710568099996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.85, Y:123.51, Z:25.22 [[-6.05498922e-01 7.94593254e-01 4.46387240e-02 1.57850027e+02] [-7.92282490e-01 -6.07140717e-01 6.05690198e-02 1.23510797e+02] [ 7.52297214e-02 1.30799678e-03 9.97165372e-01 2.52203037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96710568099996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:157.86, Y:123.51, Z:25.22 [[-6.13026458e-01 7.88797461e-01 4.46892428e-02 1.57855407e+02] [-7.86473896e-01 -6.14650081e-01 6.05317231e-02 1.23506017e+02] [ 7.52155161e-02 1.96062496e-03 9.97165374e-01 2.52166796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99710568099997 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:157.86, Y:123.50, Z:25.22 [[-6.19354344e-01 7.83835836e-01 4.47390117e-02 1.57858860e+02] [-7.81501922e-01 -6.20963052e-01 6.04949167e-02 1.23502603e+02] [ 7.51993568e-02 2.50416581e-03 9.97165375e-01 2.52156860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02710568099997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:157.86, Y:123.50, Z:25.22 [[-6.21705695e-01 7.81969315e-01 4.47886091e-02 1.57857906e+02] [-7.79633208e-01 -6.23311215e-01 6.04581741e-02 1.23498392e+02] [ 7.51936793e-02 2.66850423e-03 9.97165377e-01 2.52150817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.86, Y:123.49, Z:25.21 [[-6.24519085e-01 7.79721393e-01 4.48381763e-02 1.57858043e+02] [-7.77382138e-01 -6.26120010e-01 6.04213909e-02 1.23494470e+02] [ 7.51859305e-02 2.87791446e-03 9.97165379e-01 2.52122521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.86, Y:123.50, Z:25.21 [[-6.25656845e-01 7.78805880e-01 4.48877837e-02 1.57861168e+02] [-7.76466916e-01 -6.27258191e-01 6.03845147e-02 1.23495678e+02] [ 7.51840451e-02 2.92610597e-03 9.97165381e-01 2.52100608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.86, Y:123.49, Z:25.21 [[-6.28870088e-01 7.76210708e-01 4.49371677e-02 1.57863780e+02] [-7.73867752e-01 -6.30465584e-01 6.03477416e-02 1.23494516e+02] [ 7.51739010e-02 3.17546462e-03 9.97165383e-01 2.52096620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.87, Y:123.49, Z:25.21 [[-6.31944889e-01 7.73706599e-01 4.49861747e-02 1.57865222e+02] [-7.71359909e-01 -6.33534885e-01 6.03111874e-02 1.23494002e+02] [ 7.51634748e-02 3.41281496e-03 9.97165385e-01 2.52106476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.17710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.87, Y:123.50, Z:25.21 [[-6.37262057e-01 7.69330180e-01 4.50349292e-02 1.57867133e+02] [-7.66975135e-01 -6.38839648e-01 6.02747602e-02 1.23498465e+02] [ 7.51412904e-02 3.87014677e-03 9.97165387e-01 2.52114282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.20710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.88, Y:123.52, Z:25.21 [[-6.38192236e-01 7.68555898e-01 4.50832820e-02 1.57881976e+02] [-7.66201474e-01 -6.39770752e-01 6.02385725e-02 1.23521036e+02] [ 7.51396754e-02 3.90091217e-03 9.97165389e-01 2.52099236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.23710568099997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.08, Y:123.38, Z:25.56 [[-4.94198025e-01 -8.68177152e-01 -4.51303156e-02 1.58076586e+02] [-8.66137577e-01 4.96166564e-01 -6.02033149e-02 1.23382804e+02] [ 7.46592960e-02 9.33670283e-03 -9.97165390e-01 2.55640902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.26710568099998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:157.84, Y:123.49, Z:25.21 [[-5.65597112e-01 8.23704122e-01 4.01425640e-02 1.57840075e+02] [-8.21268312e-01 -5.67012589e-01 6.33646852e-02 1.23492367e+02] [ 7.49550916e-02 2.87106717e-03 9.97182777e-01 2.52091482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.29710568099998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.83, Y:123.48, Z:25.21 [[-5.62645659e-01 8.25720509e-01 4.01933288e-02 1.57830902e+02] [-8.23292064e-01 -5.64073732e-01 6.33324681e-02 1.23483799e+02] [ 7.49669187e-02 2.54288963e-03 9.97182779e-01 2.52095487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32710568099998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:157.82, Y:123.47, Z:25.21 [[-5.55679749e-01 8.30421814e-01 4.02446011e-02 1.57818369e+02] [-8.28007816e-01 -5.57132105e-01 6.32998704e-02 1.23470764e+02] [ 7.49871526e-02 1.85161181e-03 9.97182781e-01 2.52120376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35710568099998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:157.81, Y:123.46, Z:25.21 [[-5.52156128e-01 8.32766336e-01 4.02969101e-02 1.57813284e+02] [-8.30360934e-01 -5.53622672e-01 6.32665530e-02 1.23463568e+02] [ 7.49955386e-02 1.47203506e-03 9.97182783e-01 2.52100330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38710568099995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:157.81, Y:123.46, Z:25.21 [[-5.46303774e-01 8.36614642e-01 4.03500660e-02 1.57810847e+02] [-8.34222076e-01 -5.47791166e-01 6.32326333e-02 1.23460062e+02] [ 7.50047565e-02 8.83310365e-04 9.97182785e-01 2.52128072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.81, Y:123.46, Z:25.21 [[-5.45350165e-01 8.37233989e-01 4.04035239e-02 1.57810088e+02] [-8.34845643e-01 -5.46844318e-01 6.31984572e-02 1.23458460e+02] [ 7.50063339e-02 7.34583179e-04 9.97182787e-01 2.52136413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44710568099995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.80, Y:123.44, Z:25.22 [[-5.46815079e-01 8.36275371e-01 4.04570508e-02 1.57802830e+02] [-8.33886939e-01 -5.48309092e-01 6.31641731e-02 1.23442014e+02] [ 7.50056110e-02 8.02516063e-04 9.97182789e-01 2.52165052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.81, Y:123.44, Z:25.22 [[-5.51889391e-01 8.32932736e-01 4.05112037e-02 1.57806869e+02] [-8.30537805e-01 -5.53372959e-01 6.31294224e-02 1.23441769e+02] [ 7.50003672e-02 1.19437236e-03 9.97182791e-01 2.52156212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.81, Y:123.45, Z:25.21 [[-5.55382217e-01 8.30605206e-01 4.05658131e-02 1.57814676e+02] [-8.28206618e-01 -5.56859861e-01 6.30943121e-02 1.23449424e+02] [ 7.49959371e-02 1.44458408e-03 9.97182793e-01 2.52146671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:123.45, Z:25.21 [[-5.61136611e-01 8.26725924e-01 4.06195867e-02 1.57823092e+02] [-8.24319627e-01 -5.62601662e-01 6.30596743e-02 1.23450948e+02] [ 7.49857145e-02 1.90156935e-03 9.97182795e-01 2.52142742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.78, Y:123.38, Z:25.22 [[-5.63306829e-01 8.25246127e-01 4.06724340e-02 1.57780781e+02] [-8.22838436e-01 -5.64769586e-01 6.30255704e-02 1.23382855e+02] [ 7.49821616e-02 2.03589220e-03 9.97182797e-01 2.52212373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.72, Y:123.30, Z:25.23 [[-5.68158168e-01 8.21914159e-01 4.06621655e-02 1.57723477e+02] [-8.19497422e-01 -5.69605931e-01 6.30322026e-02 1.23298948e+02] [ 7.49684704e-02 2.48972102e-03 9.97182797e-01 2.52290505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.80, Y:123.42, Z:25.22 [[-5.71269613e-01 8.19759459e-01 4.05642685e-02 1.57796800e+02] [-8.17332792e-01 -5.72700688e-01 6.30954032e-02 1.23415181e+02] [ 7.49542380e-02 2.88997968e-03 9.97182787e-01 2.52207303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65710568099996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:157.80, Y:123.42, Z:25.22 [[-5.76500675e-01 8.16087524e-01 4.05970990e-02 1.57799668e+02] [-8.13653235e-01 -5.77918733e-01 6.30741752e-02 1.23416486e+02] [ 7.49358715e-02 3.33034366e-03 9.97182794e-01 2.52199711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68710568099996 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:157.83, Y:123.47, Z:25.21 [[-5.80523196e-01 8.13228538e-01 4.06468267e-02 1.57834707e+02] [-8.10789507e-01 -5.81933060e-01 6.30419681e-02 1.23467615e+02] [ 7.49212598e-02 3.64130420e-03 9.97182805e-01 2.52120934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71710568099996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:157.77, Y:123.37, Z:25.22 [[-5.82652681e-01 8.11695602e-01 4.08179401e-02 1.57767286e+02] [-8.09260558e-01 -5.84069380e-01 6.29309833e-02 1.23365966e+02] [ 7.49213113e-02 3.63455717e-03 9.97182825e-01 2.52199433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74710568099997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:157.83, Y:123.48, Z:25.21 [[-5.86054402e-01 8.09247901e-01 4.07194364e-02 1.57833236e+02] [-8.06802551e-01 -5.87453236e-01 6.29947598e-02 1.23477013e+02] [ 7.48991418e-02 4.06581117e-03 9.97182826e-01 2.52118472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77710568099997 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:157.83, Y:123.47, Z:25.21 [[-5.87585082e-01 8.08132241e-01 4.08173011e-02 1.57828919e+02] [-8.05688595e-01 -5.88986877e-01 6.29312852e-02 1.23473234e+02] [ 7.48976553e-02 4.09145043e-03 9.97182832e-01 2.52130570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80710568099997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:157.83, Y:123.48, Z:25.21 [[-5.89332286e-01 8.06856454e-01 4.08670965e-02 1.57828272e+02] [-8.04411993e-01 -5.90732655e-01 6.28989320e-02 1.23477537e+02] [ 7.48919377e-02 4.19438880e-03 9.97182834e-01 2.52113782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83710568099997 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:157.83, Y:123.48, Z:25.21 [[-5.89575394e-01 8.06675652e-01 4.09297776e-02 1.57828330e+02] [-8.04233564e-01 -5.90979891e-01 6.28581178e-02 1.23479648e+02] [ 7.48947887e-02 4.14249870e-03 9.97182837e-01 2.52106190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86710568099997 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:157.83, Y:123.48, Z:25.21 [[-5.88755975e-01 8.07271410e-01 4.09789258e-02 1.57825626e+02] [-8.04832952e-01 -5.90166761e-01 6.28260605e-02 1.23482369e+02] [ 7.49020824e-02 4.00802868e-03 9.97182839e-01 2.52098077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89710568099997 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:157.82, Y:123.49, Z:25.21 [[-5.88058503e-01 8.07777147e-01 4.10277678e-02 1.57819894e+02] [-8.05342107e-01 -5.89475178e-01 6.27941488e-02 1.23485083e+02] [ 7.49085291e-02 3.88524415e-03 9.97182840e-01 2.52111308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.92710568099997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:157.82, Y:123.49, Z:25.21 [[-5.88186368e-01 8.07681575e-01 4.10764050e-02 1.57815835e+02] [-8.05248506e-01 -5.89606423e-01 6.27623171e-02 1.23485602e+02] [ 7.49108793e-02 3.83922558e-03 9.97182842e-01 2.52110335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.95710568099997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:157.81, Y:123.48, Z:25.21 [[-5.88249314e-01 8.07633261e-01 4.11249362e-02 1.57806084e+02] [-8.05202280e-01 -5.89672937e-01 6.27305011e-02 1.23477187e+02] [ 7.49135011e-02 3.78728190e-03 9.97182844e-01 2.52125215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.98710568099997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:157.81, Y:123.50, Z:25.21 [[-5.89533845e-01 8.06693600e-01 4.11738025e-02 1.57811171e+02] [-8.04262571e-01 -5.90957381e-01 6.26984109e-02 1.23496178e+02] [ 7.49103693e-02 3.84828696e-03 9.97182845e-01 2.52078231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.01710568099998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:157.80, Y:123.49, Z:25.21 [[-5.90670247e-01 8.05859410e-01 4.12222194e-02 1.57804715e+02] [-8.03428572e-01 -5.92094107e-01 6.26665624e-02 1.23490741e+02] [ 7.49078721e-02 3.89616502e-03 9.97182847e-01 2.52072716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.04710568099998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:157.81, Y:123.51, Z:25.20 [[-5.92358298e-01 8.04616944e-01 4.12700836e-02 1.57811466e+02] [-8.02185296e-01 -5.93780771e-01 6.26350249e-02 1.23512527e+02] [ 7.49025844e-02 3.99612253e-03 9.97182849e-01 2.52035854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07710568099998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:157.79, Y:123.50, Z:25.21 [[-5.92993834e-01 8.04146253e-01 4.13172686e-02 1.57794740e+02] [-8.01715624e-01 -5.94418044e-01 6.26038839e-02 1.23495058e+02] [ 7.49024087e-02 3.99901733e-03 9.97182850e-01 2.52054612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10710568099998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:157.79, Y:123.51, Z:25.20 [[-5.92357113e-01 8.04612977e-01 4.13643228e-02 1.57792618e+02] [-8.02185623e-01 -5.93786893e-01 6.25727784e-02 1.23509397e+02] [ 7.49084623e-02 3.88356539e-03 9.97182852e-01 2.52034328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13710568099995 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:157.80, Y:123.53, Z:25.20 [[-5.90162782e-01 8.06221725e-01 4.14055763e-02 1.57800955e+02] [-8.03800169e-01 -5.91602360e-01 6.25454684e-02 1.23532471e+02] [ 7.49211521e-02 3.63019839e-03 9.97182853e-01 2.52029456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16710568099995 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:157.79, Y:123.51, Z:25.20 [[-5.89306449e-01 8.06848678e-01 4.13898428e-02 1.57786218e+02] [-8.04427928e-01 -5.90747382e-01 6.25558892e-02 1.23514848e+02] [ 7.49240778e-02 3.56944349e-03 9.97182853e-01 2.52045488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19710568099995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:157.79, Y:123.54, Z:25.20 [[-5.91067568e-01 8.05561132e-01 4.13568916e-02 1.57794389e+02] [-8.03135728e-01 -5.92500659e-01 6.25777257e-02 1.23539383e+02] [ 7.49141691e-02 3.77246682e-03 9.97182850e-01 2.52044193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22710568099995 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:158.10, Y:123.31, Z:25.57 [[-4.51012991e-01 -8.91552982e-01 -4.14796739e-02 1.58097756e+02] [-8.89402453e-01 4.52832745e-01 -6.24962479e-02 1.23309553e+02] [ 7.45020707e-02 8.70550405e-03 -9.97182860e-01 2.55736514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25710568099996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:158.07, Y:123.28, Z:25.58 [[-3.86801717e-01 -9.21229542e-01 -4.14796739e-02 1.58071696e+02] [-9.19213158e-01 3.88769070e-01 -6.24962479e-02 1.23283030e+02] [ 7.36994040e-02 1.39550060e-02 -9.97182860e-01 2.55775747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28710568099996 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:157.67, Y:123.40, Z:25.22 [[-4.80898402e-01 8.76184046e-01 3.22218012e-02 1.57665339e+02] [-8.73630925e-01 -4.81959645e-01 6.69619871e-02 1.23403567e+02] [ 7.42006327e-02 4.05195063e-03 9.97235102e-01 2.52183026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31710568099996 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:157.63, Y:123.34, Z:25.23 [[-4.81255475e-01 8.75985028e-01 3.23016783e-02 1.57629328e+02] [-8.73434013e-01 -4.82321759e-01 6.69234335e-02 1.23335799e+02] [ 7.42037281e-02 3.99388428e-03 9.97235106e-01 2.52268760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34710568099996 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:157.68, Y:123.45, Z:25.21 [[-4.86910733e-01 8.72862959e-01 3.20654421e-02 1.57680343e+02] [-8.70297724e-01 -4.87942452e-01 6.70375714e-02 1.23448408e+02] [ 7.41607034e-02 4.73483172e-03 9.97235063e-01 2.52141983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37710568099996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:158.05, Y:123.25, Z:25.58 [[-3.15835709e-01 -9.48271909e-01 -3.20654421e-02 1.58054274e+02] [-9.45943692e-01 3.17327112e-01 -6.70375714e-02 1.23248092e+02] [ 7.37450799e-02 9.15924385e-03 -9.97235063e-01 2.55768745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40710568099996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:157.63, Y:123.39, Z:25.22 [[-4.29109944e-01 9.02828390e-01 2.76686666e-02 1.57627380e+02] [-9.00214111e-01 -4.29976226e-01 6.88113266e-02 1.23389162e+02] [ 7.40216880e-02 4.61990038e-03 9.97245931e-01 2.52226304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43710568099996 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:158.02, Y:123.18, Z:25.58 [[-2.52093459e-01 -9.67307259e-01 -2.76686666e-02 1.58017857e+02] [-9.64901948e-01 2.53434868e-01 -6.88113266e-02 1.23180268e+02] [ 7.35739005e-02 9.35066493e-03 -9.97245931e-01 2.55809895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46710568099996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:157.56, Y:123.28, Z:25.23 [[-3.61077340e-01 9.32257622e-01 2.27789593e-02 1.57560443e+02] [-9.29604518e-01 -3.61770198e-01 7.04113934e-02 1.23282357e+02] [ 7.38823068e-02 4.24853519e-03 9.97257918e-01 2.52341483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49710568099997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:157.56, Y:123.31, Z:25.23 [[-3.62707323e-01 9.31618450e-01 2.30317413e-02 1.57560236e+02] [-9.28969181e-01 -3.63414566e-01 7.03286133e-02 1.23305357e+02] [ 7.38895040e-02 4.11292524e-03 9.97257953e-01 2.52258483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.98, Y:123.09, Z:25.59 [[-2.00127141e-01 -9.79499192e-01 -2.30317413e-02 1.57984041e+02] [-9.77007459e-01 2.01271734e-01 -7.03286133e-02 1.23090222e+02] [ 7.35224583e-02 8.42751867e-03 -9.97257953e-01 2.55947540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55710568099997 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:157.50, Y:123.16, Z:25.24 [[-2.96265136e-01 9.54932158e-01 1.82083479e-02 1.57496319e+02] [-9.52255186e-01 -2.96799037e-01 7.15569160e-02 1.23164450e+02] [ 7.37362203e-02 3.86082572e-03 9.97270306e-01 2.52368905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58710568099997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:157.89, Y:122.70, Z:25.63 [[-1.24424276e-01 -9.92056571e-01 -1.85029586e-02 1.57891818e+02] [-9.89522815e-01 1.25439685e-01 -7.14806588e-02 1.22698863e+02] [ 7.32338625e-02 9.41517044e-03 -9.97270353e-01 2.56258155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61710568099997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:157.94, Y:123.11, Z:25.60 [[-4.08444851e-02 -9.98994178e-01 -1.85029586e-02 1.57939613e+02] [-9.96554435e-01 4.20686700e-02 -7.14806588e-02 1.23105781e+02] [ 7.21871569e-02 1.55196148e-02 -9.97270353e-01 2.55973748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.42, Y:123.07, Z:25.24 [[-1.61335672e-01 9.86873506e-01 7.17517074e-03 1.57424422e+02] [-9.84205224e-01 -1.61427823e-01 7.26714175e-02 1.23068683e+02] [ 7.28757688e-02 4.66265148e-03 9.97330127e-01 2.52427363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.67710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.43, Y:123.12, Z:25.24 [[-1.69800269e-01 9.85450619e-01 7.41253650e-03 1.57427511e+02] [-9.82782243e-01 -1.69886932e-01 7.26463593e-02 1.23119332e+02] [ 7.28486928e-02 5.05046210e-03 9.97330217e-01 2.52350779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.70710568099997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.92, Y:123.03, Z:25.61 [[ 2.42184306e-02 -9.99679210e-01 -7.41253650e-03 1.57918750e+02] [-9.97078109e-01 -2.36167492e-02 -7.26463593e-02 1.23026951e+02] [ 7.24479950e-02 9.15025868e-03 -9.97330217e-01 2.56121827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.73710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.40, Y:122.99, Z:25.24 [[-9.52909621e-02 9.95446122e-01 2.57889786e-03 1.57397306e+02] [-9.92787612e-01 -9.52251643e-02 7.28349210e-02 1.22987162e+02] [ 7.27488156e-02 4.38021185e-03 9.97340676e-01 2.52393906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.76710568099998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:157.39, Y:122.99, Z:25.24 [[-8.77345829e-02 9.96139690e-01 2.89149137e-03 1.57389651e+02] [-9.93480513e-01 -8.77117586e-02 7.28225127e-02 1.22989152e+02] [ 7.27950130e-02 3.51641245e-03 9.97340725e-01 2.52413955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.79710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:157.39, Y:123.00, Z:25.24 [[-9.02366328e-02 9.95915981e-01 2.95113171e-03 1.57385264e+02] [-9.93256826e-01 -9.02114786e-02 7.28200958e-02 1.23004425e+02] [ 7.27889231e-02 3.63980854e-03 9.97340726e-01 2.52382800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82710568099998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:157.92, Y:122.91, Z:25.61 [[ 5.95072182e-02 -9.98223513e-01 -2.95113171e-03 1.57915343e+02] [-9.95590422e-01 -5.91349673e-02 -7.28200958e-02 1.22910364e+02] [ 7.25162168e-02 7.27143979e-03 -9.97340726e-01 2.56146139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85710568099998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.94, Y:122.90, Z:25.61 [[ 1.27185147e-01 -9.91877068e-01 1.95467497e-03 1.57939808e+02] [-9.89237017e-01 -1.26989869e-01 -7.26890502e-02 1.22904908e+02] [ 7.23468259e-02 7.31133068e-03 -9.97352737e-01 2.56119787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:157.97, Y:122.90, Z:25.61 [[ 1.99217764e-01 -9.79925505e-01 7.63459413e-03 1.57965535e+02] [-9.77294646e-01 -1.99244556e-01 -7.20887042e-02 1.22904206e+02] [ 7.21627112e-02 6.90010254e-03 -9.97369005e-01 2.56127049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.99, Y:122.90, Z:25.62 [[ 2.64473281e-01 -9.64309072e-01 1.27238637e-02 1.57991670e+02] [-9.61703447e-01 -2.64697415e-01 -7.11460449e-02 1.22903561e+02] [ 7.19747503e-02 6.57964438e-03 -9.97384752e-01 2.56158645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:158.02, Y:122.90, Z:25.62 [[ 3.34388682e-01 -9.42249651e-01 1.87030650e-02 1.58018884e+02] [-9.39697252e-01 -3.34863190e-01 -6.95393281e-02 1.22903888e+02] [ 7.17863756e-02 5.67794549e-03 -9.97403869e-01 2.56161925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:157.51, Y:122.67, Z:25.27 [[ 3.33506883e-01 9.42433724e-01 -2.43276687e-02 1.57509250e+02] [-9.40010232e-01 3.34392822e-01 6.75440929e-02 1.22666116e+02] [ 7.17908288e-02 3.41837629e-04 9.97419651e-01 2.52689643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00710568099996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:158.05, Y:122.88, Z:25.62 [[ 4.02966850e-01 -9.14899365e-01 2.40181169e-02 1.58052953e+02] [-9.12410207e-01 -4.03646568e-01 -6.76539923e-02 1.22879067e+02] [ 7.15914250e-02 5.34794121e-03 -9.97419705e-01 2.56186418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.57, Y:122.61, Z:25.28 [[ 4.07583909e-01 9.12693347e-01 -2.94314802e-02 1.57573112e+02] [-9.10358639e-01 4.08645095e-01 6.52405947e-02 1.22605358e+02] [ 7.15716868e-02 2.02185643e-04 9.97435438e-01 2.52755636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06710568099996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:157.59, Y:122.58, Z:25.28 [[ 4.04052300e-01 9.14271146e-01 -2.91549380e-02 1.57591082e+02] [-9.11931639e-01 4.05102753e-01 6.53639472e-02 1.22582344e+02] [ 7.15711166e-02 1.76857138e-04 9.97435484e-01 2.52760565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:158.09, Y:122.83, Z:25.63 [[ 4.82075556e-01 -8.75643619e-01 2.91789562e-02 1.58089754e+02] [-8.73222199e-01 -4.82920228e-01 -6.53532236e-02 1.22825614e+02] [ 7.13172414e-02 6.02547931e-03 -9.97435484e-01 2.56276390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12710568099996 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:157.66, Y:122.53, Z:25.28 [[ 4.69062043e-01 8.82505974e-01 -3.41175170e-02 1.57660280e+02] [-8.80278481e-01 4.70300752e-01 6.26657764e-02 1.22531762e+02] [ 7.13484160e-02 6.38778913e-04 9.97451250e-01 2.52801283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15710568099996 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:158.12, Y:122.80, Z:25.63 [[ 5.57130173e-01 -8.29723064e-01 3.41410021e-02 1.58118720e+02] [-8.27380988e-01 -5.58135562e-01 -6.26529789e-02 1.22800647e+02] [ 7.10399290e-02 6.65824885e-03 -9.97451250e-01 2.56303204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18710568099996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:157.73, Y:122.48, Z:25.28 [[ 5.29444401e-01 8.47455216e-01 -3.88366261e-02 1.57729347e+02] [-8.45358210e-01 5.30865352e-01 5.95942484e-02 1.22484174e+02] [ 7.11204758e-02 1.27901959e-03 9.97466913e-01 2.52822327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21710568099996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:157.75, Y:122.46, Z:25.28 [[ 5.22412863e-01 8.51807485e-01 -3.88434058e-02 1.57748541e+02] [-8.49722638e-01 5.23851593e-01 5.95898291e-02 1.22462238e+02] [ 7.11072424e-02 1.87562803e-03 9.97466913e-01 2.52812747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:158.17, Y:122.76, Z:25.64 [[ 6.32882712e-01 -7.73271732e-01 3.88625951e-02 1.58165108e+02] [-7.71012096e-01 -6.34027516e-01 -5.95773119e-02 1.22755011e+02] [ 7.07094058e-02 7.74191983e-03 -9.97466913e-01 2.56446181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27710568099997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:158.19, Y:122.76, Z:25.65 [[ 6.96961695e-01 -7.15800708e-01 4.32867534e-02 1.58186377e+02] [-7.13641256e-01 -6.98255809e-01 -5.61692357e-02 1.22760439e+02] [ 7.04312057e-02 8.25659266e-03 -9.97482468e-01 2.56522381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30710568099997 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:158.21, Y:122.77, Z:25.65 [[ 7.53314403e-01 -6.55948893e-01 4.74179250e-02 1.58209670e+02] [-6.53904943e-01 -7.54757522e-01 -5.24348062e-02 1.22769089e+02] [ 7.01835887e-02 8.49307916e-03 -9.97497936e-01 2.56549245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33710568099997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:157.93, Y:122.40, Z:25.28 [[ 6.92841498e-01 7.19267691e-01 -5.12313020e-02 1.57933157e+02] [-7.17644694e-01 6.94725514e-01 4.83999303e-02 1.22398559e+02] [ 7.04041987e-02 3.23239181e-03 9.97513308e-01 2.52791523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.96, Y:122.38, Z:25.28 [[ 6.89559341e-01 7.22378221e-01 -5.17457386e-02 1.57955382e+02] [-7.20804184e-01 6.91484794e-01 4.78550812e-02 1.22377332e+02] [ 7.03508598e-02 4.29962658e-03 9.97513042e-01 2.52824364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39710568099997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:158.26, Y:122.73, Z:25.66 [[ 8.08985870e-01 -5.85590977e-01 5.12354305e-02 1.58260279e+02] [-5.83661022e-01 -8.10553946e-01 -4.83953650e-02 1.22727718e+02] [ 6.98689694e-02 9.24704268e-03 -9.97513318e-01 2.56605585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.42710568099997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:158.28, Y:122.74, Z:25.66 [[ 8.54041307e-01 -5.17415336e-01 5.38034954e-02 1.58281794e+02] [-5.15550012e-01 -8.55665162e-01 -4.52251635e-02 1.22737584e+02] [ 6.94379698e-02 1.08857651e-02 -9.97526876e-01 2.56607290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.45710568099997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:158.32, Y:122.77, Z:25.67 [[ 8.90652946e-01 -4.51002606e-01 5.77406119e-02 1.58315724e+02] [-4.49366610e-01 -8.92475154e-01 -3.94683318e-02 1.22766145e+02] [ 6.93323820e-02 9.20588302e-03 -9.97551138e-01 2.56685232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.48710568099997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:158.15, Y:122.36, Z:25.28 [[ 8.37512266e-01 5.43027020e-01 -6.07853582e-02 1.58147750e+02] [-5.41968109e-01 8.39704082e-01 3.41704981e-02 1.22360031e+02] [ 6.95972172e-02 4.32551436e-03 9.97565796e-01 2.52840892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.51710568099998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:158.17, Y:122.34, Z:25.29 [[ 8.39872071e-01 5.39406543e-01 -6.04606191e-02 1.58172332e+02] [-5.38297517e-01 8.42038722e-01 3.47357645e-02 1.22344290e+02] [ 6.96468811e-02 3.37220271e-03 9.97566008e-01 2.52854242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.54710568099998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:158.20, Y:122.33, Z:25.29 [[ 8.46774836e-01 5.28503243e-01 -6.04706539e-02 1.58199494e+02] [-5.27367544e-01 8.48927626e-01 3.47182863e-02 1.22326791e+02] [ 6.96839356e-02 2.49168909e-03 9.97566008e-01 2.52884478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57710568099998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:158.22, Y:122.31, Z:25.29 [[ 8.49409674e-01 5.24303447e-01 -6.00757873e-02 1.58222607e+02] [-5.23108382e-01 8.51530426e-01 3.54055686e-02 1.22312229e+02] [ 6.97196224e-02 1.35231539e-03 9.97565710e-01 2.52873229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60710568099998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:158.24, Y:122.30, Z:25.29 [[ 8.53358170e-01 5.17846300e-01 -6.01252394e-02 1.58243560e+02] [-5.16641251e-01 8.55473178e-01 3.53193948e-02 1.22296818e+02] [ 6.97255475e-02 9.23084793e-04 9.97565785e-01 2.52944776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63710568099995 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:158.27, Y:122.28, Z:25.30 [[ 8.56056658e-01 5.13329553e-01 -6.04960271e-02 1.58266971e+02] [-5.12158904e-01 8.58190582e-01 3.46724891e-02 1.22281299e+02] [ 6.97155340e-02 1.30196378e-03 9.97566063e-01 2.52962588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66710568099995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:158.29, Y:122.26, Z:25.30 [[ 8.61819501e-01 5.03593989e-01 -6.04999342e-02 1.58289920e+02] [-5.02399709e-01 8.63940290e-01 3.46656702e-02 1.22263838e+02] [ 6.97257539e-02 5.19598716e-04 9.97566063e-01 2.53008148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69710568099995 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:158.31, Y:122.25, Z:25.30 [[ 8.64594836e-01 4.98813747e-01 -6.05030277e-02 1.58314091e+02] [-4.97608118e-01 8.66709194e-01 3.46602703e-02 1.22249125e+02] [ 6.97275496e-02 1.39706991e-04 9.97566063e-01 2.53049854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72710568099995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:158.34, Y:122.24, Z:25.31 [[ 8.68927057e-01 4.91227829e-01 -6.05061154e-02 1.58339450e+02] [-4.90004117e-01 8.71031001e-01 3.46548793e-02 1.22237083e+02] [ 6.97261434e-02 -4.64316649e-04 9.97566063e-01 2.53096820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75710568099996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:158.37, Y:122.23, Z:25.31 [[ 8.72283357e-01 4.85242508e-01 -6.05099481e-02 1.58365676e+02] [-4.84004826e-01 8.74379112e-01 3.46481858e-02 1.22227474e+02] [ 6.97214073e-02 -9.35928934e-04 9.97566063e-01 2.53101660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78710568099996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:158.39, Y:122.22, Z:25.31 [[ 8.73931330e-01 4.82267681e-01 -6.05137481e-02 1.58391614e+02] [-4.81023324e-01 8.76023130e-01 3.46415478e-02 1.22215890e+02] [ 6.97179419e-02 -1.16580971e-03 9.97566063e-01 2.53121643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81710568099996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:158.42, Y:122.21, Z:25.32 [[ 8.77457124e-01 4.75821959e-01 -6.05182523e-02 1.58418405e+02] [-4.74562781e-01 8.79540036e-01 3.46336772e-02 1.22206938e+02] [ 6.97076899e-02 -1.66985665e-03 9.97566063e-01 2.53183232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84710568099996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:158.44, Y:122.20, Z:25.32 [[ 8.79209825e-01 4.72575046e-01 -6.05219783e-02 1.58444832e+02] [-4.71308625e-01 8.81288341e-01 3.46271648e-02 1.22195067e+02] [ 6.97012479e-02 -1.92001311e-03 9.97566063e-01 2.53238355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87710568099996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:158.47, Y:122.19, Z:25.33 [[ 8.82498093e-01 4.66405232e-01 -6.05250011e-02 1.58474073e+02] [-4.65124646e-01 8.84567911e-01 3.46218804e-02 1.22189196e+02] [ 6.96863000e-02 -2.40207371e-03 9.97566063e-01 2.53250673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90710568099996 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:158.50, Y:122.18, Z:25.32 [[ 8.83721461e-01 4.64082585e-01 -6.05287793e-02 1.58502178e+02] [-4.62797011e-01 8.85788185e-01 3.46152739e-02 1.22180545e+02] [ 6.96800234e-02 -2.57772229e-03 9.97566063e-01 2.53247642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93710568099996 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:158.53, Y:122.17, Z:25.32 [[ 8.84533987e-01 4.62531614e-01 -6.05320714e-02 1.58530038e+02] [-4.61242809e-01 8.86598699e-01 3.46095159e-02 1.22171674e+02] [ 6.96756510e-02 -2.69331042e-03 9.97566063e-01 2.53230271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96710568099996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:158.56, Y:122.17, Z:25.32 [[ 8.85049475e-01 4.61544031e-01 -6.05354011e-02 1.58559319e+02] [-4.60253321e-01 8.87112995e-01 3.46036910e-02 1.22166968e+02] [ 6.96728680e-02 -2.76435911e-03 9.97566063e-01 2.53214531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99710568099997 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:158.59, Y:122.17, Z:25.32 [[ 8.85757531e-01 4.60183179e-01 -6.05395528e-02 1.58591258e+02] [-4.58889794e-01 8.87819376e-01 3.45964260e-02 1.22165095e+02] [ 6.96688813e-02 -2.86306195e-03 9.97566063e-01 2.53185906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02710568099997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:158.62, Y:122.16, Z:25.32 [[ 8.86042494e-01 4.59632756e-01 -6.05510376e-02 1.58619639e+02] [-4.58339461e-01 8.88104395e-01 3.45763137e-02 1.22156654e+02] [ 6.96680489e-02 -2.88315330e-03 9.97566063e-01 2.53191042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05710568099997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:158.65, Y:122.15, Z:25.32 [[ 8.87016078e-01 4.57749546e-01 -6.05626202e-02 1.58650565e+02] [-4.56453256e-01 8.89076097e-01 3.45560140e-02 1.22154972e+02] [ 6.96627777e-02 -3.00773480e-03 9.97566063e-01 2.53221638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08710568099997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:158.68, Y:122.15, Z:25.33 [[ 8.87783839e-01 4.56261957e-01 -6.05382643e-02 1.58677859e+02] [-4.54959311e-01 8.89839847e-01 3.45987121e-02 1.22147690e+02] [ 6.96554360e-02 -3.17373045e-03 9.97566062e-01 2.53255905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11710568099997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:158.71, Y:122.15, Z:25.33 [[ 8.89183362e-01 4.53523740e-01 -6.05736350e-02 1.58709693e+02] [-4.52218978e-01 8.91238024e-01 3.45366533e-02 1.22147071e+02] [ 6.96487189e-02 -3.31687023e-03 9.97566065e-01 2.53340987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:158.74, Y:122.15, Z:25.34 [[ 8.91374106e-01 4.49193577e-01 -6.06410276e-02 1.58742223e+02] [-4.47886852e-01 8.93427526e-01 3.44183569e-02 1.22147051e+02] [ 6.96388682e-02 -3.51931317e-03 9.97566059e-01 2.53393126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.17710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.77, Y:122.14, Z:25.34 [[ 8.91788720e-01 4.48376295e-01 -6.05935404e-02 1.58771167e+02] [-4.47062040e-01 8.93837324e-01 3.45017567e-02 1.22139295e+02] [ 6.96305379e-02 -3.67920568e-03 9.97566064e-01 2.53439463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.20710568099997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.80, Y:122.14, Z:25.35 [[ 8.92283955e-01 4.47388459e-01 -6.06045366e-02 1.58802398e+02] [-4.46073243e-01 8.94331943e-01 3.44824304e-02 1.22140629e+02] [ 6.96276144e-02 -3.73405718e-03 9.97566064e-01 2.53482786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.23710568099997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:158.83, Y:122.13, Z:25.35 [[ 8.93272098e-01 4.45392686e-01 -6.07479547e-02 1.58833112e+02] [-4.44089928e-01 8.95328095e-01 3.42306759e-02 1.22132759e+02] [ 6.96354432e-02 -3.59975285e-03 9.97566011e-01 2.53499856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.26710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.86, Y:122.13, Z:25.36 [[ 8.94354181e-01 4.43256375e-01 -6.04515135e-02 1.58864735e+02] [-4.41913602e-01 8.96384253e-01 3.47511078e-02 1.22134389e+02] [ 6.95914348e-02 -4.36545254e-03 9.97566025e-01 2.53559382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.29710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.89, Y:122.12, Z:25.36 [[ 8.94508880e-01 4.42923896e-01 -6.05993871e-02 1.58889595e+02] [-4.41597864e-01 8.96549874e-01 3.44913080e-02 1.22120577e+02] [ 6.96073974e-02 -4.09222139e-03 9.97566070e-01 2.53579073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.92, Y:122.12, Z:25.36 [[ 8.94924753e-01 4.42081360e-01 -6.06115338e-02 1.58917453e+02] [-4.40754846e-01 8.96965433e-01 3.44699495e-02 1.22115155e+02] [ 6.96049728e-02 -4.13318379e-03 9.97566070e-01 2.53603900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.95, Y:122.12, Z:25.36 [[ 8.95199998e-01 4.41523010e-01 -6.06167824e-02 1.58950184e+02] [-4.40195846e-01 8.97240255e-01 3.44607173e-02 1.22118204e+02] [ 6.96030169e-02 -4.16597822e-03 9.97566070e-01 2.53592590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.98, Y:122.11, Z:25.36 [[ 8.95137959e-01 4.41648064e-01 -6.06219693e-02 1.58979193e+02] [-4.40321800e-01 8.97178801e-01 3.44515901e-02 1.22111827e+02] [ 6.96042238e-02 -4.14575144e-03 9.97566070e-01 2.53603114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:159.01, Y:122.11, Z:25.36 [[ 8.93291143e-01 4.45370001e-01 -6.06341186e-02 1.59011997e+02] [-4.44053689e-01 8.95338418e-01 3.44301943e-02 1.22112161e+02] [ 6.96222315e-02 -3.83138356e-03 9.97566071e-01 2.53603733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.04, Y:122.11, Z:25.36 [[ 8.88920599e-01 4.54028843e-01 -6.06463388e-02 1.59044834e+02] [-4.52733952e-01 8.90981489e-01 3.44086560e-02 1.22111597e+02] [ 6.96572875e-02 -3.12990649e-03 9.97566071e-01 2.53613047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:159.07, Y:122.11, Z:25.36 [[ 8.84945470e-01 4.61734723e-01 -6.06016556e-02 1.59068747e+02] [-4.60452399e-01 8.87014208e-01 3.44874306e-02 1.22106311e+02] [ 6.96785738e-02 -2.61531777e-03 9.97566066e-01 2.53634378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.10, Y:122.10, Z:25.37 [[ 8.82123909e-01 4.67055082e-01 -6.09668675e-02 1.59100850e+02] [-4.65829519e-01 8.84227026e-01 3.38441242e-02 1.22098670e+02] [ 6.97156222e-02 -1.45454461e-03 9.97565846e-01 2.53678808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.13, Y:122.10, Z:25.37 [[ 8.73817446e-01 4.82466112e-01 -6.05765805e-02 1.59129484e+02] [-4.81229852e-01 8.75914039e-01 3.45315170e-02 1.22098971e+02] [ 6.97201640e-02 -1.02298317e-03 9.97566064e-01 2.53704766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:122.09, Z:25.37 [[ 8.71013520e-01 4.87468596e-01 -6.09082553e-02 1.59159737e+02] [-4.86285187e-01 8.73140519e-01 3.39463030e-02 1.22089168e+02] [ 6.97292223e-02 5.10934125e-05 9.97565954e-01 2.53740439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.19, Y:122.09, Z:25.38 [[ 8.65552006e-01 4.97140506e-01 -6.05891299e-02 1.59187820e+02] [-4.95941358e-01 8.67670032e-01 3.45091892e-02 1.22085116e+02] [ 6.97272881e-02 1.79157401e-04 9.97566075e-01 2.53752763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:159.21, Y:122.08, Z:25.38 [[ 8.62060141e-01 5.03161181e-01 -6.06723906e-02 1.59212799e+02] [-5.01987162e-01 8.64192183e-01 3.43621800e-02 1.22077747e+02] [ 6.97223208e-02 8.34495441e-04 9.97566089e-01 2.53751331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.24, Y:122.06, Z:25.38 [[ 8.62009595e-01 5.03216051e-01 -6.09349175e-02 1.59240685e+02] [-5.02074785e-01 8.64159548e-01 3.38996506e-02 1.22064162e+02] [ 6.97163390e-02 1.37206152e-03 9.97565912e-01 2.53775351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:159.26, Y:122.05, Z:25.38 [[ 8.62069963e-01 5.03154145e-01 -6.05911308e-02 1.59263894e+02] [-5.01970056e-01 8.64196424e-01 3.45051262e-02 1.22052091e+02] [ 6.97240358e-02 6.69100454e-04 9.97566094e-01 2.53750707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:122.04, Z:25.38 [[ 8.62805444e-01 5.01851420e-01 -6.09255135e-02 1.59289887e+02] [-5.00705718e-01 8.64952949e-01 3.39143039e-02 1.22038983e+02] [ 6.97176442e-02 1.24430692e-03 9.97565989e-01 2.53760460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.32, Y:122.03, Z:25.38 [[ 8.64557936e-01 4.98837447e-01 -6.08340056e-02 1.59316913e+02] [-4.97672881e-01 8.66695181e-01 3.40758924e-02 1.22025736e+02] [ 6.97228707e-02 8.14851578e-04 9.97566067e-01 2.53774485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.34, Y:122.01, Z:25.38 [[ 8.64783069e-01 4.98465784e-01 -6.06803500e-02 1.59341052e+02] [-4.97281228e-01 8.66909245e-01 3.43473576e-02 1.22012516e+02] [ 6.97253389e-02 4.72185679e-04 9.97566115e-01 2.53797574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:122.00, Z:25.39 [[ 8.64332765e-01 4.99245703e-01 -6.06844336e-02 1.59365098e+02] [-4.98063572e-01 8.66460290e-01 3.43401412e-02 1.21999102e+02] [ 6.97248198e-02 5.43396565e-04 9.97566115e-01 2.53860152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.39, Y:121.98, Z:25.39 [[ 8.64626663e-01 4.98714364e-01 -6.08663810e-02 1.59391064e+02] [-4.97553544e-01 8.66765957e-01 3.40183364e-02 1.21983856e+02] [ 6.97223400e-02 8.71122876e-04 9.97566056e-01 2.53870140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.41, Y:121.97, Z:25.39 [[ 8.65690648e-01 4.96879318e-01 -6.07506794e-02 1.59414083e+02] [-4.95699586e-01 8.67819512e-01 3.42230054e-02 1.21966981e+02] [ 6.97253285e-02 4.87550933e-04 9.97566109e-01 2.53902679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.44, Y:121.95, Z:25.39 [[ 8.66766986e-01 4.95004743e-01 -6.07066435e-02 1.59437748e+02] [-4.93814947e-01 8.68890237e-01 3.43009418e-02 1.21953307e+02] [ 6.97265387e-02 2.46923992e-04 9.97566113e-01 2.53924922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.92710568099997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:159.46, Y:121.94, Z:25.40 [[ 8.66377927e-01 4.95684685e-01 -6.07122741e-02 1.59460928e+02] [-4.94497254e-01 8.68502501e-01 3.42909727e-02 1.21939084e+02] [ 6.97262719e-02 3.13111032e-04 9.97566113e-01 2.53954415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.95710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.49, Y:121.92, Z:25.39 [[ 8.67521122e-01 4.93649781e-01 -6.09671671e-02 1.59485768e+02] [-4.92489042e-01 8.69660535e-01 3.38393019e-02 1.21921023e+02] [ 6.97255031e-02 6.69352546e-04 9.97565991e-01 2.53942305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.98710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:121.90, Z:25.39 [[ 8.68202526e-01 4.92480730e-01 -6.07215308e-02 1.59509814e+02] [-4.91286610e-01 8.70323345e-01 3.42744948e-02 1.21904230e+02] [ 6.97268940e-02 7.44720461e-05 9.97566115e-01 2.53939861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.01710568099998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:159.53, Y:121.89, Z:25.39 [[ 8.69871417e-01 4.89525499e-01 -6.07330613e-02 1.59532669e+02] [-4.88325602e-01 8.71988972e-01 3.42540511e-02 1.21886355e+02] [ 6.97267911e-02 -1.39111223e-04 9.97566116e-01 2.53914549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.04710568099998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.56, Y:121.87, Z:25.39 [[ 8.70224606e-01 4.88895945e-01 -6.07444631e-02 1.59557132e+02] [-4.87695928e-01 8.72342093e-01 3.42338198e-02 1.21869966e+02] [ 6.97267278e-02 -1.66284980e-04 9.97566116e-01 2.53910266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07710568099998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:159.58, Y:121.85, Z:25.39 [[ 8.68819592e-01 4.91387149e-01 -6.07551304e-02 1.59581190e+02] [-4.90194528e-01 8.70941253e-01 3.42148780e-02 1.21851642e+02] [ 6.97269007e-02 5.52761437e-05 9.97566116e-01 2.53920487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10710568099998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.60, Y:121.84, Z:25.39 [[ 8.66840745e-01 4.94874573e-01 -6.07147447e-02 1.59604878e+02] [-4.93685462e-01 8.68964379e-01 3.42866167e-02 1.21838001e+02] [ 6.97265253e-02 2.52950434e-04 9.97566112e-01 2.53938093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:159.63, Y:121.83, Z:25.40 [[ 8.63057276e-01 5.01437161e-01 -6.07693289e-02 1.59631851e+02] [-5.00271023e-01 8.65193606e-01 3.41895985e-02 1.21826475e+02] [ 6.97211700e-02 8.93552608e-04 9.97566118e-01 2.54008040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16710568099995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:159.65, Y:121.81, Z:25.41 [[ 8.59089656e-01 5.08218817e-01 -6.06514325e-02 1.59654969e+02] [-5.07054734e-01 8.61227142e-01 3.43992321e-02 1.21810802e+02] [ 6.97169970e-02 1.20157148e-03 9.97566086e-01 2.54093201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.68, Y:121.79, Z:25.42 [[ 8.56692537e-01 5.12239325e-01 -6.07352546e-02 1.59678113e+02] [-5.11095835e-01 8.58841071e-01 3.42500046e-02 1.21794576e+02] [ 6.97061303e-02 1.69981232e-03 9.97566121e-01 2.54172025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.70, Y:121.78, Z:25.42 [[ 8.56331622e-01 5.12834796e-01 -6.07998807e-02 1.59701666e+02] [-5.11700961e-01 8.58485256e-01 3.41348961e-02 1.21780287e+02] [ 6.97013636e-02 1.88056645e-03 9.97566130e-01 2.54210027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:159.72, Y:121.76, Z:25.43 [[ 8.55305020e-01 5.14544433e-01 -6.08058351e-02 1.59724950e+02] [-5.13415656e-01 8.57461310e-01 3.41242860e-02 1.21761647e+02] [ 6.96971124e-02 2.03199454e-03 9.97566130e-01 2.54250473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:159.75, Y:121.75, Z:25.42 [[ 8.53496717e-01 5.17554919e-01 -6.06651504e-02 1.59748072e+02] [-5.16415931e-01 8.55647677e-01 3.43749725e-02 1.21746229e+02] [ 6.96989312e-02 1.98952392e-03 9.97566088e-01 2.54241609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.77, Y:121.73, Z:25.42 [[ 8.49504169e-01 5.24064941e-01 -6.08161526e-02 1.59772224e+02] [-5.22961643e-01 8.51673599e-01 3.41057173e-02 1.21729679e+02] [ 6.96691224e-02 2.83156602e-03 9.97566136e-01 2.54212784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:159.80, Y:121.71, Z:25.42 [[ 8.47499094e-01 5.27300020e-01 -6.08274166e-02 1.59796132e+02] [-5.26206440e-01 8.49673439e-01 3.40856163e-02 1.21714036e+02] [ 6.96567864e-02 3.12024944e-03 9.97566136e-01 2.54221596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.82, Y:121.69, Z:25.43 [[ 8.46035545e-01 5.29643765e-01 -6.08386336e-02 1.59816928e+02] [-5.28557644e-01 8.48213625e-01 3.40655835e-02 1.21694397e+02] [ 6.96467819e-02 3.33603034e-03 9.97566137e-01 2.54263519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.84, Y:121.67, Z:25.43 [[ 8.46643924e-01 5.28654357e-01 -6.09806311e-02 1.59836098e+02] [-5.27583889e-01 8.48829782e-01 3.38118689e-02 1.21674278e+02] [ 6.96369676e-02 3.54578511e-03 9.97566098e-01 2.54289261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.86, Y:121.66, Z:25.43 [[ 8.48459786e-01 5.25723989e-01 -6.10760167e-02 1.59858247e+02] [-5.24658185e-01 8.50648008e-01 3.36415693e-02 1.21657342e+02] [ 6.96403719e-02 3.50051337e-03 9.97566020e-01 2.54317495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46710568099996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:159.88, Y:121.63, Z:25.43 [[ 8.54072254e-01 5.16548819e-01 -6.11383877e-02 1.59877190e+02] [-5.15467450e-01 8.56252904e-01 3.35301576e-02 1.21634364e+02] [ 6.96698854e-02 2.87767151e-03 9.97565951e-01 2.54311160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49710568099997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.90, Y:121.62, Z:25.43 [[ 8.57400086e-01 5.11007487e-01 -6.11264285e-02 1.59900335e+02] [-5.09910499e-01 8.59572905e-01 3.35515115e-02 1.21615299e+02] [ 6.96876953e-02 2.40193887e-03 9.97565966e-01 2.54347852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52710568099997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:159.92, Y:121.59, Z:25.43 [[ 8.62703272e-01 5.02004366e-01 -6.11120334e-02 1.59921476e+02] [-5.00882874e-01 8.64863525e-01 3.35772160e-02 1.21592095e+02] [ 6.97094776e-02 1.64279683e-03 9.97565983e-01 2.54332310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.94, Y:121.57, Z:25.43 [[ 8.64843426e-01 4.98328843e-01 -6.09443450e-02 1.59944314e+02] [-4.97177047e-01 8.66987520e-01 3.38765934e-02 1.21574581e+02] [ 6.97196701e-02 1.00218039e-03 9.97566120e-01 2.54340234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58710568099997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.96, Y:121.56, Z:25.43 [[ 8.68251106e-01 4.92366663e-01 -6.09515055e-02 1.59964677e+02] [-4.91201040e-01 8.70387719e-01 3.38637995e-02 1.21555873e+02] [ 6.97248478e-02 5.37161507e-04 9.97566117e-01 2.54313117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61710568099997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:159.99, Y:121.54, Z:25.43 [[ 8.69960338e-01 4.89324293e-01 -6.10798435e-02 1.59987023e+02] [-4.88167277e-01 8.72101729e-01 3.36345538e-02 1.21537044e+02] [ 6.97260414e-02 5.56453096e-04 9.97566023e-01 2.54346569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64710568099997 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:160.01, Y:121.52, Z:25.43 [[ 8.70494048e-01 4.88369247e-01 -6.11194739e-02 1.60012250e+02] [-4.87214854e-01 8.72636902e-01 3.35637179e-02 1.21521095e+02] [ 6.97265960e-02 5.61298886e-04 9.97565981e-01 2.54318972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.67710568099997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:160.04, Y:121.50, Z:25.44 [[ 8.68947648e-01 4.91121373e-01 -6.10719458e-02 1.60038101e+02] [-4.89967786e-01 8.71090884e-01 3.36487683e-02 1.21502958e+02] [ 6.97248446e-02 6.84268007e-04 9.97566027e-01 2.54383562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.70710568099997 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:160.06, Y:121.49, Z:25.44 [[ 8.67434134e-01 4.93815012e-01 -6.08667108e-02 1.60061888e+02] [-4.92642270e-01 8.69566849e-01 3.40160191e-02 1.21488992e+02] [ 6.97252948e-02 4.78858499e-04 9.97566115e-01 2.54418807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.73710568099997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:160.09, Y:121.47, Z:25.45 [[ 8.66426427e-01 4.95579336e-01 -6.08799475e-02 1.60086359e+02] [-4.94412602e-01 8.68562434e-01 3.39923124e-02 1.21474882e+02] [ 6.97239230e-02 6.47975392e-04 9.97566115e-01 2.54451318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.76710568099998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.11, Y:121.46, Z:25.45 [[ 8.64708293e-01 4.98569744e-01 -6.08915386e-02 1.60110388e+02] [-4.97411859e-01 8.66849109e-01 3.39715362e-02 1.21462859e+02] [ 6.97209561e-02 9.12704323e-04 9.97566116e-01 2.54467328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.79710568099998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:160.14, Y:121.45, Z:25.45 [[ 8.64107196e-01 4.99610130e-01 -6.08972206e-02 1.60136015e+02] [-4.98455540e-01 8.66249792e-01 3.39613476e-02 1.21450568e+02] [ 6.97196380e-02 1.00831210e-03 9.97566116e-01 2.54484858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82710568099998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:160.16, Y:121.44, Z:25.46 [[ 8.63502724e-01 5.00652599e-01 -6.09099367e-02 1.60161040e+02] [-4.99502205e-01 8.65647575e-01 3.39385260e-02 1.21435933e+02] [ 6.97179502e-02 1.11863803e-03 9.97566116e-01 2.54552247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85710568099998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:160.18, Y:121.42, Z:25.46 [[ 8.62558862e-01 5.02281442e-01 -6.08733320e-02 1.60184225e+02] [-5.01130461e-01 8.64703401e-01 3.40042472e-02 1.21419819e+02] [ 6.97170796e-02 1.17481616e-03 9.97566112e-01 2.54648817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.21, Y:121.41, Z:25.47 [[ 8.62701042e-01 5.02022918e-01 -6.09909926e-02 1.60208483e+02] [-5.00886214e-01 8.64853190e-01 3.37929110e-02 1.21405976e+02] [ 6.97130702e-02 1.39636785e-03 9.97566107e-01 2.54683640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91710568099995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:160.23, Y:121.40, Z:25.48 [[ 8.61043278e-01 5.04868839e-01 -6.09256000e-02 1.60230221e+02] [-5.03730935e-01 8.63194781e-01 3.39104007e-02 1.21395584e+02] [ 6.97109646e-02 1.49178693e-03 9.97566116e-01 2.54753110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.26, Y:121.38, Z:25.48 [[ 8.59329210e-01 5.07712526e-01 -6.14922774e-02 1.60257025e+02] [-5.06654317e-01 8.61521694e-01 3.28903453e-02 1.21380072e+02] [ 6.96757713e-02 2.89169338e-03 9.97565499e-01 2.54801598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97710568099995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:160.28, Y:121.37, Z:25.48 [[ 8.55981414e-01 5.13384755e-01 -6.10893825e-02 1.60280014e+02] [-5.12289291e-01 8.58154842e-01 3.36147189e-02 1.21367945e+02] [ 6.96814336e-02 2.52186186e-03 9.97566107e-01 2.54774056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.0071056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:160.31, Y:121.35, Z:25.48 [[ 8.54826167e-01 5.15248010e-01 -6.15768837e-02 1.60306828e+02] [-5.14220041e-01 8.57033230e-01 3.27382418e-02 1.21348494e+02] [ 6.96417495e-02 3.67856192e-03 9.97565284e-01 2.54755923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03710568099996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:160.33, Y:121.33, Z:25.47 [[ 8.53538028e-01 5.17457175e-01 -6.09172202e-02 1.60328884e+02] [-5.16350085e-01 8.55705453e-01 3.39229654e-02 1.21332271e+02] [ 6.96808793e-02 2.50007089e-03 9.97566201e-01 2.54713073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.06710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.35, Y:121.32, Z:25.47 [[ 8.53641130e-01 5.17254124e-01 -6.11963451e-02 1.60353859e+02] [-5.16182278e-01 8.55826396e-01 3.34220924e-02 1.21318786e+02] [ 6.96611626e-02 3.05799613e-03 9.97566023e-01 2.54730551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09710568099996 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:160.38, Y:121.31, Z:25.47 [[ 8.51648791e-01 5.20525090e-01 -6.12206484e-02 1.60376168e+02] [-5.19464763e-01 8.53839703e-01 3.33784577e-02 1.21306538e+02] [ 6.96469450e-02 3.37524643e-03 9.97565993e-01 2.54742057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.12710568099993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:160.40, Y:121.29, Z:25.47 [[ 8.49644516e-01 5.23751602e-01 -6.15504414e-02 1.60400977e+02] [-5.22742329e-01 8.51860084e-01 3.27849904e-02 1.21291035e+02] [ 6.96035554e-02 4.31943379e-03 9.97565380e-01 2.54742698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:160.43, Y:121.27, Z:25.48 [[ 8.49609386e-01 5.23813312e-01 -6.15102172e-02 1.60427315e+02] [-5.22798989e-01 8.51822530e-01 3.28571886e-02 1.21274083e+02] [ 6.96068216e-02 4.24170350e-03 9.97565486e-01 2.54756406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18710568099993 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:160.45, Y:121.26, Z:25.48 [[ 8.48793492e-01 5.25172372e-01 -6.11848583e-02 1.60448157e+02] [-5.24119551e-01 8.50987902e-01 3.34408044e-02 1.21255243e+02] [ 6.96297608e-02 3.68384333e-03 9.97566101e-01 2.54773722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:160.47, Y:121.24, Z:25.48 [[ 8.48842417e-01 5.25074541e-01 -6.13455593e-02 1.60473019e+02] [-5.24042256e-01 8.51046808e-01 3.31518244e-02 1.21241483e+02] [ 6.96151215e-02 4.00699057e-03 9.97565877e-01 2.54793391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.50, Y:121.22, Z:25.48 [[ 8.50825999e-01 5.21853550e-01 -6.13513849e-02 1.60499756e+02] [-5.20813671e-01 8.53026829e-01 3.31413454e-02 1.21224076e+02] [ 6.96293061e-02 3.75512171e-03 9.97565867e-01 2.54848639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.52, Y:121.21, Z:25.49 [[ 8.54136781e-01 5.16466819e-01 -6.09293379e-02 1.60522921e+02] [-5.15358853e-01 8.56303711e-01 3.38999563e-02 1.21206520e+02] [ 6.96822208e-02 2.44527411e-03 9.97566243e-01 2.54923620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.55, Y:121.19, Z:25.49 [[ 8.55697107e-01 5.13876164e-01 -6.09405372e-02 1.60546169e+02] [-5.12763069e-01 8.57861407e-01 3.38798119e-02 1.21190361e+02] [ 6.96885627e-02 2.25719989e-03 9.97566243e-01 2.54935670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.3371056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:160.56, Y:121.17, Z:25.50 [[ 8.57761810e-01 5.10409142e-01 -6.10506810e-02 1.60564147e+02] [-5.09301374e-01 8.59928868e-01 3.36816444e-02 1.21171056e+02] [ 6.96906622e-02 2.20236740e-03 9.97566219e-01 2.54970856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.59, Y:121.15, Z:25.50 [[ 8.60642001e-01 5.05483532e-01 -6.14958966e-02 1.60589002e+02] [-5.04420471e-01 8.62831956e-01 3.28786419e-02 1.21154017e+02] [ 6.96802368e-02 2.72304897e-03 9.97565662e-01 2.55032448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.61, Y:121.13, Z:25.50 [[ 8.62457066e-01 5.02405586e-01 -6.12897742e-02 1.60609043e+02] [-5.01308232e-01 8.64629652e-01 3.32508919e-02 1.21134081e+02] [ 6.96983899e-02 2.04760163e-03 9.97566009e-01 2.54991645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:121.12, Z:25.51 [[ 8.66831973e-01 4.94797613e-01 -6.14626060e-02 1.60635720e+02] [-4.93703268e-01 8.69006393e-01 3.29389150e-02 1.21115826e+02] [ 6.97094941e-02 1.79178476e-03 9.97565725e-01 2.55061418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.4571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.66, Y:121.10, Z:25.51 [[ 8.67384550e-01 4.93887828e-01 -6.09824281e-02 1.60659034e+02] [-4.92730070e-01 8.69525323e-01 3.38051960e-02 1.21099861e+02] [ 6.97217403e-02 7.25771301e-04 9.97566214e-01 2.55095073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:121.08, Z:25.51 [[ 8.66028724e-01 4.96259853e-01 -6.09951434e-02 1.60681464e+02] [-4.95109575e-01 8.68173525e-01 3.37822380e-02 1.21083228e+02] [ 6.97191371e-02 9.42891102e-04 9.97566215e-01 2.55134163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:121.07, Z:25.52 [[ 8.64908930e-01 4.98207380e-01 -6.10077882e-02 1.60705961e+02] [-4.97063542e-01 8.67057172e-01 3.37593871e-02 1.21069519e+02] [ 6.97164161e-02 1.12595193e-03 9.97566215e-01 2.55154913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.73, Y:121.06, Z:25.52 [[ 8.62721465e-01 5.01984276e-01 -6.10201598e-02 1.60731368e+02] [-5.00851424e-01 8.64875520e-01 3.37370107e-02 1.21055000e+02] [ 6.97102914e-02 1.45639064e-03 9.97566215e-01 2.55162217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.75, Y:121.04, Z:25.52 [[ 8.61832417e-01 5.03511737e-01 -6.09984906e-02 1.60753766e+02] [-5.02379928e-01 8.63987022e-01 3.37762201e-02 1.21040832e+02] [ 6.97086275e-02 1.53497590e-03 9.97566214e-01 2.55203221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:121.03, Z:25.52 [[ 8.62364714e-01 5.02594788e-01 -6.10375132e-02 1.60778763e+02] [-5.01465686e-01 8.64520735e-01 3.37055545e-02 1.21025311e+02] [ 6.97084318e-02 1.54173752e-03 9.97566217e-01 2.55180710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.80, Y:121.01, Z:25.52 [[ 8.63044958e-01 5.01423966e-01 -6.10524852e-02 1.60802266e+02] [-5.00293856e-01 8.65200451e-01 3.36784217e-02 1.21010188e+02] [ 6.97098055e-02 1.47819123e-03 9.97566217e-01 2.55207757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.83, Y:120.99, Z:25.52 [[ 8.64080043e-01 4.99638170e-01 -6.10522628e-02 1.60825622e+02] [-4.98503577e-01 8.66233179e-01 3.36788248e-02 1.20994079e+02] [ 6.97127221e-02 1.33357101e-03 9.97566217e-01 2.55226980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.6971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.85, Y:120.98, Z:25.52 [[ 8.62304410e-01 5.02694944e-01 -6.10646996e-02 1.60846962e+02] [-5.01569579e-01 8.64462384e-01 3.36562600e-02 1.20980820e+02] [ 6.97069675e-02 1.60625425e-03 9.97566218e-01 2.55226233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:160.88, Y:120.97, Z:25.52 [[ 8.63970678e-01 4.99762072e-01 -6.15835880e-02 1.60876297e+02] [-4.98696274e-01 8.66159268e-01 3.27131262e-02 1.20967108e+02] [ 6.96899753e-02 2.44832407e-03 9.97565694e-01 2.55204735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.7571056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:160.90, Y:120.95, Z:25.53 [[ 8.64890132e-01 4.98235847e-01 -6.10417957e-02 1.60898555e+02] [-4.97096482e-01 8.67040715e-01 3.36969661e-02 1.20952477e+02] [ 6.97147587e-02 1.19948846e-03 9.97566245e-01 2.55256218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78710568099996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:160.92, Y:120.94, Z:25.53 [[ 8.65936833e-01 4.96409114e-01 -6.10851185e-02 1.60921714e+02] [-4.95270762e-01 8.68087948e-01 3.36182481e-02 1.20937386e+02] [ 6.97156600e-02 1.14239387e-03 9.97566249e-01 2.55303039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.94, Y:120.92, Z:25.53 [[ 8.66094504e-01 4.96132518e-01 -6.10969232e-02 1.60938556e+02] [-4.94994992e-01 8.68246056e-01 3.35967810e-02 1.20921505e+02] [ 6.97156182e-02 1.14468363e-03 9.97566250e-01 2.55342695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:160.96, Y:120.91, Z:25.54 [[ 8.69875585e-01 4.89384691e-01 -6.17987910e-02 1.60962965e+02] [-4.88320825e-01 8.72065570e-01 3.23173833e-02 1.20905909e+02] [ 6.97082305e-02 2.06553393e-03 9.97565284e-01 2.55352484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87710568099993 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:160.99, Y:120.89, Z:25.54 [[ 8.73387895e-01 4.83111127e-01 -6.16216258e-02 1.60991466e+02] [-4.82008749e-01 8.75558228e-01 3.26397693e-02 1.20891072e+02] [ 6.97219572e-02 1.19498342e-03 9.97565748e-01 2.55393731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90710568099996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:161.01, Y:120.88, Z:25.54 [[ 8.76097565e-01 4.78247813e-01 -6.10907986e-02 1.61013537e+02] [-4.77065795e-01 8.78224881e-01 3.36048561e-02 1.20876169e+02] [ 6.97229083e-02 -2.96802231e-04 9.97566353e-01 2.55429645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93710568099993 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:161.04, Y:120.86, Z:25.54 [[ 8.77492179e-01 4.75683459e-01 -6.10960193e-02 1.61036936e+02] [-4.74495884e-01 8.79616398e-01 3.35953620e-02 1.20861366e+02] [ 6.97218184e-02 -4.89857673e-04 9.97566353e-01 2.55448127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:161.06, Y:120.85, Z:25.55 [[ 8.78230550e-01 4.74317191e-01 -6.11089526e-02 1.61058459e+02] [-4.73127950e-01 8.80353836e-01 3.35718201e-02 1.20845969e+02] [ 6.97211923e-02 -5.71444546e-04 9.97566353e-01 2.55457134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99710568099994 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:161.09, Y:120.83, Z:25.55 [[ 8.79244173e-01 4.72407104e-01 -6.13287220e-02 1.61085963e+02] [-4.71241129e-01 8.81380427e-01 3.31713862e-02 1.20833739e+02] [ 6.97243337e-02 -2.65131887e-04 9.97566262e-01 2.55473062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0271056809999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:161.11, Y:120.82, Z:25.55 [[ 8.78599016e-01 4.73621420e-01 -6.12088243e-02 1.61110820e+02] [-4.72443162e-01 8.80728435e-01 3.33898700e-02 1.20821299e+02] [ 6.97225097e-02 -4.18616411e-04 9.97566337e-01 2.55506823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05710568099994 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:161.14, Y:120.81, Z:25.56 [[ 8.75897988e-01 4.78592658e-01 -6.12517913e-02 1.61136032e+02] [-4.77431962e-01 8.78037051e-01 3.33115336e-02 1.20809659e+02] [ 6.97239976e-02 6.60576318e-05 9.97566319e-01 2.55550056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0871056809999 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:161.16, Y:120.80, Z:25.56 [[ 8.73843801e-01 4.82335793e-01 -6.12306587e-02 1.61160981e+02] [-4.81181558e-01 8.75986347e-01 3.33500840e-02 1.20797849e+02] [ 6.97231602e-02 3.20299604e-04 9.97566328e-01 2.55563606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11710568099994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:161.19, Y:120.79, Z:25.56 [[ 8.68679940e-01 4.91571375e-01 -6.12596584e-02 1.61188274e+02] [-4.90443647e-01 8.70836569e-01 3.32971391e-02 1.20788663e+02] [ 6.97150712e-02 1.11985352e-03 9.97566316e-01 2.55550593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.1471056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:161.22, Y:120.78, Z:25.55 [[ 8.62832412e-01 5.01776058e-01 -6.11638524e-02 1.61215877e+02] [-5.00661427e-01 8.64995812e-01 3.34720918e-02 1.20775674e+02] [ 6.97019704e-02 1.74157597e-03 9.97566340e-01 2.55528621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.24, Y:120.76, Z:25.55 [[ 8.60566923e-01 5.05674115e-01 -6.09775450e-02 1.61239186e+02] [-5.04545143e-01 8.62722961e-01 3.38125947e-02 1.20764923e+02] [ 6.97048821e-02 1.66792363e-03 9.97566262e-01 2.55530578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.2071056809999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:161.26, Y:120.75, Z:25.55 [[ 8.56995024e-01 5.11680203e-01 -6.11792397e-02 1.61264655e+02] [-5.10592589e-01 8.59172119e-01 3.34436428e-02 1.20751274e+02] [ 6.96759470e-02 2.57663088e-03 9.97566350e-01 2.55517984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.29, Y:120.74, Z:25.55 [[ 8.56754607e-01 5.12083221e-01 -6.11744851e-02 1.61291206e+02] [-5.10996011e-01 8.58931905e-01 3.34523422e-02 1.20736106e+02] [ 6.96751001e-02 2.59946957e-03 9.97566350e-01 2.55545092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.2671056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:161.31, Y:120.72, Z:25.56 [[ 8.54550946e-01 5.15774143e-01 -6.09894624e-02 1.61313290e+02] [-5.14672182e-01 8.56720909e-01 3.37909624e-02 1.20719760e+02] [ 6.96794524e-02 2.51348088e-03 9.97566267e-01 2.55579499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.34, Y:120.70, Z:25.56 [[ 8.51260203e-01 5.21172715e-01 -6.11152071e-02 1.61336396e+02] [-5.20100984e-01 8.53445166e-01 3.35606259e-02 1.20703369e+02] [ 6.96493605e-02 3.21725412e-03 9.97566347e-01 2.55608143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.3271056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:161.36, Y:120.69, Z:25.56 [[ 8.50901594e-01 5.21746771e-01 -6.12109847e-02 1.61363246e+02] [-5.20689097e-01 8.53093374e-01 3.33850219e-02 1.20686409e+02] [ 6.96372128e-02 3.46452398e-03 9.97566367e-01 2.55610971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35710568099995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:161.39, Y:120.67, Z:25.56 [[ 8.49111799e-01 5.24690677e-01 -6.09002983e-02 1.61385256e+02] [-5.23599800e-01 8.51287468e-01 3.39543328e-02 1.20667791e+02] [ 6.96591826e-02 3.05635938e-03 9.97566167e-01 2.55614890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.3871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:161.41, Y:120.65, Z:25.56 [[ 8.48617132e-01 5.25486327e-01 -6.09350831e-02 1.61406798e+02] [-5.24402053e-01 8.50796049e-01 3.38905732e-02 1.20652642e+02] [ 6.96523607e-02 3.19436163e-03 9.97566211e-01 2.55639061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41710568099995 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:161.43, Y:120.63, Z:25.57 [[ 8.48959460e-01 5.24911973e-01 -6.11167449e-02 1.61427215e+02] [-5.23850129e-01 8.51149209e-01 3.35569070e-02 1.20631421e+02] [ 6.96338914e-02 3.52756103e-03 9.97566378e-01 2.55662861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.4471056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:161.45, Y:120.61, Z:25.57 [[ 8.50816698e-01 5.21881027e-01 -6.12465546e-02 1.61449386e+02] [-5.20828483e-01 8.53010892e-01 3.33182929e-02 1.20613941e+02] [ 6.96321631e-02 3.55119022e-03 9.97566414e-01 2.55683540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47710568099995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:161.47, Y:120.59, Z:25.57 [[ 8.54992425e-01 5.15009975e-01 -6.12591193e-02 1.61469588e+02] [-5.13941441e-01 8.57178877e-01 3.32951753e-02 1.20592648e+02] [ 6.96573705e-02 3.01647735e-03 9.97566415e-01 2.55716945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.5071056809999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:161.49, Y:120.57, Z:25.57 [[ 8.58008177e-01 5.09968400e-01 -6.12715154e-02 1.61490603e+02] [-5.08888642e-01 8.60189108e-01 3.32723479e-02 1.20572458e+02] [ 6.96729361e-02 2.63243167e-03 9.97566415e-01 2.55749323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53710568099996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:161.52, Y:120.55, Z:25.57 [[ 8.59163653e-01 5.08017803e-01 -6.12840077e-02 1.61516126e+02] [-5.06934732e-01 8.61342940e-01 3.32493224e-02 1.20554918e+02] [ 6.96777951e-02 2.50038279e-03 9.97566415e-01 2.55729383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.56710568099993 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:161.54, Y:120.54, Z:25.58 [[ 8.60113748e-01 5.06441032e-01 -6.10067282e-02 1.61537047e+02] [-5.05317679e-01 8.62272739e-01 3.37604245e-02 1.20537653e+02] [ 6.97021029e-02 1.78997300e-03 9.97566245e-01 2.55760552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59710568099996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:161.56, Y:120.52, Z:25.58 [[ 8.59684434e-01 5.07162569e-01 -6.10639275e-02 1.61560438e+02] [-5.06048507e-01 8.61848161e-01 3.36549540e-02 1.20521658e+02] [ 6.96963666e-02 1.96866923e-03 9.97566309e-01 2.55776847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.62710568099993 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:161.58, Y:120.50, Z:25.57 [[ 8.57428128e-01 5.10969163e-01 -6.10534141e-02 1.61584057e+02] [-5.09863326e-01 8.59596084e-01 3.36743570e-02 1.20500458e+02] [ 6.96878336e-02 2.25555583e-03 9.97566298e-01 2.55732843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65710568099996 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:161.61, Y:120.49, Z:25.57 [[ 8.56464751e-01 5.12599601e-01 -6.09079520e-02 1.61608772e+02] [-5.11478778e-01 8.58625247e-01 3.39432606e-02 1.20485013e+02] [ 6.96964071e-02 2.08191865e-03 9.97566076e-01 2.55735564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68710568099993 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:161.63, Y:120.47, Z:25.58 [[ 8.53360261e-01 5.17746298e-01 -6.09510974e-02 1.61629183e+02] [-5.16644191e-01 8.55530274e-01 3.38633972e-02 1.20470802e+02] [ 6.96781576e-02 2.59235297e-03 9.97566155e-01 2.55780460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71710568099996 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:161.65, Y:120.46, Z:25.58 [[ 8.51923781e-01 5.20058220e-01 -6.13621959e-02 1.61653741e+02] [-5.19016531e-01 8.54123023e-01 3.31013718e-02 1.20455163e+02] [ 6.96255048e-02 3.64814826e-03 9.97566529e-01 2.55807112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74710568099994 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:161.68, Y:120.44, Z:25.58 [[ 8.51861503e-01 5.20166833e-01 -6.13061598e-02 1.61678822e+02] [-5.19117971e-01 8.54057341e-01 3.32052641e-02 1.20439481e+02] [ 6.96312529e-02 3.53884317e-03 9.97566522e-01 2.55822039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7771056809999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:161.70, Y:120.42, Z:25.58 [[ 8.50606490e-01 5.22252878e-01 -6.09961486e-02 1.61701909e+02] [-5.21168244e-01 8.52785197e-01 3.37797180e-02 1.20422547e+02] [ 6.96581676e-02 3.05600823e-03 9.97566239e-01 2.55813288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80710568099994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:161.72, Y:120.41, Z:25.58 [[ 8.49642187e-01 5.23814177e-01 -6.10480394e-02 1.61722852e+02] [-5.22740433e-01 8.51826193e-01 3.36834969e-02 1.20409552e+02] [ 6.96462122e-02 3.29335858e-03 9.97566318e-01 2.55839031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.8371056809999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:161.75, Y:120.40, Z:25.58 [[ 8.51676451e-01 5.20460722e-01 -6.13828983e-02 1.61748568e+02] [-5.19422910e-01 8.53877483e-01 3.30618314e-02 1.20395754e+02] [ 6.96208594e-02 3.72570043e-03 9.97566567e-01 2.55808161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86710568099994 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:161.77, Y:120.38, Z:25.58 [[ 8.53402700e-01 5.17613385e-01 -6.14834582e-02 1.61774439e+02] [-5.16581624e-01 8.55606600e-01 3.28751064e-02 1.20377907e+02] [ 6.96222477e-02 3.70552018e-03 9.97566545e-01 2.55839516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.8971056809999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:161.79, Y:120.36, Z:25.60 [[ 8.57230310e-01 5.11308786e-01 -6.09878776e-02 1.61792001e+02] [-5.10195395e-01 8.59394388e-01 3.37926890e-02 1.20358701e+02] [ 6.96911385e-02 2.14761703e-03 9.97566305e-01 2.55952173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92710568099994 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:161.82, Y:120.34, Z:25.60 [[ 8.59702832e-01 5.07096029e-01 -6.13568052e-02 1.61815496e+02] [-5.06020602e-01 8.61885689e-01 3.31090464e-02 1.20342306e+02] [ 6.96720183e-02 2.58386658e-03 9.97566606e-01 2.55993539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.9571056809999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:161.84, Y:120.33, Z:25.60 [[ 8.63768849e-01 5.00138341e-01 -6.13597250e-02 1.61837617e+02] [-4.99045709e-01 8.65943145e-01 3.31036345e-02 1.20325811e+02] [ 6.96904300e-02 2.02741921e-03 9.97566606e-01 2.56017444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98710568099995 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:161.86, Y:120.31, Z:25.60 [[ 8.65941528e-01 4.96366608e-01 -6.13633457e-02 1.61861731e+02] [-4.95264979e-01 8.68111280e-01 3.30969214e-02 1.20309111e+02] [ 6.96984192e-02 1.73111742e-03 9.97566606e-01 2.56016028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0171056809999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:161.89, Y:120.29, Z:25.60 [[ 8.66779700e-01 4.94901133e-01 -6.13662757e-02 1.61885321e+02] [-4.93796221e-01 8.68947781e-01 3.30914878e-02 1.20293553e+02] [ 6.97011040e-02 1.61940514e-03 9.97566606e-01 2.56020499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04710568099995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:161.91, Y:120.28, Z:25.60 [[ 8.67207376e-01 4.94150891e-01 -6.13698989e-02 1.61910451e+02] [-4.93044578e-01 8.69374742e-01 3.30847672e-02 1.20276468e+02] [ 6.97023072e-02 1.56674180e-03 9.97566606e-01 2.56039245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0771056809999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:161.94, Y:120.26, Z:25.61 [[ 8.66912238e-01 4.94668482e-01 -6.13698989e-02 1.61935882e+02] [-4.93563463e-01 8.69080264e-01 3.30847672e-02 1.20262271e+02] [ 6.97013595e-02 1.60835027e-03 9.97566606e-01 2.56056526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10710568099995 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:161.96, Y:120.25, Z:25.61 [[ 8.66956402e-01 4.94590887e-01 -6.13714209e-02 1.61961700e+02] [-4.93485873e-01 8.69124432e-01 3.30819435e-02 1.20248464e+02] [ 6.97014291e-02 1.60532651e-03 9.97566606e-01 2.56076981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.1371056809999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:161.99, Y:120.23, Z:25.61 [[ 8.65535083e-01 4.97073642e-01 -6.13743812e-02 1.61987165e+02] [-4.95975236e-01 8.67706467e-01 3.30764508e-02 1.20233933e+02] [ 6.96963793e-02 1.81134463e-03 9.97566606e-01 2.56084088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16710568099995 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:162.01, Y:120.22, Z:25.61 [[ 8.64443738e-01 4.98968784e-01 -6.13773277e-02 1.62012797e+02] [-4.97875526e-01 8.66617719e-01 3.30709821e-02 1.20220225e+02] [ 6.96920675e-02 1.97026593e-03 9.97566606e-01 2.56098678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.1971056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:162.04, Y:120.21, Z:25.61 [[ 8.62810268e-01 5.01787707e-01 -6.13802738e-02 1.62038791e+02] [-5.00701939e-01 8.64988000e-01 3.30655133e-02 1.20208478e+02] [ 6.96850684e-02 2.20395777e-03 9.97566606e-01 2.56114347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22710568099995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:162.06, Y:120.20, Z:25.61 [[ 8.62122865e-01 5.02967462e-01 -6.13832091e-02 1.62063878e+02] [-5.01885061e-01 8.64302272e-01 3.30600633e-02 1.20195510e+02] [ 6.96817832e-02 2.30547917e-03 9.97566606e-01 2.56146385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.2571056809999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:162.09, Y:120.18, Z:25.62 [[ 8.60609123e-01 5.05552842e-01 -6.13861728e-02 1.62087079e+02] [-5.04477380e-01 8.62791962e-01 3.30545594e-02 1.20181095e+02] [ 6.96743229e-02 2.52088025e-03 9.97566606e-01 2.56190139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28710568099996 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:162.11, Y:120.17, Z:25.62 [[ 8.59283153e-01 5.07802827e-01 -6.13901603e-02 1.62110254e+02] [-5.06733608e-01 8.61469057e-01 3.30471520e-02 1.20165742e+02] [ 6.96671607e-02 2.71159646e-03 9.97566606e-01 2.56235652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31710568099993 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:162.13, Y:120.15, Z:25.63 [[ 8.58290048e-01 5.09479144e-01 -6.13937748e-02 1.62134650e+02] [-5.08414673e-01 8.60478268e-01 3.30404356e-02 1.20149894e+02] [ 6.96614219e-02 2.85521887e-03 9.97566606e-01 2.56281363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34710568099996 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:162.16, Y:120.13, Z:25.63 [[ 8.57591123e-01 5.10654405e-01 -6.13966119e-02 1.62159324e+02] [-5.09593310e-01 8.59780982e-01 3.30351629e-02 1.20134229e+02] [ 6.96571907e-02 2.95664022e-03 9.97566606e-01 2.56304773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37710568099993 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:162.18, Y:120.12, Z:25.63 [[ 8.56167772e-01 5.13036893e-01 -6.13994550e-02 1.62182616e+02] [-5.11982268e-01 8.58360754e-01 3.30298779e-02 1.20120507e+02] [ 6.96484284e-02 3.15631524e-03 9.97566606e-01 2.56283657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40710568099996 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:162.21, Y:120.11, Z:25.63 [[ 8.54154595e-01 5.16375360e-01 -6.14525397e-02 1.62207276e+02] [-5.15336382e-01 8.56355039e-01 3.29311477e-02 1.20105413e+02] [ 6.96300253e-02 3.54043837e-03 9.97566602e-01 2.56314674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43710568099993 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:162.23, Y:120.09, Z:25.63 [[ 8.52090386e-01 5.19780070e-01 -6.14056400e-02 1.62231069e+02] [-5.18743617e-01 8.54292015e-01 3.30183697e-02 1.20093244e+02] [ 6.96206385e-02 3.71914840e-03 9.97566607e-01 2.56281407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46710568099996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:162.26, Y:120.08, Z:25.63 [[ 8.50273217e-01 5.22739565e-01 -6.14719809e-02 1.62255029e+02] [-5.21719654e-01 8.52482566e-01 3.28949455e-02 1.20076527e+02] [ 6.95992815e-02 4.10144942e-03 9.97566598e-01 2.56320990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49710568099994 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:162.28, Y:120.06, Z:25.63 [[ 8.48408980e-01 5.25766826e-01 -6.14121203e-02 1.62278505e+02] [-5.24746768e-01 8.50618253e-01 3.30063243e-02 1.20058479e+02] [ 6.95919008e-02 4.22294970e-03 9.97566606e-01 2.56332189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5271056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:162.30, Y:120.05, Z:25.63 [[ 8.48713079e-01 5.25275480e-01 -6.14148134e-02 1.62302481e+02] [-5.24254504e-01 8.50921928e-01 3.30013124e-02 1.20045105e+02] [ 6.95939917e-02 4.18834707e-03 9.97566606e-01 2.56318661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55710568099994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:162.33, Y:120.03, Z:25.64 [[ 8.48014773e-01 5.26388962e-01 -6.15272783e-02 1.62327385e+02] [-5.25385989e-01 8.50231882e-01 3.27919129e-02 1.20027873e+02] [ 6.95737546e-02 4.51754345e-03 9.97566581e-01 2.56368366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5871056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:162.35, Y:120.01, Z:25.64 [[ 8.48532289e-01 5.25567061e-01 -6.14183892e-02 1.62349619e+02] [-5.24547327e-01 8.50741710e-01 3.29946103e-02 1.20010788e+02] [ 6.95920658e-02 4.21985970e-03 9.97566608e-01 2.56360664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61710568099994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:162.37, Y:119.99, Z:25.64 [[ 8.49356743e-01 5.24233251e-01 -6.14216729e-02 1.62373866e+02] [-5.23210488e-01 8.51564762e-01 3.29884963e-02 1.19994971e+02] [ 6.95981990e-02 4.11746169e-03 9.97566608e-01 2.56363323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.6471056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:162.40, Y:119.98, Z:25.63 [[ 8.52488925e-01 5.19123964e-01 -6.14242810e-02 1.62396060e+02] [-5.18088310e-01 8.54690928e-01 3.29836393e-02 1.19977140e+02] [ 6.96213733e-02 3.70501466e-03 9.97566608e-01 2.56342625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:162.42, Y:119.96, Z:25.63 [[ 8.54414986e-01 5.15947374e-01 -6.14275149e-02 1.62420202e+02] [-5.14903962e-01 8.56613324e-01 3.29776155e-02 1.19960799e+02] [ 6.96343418e-02 3.45270197e-03 9.97566608e-01 2.56345547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.7071056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:162.44, Y:119.94, Z:25.64 [[ 8.60620564e-01 5.05528033e-01 -6.14300671e-02 1.62441548e+02] [-5.04458328e-01 8.62806228e-01 3.29728606e-02 1.19941012e+02] [ 6.96709499e-02 2.61178707e-03 9.97566608e-01 2.56395940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:162.47, Y:119.92, Z:25.64 [[ 8.64419599e-01 4.99003799e-01 -6.14326138e-02 1.62465002e+02] [-4.97917928e-01 8.66597277e-01 3.29681152e-02 1.19923550e+02] [ 6.96885505e-02 2.09011490e-03 9.97566608e-01 2.56444625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.7671056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:162.49, Y:119.90, Z:25.65 [[ 8.72842283e-01 4.84119895e-01 -6.14351455e-02 1.62487329e+02] [-4.82997204e-01 8.75001209e-01 3.29633968e-02 1.19904124e+02] [ 6.97140627e-02 9.01156979e-04 9.97566608e-01 2.56479921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:162.51, Y:119.89, Z:25.65 [[ 8.79762409e-01 4.71427521e-01 -6.14344837e-02 1.62512370e+02] [-4.70273593e-01 8.81904803e-01 3.29646301e-02 1.19885107e+02] [ 6.97198001e-02 -1.10026956e-04 9.97566608e-01 2.56513940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.8271056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:162.54, Y:119.87, Z:25.65 [[ 8.81768494e-01 4.67665186e-01 -6.14296039e-02 1.62537214e+02] [-4.66501485e-01 8.83905594e-01 3.29737212e-02 1.19869375e+02] [ 6.97186319e-02 -4.18187056e-04 9.97566608e-01 2.56542597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.57, Y:119.85, Z:25.66 [[ 8.83257335e-01 4.64846997e-01 -6.14308523e-02 1.62565884e+02] [-4.63676638e-01 8.85390796e-01 3.29713952e-02 1.19853443e+02] [ 6.97169653e-02 -6.38175629e-04 9.97566608e-01 2.56587702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.8871056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:162.60, Y:119.84, Z:25.66 [[ 8.83441016e-01 4.64499419e-01 -6.14187312e-02 1.62596107e+02] [-4.63326653e-01 8.85573154e-01 3.29939588e-02 1.19839531e+02] [ 6.97164542e-02 -6.91281346e-04 9.97566608e-01 2.56619319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:162.63, Y:119.83, Z:25.66 [[ 8.80556092e-01 4.69960110e-01 -6.13063056e-02 1.62626706e+02] [-4.68785997e-01 8.82687514e-01 3.32030395e-02 1.19830050e+02] [ 6.97184146e-02 -4.97601138e-04 9.97566587e-01 2.56631388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.9471056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:162.66, Y:119.82, Z:25.66 [[ 8.75818634e-01 4.78726004e-01 -6.13443883e-02 1.62660003e+02] [-4.77578180e-01 8.77964313e-01 3.31322537e-02 1.19821067e+02] [ 6.97194551e-02 2.78896147e-04 9.97566599e-01 2.56620995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:162.69, Y:119.81, Z:25.67 [[ 8.72473076e-01 4.84819542e-01 -6.11616102e-02 1.62688034e+02] [-4.83662864e-01 8.74614126e-01 3.34718554e-02 1.19808792e+02] [ 6.97206179e-02 3.78306928e-04 9.97566485e-01 2.56656429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.0071056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:162.72, Y:119.80, Z:25.67 [[ 8.66212443e-01 4.95889678e-01 -6.13956906e-02 1.62720173e+02] [-4.94791108e-01 8.68383743e-01 3.30368585e-02 1.19798424e+02] [ 6.96976567e-02 1.76110387e-03 9.97566607e-01 2.56710880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:162.75, Y:119.79, Z:25.67 [[ 8.60086312e-01 5.06455420e-01 -6.12735111e-02 1.62749892e+02] [-5.05367345e-01 8.62262929e-01 3.32639280e-02 1.19787917e+02] [ 6.96805738e-02 2.35578250e-03 9.97566573e-01 2.56714638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.06710568099993 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:162.78, Y:119.78, Z:25.68 [[ 8.58446986e-01 5.09225991e-01 -6.12997721e-02 1.62777713e+02] [-5.08148417e-01 8.60628806e-01 3.32151230e-02 1.19776267e+02] [ 6.96703536e-02 2.63595996e-03 9.97566586e-01 2.56757311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09710568099996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:162.81, Y:119.76, Z:25.67 [[ 8.57085506e-01 5.11502773e-01 -6.13950155e-02 1.62808176e+02] [-5.10443633e-01 8.59276311e-01 3.30381345e-02 1.19763528e+02] [ 6.96543799e-02 3.02218852e-03 9.97566606e-01 2.56747883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.12710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.84, Y:119.75, Z:25.67 [[ 8.56917727e-01 5.11785261e-01 -6.13828603e-02 1.62837814e+02] [-5.10725230e-01 8.59108101e-01 3.30607027e-02 1.19748186e+02] [ 6.96544930e-02 3.01947324e-03 9.97566607e-01 2.56743971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:162.87, Y:119.73, Z:25.67 [[ 8.57766225e-01 5.10363332e-01 -6.13707777e-02 1.62866500e+02] [-5.09298070e-01 8.59954059e-01 3.30831166e-02 1.19733570e+02] [ 6.96604590e-02 2.87843858e-03 9.97566607e-01 2.56727646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18710568099993 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:162.89, Y:119.72, Z:25.67 [[ 8.57862433e-01 5.10202914e-01 -6.13598626e-02 1.62894454e+02] [-5.09135798e-01 8.60049364e-01 3.31033487e-02 1.19718573e+02] [ 6.96619358e-02 2.84238328e-03 9.97566607e-01 2.56738515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21710568099996 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:162.92, Y:119.70, Z:25.67 [[ 8.58212970e-01 5.09614453e-01 -6.13482520e-02 1.62924443e+02] [-5.08544304e-01 8.60398417e-01 3.31248520e-02 1.19703598e+02] [ 6.96648422e-02 2.77012643e-03 9.97566607e-01 2.56746936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24710568099994 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:162.95, Y:119.69, Z:25.68 [[ 8.58815240e-01 5.08614831e-01 -6.12155013e-02 1.62951336e+02] [-5.07524634e-01 8.60990795e-01 3.33705806e-02 1.19691215e+02] [ 6.96787554e-02 2.40921171e-03 9.97566573e-01 2.56799192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2771056809999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:162.98, Y:119.68, Z:25.68 [[ 8.60256127e-01 5.06159241e-01 -6.13369286e-02 1.62979556e+02] [-5.05078815e-01 8.62436514e-01 3.31458825e-02 1.19679781e+02] [ 6.96763016e-02 2.46603477e-03 9.97566605e-01 2.56834917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30710568099994 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:163.01, Y:119.66, Z:25.69 [[ 8.60499415e-01 5.05728763e-01 -6.14749989e-02 1.63007802e+02] [-5.04665438e-01 8.62688246e-01 3.28905309e-02 1.19662757e+02] [ 6.96674464e-02 2.72202461e-03 9.97566558e-01 2.56904128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.3371056809999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:163.04, Y:119.65, Z:25.69 [[ 8.60641726e-01 5.05506243e-01 -6.13127917e-02 1.63035448e+02] [-5.04421010e-01 8.62819712e-01 3.31901874e-02 1.19647656e+02] [ 6.96797323e-02 2.36260019e-03 9.97566616e-01 2.56925195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:163.07, Y:119.63, Z:25.69 [[ 8.60305162e-01 5.06078995e-01 -6.13113335e-02 1.63066440e+02] [-5.04995020e-01 8.62483775e-01 3.31928808e-02 1.19632872e+02] [ 6.96782502e-02 2.40591142e-03 9.97566616e-01 2.56874841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.3971056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:163.09, Y:119.62, Z:25.68 [[ 8.59701923e-01 5.07123712e-01 -6.11403712e-02 1.63094726e+02] [-5.06019960e-01 8.61870639e-01 3.35082317e-02 1.19620986e+02] [ 6.96879097e-02 2.13115694e-03 9.97566566e-01 2.56845367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42710568099994 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:163.12, Y:119.61, Z:25.68 [[ 8.60030633e-01 5.06548547e-01 -6.12852286e-02 1.63119210e+02] [-5.05462325e-01 8.62208132e-01 3.32411715e-02 1.19608003e+02] [ 6.96788896e-02 2.38894840e-03 9.97566612e-01 2.56842582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.4571056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:163.14, Y:119.59, Z:25.68 [[ 8.60426636e-01 5.05875131e-01 -6.12891151e-02 1.63144156e+02] [-5.04787714e-01 8.62603538e-01 3.32340041e-02 1.19593704e+02] [ 6.96804638e-02 2.34256994e-03 9.97566612e-01 2.56838900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:163.17, Y:119.58, Z:25.69 [[ 8.60694375e-01 5.05419126e-01 -6.12919229e-02 1.63170265e+02] [-5.04330924e-01 8.62870885e-01 3.32288251e-02 1.19579613e+02] [ 6.96814995e-02 2.31154921e-03 9.97566612e-01 2.56872635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5171056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:163.20, Y:119.57, Z:25.69 [[ 8.60465685e-01 5.05810305e-01 -6.12759312e-02 1.63195847e+02] [-5.04720995e-01 8.62641641e-01 3.32583286e-02 1.19566720e+02] [ 6.96815752e-02 2.30959839e-03 9.97566611e-01 2.56933218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54710568099995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:163.22, Y:119.55, Z:25.70 [[ 8.58519137e-01 5.09104742e-01 -6.12964323e-02 1.63221028e+02] [-5.08026476e-01 8.60700586e-01 3.32205013e-02 1.19554611e+02] [ 6.96705900e-02 2.61977441e-03 9.97566612e-01 2.56969423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5771056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:163.25, Y:119.54, Z:25.70 [[ 8.57398919e-01 5.10988638e-01 -6.13001338e-02 1.63246706e+02] [-5.09915651e-01 8.59582969e-01 3.32136698e-02 1.19541329e+02] [ 6.96643589e-02 2.78053304e-03 9.97566612e-01 2.56993647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60710568099995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:163.27, Y:119.53, Z:25.70 [[ 8.54979094e-01 5.15026882e-01 -6.13030239e-02 1.63272481e+02] [-5.13964590e-01 8.57168366e-01 3.32083346e-02 1.19527431e+02] [ 6.96501978e-02 3.11515168e-03 9.97566612e-01 2.57011145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.6371056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:163.30, Y:119.51, Z:25.71 [[ 8.52872491e-01 5.18507567e-01 -6.13059328e-02 1.63300628e+02] [-5.17454592e-01 8.55066260e-01 3.32029635e-02 1.19511067e+02] [ 6.96366225e-02 3.40514224e-03 9.97566612e-01 2.57051782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66710568099995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:163.33, Y:119.49, Z:25.71 [[ 8.51885435e-01 5.20129122e-01 -6.12935712e-02 1.63328610e+02] [-5.19078687e-01 8.54080421e-01 3.32257678e-02 1.19494164e+02] [ 6.96313285e-02 3.51163883e-03 9.97566613e-01 2.57080476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.6971056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:163.36, Y:119.48, Z:25.71 [[ 8.51491280e-01 5.20775586e-01 -6.12812311e-02 1.63356211e+02] [-5.19725186e-01 8.53686282e-01 3.32485123e-02 1.19477459e+02] [ 6.96299598e-02 3.53858089e-03 9.97566613e-01 2.57114439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72710568099995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:163.38, Y:119.46, Z:25.71 [[ 8.51490690e-01 5.20777901e-01 -6.12697538e-02 1.63382571e+02] [-5.19725990e-01 8.53684968e-01 3.32696490e-02 1.19461719e+02] [ 6.96311658e-02 3.51468705e-03 9.97566613e-01 2.57145912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.7571056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:163.41, Y:119.44, Z:25.72 [[ 8.51720871e-01 5.20401448e-01 -6.12690039e-02 1.63408748e+02] [-5.19348469e-01 8.53914636e-01 3.32710300e-02 1.19441396e+02] [ 6.96327914e-02 3.48233275e-03 9.97566613e-01 2.57207871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:163.44, Y:119.42, Z:25.72 [[ 8.52002702e-01 5.19941304e-01 -6.12571264e-02 1.63435640e+02] [-5.18885574e-01 8.54195144e-01 3.32928840e-02 1.19423074e+02] [ 6.96358855e-02 3.41981204e-03 9.97566614e-01 2.57248817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81710568099993 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:163.46, Y:119.40, Z:25.72 [[ 8.52877506e-01 5.18506536e-01 -6.12448561e-02 1.63463147e+02] [-5.17445502e-01 8.55067386e-01 3.33154410e-02 1.19404863e+02] [ 6.96427529e-02 3.27688505e-03 9.97566614e-01 2.57239294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:163.49, Y:119.39, Z:25.72 [[ 8.53524760e-01 5.17441865e-01 -6.12323499e-02 1.63491869e+02] [-5.16376456e-01 8.55712514e-01 3.33384111e-02 1.19388355e+02] [ 6.96479776e-02 3.16378451e-03 9.97566614e-01 2.57238710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.52, Y:119.37, Z:25.72 [[ 8.55300832e-01 5.14502294e-01 -6.12198978e-02 1.63517592e+02] [-5.13427731e-01 8.57484105e-01 3.33612614e-02 1.19369300e+02] [ 6.96595348e-02 2.89807856e-03 9.97566615e-01 2.57222857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:163.54, Y:119.35, Z:25.72 [[ 8.57194342e-01 5.11342554e-01 -6.12099010e-02 1.63542373e+02] [-5.10258636e-01 8.59372985e-01 3.33795930e-02 1.19349837e+02] [ 6.96705417e-02 2.62008235e-03 9.97566615e-01 2.57234254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93710568099993 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:163.57, Y:119.33, Z:25.73 [[ 8.60169267e-01 5.06323405e-01 -6.12000150e-02 1.63569310e+02] [-5.05225483e-01 8.62340886e-01 3.33977088e-02 1.19332064e+02] [ 6.96853168e-02 2.19212450e-03 9.97566615e-01 2.57286196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96710568099996 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:163.60, Y:119.32, Z:25.73 [[ 8.61967711e-01 5.03256937e-01 -6.11892161e-02 1.63595525e+02] [-5.02149887e-01 8.64134691e-01 3.34174822e-02 1.19316074e+02] [ 6.96933041e-02 1.92136724e-03 9.97566615e-01 2.57330187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:163.62, Y:119.30, Z:25.74 [[ 8.66769566e-01 4.94942031e-01 -6.11792844e-02 1.63622793e+02] [-4.93812904e-01 8.68925125e-01 3.34356550e-02 1.19298997e+02] [ 6.97089283e-02 1.23011193e-03 9.97566615e-01 2.57402344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0271056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:163.65, Y:119.28, Z:25.74 [[ 8.66586614e-01 4.95263619e-01 -6.11685142e-02 1.63651941e+02] [-4.94133903e-01 8.68741864e-01 3.34553467e-02 1.19282816e+02] [ 6.97088652e-02 1.23348102e-03 9.97566616e-01 2.57425704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05710568099994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:163.68, Y:119.27, Z:25.75 [[ 8.69287010e-01 4.90509963e-01 -6.11561148e-02 1.63678430e+02] [-4.89366866e-01 8.71435192e-01 3.34779975e-02 1.19267453e+02] [ 6.97148820e-02 8.25787923e-04 9.97566616e-01 2.57473959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0871056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:163.71, Y:119.25, Z:25.75 [[ 8.73184154e-01 4.83542039e-01 -6.11271553e-02 1.63706048e+02] [-4.82378096e-01 8.75321114e-01 3.35308666e-02 1.19251370e+02] [ 6.97194733e-02 2.07779359e-04 9.97566615e-01 2.57517145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.73, Y:119.24, Z:25.75 [[ 8.73518122e-01 4.82936509e-01 -6.11426102e-02 1.63731670e+02] [-4.81773059e-01 8.75655350e-01 3.35026615e-02 1.19236877e+02] [ 6.97195121e-02 1.91680387e-04 9.97566616e-01 2.57540875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:119.22, Z:25.76 [[ 8.74124248e-01 4.81796521e-01 -6.14728493e-02 1.63763980e+02] [-4.80672564e-01 8.76282768e-01 3.28998087e-02 1.19223791e+02] [ 6.97186119e-02 7.89791490e-04 9.97566384e-01 2.57563384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:163.79, Y:119.21, Z:25.76 [[ 8.73118168e-01 4.83658552e-01 -6.11479336e-02 1.63791968e+02] [-4.82497608e-01 8.75256727e-01 3.34921042e-02 1.19210930e+02] [ 6.97188828e-02 2.61166985e-04 9.97566644e-01 2.57571362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.2071056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:163.82, Y:119.20, Z:25.76 [[ 8.71461618e-01 4.86627947e-01 -6.12200121e-02 1.63823210e+02] [-4.85483510e-01 8.73609078e-01 3.33607654e-02 1.19197940e+02] [ 6.97166391e-02 6.48679833e-04 9.97566624e-01 2.57561109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:163.85, Y:119.19, Z:25.76 [[ 8.69455722e-01 4.90216789e-01 -6.11084917e-02 1.63852985e+02] [-4.89066934e-01 8.71600255e-01 3.35638108e-02 1.19185296e+02] [ 6.97157205e-02 7.03895300e-04 9.97566651e-01 2.57562367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.2671056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:163.88, Y:119.17, Z:25.76 [[ 8.68318235e-01 4.92230211e-01 -6.10971570e-02 1.63883060e+02] [-4.91083878e-01 8.70464652e-01 3.35844310e-02 1.19170588e+02] [ 6.97141871e-02 8.41854885e-04 9.97566651e-01 2.57566131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29710568099995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:163.91, Y:119.16, Z:25.75 [[ 8.65962777e-01 4.96363888e-01 -6.10848578e-02 1.63911465e+02] [-4.95226224e-01 8.68113801e-01 3.36067865e-02 1.19158494e+02] [ 6.97098033e-02 1.14859725e-03 9.97566651e-01 2.57543790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.3271056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:163.94, Y:119.15, Z:25.76 [[ 8.64809916e-01 4.98359709e-01 -6.11670623e-02 1.63938354e+02] [-4.97237565e-01 8.66969094e-01 3.34573573e-02 1.19145407e+02] [ 6.97037514e-02 1.48030671e-03 9.97566637e-01 2.57562027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:163.97, Y:119.14, Z:25.76 [[ 8.61573035e-01 5.03944704e-01 -6.10871574e-02 1.63966690e+02] [-5.02826256e-01 8.63734114e-01 3.36026206e-02 1.19135636e+02] [ 6.96969245e-02 1.76511484e-03 9.97566651e-01 2.57558825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.3871056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:163.99, Y:119.13, Z:25.75 [[ 8.58095958e-01 5.09841231e-01 -6.11003048e-02 1.63993402e+02] [-5.08739329e-01 8.60265520e-01 3.35787204e-02 1.19125974e+02] [ 6.96823017e-02 2.27036384e-03 9.97566651e-01 2.57523407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:164.02, Y:119.11, Z:25.75 [[ 8.56450037e-01 5.12602303e-01 -6.10918473e-02 1.64018791e+02] [-5.11506299e-01 8.58622584e-01 3.35941007e-02 1.19113106e+02] [ 6.96752532e-02 2.47719590e-03 9.97566651e-01 2.57546284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.4471056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:164.05, Y:119.10, Z:25.76 [[ 8.53198863e-01 5.17995298e-01 -6.10947672e-02 1.64045070e+02] [-5.16913402e-01 8.55378471e-01 3.35887897e-02 1.19097438e+02] [ 6.96579837e-02 2.92278673e-03 9.97566651e-01 2.57598853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47710568099995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:164.07, Y:119.08, Z:25.76 [[ 8.50990534e-01 5.21615498e-01 -6.10932324e-02 1.64070339e+02] [-5.20542671e-01 8.53174620e-01 3.35915811e-02 1.19082196e+02] [ 6.96450846e-02 3.21551685e-03 9.97566651e-01 2.57634484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.5071056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:164.10, Y:119.07, Z:25.77 [[ 8.50223565e-01 5.22864623e-01 -6.10939921e-02 1.64095594e+02] [-5.21795104e-01 8.52409273e-01 3.35901992e-02 1.19068379e+02] [ 6.96402122e-02 3.31936704e-03 9.97566651e-01 2.57669731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53710568099996 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:164.12, Y:119.05, Z:25.77 [[ 8.49090479e-01 5.24702336e-01 -6.10967884e-02 1.64122682e+02] [-5.23637912e-01 8.51278672e-01 3.35851123e-02 1.19051473e+02] [ 6.96325798e-02 3.47579561e-03 9.97566651e-01 2.57701677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.56710568099993 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:164.15, Y:119.04, Z:25.77 [[ 8.49232151e-01 5.24474250e-01 -6.10861229e-02 1.64148262e+02] [-5.23407848e-01 8.51419381e-01 3.36045001e-02 1.19035879e+02] [ 6.96346039e-02 3.43493420e-03 9.97566651e-01 2.57705335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59710568099996 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:164.17, Y:119.02, Z:25.77 [[ 8.50172493e-01 5.22948669e-01 -6.10853669e-02 1.64173364e+02] [-5.21878243e-01 8.52357756e-01 3.36058743e-02 1.19019381e+02] [ 6.96407335e-02 3.30833396e-03 9.97566651e-01 2.57695519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.62710568099993 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:164.20, Y:119.00, Z:25.77 [[ 8.50648498e-01 5.22174122e-01 -6.10845216e-02 1.64201548e+02] [-5.21101597e-01 8.52832732e-01 3.36074107e-02 1.19002484e+02] [ 6.96437996e-02 3.24314829e-03 9.97566651e-01 2.57739738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65710568099996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:164.23, Y:118.98, Z:25.78 [[ 8.51227197e-01 5.21231686e-01 -6.10719914e-02 1.64228176e+02] [-5.20155113e-01 8.53409439e-01 3.36301654e-02 1.18983980e+02] [ 6.96485217e-02 3.13999716e-03 9.97566651e-01 2.57762245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68710568099993 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:164.26, Y:118.97, Z:25.78 [[ 8.50932771e-01 5.21713578e-01 -6.10603173e-02 1.64255692e+02] [-5.20636725e-01 8.53114873e-01 3.36513480e-02 1.18966375e+02] [ 6.96478301e-02 3.15520885e-03 9.97566652e-01 2.57791266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7171056809999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:164.28, Y:118.95, Z:25.78 [[ 8.50309716e-01 5.22729854e-01 -6.10482295e-02 1.64280675e+02] [-5.21654040e-01 8.52492331e-01 3.36732629e-02 1.18950951e+02] [ 6.96451672e-02 3.21335293e-03 9.97566652e-01 2.57807552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74710568099994 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:164.31, Y:118.93, Z:25.78 [[ 8.49198016e-01 5.24538073e-01 -6.10126145e-02 1.64306714e+02] [-5.23462280e-01 8.51380644e-01 3.37378180e-02 1.18934915e+02] [ 6.96417291e-02 3.28771416e-03 9.97566650e-01 2.57824818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:164.33, Y:118.92, Z:25.79 [[ 8.48657517e-01 5.25408620e-01 -6.10426114e-02 1.64334791e+02] [-5.24338963e-01 8.50843156e-01 3.36834566e-02 1.18917905e+02] [ 6.96352666e-02 3.42130090e-03 9.97566652e-01 2.57854358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80710568099994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:164.36, Y:118.90, Z:25.79 [[ 8.48289206e-01 5.26004495e-01 -6.10302759e-02 1.64361389e+02] [-5.24934772e-01 8.50474812e-01 3.37057921e-02 1.18898450e+02] [ 6.96341106e-02 3.44465435e-03 9.97566652e-01 2.57890724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.8371056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:164.39, Y:118.88, Z:25.79 [[ 8.48633111e-01 5.25450901e-01 -6.10179753e-02 1.64387186e+02] [-5.24378156e-01 8.50817236e-01 3.37280456e-02 1.18878999e+02] [ 6.96375770e-02 3.37375712e-03 9.97566652e-01 2.57880991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86710568099994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:164.41, Y:118.86, Z:25.79 [[ 8.48445739e-01 5.25758623e-01 -6.09729332e-02 1.64413902e+02] [-5.24680833e-01 8.50627381e-01 3.38094889e-02 1.18862647e+02] [ 6.96408768e-02 3.30581258e-03 9.97566649e-01 2.57895148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.8971056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:164.44, Y:118.84, Z:25.80 [[ 8.46376362e-01 5.29077330e-01 -6.10264940e-02 1.64439391e+02] [-5.28015046e-01 8.48565594e-01 3.37126618e-02 1.18843940e+02] [ 6.96215882e-02 3.68930699e-03 9.97566651e-01 2.57960710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.92710568099994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:164.47, Y:118.83, Z:25.80 [[ 8.45734544e-01 5.30105891e-01 -6.09985653e-02 1.64466618e+02] [-5.29042642e-01 8.47923307e-01 3.37631198e-02 1.18826455e+02] [ 6.96201338e-02 3.71620543e-03 9.97566653e-01 2.57989720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.9571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:164.49, Y:118.81, Z:25.80 [[ 8.44146304e-01 5.32632267e-01 -6.09908671e-02 1.64492089e+02] [-5.31574567e-01 8.46337753e-01 3.37770202e-02 1.18807441e+02] [ 6.96096043e-02 3.90844699e-03 9.97566653e-01 2.58018156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:164.52, Y:118.79, Z:25.80 [[ 8.43085714e-01 5.34310748e-01 -6.09795416e-02 1.64519528e+02] [-5.33255939e-01 8.45278555e-01 3.37974545e-02 1.18790024e+02] [ 6.96030420e-02 4.02355165e-03 9.97566653e-01 2.58048158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0171056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:164.55, Y:118.77, Z:25.81 [[ 8.42310600e-01 5.35533217e-01 -6.09674258e-02 1.64547098e+02] [-5.34480017e-01 8.44504214e-01 3.38192962e-02 1.18772514e+02] [ 6.95986045e-02 4.09951913e-03 9.97566654e-01 2.58081024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:164.57, Y:118.76, Z:25.81 [[ 8.41558123e-01 5.36730002e-01 -6.08344497e-02 1.64572697e+02] [-5.35662659e-01 8.43744930e-01 3.40589149e-02 1.18755673e+02] [ 6.96091999e-02 3.92418655e-03 9.97566619e-01 2.58094139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0771056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:164.60, Y:118.74, Z:25.81 [[ 8.41218419e-01 5.37248297e-01 -6.09576802e-02 1.64599747e+02] [-5.36198298e-01 8.43413569e-01 3.38369180e-02 1.18737949e+02] [ 6.95913612e-02 4.22116576e-03 9.97566652e-01 2.58119487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.63, Y:118.72, Z:25.82 [[ 8.40795158e-01 5.37911312e-01 -6.09501613e-02 1.64625072e+02] [-5.36862067e-01 8.42990669e-01 3.38504564e-02 1.18715775e+02] [ 6.95889607e-02 4.26052965e-03 9.97566652e-01 2.58184059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.1371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.65, Y:118.70, Z:25.82 [[ 8.40850534e-01 5.37826133e-01 -6.09379181e-02 1.64651222e+02] [-5.36775077e-01 8.43045178e-01 3.38724824e-02 1.18698732e+02] [ 6.95909242e-02 4.22826080e-03 9.97566652e-01 2.58196937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.68, Y:118.68, Z:25.81 [[ 8.40187746e-01 5.38861620e-01 -6.09319801e-02 1.64679419e+02] [-5.37812497e-01 8.42383315e-01 3.38831607e-02 1.18681866e+02] [ 6.95864183e-02 4.30176397e-03 9.97566652e-01 2.58147081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.1971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.71, Y:118.67, Z:25.81 [[ 8.39574682e-01 5.39817491e-01 -6.09215038e-02 1.64707231e+02] [-5.38769509e-01 8.41770795e-01 3.39019866e-02 1.18665754e+02] [ 6.95828280e-02 4.35939909e-03 9.97566652e-01 2.58129853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22710568099995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:164.73, Y:118.65, Z:25.81 [[ 8.39392453e-01 5.40102010e-01 -6.09108269e-02 1.64733050e+02] [-5.39053388e-01 8.41588260e-01 3.39211586e-02 1.18648666e+02] [ 6.95827228e-02 4.36102315e-03 9.97566653e-01 2.58114524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.2571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:164.76, Y:118.63, Z:25.81 [[ 8.39937090e-01 5.39255740e-01 -6.09009935e-02 1.64760297e+02] [-5.38203632e-01 8.42131230e-01 3.39388042e-02 1.18631095e+02] [ 6.95883235e-02 4.27067546e-03 9.97566653e-01 2.58148149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.79, Y:118.61, Z:25.82 [[ 8.43022020e-01 5.34421564e-01 -6.08889633e-02 1.64785489e+02] [-5.33355317e-01 8.45209323e-01 3.39603735e-02 1.18611723e+02] [ 6.96130754e-02 3.84610960e-03 9.97566653e-01 2.58207018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.81, Y:118.59, Z:25.83 [[ 8.47108867e-01 5.27930458e-01 -6.07947323e-02 1.64811641e+02] [-5.26835351e-01 8.49281880e-01 3.41291787e-02 1.18594174e+02] [ 6.96496975e-02 3.11768421e-03 9.97566639e-01 2.58250417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.84, Y:118.58, Z:25.83 [[ 8.48482391e-01 5.25710919e-01 -6.08741408e-02 1.64838656e+02] [-5.24620299e-01 8.50657645e-01 3.39869600e-02 1.18578086e+02] [ 6.96503692e-02 3.09847288e-03 9.97566652e-01 2.58277445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37710568099993 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:164.87, Y:118.56, Z:25.83 [[ 8.50775346e-01 5.21996990e-01 -6.08313404e-02 1.64866651e+02] [-5.20891402e-01 8.52943034e-01 3.40635872e-02 1.18560024e+02] [ 6.96667581e-02 2.70606194e-03 9.97566649e-01 2.58302235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:118.54, Z:25.84 [[ 8.51399720e-01 5.20988210e-01 -6.07437289e-02 1.64891956e+02] [-5.19868882e-01 8.53560375e-01 3.42203458e-02 1.18544563e+02] [ 6.96768368e-02 2.44358154e-03 9.97566623e-01 2.58356562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.92, Y:118.53, Z:25.84 [[ 8.51560816e-01 5.20711608e-01 -6.08571913e-02 1.64920812e+02] [-5.19606044e-01 8.53728515e-01 3.40173651e-02 1.18528384e+02] [ 6.96687564e-02 2.65390927e-03 9.97566650e-01 2.58403952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.95, Y:118.51, Z:25.84 [[ 8.50035020e-01 5.23200109e-01 -6.08449652e-02 1.64948453e+02] [-5.22099329e-01 8.52205153e-01 3.40392191e-02 1.18511636e+02] [ 6.96617161e-02 2.83258721e-03 9.97566650e-01 2.58434002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.98, Y:118.50, Z:25.85 [[ 8.49606507e-01 5.23897086e-01 -6.08327799e-02 1.64977173e+02] [-5.22796531e-01 8.51776753e-01 3.40609822e-02 1.18496541e+02] [ 6.96603970e-02 2.86473413e-03 9.97566651e-01 2.58461189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.00, Y:118.48, Z:25.85 [[ 8.46306083e-01 5.29228803e-01 -6.06868061e-02 1.65004924e+02] [-5.28123261e-01 8.48473838e-01 3.43215389e-02 1.18482471e+02] [ 6.96551142e-02 3.00358677e-03 9.97566611e-01 2.58478482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.03, Y:118.47, Z:25.85 [[ 8.45365494e-01 5.30714846e-01 -6.08188571e-02 1.65034692e+02] [-5.29629996e-01 8.47543637e-01 3.40859281e-02 1.18467361e+02] [ 6.96365434e-02 3.39642358e-03 9.97566647e-01 2.58486111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.06, Y:118.45, Z:25.85 [[ 8.44725539e-01 5.31734206e-01 -6.08070503e-02 1.65062339e+02] [-5.30650474e-01 8.46904238e-01 3.41069777e-02 1.18453000e+02] [ 6.96335953e-02 3.45625490e-03 9.97566648e-01 2.58485240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.09, Y:118.44, Z:25.85 [[ 8.44497615e-01 5.32096781e-01 -6.08012618e-02 1.65091108e+02] [-5.31013245e-01 8.46676411e-01 3.41172934e-02 1.18436255e+02] [ 6.96326962e-02 3.47430240e-03 9.97566648e-01 2.58514266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.12, Y:118.42, Z:25.85 [[ 8.44351928e-01 5.32329252e-01 -6.07897144e-02 1.65119852e+02] [-5.31244840e-01 8.46530287e-01 3.41378561e-02 1.18421461e+02] [ 6.96329138e-02 3.46985743e-03 9.97566648e-01 2.58518269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:165.15, Y:118.41, Z:25.85 [[ 8.43657266e-01 5.33430642e-01 -6.07796667e-02 1.65150158e+02] [-5.32347789e-01 8.45836401e-01 3.41557358e-02 1.18409554e+02] [ 6.96293707e-02 3.54018651e-03 9.97566648e-01 2.58473503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:118.40, Z:25.85 [[ 8.43964541e-01 5.32945492e-01 -6.07696990e-02 1.65180107e+02] [-5.31860114e-01 8.46142419e-01 3.41734613e-02 1.18395367e+02] [ 6.96324122e-02 3.47978950e-03 9.97566649e-01 2.58464791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.21, Y:118.38, Z:25.85 [[ 8.43184132e-01 5.34199942e-01 -6.05883024e-02 1.65205811e+02] [-5.33094684e-01 8.45352056e-01 3.44957884e-02 1.18379521e+02] [ 6.96460942e-02 3.21300052e-03 9.97566588e-01 2.58472966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.7671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.23, Y:118.36, Z:25.85 [[ 8.44349480e-01 5.32336691e-01 -6.07585659e-02 1.65233489e+02] [-5.31248323e-01 8.46525865e-01 3.41932529e-02 1.18363406e+02] [ 6.96360207e-02 3.40683103e-03 9.97566648e-01 2.58505788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:165.26, Y:118.35, Z:25.85 [[ 8.45158535e-01 5.31052466e-01 -6.07480832e-02 1.65261713e+02] [-5.29959456e-01 8.47332593e-01 3.42118665e-02 1.18348197e+02] [ 6.96421269e-02 3.27957018e-03 9.97566649e-01 2.58546924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.8271056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:165.29, Y:118.33, Z:25.86 [[ 8.47464311e-01 5.27366208e-01 -6.07381595e-02 1.65291120e+02] [-5.26262480e-01 8.49632947e-01 3.42294755e-02 1.18334839e+02] [ 6.96566102e-02 2.95595558e-03 9.97566649e-01 2.58607926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:165.32, Y:118.32, Z:25.86 [[ 8.49730728e-01 5.23707827e-01 -6.07272707e-02 1.65319909e+02] [-5.22593383e-01 8.51893877e-01 3.42487828e-02 1.18320756e+02] [ 6.96695456e-02 2.63342671e-03 9.97566649e-01 2.58627670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.35, Y:118.30, Z:25.86 [[ 8.51653241e-01 5.20576962e-01 -6.07156048e-02 1.65349648e+02] [-5.19453093e-01 8.53811507e-01 3.42694514e-02 1.18303985e+02] [ 6.96795689e-02 2.35321931e-03 9.97566649e-01 2.58647932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.38, Y:118.29, Z:25.87 [[ 8.51511636e-01 5.20825717e-01 -6.05681947e-02 1.65378590e+02] [-5.19683916e-01 8.53660515e-01 3.45304637e-02 1.18287414e+02] [ 6.96890298e-02 2.07322497e-03 9.97566610e-01 2.58672123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.9471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:165.41, Y:118.27, Z:25.87 [[ 8.54973286e-01 5.15124851e-01 -6.05563242e-02 1.65406500e+02] [-5.13967231e-01 8.57113692e-01 3.45514659e-02 1.18271846e+02] [ 6.97019734e-02 1.58338594e-03 9.97566603e-01 2.58713301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.44, Y:118.26, Z:25.87 [[ 8.57222061e-01 5.11376838e-01 -6.05315343e-02 1.65435100e+02] [-5.10206764e-01 8.59355702e-01 3.45953144e-02 1.18257095e+02] [ 6.97093616e-02 1.22773158e-03 9.97566588e-01 2.58748404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.0071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:165.47, Y:118.24, Z:25.88 [[ 8.61847354e-01 5.03530966e-01 -6.06275915e-02 1.65465175e+02] [-5.02353403e-01 8.63976821e-01 3.44254419e-02 1.18243931e+02] [ 6.97151098e-02 7.87000828e-04 9.97566631e-01 2.58752962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:165.49, Y:118.23, Z:25.88 [[ 8.63275953e-01 5.01085883e-01 -6.05604378e-02 1.65491614e+02] [-4.99893958e-01 8.65397442e-01 3.45441481e-02 1.18230406e+02] [ 6.97184329e-02 4.52664589e-04 9.97566607e-01 2.58763729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.06710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:165.52, Y:118.22, Z:25.88 [[ 8.66019815e-01 4.96314168e-01 -6.06788840e-02 1.65523222e+02] [-4.95125205e-01 8.68142932e-01 3.43348258e-02 1.18219229e+02] [ 6.97188048e-02 3.09005440e-04 9.97566636e-01 2.58769493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09710568099996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:165.55, Y:118.21, Z:25.88 [[ 8.67004828e-01 4.94592982e-01 -6.06663836e-02 1.65553768e+02] [-4.93398260e-01 8.69124710e-01 3.43568986e-02 1.18205635e+02] [ 6.97193340e-02 1.45091169e-04 9.97566636e-01 2.58792957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.12710568099993 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:165.58, Y:118.20, Z:25.88 [[ 8.68683088e-01 4.91640930e-01 -6.06538375e-02 1.65584948e+02] [-4.90437458e-01 8.70798015e-01 3.43790333e-02 1.18195051e+02] [ 6.97193812e-02 -1.17570923e-04 9.97566636e-01 2.58837597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15710568099996 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:165.62, Y:118.19, Z:25.88 [[ 8.69600969e-01 4.90017155e-01 -6.06411002e-02 1.65617619e+02] [-4.88808168e-01 8.71712747e-01 3.44014860e-02 1.18187220e+02] [ 6.97189383e-02 -2.73700532e-04 9.97566637e-01 2.58848380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18710568099993 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:165.65, Y:118.18, Z:25.89 [[ 8.69709197e-01 4.89826509e-01 -6.06292251e-02 1.65646545e+02] [-4.88615601e-01 8.71819874e-01 3.44224021e-02 1.18177387e+02] [ 6.97187684e-02 -3.13094417e-04 9.97566637e-01 2.58855089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2171056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:165.68, Y:118.17, Z:25.89 [[ 8.68031569e-01 4.92793265e-01 -6.06299686e-02 1.65677850e+02] [-4.91589662e-01 8.70146420e-01 3.44210924e-02 1.18170172e+02] [ 6.97194327e-02 -7.35289892e-05 9.97566637e-01 2.58899840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24710568099994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:165.71, Y:118.16, Z:25.89 [[ 8.65581238e-01 4.97096854e-01 -6.05296514e-02 1.65706289e+02] [-4.95891404e-01 8.67695057e-01 3.45977262e-02 1.18159184e+02] [ 6.97197003e-02 6.89911437e-05 9.97566619e-01 2.58937331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2771056809999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:165.74, Y:118.16, Z:25.89 [[ 8.60834444e-01 5.05261073e-01 -6.06243164e-02 1.65736941e+02] [-5.04087395e-01 8.62966048e-01 3.44310479e-02 1.18156327e+02] [ 6.97133950e-02 9.20521797e-04 9.97566637e-01 2.58939046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.30710568099994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:165.76, Y:118.15, Z:25.90 [[ 8.58162382e-01 5.09785738e-01 -6.06286034e-02 1.65763854e+02] [-5.08623831e-01 8.60300425e-01 3.44234974e-02 1.18147786e+02] [ 6.97074213e-02 1.29620196e-03 9.97566637e-01 2.58955579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.3371056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:165.79, Y:118.14, Z:25.90 [[ 8.53243874e-01 5.17975409e-01 -6.06330499e-02 1.65793056e+02] [-5.16834574e-01 8.55393234e-01 3.44156636e-02 1.18141373e+02] [ 6.96915681e-02 1.97230234e-03 9.97566637e-01 2.58980574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.36710568099994 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:165.82, Y:118.13, Z:25.90 [[ 8.48856239e-01 5.25134592e-01 -6.06361704e-02 1.65821407e+02] [-5.24012270e-01 8.51015324e-01 3.44101648e-02 1.18134889e+02] [ 6.96722781e-02 2.56481419e-03 9.97566637e-01 2.58988208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.3971056809999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:165.85, Y:118.12, Z:25.90 [[ 8.47811885e-01 5.26811409e-01 -6.07021079e-02 1.65847934e+02] [-5.25701658e-01 8.49977467e-01 3.42939175e-02 1.18124506e+02] [ 6.96618510e-02 2.83640792e-03 9.97566630e-01 2.58991008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.42710568099994 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:165.88, Y:118.11, Z:25.90 [[ 8.46710096e-01 5.28586140e-01 -6.06523384e-02 1.65875362e+02] [-5.27474650e-01 8.48874779e-01 3.43817161e-02 1.18113582e+02] [ 6.96599390e-02 2.88122479e-03 9.97566635e-01 2.58979576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.4571056809999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:165.90, Y:118.10, Z:25.89 [[ 8.47841721e-01 5.26768760e-01 -6.06555089e-02 1.65902812e+02] [-5.25653029e-01 8.50004221e-01 3.43761219e-02 1.18101461e+02] [ 6.96657057e-02 2.73824161e-03 9.97566635e-01 2.58944997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48710568099995 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:165.93, Y:118.09, Z:25.90 [[ 8.48907471e-01 5.25064579e-01 -6.05251545e-02 1.65927634e+02] [-5.23928120e-01 8.51059189e-01 3.46060964e-02 1.18090350e+02] [ 6.96809244e-02 2.33345661e-03 9.97566601e-01 2.58989180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5171056809999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:165.95, Y:118.08, Z:25.90 [[ 8.50863750e-01 5.21872410e-01 -6.06635526e-02 1.65954769e+02] [-5.20745252e-01 8.53020311e-01 3.43617689e-02 1.18078540e+02] [ 6.96797016e-02 2.35307341e-03 9.97566641e-01 2.59020274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54710568099995 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:165.98, Y:118.06, Z:25.90 [[ 8.51482859e-01 5.20872068e-01 -6.05741663e-02 1.65979203e+02] [-5.19731154e-01 8.53632194e-01 3.45196232e-02 1.18064341e+02] [ 6.96883660e-02 2.08941393e-03 9.97566622e-01 2.59036407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5771056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:166.00, Y:118.05, Z:25.91 [[ 8.52600113e-01 5.19028761e-01 -6.06810635e-02 1.66002974e+02] [-5.17896620e-01 8.54754056e-01 3.43306807e-02 1.18049757e+02] [ 6.96859958e-02 2.15617544e-03 9.97566646e-01 2.59057656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60710568099995 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:166.03, Y:118.04, Z:25.91 [[ 8.53232546e-01 5.17987987e-01 -6.06849818e-02 1.66027965e+02] [-5.16853710e-01 8.55385365e-01 3.43237531e-02 1.18035747e+02] [ 6.96883371e-02 2.07911478e-03 9.97566646e-01 2.59086553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.6371056809999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:166.05, Y:118.02, Z:25.91 [[ 8.54978597e-01 5.15100527e-01 -6.06880956e-02 1.66053566e+02] [-5.13959369e-01 8.57127776e-01 3.43182466e-02 1.18022456e+02] [ 6.96947994e-02 1.84984902e-03 9.97566646e-01 2.59090666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66710568099995 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:166.08, Y:118.01, Z:25.91 [[ 8.55905343e-01 5.13558784e-01 -6.06911892e-02 1.66078113e+02] [-5.12414141e-01 8.58052668e-01 3.43127748e-02 1.18008149e+02] [ 6.96978637e-02 1.73053640e-03 9.97566646e-01 2.59098875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.6971056809999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:166.10, Y:117.99, Z:25.91 [[ 8.57574223e-01 5.10766544e-01 -6.06958852e-02 1.66101580e+02] [-5.09615497e-01 8.59718122e-01 3.43044660e-02 1.17993653e+02] [ 6.97029260e-02 1.51293792e-03 9.97566646e-01 2.59093987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72710568099995 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:166.12, Y:117.98, Z:25.91 [[ 8.58091795e-01 5.09896082e-01 -6.06997376e-02 1.66124690e+02] [-5.08743342e-01 8.60234784e-01 3.42976480e-02 1.17976616e+02] [ 6.97042620e-02 1.45005704e-03 9.97566646e-01 2.59081066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.7571056809999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:166.15, Y:117.96, Z:25.91 [[ 8.58042255e-01 5.09970829e-01 -6.07720477e-02 1.66148928e+02] [-5.08827332e-01 8.60190201e-01 3.41696383e-02 1.17961048e+02] [ 6.97010387e-02 1.60348541e-03 9.97566636e-01 2.59106626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78710568099996 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:166.17, Y:117.95, Z:25.92 [[ 8.57053399e-01 5.11628388e-01 -6.07936218e-02 1.66173777e+02] [-5.10491751e-01 8.59204991e-01 3.41314497e-02 1.17946762e+02] [ 6.96968019e-02 1.78216751e-03 9.97566629e-01 2.59155765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81710568099993 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:166.20, Y:117.93, Z:25.92 [[ 8.56329712e-01 5.12830314e-01 -6.08645443e-02 1.66199246e+02] [-5.11705609e-01 8.58487606e-01 3.40058683e-02 1.17932498e+02] [ 6.96906971e-02 2.02449331e-03 9.97566593e-01 2.59201775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84710568099996 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:166.22, Y:117.92, Z:25.92 [[ 8.53062601e-01 5.18267022e-01 -6.06917817e-02 1.66222135e+02] [-5.17134301e-01 8.55216240e-01 3.43117697e-02 1.17916785e+02] [ 6.96872561e-02 2.11571463e-03 9.97566644e-01 2.59197717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87710568099993 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:166.25, Y:117.90, Z:25.92 [[ 8.51147784e-01 5.21372577e-01 -6.09761070e-02 1.66246939e+02] [-5.20283637e-01 8.53324053e-01 3.38082546e-02 1.17901821e+02] [ 6.96590756e-02 2.94904973e-03 9.97566497e-01 2.59223624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90710568099996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:166.27, Y:117.88, Z:25.93 [[ 8.49556202e-01 5.23966663e-01 -6.09359940e-02 1.66271450e+02] [-5.22879278e-01 8.51733204e-01 3.38793316e-02 1.17884799e+02] [ 6.96528498e-02 3.07977227e-03 9.97566537e-01 2.59299382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93710568099993 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:166.30, Y:117.87, Z:25.93 [[ 8.49636340e-01 5.23862654e-01 -6.07125132e-02 1.66296844e+02] [-5.22746720e-01 8.51798730e-01 3.42752034e-02 1.17870484e+02] [ 6.96703407e-02 2.61580879e-03 9.97566640e-01 2.59289690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.9671056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:166.32, Y:117.86, Z:25.93 [[ 8.49620805e-01 5.23877845e-01 -6.07987712e-02 1.66322228e+02] [-5.22772856e-01 8.51788825e-01 3.41223968e-02 1.17855917e+02] [ 6.96636817e-02 2.79284902e-03 9.97566625e-01 2.59287754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99710568099994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:166.35, Y:117.84, Z:25.93 [[ 8.49638614e-01 5.23841341e-01 -6.08643994e-02 1.66348352e+02] [-5.22744569e-01 8.51810837e-01 3.40060940e-02 1.17840980e+02] [ 6.96587529e-02 2.92364362e-03 9.97566595e-01 2.59336645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0271056809999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:166.37, Y:117.83, Z:25.93 [[ 8.50138337e-01 5.23047306e-01 -6.07151018e-02 1.66371347e+02] [-5.21929626e-01 8.52299825e-01 3.42706018e-02 1.17827687e+02] [ 6.96726166e-02 2.55425791e-03 9.97566641e-01 2.59348454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05710568099994 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:166.40, Y:117.81, Z:25.94 [[ 8.51037976e-01 5.21581598e-01 -6.07206709e-02 1.66395027e+02] [-5.20460898e-01 8.53197900e-01 3.42607318e-02 1.17813615e+02] [ 6.96765161e-02 2.44555100e-03 9.97566641e-01 2.59381754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0871056809999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:166.42, Y:117.80, Z:25.94 [[ 8.51173087e-01 5.21360530e-01 -6.07253906e-02 1.66421631e+02] [-5.20239865e-01 8.53333029e-01 3.42523642e-02 1.17801021e+02] [ 6.96768123e-02 2.43707838e-03 9.97566641e-01 2.59389091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11710568099994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:166.45, Y:117.79, Z:25.94 [[ 8.51295815e-01 5.21159837e-01 -6.07277468e-02 1.66447434e+02] [-5.20038961e-01 8.53455647e-01 3.42481863e-02 1.17788079e+02] [ 6.96772176e-02 2.42545669e-03 9.97566641e-01 2.59391895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.1471056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:166.47, Y:117.78, Z:25.94 [[ 8.53140180e-01 5.18134724e-01 -6.07308847e-02 1.66472966e+02] [-5.17006583e-01 8.55296227e-01 3.42426212e-02 1.17775420e+02] [ 6.96851876e-02 2.18451118e-03 9.97566641e-01 2.59364482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17710568099994 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:166.50, Y:117.76, Z:25.94 [[ 8.54999622e-01 5.15047155e-01 -6.08446809e-02 1.66496630e+02] [-5.13925561e-01 8.57159111e-01 3.40408002e-02 1.17759969e+02] [ 6.96861899e-02 2.16476549e-03 9.97566614e-01 2.59400015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.2071056809999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:166.52, Y:117.75, Z:25.95 [[ 8.56197727e-01 5.13057986e-01 -6.08025902e-02 1.66520676e+02] [-5.11926075e-01 8.58351810e-01 3.41154567e-02 1.17745295e+02] [ 6.96932208e-02 1.91685491e-03 9.97566630e-01 2.59455558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23710568099995 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:166.55, Y:117.73, Z:25.95 [[ 8.60693829e-01 5.05487479e-01 -6.07333632e-02 1.66546962e+02] [-5.04327950e-01 8.62833159e-01 3.42382560e-02 1.17733577e+02] [ 6.97097694e-02 1.16087697e-03 9.97566640e-01 2.59465175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.2671056809999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:166.57, Y:117.72, Z:25.95 [[ 8.62604562e-01 5.02226557e-01 -6.06782904e-02 1.66573649e+02] [-5.01052062e-01 8.64735723e-01 3.43359952e-02 1.17720010e+02] [ 6.97151339e-02 7.84596417e-04 9.97566632e-01 2.59487429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29710568099995 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:166.60, Y:117.71, Z:25.95 [[ 8.65488746e-01 4.97210428e-01 -6.09181509e-02 1.66600031e+02] [-4.96053491e-01 8.67629549e-01 3.39101783e-02 1.17706382e+02] [ 6.97148820e-02 8.69783786e-04 9.97566579e-01 2.59511513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.3271056809999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:166.63, Y:117.69, Z:25.95 [[ 8.66795205e-01 4.94945347e-01 -6.07879675e-02 1.66627230e+02] [-4.93766594e-01 8.68924005e-01 3.41412394e-02 1.17691938e+02] [ 6.97181718e-02 4.21605129e-04 9.97566639e-01 2.59542190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35710568099995 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:166.65, Y:117.68, Z:25.95 [[ 8.69355191e-01 4.90433367e-01 -6.08002018e-02 1.66654564e+02] [-4.89245084e-01 8.71478689e-01 3.41195300e-02 1.17680969e+02] [ 6.97194361e-02 8.42093621e-05 9.97566636e-01 2.59541319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.3871056809999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:166.68, Y:117.67, Z:25.95 [[ 8.70537935e-01 4.88332511e-01 -6.07870230e-02 1.66682373e+02] [-4.87137470e-01 8.72657634e-01 3.41429247e-02 1.17668177e+02] [ 6.97193598e-02 -1.11074603e-04 9.97566639e-01 2.59543934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41710568099995 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:166.71, Y:117.66, Z:25.96 [[ 8.70966288e-01 4.87610025e-01 -6.04498858e-02 1.66706361e+02] [-4.86371584e-01 8.73061125e-01 3.47412417e-02 1.17658874e+02] [ 6.97166230e-02 -8.57343646e-04 9.97566468e-01 2.59561638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.4471056809999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:166.73, Y:117.65, Z:25.96 [[ 8.73083461e-01 4.83759984e-01 -6.08403457e-02 1.66733097e+02] [-4.82560475e-01 8.75200630e-01 3.40476834e-02 1.17651117e+02] [ 6.97184157e-02 -3.67323177e-04 9.97566643e-01 2.59624170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47710568099995 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:166.76, Y:117.64, Z:25.97 [[ 8.73977820e-01 4.82133084e-01 -6.09135336e-02 1.66759770e+02] [-4.80938686e-01 8.76097922e-01 3.39177248e-02 1.17639584e+02] [ 6.97190775e-02 -3.47664384e-04 9.97566604e-01 2.59669039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.5071056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:166.79, Y:117.63, Z:25.97 [[ 8.76188623e-01 4.78106514e-01 -6.08905447e-02 1.66788867e+02] [-4.76899536e-01 8.78301571e-01 3.39585524e-02 1.17631756e+02] [ 6.97160662e-02 -7.15424719e-04 9.97566618e-01 2.59702901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53710568099996 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:166.82, Y:117.63, Z:25.97 [[ 8.78600293e-01 4.73678132e-01 -6.07499237e-02 1.66816060e+02] [-4.72443228e-01 8.80696993e-01 3.42082325e-02 1.17625168e+02] [ 6.97059668e-02 -1.35447300e-03 9.97566661e-01 2.59747850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.56710568099993 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:166.84, Y:117.61, Z:25.98 [[ 8.79367072e-01 4.72248528e-01 -6.07855205e-02 1.66842920e+02] [-4.71014585e-01 8.81464339e-01 3.41449760e-02 1.17614489e+02] [ 6.97051833e-02 -1.39510085e-03 9.97566660e-01 2.59776889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59710568099996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:166.87, Y:117.61, Z:25.98 [[ 8.80878654e-01 4.69426039e-01 -6.07617628e-02 1.66870848e+02] [-4.68182464e-01 8.82970223e-01 3.41872148e-02 1.17608031e+02] [ 6.96991961e-02 -1.66719587e-03 9.97566661e-01 2.59827764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.62710568099993 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:166.90, Y:117.60, Z:25.99 [[ 8.81446074e-01 4.68373828e-01 -6.06529193e-02 1.66897226e+02] [-4.67114442e-01 8.83528192e-01 3.43807089e-02 1.17598873e+02] [ 6.96915883e-02 -1.97288634e-03 9.97566635e-01 2.59867811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:166.93, Y:117.59, Z:25.99 [[ 8.83487806e-01 4.64495139e-01 -6.07746866e-02 1.66927987e+02] [-4.63241482e-01 8.85573342e-01 3.41641008e-02 1.17594871e+02] [ 6.96895011e-02 -2.03021063e-03 9.97566665e-01 2.59854932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.96, Y:117.59, Z:25.98 [[ 8.85527926e-01 4.60601441e-01 -6.07174158e-02 1.66958873e+02] [-4.59331632e-01 8.87603678e-01 3.42660503e-02 1.17592318e+02] [ 6.96759937e-02 -2.45411476e-03 9.97566656e-01 2.59814968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.99, Y:117.58, Z:25.98 [[ 8.86451583e-01 4.58823392e-01 -6.07016128e-02 1.66986249e+02] [-4.57547496e-01 8.88523605e-01 3.42941856e-02 1.17584655e+02] [ 6.96697905e-02 -2.62626415e-03 9.97566651e-01 2.59844998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.02, Y:117.58, Z:25.99 [[ 8.86630593e-01 4.58464331e-01 -6.08000788e-02 1.67017940e+02] [-4.57199598e-01 8.88709424e-01 3.41187206e-02 1.17579854e+02] [ 6.96758195e-02 -2.45292991e-03 9.97566671e-01 2.59896995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:117.57, Z:25.99 [[ 8.86099593e-01 4.59503582e-01 -6.06957139e-02 1.67044634e+02] [-4.58228554e-01 8.88172155e-01 3.43047597e-02 1.17573694e+02] [ 6.96714030e-02 -2.58492440e-03 9.97566646e-01 2.59946396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.08, Y:117.57, Z:26.00 [[ 8.83751579e-01 4.63987502e-01 -6.08173044e-02 1.67076270e+02] [-4.62737888e-01 8.85839526e-01 3.40878303e-02 1.17573011e+02] [ 6.96906993e-02 -1.98270286e-03 9.97566677e-01 2.59975912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.8371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.10, Y:117.56, Z:26.00 [[ 8.83931247e-01 4.63643392e-01 -6.08305400e-02 1.67101209e+02] [-4.62394590e-01 8.86019680e-01 3.40641947e-02 1.17559323e+02] [ 6.96906944e-02 -1.98269357e-03 9.97566678e-01 2.59995770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.13, Y:117.55, Z:26.00 [[ 8.82120074e-01 4.67078379e-01 -6.08437619e-02 1.67128887e+02] [-4.65839339e-01 8.84214312e-01 3.40405621e-02 1.17552595e+02] [ 6.96985356e-02 -1.68444528e-03 9.97566678e-01 2.60005096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:117.55, Z:26.00 [[ 8.77709393e-01 4.75313760e-01 -6.08527030e-02 1.67159313e+02] [-4.74095483e-01 8.79815777e-01 3.40245709e-02 1.17549324e+02] [ 6.97115149e-02 -1.01369384e-03 9.97566678e-01 2.60011206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:117.54, Z:26.00 [[ 8.75153541e-01 4.80001689e-01 -6.08659096e-02 1.67185672e+02] [-4.78796340e-01 8.77267349e-01 3.40009296e-02 1.17540042e+02] [ 6.97161788e-02 -6.13659207e-04 9.97566678e-01 2.60012557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.9571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:117.53, Z:26.00 [[ 8.69312947e-01 4.90499386e-01 -6.08716101e-02 1.67214410e+02] [-4.89320278e-01 8.71441505e-01 3.39907210e-02 1.17534178e+02] [ 6.97184752e-02 2.37139365e-04 9.97566678e-01 2.59978195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.24, Y:117.53, Z:25.99 [[ 8.63230483e-01 5.01126026e-01 -6.08756078e-02 1.67244842e+02] [-4.99973622e-01 8.65373616e-01 3.39835598e-02 1.17528590e+02] [ 6.97101911e-02 1.10055345e-03 9.97566679e-01 2.59934145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:117.52, Z:25.99 [[ 8.60834476e-01 5.05229446e-01 -6.08868753e-02 1.67269964e+02] [-5.04088684e-01 8.62983829e-01 3.39633603e-02 1.17518604e+02] [ 6.97036785e-02 1.45555332e-03 9.97566679e-01 2.59934354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.30, Y:117.51, Z:26.00 [[ 8.57971451e-01 5.10075584e-01 -6.08924238e-02 1.67295444e+02] [-5.08947667e-01 8.60127571e-01 3.39534096e-02 1.17507435e+02] [ 6.96940578e-02 1.86000094e-03 9.97566679e-01 2.59971955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:117.49, Z:26.00 [[ 8.56942301e-01 5.11801201e-01 -6.09050368e-02 1.67319538e+02] [-5.10679231e-01 8.59101522e-01 3.39307696e-02 1.17494692e+02] [ 6.96894184e-02 2.02622560e-03 9.97566679e-01 2.59973639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:117.48, Z:26.00 [[ 8.56259175e-01 5.12942629e-01 -6.09104707e-02 1.67344976e+02] [-5.11824231e-01 8.58420248e-01 3.39210122e-02 1.17482656e+02] [ 6.96863145e-02 2.13027691e-03 9.97566679e-01 2.60019271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.1371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.37, Y:117.47, Z:26.00 [[ 8.56435291e-01 5.12647026e-01 -6.09230594e-02 1.67370373e+02] [-5.11529489e-01 8.58596809e-01 3.38983875e-02 1.17470340e+02] [ 6.96862519e-02 2.13216608e-03 9.97566680e-01 2.60046943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.39, Y:117.46, Z:26.01 [[ 8.57414277e-01 5.11006452e-01 -6.09357334e-02 1.67394791e+02] [-5.09886398e-01 8.59574491e-01 3.38755894e-02 1.17458511e+02] [ 6.96894468e-02 2.02488759e-03 9.97566680e-01 2.60068993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:117.44, Z:26.01 [[ 8.58036465e-01 5.09960387e-01 -6.09411906e-02 1.67419479e+02] [-5.08838396e-01 8.60195673e-01 3.38657691e-02 1.17443758e+02] [ 6.96915493e-02 1.95115285e-03 9.97566680e-01 2.60084184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.44, Y:117.43, Z:26.01 [[ 8.60758896e-01 5.05347658e-01 -6.09743289e-02 1.67442327e+02] [-5.04218316e-01 8.62914270e-01 3.38061006e-02 1.17427530e+02] [ 6.96994523e-02 1.64547161e-03 9.97566679e-01 2.60135295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.46, Y:117.41, Z:26.02 [[ 8.64413210e-01 4.99073283e-01 -6.09562124e-02 1.67464768e+02] [-4.97925993e-01 8.66559084e-01 3.38387353e-02 1.17411113e+02] [ 6.97101683e-02 1.10103270e-03 9.97566680e-01 2.60171686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:117.40, Z:26.02 [[ 8.66670569e-01 4.95142400e-01 -6.09600652e-02 1.67488618e+02] [-4.93985864e-01 8.68811473e-01 3.38317930e-02 1.17396461e+02] [ 6.97143593e-02 7.92391195e-04 9.97566680e-01 2.60204409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.51, Y:117.38, Z:26.03 [[ 8.71111599e-01 4.87285286e-01 -6.09723852e-02 1.67511869e+02] [-4.86110993e-01 8.73242816e-01 3.38095752e-02 1.17379716e+02] [ 6.97186058e-02 1.87433621e-04 9.97566680e-01 2.60261269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:117.37, Z:26.03 [[ 8.73135062e-01 4.83648843e-01 -6.09832835e-02 1.67534716e+02] [-4.82467047e-01 8.75262127e-01 3.37899062e-02 1.17366140e+02] [ 6.97188075e-02 -8.07271540e-05 9.97566680e-01 2.60286165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.56, Y:117.35, Z:26.03 [[ 8.76120348e-01 4.78218721e-01 -6.09917258e-02 1.67558432e+02] [-4.77024804e-01 8.78240633e-01 3.37746608e-02 1.17351641e+02] [ 6.97170869e-02 -4.96101549e-04 9.97566680e-01 2.60310066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.58, Y:117.34, Z:26.03 [[ 8.76802694e-01 4.76964919e-01 -6.10041148e-02 1.67582278e+02] [-4.75769527e-01 8.78922148e-01 3.37522688e-02 1.17337144e+02] [ 6.97165158e-02 -5.70181337e-04 9.97566681e-01 2.60333305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.61, Y:117.32, Z:26.04 [[ 8.75801434e-01 4.78799358e-01 -6.10165828e-02 1.67605811e+02] [-4.77609977e-01 8.77924266e-01 3.37297145e-02 1.17321761e+02] [ 6.97177043e-02 -3.98403591e-04 9.97566681e-01 2.60389303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.4671056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:167.63, Y:117.31, Z:26.04 [[ 8.72524323e-01 4.84743972e-01 -6.10293949e-02 1.67631181e+02] [-4.83570677e-01 8.74656087e-01 3.37065168e-02 1.17311571e+02] [ 6.97187626e-02 1.02270022e-04 9.97566681e-01 2.60447563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49710568099994 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:167.66, Y:117.30, Z:26.05 [[ 8.70117103e-01 4.89051283e-01 -6.10333521e-02 1.67657248e+02] [-4.87889043e-01 8.72254915e-01 3.36993499e-02 1.17300430e+02] [ 6.97173516e-02 4.55122988e-04 9.97566681e-01 2.60480244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5271056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.68, Y:117.29, Z:26.05 [[ 8.65742826e-01 4.96752243e-01 -6.10456238e-02 1.67683584e+02] [-4.95610584e-01 8.67891699e-01 3.36771053e-02 1.17289609e+02] [ 6.97101677e-02 1.09914491e-03 9.97566682e-01 2.60498288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.71, Y:117.28, Z:26.06 [[ 8.61345841e-01 5.04332958e-01 -6.10869021e-02 1.67707836e+02] [-5.03215511e-01 8.63507406e-01 3.36022332e-02 1.17276052e+02] [ 6.96957060e-02 1.79673282e-03 9.97566680e-01 2.60578736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5871056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:167.73, Y:117.26, Z:26.06 [[ 8.59200974e-01 5.07981501e-01 -6.10612956e-02 1.67732461e+02] [-5.06869932e-01 8.61365565e-01 3.36487007e-02 1.17263070e+02] [ 6.96890149e-02 2.03913834e-03 9.97566681e-01 2.60584345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61710568099994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:167.76, Y:117.25, Z:26.05 [[ 8.55432296e-01 5.14301139e-01 -6.10731218e-02 1.67758640e+02] [-5.13207087e-01 8.57605793e-01 3.36272222e-02 1.17252256e+02] [ 6.96711817e-02 2.57734706e-03 9.97566681e-01 2.60504754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.6471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.79, Y:117.24, Z:26.05 [[ 8.54455757e-01 5.15921493e-01 -6.10767736e-02 1.67785113e+02] [-5.14832035e-01 8.56631561e-01 3.36205882e-02 1.17239667e+02] [ 6.96658760e-02 2.71697454e-03 9.97566681e-01 2.60463820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:117.23, Z:26.04 [[ 8.53527020e-01 5.17455324e-01 -6.10869334e-02 1.67809525e+02] [-5.16371095e-01 8.55705434e-01 3.36021181e-02 1.17225291e+02] [ 6.96600158e-02 2.86321094e-03 9.97566682e-01 2.60409565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:117.21, Z:26.04 [[ 8.54194367e-01 5.16352526e-01 -6.10905227e-02 1.67834950e+02] [-5.15265951e-01 8.56371611e-01 3.35955915e-02 1.17209634e+02] [ 6.96633578e-02 2.78070123e-03 9.97566682e-01 2.60442921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.86, Y:117.19, Z:26.05 [[ 8.54546019e-01 5.15768921e-01 -6.11025505e-02 1.67857417e+02] [-5.14682420e-01 8.56723300e-01 3.35737056e-02 1.17193069e+02] [ 6.96642527e-02 2.75813209e-03 9.97566682e-01 2.60474502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.7671056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.88, Y:117.18, Z:26.05 [[ 8.55183490e-01 5.14710849e-01 -6.11059800e-02 1.67881821e+02] [-5.13622099e-01 8.57359647e-01 3.35674626e-02 1.17177549e+02] [ 6.96673387e-02 2.67904192e-03 9.97566682e-01 2.60509261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.90, Y:117.16, Z:26.05 [[ 8.56451065e-01 5.12597730e-01 -6.11157981e-02 1.67904760e+02] [-5.11504884e-01 8.58625168e-01 3.35495775e-02 1.17160443e+02] [ 6.96729997e-02 2.52745785e-03 9.97566682e-01 2.60540176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.93, Y:117.15, Z:26.06 [[ 8.57148147e-01 5.11435552e-01 -6.10797011e-02 1.67927230e+02] [-5.10335077e-01 8.59318403e-01 3.36153555e-02 1.17145681e+02] [ 6.96789990e-02 2.35777428e-03 9.97566678e-01 2.60606251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:117.13, Z:26.06 [[ 8.58084114e-01 5.09857902e-01 -6.11275136e-02 1.67951603e+02] [-5.08759635e-01 8.60255482e-01 3.35281859e-02 1.17130204e+02] [ 6.96798892e-02 2.32920785e-03 9.97566683e-01 2.60641139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.8871056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:167.97, Y:117.11, Z:26.07 [[ 8.60329552e-01 5.06058612e-01 -6.11370865e-02 1.67972763e+02] [-5.04951994e-01 8.62496675e-01 3.35107211e-02 1.17111368e+02] [ 6.96889229e-02 2.04103011e-03 9.97566684e-01 2.60677539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91710568099995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:168.00, Y:117.10, Z:26.07 [[ 8.62432444e-01 5.02465022e-01 -6.11488445e-02 1.67997205e+02] [-5.01350893e-01 8.64595716e-01 3.34892519e-02 1.17095027e+02] [ 6.96962067e-02 1.77481046e-03 9.97566684e-01 2.60665309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.9471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:168.02, Y:117.08, Z:26.07 [[ 8.66433794e-01 4.95538400e-01 -6.11078927e-02 1.68019908e+02] [-4.94401697e-01 8.68585296e-01 3.35640663e-02 1.17078663e+02] [ 6.97097007e-02 1.13080452e-03 9.97566679e-01 2.60672923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.04, Y:117.06, Z:26.08 [[ 8.69689872e-01 4.89800673e-01 -6.11132421e-02 1.68041182e+02] [-4.88650461e-01 8.71834180e-01 3.35542842e-02 1.17062767e+02] [ 6.97155243e-02 6.81192792e-04 9.97566680e-01 2.60752592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.0071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:168.06, Y:117.05, Z:26.08 [[ 8.71568897e-01 4.86441069e-01 -6.11779684e-02 1.68064159e+02] [-4.85290899e-01 8.73713218e-01 3.34358551e-02 1.17048581e+02] [ 6.97165727e-02 5.47459960e-04 9.97566689e-01 2.60773526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.09, Y:117.03, Z:26.08 [[ 8.73407687e-01 4.83131063e-01 -6.11832403e-02 1.68088779e+02] [-4.81973442e-01 8.75547994e-01 3.34262054e-02 1.17033231e+02] [ 6.97181015e-02 2.93992184e-04 9.97566689e-01 2.60796820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.06710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:168.11, Y:117.02, Z:26.08 [[ 8.72983439e-01 4.83895931e-01 -6.11934846e-02 1.68113399e+02] [-4.82741501e-01 8.75125469e-01 3.34074405e-02 1.17021212e+02] [ 6.97177015e-02 3.76492306e-04 9.97566690e-01 2.60831424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:168.14, Y:117.01, Z:26.09 [[ 8.69710584e-01 4.89752380e-01 -6.12054463e-02 1.68139954e+02] [-4.88613916e-01 8.71861141e-01 3.33855114e-02 1.17010705e+02] [ 6.97132839e-02 8.70100157e-04 9.97566690e-01 2.60900741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:117.00, Z:26.10 [[ 8.65418432e-01 4.97296212e-01 -6.12161297e-02 1.68165356e+02] [-4.96177875e-01 8.67579525e-01 3.33659107e-02 1.17000293e+02] [ 6.97026017e-02 1.49861499e-03 9.97566690e-01 2.60981115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:116.99, Z:26.10 [[ 8.63824123e-01 5.00059778e-01 -6.12217442e-02 1.68190462e+02] [-4.98949085e-01 8.65989154e-01 3.33556057e-02 1.16987223e+02] [ 6.96971632e-02 1.73315633e-03 9.97566690e-01 2.61017439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18710568099993 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:168.21, Y:116.97, Z:26.10 [[ 8.62621285e-01 5.02130380e-01 -6.12339754e-02 1.68214157e+02] [-5.01026476e-01 8.64789785e-01 3.33331365e-02 1.16974597e+02] [ 6.96920970e-02 1.92596985e-03 9.97566691e-01 2.61047589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.24, Y:116.96, Z:26.10 [[ 8.60633031e-01 5.05529958e-01 -6.12392675e-02 1.68239322e+02] [-5.04435310e-01 8.62806217e-01 3.33234113e-02 1.16961660e+02] [ 6.96836034e-02 2.21202042e-03 9.97566691e-01 2.61048351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.27, Y:116.95, Z:26.10 [[ 8.58646963e-01 5.08894629e-01 -6.12507145e-02 1.68265184e+02] [-5.07809994e-01 8.60825164e-01 3.33023576e-02 1.16950791e+02] [ 6.96735473e-02 2.50875672e-03 9.97566691e-01 2.61033222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:116.94, Z:26.10 [[ 8.57903831e-01 5.10144973e-01 -6.12627448e-02 1.68289017e+02] [-5.09065091e-01 8.60084392e-01 3.32802120e-02 1.16938631e+02] [ 6.96688635e-02 2.63550337e-03 9.97566691e-01 2.61044104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:116.92, Z:26.11 [[ 8.56986530e-01 5.11683462e-01 -6.12708930e-02 1.68313353e+02] [-5.10608565e-01 8.59169552e-01 3.32652040e-02 1.16924217e+02] [ 6.96633405e-02 2.77761101e-03 9.97566691e-01 2.61077291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:116.91, Z:26.11 [[ 8.57503216e-01 5.10815635e-01 -6.12831260e-02 1.68335560e+02] [-5.09740137e-01 8.59685942e-01 3.32426524e-02 1.16909304e+02] [ 6.96651085e-02 2.73278770e-03 9.97566692e-01 2.61101628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36710568099994 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:168.36, Y:116.89, Z:26.11 [[ 8.58662822e-01 5.08863331e-01 -6.12884072e-02 1.68359016e+02] [-5.07783563e-01 8.60843439e-01 3.32329129e-02 1.16894847e+02] [ 6.96707339e-02 2.58537902e-03 9.97566692e-01 2.61121979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.3971056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:168.38, Y:116.88, Z:26.11 [[ 8.61224885e-01 5.04513579e-01 -6.13004594e-02 1.68381761e+02] [-5.03424376e-01 8.63400804e-01 3.32106668e-02 1.16878297e+02] [ 6.96820983e-02 2.25829283e-03 9.97566692e-01 2.61143521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.41, Y:116.86, Z:26.11 [[ 8.62284660e-01 5.02698615e-01 -6.13128580e-02 1.68405089e+02] [-5.01606459e-01 8.64459098e-01 3.31877610e-02 1.16864321e+02] [ 6.96858994e-02 2.13762841e-03 9.97566693e-01 2.61147713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.4571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:168.43, Y:116.85, Z:26.11 [[ 8.64192681e-01 4.99410740e-01 -6.13182102e-02 1.68429803e+02] [-4.98311011e-01 8.66363299e-01 3.31778692e-02 1.16850643e+02] [ 6.96932311e-02 1.88346752e-03 9.97566693e-01 2.61132821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:168.45, Y:116.84, Z:26.11 [[ 8.65036060e-01 4.97946979e-01 -6.13304268e-02 1.68454395e+02] [-4.96845178e-01 8.67205626e-01 3.31552712e-02 1.16837349e+02] [ 6.96956582e-02 1.79122163e-03 9.97566693e-01 2.61130329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.48, Y:116.82, Z:26.11 [[ 8.67354336e-01 4.93896267e-01 -6.13427608e-02 1.68477278e+02] [-4.92785945e-01 8.69519554e-01 3.31324355e-02 1.16820247e+02] [ 6.97027162e-02 1.49128882e-03 9.97566693e-01 2.61147746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.50, Y:116.80, Z:26.12 [[ 8.71014025e-01 4.87411661e-01 -6.13550468e-02 1.68498911e+02] [-4.86286820e-01 8.73171735e-01 3.31096685e-02 1.16803781e+02] [ 6.97115312e-02 9.97164965e-04 9.97566694e-01 2.61162602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5771056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:168.52, Y:116.79, Z:26.12 [[ 8.73270225e-01 4.83357034e-01 -6.13603492e-02 1.68523833e+02] [-4.82222864e-01 8.75423046e-01 3.30998390e-02 1.16790810e+02] [ 6.97153038e-02 6.84259443e-04 9.97566694e-01 2.61173285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.55, Y:116.78, Z:26.12 [[ 8.77194453e-01 4.76196736e-01 -6.13723155e-02 1.68548942e+02] [-4.75046546e-01 8.79338757e-01 3.30776366e-02 1.16780066e+02] [ 6.97185183e-02 1.39187147e-04 9.97566694e-01 2.61177567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.57, Y:116.77, Z:26.12 [[ 8.78903838e-01 4.73033662e-01 -6.13775015e-02 1.68573428e+02] [-4.71876427e-01 8.81044349e-01 3.30680111e-02 1.16766161e+02] [ 6.97185832e-02 -1.01005750e-04 9.97566694e-01 2.61186373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:168.60, Y:116.75, Z:26.12 [[ 8.83063352e-01 4.65221957e-01 -6.13811691e-02 1.68596566e+02] [-4.64046261e-01 8.85193778e-01 3.30612017e-02 1.16751568e+02] [ 6.97150260e-02 -7.11433601e-04 9.97566694e-01 2.61233873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.6971056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:168.62, Y:116.74, Z:26.13 [[ 8.85393439e-01 4.60770321e-01 -6.13935700e-02 1.68620734e+02] [-4.59585511e-01 8.87518810e-01 3.30381577e-02 1.16739891e+02] [ 6.97109507e-02 -1.03617285e-03 9.97566694e-01 2.61265119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:168.65, Y:116.73, Z:26.13 [[ 8.85556239e-01 4.60456641e-01 -6.13989393e-02 1.68645905e+02] [-4.59271770e-01 8.87681576e-01 3.30281762e-02 1.16726641e+02] [ 6.97107503e-02 -1.04950790e-03 9.97566694e-01 2.61284988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.7571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:168.67, Y:116.72, Z:26.14 [[ 8.90845713e-01 4.50136258e-01 -6.14106344e-02 1.68672730e+02] [-4.48928272e-01 8.92957997e-01 3.30064167e-02 1.16716748e+02] [ 6.96945020e-02 -1.83465484e-03 9.97566695e-01 2.61370978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.70, Y:116.71, Z:26.14 [[ 8.93553991e-01 4.44734356e-01 -6.14216406e-02 1.68697801e+02] [-4.43515010e-01 8.95659737e-01 3.29859227e-02 1.16705592e+02] [ 6.96828635e-02 -2.23328337e-03 9.97566695e-01 2.61421782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.72, Y:116.70, Z:26.15 [[ 8.97310393e-01 4.37103985e-01 -6.14342279e-02 1.68724643e+02] [-4.35868342e-01 8.99406618e-01 3.29624629e-02 1.16696662e+02] [ 6.96623751e-02 -2.80032551e-03 9.97566695e-01 2.61508100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.75, Y:116.69, Z:26.15 [[ 8.98049318e-01 4.35582260e-01 -6.14452360e-02 1.68753262e+02] [-4.34344467e-01 9.00144274e-01 3.29419300e-02 1.16691322e+02] [ 6.96584977e-02 -2.89507948e-03 9.97566696e-01 2.61546135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.78, Y:116.68, Z:26.16 [[ 8.97567608e-01 4.36573472e-01 -6.14491008e-02 1.68780968e+02] [-4.35338485e-01 8.99664219e-01 3.29347192e-02 1.16683427e+02] [ 6.96619820e-02 -2.80997865e-03 9.97566696e-01 2.61554706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.81, Y:116.68, Z:26.16 [[ 8.95024778e-01 4.41761442e-01 -6.14611699e-02 1.68810935e+02] [-4.40540156e-01 8.97129399e-01 3.29121810e-02 1.16681567e+02] [ 6.96779550e-02 -2.38110412e-03 9.97566696e-01 2.61577896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.84, Y:116.67, Z:26.16 [[ 8.93011776e-01 4.45815535e-01 -6.14693159e-02 1.68838006e+02] [-4.44604853e-01 8.95122514e-01 3.28969600e-02 1.16673546e+02] [ 6.96885444e-02 -2.04781652e-03 9.97566696e-01 2.61600843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.87, Y:116.67, Z:26.16 [[ 8.88729937e-01 4.54289687e-01 -6.14815458e-02 1.68868389e+02] [-4.53100718e-01 8.90852981e-01 3.28740874e-02 1.16670887e+02] [ 6.97053772e-02 -1.35885311e-03 9.97566696e-01 2.61593855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.90, Y:116.67, Z:26.16 [[ 8.84758343e-01 4.61976179e-01 -6.14872794e-02 1.68899178e+02] [-4.60806402e-01 8.86892022e-01 3.28633599e-02 1.16666734e+02] [ 6.97146670e-02 -7.42399844e-04 9.97566697e-01 2.61577688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.93, Y:116.66, Z:26.16 [[ 8.82926227e-01 4.65466737e-01 -6.14979254e-02 1.68925938e+02] [-4.64306785e-01 8.85065263e-01 3.28434258e-02 1.16658296e+02] [ 6.97171997e-02 -4.44418015e-04 9.97566697e-01 2.61593600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.95, Y:116.65, Z:26.16 [[ 8.80993355e-01 4.69113229e-01 -6.15100534e-02 1.68952873e+02] [-4.67963717e-01 8.83138020e-01 3.28206964e-02 1.16649310e+02] [ 6.97184896e-02 -1.30342207e-04 9.97566697e-01 2.61620718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.98, Y:116.64, Z:26.16 [[ 8.77182676e-01 4.76199103e-01 -6.15220922e-02 1.68981548e+02] [-4.75068498e-01 8.79337367e-01 3.27981142e-02 1.16644717e+02] [ 6.97171072e-02 4.57270346e-04 9.97566697e-01 2.61643889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.01, Y:116.64, Z:26.17 [[ 8.73984300e-01 4.82042399e-01 -6.15351000e-02 1.69008976e+02] [-4.80927918e-01 8.76147375e-01 3.27736912e-02 1.16637666e+02] [ 6.97121251e-02 9.50256028e-04 9.97566698e-01 2.61670359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.03, Y:116.63, Z:26.17 [[ 8.72624015e-01 4.84500015e-01 -6.15391279e-02 1.69034773e+02] [-4.83392159e-01 8.74790490e-01 3.27661263e-02 1.16629088e+02] [ 6.97090325e-02 1.15502320e-03 9.97566698e-01 2.61680453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.06, Y:116.62, Z:26.17 [[ 8.72719531e-01 4.84327266e-01 -6.15444465e-02 1.69061163e+02] [-4.83219686e-01 8.74886147e-01 3.27561333e-02 1.16616190e+02] [ 6.97090722e-02 1.15257080e-03 9.97566698e-01 2.61680470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.2071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.09, Y:116.60, Z:26.16 [[ 8.73431074e-01 4.83041546e-01 -6.15550546e-02 1.69088190e+02] [-4.81932182e-01 8.75596776e-01 3.27361865e-02 1.16604426e+02] [ 6.97103455e-02 1.07255923e-03 9.97566698e-01 2.61647348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:169.11, Y:116.59, Z:26.17 [[ 8.73922796e-01 4.82149936e-01 -6.15661111e-02 1.69112975e+02] [-4.81039827e-01 8.76088117e-01 3.27153798e-02 1.16592760e+02] [ 6.97110566e-02 1.02503527e-03 9.97566698e-01 2.61658060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.14, Y:116.58, Z:26.17 [[ 8.74754512e-01 4.80638822e-01 -6.15700219e-02 1.69138568e+02] [-4.79525490e-01 8.76918177e-01 3.27080181e-02 1.16580846e+02] [ 6.97126146e-02 9.12908544e-04 9.97566699e-01 2.61676424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:169.16, Y:116.57, Z:26.17 [[ 8.74614158e-01 4.80892588e-01 -6.15824089e-02 1.69162376e+02] [-4.79781527e-01 8.76778990e-01 3.26846793e-02 1.16569177e+02] [ 6.97119823e-02 9.59618946e-04 9.97566699e-01 2.61692840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:116.56, Z:26.17 [[ 8.73323528e-01 4.83231793e-01 -6.15877455e-02 1.69187675e+02] [-4.82127239e-01 8.75491687e-01 3.26746204e-02 1.16557677e+02] [ 6.97089746e-02 1.15761496e-03 9.97566699e-01 2.61703407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.21, Y:116.55, Z:26.17 [[ 8.68517514e-01 4.91815763e-01 -6.16001872e-02 1.69209627e+02] [-4.90734296e-01 8.70697280e-01 3.26511478e-02 1.16545144e+02] [ 6.96934646e-02 1.87123080e-03 9.97566699e-01 2.61696963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.24, Y:116.53, Z:26.17 [[ 8.67400780e-01 4.93726418e-01 -6.20492614e-02 1.69237549e+02] [-4.92710182e-01 8.69612156e-01 3.18021176e-02 1.16531085e+02] [ 6.96603376e-02 2.98712126e-03 9.97566296e-01 2.61725983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.26, Y:116.52, Z:26.17 [[ 8.61725020e-01 5.03620261e-01 -6.16167439e-02 1.69261757e+02] [-5.02570914e-01 8.63920404e-01 3.26191948e-02 1.16517964e+02] [ 6.96596497e-02 2.85800705e-03 9.97566722e-01 2.61698280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.29, Y:116.50, Z:26.17 [[ 8.59178075e-01 5.07937474e-01 -6.17459134e-02 1.69285952e+02] [-5.06916634e-01 8.61386895e-01 3.23750327e-02 1.16503479e+02] [ 6.96316129e-02 3.48411231e-03 9.97566689e-01 2.61687638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.31, Y:116.48, Z:26.17 [[ 8.57148175e-01 5.11353066e-01 -6.17660845e-02 1.69308003e+02] [-5.10343764e-01 8.59362304e-01 3.23368871e-02 1.16483955e+02] [ 6.96150110e-02 3.80443231e-03 9.97566678e-01 2.61723169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.33, Y:116.47, Z:26.17 [[ 8.58036051e-01 5.09877974e-01 -6.16326783e-02 1.69329391e+02] [-5.08846780e-01 8.60240024e-01 3.25891909e-02 1.16469650e+02] [ 6.96354073e-02 3.39888922e-03 9.97566718e-01 2.61735918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.35, Y:116.45, Z:26.18 [[ 8.60978424e-01 5.04868889e-01 -6.18349251e-02 1.69351228e+02] [-5.03852247e-01 8.63189239e-01 3.22063709e-02 1.16448551e+02] [ 6.96352367e-02 3.42667549e-03 9.97566635e-01 2.61806164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.37, Y:116.43, Z:26.18 [[ 8.62614231e-01 5.02092862e-01 -6.16396464e-02 1.69374237e+02] [-5.01042716e-01 8.64809233e-01 3.25758877e-02 1.16432389e+02] [ 6.96626560e-02 2.78367146e-03 9.97566722e-01 2.61827508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.40, Y:116.41, Z:26.18 [[ 8.64159876e-01 4.99426518e-01 -6.16511337e-02 1.69395439e+02] [-4.98371147e-01 8.66352370e-01 3.25541330e-02 1.16413244e+02] [ 6.96700031e-02 2.59317061e-03 9.97566723e-01 2.61844563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.62710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:169.42, Y:116.39, Z:26.19 [[ 8.65125890e-01 4.97749809e-01 -6.16629637e-02 1.69416202e+02] [-4.96691784e-01 8.67317104e-01 3.25317096e-02 1.16393957e+02] [ 6.96739954e-02 2.48346324e-03 9.97566723e-01 2.61870619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:116.38, Z:26.19 [[ 8.65551131e-01 4.97009344e-01 -6.16680754e-02 1.69438837e+02] [-4.95950134e-01 8.67741772e-01 3.25220168e-02 1.16378151e+02] [ 6.96757113e-02 2.43482186e-03 9.97566723e-01 2.61890555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:116.36, Z:26.19 [[ 8.67983326e-01 4.92733439e-01 -6.17956586e-02 1.69462215e+02] [-4.91680632e-01 8.70177088e-01 3.22799126e-02 1.16359399e+02] [ 6.96785586e-02 2.36530252e-03 9.97566691e-01 2.61912918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.49, Y:116.34, Z:26.19 [[ 8.69592120e-01 4.89903563e-01 -6.16769239e-02 1.69486051e+02] [-4.88827637e-01 8.71774600e-01 3.25052104e-02 1.16344218e+02] [ 6.96927941e-02 1.88311013e-03 9.97566724e-01 2.61941164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.51, Y:116.33, Z:26.19 [[ 8.73503363e-01 4.82885429e-01 -6.17538512e-02 1.69508972e+02] [-4.81802273e-01 8.75682277e-01 3.23592185e-02 1.16325646e+02] [ 6.97025481e-02 1.48725971e-03 9.97566711e-01 2.61949412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.53, Y:116.31, Z:26.19 [[ 8.74452860e-01 4.81166905e-01 -6.17301028e-02 1.69532644e+02] [-4.80076285e-01 8.76628041e-01 3.24043065e-02 1.16310475e+02] [ 6.97062190e-02 1.29911993e-03 9.97566717e-01 2.61943309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.55, Y:116.30, Z:26.19 [[ 8.72029443e-01 4.85548527e-01 -6.17031546e-02 1.69554149e+02] [-4.84465214e-01 8.74208269e-01 3.24554972e-02 1.16295234e+02] [ 6.97001268e-02 1.59088287e-03 9.97566720e-01 2.61904231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:116.28, Z:26.19 [[ 8.69945307e-01 4.89228179e-01 -6.20560454e-02 1.69581202e+02] [-4.88201717e-01 8.72151819e-01 3.17850404e-02 1.16278527e+02] [ 6.96724303e-02 2.64462113e-03 9.97566418e-01 2.61913529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.60, Y:116.26, Z:26.19 [[ 8.68442300e-01 4.91936765e-01 -6.16943394e-02 1.69604793e+02] [-4.90868306e-01 8.70628438e-01 3.24719757e-02 1.16263047e+02] [ 6.96870050e-02 2.08375854e-03 9.97566729e-01 2.61929060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.63, Y:116.25, Z:26.19 [[ 8.67958935e-01 4.92789396e-01 -6.16919663e-02 1.69627816e+02] [-4.91722764e-01 8.70145966e-01 3.24764836e-02 1.16249054e+02] [ 6.96850823e-02 2.14709002e-03 9.97566729e-01 2.61944565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:116.23, Z:26.19 [[ 8.68276482e-01 4.92229057e-01 -6.16968867e-02 1.69652015e+02] [-4.91161678e-01 8.70463148e-01 3.24671334e-02 1.16232863e+02] [ 6.96861327e-02 2.11269801e-03 9.97566729e-01 2.61942473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.9571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:116.22, Z:26.19 [[ 8.68768824e-01 4.91358320e-01 -6.17068231e-02 1.69677948e+02] [-4.90290089e-01 8.70955074e-01 3.24482374e-02 1.16219071e+02] [ 6.96875821e-02 2.06422675e-03 9.97566730e-01 2.61939608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.70, Y:116.20, Z:26.19 [[ 8.68819240e-01 4.91267918e-01 -6.17167841e-02 1.69701615e+02] [-4.90200805e-01 8.71006035e-01 3.24292804e-02 1.16203441e+02] [ 6.96871565e-02 2.07843451e-03 9.97566730e-01 2.61934647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.72, Y:116.19, Z:26.20 [[ 8.66705233e-01 4.94987301e-01 -6.17220431e-02 1.69721392e+02] [-4.93930282e-01 8.68896926e-01 3.24192681e-02 1.16188774e+02] [ 6.96772195e-02 2.38843686e-03 9.97566730e-01 2.61963163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.75, Y:116.17, Z:26.20 [[ 8.67312256e-01 4.93855715e-01 -6.22573957e-02 1.69750227e+02] [-4.92868709e-01 8.69537009e-01 3.13978656e-02 1.16172667e+02] [ 6.96411251e-02 3.45296859e-03 9.97566134e-01 2.62009666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0771056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:169.78, Y:116.16, Z:26.20 [[ 8.67336150e-01 4.93880720e-01 -6.17238873e-02 1.69775395e+02] [-4.92821230e-01 8.69526609e-01 3.24146701e-02 1.16161420e+02] [ 6.96795430e-02 2.30442693e-03 9.97566765e-01 2.62042963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.80, Y:116.15, Z:26.20 [[ 8.66557211e-01 4.95244526e-01 -6.17370140e-02 1.69799760e+02] [-4.94190263e-01 8.68750191e-01 3.23896497e-02 1.16150148e+02] [ 6.96748394e-02 2.44234670e-03 9.97566766e-01 2.62034601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.1371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.82, Y:116.13, Z:26.21 [[ 8.65105235e-01 4.97775615e-01 -6.17443975e-02 1.69819019e+02] [-4.96728770e-01 8.67301765e-01 3.23755684e-02 1.16133052e+02] [ 6.96667934e-02 2.66194488e-03 9.97566766e-01 2.62068335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.85, Y:116.12, Z:26.21 [[ 8.67996782e-01 4.92672406e-01 -6.20925665e-02 1.69846892e+02] [-4.91659855e-01 8.70209681e-01 3.17127490e-02 1.16118055e+02] [ 6.96575488e-02 3.00185810e-03 9.97566446e-01 2.62138323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.87, Y:116.10, Z:26.22 [[ 8.70321371e-01 4.88602149e-01 -6.17142676e-02 1.69867846e+02] [-4.87528097e-01 8.72504715e-01 3.24326424e-02 1.16104389e+02] [ 6.96926483e-02 1.86061771e-03 9.97566776e-01 2.62207428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.89, Y:116.09, Z:26.22 [[ 8.72320574e-01 4.84988666e-01 -6.19904039e-02 1.69894899e+02] [-4.83942798e-01 8.74517753e-01 3.19071774e-02 1.16089904e+02] [ 6.96863281e-02 2.16652219e-03 9.97566600e-01 2.62246906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:116.07, Z:26.22 [[ 8.74039291e-01 4.81914781e-01 -6.17532301e-02 1.69919932e+02] [-4.80829263e-01 8.76216957e-01 3.23583830e-02 1.16074665e+02] [ 6.97032104e-02 1.41026191e-03 9.97566777e-01 2.62228383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:116.06, Z:26.22 [[ 8.73760049e-01 4.82419377e-01 -6.17650554e-02 1.69944675e+02] [-4.81336707e-01 8.75939134e-01 3.23358691e-02 1.16061729e+02] [ 6.97018789e-02 1.47599778e-03 9.97566774e-01 2.62243199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31710568099993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:169.97, Y:116.05, Z:26.23 [[ 8.73413530e-01 4.83042902e-01 -6.17928818e-02 1.69970606e+02] [-4.81965535e-01 8.75595249e-01 3.22828536e-02 1.16049830e+02] [ 6.96995570e-02 1.58575818e-03 9.97566768e-01 2.62250230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:116.04, Z:26.23 [[ 8.69345767e-01 4.90348120e-01 -6.16170387e-02 1.69995242e+02] [-4.89265306e-01 8.71524822e-01 3.26181638e-02 1.16037962e+02] [ 6.96950340e-02 1.79061665e-03 9.97566738e-01 2.62256679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:116.02, Z:26.23 [[ 8.64538829e-01 4.98757875e-01 -6.17510775e-02 1.70020578e+02] [-4.97714463e-01 8.66736977e-01 3.23624092e-02 1.16024934e+02] [ 6.96629486e-02 2.75584507e-03 9.97566779e-01 2.62256379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:116.01, Z:26.23 [[ 8.62425070e-01 5.02402545e-01 -6.17631124e-02 1.70044439e+02] [-5.01370063e-01 8.64628372e-01 3.23394244e-02 1.16012175e+02] [ 6.96495485e-02 3.07584518e-03 9.97566780e-01 2.62272859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:170.07, Y:116.00, Z:26.23 [[ 8.58775640e-01 5.08614863e-01 -6.17682941e-02 1.70068842e+02] [-5.07599021e-01 8.60986664e-01 3.23295243e-02 1.15999125e+02] [ 6.96249540e-02 3.58971777e-03 9.97566780e-01 2.62272343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.4671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.09, Y:115.99, Z:26.23 [[ 8.57822367e-01 5.10219557e-01 -6.17801772e-02 1.70093357e+02] [-5.09209482e-01 8.60036031e-01 3.23068004e-02 1.15986950e+02] [ 6.96167398e-02 3.74555602e-03 9.97566780e-01 2.62277105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:115.97, Z:26.23 [[ 8.57271578e-01 5.11143833e-01 -6.17853007e-02 1.70118044e+02] [-5.10136848e-01 8.59486649e-01 3.22969989e-02 1.15973556e+02] [ 6.96120529e-02 3.83165938e-03 9.97566780e-01 2.62286592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5271056809999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:170.14, Y:115.96, Z:26.23 [[ 8.56274389e-01 5.12811184e-01 -6.17969239e-02 1.70141095e+02] [-5.11810111e-01 8.58492138e-01 3.22747439e-02 1.15958436e+02] [ 6.96030230e-02 3.99225391e-03 9.97566780e-01 2.62303496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:170.16, Y:115.94, Z:26.23 [[ 8.55986296e-01 5.13291496e-01 -6.18004933e-02 1.70164809e+02] [-5.12292158e-01 8.58204828e-01 3.22679076e-02 1.15943445e+02] [ 6.96003243e-02 4.03902141e-03 9.97566780e-01 2.62336421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.19, Y:115.93, Z:26.24 [[ 8.55929070e-01 5.13385536e-01 -6.18119612e-02 1.70187778e+02] [-5.12388023e-01 8.58148422e-01 3.22459249e-02 1.15926258e+02] [ 6.95984285e-02 4.07148405e-03 9.97566781e-01 2.62392645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:115.91, Z:26.24 [[ 8.56288532e-01 5.12784540e-01 -6.18220455e-02 1.70211439e+02] [-5.11786860e-01 8.58507809e-01 3.22265798e-02 1.15911984e+02] [ 6.96000007e-02 4.04445984e-03 9.97566781e-01 2.62416838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:115.90, Z:26.24 [[ 8.56467264e-01 5.12485532e-01 -6.18255976e-02 1.70236769e+02] [-5.11487567e-01 8.58686413e-01 3.22197637e-02 1.15899044e+02] [ 6.96009634e-02 4.02785160e-03 9.97566781e-01 2.62436710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:115.88, Z:26.24 [[ 8.57959151e-01 5.09982646e-01 -6.18368493e-02 1.70258308e+02] [-5.08979757e-01 8.60176079e-01 3.21981548e-02 1.15881754e+02] [ 6.96110787e-02 3.84900297e-03 9.97566781e-01 2.62428409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:115.86, Z:26.25 [[ 8.59313778e-01 5.07696201e-01 -6.18417115e-02 1.70280700e+02] [-5.06688082e-01 8.61528332e-01 3.21888134e-02 1.15864743e+02] [ 6.96205249e-02 3.67416735e-03 9.97566781e-01 2.62451356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:115.84, Z:26.24 [[ 8.61779860e-01 5.03497337e-01 -6.18538897e-02 1.70301001e+02] [-5.02480100e-01 8.63990241e-01 3.21653949e-02 1.15843165e+02] [ 6.96363477e-02 3.36085912e-03 9.97566782e-01 2.62449897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.32, Y:115.83, Z:26.24 [[ 8.62659521e-01 5.01988231e-01 -6.18576411e-02 1.70324045e+02] [-5.00967643e-01 8.64868355e-01 3.21581789e-02 1.15827494e+02] [ 6.96417437e-02 3.24711746e-03 9.97566782e-01 2.62448495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:115.81, Z:26.25 [[ 8.61984424e-01 5.03146134e-01 -6.18613070e-02 1.70346681e+02] [-5.02129017e-01 8.64194859e-01 3.21511255e-02 1.15810108e+02] [ 6.96369380e-02 3.34858790e-03 9.97566782e-01 2.62460536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:115.79, Z:26.25 [[ 8.59623779e-01 5.07167344e-01 -6.18727988e-02 1.70369271e+02] [-5.06162152e-01 8.61839663e-01 3.21289950e-02 1.15791552e+02] [ 6.96192091e-02 3.69882084e-03 9.97566782e-01 2.62453382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:115.78, Z:26.24 [[ 8.57955529e-01 5.09982957e-01 -6.18845222e-02 1.70392116e+02] [-5.08986658e-01 8.60175425e-01 3.21063984e-02 1.15775481e+02] [ 6.96052612e-02 3.95253414e-03 9.97566782e-01 2.62448006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:115.76, Z:26.24 [[ 8.54490905e-01 5.15766570e-01 -6.18881074e-02 1.70414680e+02] [-5.14785787e-01 8.56717699e-01 3.20994861e-02 1.15756547e+02] [ 6.95764788e-02 4.43039919e-03 9.97566782e-01 2.62445424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:170.44, Y:115.74, Z:26.25 [[ 8.51891480e-01 5.20047651e-01 -6.18978797e-02 1.70437995e+02] [-5.19079415e-01 8.54123758e-01 3.20806311e-02 1.15740334e+02] [ 6.95519064e-02 4.80069892e-03 9.97566783e-01 2.62476742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.9471056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:170.46, Y:115.73, Z:26.25 [[ 8.51200886e-01 5.21175869e-01 -6.19093303e-02 1.70461848e+02] [-5.20212190e-01 8.53435135e-01 3.20585183e-02 1.15725844e+02] [ 6.95437238e-02 4.91774912e-03 9.97566783e-01 2.62494676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:115.71, Z:26.25 [[ 8.51652194e-01 5.20437642e-01 -6.19128526e-02 1.70484052e+02] [-5.19472517e-01 8.53885819e-01 3.20517146e-02 1.15708465e+02] [ 6.95474256e-02 4.86511228e-03 9.97566783e-01 2.62524463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.0071056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:170.51, Y:115.69, Z:26.25 [[ 8.53254996e-01 5.17804321e-01 -6.19241263e-02 1.70507072e+02] [-5.16833874e-01 8.55486313e-01 3.20299189e-02 1.15693195e+02] [ 6.95604729e-02 4.67479772e-03 9.97566783e-01 2.62524739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03710568099996 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:170.53, Y:115.67, Z:26.26 [[ 8.56523717e-01 5.12378644e-01 -6.19293746e-02 1.70528896e+02] [-5.11394786e-01 8.58749153e-01 3.20197682e-02 1.15672271e+02] [ 6.95880434e-02 4.24466842e-03 9.97566783e-01 2.62569375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.06710568099993 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:170.55, Y:115.65, Z:26.26 [[ 8.61685779e-01 5.03647806e-01 -6.19395292e-02 1.70550940e+02] [-5.02642791e-01 8.63901741e-01 3.20001128e-02 1.15652005e+02] [ 6.96264538e-02 3.55941567e-03 9.97566783e-01 2.62637160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09710568099996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:170.58, Y:115.63, Z:26.27 [[ 8.64206907e-01 4.99308167e-01 -6.19497809e-02 1.70575051e+02] [-4.98293440e-01 8.66418439e-01 3.19802541e-02 1.15634261e+02] [ 6.96424345e-02 3.23161293e-03 9.97566784e-01 2.62650623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.12710568099993 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:170.60, Y:115.62, Z:26.27 [[ 8.66796676e-01 4.94815726e-01 -6.18135902e-02 1.70597059e+02] [-4.93770738e-01 8.68994119e-01 3.22440691e-02 1.15618693e+02] [ 6.96705188e-02 2.57269011e-03 9.97566740e-01 2.62678428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15710568099996 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:170.62, Y:115.60, Z:26.27 [[ 8.70344933e-01 4.88529355e-01 -6.19577840e-02 1.70620138e+02] [-4.87488336e-01 8.72544204e-01 3.19645820e-02 1.15601097e+02] [ 6.96765420e-02 2.38348508e-03 9.97566789e-01 2.62684930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18710568099993 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:170.64, Y:115.59, Z:26.27 [[ 8.71902088e-01 4.85744395e-01 -6.19607228e-02 1.70643770e+02] [-4.84696755e-01 8.74098213e-01 3.19588843e-02 1.15588704e+02] [ 6.96836060e-02 2.16714335e-03 9.97566789e-01 2.62675688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2171056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:170.67, Y:115.57, Z:26.27 [[ 8.72395697e-01 4.84856296e-01 -6.19687074e-02 1.70668291e+02] [-4.83807519e-01 8.74591279e-01 3.19433946e-02 1.15574283e+02] [ 6.96852470e-02 2.11364655e-03 9.97566789e-01 2.62700303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24710568099994 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:170.69, Y:115.56, Z:26.27 [[ 8.74052640e-01 4.81862351e-01 -6.19730413e-02 1.70691598e+02] [-4.80806648e-01 8.76244900e-01 3.19349842e-02 1.15558042e+02] [ 6.96918280e-02 1.88419304e-03 9.97566789e-01 2.62717018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2771056809999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:170.72, Y:115.54, Z:26.28 [[ 8.74535525e-01 4.80972646e-01 -6.20719725e-02 1.70715791e+02] [-4.79928327e-01 8.76733251e-01 3.17428440e-02 1.15544114e+02] [ 6.96880019e-02 2.02985319e-03 9.97566771e-01 2.62770025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30710568099994 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:170.74, Y:115.53, Z:26.28 [[ 8.76224644e-01 4.77899684e-01 -6.19860107e-02 1.70742954e+02] [-4.76835843e-01 8.78412968e-01 3.19098305e-02 1.15533418e+02] [ 6.96990135e-02 1.59697179e-03 9.97566788e-01 2.62810145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.3371056809999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:170.77, Y:115.52, Z:26.28 [[ 8.76485271e-01 4.77421126e-01 -6.19890216e-02 1.70767466e+02] [-4.76356504e-01 8.78673214e-01 3.19039804e-02 1.15521933e+02] [ 6.96997271e-02 1.56550473e-03 9.97566788e-01 2.62815662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36710568099994 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:170.79, Y:115.51, Z:26.28 [[ 8.75778266e-01 4.78716142e-01 -6.19942371e-02 1.70793507e+02] [-4.77655471e-01 8.77968128e-01 3.18938426e-02 1.15506912e+02] [ 6.96970616e-02 1.67995237e-03 9.97566788e-01 2.62813562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.3971056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:170.82, Y:115.50, Z:26.28 [[ 8.73675666e-01 4.82561365e-01 -6.18494886e-02 1.70817402e+02] [-4.81490408e-01 8.75860572e-01 3.21752157e-02 1.15495665e+02] [ 6.96980445e-02 1.66923251e-03 9.97566738e-01 2.62832546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42710568099994 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:170.84, Y:115.48, Z:26.29 [[ 8.72494936e-01 4.84672462e-01 -6.20096161e-02 1.70842701e+02] [-4.83628883e-01 8.74692983e-01 3.18636016e-02 1.15482522e+02] [ 6.96827863e-02 2.18881040e-03 9.97566799e-01 2.62862824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.4571056809999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:170.87, Y:115.47, Z:26.29 [[ 8.69718465e-01 4.89635969e-01 -6.20194303e-02 1.70867746e+02] [-4.88606293e-01 8.71923058e-01 3.18444877e-02 1.15469027e+02] [ 6.96683780e-02 2.60734497e-03 9.97566799e-01 2.62911179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48710568099995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:170.89, Y:115.46, Z:26.29 [[ 8.66820619e-01 4.94746756e-01 -6.20295148e-02 1.70893879e+02] [-4.93731477e-01 8.69031880e-01 3.18248322e-02 1.15456224e+02] [ 6.96508584e-02 3.03950326e-03 9.97566799e-01 2.62926714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5171056809999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:170.92, Y:115.44, Z:26.29 [[ 8.65597442e-01 4.96881546e-01 -6.20467368e-02 1.70920360e+02] [-4.95874120e-01 8.67812292e-01 3.17912448e-02 1.15441402e+02] [ 6.96414037e-02 3.24895081e-03 9.97566799e-01 2.62917712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54710568099995 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:170.94, Y:115.43, Z:26.29 [[ 8.64097401e-01 4.99503317e-01 -6.19040928e-02 1.70944830e+02] [-4.98482709e-01 8.66306258e-01 3.20695488e-02 1.15426706e+02] [ 6.96467490e-02 3.14690611e-03 9.97566753e-01 2.62927681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5771056809999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:170.97, Y:115.41, Z:26.30 [[ 8.63476169e-01 5.00572229e-01 -6.19382681e-02 1.70969082e+02] [-4.99559126e-01 8.65688454e-01 3.20028090e-02 1.15413500e+02] [ 6.96389610e-02 3.30816416e-03 9.97566775e-01 2.62954892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60710568099995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:170.99, Y:115.40, Z:26.30 [[ 8.61851939e-01 5.03359553e-01 -6.19709267e-02 1.70992657e+02] [-5.02358176e-01 8.64069537e-01 3.19389784e-02 1.15401036e+02] [ 6.96239798e-02 3.60493131e-03 9.97566793e-01 2.62971384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.6371056809999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:171.02, Y:115.39, Z:26.30 [[ 8.62112803e-01 5.02905759e-01 -6.20267090e-02 1.71019200e+02] [-5.01911033e-01 8.64333370e-01 3.18298658e-02 1.15389206e+02] [ 6.96191772e-02 3.69095483e-03 9.97566813e-01 2.62991370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66710568099995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:171.05, Y:115.38, Z:26.30 [[ 8.61613496e-01 5.03761456e-01 -6.20207914e-02 1.71045013e+02] [-5.02768105e-01 8.63834680e-01 3.18414492e-02 1.15375871e+02] [ 6.96162054e-02 3.74705335e-03 9.97566812e-01 2.63029108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.6971056809999 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:171.07, Y:115.36, Z:26.31 [[ 8.60940523e-01 5.04919025e-01 -6.19531595e-02 1.71066987e+02] [-5.03919163e-01 8.63158820e-01 3.19738636e-02 1.15360843e+02] [ 6.96196281e-02 3.69178940e-03 9.97566779e-01 2.63064218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72710568099995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:171.09, Y:115.35, Z:26.31 [[ 8.61374997e-01 5.04162693e-01 -6.20732961e-02 1.71092917e+02] [-5.03177759e-01 8.63599912e-01 3.17385474e-02 1.15348212e+02] [ 6.96078846e-02 3.89511083e-03 9.97566825e-01 2.63117004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.7571056809999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:171.12, Y:115.33, Z:26.31 [[ 8.61008499e-01 5.04785841e-01 -6.20936416e-02 1.71119923e+02] [-5.03805381e-01 8.63235387e-01 3.16986689e-02 1.15333146e+02] [ 6.96024680e-02 3.99028739e-03 9.97566827e-01 2.63091908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78710568099996 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:171.14, Y:115.32, Z:26.31 [[ 8.60387510e-01 5.05868004e-01 -6.18942287e-02 1.71142792e+02] [-5.04862274e-01 8.62603226e-01 3.20898575e-02 1.15320531e+02] [ 6.96233935e-02 3.63834849e-03 9.97566712e-01 2.63085770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81710568099993 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:171.17, Y:115.30, Z:26.31 [[ 8.59787939e-01 5.06858242e-01 -6.21242429e-02 1.71169650e+02] [-5.05887495e-01 8.62019063e-01 3.16382257e-02 1.15302554e+02] [ 6.95883771e-02 4.22571273e-03 9.97566840e-01 2.63087763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84710568099996 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:171.19, Y:115.29, Z:26.31 [[ 8.60624999e-01 5.05472051e-01 -6.18273197e-02 1.71190960e+02] [-5.04455898e-01 8.62836046e-01 3.22211831e-02 1.15289124e+02] [ 6.96337476e-02 3.45880040e-03 9.97566628e-01 2.63089329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87710568099993 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:171.22, Y:115.27, Z:26.31 [[ 8.61841964e-01 5.03355930e-01 -6.21388493e-02 1.71218065e+02] [-5.02378225e-01 8.64070022e-01 3.16087921e-02 1.15273620e+02] [ 6.96027898e-02 3.97542134e-03 9.97566864e-01 2.63147062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90710568099996 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:171.24, Y:115.26, Z:26.31 [[ 8.63610137e-01 5.00333982e-01 -6.19954575e-02 1.71243260e+02] [-4.99328292e-01 8.65825758e-01 3.18906406e-02 1.15256550e+02] [ 6.96332353e-02 3.41500538e-03 9.97566815e-01 2.63136485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93710568099993 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:171.26, Y:115.24, Z:26.31 [[ 8.64132026e-01 4.99454214e-01 -6.18169103e-02 1.71264121e+02] [-4.98421189e-01 8.66335263e-01 3.22417590e-02 1.15243903e+02] [ 6.96574517e-02 2.94972141e-03 9.97566609e-01 2.63145395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.9671056809999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:171.29, Y:115.23, Z:26.32 [[ 8.64546361e-01 4.98693638e-01 -6.21630620e-02 1.71289197e+02] [-4.97707406e-01 8.66770618e-01 3.15599964e-02 1.15229692e+02] [ 6.96198851e-02 3.65393628e-03 9.97566900e-01 2.63182646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99710568099994 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:171.31, Y:115.21, Z:26.33 [[ 8.65894683e-01 4.96348482e-01 -6.21657705e-02 1.71313864e+02] [-4.95356607e-01 8.68116429e-01 3.15546603e-02 1.15211014e+02] [ 6.96292345e-02 3.47121260e-03 9.97566900e-01 2.63261787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0271056809999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:171.34, Y:115.20, Z:26.33 [[ 8.66491682e-01 4.95325452e-01 -6.20069457e-02 1.71336248e+02] [-4.94308608e-01 8.68702175e-01 3.18674017e-02 1.15196931e+02] [ 6.96503037e-02 3.03772849e-03 9.97566844e-01 2.63267887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05710568099994 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:171.36, Y:115.18, Z:26.33 [[ 8.69581160e-01 4.89861360e-01 -6.21647355e-02 1.71360971e+02] [-4.88852767e-01 8.71795363e-01 3.15565737e-02 1.15183924e+02] [ 6.96532742e-02 2.94840093e-03 9.97566904e-01 2.63296405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0871056809999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:171.39, Y:115.17, Z:26.34 [[ 8.71913020e-01 4.85697382e-01 -6.21750610e-02 1.71390091e+02] [-4.84679661e-01 8.74123042e-01 3.15362165e-02 1.15171620e+02] [ 6.96657113e-02 2.63814972e-03 9.97566904e-01 2.63350408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11710568099994 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:171.41, Y:115.16, Z:26.34 [[ 8.73549291e-01 4.82791458e-01 -6.18388538e-02 1.71410375e+02] [-4.81719255e-01 8.75733780e-01 3.22010270e-02 1.15159801e+02] [ 6.97007539e-02 1.65978226e-03 9.97566564e-01 2.63375029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.1471056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:171.43, Y:115.15, Z:26.34 [[ 8.75838588e-01 4.78574519e-01 -6.22350212e-02 1.71434803e+02] [-4.77547325e-01 8.78044173e-01 3.14162873e-02 1.15147141e+02] [ 6.96801323e-02 2.20457113e-03 9.97566950e-01 2.63400586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17710568099994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:171.46, Y:115.13, Z:26.34 [[ 8.82124784e-01 4.66885601e-01 -6.22390633e-02 1.71458922e+02] [-4.65829733e-01 8.84316787e-01 3.14082774e-02 1.15132693e+02] [ 6.97031209e-02 1.28678637e-03 9.97566950e-01 2.63421628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.2071056809999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:171.49, Y:115.12, Z:26.35 [[ 8.89086555e-01 4.53487668e-01 -6.22417330e-02 1.71487494e+02] [-4.52399131e-01 8.91262520e-01 3.14029860e-02 1.15116296e+02] [ 6.97145906e-02 2.38133278e-04 9.97566950e-01 2.63495700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23710568099995 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:171.52, Y:115.10, Z:26.35 [[ 8.92262986e-01 4.47207141e-01 -6.22297075e-02 1.71516357e+02] [-4.46101628e-01 8.94430374e-01 3.14267982e-02 1.15103462e+02] [ 6.97144292e-02 -2.80195026e-04 9.97566950e-01 2.63524440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.2671056809999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:171.55, Y:115.09, Z:26.35 [[ 8.96944929e-01 4.37742677e-01 -6.22185047e-02 1.71546450e+02] [-4.36612759e-01 8.99099695e-01 3.14489618e-02 1.15094011e+02] [ 6.97071914e-02 -1.04259379e-03 9.97566950e-01 2.63516327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29710568099995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:171.57, Y:115.08, Z:26.35 [[ 8.99123834e-01 4.33250934e-01 -6.22089997e-02 1.71574691e+02] [-4.32108953e-01 9.01272231e-01 3.14677524e-02 1.15081958e+02] [ 6.97006771e-02 -1.41234049e-03 9.97566951e-01 2.63523672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.3271056809999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:171.60, Y:115.07, Z:26.35 [[ 9.03044942e-01 4.25017497e-01 -6.22089997e-02 1.71602266e+02] [-4.23855933e-01 9.05182815e-01 3.14677524e-02 1.15073689e+02] [ 6.96848629e-02 -2.04914104e-03 9.97566951e-01 2.63530599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35710568099995 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:171.63, Y:115.06, Z:26.36 [[ 9.04623963e-01 4.21646001e-01 -6.22104195e-02 1.71630185e+02] [-4.20476664e-01 9.06757593e-01 3.14649454e-02 1.15063171e+02] [ 6.96768386e-02 -2.30591396e-03 9.97566951e-01 2.63574646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.3871056809999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:171.66, Y:115.06, Z:26.36 [[ 9.07654926e-01 4.15080973e-01 -6.22119095e-02 1.71659569e+02] [-4.13896409e-01 9.09780141e-01 3.14619990e-02 1.15059764e+02] [ 6.96584370e-02 -2.80735239e-03 9.97566951e-01 2.63608504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41710568099995 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:171.69, Y:115.06, Z:26.36 [[ 9.08794545e-01 4.12579315e-01 -6.22156231e-02 1.71691123e+02] [-4.11389404e-01 9.10916771e-01 3.14546538e-02 1.15058271e+02] [ 6.96507940e-02 -2.99096970e-03 9.97566951e-01 2.63616070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.4471056809999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:171.72, Y:115.05, Z:26.36 [[ 9.09113548e-01 4.11875220e-01 -6.22202584e-02 1.71719308e+02] [-4.10684292e-01 9.11235202e-01 3.14454821e-02 1.15052601e+02] [ 6.96489046e-02 -3.03463099e-03 9.97566951e-01 2.63633857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47710568099995 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:171.75, Y:115.05, Z:26.37 [[ 9.08027804e-01 4.14262674e-01 -6.22249449e-02 1.71753019e+02] [-4.13077959e-01 9.10152935e-01 3.14362056e-02 1.15054923e+02] [ 6.96570628e-02 -2.84119554e-03 9.97566951e-01 2.63674890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.5071056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:171.78, Y:115.05, Z:26.37 [[ 9.06173939e-01 4.18312878e-01 -6.21540801e-02 1.71781782e+02] [-4.17128054e-01 9.08299022e-01 3.15764608e-02 1.15049965e+02] [ 6.96633303e-02 -2.68755540e-03 9.97566939e-01 2.63686619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53710568099996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:171.81, Y:115.04, Z:26.37 [[ 9.06329951e-01 4.17963584e-01 -6.22291191e-02 1.71807320e+02] [-4.16788119e-01 9.08460209e-01 3.14278811e-02 1.15037382e+02] [ 6.96683884e-02 -2.54767248e-03 9.97566953e-01 2.63706272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.56710568099993 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:171.84, Y:115.04, Z:26.37 [[ 9.03206553e-01 4.24669275e-01 -6.22408934e-02 1.71841140e+02] [-4.23511238e-01 9.05346335e-01 3.14045456e-02 1.15040637e+02] [ 6.96861103e-02 -2.00507355e-03 9.97566953e-01 2.63740498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:115.04, Z:26.38 [[ 9.01535822e-01 4.28203111e-01 -6.22515685e-02 1.71870060e+02] [-4.27054922e-01 9.03680905e-01 3.13833707e-02 1.15037196e+02] [ 6.96940107e-02 -1.70839414e-03 9.97566953e-01 2.63759641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:115.04, Z:26.37 [[ 8.98867721e-01 4.33775181e-01 -6.22568270e-02 1.71908319e+02] [-4.32641014e-01 9.01020250e-01 3.13729356e-02 1.15036339e+02] [ 6.97034627e-02 -1.26526238e-03 9.97566953e-01 2.63719132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.93, Y:115.03, Z:26.37 [[ 8.97691329e-01 4.36289637e-01 -6.16573729e-02 1.71932415e+02] [-4.35079556e-01 8.99803076e-01 3.25607878e-02 1.15033751e+02] [ 6.96854280e-02 -2.40367441e-03 9.97566120e-01 2.63729412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:115.03, Z:26.37 [[ 8.97454469e-01 4.36689908e-01 -6.22687812e-02 1.71970015e+02] [-4.35564576e-01 8.99611530e-01 3.13463842e-02 1.15029423e+02] [ 6.97063632e-02 -1.00987729e-03 9.97567042e-01 2.63689759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:115.03, Z:26.37 [[ 8.98178156e-01 4.35286719e-01 -6.16560843e-02 1.71998367e+02] [-4.34074220e-01 9.00288458e-01 3.25616948e-02 1.15031727e+02] [ 6.96819343e-02 -2.48288635e-03 9.97566170e-01 2.63667726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:115.03, Z:26.37 [[ 8.99100087e-01 4.33296175e-01 -6.22371212e-02 1.72025729e+02] [-4.32158498e-01 9.01250589e-01 3.14071401e-02 1.15025152e+02] [ 6.96998358e-02 -1.34186158e-03 9.97567107e-01 2.63660569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:115.02, Z:26.37 [[ 9.00453283e-01 4.30470587e-01 -6.22812863e-02 1.72053230e+02] [-4.29332232e-01 9.02603421e-01 3.13193145e-02 1.15018357e+02] [ 6.96973458e-02 -1.46221587e-03 9.97567112e-01 2.63683531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:115.02, Z:26.37 [[ 9.02318849e-01 4.26544572e-01 -6.22930332e-02 1.72082856e+02] [-4.25398475e-01 9.04464870e-01 3.12959329e-02 1.15015790e+02] [ 6.96909705e-02 -1.73954877e-03 9.97567112e-01 2.63736106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:115.01, Z:26.38 [[ 9.02449244e-01 4.26268094e-01 -6.22966531e-02 1.72110612e+02] [-4.25121837e-01 9.04595180e-01 3.12887257e-02 1.15007889e+02] [ 6.96906376e-02 -1.75281931e-03 9.97567112e-01 2.63764865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.14, Y:115.01, Z:26.37 [[ 9.01477721e-01 4.28317210e-01 -6.23079944e-02 1.72143338e+02] [-4.27177391e-01 9.03627083e-01 3.12661245e-02 1.15008230e+02] [ 6.96950104e-02 -1.56914817e-03 9.97567112e-01 2.63726552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.17, Y:115.01, Z:26.38 [[ 8.94063033e-01 4.43570653e-01 -6.24208918e-02 1.72173370e+02] [-4.42483216e-01 8.96239398e-01 3.10410386e-02 1.15005143e+02] [ 6.97129562e-02 -1.32448170e-04 9.97567084e-01 2.63844516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.20, Y:115.00, Z:26.39 [[ 8.90502030e-01 4.50692707e-01 -6.23074512e-02 1.72202813e+02] [-4.49606829e-01 8.92679145e-01 3.12673063e-02 1.14996849e+02] [ 6.97125091e-02 1.70255780e-04 9.97567109e-01 2.63935856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.9571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:172.23, Y:115.00, Z:26.39 [[ 8.82128433e-01 4.66883043e-01 -6.22065234e-02 1.72229205e+02] [-4.65822909e-01 8.84318235e-01 3.14686569e-02 1.14995418e+02] [ 6.97025453e-02 1.21782677e-03 9.97567076e-01 2.63855421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:114.98, Z:26.39 [[ 8.77755491e-01 4.74986571e-01 -6.27140762e-02 1.72257338e+02] [-4.74018747e-01 8.79987942e-01 3.04540507e-02 1.14981778e+02] [ 6.96528960e-02 2.99643756e-03 9.97566787e-01 2.63897322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:172.29, Y:114.98, Z:26.39 [[ 8.75365078e-01 4.79413181e-01 -6.24418265e-02 1.72285669e+02] [-4.78417856e-01 8.77585039e-01 3.09976701e-02 1.14975021e+02] [ 6.96587043e-02 2.73900681e-03 9.97567122e-01 2.63896052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:114.97, Z:26.39 [[ 8.74948691e-01 4.80160696e-01 -6.25339423e-02 1.72310114e+02] [-4.79180352e-01 8.77175399e-01 3.08141094e-02 1.14965513e+02] [ 6.96489600e-02 3.00427180e-03 9.97567039e-01 2.63937095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:114.95, Z:26.40 [[ 8.75370358e-01 4.79349144e-01 -6.28580580e-02 1.72338954e+02] [-4.78412954e-01 8.77616642e-01 3.01674493e-02 1.14950832e+02] [ 6.96260188e-02 3.66441830e-03 9.97566434e-01 2.64010713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:114.94, Z:26.40 [[ 8.77849847e-01 4.74865421e-01 -6.23095307e-02 1.72363492e+02] [-4.73839910e-01 8.80055962e-01 3.12608957e-02 1.14940079e+02] [ 6.96805924e-02 2.08236989e-03 9.97567180e-01 2.64034495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.1371056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.39, Y:114.92, Z:26.41 [[ 8.77451469e-01 4.75569984e-01 -6.25468715e-02 1.72386970e+02] [-4.74579840e-01 8.79673843e-01 3.07880746e-02 1.14923586e+02] [ 6.96627310e-02 2.66844296e-03 9.97567032e-01 2.64103294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:114.91, Z:26.41 [[ 8.77951136e-01 4.74647383e-01 -6.25433090e-02 1.72410776e+02] [-4.73654399e-01 8.80172238e-01 3.07951736e-02 1.14909166e+02] [ 6.96657328e-02 2.58725578e-03 9.97567036e-01 2.64138768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:114.90, Z:26.41 [[ 8.78111235e-01 4.74358576e-01 -6.24868050e-02 1.72434695e+02] [-4.73356852e-01 8.80328346e-01 3.09078298e-02 1.14897161e+02] [ 6.96702999e-02 2.43804473e-03 9.97567093e-01 2.64145168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.46, Y:114.88, Z:26.42 [[ 8.77299875e-01 4.75845008e-01 -6.25816135e-02 1.72459447e+02] [-4.74860493e-01 8.79524796e-01 3.07187989e-02 1.14884251e+02] [ 6.96594680e-02 2.76793743e-03 9.97566989e-01 2.64153569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:114.87, Z:26.41 [[ 8.76651818e-01 4.77031050e-01 -6.26335938e-02 1.72480129e+02] [-4.76056939e-01 8.78881395e-01 3.06150913e-02 1.14872120e+02] [ 6.96518495e-02 2.97838155e-03 9.97566915e-01 2.64126154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.51, Y:114.85, Z:26.41 [[ 8.75661273e-01 4.78789408e-01 -6.30716947e-02 1.72510810e+02] [-4.77882285e-01 8.77920224e-01 2.97422561e-02 1.14854577e+02] [ 6.96121935e-02 4.09670370e-03 9.97565717e-01 2.64139981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31710568099993 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:172.53, Y:114.84, Z:26.41 [[ 8.75963893e-01 4.78313661e-01 -6.24763963e-02 1.72531928e+02] [-4.77320611e-01 8.78184824e-01 3.09265184e-02 1.14839283e+02] [ 6.96583993e-02 2.73075823e-03 9.97567166e-01 2.64119619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34710568099996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:172.56, Y:114.82, Z:26.41 [[ 8.76682712e-01 4.76963498e-01 -6.27155754e-02 1.72556324e+02] [-4.76000983e-01 8.78917432e-01 3.04501685e-02 1.14824240e+02] [ 6.96454313e-02 3.15753918e-03 9.97566812e-01 2.64131578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37710568099993 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:172.58, Y:114.81, Z:26.41 [[ 8.79529508e-01 4.71686570e-01 -6.27664283e-02 1.72580552e+02] [-4.70717853e-01 8.81761670e-01 3.03489675e-02 1.14807872e+02] [ 6.96602310e-02 2.85246592e-03 9.97566697e-01 2.64139280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40710568099996 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:172.61, Y:114.79, Z:26.42 [[ 8.82341390e-01 4.66408726e-01 -6.27421150e-02 1.72608340e+02] [-4.65423215e-01 8.84566127e-01 3.03973408e-02 1.14792617e+02] [ 6.96771346e-02 2.38080501e-03 9.97566754e-01 2.64175203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43710568099993 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:172.63, Y:114.77, Z:26.42 [[ 8.87025398e-01 4.57493185e-01 -6.23372180e-02 1.72632976e+02] [-4.56428593e-01 8.89212789e-01 3.12018615e-02 1.14773582e+02] [ 6.97056905e-02 7.75645049e-04 9.97567299e-01 2.64186577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.4671056809999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:172.65, Y:114.76, Z:26.42 [[ 8.90304216e-01 4.51089006e-01 -6.22664540e-02 1.72654091e+02] [-4.49998840e-01 8.92478961e-01 3.13424468e-02 1.14761597e+02] [ 6.97097333e-02 1.15519509e-04 9.97567311e-01 2.64232809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49710568099994 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:172.68, Y:114.75, Z:26.43 [[ 8.93803018e-01 4.44040091e-01 -6.28057532e-02 1.72682211e+02] [-4.43007920e-01 8.96006588e-01 3.02684206e-02 1.14745966e+02] [ 6.97147609e-02 7.69440420e-04 9.97566670e-01 2.64262178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5271056809999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:172.70, Y:114.73, Z:26.43 [[ 8.96992679e-01 4.37635880e-01 -6.22813841e-02 1.72701930e+02] [-4.36515246e-01 8.99151838e-01 3.13115422e-02 1.14731635e+02] [ 6.97034753e-02 -8.99450473e-04 9.97567349e-01 2.64284365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55710568099994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:172.73, Y:114.72, Z:26.44 [[ 9.01285781e-01 4.28645794e-01 -6.28229633e-02 1.72731768e+02] [-4.27578502e-01 9.03472542e-01 3.02322837e-02 1.14716616e+02] [ 6.97177635e-02 -3.86178893e-04 9.97566682e-01 2.64373509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.76, Y:114.70, Z:26.45 [[ 9.06150640e-01 4.18342614e-01 -6.22934558e-02 1.72757011e+02] [-4.17177745e-01 9.08286229e-01 3.12866699e-02 1.14703369e+02] [ 6.96688353e-02 -2.36299257e-03 9.97567376e-01 2.64451276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:114.70, Z:26.45 [[ 9.09677205e-01 4.10616163e-01 -6.23036777e-02 1.72782984e+02] [-4.09434554e-01 9.11803578e-01 3.12663008e-02 1.14695025e+02] [ 6.96471647e-02 -2.93296265e-03 9.97567376e-01 2.64464223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.6471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.80, Y:114.69, Z:26.45 [[ 9.08736609e-01 4.12692866e-01 -6.23086969e-02 1.72803902e+02] [-4.11516801e-01 9.10866053e-01 3.12562953e-02 1.14686431e+02] [ 6.96541269e-02 -2.76266423e-03 9.97567376e-01 2.64482806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.84, Y:114.68, Z:26.45 [[ 9.08985272e-01 4.12069098e-01 -6.28079187e-02 1.72836007e+02] [-4.10959812e-01 9.11151018e-01 3.02630920e-02 1.14675642e+02] [ 6.96979841e-02 -1.69717440e-03 9.97566695e-01 2.64457203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:114.67, Z:26.45 [[ 9.11927728e-01 4.05609184e-01 -6.22013600e-02 1.72864630e+02] [-4.04402110e-01 9.14039734e-01 3.14689980e-02 1.14667101e+02] [ 6.96186292e-02 -3.54309066e-03 9.97567388e-01 2.64518726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.89, Y:114.66, Z:26.45 [[ 9.13883079e-01 4.01202103e-01 -6.20853554e-02 1.72891799e+02] [-3.99969216e-01 9.15980214e-01 3.16997351e-02 1.14661214e+02] [ 6.95869575e-02 -4.13762056e-03 9.97567309e-01 2.64530594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:114.65, Z:26.45 [[ 9.14388182e-01 4.00017488e-01 -6.22917450e-02 1.72917903e+02] [-3.98809720e-01 9.16499762e-01 3.12888586e-02 1.14651978e+02] [ 6.96064601e-02 -3.76760912e-03 9.97567414e-01 2.64524432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:114.65, Z:26.45 [[ 9.14275256e-01 4.00267200e-01 -6.23452037e-02 1.72943490e+02] [-3.99067242e-01 9.16391290e-01 3.11823616e-02 1.14646214e+02] [ 6.96138782e-02 -3.62933313e-03 9.97567409e-01 2.64500265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:114.64, Z:26.45 [[ 9.16550545e-01 3.94978215e-01 -6.26682483e-02 1.72976158e+02] [-3.93809757e-01 9.18684519e-01 3.05389790e-02 1.14635785e+02] [ 6.96345809e-02 -3.31115018e-03 9.97567071e-01 2.64525401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.00, Y:114.63, Z:26.46 [[ 9.16948185e-01 3.94146844e-01 -6.20829397e-02 1.73004760e+02] [-3.92897546e-01 9.19035568e-01 3.17039953e-02 1.14630765e+02] [ 6.95524594e-02 -4.67868631e-03 9.97567324e-01 2.64560676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:114.63, Z:26.46 [[ 9.17168718e-01 3.93612384e-01 -6.22160203e-02 1.73029716e+02] [-3.92379739e-01 9.19265866e-01 3.14389571e-02 1.14629856e+02] [ 6.95678266e-02 -4.42252216e-03 9.97567421e-01 2.64582140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:114.62, Z:26.46 [[ 9.18752164e-01 3.89800344e-01 -6.28502369e-02 1.73062951e+02] [-3.88644903e-01 9.20893504e-01 3.01710710e-02 1.14621673e+02] [ 6.96390687e-02 -3.29331257e-03 9.97566817e-01 2.64589090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:114.62, Z:26.46 [[ 9.18189480e-01 3.91206758e-01 -6.23325857e-02 1.73092581e+02] [-3.89984398e-01 9.20292565e-01 3.12051870e-02 1.14619515e+02] [ 6.95718953e-02 -4.34353853e-03 9.97567484e-01 2.64605790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:114.61, Z:26.46 [[ 9.16380333e-01 3.95425464e-01 -6.23360845e-02 1.73116129e+02] [-3.94213262e-01 9.18489290e-01 3.11981963e-02 1.14613566e+02] [ 6.95915872e-02 -4.01570234e-03 9.97567484e-01 2.64613110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:114.61, Z:26.46 [[ 9.17571596e-01 3.92568455e-01 -6.28679100e-02 1.73153008e+02] [-3.91422073e-01 9.19717760e-01 3.01330733e-02 1.14613567e+02] [ 6.96500274e-02 -3.04136451e-03 9.97566852e-01 2.64569139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:114.61, Z:26.46 [[ 9.17620496e-01 3.92536922e-01 -6.23489444e-02 1.73182776e+02] [-3.91319910e-01 9.19726635e-01 3.11712178e-02 1.14607533e+02] [ 6.95798388e-02 -4.20496503e-03 9.97567524e-01 2.64565018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:114.61, Z:26.46 [[ 9.18023465e-01 3.91592046e-01 -6.23585345e-02 1.73214084e+02] [-3.90374165e-01 9.20129101e-01 3.11520210e-02 1.14608362e+02] [ 6.95767860e-02 -4.25512545e-03 9.97567524e-01 2.64566947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:173.24, Y:114.60, Z:26.46 [[ 9.19173104e-01 3.88885326e-01 -6.23619118e-02 1.73242558e+02] [-3.87661702e-01 9.21275408e-01 3.11452586e-02 1.14602595e+02] [ 6.95644298e-02 -4.45255916e-03 9.97567524e-01 2.64599135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.12710568099993 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:173.27, Y:114.60, Z:26.46 [[ 9.22250049e-01 3.81529166e-01 -6.23726147e-02 1.73274045e+02] [-3.80290225e-01 9.24343363e-01 3.11238099e-02 1.14604660e+02] [ 6.95283537e-02 -4.98423952e-03 9.97567524e-01 2.64643244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:173.30, Y:114.60, Z:26.47 [[ 9.23892248e-01 3.77534580e-01 -6.23759123e-02 1.73301867e+02] [-3.76287036e-01 9.25980446e-01 3.11171998e-02 1.14598197e+02] [ 6.95066940e-02 -5.27769253e-03 9.97567524e-01 2.64673963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18710568099993 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:173.33, Y:114.60, Z:26.47 [[ 9.26850912e-01 3.70211058e-01 -6.23791552e-02 1.73332364e+02] [-3.68947461e-01 9.28929435e-01 3.11106976e-02 1.14598692e+02] [ 6.94633576e-02 -5.82034753e-03 9.97567524e-01 2.64723226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2171056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:173.36, Y:114.59, Z:26.47 [[ 9.27332747e-01 3.69001813e-01 -6.23829989e-02 1.73363007e+02] [-3.67736019e-01 9.29409933e-01 3.11029882e-02 1.14589607e+02] [ 6.94564379e-02 -5.90234379e-03 9.97567524e-01 2.64743222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:173.39, Y:114.60, Z:26.48 [[ 9.28221034e-01 3.66806929e-01 -6.21159314e-02 1.73393029e+02] [-3.65500669e-01 9.30273221e-01 3.16385008e-02 1.14595809e+02] [ 6.93900089e-02 -6.66410746e-03 9.97567349e-01 2.64808849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2771056809999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:173.42, Y:114.59, Z:26.48 [[ 9.26019746e-01 3.72281851e-01 -6.23991472e-02 1.73416130e+02] [-3.71025642e-01 9.28102712e-01 3.10697336e-02 1.14593452e+02] [ 6.94795157e-02 -5.61950318e-03 9.97567551e-01 2.64809744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30710568099994 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:173.46, Y:114.60, Z:26.49 [[ 9.24619500e-01 3.75654916e-01 -6.29457258e-02 1.73455007e+02] [-3.74480397e-01 9.26750375e-01 2.99695638e-02 1.14595655e+02] [ 6.95931890e-02 -4.13850262e-03 9.97566870e-01 2.64884557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.3371056809999 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:173.49, Y:114.60, Z:26.49 [[ 9.21900787e-01 3.82365767e-01 -6.24128124e-02 1.73487098e+02] [-3.81134289e-01 9.23998430e-01 3.10411760e-02 1.14596137e+02] [ 6.95384238e-02 -4.82922168e-03 9.97567585e-01 2.64930285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36710568099994 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:173.51, Y:114.59, Z:26.50 [[ 9.19519327e-01 3.88056230e-01 -6.24225113e-02 1.73510745e+02] [-3.86839059e-01 9.21625303e-01 3.10216597e-02 1.14590448e+02] [ 6.95683142e-02 -4.37755013e-03 9.97567585e-01 2.64959906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.3971056809999 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:173.55, Y:114.59, Z:26.50 [[ 9.17963484e-01 3.91654534e-01 -6.28471833e-02 1.73546518e+02] [-3.90503840e-01 9.20106958e-01 3.01651696e-02 1.14589711e+02] [ 6.96404560e-02 -3.14845780e-03 9.97567188e-01 2.64961134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42710568099994 meters Centerline goodness : 0.997777 Centerline is valid? [True, True] Translation: X:173.57, Y:114.58, Z:26.50 [[ 9.15263792e-01 3.97986527e-01 -6.24412904e-02 1.73571959e+02] [-3.96794835e-01 9.17384269e-01 3.09832410e-02 1.14583351e+02] [ 6.96135700e-02 -3.58145716e-03 9.97567604e-01 2.64966884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.4571056809999 meters Centerline goodness : 0.997777 Centerline is valid? [True, True] Translation: X:173.60, Y:114.57, Z:26.50 [[ 9.15324628e-01 3.97802535e-01 -6.27213642e-02 1.73597454e+02] [-3.96648935e-01 9.17466270e-01 3.04181783e-02 1.14570909e+02] [ 6.96451645e-02 -2.96414539e-03 9.97567424e-01 2.64988198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48710568099995 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:173.62, Y:114.57, Z:26.49 [[ 9.09561363e-01 4.10807105e-01 -6.27347565e-02 1.73623350e+02] [-4.09686008e-01 9.11720217e-01 3.03911214e-02 1.14568984e+02] [ 6.96814344e-02 -1.94103786e-03 9.97567406e-01 2.64944996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5171056809999 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:173.66, Y:114.57, Z:26.50 [[ 9.04441152e-01 4.21899656e-01 -6.31417638e-02 1.73658911e+02] [-4.20862370e-01 9.06642516e-01 2.95670995e-02 1.14565929e+02] [ 6.97213567e-02 -1.67709154e-04 9.97566491e-01 2.64966537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54710568099995 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:173.69, Y:114.56, Z:26.50 [[ 9.02872799e-01 4.25293633e-01 -6.28174731e-02 1.73690374e+02] [-4.24218868e-01 9.05055201e-01 3.02230840e-02 1.14559387e+02] [ 6.97069659e-02 -6.39243120e-04 9.97567306e-01 2.64997291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5771056809999 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:173.72, Y:114.55, Z:26.50 [[ 9.00538818e-01 4.30262996e-01 -6.24787221e-02 1.73718382e+02] [-4.29152642e-01 9.02703003e-01 3.09078975e-02 1.14552357e+02] [ 6.96982547e-02 -1.02085289e-03 9.97567597e-01 2.65006934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60710568099995 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:173.74, Y:114.55, Z:26.50 [[ 8.95450486e-01 4.40753352e-01 -6.24892742e-02 1.73744389e+02] [-4.39669845e-01 8.97628235e-01 3.08865486e-02 1.14548126e+02] [ 6.97054868e-02 -1.82725501e-04 9.97567598e-01 2.65003024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.6371056809999 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:173.77, Y:114.54, Z:26.50 [[ 8.93094943e-01 4.45454668e-01 -6.28614570e-02 1.73772095e+02] [-4.44435548e-01 8.95303906e-01 3.01323595e-02 1.14541664e+02] [ 6.97027082e-02 1.02680826e-03 9.97567280e-01 2.64993439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66710568099995 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:173.80, Y:114.53, Z:26.50 [[ 8.94901054e-01 4.41801331e-01 -6.29578207e-02 1.73802963e+02] [-4.40786927e-01 8.97112402e-01 2.99369865e-02 1.14530578e+02] [ 6.97064423e-02 9.60343540e-04 9.97567085e-01 2.64991721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.6971056809999 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:173.83, Y:114.52, Z:26.50 [[ 8.96873031e-01 4.37849482e-01 -6.25027854e-02 1.73828581e+02] [-4.36760862e-01 8.99048213e-01 3.08587209e-02 1.14519225e+02] [ 6.97044924e-02 -3.77584090e-04 9.97567612e-01 2.65016253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72710568099995 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:173.85, Y:114.51, Z:26.50 [[ 8.98092389e-01 4.35341245e-01 -6.25144886e-02 1.73853028e+02] [-4.34248202e-01 9.00265351e-01 3.08349939e-02 1.14507053e+02] [ 6.97033727e-02 -5.45869023e-04 9.97567613e-01 2.65039527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.7571056809999 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:173.88, Y:114.50, Z:26.51 [[ 9.00099202e-01 4.31175993e-01 -6.25195176e-02 1.73878327e+02] [-4.30073604e-01 9.02267437e-01 3.08247940e-02 1.14495570e+02] [ 6.97002361e-02 -8.57378260e-04 9.97567613e-01 2.65066634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78710568099996 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:173.90, Y:114.48, Z:26.51 [[ 9.01067864e-01 4.29146360e-01 -6.25308435e-02 1.73903503e+02] [-4.28040682e-01 9.03234423e-01 3.08018014e-02 1.14483502e+02] [ 6.96984913e-02 -9.88768545e-04 9.97567613e-01 2.65089585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81710568099993 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:173.93, Y:114.47, Z:26.51 [[ 9.02833160e-01 4.25419491e-01 -6.25343267e-02 1.73927560e+02] [-4.24305359e-01 9.04995385e-01 3.07947280e-02 1.14469830e+02] [ 6.96939546e-02 -1.26885168e-03 9.97567613e-01 2.65117393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84710568099996 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:173.95, Y:114.46, Z:26.51 [[ 9.04993337e-01 4.20804153e-01 -6.25373839e-02 1.73951388e+02] [-4.19679425e-01 9.07150069e-01 3.07885182e-02 1.14455803e+02] [ 6.96867285e-02 -1.61775054e-03 9.97567613e-01 2.65122764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87710568099993 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:173.98, Y:114.44, Z:26.51 [[ 9.07840685e-01 4.14623933e-01 -6.25482620e-02 1.73975598e+02] [-4.13486047e-01 9.09990504e-01 3.07664030e-02 1.14440625e+02] [ 6.96748115e-02 -2.06815877e-03 9.97567613e-01 2.65112209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90710568099996 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:174.00, Y:114.43, Z:26.51 [[ 9.09215887e-01 4.11598012e-01 -6.25583528e-02 1.74000402e+02] [-4.10454384e-01 9.11362656e-01 3.07458716e-02 1.14426973e+02] [ 6.96682861e-02 -2.27728478e-03 9.97567614e-01 2.65112587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93710568099993 meters Centerline goodness : 0.995598 Centerline is valid? [True, True] Translation: X:174.03, Y:114.41, Z:26.51 [[ 9.10610033e-01 4.08503826e-01 -6.25619027e-02 1.74025286e+02] [-4.07353399e-01 9.12753167e-01 3.07386465e-02 1.14413596e+02] [ 6.96604295e-02 -2.50611624e-03 9.97567614e-01 2.65126742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.9671056809999 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:174.05, Y:114.40, Z:26.52 [[ 9.10616304e-01 4.08489344e-01 -6.25651896e-02 1.74050131e+02] [-4.07339342e-01 9.12759666e-01 3.07319548e-02 1.14401874e+02] [ 6.96606576e-02 -2.49975592e-03 9.97567614e-01 2.65167945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99710568099994 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:174.08, Y:114.39, Z:26.52 [[ 9.10028862e-01 4.09794772e-01 -6.25756848e-02 1.74076062e+02] [-4.08649313e-01 9.12174654e-01 3.07105700e-02 1.14390626e+02] [ 6.96649847e-02 -2.37599447e-03 9.97567614e-01 2.65205537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0271056809999 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:174.10, Y:114.38, Z:26.53 [[ 9.06317096e-01 4.17938229e-01 -6.25856007e-02 1.74102636e+02] [-4.16813453e-01 9.08473802e-01 3.06903488e-02 1.14381470e+02] [ 6.96840487e-02 -1.72866747e-03 9.97567614e-01 2.65251242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05710568099994 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:174.13, Y:114.37, Z:26.53 [[ 9.01902738e-01 4.27380458e-01 -6.25890932e-02 1.74129052e+02] [-4.26278760e-01 9.04071324e-01 3.06832248e-02 1.14369839e+02] [ 6.96984150e-02 -9.92883424e-04 9.97567614e-01 2.65297844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0871056809999 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:174.15, Y:114.36, Z:26.53 [[ 8.99759721e-01 4.31872459e-01 -6.25989140e-02 1.74153705e+02] [-4.30782983e-01 9.01934472e-01 3.06631756e-02 1.14357321e+02] [ 6.97026995e-02 -6.22943423e-04 9.97567615e-01 2.65319556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11710568099994 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:174.18, Y:114.35, Z:26.54 [[ 8.94806017e-01 4.42043152e-01 -6.26102525e-02 1.74178882e+02] [-4.40980017e-01 8.96993765e-01 3.06400064e-02 1.14346912e+02] [ 6.97052111e-02 1.93008171e-04 9.97567615e-01 2.65351672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.1471056809999 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:174.20, Y:114.34, Z:26.54 [[ 8.91943298e-01 4.47790683e-01 -6.26151507e-02 1.74203378e+02] [-4.46742347e-01 8.94138177e-01 3.06299934e-02 1.14337094e+02] [ 6.97024223e-02 6.52622087e-04 9.97567615e-01 2.65381076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17710568099994 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:174.23, Y:114.33, Z:26.54 [[ 8.86790542e-01 4.57909684e-01 -6.26199364e-02 1.74228773e+02] [-4.56887079e-01 8.88997525e-01 3.06202064e-02 1.14327319e+02] [ 6.96902575e-02 1.45653046e-03 9.97567615e-01 2.65423979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.2071056809999 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:174.25, Y:114.31, Z:26.55 [[ 8.84443393e-01 4.62426436e-01 -6.26232798e-02 1.74253646e+02] [-4.61415585e-01 8.86655785e-01 3.06133669e-02 1.14314806e+02] [ 6.96817235e-02 1.81956716e-03 9.97567615e-01 2.65452396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23710568099995 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:174.28, Y:114.30, Z:26.55 [[ 8.80636910e-01 4.69633426e-01 -6.26344815e-02 1.74276687e+02] [-4.68642303e-01 8.82858209e-01 3.05904313e-02 1.14300029e+02] [ 6.96636552e-02 2.41410480e-03 9.97567615e-01 2.65477850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.2671056809999 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:174.30, Y:114.28, Z:26.55 [[ 8.78288520e-01 4.74009750e-01 -6.26421000e-02 1.74298830e+02] [-4.73030804e-01 8.80515212e-01 3.05748225e-02 1.14282559e+02] [ 6.96500859e-02 2.77812738e-03 9.97567616e-01 2.65515723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29710568099995 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:174.32, Y:114.27, Z:26.55 [[ 8.77408311e-01 4.75635566e-01 -6.26535174e-02 1.74321762e+02] [-4.74662414e-01 8.79637541e-01 3.05514082e-02 1.14267488e+02] [ 6.96437224e-02 2.93321038e-03 9.97567616e-01 2.65535526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.3271056809999 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:174.34, Y:114.25, Z:26.55 [[ 8.76707700e-01 4.76925071e-01 -6.26584879e-02 1.74342264e+02] [-4.75955924e-01 8.78938674e-01 3.05412107e-02 1.14248505e+02] [ 6.96388374e-02 3.04696400e-03 9.97567616e-01 2.65549917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35710568099995 meters Centerline goodness : 0.996631 Centerline is valid? [True, True] Translation: X:174.36, Y:114.23, Z:26.56 [[ 8.78838570e-01 4.72986333e-01 -6.26633650e-02 1.74363176e+02] [-4.72007897e-01 8.81065486e-01 3.05312007e-02 1.14227423e+02] [ 6.96513688e-02 2.74560640e-03 9.97567616e-01 2.65550100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.3871056809999 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:174.39, Y:114.21, Z:26.56 [[ 8.81312855e-01 4.68359395e-01 -6.26668095e-02 1.74385401e+02] [-4.67369767e-01 8.83534820e-01 3.05241292e-02 1.14210405e+02] [ 6.96645709e-02 2.38726472e-03 9.97567616e-01 2.65564664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41710568099995 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:174.40, Y:114.19, Z:26.56 [[ 8.85785517e-01 4.59842933e-01 -6.26777041e-02 1.74404969e+02] [-4.58833518e-01 8.87998562e-01 3.05017420e-02 1.14187866e+02] [ 6.96837217e-02 1.74063015e-03 9.97567616e-01 2.65590563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.4471056809999 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:174.43, Y:114.17, Z:26.56 [[ 8.87851049e-01 4.55840613e-01 -6.26885254e-02 1.74426471e+02] [-4.54822790e-01 8.90060240e-01 3.04794853e-02 1.14170742e+02] [ 6.96903513e-02 1.45092704e-03 9.97567617e-01 2.65605517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47710568099995 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:174.45, Y:114.15, Z:26.56 [[ 8.91443112e-01 4.48774342e-01 -6.26958409e-02 1.74447550e+02] [-4.47740063e-01 8.93644647e-01 3.04644302e-02 1.14149300e+02] [ 6.96994572e-02 9.14133280e-04 9.97567617e-01 2.65609138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.5071056809999 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:174.47, Y:114.13, Z:26.56 [[ 8.93196751e-01 4.45272365e-01 -6.27063362e-02 1.74471326e+02] [-4.44230972e-01 8.95394929e-01 3.04428119e-02 1.14134572e+02] [ 6.97022783e-02 6.64675954e-04 9.97567617e-01 2.65629418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53710568099996 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:174.50, Y:114.12, Z:26.56 [[ 8.94872203e-01 4.41894037e-01 -6.27168318e-02 1.74495051e+02] [-4.40845861e-01 8.97067154e-01 3.04211740e-02 1.14120493e+02] [ 6.97041452e-02 4.25392738e-04 9.97567617e-01 2.65634654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.56710568099993 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:174.52, Y:114.10, Z:26.56 [[ 8.97552380e-01 4.36422963e-01 -6.27273737e-02 1.74517811e+02] [-4.35362927e-01 8.99741628e-01 3.03994214e-02 1.14102378e+02] [ 6.97054349e-02 2.40999984e-05 9.97567618e-01 2.65593425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59710568099996 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:174.54, Y:114.09, Z:26.56 [[ 8.98703783e-01 4.34046293e-01 -6.27321760e-02 1.74540323e+02] [-4.32981160e-01 9.00890556e-01 3.03895083e-02 1.14085406e+02] [ 6.97052783e-02 -1.49315742e-04 9.97567618e-01 2.65625696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.62710568099993 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:174.56, Y:114.07, Z:26.57 [[ 8.98319647e-01 4.34839275e-01 -6.27424568e-02 1.74564965e+02] [-4.33777556e-01 9.00508079e-01 3.03682676e-02 1.14071680e+02] [ 6.97054047e-02 -6.41419193e-05 9.97567618e-01 2.65694822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65710568099996 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:174.59, Y:114.06, Z:26.57 [[ 8.95298828e-01 4.41024038e-01 -6.27519453e-02 1.74587576e+02] [-4.39978811e-01 8.97495184e-01 3.03486483e-02 1.14056277e+02] [ 6.97040521e-02 4.38416987e-04 9.97567618e-01 2.65736689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68710568099993 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:174.61, Y:114.04, Z:26.58 [[ 8.93416910e-01 4.44823464e-01 -6.27559688e-02 1.74611939e+02] [-4.43788161e-01 8.95617962e-01 3.03403261e-02 1.14041689e+02] [ 6.97014618e-02 7.43795571e-04 9.97567618e-01 2.65784151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7171056809999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:174.64, Y:114.03, Z:26.59 [[ 8.89619101e-01 4.52369735e-01 -6.27652615e-02 1.74635874e+02] [-4.51354456e-01 8.91829460e-01 3.03210901e-02 1.14027685e+02] [ 6.96922527e-02 1.35515953e-03 9.97567619e-01 2.65856624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74710568099994 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:174.66, Y:114.01, Z:26.59 [[ 8.87593056e-01 4.56331536e-01 -6.27701893e-02 1.74660776e+02] [-4.55326843e-01 8.89808247e-01 3.03108852e-02 1.14013692e+02] [ 6.96852449e-02 1.67722087e-03 9.97567619e-01 2.65911580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7771056809999 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:174.69, Y:114.00, Z:26.59 [[ 8.86946015e-01 4.57594885e-01 -6.27191223e-02 1.74685121e+02] [-4.56585866e-01 8.89159249e-01 3.04167218e-02 1.13999179e+02] [ 6.96858240e-02 1.65867462e-03 9.97567609e-01 2.65940139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80710568099994 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:174.71, Y:113.98, Z:26.60 [[ 8.86480877e-01 4.58486355e-01 -6.27846975e-02 1.74707135e+02] [-4.57489177e-01 8.88699459e-01 3.02807588e-02 1.13982250e+02] [ 6.96800414e-02 1.88000600e-03 9.97567620e-01 2.65958030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.8371056809999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:174.73, Y:113.97, Z:26.60 [[ 8.86962576e-01 4.57553105e-01 -6.27896892e-02 1.74730204e+02] [-4.56554326e-01 8.89180438e-01 3.02704045e-02 1.13968451e+02] [ 6.96816809e-02 1.81818825e-03 9.97567621e-01 2.65977219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86710568099994 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:174.75, Y:113.95, Z:26.60 [[ 8.89119858e-01 4.53345747e-01 -6.27973849e-02 1.74752930e+02] [-4.52337598e-01 8.91333477e-01 3.02544311e-02 1.13951146e+02] [ 6.96891290e-02 1.50580275e-03 9.97567621e-01 2.66003872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.8971056809999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:174.78, Y:113.94, Z:26.60 [[ 8.90797086e-01 4.50039573e-01 -6.28087117e-02 1.74776955e+02] [-4.49024867e-01 8.93007706e-01 3.02308980e-02 1.13936618e+02] [ 6.96937640e-02 1.27307752e-03 9.97567621e-01 2.66013059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92710568099994 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:174.80, Y:113.92, Z:26.60 [[ 8.94494918e-01 4.42642627e-01 -6.28199533e-02 1.74799985e+02] [-4.41611279e-01 8.96697822e-01 3.02075200e-02 1.13919886e+02] [ 6.97016513e-02 7.21526750e-04 9.97567621e-01 2.66018454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.9571056809999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:174.82, Y:113.90, Z:26.61 [[ 8.95754721e-01 4.40086062e-01 -6.28310292e-02 1.74823339e+02] [-4.39050043e-01 8.97955432e-01 3.01844648e-02 1.13904729e+02] [ 6.97032262e-02 5.48089247e-04 9.97567622e-01 2.66050757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98710568099995 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:174.85, Y:113.89, Z:26.60 [[ 8.97474093e-01 4.36552386e-01 -6.29465383e-02 1.74846294e+02] [-4.35524561e-01 8.99678677e-01 2.99438651e-02 1.13886613e+02] [ 6.97037240e-02 5.40920354e-04 9.97567591e-01 2.66007443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0171056809999 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:174.87, Y:113.87, Z:26.60 [[ 8.96346071e-01 4.38879436e-01 -6.28375883e-02 1.74869920e+02] [-4.37841413e-01 8.98545837e-01 3.01707837e-02 1.13870860e+02] [ 6.97037898e-02 4.69435060e-04 9.97567622e-01 2.66009109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04710568099995 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:174.89, Y:113.86, Z:26.60 [[ 8.95130056e-01 4.41352779e-01 -6.28482839e-02 1.74894527e+02] [-4.40322400e-01 8.97333412e-01 3.01484873e-02 1.13857361e+02] [ 6.97019837e-02 6.86690121e-04 9.97567623e-01 2.66026091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0771056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:174.92, Y:113.84, Z:26.60 [[ 8.90893061e-01 4.49842481e-01 -6.28593346e-02 1.74917541e+02] [-4.48834721e-01 8.93106854e-01 3.01254291e-02 1.13841202e+02] [ 6.96918003e-02 1.37491619e-03 9.97567623e-01 2.66047972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10710568099995 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:174.94, Y:113.83, Z:26.61 [[ 8.88268305e-01 4.55001867e-01 -6.28706610e-02 1.74940670e+02] [-4.54008636e-01 8.90488653e-01 3.01017729e-02 1.13827837e+02] [ 6.96819731e-02 1.80537225e-03 9.97567623e-01 2.66060534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.1371056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:174.96, Y:113.81, Z:26.61 [[ 8.83232197e-01 4.64701570e-01 -6.28755697e-02 1.74963641e+02] [-4.63733442e-01 8.85463605e-01 3.00915163e-02 1.13812822e+02] [ 6.96576035e-02 2.57970827e-03 9.97567623e-01 2.66138930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16710568099995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:174.99, Y:113.80, Z:26.62 [[ 8.82048918e-01 4.66932826e-01 -6.29558797e-02 1.74989542e+02] [-4.65982299e-01 8.84287894e-01 2.99235385e-02 1.13797939e+02] [ 6.96434046e-02 2.94230080e-03 9.97567611e-01 2.66155085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.1971056809999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:175.01, Y:113.78, Z:26.62 [[ 8.81199331e-01 4.68543313e-01 -6.28880244e-02 1.75013035e+02] [-4.67586765e-01 8.83435727e-01 3.00654735e-02 1.13782812e+02] [ 6.96445042e-02 2.91193273e-03 9.97567624e-01 2.66166847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.03, Y:113.76, Z:26.62 [[ 8.81220385e-01 4.68502204e-01 -6.28992714e-02 1.75033508e+02] [-4.67547229e-01 8.83457453e-01 3.00419255e-02 1.13761728e+02] [ 6.96435385e-02 2.93482291e-03 9.97567624e-01 2.66163111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.2571056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:175.05, Y:113.74, Z:26.62 [[ 8.82924285e-01 4.65281619e-01 -6.29104301e-02 1.75054058e+02] [-4.64320145e-01 8.85158568e-01 3.00185401e-02 1.13740393e+02] [ 6.96527812e-02 2.70648200e-03 9.97567624e-01 2.66214566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.08, Y:113.72, Z:26.63 [[ 8.85675506e-01 4.60020170e-01 -6.29312384e-02 1.75075307e+02] [-4.59048515e-01 8.87905381e-01 2.99749163e-02 1.13719411e+02] [ 6.96660513e-02 2.34044234e-03 9.97567624e-01 2.66274232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:113.70, Z:26.63 [[ 8.87591305e-01 4.56314519e-01 -6.29184856e-02 1.75098613e+02] [-4.55331658e-01 8.89816263e-01 3.00016611e-02 1.13703858e+02] [ 6.96760852e-02 2.01956483e-03 9.97567624e-01 2.66310240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:113.69, Z:26.63 [[ 8.87753131e-01 4.55998140e-01 -6.29291212e-02 1.75124344e+02] [-4.55016067e-01 8.89978437e-01 2.99793361e-02 1.13691889e+02] [ 6.96760824e-02 2.01951178e-03 9.97567624e-01 2.66330094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.14, Y:113.67, Z:26.64 [[ 8.92459587e-01 4.46715200e-01 -6.29397717e-02 1.75143566e+02] [-4.45711551e-01 8.94675245e-01 2.99569593e-02 1.13673372e+02] [ 6.96928848e-02 1.31760779e-03 9.97567625e-01 2.66363713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.17, Y:113.66, Z:26.64 [[ 8.95425865e-01 4.40708446e-01 -6.31552509e-02 1.75168513e+02] [-4.39721826e-01 8.97649284e-01 2.95038829e-02 1.13657314e+02] [ 6.96938761e-02 1.35220230e-03 9.97567509e-01 2.66388315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:175.19, Y:113.64, Z:26.64 [[ 8.98190517e-01 4.35061530e-01 -6.30496614e-02 1.75192121e+02] [-4.34045328e-01 9.00400478e-01 2.97259513e-02 1.13642532e+02] [ 6.97025631e-02 6.66843405e-04 9.97567596e-01 2.66402492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:113.63, Z:26.65 [[ 9.02843905e-01 4.25334468e-01 -6.29561278e-02 1.75213916e+02] [-4.24280723e-01 9.05036186e-01 2.99227457e-02 1.13626704e+02] [ 6.97047489e-02 -3.04497164e-04 9.97567619e-01 2.66452821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.24, Y:113.61, Z:26.65 [[ 9.08080792e-01 4.14035257e-01 -6.29609558e-02 1.75238429e+02] [-4.12954941e-01 9.10260102e-01 2.99125835e-02 1.13612936e+02] [ 6.96957103e-02 -1.16300465e-03 9.97567619e-01 2.66491121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.26, Y:113.60, Z:26.65 [[ 9.12654019e-01 4.03852870e-01 -6.29722314e-02 1.75262395e+02] [-4.02749885e-01 9.14821943e-01 2.98888273e-02 1.13600025e+02] [ 6.96790678e-02 -1.91609940e-03 9.97567620e-01 2.66479697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.28, Y:113.59, Z:26.65 [[ 9.13766206e-01 4.01329302e-01 -6.29770769e-02 1.75284996e+02] [-4.00221034e-01 9.15931435e-01 2.98786142e-02 1.13587936e+02] [ 6.96738477e-02 -2.09731712e-03 9.97567620e-01 2.66497564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.31, Y:113.58, Z:26.65 [[ 9.17611609e-01 3.92415948e-01 -6.32349591e-02 1.75311944e+02] [-3.91324027e-01 9.19785304e-01 2.93342811e-02 1.13576097e+02] [ 6.96738258e-02 -2.17211802e-03 9.97567461e-01 2.66520248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.34, Y:113.57, Z:26.65 [[ 9.18817975e-01 3.89622497e-01 -6.29907775e-02 1.75337607e+02] [-3.88488642e-01 9.20969911e-01 2.98495971e-02 1.13565097e+02] [ 6.96426853e-02 -2.95514483e-03 9.97567624e-01 2.66511797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.36, Y:113.56, Z:26.65 [[ 9.20486773e-01 3.85661659e-01 -6.30014675e-02 1.75363654e+02] [-3.84520088e-01 9.22634625e-01 2.98270175e-02 1.13556792e+02] [ 6.96304724e-02 -3.23004527e-03 9.97567624e-01 2.66483676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.39, Y:113.55, Z:26.65 [[ 9.22142007e-01 3.81659858e-01 -6.31654377e-02 1.75391609e+02] [-3.80532616e-01 9.24297485e-01 2.94802962e-02 1.13547314e+02] [ 6.96351008e-02 -3.14851028e-03 9.97567561e-01 2.66472241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.42, Y:113.54, Z:26.65 [[ 9.23629759e-01 3.78070224e-01 -6.30156608e-02 1.75418970e+02] [-3.76913044e-01 9.25769244e-01 2.97970586e-02 1.13539784e+02] [ 6.96033413e-02 -3.77002554e-03 9.97567623e-01 2.66504394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.45, Y:113.53, Z:26.65 [[ 9.23891045e-01 3.77429444e-01 -6.30266017e-02 1.75445048e+02] [-3.76272354e-01 9.26030578e-01 2.97738986e-02 1.13530917e+02] [ 6.96021063e-02 -3.79267048e-03 9.97567623e-01 2.66522174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.47, Y:113.53, Z:26.65 [[ 9.23776103e-01 3.77709896e-01 -6.30313177e-02 1.75473654e+02] [-3.76554135e-01 9.25916353e-01 2.97639113e-02 1.13526971e+02] [ 6.96038517e-02 -3.76048670e-03 9.97567623e-01 2.66503622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:113.52, Z:26.65 [[ 9.21261769e-01 3.83801236e-01 -6.30346318e-02 1.75503983e+02] [-3.82660111e-01 9.23409859e-01 2.97568912e-02 1.13522163e+02] [ 6.96275320e-02 -3.29304705e-03 9.97567623e-01 2.66485535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.53, Y:113.52, Z:26.65 [[ 9.18497952e-01 3.90367806e-01 -6.30435341e-02 1.75531547e+02] [-3.89243337e-01 9.20654808e-01 2.97380187e-02 1.13515177e+02] [ 6.96500978e-02 -2.77503370e-03 9.97567623e-01 2.66500746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85710568099995 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:175.56, Y:113.52, Z:26.65 [[ 9.10701883e-01 4.08223250e-01 -6.30544117e-02 1.75562925e+02] [-4.07142695e-01 9.12881070e-01 2.97149366e-02 1.13516556e+02] [ 6.96915068e-02 -1.38930561e-03 9.97567624e-01 2.66544984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.8871056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:175.59, Y:113.51, Z:26.66 [[ 9.06452424e-01 4.17572699e-01 -6.30638104e-02 1.75591875e+02] [-4.16516014e-01 9.08643285e-01 2.96949764e-02 1.13511723e+02] [ 6.97023193e-02 -6.49996398e-04 9.97567624e-01 2.66575427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91710568099995 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:175.62, Y:113.51, Z:26.66 [[ 8.99572932e-01 4.32192197e-01 -6.30749115e-02 1.75620974e+02] [-4.31172772e-01 9.01781376e-01 2.96713780e-02 1.13511030e+02] [ 6.97035185e-02 5.04615911e-04 9.97567624e-01 2.66567549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.9471056809999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:175.64, Y:113.50, Z:26.66 [[ 8.96061432e-01 4.39425213e-01 -6.30824307e-02 1.75644773e+02] [-4.38424738e-01 8.98278525e-01 2.96553833e-02 1.13502923e+02] [ 6.96969159e-02 1.08385288e-03 9.97567624e-01 2.66592492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97710568099995 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:175.68, Y:113.50, Z:26.66 [[ 8.95187589e-01 4.41142511e-01 -6.35017019e-02 1.75676035e+02] [-4.40209426e-01 8.97434351e-01 2.87618860e-02 1.13495439e+02] [ 6.96766993e-02 2.20676439e-03 9.97567185e-01 2.66634501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.0071056809999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:175.70, Y:113.49, Z:26.67 [[ 8.92990493e-01 4.45630999e-01 -6.30951086e-02 1.75698359e+02] [-4.44647873e-01 8.95215315e-01 2.96278376e-02 1.13486712e+02] [ 6.96867904e-02 1.59772857e-03 9.97567641e-01 2.66655693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03710568099996 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:175.73, Y:113.48, Z:26.66 [[ 8.94006796e-01 4.43522307e-01 -6.35595177e-02 1.75725648e+02] [-4.42604055e-01 8.96259763e-01 2.86371709e-02 1.13475901e+02] [ 6.96670623e-02 2.52987487e-03 9.97567091e-01 2.66645161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.06710568099993 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:175.75, Y:113.46, Z:26.66 [[ 8.97410832e-01 4.36593011e-01 -6.35636736e-02 1.75754432e+02] [-4.35657986e-01 8.99656901e-01 2.86283007e-02 1.13462200e+02] [ 6.96844136e-02 2.00067484e-03 9.97567080e-01 2.66642707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09710568099996 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:175.78, Y:113.45, Z:26.67 [[ 8.98976377e-01 4.33427155e-01 -6.31060676e-02 1.75779391e+02] [-4.32415500e-01 9.01188352e-01 2.96038671e-02 1.13448352e+02] [ 6.97015729e-02 6.74864550e-04 9.97567660e-01 2.66695437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.12710568099993 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:175.80, Y:113.43, Z:26.68 [[ 9.01071181e-01 4.29053805e-01 -6.31154446e-02 1.75801564e+02] [-4.28032815e-01 9.03278863e-01 2.95838618e-02 1.13432139e+02] [ 6.97039155e-02 3.58316130e-04 9.97567660e-01 2.66776200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15710568099996 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:175.83, Y:113.42, Z:26.68 [[ 9.02150766e-01 4.26778656e-01 -6.31187334e-02 1.75826041e+02] [-4.25752590e-01 9.04356093e-01 2.95768433e-02 1.13417869e+02] [ 6.97045766e-02 1.90192358e-04 9.97567660e-01 2.66812577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18710568099993 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:175.85, Y:113.40, Z:26.68 [[ 9.02840234e-01 4.25316618e-01 -6.31291210e-02 1.75849242e+02] [-4.24288531e-01 9.05044620e-01 2.95546554e-02 1.13402799e+02] [ 6.97047574e-02 1.01830041e-04 9.97567660e-01 2.66830726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2171056809999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:175.87, Y:113.39, Z:26.68 [[ 9.03284945e-01 4.24370660e-01 -6.31336037e-02 1.75874858e+02] [-4.23340935e-01 9.05488565e-01 2.95450765e-02 1.13390607e+02] [ 6.97048198e-02 3.94160213e-05 9.97567660e-01 2.66845664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24710568099994 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:175.90, Y:113.38, Z:26.68 [[ 9.03550827e-01 4.23802736e-01 -6.31438400e-02 1.75900352e+02] [-4.22773156e-01 9.05754514e-01 2.95231833e-02 1.13377931e+02] [ 6.97048240e-02 1.98238356e-05 9.97567660e-01 2.66805745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2771056809999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:175.93, Y:113.36, Z:26.68 [[ 9.01367822e-01 4.28424586e-01 -6.31539609e-02 1.75925452e+02] [-4.27407823e-01 9.03577453e-01 2.95015174e-02 1.13363488e+02] [ 6.97036705e-02 4.00778431e-04 9.97567661e-01 2.66752497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30710568099994 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:175.95, Y:113.35, Z:26.68 [[ 8.99992284e-01 4.31305399e-01 -6.31628121e-02 1.75951629e+02] [-4.30297039e-01 9.02205762e-01 2.94825549e-02 1.13350272e+02] [ 6.97018381e-02 6.44699050e-04 9.97567661e-01 2.66756501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.3371056809999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:175.97, Y:113.34, Z:26.68 [[ 8.96506606e-01 4.38503438e-01 -6.31715079e-02 1.75973974e+02] [-4.37514161e-01 8.98728678e-01 2.94639109e-02 1.13337741e+02] [ 6.96940720e-02 1.22383848e-03 9.97567661e-01 2.66754311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36710568099994 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:176.00, Y:113.33, Z:26.68 [[ 8.96236691e-01 4.39022756e-01 -6.33941137e-02 1.76001347e+02] [-4.38068497e-01 8.98474154e-01 2.89859635e-02 1.13325477e+02] [ 6.96834703e-02 1.79268007e-03 9.97567542e-01 2.66780330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.3971056809999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:176.03, Y:113.31, Z:26.69 [[ 8.93507598e-01 4.44580418e-01 -6.31856376e-02 1.76025735e+02] [-4.43608398e-01 8.95737270e-01 2.94335240e-02 1.13310350e+02] [ 6.96832990e-02 1.73060216e-03 9.97567663e-01 2.66852307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42710568099994 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:176.04, Y:113.29, Z:26.69 [[ 8.89543931e-01 4.52457641e-01 -6.31955565e-02 1.76042620e+02] [-4.51506871e-01 8.91782747e-01 2.94122123e-02 1.13294742e+02] [ 6.96644871e-02 2.36977302e-03 9.97567664e-01 2.66908427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.4571056809999 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:176.07, Y:113.28, Z:26.69 [[ 8.89468528e-01 4.52531846e-01 -6.37233538e-02 1.76071330e+02] [-4.51662239e-01 8.91740848e-01 2.82751174e-02 1.13279446e+02] [ 6.96201087e-02 3.63160557e-03 9.97566966e-01 2.66946101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48710568099995 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:176.10, Y:113.26, Z:26.70 [[ 8.88892913e-01 4.53714233e-01 -6.33465342e-02 1.76097460e+02] [-4.52789795e-01 8.91142747e-01 2.90861683e-02 1.13264396e+02] [ 6.96476131e-02 2.82817535e-03 9.97567648e-01 2.66975206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5171056809999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:176.12, Y:113.25, Z:26.70 [[ 8.86325979e-01 4.58726051e-01 -6.32192179e-02 1.76120612e+02] [-4.57794801e-01 8.88572952e-01 2.93603159e-02 1.13246990e+02] [ 6.96432289e-02 2.91861861e-03 9.97567693e-01 2.66965994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54710568099995 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:176.14, Y:113.23, Z:26.70 [[ 8.84631474e-01 4.61984896e-01 -6.32227128e-02 1.76143724e+02] [-4.61062458e-01 8.86882080e-01 2.93527882e-02 1.13228725e+02] [ 6.96316358e-02 3.18321908e-03 9.97567693e-01 2.66950421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5771056809999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:176.17, Y:113.21, Z:26.70 [[ 8.84287867e-01 4.62640955e-01 -6.32322319e-02 1.76166227e+02] [-4.61721651e-01 8.86539754e-01 2.93322677e-02 1.13212968e+02] [ 6.96281957e-02 3.25752203e-03 9.97567693e-01 2.66970492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:113.19, Z:26.70 [[ 8.87484247e-01 4.56456746e-01 -6.33951968e-02 1.76187163e+02] [-4.55546781e-01 8.89739993e-01 2.89805910e-02 1.13192855e+02] [ 6.96336282e-02 3.15965989e-03 9.97567629e-01 2.66995637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:113.18, Z:26.70 [[ 8.90501147e-01 4.50544972e-01 -6.33792951e-02 1.76211966e+02] [-4.49617587e-01 8.92749774e-01 2.90149242e-02 1.13176438e+02] [ 6.96543797e-02 2.65862244e-03 9.97567641e-01 2.67011869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:176.23, Y:113.16, Z:26.70 [[ 8.96772309e-01 4.37948710e-01 -6.32483512e-02 1.76232523e+02] [-4.36969775e-01 8.98998924e-01 2.92976169e-02 1.13155074e+02] [ 6.96910533e-02 1.36432623e-03 9.97567690e-01 2.67033607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:113.14, Z:26.71 [[ 9.02155834e-01 4.26747148e-01 -6.32591723e-02 1.76253961e+02] [-4.25742199e-01 9.04370830e-01 2.92742336e-02 1.13136115e+02] [ 6.97024459e-02 5.22178463e-04 9.97567690e-01 2.67096844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:113.12, Z:26.71 [[ 9.04513150e-01 4.21710778e-01 -6.33717708e-02 1.76279509e+02] [-4.20710533e-01 9.06730311e-01 2.90308401e-02 1.13121553e+02] [ 6.97037236e-02 4.02394899e-04 9.97567656e-01 2.67121419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.7571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:113.10, Z:26.71 [[ 9.06754773e-01 4.16884789e-01 -6.32681219e-02 1.76301619e+02] [-4.15857090e-01 9.08959309e-01 2.92550006e-02 1.13101256e+02] [ 6.97041131e-02 -2.16614405e-04 9.97567687e-01 2.67086210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:113.09, Z:26.71 [[ 9.07072411e-01 4.16191776e-01 -6.32775317e-02 1.76325113e+02] [-4.15163813e-01 9.09276825e-01 2.92346335e-02 1.13086172e+02] [ 6.97040071e-02 -2.47388114e-04 9.97567687e-01 2.67087227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.35, Y:113.07, Z:26.71 [[ 9.06201303e-01 4.18083457e-01 -6.32883954e-02 1.76348580e+02] [-4.17061739e-01 9.08408618e-01 2.92110964e-02 1.13070732e+02] [ 6.97043999e-02 -7.59653722e-05 9.97567687e-01 2.67078076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.37, Y:113.06, Z:26.71 [[ 9.05520275e-01 4.19555938e-01 -6.32917603e-02 1.76373332e+02] [-4.18538320e-01 9.07729482e-01 2.92038038e-02 1.13059111e+02] [ 6.97044261e-02 4.53905372e-05 9.97567687e-01 2.67089489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.40, Y:113.05, Z:26.71 [[ 9.04554176e-01 4.21634291e-01 -6.32950777e-02 1.76398611e+02] [-4.20622252e-01 9.06765945e-01 2.91966119e-02 1.13046236e+02] [ 6.97041137e-02 2.13400878e-04 9.97567687e-01 2.67132771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.42, Y:113.03, Z:26.72 [[ 9.05191941e-01 4.20261966e-01 -6.33042702e-02 1.76423600e+02] [-4.19247968e-01 9.07402812e-01 2.91766671e-02 1.13033541e+02] [ 6.97043163e-02 1.29702777e-04 9.97567688e-01 2.67171169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.45, Y:113.02, Z:26.72 [[ 9.08274270e-01 4.13556556e-01 -6.33152915e-02 1.76446693e+02] [-4.12527905e-01 9.10478361e-01 2.91527306e-02 1.13018954e+02] [ 6.97035057e-02 -3.59350519e-04 9.97567688e-01 2.67227764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.47, Y:113.00, Z:26.73 [[ 9.12493266e-01 4.04161828e-01 -6.33186933e-02 1.76471089e+02] [-4.03111000e-01 9.14686870e-01 2.91453401e-02 1.13003364e+02] [ 6.96962114e-02 -1.07046477e-03 9.97567688e-01 2.67306480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:112.99, Z:26.73 [[ 9.14445322e-01 3.99724014e-01 -6.33282463e-02 1.76496201e+02] [-3.98663979e-01 9.16634492e-01 2.91245683e-02 1.12992209e+02] [ 6.96906442e-02 -1.38613457e-03 9.97567688e-01 2.67347215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.52, Y:112.98, Z:26.74 [[ 9.18110871e-01 3.91229515e-01 -6.33395228e-02 1.76521291e+02] [-3.90150923e-01 9.20290957e-01 2.91000238e-02 1.12983584e+02] [ 6.96755782e-02 -2.00507492e-03 9.97567689e-01 2.67376199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.55, Y:112.97, Z:26.74 [[ 9.21302721e-01 3.83651913e-01 -6.33443545e-02 1.76547867e+02] [-3.82556117e-01 9.23474211e-01 2.90895025e-02 1.12973422e+02] [ 6.96571210e-02 -2.56746747e-03 9.97567689e-01 2.67391725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.57, Y:112.96, Z:26.74 [[ 9.22489283e-01 3.80788165e-01 -6.33553267e-02 1.76574087e+02] [-3.79687268e-01 9.24658191e-01 2.90655860e-02 1.12963826e+02] [ 6.96498529e-02 -2.75748071e-03 9.97567689e-01 2.67412554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:176.60, Y:112.96, Z:26.75 [[ 9.24827431e-01 3.75071888e-01 -6.33664019e-02 1.76602198e+02] [-3.73959242e-01 9.26990335e-01 2.90414206e-02 1.12957776e+02] [ 6.96326626e-02 -3.16185084e-03 9.97567689e-01 2.67465677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.63, Y:112.95, Z:26.75 [[ 9.26064351e-01 3.72005532e-01 -6.33774479e-02 1.76628666e+02] [-3.70887372e-01 9.28224409e-01 2.90172948e-02 1.12950622e+02] [ 6.96230884e-02 -3.36598724e-03 9.97567690e-01 2.67490078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.66, Y:112.95, Z:26.75 [[ 9.27821401e-01 3.67600523e-01 -6.33822083e-02 1.76658784e+02] [-3.66472818e-01 9.29976491e-01 2.90068931e-02 1.12947503e+02] [ 6.96069127e-02 -3.68535969e-03 9.97567690e-01 2.67505889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.2071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.69, Y:112.94, Z:26.75 [[ 9.28293961e-01 3.66404226e-01 -6.33897816e-02 1.76685509e+02] [-3.65274872e-01 9.30448187e-01 2.89903318e-02 1.12939700e+02] [ 6.96030875e-02 -3.75685562e-03 9.97567690e-01 2.67520871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.71, Y:112.94, Z:26.75 [[ 9.28679477e-01 3.65425232e-01 -6.33942272e-02 1.76714454e+02] [-3.64294268e-01 9.30832859e-01 2.89806072e-02 1.12935791e+02] [ 6.95996748e-02 -3.81954155e-03 9.97567690e-01 2.67544565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.74, Y:112.92, Z:26.76 [[ 9.28812477e-01 3.65085207e-01 -6.34048460e-02 1.76740366e+02] [-3.63955036e-01 9.30966274e-01 2.89573563e-02 1.12924199e+02] [ 6.95996757e-02 -3.81944084e-03 9.97567690e-01 2.67564419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.77, Y:112.92, Z:26.76 [[ 9.28385748e-01 3.66167159e-01 -6.34154145e-02 1.76771137e+02] [-3.65041075e-01 9.30541684e-01 2.89341933e-02 1.12924066e+02] [ 6.96054380e-02 -3.71286163e-03 9.97567691e-01 2.67583358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.80, Y:112.92, Z:26.76 [[ 9.28635496e-01 3.65518398e-01 -6.35013153e-02 1.76800502e+02] [-3.64403640e-01 9.30797329e-01 2.87457629e-02 1.12917683e+02] [ 6.96139599e-02 -3.55422535e-03 9.97567674e-01 2.67600067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:176.83, Y:112.91, Z:26.76 [[ 9.27685440e-01 3.67935699e-01 -6.34274874e-02 1.76830483e+02] [-3.66815527e-01 9.29844455e-01 2.89077538e-02 1.12914574e+02] [ 6.96138921e-02 -3.55111515e-03 9.97567690e-01 2.67574070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.86, Y:112.91, Z:26.76 [[ 9.27175510e-01 3.69195821e-01 -6.35611432e-02 1.76859039e+02] [-3.68098631e-01 9.29346343e-01 2.86141924e-02 1.12907696e+02] [ 6.96345563e-02 -3.13360868e-03 9.97567646e-01 2.67565702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:176.89, Y:112.91, Z:26.76 [[ 9.24019543e-01 3.77045647e-01 -6.34386596e-02 1.76890867e+02] [-3.75948453e-01 9.26190326e-01 2.88832208e-02 1.12908962e+02] [ 6.96465655e-02 -2.83899461e-03 9.97567690e-01 2.67569317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.4471056809999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:176.92, Y:112.91, Z:26.76 [[ 9.18371335e-01 3.90599903e-01 -6.34492495e-02 1.76920696e+02] [-3.89536374e-01 9.20558807e-01 2.88599388e-02 1.12908932e+02] [ 6.96814547e-02 -1.78834993e-03 9.97567690e-01 2.67568213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47710568099995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:176.95, Y:112.90, Z:26.76 [[ 9.15194436e-01 3.97975668e-01 -6.35178044e-02 1.76948280e+02] [-3.96940235e-01 9.17395357e-01 2.87090339e-02 1.12901597e+02] [ 6.96964358e-02 -1.06157587e-03 9.97567682e-01 2.67571451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.5071056809999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:176.98, Y:112.90, Z:26.76 [[ 9.11631348e-01 4.06054405e-01 -6.36247246e-02 1.76980149e+02] [-4.05054896e-01 9.13848885e-01 2.84735954e-02 1.12900254e+02] [ 6.97052125e-02 -1.85915900e-04 9.97567616e-01 2.67572345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53710568099996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:177.01, Y:112.89, Z:26.76 [[ 9.10683219e-01 4.08200991e-01 -6.34667199e-02 1.77007793e+02] [-4.07182431e-01 9.12891991e-01 2.88215432e-02 1.12893700e+02] [ 6.97032428e-02 -4.04762502e-04 9.97567689e-01 2.67581637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.56710568099993 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:177.04, Y:112.89, Z:26.76 [[ 9.10182246e-01 4.09315138e-01 -6.34775326e-02 1.77037788e+02] [-4.08300943e-01 9.12393025e-01 2.87977092e-02 1.12890294e+02] [ 6.97037963e-02 -2.93227230e-04 9.97567689e-01 2.67604911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59710568099996 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:177.07, Y:112.88, Z:26.76 [[ 9.10636349e-01 4.08302407e-01 -6.34868908e-02 1.77066793e+02] [-4.07287192e-01 9.12846659e-01 2.87770636e-02 1.12883819e+02] [ 6.97035405e-02 -3.48042618e-04 9.97567690e-01 2.67631838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.62710568099993 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:177.09, Y:112.87, Z:26.76 [[ 9.11249570e-01 4.06930528e-01 -6.34961902e-02 1.77092381e+02] [-4.05913417e-01 9.13459008e-01 2.87565300e-02 1.12874179e+02] [ 6.97030769e-02 -4.30420102e-04 9.97567690e-01 2.67636619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.6571056809999 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:177.12, Y:112.87, Z:26.76 [[ 9.13837841e-01 4.01083184e-01 -6.35033855e-02 1.77118232e+02] [-4.00053041e-01 9.16041233e-01 2.87406318e-02 1.12865196e+02] [ 6.96991036e-02 -8.59554395e-04 9.97567690e-01 2.67642335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68710568099993 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:177.14, Y:112.85, Z:26.77 [[ 9.15165701e-01 3.98039462e-01 -6.35320888e-02 1.77144058e+02] [-3.97006395e-01 9.17367725e-01 2.86771658e-02 1.12854851e+02] [ 6.96969314e-02 -1.02171304e-03 9.97567689e-01 2.67688943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7171056809999 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:177.17, Y:112.85, Z:26.77 [[ 9.17779069e-01 3.91958988e-01 -6.36375090e-02 1.77171586e+02] [-3.90927480e-01 9.19981872e-01 2.84439933e-02 1.12845064e+02] [ 6.96942335e-02 -1.22765066e-03 9.97567645e-01 2.67726043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74710568099994 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:177.20, Y:112.83, Z:26.77 [[ 9.18307093e-01 3.90740434e-01 -6.35137422e-02 1.77196080e+02] [-3.89687063e-01 9.20499476e-01 2.87177307e-02 1.12834987e+02] [ 6.96855449e-02 -1.62121217e-03 9.97567690e-01 2.67736020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7771056809999 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:177.22, Y:112.82, Z:26.77 [[ 9.18634691e-01 3.89968440e-01 -6.35210195e-02 1.77222195e+02] [-3.88914339e-01 9.20826723e-01 2.87016249e-02 1.12824293e+02] [ 6.96845801e-02 -1.66207298e-03 9.97567690e-01 2.67729006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80710568099994 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:177.25, Y:112.82, Z:26.77 [[ 9.19184642e-01 3.88668671e-01 -6.35315612e-02 1.77248484e+02] [-3.87613083e-01 9.21375957e-01 2.86782718e-02 1.12815019e+02] [ 6.96827987e-02 -1.73496268e-03 9.97567691e-01 2.67741969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8371056809999 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:177.28, Y:112.81, Z:26.77 [[ 9.18819832e-01 3.89528597e-01 -6.35420243e-02 1.77276661e+02] [-3.88476664e-01 9.21012904e-01 2.86550699e-02 1.12806917e+02] [ 6.96849935e-02 -1.64425294e-03 9.97567691e-01 2.67746219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86710568099994 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:177.30, Y:112.80, Z:26.78 [[ 9.17814582e-01 3.91889843e-01 -6.35511137e-02 1.77302686e+02] [-3.90844948e-01 9.20011016e-01 2.86348975e-02 1.12797284e+02] [ 6.96894501e-02 -1.44289474e-03 9.97567691e-01 2.67750918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8971056809999 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:177.33, Y:112.79, Z:26.77 [[ 9.16436050e-01 3.95101123e-01 -6.35615429e-02 1.77329255e+02] [-3.94065531e-01 9.18636885e-01 2.86117288e-02 1.12787328e+02] [ 6.96945039e-02 -1.17340652e-03 9.97567692e-01 2.67745435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92710568099994 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:177.36, Y:112.78, Z:26.77 [[ 9.13769827e-01 4.01228392e-01 -6.35647763e-02 1.77357666e+02] [-4.00208060e-01 9.15977777e-01 2.86045436e-02 1.12780697e+02] [ 6.97008776e-02 -6.98833028e-04 9.97567692e-01 2.67735758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.9571056809999 meters Centerline goodness : 0.997191 Centerline is valid? [True, True] Translation: X:177.38, Y:112.78, Z:26.77 [[ 9.09535058e-01 4.10736358e-01 -6.35737540e-02 1.77383347e+02] [-4.09740504e-01 9.11754156e-01 2.85845767e-02 1.12776139e+02] [ 6.97043594e-02 5.00674056e-05 9.97567692e-01 2.67731316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98710568099995 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:177.41, Y:112.76, Z:26.78 [[ 9.09432393e-01 4.10916065e-01 -6.38804381e-02 1.77413403e+02] [-4.09968445e-01 9.11672817e-01 2.79024709e-02 1.12764666e+02] [ 6.97036325e-02 8.13553007e-04 9.97567412e-01 2.67754763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0171056809999 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:177.44, Y:112.75, Z:26.78 [[ 9.07823541e-01 4.14506627e-01 -6.35663044e-02 1.77437319e+02] [-4.13518860e-01 9.10046237e-01 2.86006965e-02 1.12751471e+02] [ 6.97034544e-02 3.21480140e-04 9.97567705e-01 2.67776290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04710568099995 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:177.46, Y:112.74, Z:26.78 [[ 9.07772487e-01 4.14617541e-01 -6.35720533e-02 1.77462157e+02] [-4.13630941e-01 9.09995701e-01 2.85879125e-02 1.12740850e+02] [ 6.97033452e-02 3.44047752e-04 9.97567705e-01 2.67825955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0771056809999 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:177.49, Y:112.73, Z:26.79 [[ 9.06815626e-01 4.16705317e-01 -6.35775016e-02 1.77488148e+02] [-4.15724685e-01 9.09041479e-01 2.85757908e-02 1.12731136e+02] [ 6.97022700e-02 5.17763207e-04 9.97567705e-01 2.67897705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10710568099995 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:177.51, Y:112.72, Z:26.79 [[ 9.04182098e-01 4.22388739e-01 -6.35805541e-02 1.77513095e+02] [-4.21422574e-01 9.06414269e-01 2.85689973e-02 1.12718630e+02] [ 6.96975442e-02 9.62704857e-04 9.97567705e-01 2.67949541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.1371056809999 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:177.54, Y:112.71, Z:26.80 [[ 9.02018779e-01 4.26987437e-01 -6.35912755e-02 1.77537835e+02] [-4.26034334e-01 9.04256558e-01 2.85451128e-02 1.12705823e+02] [ 6.96912325e-02 1.34383894e-03 9.97567705e-01 2.67963983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16710568099995 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:177.56, Y:112.69, Z:26.80 [[ 8.98821894e-01 4.33676066e-01 -6.35946005e-02 1.77561180e+02] [-4.32740136e-01 9.01066909e-01 2.85377033e-02 1.12689988e+02] [ 6.96791090e-02 1.86962359e-03 9.97567705e-01 2.67962704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.1971056809999 meters Centerline goodness : 0.997729 Centerline is valid? [True, True] Translation: X:177.59, Y:112.68, Z:26.80 [[ 8.98111139e-01 4.35144488e-01 -6.36054781e-02 1.77585281e+02] [-4.34213945e-01 9.00358392e-01 2.85134386e-02 1.12676613e+02] [ 6.96751916e-02 2.01014871e-03 9.97567705e-01 2.67971699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22710568099995 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:177.61, Y:112.66, Z:26.80 [[ 8.97556424e-01 4.36285928e-01 -6.36164697e-02 1.77608974e+02] [-4.35359980e-01 8.99805574e-01 2.84888940e-02 1.12660512e+02] [ 6.96717576e-02 2.12567520e-03 9.97567706e-01 2.67993590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.2571056809999 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:177.63, Y:112.65, Z:26.80 [[ 8.97897053e-01 4.35582877e-01 -6.36273395e-02 1.77633304e+02] [-4.34656888e-01 9.00146186e-01 2.84645968e-02 1.12646223e+02] [ 6.96725979e-02 2.09778383e-03 9.97567706e-01 2.68027602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28710568099996 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:177.66, Y:112.63, Z:26.81 [[ 8.99699836e-01 4.31845309e-01 -6.36383049e-02 1.77655214e+02] [-4.30911709e-01 9.01945820e-01 2.84400602e-02 1.12627918e+02] [ 6.96800097e-02 1.83497319e-03 9.97567707e-01 2.68084823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31710568099993 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:177.68, Y:112.61, Z:26.81 [[ 9.03047771e-01 4.24799066e-01 -6.36433611e-02 1.77677100e+02] [-4.23848735e-01 9.05286726e-01 2.84287410e-02 1.12609412e+02] [ 6.96919926e-02 1.30264690e-03 9.97567707e-01 2.68135905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34710568099996 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:177.70, Y:112.59, Z:26.81 [[ 9.04724048e-01 4.21215567e-01 -6.36540960e-02 1.77699840e+02] [-4.20258059e-01 9.06959943e-01 2.84046844e-02 1.12593615e+02] [ 6.96962105e-02 1.05274579e-03 9.97567707e-01 2.68148498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37710568099993 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:177.72, Y:112.57, Z:26.81 [[ 9.08269181e-01 4.13515011e-01 -6.36587039e-02 1.77720831e+02] [-4.12539268e-01 9.10497179e-01 2.83943537e-02 1.12572358e+02] [ 6.97025618e-02 4.71998705e-04 9.97567707e-01 2.68128869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.4071056809999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:177.74, Y:112.56, Z:26.81 [[ 9.10438633e-01 4.08714754e-01 -6.36690308e-02 1.77744492e+02] [-4.07728884e-01 9.12662168e-01 2.83711787e-02 1.12558006e+02] [ 6.97040350e-02 1.29485700e-04 9.97567707e-01 2.68142271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43710568099993 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:177.77, Y:112.54, Z:26.82 [[ 9.13890937e-01 4.00934295e-01 -6.36792399e-02 1.77767559e+02] [-3.99931094e-01 9.16106706e-01 2.83482459e-02 1.12541858e+02] [ 6.97027627e-02 -4.39896914e-04 9.97567708e-01 2.68171467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.4671056809999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:177.79, Y:112.53, Z:26.82 [[ 9.15104362e-01 3.98155298e-01 -6.36895973e-02 1.77791228e+02] [-3.97146988e-01 9.17317811e-01 2.83249570e-02 1.12526829e+02] [ 6.97013337e-02 -6.26160011e-04 9.97567708e-01 2.68203715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49710568099994 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:177.81, Y:112.51, Z:26.83 [[ 9.14591347e-01 3.99330678e-01 -6.36999102e-02 1.77811825e+02] [-3.98326829e-01 9.16806822e-01 2.83017453e-02 1.12506665e+02] [ 6.97022674e-02 -5.11148080e-04 9.97567708e-01 2.68272850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:177.84, Y:112.49, Z:26.83 [[ 9.13727674e-01 4.01302242e-01 -6.37043829e-02 1.77835733e+02] [-4.00303875e-01 9.15945625e-01 2.82916741e-02 1.12493318e+02] [ 6.97032631e-02 -3.49774241e-04 9.97567708e-01 2.68306873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55710568099994 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:177.86, Y:112.48, Z:26.83 [[ 9.10341359e-01 4.08924276e-01 -6.37145634e-02 1.77859556e+02] [-4.07946086e-01 9.12568282e-01 2.82687285e-02 1.12479550e+02] [ 6.97036590e-02 2.57913997e-04 9.97567709e-01 2.68256199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5871056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:177.88, Y:112.46, Z:26.82 [[ 9.06584565e-01 4.17186193e-01 -6.37189627e-02 1.77883673e+02] [-4.16228992e-01 9.08820590e-01 2.82588088e-02 1.12462113e+02] [ 6.96982902e-02 9.02679809e-04 9.97567709e-01 2.68222322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61710568099994 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:177.90, Y:112.45, Z:26.82 [[ 9.03471969e-01 4.23883439e-01 -6.37277841e-02 1.77902038e+02] [-4.22944215e-01 9.05715604e-01 2.82389012e-02 1.12448040e+02] [ 6.96892511e-02 1.44024195e-03 9.97567709e-01 2.68246561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.6471056809999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:177.93, Y:112.43, Z:26.83 [[ 9.03947212e-01 4.22795151e-01 -6.42160245e-02 1.77929528e+02] [-4.21931336e-01 9.06221646e-01 2.71343994e-02 1.12427375e+02] [ 6.96662439e-02 2.56668832e-03 9.97567054e-01 2.68283317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:177.95, Y:112.41, Z:26.83 [[ 9.02618891e-01 4.25695099e-01 -6.37402615e-02 1.77950596e+02] [-4.24762450e-01 9.04865230e-01 2.82095193e-02 1.12406855e+02] [ 6.96850005e-02 1.61202459e-03 9.97567743e-01 2.68339893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.7071056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:177.98, Y:112.39, Z:26.84 [[ 9.02139006e-01 4.26710677e-01 -6.37433346e-02 1.77975282e+02] [-4.25781047e-01 9.04386596e-01 2.82025736e-02 1.12392905e+02] [ 6.96829566e-02 1.69806207e-03 9.97567743e-01 2.68364917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.00, Y:112.37, Z:26.84 [[ 9.00341841e-01 4.30488224e-01 -6.37531112e-02 1.77998906e+02] [-4.29569587e-01 9.02593946e-01 2.81804557e-02 1.12372825e+02] [ 6.96745266e-02 2.01435428e-03 9.97567743e-01 2.68382557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.7671056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.02, Y:112.36, Z:26.84 [[ 8.99922197e-01 4.31383249e-01 -6.36280797e-02 1.78021947e+02] [-4.30446838e-01 9.02167028e-01 2.84635256e-02 1.12356510e+02] [ 6.96818437e-02 1.77354723e-03 9.97567690e-01 2.68393110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.04, Y:112.34, Z:26.84 [[ 9.00535077e-01 4.30099653e-01 -6.36463886e-02 1.78043045e+02] [-4.29162973e-01 9.02779780e-01 2.84220198e-02 1.12336652e+02] [ 6.96829735e-02 1.71964757e-03 9.97567705e-01 2.68419241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.07, Y:112.32, Z:26.84 [[ 9.01849216e-01 4.27328054e-01 -6.37081295e-02 1.78066701e+02] [-4.26394358e-01 9.04095118e-01 2.82819466e-02 1.12323924e+02] [ 6.96838780e-02 1.65873564e-03 9.97567745e-01 2.68434553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.09, Y:112.31, Z:26.85 [[ 9.05446850e-01 4.19638094e-01 -6.37955466e-02 1.78091112e+02] [-4.18699296e-01 9.07690599e-01 2.80833695e-02 1.12308112e+02] [ 6.96914696e-02 1.28315204e-03 9.97567768e-01 2.68489161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.11, Y:112.30, Z:26.85 [[ 9.06654972e-01 4.17029448e-01 -6.37432419e-02 1.78111382e+02] [-4.16075832e-01 9.08892476e-01 2.82022825e-02 1.12295251e+02] [ 6.96969353e-02 9.52282741e-04 9.97567757e-01 2.68505682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.14, Y:112.28, Z:26.85 [[ 9.12835953e-01 4.03255778e-01 -6.41506061e-02 1.78137614e+02] [-4.02333398e-01 9.15086851e-01 2.72743959e-02 1.12276666e+02] [ 6.97019339e-02 9.12882201e-04 9.97567445e-01 2.68539380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.16, Y:112.26, Z:26.86 [[ 9.17474007e-01 3.92648478e-01 -6.37857243e-02 1.78159226e+02] [-3.91642130e-01 9.19688276e-01 2.81054582e-02 1.12259592e+02] [ 6.96985482e-02 -8.04850446e-04 9.97567774e-01 2.68587574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.18, Y:112.25, Z:26.86 [[ 9.19178435e-01 3.88620126e-01 -6.39171599e-02 1.78183637e+02] [-3.87624896e-01 9.21397735e-01 2.78056527e-02 1.12247531e+02] [ 6.96989626e-02 -7.82473920e-04 9.97567763e-01 2.68611411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.21, Y:112.23, Z:26.86 [[ 9.21727856e-01 3.82524742e-01 -6.39732789e-02 1.78208388e+02] [-3.81523723e-01 9.23944589e-01 2.76775345e-02 1.12234687e+02] [ 6.96951066e-02 -1.10383107e-03 9.97567729e-01 2.68604273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.23, Y:112.22, Z:26.86 [[ 9.22633856e-01 3.80325105e-01 -6.40279715e-02 1.78233245e+02] [-3.79327464e-01 9.24852166e-01 2.75526010e-02 1.12222706e+02] [ 6.96953541e-02 -1.13339451e-03 9.97567678e-01 2.68615102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.26, Y:112.21, Z:26.86 [[ 9.23790506e-01 3.77513533e-01 -6.39893289e-02 1.78259309e+02] [-3.76503026e-01 9.26002944e-01 2.76408911e-02 1.12208335e+02] [ 6.96891174e-02 -1.44221685e-03 9.97567715e-01 2.68622634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.28, Y:112.20, Z:26.86 [[ 9.22559270e-01 3.80535131e-01 -6.38545768e-02 1.78284568e+02] [-3.79510550e-01 9.24765164e-01 2.79487690e-02 1.12196315e+02] [ 6.96859767e-02 -1.55091034e-03 9.97567772e-01 2.68646728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.31, Y:112.19, Z:26.87 [[ 9.21030613e-01 3.84218491e-01 -6.38651720e-02 1.78310520e+02] [-3.83204412e-01 9.23241354e-01 2.79245374e-02 1.12185992e+02] [ 6.96920915e-02 -1.24593809e-03 9.97567772e-01 2.68686687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.34, Y:112.17, Z:26.87 [[ 9.21174900e-01 3.83870683e-01 -6.38756854e-02 1.78336642e+02] [-3.82857437e-01 9.23386022e-01 2.79004678e-02 1.12174840e+02] [ 6.96920867e-02 -1.24592940e-03 9.97567773e-01 2.68706541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.36, Y:112.17, Z:26.88 [[ 9.16318736e-01 3.95320793e-01 -6.38861863e-02 1.78363200e+02] [-3.94336860e-01 9.18543057e-01 2.78764022e-02 1.12167346e+02] [ 6.97023343e-02 -3.50991507e-04 9.97567773e-01 2.68759979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2171056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.39, Y:112.16, Z:26.88 [[ 9.10593268e-01 4.08324218e-01 -6.39627438e-02 1.78390439e+02] [-4.07384375e-01 9.12836589e-01 2.77007654e-02 1.12160359e+02] [ 6.96984262e-02 8.33291858e-04 9.97567760e-01 2.68786758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.42, Y:112.15, Z:26.88 [[ 9.07925366e-01 4.14229031e-01 -6.39205726e-02 1.78418038e+02] [-4.13296960e-01 9.10171916e-01 2.77975837e-02 1.12150884e+02] [ 6.96932763e-02 1.18004701e-03 9.97567770e-01 2.68805174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.44, Y:112.14, Z:26.88 [[ 9.03664131e-01 4.23446409e-01 -6.39083448e-02 1.78444369e+02] [-4.22535262e-01 9.05919248e-01 2.78256680e-02 1.12143639e+02] [ 6.96784789e-02 1.85847111e-03 9.97567770e-01 2.68816020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.47, Y:112.13, Z:26.88 [[ 9.02479623e-01 4.25964416e-01 -6.39127958e-02 1.78471167e+02] [-4.25060284e-01 9.04737562e-01 2.78154407e-02 1.12134282e+02] [ 6.96726950e-02 2.06392274e-03 9.97567770e-01 2.68822803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.50, Y:112.13, Z:26.88 [[ 9.00261564e-01 4.30630860e-01 -6.39232239e-02 1.78498281e+02] [-4.29740129e-01 9.02524823e-01 2.77914550e-02 1.12125841e+02] [ 6.96601545e-02 2.45079573e-03 9.97567770e-01 2.68803514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.53, Y:112.12, Z:26.88 [[ 8.99285236e-01 4.32664494e-01 -6.39335575e-02 1.78525534e+02] [-4.31780570e-01 9.01551161e-01 2.77676626e-02 1.12115092e+02] [ 6.96534547e-02 2.63421889e-03 9.97567771e-01 2.68824572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.55, Y:112.10, Z:26.88 [[ 8.99424560e-01 4.32368324e-01 -6.39772825e-02 1.78551596e+02] [-4.31490803e-01 9.01692978e-01 2.76669464e-02 1.12102194e+02] [ 6.96501777e-02 2.72127791e-03 9.97567766e-01 2.68779657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.58, Y:112.09, Z:26.88 [[ 9.00326106e-01 4.30492909e-01 -6.39434023e-02 1.78576509e+02] [-4.29605124e-01 9.02590522e-01 2.77450300e-02 1.12089239e+02] [ 6.96587476e-02 2.49083846e-03 9.97567769e-01 2.68806872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.4571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.60, Y:112.07, Z:26.89 [[ 9.01983127e-01 4.27008564e-01 -6.39540851e-02 1.78599880e+02] [-4.26113775e-01 9.04244785e-01 2.77203839e-02 1.12073692e+02] [ 6.96669892e-02 2.24839810e-03 9.97567770e-01 2.68854489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.62, Y:112.06, Z:26.89 [[ 9.04201510e-01 4.22290033e-01 -6.39590311e-02 1.78623595e+02] [-4.21384246e-01 9.06458786e-01 2.77089672e-02 1.12058003e+02] [ 6.96774463e-02 1.89683816e-03 9.97567770e-01 2.68907749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.65, Y:112.04, Z:26.89 [[ 9.05733371e-01 4.18993902e-01 -6.39622512e-02 1.78648221e+02] [-4.18080425e-01 9.07987546e-01 2.77015321e-02 1.12044789e+02] [ 6.96837005e-02 1.65116312e-03 9.97567770e-01 2.68925113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.67, Y:112.03, Z:26.89 [[ 9.09876125e-01 4.09918212e-01 -6.39726282e-02 1.78671286e+02] [-4.08983931e-01 9.12121756e-01 2.76775472e-02 1.12028629e+02] [ 6.96963566e-02 9.80637514e-04 9.97567770e-01 2.68922440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.70, Y:112.01, Z:26.89 [[ 9.12169757e-01 4.04786969e-01 -6.39831584e-02 1.78695990e+02] [-4.03841763e-01 9.14410812e-01 2.76531828e-02 1.12014864e+02] [ 6.97005398e-02 6.14674442e-04 9.97567771e-01 2.68930359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.72, Y:112.00, Z:26.89 [[ 9.16197511e-01 3.95584295e-01 -6.39936517e-02 1.78719131e+02] [-3.94618275e-01 9.18429672e-01 2.76288783e-02 1.11998751e+02] [ 6.97032189e-02 -6.04450436e-05 9.97567771e-01 2.68918495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.74, Y:111.99, Z:26.89 [[ 9.17469122e-01 3.92624371e-01 -6.40040166e-02 1.78744497e+02] [-3.91652826e-01 9.19698884e-01 2.76048466e-02 1.11985692e+02] [ 6.97027581e-02 -2.59240440e-04 9.97567771e-01 2.68927939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.77, Y:111.97, Z:26.89 [[ 9.17187810e-01 3.93279433e-01 -6.40141229e-02 1.78770135e+02] [-3.92311118e-01 9.19418976e-01 2.75813908e-02 1.11972165e+02] [ 6.97029931e-02 -1.83863337e-04 9.97567772e-01 2.68945157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.80, Y:111.96, Z:26.90 [[ 9.15771734e-01 3.96564246e-01 -6.40228915e-02 1.78795825e+02] [-3.95605358e-01 9.18006967e-01 2.75610217e-02 1.11961504e+02] [ 6.97031763e-02 8.81942614e-05 9.97567772e-01 2.68962603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.82, Y:111.95, Z:26.90 [[ 9.11974780e-01 4.05218196e-01 -6.40329197e-02 1.78821409e+02] [-4.04282153e-01 9.14219676e-01 2.75377035e-02 1.11950941e+02] [ 6.96989336e-02 7.73675616e-04 9.97567772e-01 2.69007954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.7571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.85, Y:111.94, Z:26.91 [[ 9.08871089e-01 4.12130790e-01 -6.40433881e-02 1.78847331e+02] [-4.11213535e-01 9.11123726e-01 2.75133360e-02 1.11939512e+02] [ 6.96905433e-02 1.32943238e-03 9.97567773e-01 2.69073601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.87, Y:111.93, Z:26.91 [[ 9.06664912e-01 4.16960438e-01 -6.40525556e-02 1.78873369e+02] [-4.16056689e-01 9.08923002e-01 2.74919770e-02 1.11929879e+02] [ 6.96819079e-02 1.72348324e-03 9.97567773e-01 2.69137819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:111.92, Z:26.92 [[ 9.05414092e-01 4.19663806e-01 -6.40906641e-02 1.78898271e+02] [-4.18773080e-01 9.07677353e-01 2.74031196e-02 1.11920367e+02] [ 6.96737418e-02 2.02827421e-03 9.97567770e-01 2.69162986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.93, Y:111.91, Z:26.92 [[ 9.02865830e-01 4.25108856e-01 -6.41541380e-02 1.78926032e+02] [-4.24242281e-01 9.05138471e-01 2.72549988e-02 1.11910856e+02] [ 6.96547198e-02 2.60929078e-03 9.97567748e-01 2.69183416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.95, Y:111.90, Z:26.92 [[ 9.01640287e-01 4.27714349e-01 -6.40720583e-02 1.78952125e+02] [-4.26840738e-01 9.03910210e-01 2.74466116e-02 1.11900022e+02] [ 6.96546973e-02 2.60159395e-03 9.97567770e-01 2.69195792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:111.89, Z:26.92 [[ 8.99904103e-01 4.31353806e-01 -6.40819792e-02 1.78978868e+02] [-4.30491022e-01 9.02178162e-01 2.74234289e-02 1.11889617e+02] [ 6.96425626e-02 2.90826051e-03 9.97567770e-01 2.69175436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.00, Y:111.88, Z:26.92 [[ 8.99729919e-01 4.31715627e-01 -6.40912588e-02 1.79004338e+02] [-4.30855300e-01 9.02004909e-01 2.74017244e-02 1.11879111e+02] [ 6.96403827e-02 2.95990724e-03 9.97567770e-01 2.69174729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.03, Y:111.87, Z:26.92 [[ 9.00083765e-01 4.30975954e-01 -6.41010349e-02 1.79030219e+02] [-4.30115384e-01 9.02358663e-01 2.73788360e-02 1.11867454e+02] [ 6.96417441e-02 2.92759548e-03 9.97567770e-01 2.69176200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.05, Y:111.85, Z:26.92 [[ 8.99966179e-01 4.31219902e-01 -6.41114103e-02 1.79054011e+02] [-4.30361677e-01 9.02241962e-01 2.73545190e-02 1.11853310e+02] [ 6.96398176e-02 2.97295218e-03 9.97567771e-01 2.69195960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:111.84, Z:26.92 [[ 9.00019940e-01 4.31106122e-01 -6.41219127e-02 1.79078761e+02] [-4.30249360e-01 9.02296274e-01 2.73298782e-02 1.11840317e+02] [ 6.96390407e-02 2.99097660e-03 9.97567771e-01 2.69223663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:111.82, Z:26.93 [[ 9.01139747e-01 4.28759982e-01 -6.41251500e-02 1.79103225e+02] [-4.27897832e-01 9.03414046e-01 2.73222802e-02 1.11824797e+02] [ 6.96462616e-02 2.81782002e-03 9.97567771e-01 2.69297296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.13, Y:111.81, Z:26.93 [[ 9.02657745e-01 4.25553542e-01 -6.41340677e-02 1.79128071e+02] [-4.24684798e-01 9.04929533e-01 2.73013315e-02 1.11811184e+02] [ 6.96549903e-02 2.59300524e-03 9.97567771e-01 2.69335566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:111.79, Z:26.94 [[ 9.06482169e-01 4.17343482e-01 -6.41443279e-02 1.79151167e+02] [-4.16455861e-01 9.08746648e-01 2.72772040e-02 1.11793294e+02] [ 6.96749063e-02 1.98698220e-03 9.97567772e-01 2.69373689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.18, Y:111.78, Z:26.94 [[ 9.09156731e-01 4.11482977e-01 -6.41544848e-02 1.79175338e+02] [-4.10582442e-01 9.11416105e-01 2.72532948e-02 1.11779459e+02] [ 6.96856975e-02 1.56318868e-03 9.97567772e-01 2.69396144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.20, Y:111.76, Z:26.94 [[ 9.15608816e-01 3.96917294e-01 -6.41650875e-02 1.79198520e+02] [-3.95982557e-01 9.17854255e-01 2.72283089e-02 1.11762608e+02] [ 6.97015853e-02 4.77775794e-04 9.97567773e-01 2.69396057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.2071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:111.75, Z:26.94 [[ 9.21330042e-01 3.83448093e-01 -6.41756449e-02 1.79222423e+02] [-3.82482265e-01 9.23562284e-01 2.72034028e-02 1.11746566e+02] [ 6.97012982e-02 -5.17266263e-04 9.97567773e-01 2.69360205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:111.73, Z:26.94 [[ 9.23465699e-01 3.78272057e-01 -6.41977701e-02 1.79248153e+02] [-3.77297348e-01 9.25694078e-01 2.71511642e-02 1.11733649e+02] [ 6.96980223e-02 -8.51520405e-04 9.97567772e-01 2.69362882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.27, Y:111.72, Z:26.94 [[ 9.25578797e-01 3.73073481e-01 -6.41877577e-02 1.79272902e+02] [-3.72084617e-01 9.27800931e-01 2.71748138e-02 1.11720735e+02] [ 6.96916637e-02 -1.26915419e-03 9.97567773e-01 2.69374295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.30, Y:111.71, Z:26.94 [[ 9.25747873e-01 3.72651977e-01 -6.41979736e-02 1.79297683e+02] [-3.71663776e-01 9.27970301e-01 2.71506582e-02 1.11710180e+02] [ 6.96915593e-02 -1.27460274e-03 9.97567773e-01 2.69411490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.32, Y:111.70, Z:26.95 [[ 9.22871743e-01 3.79717637e-01 -6.42048536e-02 1.79324521e+02] [-3.78747586e-01 9.25102152e-01 2.71343789e-02 1.11702100e+02] [ 6.96994505e-02 -7.24118267e-04 9.97567773e-01 2.69484546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.35, Y:111.70, Z:26.95 [[ 9.15812668e-01 3.96438643e-01 -6.42149459e-02 1.79353246e+02] [-3.95510992e-01 9.18061042e-01 2.71104740e-02 1.11698167e+02] [ 6.97008797e-02 5.69601420e-04 9.97567774e-01 2.69536955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:111.69, Z:26.96 [[ 9.11938750e-01 4.05267425e-01 -6.42341824e-02 1.79379545e+02] [-4.04364748e-01 9.14197267e-01 2.70648633e-02 1.11690671e+02] [ 6.96912215e-02 1.29254142e-03 9.97567774e-01 2.69570059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.41, Y:111.68, Z:26.96 [[ 9.06330590e-01 4.17655056e-01 -6.42582039e-02 1.79406256e+02] [-4.16787271e-01 9.08602744e-01 2.70078695e-02 1.11682565e+02] [ 6.96651536e-02 2.30394308e-03 9.97567771e-01 2.69627736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.43, Y:111.67, Z:26.96 [[ 9.05036994e-01 4.20454111e-01 -6.42369015e-02 1.79432604e+02] [-4.19589768e-01 9.07310458e-01 2.70584417e-02 1.11672248e+02] [ 6.96596456e-02 2.46425580e-03 9.97567773e-01 2.69641396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.46, Y:111.66, Z:26.96 [[ 9.04763764e-01 4.21040208e-01 -6.42469834e-02 1.79459046e+02] [-4.20179036e-01 9.07038431e-01 2.70344824e-02 1.11662444e+02] [ 6.96570871e-02 2.53541545e-03 9.97567773e-01 2.69632564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.49, Y:111.65, Z:26.96 [[ 9.04307691e-01 4.22017346e-01 -6.42569788e-02 1.79485220e+02] [-4.21160318e-01 9.06583922e-01 2.70107038e-02 1.11651250e+02] [ 6.96533294e-02 2.63650248e-03 9.97567773e-01 2.69620963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.51, Y:111.64, Z:26.96 [[ 9.03599682e-01 4.23520629e-01 -6.43264382e-02 1.79510938e+02] [-4.22679128e-01 9.05881714e-01 2.68453793e-02 1.11639489e+02] [ 6.96417160e-02 2.93196655e-03 9.97567760e-01 2.69624496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.54, Y:111.62, Z:26.96 [[ 9.02887513e-01 4.25026429e-01 -6.43946630e-02 1.79535553e+02] [-4.24200298e-01 9.05175196e-01 2.66827881e-02 1.11623579e+02] [ 6.96293419e-02 3.22467908e-03 9.97567720e-01 2.69606085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.56, Y:111.61, Z:26.96 [[ 9.02908974e-01 4.24999165e-01 -6.42735900e-02 1.79559810e+02] [-4.24152451e-01 9.05189067e-01 2.69713181e-02 1.11610056e+02] [ 6.96425386e-02 2.90915561e-03 9.97567769e-01 2.69631782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.58, Y:111.60, Z:26.97 [[ 9.03114369e-01 4.24561032e-01 -6.42834782e-02 1.79584021e+02] [-4.23714887e-01 9.05394673e-01 2.69477299e-02 1.11596727e+02] [ 6.96428748e-02 2.90098462e-03 9.97567769e-01 2.69696459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.6571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:111.59, Z:26.97 [[ 9.03258541e-01 4.24252731e-01 -6.42933063e-02 1.79609965e+02] [-4.23407474e-01 9.05539174e-01 2.69242612e-02 1.11585901e+02] [ 6.96427988e-02 2.90269754e-03 9.97567770e-01 2.69723696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.63, Y:111.57, Z:26.97 [[ 9.03978199e-01 4.22715560e-01 -6.43037422e-02 1.79634024e+02] [-4.21868196e-01 9.06258049e-01 2.68993139e-02 1.11572966e+02] [ 6.96465425e-02 2.81131039e-03 9.97567770e-01 2.69736945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.66, Y:111.56, Z:26.97 [[ 9.05578372e-01 4.19275491e-01 -6.43107716e-02 1.79657383e+02] [-4.18420657e-01 9.07855432e-01 2.68824975e-02 1.11557111e+02] [ 6.96560557e-02 2.56474700e-03 9.97567770e-01 2.69730277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.68, Y:111.54, Z:26.97 [[ 9.06768497e-01 4.16693749e-01 -6.43211651e-02 1.79681009e+02] [-4.15834195e-01 9.09043779e-01 2.68576063e-02 1.11543707e+02] [ 6.96621516e-02 2.39330865e-03 9.97567771e-01 2.69732622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.70, Y:111.53, Z:26.97 [[ 9.09598692e-01 4.10477894e-01 -6.43282068e-02 1.79704726e+02] [-4.09603980e-01 9.11868497e-01 2.68407297e-02 1.11527737e+02] [ 6.96763914e-02 1.93479687e-03 9.97567771e-01 2.69717332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.73, Y:111.51, Z:26.97 [[ 9.11191814e-01 4.06928694e-01 -6.43312986e-02 1.79730117e+02] [-4.06046460e-01 9.13458398e-01 2.68333174e-02 1.11514853e+02] [ 6.96832117e-02 1.67119689e-03 9.97567771e-01 2.69724266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.75, Y:111.50, Z:26.97 [[ 9.13613287e-01 4.01461024e-01 -6.43413321e-02 1.79754444e+02] [-4.00566919e-01 9.15875214e-01 2.68092373e-02 1.11499534e+02] [ 6.96914952e-02 1.27973371e-03 9.97567771e-01 2.69714300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.78, Y:111.48, Z:26.97 [[ 9.14799739e-01 3.98749586e-01 -6.43444273e-02 1.79779560e+02] [-3.97849298e-01 9.17059212e-01 2.68018064e-02 1.11483943e+02] [ 6.96948591e-02 1.08109976e-03 9.97567771e-01 2.69725647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:111.47, Z:26.97 [[ 9.14810470e-01 3.98723574e-01 -6.43530625e-02 1.79804277e+02] [-3.97824681e-01 9.17070498e-01 2.67810567e-02 1.11471412e+02] [ 6.96945337e-02 1.10164554e-03 9.97567771e-01 2.69742941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:111.46, Z:26.98 [[ 9.13359838e-01 4.02033828e-01 -6.43630878e-02 1.79828603e+02] [-4.01144824e-01 9.15623774e-01 2.67569412e-02 1.11458623e+02] [ 6.96895689e-02 1.38020403e-03 9.97567772e-01 2.69799403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.9571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:111.45, Z:26.98 [[ 9.12148159e-01 4.04774915e-01 -6.43661753e-02 1.79854204e+02] [-4.03893238e-01 9.14414958e-01 2.67495118e-02 1.11447014e+02] [ 6.96849249e-02 1.59754502e-03 9.97567772e-01 2.69846112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.88, Y:111.43, Z:26.99 [[ 9.09804000e-01 4.10016199e-01 -6.43692281e-02 1.79878724e+02] [-4.09148098e-01 9.12076034e-01 2.67421636e-02 1.11434451e+02] [ 6.96743506e-02 2.00641978e-03 9.97567772e-01 2.69898196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:111.42, Z:26.99 [[ 9.08646091e-01 4.12562084e-01 -6.44577998e-02 1.79903907e+02] [-4.11715457e-01 9.10926236e-01 2.65287639e-02 1.11422491e+02] [ 6.96610630e-02 2.43301488e-03 9.97567750e-01 2.69933544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:111.41, Z:27.00 [[ 9.07059176e-01 4.16051175e-01 -6.43822218e-02 1.79929120e+02] [-4.15200400e-01 9.09337756e-01 2.67109353e-02 1.11409400e+02] [ 6.96583011e-02 2.50312530e-03 9.97567770e-01 2.69961772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:111.40, Z:27.00 [[ 9.07209794e-01 4.15721151e-01 -6.43918901e-02 1.79955481e+02] [-4.14871199e-01 9.09488680e-01 2.66876077e-02 1.11398737e+02] [ 6.96582982e-02 2.50308162e-03 9.97567770e-01 2.69981626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.98, Y:111.38, Z:27.00 [[ 9.06013348e-01 4.18320752e-01 -6.44015667e-02 1.79978342e+02] [-4.17478997e-01 9.08295274e-01 2.66642363e-02 1.11381593e+02] [ 6.96498420e-02 2.72814751e-03 9.97567771e-01 2.70048326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.1371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.00, Y:111.37, Z:27.01 [[ 9.05646397e-01 4.19113929e-01 -6.44058955e-02 1.80002863e+02] [-4.18274914e-01 9.07929332e-01 2.66537760e-02 1.11367801e+02] [ 6.96469705e-02 2.80047422e-03 9.97567771e-01 2.70093995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.03, Y:111.35, Z:27.01 [[ 9.04727842e-01 4.21091680e-01 -6.44152928e-02 1.80027327e+02] [-4.20259270e-01 9.07013194e-01 2.66310460e-02 1.11353968e+02] [ 6.96396323e-02 2.97727517e-03 9.97567771e-01 2.70108168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.05, Y:111.34, Z:27.01 [[ 9.03679104e-01 4.23336204e-01 -6.44246506e-02 1.80052320e+02] [-4.22511082e-01 9.05967096e-01 2.66083888e-02 1.11341428e+02] [ 6.96309079e-02 3.17468383e-03 9.97567771e-01 2.70095742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:111.32, Z:27.01 [[ 9.00977774e-01 4.29053983e-01 -6.44339256e-02 1.80075539e+02] [-4.28244978e-01 9.03271514e-01 2.65859098e-02 1.11324388e+02] [ 6.96081200e-02 3.64019127e-03 9.97567771e-01 2.70062902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.10, Y:111.31, Z:27.01 [[ 8.99477924e-01 4.32189039e-01 -6.44367824e-02 1.80098901e+02] [-4.31388521e-01 9.01774640e-01 2.65789840e-02 1.11306786e+02] [ 6.95946018e-02 3.89007892e-03 9.97567771e-01 2.70079610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.12, Y:111.29, Z:27.01 [[ 8.99359741e-01 4.32433580e-01 -6.44457612e-02 1.80123924e+02] [-4.31635241e-01 9.01657215e-01 2.65571954e-02 1.11293001e+02] [ 6.95922086e-02 3.93258932e-03 9.97567772e-01 2.70095780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.15, Y:111.28, Z:27.01 [[ 8.99226687e-01 4.32708861e-01 -6.44546843e-02 1.80148071e+02] [-4.31912774e-01 9.01524943e-01 2.65355213e-02 1.11278431e+02] [ 6.95896607e-02 3.97735256e-03 9.97567772e-01 2.70103687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:111.26, Z:27.01 [[ 8.99637970e-01 4.31851798e-01 -6.44635408e-02 1.80171599e+02] [-4.31055058e-01 9.01935999e-01 2.65139884e-02 1.11259180e+02] [ 6.95921016e-02 3.93434455e-03 9.97567772e-01 2.70088721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.19, Y:111.24, Z:27.01 [[ 9.00544887e-01 4.29956237e-01 -6.44712474e-02 1.80193217e+02] [-4.29155997e-01 9.02841699e-01 2.64952360e-02 1.11241679e+02] [ 6.95991224e-02 3.80807315e-03 9.97567773e-01 2.70094909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.4071056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:180.22, Y:111.23, Z:27.01 [[ 9.01375085e-01 4.28212147e-01 -6.44772263e-02 1.80216637e+02] [-4.27408500e-01 9.03670708e-01 2.64806779e-02 1.11226582e+02] [ 6.96055287e-02 3.68909131e-03 9.97567773e-01 2.70112300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43710568099993 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:180.24, Y:111.20, Z:27.01 [[ 9.03425754e-01 4.23868201e-01 -6.44798874e-02 1.80239169e+02] [-4.23053974e-01 9.05717645e-01 2.64741967e-02 1.11204537e+02] [ 6.96221419e-02 3.36100146e-03 9.97567773e-01 2.70119308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.4671056809999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:180.26, Y:111.19, Z:27.01 [[ 9.04601021e-01 4.21353036e-01 -6.44873065e-02 1.80262992e+02] [-4.20533722e-01 9.06891098e-01 2.64561124e-02 1.11188761e+02] [ 6.96303275e-02 3.18686077e-03 9.97567773e-01 2.70132866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49710568099994 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:180.29, Y:111.17, Z:27.02 [[ 9.06865355e-01 4.16455915e-01 -6.44957218e-02 1.80286032e+02] [-4.15625688e-01 9.09151499e-01 2.64355815e-02 1.11169359e+02] [ 6.96456364e-02 2.83256574e-03 9.97567773e-01 2.70166065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5271056809999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:180.31, Y:111.16, Z:27.02 [[ 9.07874049e-01 4.14251976e-01 -6.44981492e-02 1.80309795e+02] [-4.13416619e-01 9.10158323e-01 2.64296576e-02 1.11155527e+02] [ 6.96520652e-02 2.66980646e-03 9.97567773e-01 2.70177788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55710568099994 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:180.33, Y:111.14, Z:27.02 [[ 9.09843455e-01 4.09907714e-01 -6.45023549e-02 1.80334701e+02] [-4.09062175e-01 9.12123979e-01 2.64193896e-02 1.11139192e+02] [ 6.96636562e-02 2.34796485e-03 9.97567773e-01 2.70191281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5871056809999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:180.36, Y:111.13, Z:27.02 [[ 9.10171318e-01 4.09178827e-01 -6.45047281e-02 1.80358954e+02] [-4.08331872e-01 9.12451316e-01 2.64135939e-02 1.11125844e+02] [ 6.96653075e-02 2.29844082e-03 9.97567773e-01 2.70225194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61710568099994 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:180.38, Y:111.11, Z:27.03 [[ 9.08855734e-01 4.12092240e-01 -6.45076794e-02 1.80382208e+02] [-4.11253103e-01 9.11138622e-01 2.64063843e-02 1.11109358e+02] [ 6.96573042e-02 2.52938950e-03 9.97567773e-01 2.70288068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.6471056809999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:180.41, Y:111.09, Z:27.04 [[ 9.05523017e-01 4.19364342e-01 -6.45105723e-02 1.80406942e+02] [-4.18544034e-01 9.07812738e-01 2.63993152e-02 1.11094788e+02] [ 6.96344507e-02 3.09532756e-03 9.97567773e-01 2.70364496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67710568099994 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:180.43, Y:111.08, Z:27.04 [[ 9.02070788e-01 4.26739222e-01 -6.45130151e-02 1.80432288e+02] [-4.25938051e-01 9.04367275e-01 2.63933442e-02 1.11083730e+02] [ 6.96065349e-02 3.66988308e-03 9.97567773e-01 2.70409870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.7071056809999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:180.46, Y:111.07, Z:27.04 [[ 9.00628422e-01 4.29774510e-01 -6.45160184e-02 1.80458675e+02] [-4.28981600e-01 9.02927774e-01 2.63860009e-02 1.11073205e+02] [ 6.95933355e-02 3.91220252e-03 9.97567773e-01 2.70437142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73710568099995 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:180.48, Y:111.06, Z:27.05 [[ 8.99609285e-01 4.31903363e-01 -6.45183701e-02 1.80482678e+02] [-4.31116305e-01 9.01910647e-01 2.63802494e-02 1.11059740e+02] [ 6.95835233e-02 4.08300403e-03 9.97567773e-01 2.70475185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.7671056809999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:180.51, Y:111.05, Z:27.05 [[ 9.01018142e-01 4.28956076e-01 -6.45212664e-02 1.80509734e+02] [-4.28161993e-01 9.03317089e-01 2.63731636e-02 1.11045625e+02] [ 6.95960913e-02 3.86285519e-03 9.97567773e-01 2.70514615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79710568099995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:180.53, Y:111.03, Z:27.05 [[ 9.02030781e-01 4.26854843e-01 -6.43071806e-02 1.80531226e+02] [-4.26018151e-01 9.04314722e-01 2.68964291e-02 1.11030092e+02] [ 6.96348012e-02 3.13461922e-03 9.97567626e-01 2.70514804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.8271056809999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:180.56, Y:111.02, Z:27.05 [[ 9.03139346e-01 4.24482868e-01 -6.44485631e-02 1.80556352e+02] [-4.23664763e-01 9.05429862e-01 2.65505893e-02 1.11021108e+02] [ 6.96239239e-02 3.32570342e-03 9.97567767e-01 2.70465947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85710568099995 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:180.58, Y:111.00, Z:27.05 [[ 9.00872987e-01 4.29248146e-01 -6.46056543e-02 1.80583889e+02] [-4.28469596e-01 9.03177249e-01 2.61660581e-02 1.11004706e+02] [ 6.95820890e-02 4.10926368e-03 9.97567766e-01 2.70475457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.8871056809999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:180.61, Y:110.99, Z:27.04 [[ 8.98629609e-01 4.33956096e-01 -6.43966830e-02 1.80607606e+02] [-4.33153069e-01 9.00925489e-01 2.66773772e-02 1.10993080e+02] [ 6.95934236e-02 3.92053983e-03 9.97567734e-01 2.70409034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91710568099995 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:180.63, Y:110.98, Z:27.04 [[ 8.97269855e-01 4.36709435e-01 -6.47431601e-02 1.80633907e+02] [-4.35974158e-01 8.99588442e-01 2.58296172e-02 1.10976154e+02] [ 6.95222360e-02 5.05020785e-03 9.97567619e-01 2.70404435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.9471056809999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:180.66, Y:110.96, Z:27.04 [[ 8.96714079e-01 4.37845677e-01 -6.47690006e-02 1.80661736e+02] [-4.37117874e-01 8.99035069e-01 2.57664473e-02 1.10960126e+02] [ 6.95113305e-02 5.20655177e-03 9.97567575e-01 2.70420243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97710568099995 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:180.69, Y:110.94, Z:27.04 [[ 8.96831530e-01 4.37612425e-01 -6.47191769e-02 1.80688723e+02] [-4.36875278e-01 8.99149483e-01 2.58881818e-02 1.10939897e+02] [ 6.95212045e-02 5.05687078e-03 9.97567657e-01 2.70408644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.0071056809999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:180.72, Y:110.93, Z:27.04 [[ 8.97882913e-01 4.35483846e-01 -6.44987889e-02 1.80717206e+02] [-4.34702678e-01 9.00186226e-01 2.64261185e-02 1.10925694e+02] [ 6.95690691e-02 4.31023601e-03 9.97567826e-01 2.70419175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03710568099996 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:180.75, Y:110.91, Z:27.04 [[ 8.98702624e-01 4.33789872e-01 -6.44976000e-02 1.80746627e+02] [-4.33004155e-01 9.01004389e-01 2.64290200e-02 1.10910378e+02] [ 6.95772619e-02 4.17589923e-03 9.97567826e-01 2.70444796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.06710568099993 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:180.77, Y:110.89, Z:27.05 [[ 9.01160654e-01 4.28661616e-01 -6.44879390e-02 1.80771871e+02] [-4.27861115e-01 9.03457319e-01 2.64525723e-02 1.10891578e+02] [ 6.96013029e-02 3.75386412e-03 9.97567826e-01 2.70486282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09710568099996 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:180.80, Y:110.88, Z:27.06 [[ 9.03542764e-01 4.23618127e-01 -6.44837691e-02 1.80799274e+02] [-4.22804078e-01 9.05834662e-01 2.64627334e-02 1.10875054e+02] [ 6.96217268e-02 3.35378935e-03 9.97567826e-01 2.70581567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.12710568099993 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:180.83, Y:110.86, Z:27.06 [[ 9.05167506e-01 4.20136551e-01 -6.44753053e-02 1.80828561e+02] [-4.19312221e-01 9.07455726e-01 2.64833392e-02 1.10860551e+02] [ 6.96351037e-02 3.06342536e-03 9.97567826e-01 2.70596804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.1571056809999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:180.86, Y:110.84, Z:27.06 [[ 9.08672580e-01 4.12502513e-01 -6.44656382e-02 1.80855027e+02] [-4.11657286e-01 9.10953163e-01 2.65068500e-02 1.10843709e+02] [ 6.96593193e-02 2.45170192e-03 9.97567826e-01 2.70614929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18710568099993 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:180.88, Y:110.83, Z:27.06 [[ 9.12545582e-01 4.03863524e-01 -6.44578539e-02 1.80884206e+02] [-4.02995364e-01 9.14817534e-01 2.65257659e-02 1.10829511e+02] [ 6.96799642e-02 1.77024578e-03 9.97567827e-01 2.70649502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2171056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:180.92, Y:110.82, Z:27.07 [[ 9.15366607e-01 3.97429545e-01 -6.44494576e-02 1.80917460e+02] [-3.96543978e-01 9.17631830e-01 2.65461507e-02 1.10817383e+02] [ 6.96910983e-02 1.25758438e-03 9.97567827e-01 2.70651626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24710568099994 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:180.94, Y:110.81, Z:27.07 [[ 9.15172401e-01 3.97932923e-01 -6.41004294e-02 1.80943925e+02] [-3.96989214e-01 9.17414435e-01 2.73919386e-02 1.10805353e+02] [ 6.97068134e-02 3.78832846e-04 9.97567450e-01 2.70725845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2771056809999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:180.98, Y:110.79, Z:27.07 [[ 9.16841204e-01 3.94018202e-01 -6.44349523e-02 1.80976531e+02] [-3.93121750e-01 9.19102135e-01 2.65810954e-02 1.10791777e+02] [ 6.96957377e-02 9.60137677e-04 9.97567833e-01 2.70731417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30710568099994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:181.00, Y:110.78, Z:27.08 [[ 9.15307851e-01 3.97619722e-01 -6.41100216e-02 1.81002814e+02] [-3.96676950e-01 9.17550223e-01 2.73676013e-02 1.10779052e+02] [ 6.97060626e-02 3.81187499e-04 9.97567501e-01 2.70782183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3371056809999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:181.03, Y:110.77, Z:27.08 [[ 9.13801892e-01 4.01018016e-01 -6.44255570e-02 1.81032366e+02] [-4.00137299e-01 9.16068990e-01 2.66035341e-02 1.10769725e+02] [ 6.96867514e-02 1.46870861e-03 9.97567842e-01 2.70828985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36710568099994 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:181.07, Y:110.76, Z:27.09 [[ 9.12927775e-01 4.03005213e-01 -6.44179811e-02 1.81065442e+02] [-4.02128138e-01 9.15196283e-01 2.66218658e-02 1.10761849e+02] [ 6.96838476e-02 1.60044210e-03 9.97567842e-01 2.70858070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3971056809999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:181.09, Y:110.75, Z:27.09 [[ 9.10606391e-01 4.08266846e-01 -6.41418955e-02 1.81092747e+02] [-4.07355786e-01 9.12861735e-01 2.72894942e-02 1.10751194e+02] [ 6.96940777e-02 1.27858438e-03 9.97567592e-01 2.70870961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42710568099994 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:181.13, Y:110.74, Z:27.09 [[ 9.10479009e-01 4.08507292e-01 -6.44186864e-02 1.81125922e+02] [-4.07644075e-01 9.12752814e-01 2.66197187e-02 1.10742372e+02] [ 6.96726865e-02 2.02320073e-03 9.97567854e-01 2.70869496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.4571056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:181.15, Y:110.73, Z:27.09 [[ 9.07474471e-01 4.15190989e-01 -6.40821936e-02 1.81150712e+02] [-4.14287003e-01 9.09732768e-01 2.74330266e-02 1.10732625e+02] [ 6.96876168e-02 1.65364860e-03 9.97567492e-01 2.70878634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48710568099995 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:181.18, Y:110.72, Z:27.09 [[ 9.06774719e-01 4.16665227e-01 -6.44181473e-02 1.81180874e+02] [-4.15822429e-01 9.09056146e-01 2.66201215e-02 1.10722190e+02] [ 6.96513917e-02 2.64805728e-03 9.97567878e-01 2.70886012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5171056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:181.21, Y:110.71, Z:27.09 [[ 9.05417952e-01 4.19605596e-01 -6.44164243e-02 1.81212701e+02] [-4.18769910e-01 9.07701994e-01 2.66242903e-02 1.10712729e+02] [ 6.96426179e-02 2.86954977e-03 9.97567878e-01 2.70897727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54710568099995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:181.24, Y:110.70, Z:27.09 [[ 9.04668993e-01 4.21219376e-01 -6.44069147e-02 1.81241558e+02] [-4.20386131e-01 9.06953926e-01 2.66472752e-02 1.10702646e+02] [ 6.96384528e-02 2.96881000e-03 9.97567878e-01 2.70898218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5771056809999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:181.27, Y:110.69, Z:27.09 [[ 9.03704616e-01 4.23284906e-01 -6.44038510e-02 1.81272587e+02] [-4.22456357e-01 9.05991255e-01 2.66546778e-02 1.10693665e+02] [ 6.96318486e-02 3.11986093e-03 9.97567878e-01 2.70899400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60710568099995 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:181.30, Y:110.68, Z:27.09 [[ 9.03326186e-01 4.24093209e-01 -6.43952835e-02 1.81302349e+02] [-4.23265235e-01 9.05613033e-01 2.66753600e-02 1.10683694e+02] [ 6.96300471e-02 3.15973360e-03 9.97567879e-01 2.70900968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.6371056809999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:181.33, Y:110.67, Z:27.09 [[ 9.02843126e-01 4.25121805e-01 -6.43874227e-02 1.81331433e+02] [-4.24295087e-01 9.05130428e-01 2.66943206e-02 1.10671171e+02] [ 6.96273532e-02 3.21848331e-03 9.97567879e-01 2.70914303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66710568099995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:181.36, Y:110.66, Z:27.09 [[ 9.01755374e-01 4.27425546e-01 -6.43789463e-02 1.81359363e+02] [-4.26603216e-01 9.04044257e-01 2.67147476e-02 1.10657723e+02] [ 6.96199822e-02 3.37409838e-03 9.97567879e-01 2.70898077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.6971056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:181.39, Y:110.65, Z:27.09 [[ 9.00942617e-01 4.29136234e-01 -6.43777444e-02 1.81386793e+02] [-4.28318044e-01 9.03232983e-01 2.67176436e-02 1.10646652e+02] [ 6.96136111e-02 3.50308583e-03 9.97567879e-01 2.70914297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72710568099995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:181.42, Y:110.64, Z:27.09 [[ 9.01138607e-01 4.28724347e-01 -6.43789184e-02 1.81415504e+02] [-4.27905311e-01 9.03428671e-01 2.67148145e-02 1.10635325e+02] [ 6.96150521e-02 3.47433037e-03 9.97567879e-01 2.70916974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.7571056809999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:181.44, Y:110.62, Z:27.09 [[ 9.00702479e-01 4.29629679e-01 -6.44467536e-02 1.81443168e+02] [-4.28824595e-01 9.02997503e-01 2.65513972e-02 1.10621320e+02] [ 6.96025258e-02 3.72144374e-03 9.97567862e-01 2.70920868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78710568099996 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:181.47, Y:110.61, Z:27.09 [[ 9.01367348e-01 4.28244926e-01 -6.43675911e-02 1.81471384e+02] [-4.27422740e-01 9.03656279e-01 2.67419444e-02 1.10607484e+02] [ 6.96182799e-02 3.40785659e-03 9.97567883e-01 2.70874717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81710568099993 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:181.50, Y:110.59, Z:27.09 [[ 9.02029703e-01 4.26873646e-01 -6.41973920e-02 1.81498717e+02] [-4.26018873e-01 9.04306764e-01 2.71513828e-02 1.10594978e+02] [ 6.96443455e-02 2.85794675e-03 9.97567791e-01 2.70894656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84710568099996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:181.52, Y:110.58, Z:27.10 [[ 9.00606673e-01 4.29888944e-01 -6.40555809e-02 1.81519170e+02] [-4.29017544e-01 9.02877674e-01 2.74927947e-02 1.10580146e+02] [ 6.96532023e-02 2.72077364e-03 9.97567556e-01 2.70964949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87710568099993 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:181.55, Y:110.56, Z:27.10 [[ 9.00661156e-01 4.29725769e-01 -6.43835750e-02 1.81547444e+02] [-4.28910190e-01 9.02952408e-01 2.67020056e-02 1.10564891e+02] [ 6.96098440e-02 3.56531212e-03 9.97567922e-01 2.71035355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.9071056809999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:181.57, Y:110.55, Z:27.11 [[ 9.01157222e-01 4.28685786e-01 -6.43751399e-02 1.81573457e+02] [-4.27866115e-01 9.03447013e-01 2.67223261e-02 1.10553515e+02] [ 6.96150092e-02 3.46292384e-03 9.97567922e-01 2.71069481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93710568099993 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.60, Y:110.54, Z:27.11 [[ 9.02209857e-01 4.26471131e-01 -6.43408684e-02 1.81600062e+02] [-4.25639965e-01 9.04495505e-01 2.68048755e-02 1.10542824e+02] [ 6.96275318e-02 3.20242208e-03 9.97567918e-01 2.71096783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.9671056809999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.63, Y:110.53, Z:27.11 [[ 9.02292423e-01 4.26307037e-01 -6.42704679e-02 1.81627192e+02] [-4.25463396e-01 9.04573532e-01 2.69744926e-02 1.10531762e+02] [ 6.96367802e-02 3.00585128e-03 9.97567884e-01 2.71117668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99710568099994 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:181.65, Y:110.52, Z:27.12 [[ 9.02180178e-01 4.26543822e-01 -6.42751510e-02 1.81651865e+02] [-4.25701582e-01 9.04461800e-01 2.69632039e-02 1.10519271e+02] [ 6.96354069e-02 3.03636543e-03 9.97567888e-01 2.71157593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0271056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:181.68, Y:110.50, Z:27.12 [[ 9.02331627e-01 4.26206108e-01 -6.43893523e-02 1.81676848e+02] [-4.25382609e-01 9.04620033e-01 2.66876786e-02 1.10503237e+02] [ 6.96223497e-02 3.30897422e-03 9.97567932e-01 2.71191238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05710568099994 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:181.70, Y:110.49, Z:27.12 [[ 9.02288338e-01 4.26308261e-01 -6.43196800e-02 1.81703430e+02] [-4.25473043e-01 9.04572519e-01 2.68560455e-02 1.10490877e+02] [ 6.96307690e-02 3.13439332e-03 9.97567908e-01 2.71215029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0871056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:181.73, Y:110.48, Z:27.12 [[ 9.01008105e-01 4.28968451e-01 -6.45791197e-02 1.81733526e+02] [-4.28184524e-01 9.03310540e-01 2.62313315e-02 1.10475798e+02] [ 6.95874130e-02 4.01713734e-03 9.97567769e-01 2.71196498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11710568099994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:181.76, Y:110.47, Z:27.12 [[ 9.00578059e-01 4.29903652e-01 -6.43584460e-02 1.81760522e+02] [-4.29084246e-01 9.02867932e-01 2.67620462e-02 1.10466735e+02] [ 6.96122785e-02 3.51388362e-03 9.97567934e-01 2.71190216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.1471056809999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:181.79, Y:110.46, Z:27.12 [[ 9.00210925e-01 4.30671533e-01 -6.43608612e-02 1.81786507e+02] [-4.29854494e-01 9.02501644e-01 2.67562366e-02 1.10456734e+02] [ 6.96089325e-02 3.57954891e-03 9.97567934e-01 2.71238578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17710568099994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:181.81, Y:110.44, Z:27.12 [[ 8.98190754e-01 4.34844888e-01 -6.45235847e-02 1.81814767e+02] [-4.34066468e-01 9.00494975e-01 2.63647583e-02 1.10441917e+02] [ 6.95677442e-02 4.32694238e-03 9.97567846e-01 2.71230036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.2071056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:181.84, Y:110.43, Z:27.13 [[ 8.96982232e-01 4.37362338e-01 -6.43199933e-02 1.81839720e+02] [-4.36555372e-01 8.99276517e-01 2.68542906e-02 1.10430461e+02] [ 6.95865149e-02 3.99141714e-03 9.97567935e-01 2.71268458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:181.87, Y:110.42, Z:27.13 [[ 8.96977695e-01 4.37372072e-01 -6.43170657e-02 1.81865508e+02] [-4.36564629e-01 8.99271813e-01 2.68613308e-02 1.10418926e+02] [ 6.95869202e-02 3.98454125e-03 9.97567935e-01 2.71284336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.2671056809999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:181.89, Y:110.40, Z:27.13 [[ 8.95902141e-01 4.39568750e-01 -6.43324783e-02 1.81890122e+02] [-4.38769582e-01 8.98199151e-01 2.68242419e-02 1.10404130e+02] [ 6.95744759e-02 4.19523882e-03 9.97567939e-01 2.71299741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29710568099995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:181.91, Y:110.39, Z:27.13 [[ 8.96052583e-01 4.39243957e-01 -6.44555216e-02 1.81914770e+02] [-4.38465155e-01 8.98356597e-01 2.65279437e-02 1.10389875e+02] [ 6.95562820e-02 4.49106774e-03 9.97567919e-01 2.71327223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.3271056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.94, Y:110.38, Z:27.13 [[ 8.95903751e-01 4.39548998e-01 -6.44449244e-02 1.81943100e+02] [-4.38769154e-01 8.98207406e-01 2.65534404e-02 1.10375427e+02] [ 6.95564465e-02 4.48711808e-03 9.97567926e-01 2.71340262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35710568099995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:181.97, Y:110.36, Z:27.14 [[ 8.96493316e-01 4.38346520e-01 -6.44365012e-02 1.81971422e+02] [-4.37562138e-01 8.98795424e-01 2.65736767e-02 1.10360048e+02] [ 6.95637111e-02 4.37184973e-03 9.97567931e-01 2.71370331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.3871056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:182.00, Y:110.34, Z:27.14 [[ 8.94878353e-01 4.41622598e-01 -6.45152289e-02 1.81999542e+02] [-4.40860182e-01 8.97187908e-01 2.63847907e-02 1.10342023e+02] [ 6.95344031e-02 4.83101753e-03 9.97567856e-01 2.71398116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.03, Y:110.32, Z:27.14 [[ 8.93897994e-01 4.43631798e-01 -6.43211037e-02 1.82027455e+02] [-4.42841230e-01 8.96197930e-01 2.68498572e-02 1.10324833e+02] [ 6.95558904e-02 4.48300315e-03 9.97567983e-01 2.71383049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.4471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.05, Y:110.31, Z:27.14 [[ 8.93390426e-01 4.44654264e-01 -6.43127630e-02 1.82054894e+02] [-4.43864898e-01 8.95690775e-01 2.68698207e-02 1.10311176e+02] [ 6.95521289e-02 4.54093742e-03 9.97567983e-01 2.71387895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:182.08, Y:110.29, Z:27.14 [[ 8.92982731e-01 4.45460520e-01 -6.43953981e-02 1.82082075e+02] [-4.44687403e-01 8.95288619e-01 2.66721307e-02 1.10294341e+02] [ 6.95338482e-02 4.81807024e-03 9.97567958e-01 2.71437652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.5071056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:182.11, Y:110.28, Z:27.15 [[ 8.93554713e-01 4.44306574e-01 -6.44332399e-02 1.82111871e+02] [-4.43536965e-01 8.95861805e-01 2.65816825e-02 1.10278680e+02] [ 6.95336949e-02 4.82633604e-03 9.97567928e-01 2.71459574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53710568099996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:182.14, Y:110.26, Z:27.15 [[ 8.93953419e-01 4.43524919e-01 -6.42878753e-02 1.82137612e+02] [-4.42728428e-01 8.96251295e-01 2.69287290e-02 1.10258807e+02] [ 6.95616538e-02 4.38904063e-03 9.97567999e-01 2.71507726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.56710568099993 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:182.17, Y:110.24, Z:27.15 [[ 8.96181483e-01 4.38992235e-01 -6.43783164e-02 1.82166263e+02] [-4.38199541e-01 8.98480705e-01 2.67130084e-02 1.10240270e+02] [ 6.95694784e-02 4.27084528e-03 9.97567966e-01 2.71546674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.19, Y:110.23, Z:27.16 [[ 8.97165814e-01 4.36993176e-01 -6.42687041e-02 1.82194860e+02] [-4.36176702e-01 8.99456657e-01 2.69741781e-02 1.10226618e+02] [ 6.95944455e-02 3.83220097e-03 9.97568006e-01 2.71556350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.22, Y:110.21, Z:27.16 [[ 8.99930463e-01 4.31272386e-01 -6.42595644e-02 1.82224117e+02] [-4.30439794e-01 9.02215497e-01 2.69959337e-02 1.10210573e+02] [ 6.96185756e-02 3.36541063e-03 9.97568007e-01 2.71562437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.6571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.25, Y:110.19, Z:27.16 [[ 9.00873910e-01 4.29299635e-01 -6.42496823e-02 1.82249681e+02] [-4.28460367e-01 9.03156501e-01 2.70194324e-02 1.10194822e+02] [ 6.96269507e-02 3.18734074e-03 9.97568007e-01 2.71594843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.28, Y:110.18, Z:27.16 [[ 9.03028895e-01 4.24722090e-01 -6.44201891e-02 1.82276476e+02] [-4.23900086e-01 9.05317857e-01 2.66137963e-02 1.10179878e+02] [ 6.96242148e-02 3.27469666e-03 9.97567915e-01 2.71632324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7171056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.30, Y:110.16, Z:27.17 [[ 9.07622359e-01 4.14805178e-01 -6.44850223e-02 1.82304218e+02] [-4.13969076e-01 9.09906306e-01 2.64597508e-02 1.10162709e+02] [ 6.96509701e-02 2.67934367e-03 9.97567824e-01 2.71651402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.33, Y:110.15, Z:27.17 [[ 9.11902407e-01 4.05322865e-01 -6.44001176e-02 1.82334901e+02] [-4.04448807e-01 9.14171957e-01 2.66607667e-02 1.10147292e+02] [ 6.96789998e-02 1.73453340e-03 9.97567957e-01 2.71680378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7771056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:182.36, Y:110.13, Z:27.17 [[ 9.12501948e-01 4.03998103e-01 -6.42318308e-02 1.82359725e+02] [-4.03092705e-01 9.14759035e-01 2.70587948e-02 1.10134414e+02] [ 6.96883494e-02 1.20017946e-03 9.97568090e-01 2.71712906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.39, Y:110.12, Z:27.17 [[ 9.14842001e-01 3.98610863e-01 -6.46025829e-02 1.82391185e+02] [-3.97753999e-01 9.17118496e-01 2.61805427e-02 1.10121980e+02] [ 6.96840724e-02 1.74487564e-03 9.97567584e-01 2.71714261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8371056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:182.42, Y:110.11, Z:27.17 [[ 9.13540227e-01 4.01618785e-01 -6.43941353e-02 1.82418502e+02] [-4.00734620e-01 9.15805812e-01 2.66735673e-02 1.10108344e+02] [ 6.96851291e-02 1.43758266e-03 9.97568001e-01 2.71742992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.45, Y:110.10, Z:27.17 [[ 9.12966210e-01 4.02909399e-01 -6.44725945e-02 1.82449959e+02] [-4.02041520e-01 9.15238218e-01 2.64881228e-02 1.10095535e+02] [ 6.96800961e-02 1.73789881e-03 9.97567874e-01 2.71734284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:110.08, Z:27.17 [[ 9.09575390e-01 4.10530410e-01 -6.43225611e-02 1.82478503e+02] [-4.09656531e-01 9.11844853e-01 2.68419498e-02 1.10082631e+02] [ 6.96716329e-02 1.93538021e-03 9.97568102e-01 2.71742312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.51, Y:110.07, Z:27.18 [[ 9.09309419e-01 4.11105834e-01 -6.44078755e-02 1.82509826e+02] [-4.10247554e-01 9.11584973e-01 2.66417160e-02 1.10070947e+02] [ 6.96658164e-02 2.19761007e-03 9.97567965e-01 2.71750327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.9571056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:182.54, Y:110.05, Z:27.18 [[ 9.06213071e-01 4.17912583e-01 -6.42412923e-02 1.82539030e+02] [-4.17043729e-01 9.08484346e-01 2.70318497e-02 1.10054979e+02] [ 6.96591585e-02 2.29481256e-03 9.97568211e-01 2.71805472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.57, Y:110.04, Z:27.18 [[ 9.04001578e-01 4.22698819e-01 -6.40847546e-02 1.82568224e+02] [-4.21816034e-01 9.06267390e-01 2.73980100e-02 1.10042240e+02] [ 6.96590298e-02 2.26413276e-03 9.97568290e-01 2.71847581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:110.03, Z:27.19 [[ 9.00804485e-01 4.29471288e-01 -6.40756747e-02 1.82597445e+02] [-4.28604027e-01 9.03076284e-01 2.74192289e-02 1.10029429e+02] [ 6.96409937e-02 2.76372783e-03 9.97568290e-01 2.71851973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.63, Y:110.02, Z:27.19 [[ 8.99459694e-01 4.32281983e-01 -6.40667330e-02 1.82630384e+02] [-4.31420335e-01 9.01733628e-01 2.74401058e-02 1.10015564e+02] [ 6.96329909e-02 2.95842230e-03 9.97568291e-01 2.71853814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.66, Y:110.01, Z:27.19 [[ 8.95816246e-01 4.39829380e-01 -6.37445692e-02 1.82655017e+02] [-4.38933436e-01 8.98077218e-01 2.81913113e-02 1.10005210e+02] [ 6.96469124e-02 2.72538812e-03 9.97567983e-01 2.71885775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.68, Y:109.99, Z:27.19 [[ 8.94179456e-01 4.43102148e-01 -6.40592448e-02 1.82684578e+02] [-4.42266775e-01 8.96463162e-01 2.74572115e-02 1.09991690e+02] [ 6.95931026e-02 3.77960116e-03 9.97568301e-01 2.71912007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.1371056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:182.72, Y:109.98, Z:27.19 [[ 8.93100011e-01 4.45275163e-01 -6.40499770e-02 1.82716073e+02] [-4.44443802e-01 8.95385181e-01 2.74788138e-02 1.09976463e+02] [ 6.95850335e-02 3.92528639e-03 9.97568301e-01 2.71889311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:109.96, Z:27.19 [[ 8.91439894e-01 4.48627508e-01 -6.37830247e-02 1.82741369e+02] [-4.47760366e-01 8.93711944e-01 2.81000855e-02 1.09963710e+02] [ 6.96101223e-02 3.50997321e-03 9.97568098e-01 2.71909304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.77, Y:109.95, Z:27.19 [[ 8.91964823e-01 4.47546398e-01 -6.40388686e-02 1.82771118e+02] [-4.46719023e-01 8.94251430e-01 2.75044386e-02 1.09951371e+02] [ 6.95763623e-02 4.07438913e-03 9.97568308e-01 2.71920876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.80, Y:109.94, Z:27.19 [[ 8.91889328e-01 4.47696363e-01 -6.40421174e-02 1.82798950e+02] [-4.46869913e-01 8.94176270e-01 2.74968772e-02 1.09936727e+02] [ 6.95751936e-02 4.09432408e-03 9.97568308e-01 2.71926298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.83, Y:109.92, Z:27.19 [[ 8.94100826e-01 4.43265369e-01 -6.40275386e-02 1.82825102e+02] [-4.42425161e-01 8.96382749e-01 2.75307829e-02 1.09918455e+02] [ 6.95966237e-02 3.71209834e-03 9.97568309e-01 2.71938777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28710568099996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.85, Y:109.90, Z:27.19 [[ 8.94788096e-01 4.41877480e-01 -6.40199644e-02 1.82853317e+02] [-4.41032477e-01 8.97068248e-01 2.75483846e-02 1.09903858e+02] [ 6.96032881e-02 3.58491685e-03 9.97568309e-01 2.71945050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.88, Y:109.89, Z:27.19 [[ 8.96433525e-01 4.38530972e-01 -6.40118851e-02 1.82884784e+02] [-4.37676118e-01 8.98710002e-01 2.75671451e-02 1.09889469e+02] [ 6.96171683e-02 3.30436036e-03 9.97568309e-01 2.71878140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.13, Y:110.54, Z:27.64 [[ 9.58873004e-01 -2.76589326e-01 6.37252465e-02 1.83134235e+02] [-2.75309946e-01 -9.60941040e-01 -2.82268006e-02 1.10535134e+02] [ 6.90434364e-02 9.52172297e-03 -9.97568214e-01 2.76363828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.15, Y:110.56, Z:27.64 [[ 9.77467003e-01 -2.00602813e-01 6.57021228e-02 1.83147247e+02] [-1.99538721e-01 -9.79632881e-01 -2.24436542e-02 1.10561142e+02] [ 6.88662200e-02 8.82781380e-03 -9.97586845e-01 2.76370610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.4071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.16, Y:110.58, Z:27.63 [[ 9.90147442e-01 -1.22930475e-01 6.70532799e-02 1.83157295e+02] [-1.22044296e-01 -9.92376100e-01 -1.71716879e-02 1.10580979e+02] [ 6.86529961e-02 8.81903253e-03 -9.97601619e-01 2.76347788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.16, Y:110.59, Z:27.63 [[ 9.96606461e-01 -4.64080523e-02 6.79842191e-02 1.83161049e+02] [-4.57074399e-02 -9.98884868e-01 -1.18258515e-02 1.10588612e+02] [ 6.84572224e-02 8.67833543e-03 -9.97616307e-01 2.76343197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.16, Y:110.61, Z:27.63 [[ 9.97196913e-01 3.01051871e-02 6.84981289e-02 1.83163782e+02] [ 3.06117861e-02 -9.99511128e-01 -6.35797017e-03 1.10605850e+02] [ 6.82732342e-02 8.43699830e-03 -9.97630985e-01 2.76301712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.17, Y:110.62, Z:27.63 [[ 9.92036338e-01 1.05641915e-01 6.85834506e-02 1.83165811e+02] [ 1.05924654e-01 -9.94374039e-01 -4.88875805e-04 1.10618918e+02] [ 6.81459570e-02 7.74966087e-03 -9.97645263e-01 2.76290582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.17, Y:110.63, Z:27.63 [[ 9.80866888e-01 1.82330472e-01 6.82330421e-02 1.83166754e+02] [ 1.82420234e-01 -9.83208116e-01 4.96581038e-03 1.10628433e+02] [ 6.79926993e-02 7.57628853e-03 -9.97657052e-01 2.76318774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.16, Y:110.64, Z:27.63 [[ 9.63756634e-01 2.58106661e-01 6.74840909e-02 1.83164184e+02] [ 2.58017580e-01 -9.66086552e-01 1.01834290e-02 1.10641221e+02] [ 6.78238836e-02 7.59773462e-03 -9.97668379e-01 2.76344843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5871056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:183.16, Y:110.65, Z:27.64 [[ 9.40949342e-01 3.31966205e-01 6.64287191e-02 1.83163193e+02] [ 3.31728919e-01 -9.43257171e-01 1.48940896e-02 1.10649354e+02] [ 6.76037000e-02 8.02174338e-03 -9.97680005e-01 2.76364263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:183.16, Y:110.66, Z:27.64 [[ 9.12874170e-01 4.03060594e-01 6.48298362e-02 1.83158852e+02] [ 4.02635168e-01 -9.15140285e-01 2.00793603e-02 1.10660674e+02] [ 6.74215936e-02 7.77284260e-03 -9.97694298e-01 2.76379685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.6471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:183.15, Y:110.68, Z:27.64 [[ 8.79346449e-01 4.72010598e-01 6.28953008e-02 1.83152129e+02] [ 4.71413291e-01 -8.81559215e-01 2.49571666e-02 1.10675660e+02] [ 6.72259791e-02 7.70368494e-03 -9.97708034e-01 2.76395967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:183.14, Y:110.69, Z:27.64 [[ 8.42589391e-01 5.35141259e-01 6.05553581e-02 1.83143719e+02] [ 5.34365036e-01 -8.44730945e-01 2.97260560e-02 1.10692538e+02] [ 6.70606239e-02 7.31180665e-03 -9.97722111e-01 2.76426595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.7071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.13, Y:110.71, Z:27.65 [[ 8.00171149e-01 5.96974564e-01 5.78576017e-02 1.83133877e+02] [ 5.96031211e-01 -8.02229149e-01 3.42810272e-02 1.10705477e+02] [ 6.68799558e-02 7.05424744e-03 -9.97736092e-01 2.76462318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.59, Y:110.15, Z:27.23 [[ 8.26547010e-01 -5.60191762e-01 -5.48199858e-02 1.83591915e+02] [ 5.58861952e-01 8.28361991e-01 -3.85970247e-02 1.10152319e+02] [ 6.70325279e-02 1.26545106e-03 9.97749988e-01 2.72323181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.7671056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.62, Y:110.17, Z:27.24 [[ 8.22272445e-01 -5.66448669e-01 -5.48081310e-02 1.83617957e+02] [ 5.65131551e-01 8.24096657e-01 -3.86138514e-02 1.10165444e+02] [ 6.70399623e-02 7.77301945e-04 9.97749988e-01 2.72373028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.64, Y:110.18, Z:27.24 [[ 8.20392773e-01 -5.69168736e-01 -5.47964240e-02 1.83641785e+02] [ 5.67856556e-01 8.22220542e-01 -3.86304575e-02 1.10180307e+02] [ 6.70419941e-02 5.75639547e-04 9.97749989e-01 2.72393542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.67, Y:110.20, Z:27.24 [[ 8.15056789e-01 -5.76793886e-01 -5.46922644e-02 1.83666220e+02] [ 5.75488884e-01 8.16889709e-01 -3.87782029e-02 1.10195137e+02] [ 6.70445782e-02 1.31647370e-04 9.97749972e-01 2.72439780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.69, Y:110.21, Z:27.25 [[ 8.12436128e-01 -5.80469897e-01 -5.47926763e-02 1.83688684e+02] [ 5.79182783e-01 8.14281634e-01 -3.86358020e-02 1.10210598e+02] [ 6.70435900e-02 -3.45853387e-04 9.97749987e-01 2.72470301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.8871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.71, Y:110.23, Z:27.25 [[ 8.12219282e-01 -5.80773846e-01 -5.47866580e-02 1.83711899e+02] [ 5.79486847e-01 8.14064868e-01 -3.86443343e-02 1.10227229e+02] [ 6.70435122e-02 -3.60474295e-04 9.97749988e-01 2.72489451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.73, Y:110.24, Z:27.25 [[ 8.08983711e-01 -5.85273750e-01 -5.47721854e-02 1.83733116e+02] [ 5.83995628e-01 8.10835456e-01 -3.86648360e-02 1.10243954e+02] [ 6.70407435e-02 -7.07494302e-04 9.97749988e-01 2.72491209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.76, Y:110.26, Z:27.25 [[ 8.08775170e-01 -5.85562479e-01 -5.47659335e-02 1.83755601e+02] [ 5.84284419e-01 8.10626957e-01 -3.86736895e-02 1.10260925e+02] [ 6.70406035e-02 -7.20561819e-04 9.97749988e-01 2.72541166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:183.78, Y:110.28, Z:27.26 [[ 8.12067592e-01 -5.80989252e-01 -5.47513863e-02 1.83777335e+02] [ 5.79699374e-01 8.13911167e-01 -3.86942734e-02 1.10277805e+02] [ 6.70437217e-02 -3.16978965e-04 9.97749988e-01 2.72600664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.80, Y:110.30, Z:27.26 [[ 8.17745872e-01 -5.72969864e-01 -5.47469123e-02 1.83798140e+02] [ 5.71661483e-01 8.19576362e-01 -3.87006025e-02 1.10298426e+02] [ 6.70435541e-02 3.50556866e-04 9.97749988e-01 2.72644070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03710568099996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:183.82, Y:110.32, Z:27.26 [[ 8.24943301e-01 -5.62551189e-01 -5.48152352e-02 1.83817636e+02] [ 5.61226107e-01 8.26761748e-01 -3.86039992e-02 1.10319684e+02] [ 6.70358654e-02 1.08236948e-03 9.97749979e-01 2.72631485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.06710568099993 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:183.84, Y:110.34, Z:27.26 [[ 8.27917641e-01 -5.58163280e-01 -5.48282096e-02 1.83839477e+02] [ 5.56829774e-01 8.29729925e-01 -3.85856663e-02 1.10336816e+02] [ 6.70297082e-02 1.41577423e-03 9.97749976e-01 2.72648775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.86, Y:110.35, Z:27.26 [[ 8.30785587e-01 -5.53897276e-01 -5.47093722e-02 1.83860561e+02] [ 5.52543420e-01 8.32582693e-01 -3.87534349e-02 1.10353593e+02] [ 6.70154985e-02 1.96649161e-03 9.97749997e-01 2.72645430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.12710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.88, Y:110.37, Z:27.27 [[ 8.31133730e-01 -5.53375348e-01 -5.47032623e-02 1.83884701e+02] [ 5.52019797e-01 8.32929557e-01 -3.87620576e-02 1.10369896e+02] [ 6.70139311e-02 2.01916975e-03 9.97749997e-01 2.72662290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.1571056809999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:183.91, Y:110.38, Z:27.26 [[ 8.30917840e-01 -5.53691263e-01 -5.47861962e-02 1.83907589e+02] [ 5.52344097e-01 8.32719978e-01 -3.86450086e-02 1.10383815e+02] [ 6.70189638e-02 1.84999498e-03 9.97749987e-01 2.72638164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18710568099993 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:183.93, Y:110.40, Z:27.27 [[ 8.30277697e-01 -5.54660275e-01 -5.46893467e-02 1.83931015e+02] [ 5.53306218e-01 8.32074647e-01 -3.87815863e-02 1.10400113e+02] [ 6.70162242e-02 1.93953055e-03 9.97750001e-01 2.72651310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2171056809999 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:183.95, Y:110.42, Z:27.27 [[ 8.28096732e-01 -5.57912553e-01 -5.46752637e-02 1.83954281e+02] [ 5.56564246e-01 8.29897999e-01 -3.88014307e-02 1.10417291e+02] [ 6.70226973e-02 1.70104103e-03 9.97750001e-01 2.72651141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24710568099994 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:183.98, Y:110.43, Z:27.27 [[ 8.27338374e-01 -5.59028334e-01 -5.47589008e-02 1.83978876e+02] [ 5.57690238e-01 8.29147257e-01 -3.86836543e-02 1.10433470e+02] [ 6.70284512e-02 1.46596721e-03 9.97749988e-01 2.72661398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2771056809999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:184.00, Y:110.45, Z:27.27 [[ 8.24114981e-01 -5.63763773e-01 -5.48170230e-02 1.84000957e+02] [ 5.62441508e-01 8.25935498e-01 -3.86018586e-02 1.10447840e+02] [ 6.70376546e-02 9.81000885e-04 9.97749964e-01 2.72666991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30710568099994 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:184.02, Y:110.46, Z:27.27 [[ 8.20503402e-01 -5.69024771e-01 -5.46349478e-02 1.84023821e+02] [ 5.67697109e-01 8.22319925e-01 -3.88578657e-02 1.10463460e+02] [ 6.70384943e-02 8.66909105e-04 9.97750013e-01 2.72704050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3371056809999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:184.05, Y:110.48, Z:27.27 [[ 8.18317774e-01 -5.72163887e-01 -5.46306417e-02 1.84046773e+02] [ 5.70842790e-01 8.20139077e-01 -3.88639187e-02 1.10480633e+02] [ 6.70412549e-02 6.17527565e-04 9.97750013e-01 2.72731869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36710568099994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:184.07, Y:110.50, Z:27.27 [[ 8.15054641e-01 -5.76803897e-01 -5.46186512e-02 1.84067708e+02] [ 5.75492040e-01 8.16882610e-01 -3.88807627e-02 1.10497969e+02] [ 6.70436018e-02 2.57347068e-04 9.97750013e-01 2.72731470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3971056809999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:184.09, Y:110.52, Z:27.27 [[ 8.13965762e-01 -5.78340349e-01 -5.46093275e-02 1.84089686e+02] [ 5.77031065e-01 8.15795574e-01 -3.88938538e-02 1.10515645e+02] [ 6.70439327e-02 1.46987017e-04 9.97750014e-01 2.72740916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42710568099994 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:184.11, Y:110.53, Z:27.28 [[ 8.14331080e-01 -5.77827146e-01 -5.45956073e-02 1.84110466e+02] [ 5.76515418e-01 8.16159141e-01 -3.89131035e-02 1.10533492e+02] [ 6.70437515e-02 2.12940273e-04 9.97750014e-01 2.72780069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.4571056809999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:184.13, Y:110.55, Z:27.28 [[ 8.15031053e-01 -5.76839806e-01 -5.45913952e-02 1.84132104e+02] [ 5.75525467e-01 8.16857238e-01 -3.89190117e-02 1.10550992e+02] [ 6.70434115e-02 3.01464868e-04 9.97750014e-01 2.72823569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48710568099995 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:184.15, Y:110.58, Z:27.28 [[ 8.16157945e-01 -5.75245575e-01 -5.45778175e-02 1.84152416e+02] [ 5.73926396e-01 8.17980636e-01 -3.89380430e-02 1.10575368e+02] [ 6.70425348e-02 4.55943034e-04 9.97750014e-01 2.72821423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5171056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:184.17, Y:110.59, Z:27.29 [[ 8.19408129e-01 -5.70566817e-01 -5.49893241e-02 1.84170649e+02] [ 5.69275786e-01 8.21251174e-01 -3.83612957e-02 1.10592920e+02] [ 6.70477294e-02 1.29466841e-04 9.97749761e-01 2.72850437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54710568099995 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:184.19, Y:110.62, Z:27.29 [[ 8.24240273e-01 -5.63606523e-01 -5.45496025e-02 1.84189367e+02] [ 5.62259055e-01 8.26042111e-01 -3.89767378e-02 1.10616416e+02] [ 6.70278125e-02 1.45518903e-03 9.97750046e-01 2.72887678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5771056809999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:184.21, Y:110.64, Z:27.30 [[ 8.29786292e-01 -5.55410079e-01 -5.45376375e-02 1.84209095e+02] [ 5.54043721e-01 8.31573848e-01 -3.89934725e-02 1.10637025e+02] [ 6.70094407e-02 2.14001328e-03 9.97750046e-01 2.72978120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60710568099995 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:184.23, Y:110.66, Z:27.30 [[ 8.31576134e-01 -5.52727857e-01 -5.45256707e-02 1.84230635e+02] [ 5.51354640e-01 8.33358426e-01 -3.90101989e-02 1.10655259e+02] [ 6.70014508e-02 2.37696886e-03 9.97750047e-01 2.73018758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.6371056809999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:184.25, Y:110.67, Z:27.30 [[ 8.32195834e-01 -5.51795756e-01 -5.45118078e-02 1.84253860e+02] [ 5.50419276e-01 8.33975607e-01 -3.90295610e-02 1.10673789e+02] [ 6.69978641e-02 2.47588827e-03 9.97750047e-01 2.73032094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66710568099995 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:184.27, Y:110.69, Z:27.31 [[ 8.30260701e-01 -5.54675257e-01 -5.47953297e-02 1.84274461e+02] [ 5.53330979e-01 8.32065067e-01 -3.86335586e-02 1.10689935e+02] [ 6.70223587e-02 1.75597204e-03 9.97749929e-01 2.73059056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.6971056809999 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:184.30, Y:110.71, Z:27.31 [[ 8.26070554e-01 -5.60926250e-01 -5.44901977e-02 1.84297622e+02] [ 5.59567496e-01 8.27863873e-01 -3.90592533e-02 1.10706215e+02] [ 6.70198266e-02 1.77475549e-03 9.97750065e-01 2.73050178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72710568099995 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:184.32, Y:110.72, Z:27.31 [[ 8.24349887e-01 -5.63453264e-01 -5.44764466e-02 1.84319839e+02] [ 5.62098742e-01 8.26146405e-01 -3.90784228e-02 1.10721239e+02] [ 6.70243854e-02 1.59315138e-03 9.97750066e-01 2.73064481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.7571056809999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:184.34, Y:110.74, Z:27.31 [[ 8.21511004e-01 -5.67584914e-01 -5.44705007e-02 1.84343376e+02] [ 5.66238880e-01 8.23313889e-01 -3.90867090e-02 1.10737436e+02] [ 6.70313461e-02 1.26684627e-03 9.97750066e-01 2.73067018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78710568099996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:184.37, Y:110.75, Z:27.31 [[ 8.19403180e-01 -5.70624976e-01 -5.44570073e-02 1.84366045e+02] [ 5.69284383e-01 8.21210114e-01 -3.91054994e-02 1.10754025e+02] [ 6.70352199e-02 1.04164677e-03 9.97750066e-01 2.73075561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81710568099993 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:184.39, Y:110.77, Z:27.31 [[ 8.17781946e-01 -5.72947287e-01 -5.44435034e-02 1.84388229e+02] [ 5.71610574e-01 8.19591753e-01 -3.91242909e-02 1.10770675e+02] [ 6.70376027e-02 8.74656495e-04 9.97750066e-01 2.73096400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84710568099996 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:184.41, Y:110.79, Z:27.31 [[ 8.12968614e-01 -5.79758128e-01 -5.44292759e-02 1.84410622e+02] [ 5.78435254e-01 8.14788560e-01 -3.91440739e-02 1.10786757e+02] [ 6.70424464e-02 3.39091473e-04 9.97750067e-01 2.73098856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87710568099993 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:184.44, Y:110.80, Z:27.32 [[ 8.10257760e-01 -5.83547788e-01 -5.43538563e-02 1.84435497e+02] [ 5.82226391e-01 8.12078786e-01 -3.92488850e-02 1.10802324e+02] [ 6.70432137e-02 1.55464010e-04 9.97750061e-01 2.73153593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.9071056809999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:184.46, Y:110.82, Z:27.31 [[ 8.06155357e-01 -5.89179974e-01 -5.45939381e-02 1.84459481e+02] [ 5.87893842e-01 8.08001507e-01 -3.89152380e-02 1.10816501e+02] [ 6.70400631e-02 -7.23712442e-04 9.97750022e-01 2.73105137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93710568099993 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:184.48, Y:110.83, Z:27.31 [[ 8.03638189e-01 -5.92626597e-01 -5.44001601e-02 1.84483051e+02] [ 5.91330142e-01 8.05477037e-01 -3.91842695e-02 1.10833608e+02] [ 6.70397200e-02 -6.78478964e-04 9.97750077e-01 2.73118043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.9671056809999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:184.50, Y:110.85, Z:27.31 [[ 8.03426318e-01 -5.92893841e-01 -5.46172666e-02 1.84504168e+02] [ 5.91618442e-01 8.05279915e-01 -3.88828669e-02 1.10848432e+02] [ 6.70356001e-02 -1.07306357e-03 9.97750007e-01 2.73116010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99710568099994 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:184.53, Y:110.87, Z:27.31 [[ 8.03745036e-01 -5.92483334e-01 -5.43821249e-02 1.84526785e+02] [ 5.91184877e-01 8.05582457e-01 -3.92090130e-02 1.10866125e+02] [ 6.70399725e-02 -6.35840228e-04 9.97750088e-01 2.73122962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0271056809999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:184.55, Y:110.89, Z:27.31 [[ 8.06738151e-01 -5.88402491e-01 -5.43696938e-02 1.84546796e+02] [ 5.87093578e-01 8.08568138e-01 -3.92262431e-02 1.10885491e+02] [ 6.70424212e-02 -2.74791197e-04 9.97750088e-01 2.73118413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05710568099994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:184.57, Y:110.91, Z:27.32 [[ 8.10701415e-01 -5.82930482e-01 -5.43623754e-02 1.84568088e+02] [ 5.81608537e-01 8.12522010e-01 -3.92363829e-02 1.10906436e+02] [ 6.70427101e-02 1.91369584e-04 9.97750088e-01 2.73179450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0871056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:184.59, Y:110.92, Z:27.32 [[ 8.16833344e-01 -5.74276300e-01 -5.46810733e-02 1.84587855e+02] [ 5.72964531e-01 8.18661470e-01 -3.87948854e-02 1.10924332e+02] [ 6.70442711e-02 3.58640476e-04 9.97749937e-01 2.73218615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11710568099994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:184.61, Y:110.94, Z:27.32 [[ 8.18608825e-01 -5.71775625e-01 -5.43344015e-02 1.84608187e+02] [ 5.70426345e-01 8.20409226e-01 -3.92745093e-02 1.10943449e+02] [ 6.70326513e-02 1.15668587e-03 9.97750112e-01 2.73241910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.1471056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:184.63, Y:110.96, Z:27.32 [[ 8.21624356e-01 -5.67435247e-01 -5.43199694e-02 1.84627319e+02] [ 5.66075140e-01 8.23416590e-01 -3.92944600e-02 1.10964846e+02] [ 6.70250256e-02 1.53610104e-03 9.97750112e-01 2.73243265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17710568099994 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:184.65, Y:110.98, Z:27.33 [[ 8.22458603e-01 -5.66226028e-01 -5.43132711e-02 1.84650626e+02] [ 5.64862676e-01 8.24248370e-01 -3.93037163e-02 1.10982728e+02] [ 6.70224123e-02 1.64613992e-03 9.97750112e-01 2.73258834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.2071056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:184.67, Y:111.00, Z:27.33 [[ 8.23251377e-01 -5.65075019e-01 -5.42899050e-02 1.84673633e+02] [ 5.63707038e-01 8.25037608e-01 -3.93359925e-02 1.10999713e+02] [ 6.70190001e-02 1.77980844e-03 9.97750112e-01 2.73334626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23710568099995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:184.70, Y:111.02, Z:27.34 [[ 8.22796653e-01 -5.65735912e-01 -5.43005161e-02 1.84696543e+02] [ 5.64370332e-01 8.24584720e-01 -3.93213391e-02 1.11016881e+02] [ 6.70208696e-02 1.70786594e-03 9.97750112e-01 2.73394611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.2671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.72, Y:111.03, Z:27.34 [[ 8.22510197e-01 -5.66143494e-01 -5.43922857e-02 1.84718291e+02] [ 5.64787165e-01 8.24305308e-01 -3.91946183e-02 1.11034737e+02] [ 6.70256279e-02 1.51790838e-03 9.97750100e-01 2.73436232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:184.74, Y:111.05, Z:27.34 [[ 8.22135504e-01 -5.66697786e-01 -5.42847323e-02 1.84738984e+02] [ 5.65332868e-01 8.23924071e-01 -3.93430203e-02 1.11054166e+02] [ 6.70221002e-02 1.65635043e-03 9.97750116e-01 2.73440060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.3271056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:184.76, Y:111.07, Z:27.34 [[ 8.22227984e-01 -5.66564990e-01 -5.42701988e-02 1.84760420e+02] [ 5.65198461e-01 8.24015321e-01 -3.93630578e-02 1.11071738e+02] [ 6.70212057e-02 1.69197486e-03 9.97750117e-01 2.73440132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35710568099995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:184.78, Y:111.09, Z:27.35 [[ 8.21902165e-01 -5.67038940e-01 -5.42556181e-02 1.84781968e+02] [ 5.65672117e-01 8.23689276e-01 -3.93831447e-02 1.11089681e+02] [ 6.70215475e-02 1.67820153e-03 9.97750117e-01 2.73463079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.3871056809999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:184.80, Y:111.11, Z:27.35 [[ 8.21098259e-01 -5.68203790e-01 -5.42411415e-02 1.84803975e+02] [ 5.66838187e-01 8.22886303e-01 -3.94030728e-02 1.11106206e+02] [ 6.70232677e-02 1.60784416e-03 9.97750117e-01 2.73496177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41710568099995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:184.83, Y:111.12, Z:27.35 [[ 8.17691299e-01 -5.73100474e-01 -5.41921301e-02 1.84828159e+02] [ 5.71741111e-01 8.19484094e-01 -3.94705036e-02 1.11123815e+02] [ 6.70301529e-02 1.29081867e-03 9.97750115e-01 2.73501725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.4471056809999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:184.85, Y:111.14, Z:27.35 [[ 8.15851012e-01 -5.75702825e-01 -5.43450398e-02 1.84851593e+02] [ 5.74363164e-01 8.17658602e-01 -3.92602328e-02 1.11139803e+02] [ 6.70379162e-02 8.16711645e-04 9.97750094e-01 2.73491625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47710568099995 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:184.88, Y:111.16, Z:27.35 [[ 8.09366097e-01 -5.84797508e-01 -5.42069725e-02 1.84875250e+02] [ 5.83465439e-01 8.11179255e-01 -3.94499499e-02 1.11156792e+02] [ 6.70418040e-02 3.01556975e-04 9.97750122e-01 2.73489021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.5071056809999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:184.90, Y:111.17, Z:27.35 [[ 8.03185352e-01 -5.93245550e-01 -5.43415756e-02 1.84901408e+02] [ 5.91945046e-01 8.05021317e-01 -3.92650277e-02 1.11171919e+02] [ 6.70399298e-02 -6.30131355e-04 9.97750094e-01 2.73510611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53710568099996 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:184.93, Y:111.19, Z:27.35 [[ 8.00935540e-01 -5.96269045e-01 -5.44562836e-02 1.84926076e+02] [ 5.94986169e-01 8.02783945e-01 -3.91074862e-02 1.11186480e+02] [ 6.70352137e-02 -1.07815994e-03 9.97750028e-01 2.73539292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.56710568099993 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:184.95, Y:111.20, Z:27.35 [[ 7.98370852e-01 -5.99707211e-01 -5.43621543e-02 1.84950028e+02] [ 5.98423497e-01 8.00218599e-01 -3.92366130e-02 1.11200272e+02] [ 6.70320867e-02 -1.20622233e-03 9.97750091e-01 2.73534631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59710568099996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:184.97, Y:111.22, Z:27.35 [[ 7.97387209e-01 -6.01033051e-01 -5.41563451e-02 1.84971811e+02] [ 5.99733225e-01 7.99223582e-01 -3.95186607e-02 1.11216869e+02] [ 6.70350494e-02 -9.67684931e-04 9.97750152e-01 2.73535937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.62710568099993 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:184.99, Y:111.24, Z:27.36 [[ 7.96496524e-01 -6.02213452e-01 -5.41502147e-02 1.84993110e+02] [ 6.00915776e-01 7.98334417e-01 -3.95270591e-02 1.11236548e+02] [ 6.70337068e-02 -1.05655318e-03 9.97750152e-01 2.73576004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.6571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.02, Y:111.25, Z:27.36 [[ 7.95446738e-01 -6.03600556e-01 -5.41373839e-02 1.85015903e+02] [ 6.02304889e-01 7.97286048e-01 -3.95446248e-02 1.11254407e+02] [ 6.70321384e-02 -1.15156818e-03 9.97750152e-01 2.73614840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68710568099993 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:185.04, Y:111.27, Z:27.37 [[ 7.95503437e-01 -6.03511683e-01 -5.42948479e-02 1.85037249e+02] [ 6.02230496e-01 7.97352905e-01 -3.93290465e-02 1.11271107e+02] [ 6.70276938e-02 -1.41162152e-03 9.97750117e-01 2.73692619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7171056809999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:185.06, Y:111.29, Z:27.38 [[ 7.96922721e-01 -6.01652149e-01 -5.41190316e-02 1.85056323e+02] [ 6.00350295e-01 7.98757646e-01 -3.95695147e-02 1.11294665e+02] [ 6.70350738e-02 -9.56531194e-04 9.97750161e-01 2.73780652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74710568099994 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:185.07, Y:111.31, Z:27.38 [[ 8.00446128e-01 -5.96943509e-01 -5.42627311e-02 1.85074698e+02] [ 5.95644160e-01 8.02282867e-01 -3.93730399e-02 1.11314096e+02] [ 6.70375401e-02 -8.05281566e-04 9.97750129e-01 2.73805449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7771056809999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:185.10, Y:111.33, Z:27.38 [[ 8.00236816e-01 -5.97238704e-01 -5.41014649e-02 1.85097555e+02] [ 5.95925114e-01 8.02063352e-01 -3.95934025e-02 1.11331167e+02] [ 6.70395147e-02 -5.56323295e-04 9.97750166e-01 2.73823820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80710568099994 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:185.11, Y:111.35, Z:27.39 [[ 8.07457999e-01 -5.87440309e-01 -5.40875554e-02 1.85114830e+02] [ 5.86103281e-01 8.09267448e-01 -3.96123948e-02 1.11354688e+02] [ 6.70412154e-02 2.84451364e-04 9.97750166e-01 2.73852191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8371056809999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:185.13, Y:111.37, Z:27.39 [[ 8.10521820e-01 -5.83207069e-01 -5.40730409e-02 1.85134914e+02] [ 5.81859269e-01 8.12323261e-01 -3.96321981e-02 1.11373926e+02] [ 6.70385670e-02 6.59861349e-04 9.97750167e-01 2.73866991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86710568099994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:185.15, Y:111.40, Z:27.38 [[ 8.15967469e-01 -5.75564764e-01 -5.40582347e-02 1.85154683e+02] [ 5.74198759e-01 8.17755143e-01 -3.96523835e-02 1.11397460e+02] [ 6.70289142e-02 1.31488370e-03 9.97750167e-01 2.73820770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8971056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:185.18, Y:111.42, Z:27.38 [[ 8.18107102e-01 -5.72506031e-01 -5.41997536e-02 1.85176567e+02] [ 5.71146092e-01 8.19899436e-01 -3.94595485e-02 1.11417290e+02] [ 6.70291769e-02 1.32615944e-03 9.97750134e-01 2.73812831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92710568099994 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:185.20, Y:111.44, Z:27.38 [[ 8.19902030e-01 -5.69932144e-01 -5.42034415e-02 1.85196072e+02] [ 5.68566911e-01 8.21690336e-01 -3.94545246e-02 1.11437185e+02] [ 6.70248459e-02 1.53056148e-03 9.97750133e-01 2.73812359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.9571056809999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:185.22, Y:111.46, Z:27.38 [[ 8.19176370e-01 -5.70991652e-01 -5.40241520e-02 1.85217265e+02] [ 5.69612629e-01 8.20954006e-01 -3.96985179e-02 1.11457674e+02] [ 6.70188663e-02 1.74724848e-03 9.97750179e-01 2.73799030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98710568099995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:185.24, Y:111.48, Z:27.38 [[ 8.18443690e-01 -5.72030505e-01 -5.41389732e-02 1.85239129e+02] [ 5.70664051e-01 8.20231033e-01 -3.95423157e-02 1.11475827e+02] [ 6.70258767e-02 1.46799304e-03 9.97750158e-01 2.73833630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0171056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:185.26, Y:111.49, Z:27.39 [[ 8.16235376e-01 -5.75181073e-01 -5.40975470e-02 1.85260855e+02] [ 5.73817787e-01 8.18025119e-01 -3.95986250e-02 1.11492665e+02] [ 6.70295320e-02 1.27966385e-03 9.97750171e-01 2.73852270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04710568099995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:185.28, Y:111.51, Z:27.39 [[ 8.13827958e-01 -5.78592800e-01 -5.39854280e-02 1.85283634e+02] [ 5.77226912e-01 8.15615693e-01 -3.97508951e-02 1.11509860e+02] [ 6.70309440e-02 1.18854792e-03 9.97750189e-01 2.73872885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0771056809999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:185.31, Y:111.53, Z:27.39 [[ 8.09789724e-01 -5.84221861e-01 -5.40871620e-02 1.85305313e+02] [ 5.82877618e-01 8.11593810e-01 -3.96127390e-02 1.11527986e+02] [ 6.70394340e-02 5.51792811e-04 9.97750174e-01 2.73854907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10710568099995 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:185.33, Y:111.54, Z:27.39 [[ 8.06796509e-01 -5.88357190e-01 -5.39926791e-02 1.85327162e+02] [ 5.87013609e-01 8.08601064e-01 -3.97409254e-02 1.11543905e+02] [ 6.70403970e-02 3.68402506e-04 9.97750194e-01 2.73880549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.1371056809999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:185.35, Y:111.56, Z:27.39 [[ 8.04792395e-01 -5.91099124e-01 -5.39539323e-02 1.85349673e+02] [ 5.89758168e-01 8.06598899e-01 -3.97934604e-02 1.11561892e+02] [ 6.70410620e-02 2.05701997e-04 9.97750196e-01 2.73854830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16710568099995 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:185.37, Y:111.58, Z:27.38 [[ 8.01741482e-01 -5.95235536e-01 -5.39003996e-02 1.85373304e+02] [ 5.93899021e-01 8.03551277e-01 -3.98660035e-02 1.11581645e+02] [ 6.70413969e-02 -4.91658540e-05 9.97750194e-01 2.73848254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.1971056809999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:185.39, Y:111.60, Z:27.38 [[ 8.02472109e-01 -5.94212269e-01 -5.43166019e-02 1.85393898e+02] [ 5.92911547e-01 8.04307985e-01 -3.93009288e-02 1.11597260e+02] [ 6.70403707e-02 -6.67041237e-04 9.97750041e-01 2.73847921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22710568099995 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:185.42, Y:111.61, Z:27.39 [[ 8.02169464e-01 -5.94653771e-01 -5.39540812e-02 1.85415875e+02] [ 5.93320886e-01 8.03981893e-01 -3.97924866e-02 1.11614229e+02] [ 6.70408565e-02 -9.17655696e-05 9.97750227e-01 2.73879568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.2571056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:185.44, Y:111.63, Z:27.39 [[ 8.01840670e-01 -5.95098405e-01 -5.39391135e-02 1.85437896e+02] [ 5.93765161e-01 8.03652834e-01 -3.98127652e-02 1.11630747e+02] [ 6.70408345e-02 -1.03672117e-04 9.97750227e-01 2.73906698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28710568099996 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:185.46, Y:111.65, Z:27.39 [[ 8.00887813e-01 -5.96380773e-01 -5.39322232e-02 1.85459387e+02] [ 5.95049802e-01 8.02701647e-01 -3.98220969e-02 1.11649103e+02] [ 6.70406173e-02 -1.99326704e-04 9.97750227e-01 2.73937765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31710568099993 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:185.48, Y:111.67, Z:27.40 [[ 7.98594123e-01 -5.99450034e-01 -5.39173823e-02 1.85480617e+02] [ 5.98124678e-01 8.00412063e-01 -3.98421808e-02 1.11671542e+02] [ 6.70395198e-02 -4.31585477e-04 9.97750228e-01 2.73968057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34710568099996 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:185.50, Y:111.69, Z:27.40 [[ 7.98320908e-01 -5.99779748e-01 -5.42953251e-02 1.85499747e+02] [ 5.98489809e-01 8.00164390e-01 -3.93306158e-02 1.11690335e+02] [ 6.70348926e-02 -1.09674581e-03 9.97750029e-01 2.73981485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37710568099993 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:185.52, Y:111.71, Z:27.40 [[ 7.97287786e-01 -6.01188134e-01 -5.38981744e-02 1.85521409e+02] [ 5.99865025e-01 7.99107333e-01 -3.98675611e-02 1.11708896e+02] [ 6.70383311e-02 -5.45710205e-04 9.97750252e-01 2.74007141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.4071056809999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:185.54, Y:111.73, Z:27.40 [[ 7.92375563e-01 -6.07649179e-01 -5.38835965e-02 1.85544185e+02] [ 6.06339565e-01 7.94204847e-01 -3.98872544e-02 1.11732360e+02] [ 6.70320709e-02 -1.06607082e-03 9.97750252e-01 2.74044475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43710568099993 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:185.56, Y:111.75, Z:27.41 [[ 7.89798209e-01 -6.10959997e-01 -5.42832510e-02 1.85564373e+02] [ 6.09695010e-01 7.91658892e-01 -3.93470891e-02 1.11750137e+02] [ 6.70133158e-02 -2.01996679e-03 9.97750036e-01 2.74083230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.4671056809999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:185.58, Y:111.77, Z:27.41 [[ 7.82798873e-01 -6.19912983e-01 -5.41647287e-02 1.85582714e+02] [ 6.18658201e-01 7.84666311e-01 -3.95070848e-02 1.11771720e+02] [ 6.69921927e-02 -2.58335215e-03 9.97750155e-01 2.74114304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49710568099994 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:185.60, Y:111.79, Z:27.41 [[ 7.77085618e-01 -6.27057347e-01 -5.41943444e-02 1.85601239e+02] [ 6.25822500e-01 7.78966330e-01 -3.94671434e-02 1.11793542e+02] [ 6.69637318e-02 -3.24669057e-03 9.97750128e-01 2.74148664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5271056809999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:185.62, Y:111.81, Z:27.42 [[ 7.74497806e-01 -6.30254818e-01 -5.41480615e-02 1.85622977e+02] [ 6.29023386e-01 7.76380704e-01 -3.95295232e-02 1.11813158e+02] [ 6.69531825e-02 -3.44486799e-03 9.97750171e-01 2.74166025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55710568099994 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:185.64, Y:111.84, Z:27.42 [[ 7.72770271e-01 -6.32364573e-01 -5.42324185e-02 1.85641147e+02] [ 6.31146217e-01 7.74661758e-01 -3.94158925e-02 1.11836047e+02] [ 6.69369947e-02 -3.76915587e-03 9.97750085e-01 2.74199258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5871056809999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:185.66, Y:111.86, Z:27.42 [[ 7.73366577e-01 -6.31641828e-01 -5.41547649e-02 1.85655598e+02] [ 6.30414409e-01 7.75252096e-01 -3.95203898e-02 1.11862435e+02] [ 6.69463262e-02 -3.57619546e-03 9.97750169e-01 2.74187726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61710568099994 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:185.68, Y:111.88, Z:27.42 [[ 7.73075475e-01 -6.32004850e-01 -5.40756893e-02 1.85675984e+02] [ 6.30770898e-01 7.74956641e-01 -3.96267408e-02 1.11884420e+02] [ 6.69506069e-02 -3.47490968e-03 9.97750240e-01 2.74201629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.6471056809999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:185.69, Y:111.91, Z:27.42 [[ 7.73169112e-01 -6.31884711e-01 -5.41408844e-02 1.85693674e+02] [ 6.30656578e-01 7.75054152e-01 -3.95391190e-02 1.11906677e+02] [ 6.69462821e-02 -3.57387938e-03 9.97750181e-01 2.74223334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67710568099994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:185.71, Y:111.93, Z:27.42 [[ 7.72240132e-01 -6.33019882e-01 -5.41387705e-02 1.85713146e+02] [ 6.31794321e-01 7.74126843e-01 -3.95419588e-02 1.11927168e+02] [ 6.69411216e-02 -3.66868028e-03 9.97750183e-01 2.74234665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.7071056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:185.73, Y:111.95, Z:27.42 [[ 7.69888425e-01 -6.35882798e-01 -5.40821549e-02 1.85728654e+02] [ 6.34658935e-01 7.71776170e-01 -3.96179293e-02 1.11953520e+02] [ 6.69316781e-02 -3.82233761e-03 9.97750239e-01 2.74232524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73710568099995 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:185.75, Y:111.97, Z:27.42 [[ 7.69796019e-01 -6.35998338e-01 -5.40389084e-02 1.85746628e+02] [ 6.34770703e-01 7.71681267e-01 -3.96758959e-02 1.11973589e+02] [ 6.69346171e-02 -3.75996912e-03 9.97750279e-01 2.74226775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.7671056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:185.76, Y:112.00, Z:27.43 [[ 7.67127578e-01 -6.39242047e-01 -5.37111245e-02 1.85764424e+02] [ 6.37991698e-01 7.68997657e-01 -4.01147942e-02 1.12003509e+02] [ 6.69467921e-02 -3.49408660e-03 9.97750429e-01 2.74257930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:185.78, Y:112.02, Z:27.43 [[ 7.69158146e-01 -6.36763118e-01 -5.41154118e-02 1.85782019e+02] [ 6.35544534e-01 7.71049345e-01 -3.95733846e-02 1.12023187e+02] [ 6.69245246e-02 -3.95456301e-03 9.97750204e-01 2.74270917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.80, Y:112.05, Z:27.43 [[ 7.71149457e-01 -6.34386104e-01 -5.36915820e-02 1.85797406e+02] [ 6.33122200e-01 7.73010371e-01 -4.01403262e-02 1.12050430e+02] [ 6.69686149e-02 -3.03914176e-03 9.97750454e-01 2.74316929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.81, Y:112.08, Z:27.44 [[ 7.73665624e-01 -6.31316160e-01 -5.36787525e-02 1.85812563e+02] [ 6.30043682e-01 7.75520687e-01 -4.01574755e-02 1.12078364e+02] [ 6.69810462e-02 -2.75150053e-03 9.97750454e-01 2.74391405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.8871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.83, Y:112.10, Z:27.44 [[ 7.74374462e-01 -6.30447594e-01 -5.36658539e-02 1.85828440e+02] [ 6.29171844e-01 7.76227276e-01 -4.01747056e-02 1.12102916e+02] [ 6.69849460e-02 -2.65477818e-03 9.97750454e-01 2.74418309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.84, Y:112.13, Z:27.44 [[ 7.78988675e-01 -6.24729372e-01 -5.37573740e-02 1.85839630e+02] [ 6.23448429e-01 7.80837918e-01 -4.00524825e-02 1.12134666e+02] [ 6.69977583e-02 -2.31452012e-03 9.97750441e-01 2.74376067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.86, Y:112.16, Z:27.44 [[ 7.81514517e-01 -6.21576471e-01 -5.36446605e-02 1.85857819e+02] [ 6.20277745e-01 7.83351293e-01 -4.02028836e-02 1.12156593e+02] [ 6.70117807e-02 -1.85545189e-03 9.97750459e-01 2.74373991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.87, Y:112.18, Z:27.44 [[ 7.86713521e-01 -6.14984277e-01 -5.36299763e-02 1.85872778e+02] [ 6.13668821e-01 7.88538352e-01 -4.02224626e-02 1.12183081e+02] [ 6.70254752e-02 -1.26748916e-03 9.97750459e-01 2.74402032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.89, Y:112.21, Z:27.44 [[ 7.88480465e-01 -6.12718516e-01 -5.36150824e-02 1.85891941e+02] [ 6.11396466e-01 7.90300524e-01 -4.02423059e-02 1.12207176e+02] [ 6.70292336e-02 -1.04979981e-03 9.97750460e-01 2.74442640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.90, Y:112.23, Z:27.44 [[ 7.94194127e-01 -6.05276091e-01 -5.38195277e-02 1.85903606e+02] [ 6.03955403e-01 7.96015248e-01 -3.99699392e-02 1.12234847e+02] [ 6.70340133e-02 -7.60703553e-04 9.97750401e-01 2.74424111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.92, Y:112.26, Z:27.45 [[ 7.99057889e-01 -5.98860631e-01 -5.35951100e-02 1.85919752e+02] [ 5.97505243e-01 8.00853246e-01 -4.02686335e-02 1.12260362e+02] [ 6.70371170e-02 1.53610020e-04 9.97750471e-01 2.74474180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.94, Y:112.28, Z:27.45 [[ 8.01621843e-01 -5.95425325e-01 -5.35826852e-02 1.85939889e+02] [ 5.94061139e-01 8.03410523e-01 -4.02851595e-02 1.12279655e+02] [ 6.70356973e-02 4.62072735e-04 9.97750471e-01 2.74508032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.96, Y:112.30, Z:27.45 [[ 8.05018321e-01 -5.90826612e-01 -5.35669345e-02 1.85958754e+02] [ 5.89450817e-01 8.06798087e-01 -4.03060923e-02 1.12301235e+02] [ 6.70316122e-02 8.72069452e-04 9.97750471e-01 2.74534184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.98, Y:112.32, Z:27.45 [[ 8.05622109e-01 -5.90000948e-01 -5.35901022e-02 1.85980668e+02] [ 5.88625375e-01 8.07402048e-01 -4.02753112e-02 1.12320801e+02] [ 6.70312300e-02 9.02187142e-04 9.97750470e-01 2.74539315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.00, Y:112.34, Z:27.45 [[ 8.08723827e-01 -5.85737187e-01 -5.36443794e-02 1.86003089e+02] [ 5.84357006e-01 8.10500209e-01 -4.02032420e-02 1.12338580e+02] [ 6.70273146e-02 1.16585078e-03 9.97750460e-01 2.74480668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.03, Y:112.36, Z:27.44 [[ 8.10246091e-01 -5.83639894e-01 -5.35326711e-02 1.86025965e+02] [ 5.82245321e-01 8.12011174e-01 -4.03514430e-02 1.12355374e+02] [ 6.70198390e-02 1.52545171e-03 9.97750477e-01 2.74434210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.05, Y:112.37, Z:27.44 [[ 8.13559891e-01 -5.79016092e-01 -5.34852191e-02 1.86049452e+02] [ 5.77607357e-01 8.15313695e-01 -4.04143638e-02 1.12372674e+02] [ 6.70077986e-02 1.98604934e-03 9.97750475e-01 2.74436594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.07, Y:112.39, Z:27.45 [[ 8.14856772e-01 -5.77186717e-01 -5.35157475e-02 1.86073277e+02] [ 5.75776697e-01 8.16609541e-01 -4.03738984e-02 1.12390195e+02] [ 6.70047479e-02 2.08582414e-03 9.97750476e-01 2.74464108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.10, Y:112.41, Z:27.45 [[ 8.16985547e-01 -5.74159600e-01 -5.36224757e-02 1.86096130e+02] [ 5.72752346e-01 8.18740558e-01 -4.02324342e-02 1.12405389e+02] [ 6.70027340e-02 2.15691848e-03 9.97750460e-01 2.74489030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.12, Y:112.42, Z:27.45 [[ 8.20013173e-01 -5.69838750e-01 -5.34994901e-02 1.86120889e+02] [ 5.68411638e-01 8.21752047e-01 -4.03953185e-02 1.12419599e+02] [ 6.69821333e-02 2.71496046e-03 9.97750481e-01 2.74519047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.15, Y:112.43, Z:27.46 [[ 8.22537971e-01 -5.66189585e-01 -5.34849586e-02 1.86146014e+02] [ 5.64753514e-01 8.24269454e-01 -4.04145496e-02 1.12432140e+02] [ 6.69683147e-02 3.03668331e-03 9.97750482e-01 2.74557756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.17, Y:112.45, Z:27.46 [[ 8.22895179e-01 -5.65670928e-01 -5.34782776e-02 1.86170234e+02] [ 5.64233193e-01 8.24625281e-01 -4.04233883e-02 1.12445887e+02] [ 6.69658752e-02 3.08999196e-03 9.97750482e-01 2.74589002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.20, Y:112.46, Z:27.46 [[ 8.22764046e-01 -5.65863076e-01 -5.34631122e-02 1.86197543e+02] [ 5.64424447e-01 8.24493403e-01 -4.04434357e-02 1.12455861e+02] [ 6.69654303e-02 3.09951724e-03 9.97750482e-01 2.74566336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.4571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.22, Y:112.47, Z:27.46 [[ 8.22378731e-01 -5.66423355e-01 -5.34584468e-02 1.86224540e+02] [ 5.64985505e-01 8.24108736e-01 -4.04496016e-02 1.12466002e+02] [ 6.69671721e-02 3.06164452e-03 9.97750482e-01 2.74583861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.25, Y:112.48, Z:27.46 [[ 8.22056343e-01 -5.66892545e-01 -5.34435311e-02 1.86249404e+02] [ 5.65454405e-01 8.23786108e-01 -4.04692993e-02 1.12480105e+02] [ 6.69677825e-02 3.04816414e-03 9.97750482e-01 2.74607490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.28, Y:112.49, Z:27.47 [[ 8.20813857e-01 -5.68691491e-01 -5.34284661e-02 1.86277382e+02] [ 5.67255853e-01 8.22545697e-01 -4.04891787e-02 1.12489845e+02] [ 6.69732063e-02 2.92646887e-03 9.97750483e-01 2.74654378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.30, Y:112.50, Z:27.47 [[ 8.19690031e-01 -5.70311382e-01 -5.34151665e-02 1.86302366e+02] [ 5.68878027e-01 8.21423762e-01 -4.05067166e-02 1.12502021e+02] [ 6.69779285e-02 2.81623727e-03 9.97750483e-01 2.74683816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.33, Y:112.51, Z:27.47 [[ 8.16457459e-01 -5.74930175e-01 -5.34089165e-02 1.86329934e+02] [ 5.73506093e-01 8.18198814e-01 -4.05149556e-02 1.12511222e+02] [ 6.69923827e-02 2.44839871e-03 9.97750483e-01 2.74718110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.35, Y:112.53, Z:27.47 [[ 8.14232098e-01 -5.78078868e-01 -5.33939407e-02 1.86354507e+02] [ 5.76660230e-01 8.15977891e-01 -4.05346823e-02 1.12525714e+02] [ 6.70005184e-02 2.21447733e-03 9.97750483e-01 2.74730785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.38, Y:112.54, Z:27.47 [[ 8.09287655e-01 -5.84982230e-01 -5.33786791e-02 1.86380513e+02] [ 5.83577166e-01 8.11044390e-01 -4.05547699e-02 1.12537357e+02] [ 6.70162980e-02 1.66989640e-03 9.97750483e-01 2.74710354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.41, Y:112.55, Z:27.47 [[ 8.06743712e-01 -5.88486026e-01 -5.33739676e-02 1.86405926e+02] [ 5.87088182e-01 8.08506199e-01 -4.05609697e-02 1.12552132e+02] [ 6.70227476e-02 1.38708162e-03 9.97750484e-01 2.74712202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.43, Y:112.57, Z:27.47 [[ 8.06525283e-01 -5.88786547e-01 -5.33607469e-02 1.86428436e+02] [ 5.87388211e-01 8.08287379e-01 -4.05783551e-02 1.12569544e+02] [ 6.70228078e-02 1.38399565e-03 9.97750484e-01 2.74731298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.46, Y:112.58, Z:27.47 [[ 7.99632357e-01 -5.98115654e-01 -5.33456462e-02 1.86456901e+02] [ 5.96736558e-01 8.01409550e-01 -4.05981972e-02 1.12580837e+02] [ 6.70341276e-02 6.30334831e-04 9.97750484e-01 2.74718560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.7571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.48, Y:112.59, Z:27.47 [[ 7.95725791e-01 -6.03304237e-01 -5.33335116e-02 1.86481221e+02] [ 6.01935662e-01 7.97511098e-01 -4.06141321e-02 1.12594632e+02] [ 6.70367454e-02 2.14369783e-04 9.97750484e-01 2.74733592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.51, Y:112.61, Z:27.48 [[ 7.90089652e-01 -6.10668058e-01 -5.33185256e-02 1.86505839e+02] [ 6.09314794e-01 7.91886593e-01 -4.06337963e-02 1.12607516e+02] [ 6.70359871e-02 -3.83424450e-04 9.97750485e-01 2.74775060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.53, Y:112.62, Z:27.48 [[ 7.86375577e-01 -6.15443946e-01 -5.33123054e-02 1.86529618e+02] [ 6.14101042e-01 7.88180273e-01 -4.06419558e-02 1.12622143e+02] [ 6.70325531e-02 -7.79300836e-04 9.97750485e-01 2.74829522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84710568099996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:186.55, Y:112.64, Z:27.48 [[ 7.84448896e-01 -6.17899172e-01 -5.32967343e-02 1.86551732e+02] [ 6.16560530e-01 7.86256755e-01 -4.06623651e-02 1.12636941e+02] [ 6.70301591e-02 -9.63115345e-04 9.97750485e-01 2.74839125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87710568099993 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:186.57, Y:112.65, Z:27.49 [[ 7.80338416e-01 -6.23082766e-01 -5.32899886e-02 1.86572838e+02] [ 6.21755527e-01 7.82154664e-01 -4.06712037e-02 1.12654444e+02] [ 6.70225392e-02 -1.39604226e-03 9.97750485e-01 2.74884739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.59, Y:112.67, Z:27.49 [[ 7.78549234e-01 -6.25318257e-01 -5.32744630e-02 1.86593758e+02] [ 6.23994842e-01 7.80368270e-01 -4.06915303e-02 1.12673221e+02] [ 6.70188573e-02 -1.56263041e-03 9.97750485e-01 2.74927879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93710568099993 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:186.61, Y:112.69, Z:27.50 [[ 7.75211743e-01 -6.29451628e-01 -5.32672602e-02 1.86613086e+02] [ 6.28137264e-01 7.77037328e-01 -4.07009569e-02 1.12693594e+02] [ 6.70099332e-02 -1.90729136e-03 9.97750485e-01 2.75048582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.63, Y:112.71, Z:27.51 [[ 7.71680416e-01 -6.33777094e-01 -5.32534633e-02 1.86631197e+02] [ 6.32471716e-01 7.73512438e-01 -4.07190009e-02 1.12714378e+02] [ 6.69989863e-02 -2.25925376e-03 9.97750486e-01 2.75076236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.65, Y:112.74, Z:27.51 [[ 7.69342354e-01 -6.36613804e-01 -5.32466552e-02 1.86650806e+02] [ 6.35314566e-01 7.71178735e-01 -4.07279017e-02 1.12735326e+02] [ 6.69906326e-02 -2.49467589e-03 9.97750486e-01 2.75079205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.67, Y:112.76, Z:27.51 [[ 7.64966289e-01 -6.41866847e-01 -5.32308891e-02 1.86666346e+02] [ 6.40578784e-01 7.66810525e-01 -4.07484974e-02 1.12761772e+02] [ 6.69731156e-02 -2.92735140e-03 9.97750486e-01 2.75081688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.68, Y:112.78, Z:27.51 [[ 7.62697263e-01 -6.44562681e-01 -5.32149870e-02 1.86684946e+02] [ 6.43279692e-01 7.64545032e-01 -4.07692540e-02 1.12783338e+02] [ 6.69635937e-02 -3.13752197e-03 9.97750486e-01 2.75090624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.70, Y:112.81, Z:27.51 [[ 7.58820593e-01 -6.49123373e-01 -5.31992049e-02 1.86699212e+02] [ 6.47850047e-01 7.60675033e-01 -4.07898375e-02 1.12808973e+02] [ 6.69449439e-02 -3.51293870e-03 9.97750487e-01 2.75099038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.72, Y:112.83, Z:27.51 [[ 7.56176816e-01 -6.52202114e-01 -5.31885898e-02 1.86717355e+02] [ 6.50935367e-01 7.58035757e-01 -4.08036747e-02 1.12830885e+02] [ 6.69310957e-02 -3.76754141e-03 9.97750487e-01 2.75118651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.73, Y:112.86, Z:27.51 [[ 7.50873920e-01 -6.58301590e-01 -5.31730471e-02 1.86731634e+02] [ 6.57048508e-01 7.52742098e-01 -4.08239190e-02 1.12858847e+02] [ 6.69000418e-02 -4.28365516e-03 9.97750487e-01 2.75111459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.75, Y:112.88, Z:27.51 [[ 7.48146905e-01 -6.61399535e-01 -5.31682594e-02 1.86751474e+02] [ 6.60153745e-01 7.50019954e-01 -4.08301535e-02 1.12882486e+02] [ 6.68823000e-02 -4.55227255e-03 9.97750487e-01 2.75144777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.2071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.77, Y:112.91, Z:27.52 [[ 7.45307812e-01 -6.64587205e-01 -5.32927096e-02 1.86766868e+02] [ 6.63360896e-01 7.47193700e-01 -4.06681257e-02 1.12908215e+02] [ 6.68474929e-02 -5.04202782e-03 9.97750465e-01 2.75183448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.78, Y:112.93, Z:27.52 [[ 7.42205338e-01 -6.68055122e-01 -5.32314749e-02 1.86780212e+02] [ 6.66831957e-01 7.44093245e-01 -4.07478040e-02 1.12934821e+02] [ 6.68309601e-02 -5.25321089e-03 9.97750483e-01 2.75170032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.80, Y:112.96, Z:27.52 [[ 7.39660662e-01 -6.70886651e-01 -5.30396683e-02 1.86798537e+02] [ 6.69652979e-01 7.41541720e-01 -4.09971468e-02 1.12958477e+02] [ 6.68355654e-02 -5.19419510e-03 9.97750484e-01 2.75181395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.81, Y:112.99, Z:27.52 [[ 7.36776738e-01 -6.74046035e-01 -5.31223189e-02 1.86812801e+02] [ 6.72828075e-01 7.38667996e-01 -4.08897716e-02 1.12986358e+02] [ 6.68013452e-02 -5.61555508e-03 9.97750493e-01 2.75227243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.83, Y:113.01, Z:27.53 [[ 7.36661867e-01 -6.74172594e-01 -5.31093888e-02 1.86831228e+02] [ 6.72953762e-01 7.38552563e-01 -4.09065589e-02 1.13010020e+02] [ 6.68021561e-02 -5.60586088e-03 9.97750493e-01 2.75273420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.84, Y:113.04, Z:27.53 [[ 7.39869900e-01 -6.70653603e-01 -5.30686045e-02 1.86842025e+02] [ 6.69422012e-01 7.41752311e-01 -4.09594842e-02 1.13040027e+02] [ 6.68333856e-02 -5.22060253e-03 9.97750492e-01 2.75285902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.86, Y:113.07, Z:27.53 [[ 7.43011920e-01 -6.67180060e-01 -5.29533232e-02 1.86859372e+02] [ 6.65929088e-01 7.44881535e-01 -4.11089818e-02 1.13066359e+02] [ 6.68710456e-02 -4.71869469e-03 9.97750468e-01 2.75298262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.87, Y:113.09, Z:27.53 [[ 7.48720677e-01 -6.60756858e-01 -5.30822331e-02 1.86874891e+02] [ 6.59501589e-01 7.50587383e-01 -4.09418491e-02 1.13091852e+02] [ 6.68954619e-02 -4.35380812e-03 9.97750491e-01 2.75314573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.88, Y:113.13, Z:27.53 [[ 7.63307952e-01 -6.43850709e-01 -5.30776394e-02 1.86883102e+02] [ 6.42553602e-01 7.65145833e-01 -4.09478035e-02 1.13126206e+02] [ 6.69764069e-02 -2.84944439e-03 9.97750491e-01 2.75325964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.89, Y:113.16, Z:27.53 [[ 7.76801537e-01 -6.27521995e-01 -5.28726462e-02 1.86892434e+02] [ 6.26168114e-01 7.78598068e-01 -4.12133678e-02 1.13161600e+02] [ 6.70288350e-02 -1.09255768e-03 9.97750441e-01 2.75318221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:113.18, Z:27.53 [[ 7.83788929e-01 -6.18755863e-01 -5.30669015e-02 1.86905915e+02] [ 6.17398890e-01 7.85583063e-01 -4.09617109e-02 1.13183442e+02] [ 6.70337578e-02 -6.58110578e-04 9.97750491e-01 2.75323343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.92, Y:113.22, Z:27.53 [[ 7.88359235e-01 -6.12963114e-01 -5.25921775e-02 1.86920037e+02] [ 6.11551774e-01 7.90111286e-01 -4.15762422e-02 1.13217820e+02] [ 6.70383759e-02 6.14175076e-04 9.97750209e-01 2.75335639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.94, Y:113.24, Z:27.54 [[ 7.89450344e-01 -6.11516773e-01 -5.30602595e-02 1.86937910e+02] [ 6.10142785e-01 7.91231468e-01 -4.09700621e-02 1.13240538e+02] [ 6.70368272e-02 -3.05048959e-05 9.97750501e-01 2.75350778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.95, Y:113.27, Z:27.54 [[ 7.89689585e-01 -6.11209140e-01 -5.30447558e-02 1.86952956e+02] [ 6.09833111e-01 7.91469132e-01 -4.09901254e-02 1.13266957e+02] [ 6.70368261e-02 2.10266706e-05 9.97750502e-01 2.75380529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.62710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:186.97, Y:113.29, Z:27.54 [[ 7.89429193e-01 -6.11545836e-01 -5.30399801e-02 1.86970599e+02] [ 6.10170150e-01 7.91209006e-01 -4.09963040e-02 1.13287589e+02] [ 6.70368289e-02 2.66608823e-07 9.97750502e-01 2.75380781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.6571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:186.99, Y:113.31, Z:27.54 [[ 7.88671440e-01 -6.12523319e-01 -5.30334197e-02 1.86988654e+02] [ 6.11149269e-01 7.90452515e-01 -4.10047889e-02 1.13311219e+02] [ 6.70367894e-02 -7.20297692e-05 9.97750502e-01 2.75381884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.01, Y:113.33, Z:27.54 [[ 7.86743918e-01 -6.14998262e-01 -5.30202415e-02 1.87006107e+02] [ 6.13628666e-01 7.88528421e-01 -4.10218216e-02 1.13333573e+02] [ 6.70363163e-02 -2.61071396e-04 9.97750502e-01 2.75390750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:187.03, Y:113.35, Z:27.54 [[ 7.85495567e-01 -6.16593198e-01 -5.30051149e-02 1.87026386e+02] [ 6.15225908e-01 7.87281836e-01 -4.10413577e-02 1.13353222e+02] [ 6.70357862e-02 -3.72315394e-04 9.97750502e-01 2.75434950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.05, Y:113.37, Z:27.55 [[ 7.82340514e-01 -6.20591886e-01 -5.30002957e-02 1.87045226e+02] [ 6.19233304e-01 7.84133415e-01 -4.10475802e-02 1.13373491e+02] [ 6.70330981e-02 -7.06363243e-04 9.97750502e-01 2.75527067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7771056809999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:187.07, Y:113.39, Z:27.56 [[ 7.78165020e-01 -6.25820000e-01 -5.29955638e-02 1.87067197e+02] [ 6.24473046e-01 7.79966672e-01 -4.10536886e-02 1.13391166e+02] [ 6.70269929e-02 -1.14775674e-03 9.97750502e-01 2.75582192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80710568099994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:187.09, Y:113.41, Z:27.56 [[ 7.76341500e-01 -6.28081819e-01 -5.29821109e-02 1.87089284e+02] [ 6.26738929e-01 7.78146185e-01 -4.10710430e-02 1.13407246e+02] [ 6.70238028e-02 -1.32079633e-03 9.97750503e-01 2.75582709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8371056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:187.11, Y:113.43, Z:27.56 [[ 7.74203001e-01 -6.30716506e-01 -5.29754808e-02 1.87112736e+02] [ 6.29379173e-01 7.76011807e-01 -4.10795930e-02 1.13425006e+02] [ 6.70191760e-02 -1.53772006e-03 9.97750503e-01 2.75561258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86710568099994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:187.13, Y:113.44, Z:27.56 [[ 7.74404581e-01 -6.30470078e-01 -5.29624907e-02 1.87134124e+02] [ 6.29131024e-01 7.76212114e-01 -4.10963340e-02 1.13443932e+02] [ 6.70201357e-02 -1.49515673e-03 9.97750503e-01 2.75563217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8971056809999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:187.16, Y:113.46, Z:27.56 [[ 7.77799900e-01 -6.26277618e-01 -5.29495952e-02 1.87155165e+02] [ 6.24927690e-01 7.79599325e-01 -4.11129421e-02 1.13461872e+02] [ 6.70275842e-02 -1.11202600e-03 9.97750503e-01 2.75563880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92710568099994 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:187.18, Y:113.48, Z:27.56 [[ 7.80072964e-01 -6.23445333e-01 -5.29347481e-02 1.87177268e+02] [ 6.22087574e-01 7.81866488e-01 -4.11320496e-02 1.13478686e+02] [ 6.70314899e-02 -8.44049189e-04 9.97750503e-01 2.75583779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.9571056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:187.20, Y:113.50, Z:27.56 [[ 7.85187375e-01 -6.16992969e-01 -5.29193994e-02 1.87198311e+02] [ 6.15619140e-01 7.86968618e-01 -4.11517874e-02 1.13496331e+02] [ 6.70362701e-02 -2.66331209e-04 9.97750504e-01 2.75589577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98710568099995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:187.22, Y:113.51, Z:27.56 [[ 7.87646166e-01 -6.13851413e-01 -5.29146439e-02 1.87219048e+02] [ 6.12470068e-01 7.89421587e-01 -4.11579013e-02 1.13513051e+02] [ 6.70367981e-02 9.22766932e-06 9.97750504e-01 2.75599903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0171056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:187.24, Y:113.53, Z:27.57 [[ 7.92902456e-01 -6.07047618e-01 -5.29044827e-02 1.87242563e+02] [ 6.05650168e-01 7.94665229e-01 -4.11709584e-02 1.13528525e+02] [ 6.70340851e-02 6.02945222e-04 9.97750504e-01 2.75674258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04710568099995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:187.27, Y:113.55, Z:27.57 [[ 7.95405909e-01 -6.03764820e-01 -5.28912318e-02 1.87265675e+02] [ 6.02358964e-01 7.97161985e-01 -4.11879745e-02 1.13545472e+02] [ 6.70307293e-02 9.01650788e-04 9.97750504e-01 2.75735516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0771056809999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:187.29, Y:113.56, Z:27.58 [[ 7.99502349e-01 -5.98330975e-01 -5.28775807e-02 1.87287681e+02] [ 5.96912028e-01 8.01247863e-01 -4.12054925e-02 1.13561416e+02] [ 6.70225710e-02 1.38062409e-03 9.97750504e-01 2.75765960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10710568099995 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:187.31, Y:113.58, Z:27.58 [[ 8.01210822e-01 -5.96041855e-01 -5.28708386e-02 1.87310709e+02] [ 5.94617351e-01 8.02951804e-01 -4.12141414e-02 1.13577152e+02] [ 6.70180886e-02 1.58329812e-03 9.97750504e-01 2.75762608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.1371056809999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:187.34, Y:113.59, Z:27.58 [[ 8.05398863e-01 -5.90371156e-01 -5.28636895e-02 1.87338787e+02] [ 5.88933797e-01 8.07129247e-01 -4.12233093e-02 1.13588469e+02] [ 6.70048827e-02 2.06799300e-03 9.97750504e-01 2.75762634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16710568099995 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:187.36, Y:113.60, Z:27.58 [[ 8.07400388e-01 -5.87632057e-01 -5.28505256e-02 1.87363289e+02] [ 5.86187727e-01 8.09124957e-01 -4.12401792e-02 1.13602601e+02] [ 6.69967307e-02 2.31700722e-03 9.97750505e-01 2.75776174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.1971056809999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:187.39, Y:113.61, Z:27.58 [[ 8.11064180e-01 -5.82566144e-01 -5.28354414e-02 1.87389123e+02] [ 5.81109790e-01 8.12778608e-01 -4.12594956e-02 1.13614705e+02] [ 6.69799017e-02 2.76090666e-03 9.97750505e-01 2.75816294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:187.41, Y:113.63, Z:27.59 [[ 8.13495107e-01 -5.79167176e-01 -5.28307913e-02 1.87414862e+02] [ 5.77703276e-01 8.15203096e-01 -4.12654490e-02 1.13627069e+02] [ 6.69674182e-02 3.04871963e-03 9.97750505e-01 2.75894548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.2571056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:187.44, Y:113.64, Z:27.59 [[ 8.14332443e-01 -5.77990493e-01 -5.28172489e-02 1.87438826e+02] [ 5.76523005e-01 8.16037350e-01 -4.12827751e-02 1.13640101e+02] [ 6.69618994e-02 3.16754407e-03 9.97750505e-01 2.75905183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.47, Y:113.65, Z:27.59 [[ 8.15201419e-01 -5.76764848e-01 -5.28105774e-02 1.87469750e+02] [ 5.75294246e-01 8.16903641e-01 -4.12913078e-02 1.13647680e+02] [ 6.69565278e-02 3.27911142e-03 9.97750505e-01 2.75890984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.50, Y:113.66, Z:27.59 [[ 8.14434604e-01 -5.77848430e-01 -5.27964677e-02 1.87496278e+02] [ 5.76378929e-01 8.16137775e-01 -4.13093411e-02 1.13659573e+02] [ 6.69597296e-02 3.21298537e-03 9.97750506e-01 2.75886858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.53, Y:113.66, Z:27.59 [[ 8.12290646e-01 -5.80858816e-01 -5.27914952e-02 1.87528311e+02] [ 5.79395217e-01 8.13998892e-01 -4.13156948e-02 1.13664132e+02] [ 6.69708042e-02 2.97321260e-03 9.97750506e-01 2.75904333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.56, Y:113.67, Z:27.59 [[ 8.08523468e-01 -5.86091605e-01 -5.27866638e-02 1.87559363e+02] [ 5.84638665e-01 8.10240788e-01 -4.13218667e-02 1.13669095e+02] [ 6.69883073e-02 2.54857435e-03 9.97750506e-01 2.75923584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.4071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.59, Y:113.68, Z:27.59 [[ 8.06222978e-01 -5.89253522e-01 -5.27711819e-02 1.87585887e+02] [ 5.87806026e-01 8.07944890e-01 -4.13416289e-02 1.13680465e+02] [ 6.69969071e-02 2.31135239e-03 9.97750506e-01 2.75947934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.62, Y:113.69, Z:27.60 [[ 8.00343592e-01 -5.97216029e-01 -5.27555709e-02 1.87617710e+02] [ 5.95784362e-01 8.02078685e-01 -4.13615403e-02 1.13686058e+02] [ 6.70158938e-02 1.67249957e-03 9.97750506e-01 2.76001335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:113.70, Z:27.60 [[ 7.97245851e-01 -6.01346291e-01 -5.27417459e-02 1.87644295e+02] [ 5.99922449e-01 7.98987372e-01 -4.13791616e-02 1.13697874e+02] [ 6.70231943e-02 1.34840754e-03 9.97750507e-01 2.76025211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.68, Y:113.70, Z:27.60 [[ 7.90280123e-01 -6.10472071e-01 -5.27368784e-02 1.87675741e+02] [ 6.09067930e-01 7.92037567e-01 -4.13853643e-02 1.13702823e+02] [ 6.70341979e-02 5.85689410e-04 9.97750507e-01 2.76036568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.70, Y:113.71, Z:27.61 [[ 7.87282533e-01 -6.14334344e-01 -5.27212279e-02 1.87702954e+02] [ 6.12937491e-01 7.89045774e-01 -4.14052920e-02 1.13714055e+02] [ 6.70361550e-02 2.82846021e-04 9.97750507e-01 2.76054410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.73, Y:113.72, Z:27.60 [[ 7.84202918e-01 -6.18261995e-01 -5.27056768e-02 1.87732104e+02] [ 6.16872644e-01 7.85972076e-01 -4.14250779e-02 1.13722586e+02] [ 6.70367415e-02 -2.70232491e-05 9.97750507e-01 2.76025238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.75, Y:113.74, Z:27.60 [[ 7.83980823e-01 -6.18544203e-01 -5.26985582e-02 1.87754287e+02] [ 6.17154879e-01 7.85750003e-01 -4.14341318e-02 1.13740352e+02] [ 6.70367343e-02 -3.96076188e-05 9.97750507e-01 2.76044332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.78, Y:113.76, Z:27.60 [[ 7.84624452e-01 -6.17728827e-01 -5.26836371e-02 1.87779697e+02] [ 6.16336392e-01 7.86391183e-01 -4.14530953e-02 1.13755458e+02] [ 6.70367197e-02 5.42694099e-05 9.97750508e-01 2.76033793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.81, Y:113.77, Z:27.60 [[ 7.89087712e-01 -6.12018373e-01 -5.26696628e-02 1.87806363e+02] [ 6.10611968e-01 7.90843343e-01 -4.14708433e-02 1.13766567e+02] [ 6.70343703e-02 5.63406439e-04 9.97750508e-01 2.76018699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.83, Y:113.78, Z:27.61 [[ 7.95103806e-01 -6.04182599e-01 -5.26623580e-02 1.87831237e+02] [ 6.02758282e-01 7.96844937e-01 -4.14801174e-02 1.13780709e+02] [ 6.70252985e-02 1.23832680e-03 9.97750508e-01 2.76084317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.85, Y:113.80, Z:27.61 [[ 7.97746226e-01 -6.00690501e-01 -5.26486472e-02 1.87854829e+02] [ 5.99257416e-01 7.99480147e-01 -4.14975125e-02 1.13796890e+02] [ 6.70187098e-02 1.55439170e-03 9.97750508e-01 2.76127084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:187.88, Y:113.81, Z:27.62 [[ 8.01698410e-01 -5.95406761e-01 -5.26350530e-02 1.87881593e+02] [ 5.93961121e-01 8.03421877e-01 -4.15147481e-02 1.13808837e+02] [ 6.70063148e-02 2.01913242e-03 9.97750508e-01 2.76186600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.91, Y:113.82, Z:27.62 [[ 8.02129320e-01 -5.94827305e-01 -5.26215933e-02 1.87905976e+02] [ 5.93379303e-01 8.03850802e-01 -4.15318019e-02 1.13823353e+02] [ 6.70041598e-02 2.08931165e-03 9.97750509e-01 2.76203220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.93, Y:113.83, Z:27.62 [[ 8.00760539e-01 -5.96670026e-01 -5.26064600e-02 1.87931450e+02] [ 5.95224729e-01 8.02484293e-01 -4.15509617e-02 1.13834188e+02] [ 6.70080713e-02 1.95970458e-03 9.97750509e-01 2.76219356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.96, Y:113.85, Z:27.62 [[ 7.98910251e-01 -5.99146106e-01 -5.25961538e-02 1.87956228e+02] [ 5.97705294e-01 8.00637755e-01 -4.15640035e-02 1.13849769e+02] [ 6.70133773e-02 1.76890890e-03 9.97750509e-01 2.76243255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.98, Y:113.86, Z:27.63 [[ 7.95238599e-01 -6.04012078e-01 -5.25830894e-02 1.87982243e+02] [ 6.02580747e-01 7.96973966e-01 -4.15805249e-02 1.13861336e+02] [ 6.70224925e-02 1.38088108e-03 9.97750509e-01 2.76284715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.01, Y:113.88, Z:27.63 [[ 7.93252213e-01 -6.06618851e-01 -5.25784822e-02 1.88005719e+02] [ 6.05192838e-01 7.94991953e-01 -4.15863498e-02 1.13876546e+02] [ 6.70265340e-02 1.16834315e-03 9.97750509e-01 2.76316087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.03, Y:113.89, Z:27.63 [[ 7.90351523e-01 -6.10394558e-01 -5.25637994e-02 1.88029386e+02] [ 6.08975624e-01 7.92097041e-01 -4.16049002e-02 1.13890372e+02] [ 6.70310346e-02 8.72423706e-04 9.97750510e-01 2.76337171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.05, Y:113.91, Z:27.63 [[ 7.87468912e-01 -6.14109769e-01 -5.25538227e-02 1.88052385e+02] [ 6.12698229e-01 7.89220415e-01 -4.16174986e-02 1.13905664e+02] [ 6.70342622e-02 5.72852202e-04 9.97750510e-01 2.76326123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.07, Y:113.92, Z:27.63 [[ 7.85569973e-01 -6.16537415e-01 -5.25493448e-02 1.88074785e+02] [ 6.15130910e-01 7.87325521e-01 -4.16231520e-02 1.13923015e+02] [ 6.70356708e-02 3.73172115e-04 9.97750510e-01 2.76331524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.10, Y:113.94, Z:27.63 [[ 7.83021271e-01 -6.19772339e-01 -5.25350979e-02 1.88097054e+02] [ 6.18371881e-01 7.84781647e-01 -4.16411261e-02 1.13940438e+02] [ 6.70365988e-02 1.19660220e-04 9.97750510e-01 2.76341464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.12, Y:113.96, Z:27.64 [[ 7.77986430e-01 -6.26081992e-01 -5.25209829e-02 1.88121220e+02] [ 6.24694609e-01 7.79757129e-01 -4.16589214e-02 1.13955337e+02] [ 6.70355113e-02 -3.99499347e-04 9.97750510e-01 2.76369171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.15, Y:113.97, Z:27.64 [[ 7.75649998e-01 -6.28975441e-01 -5.25069074e-02 1.88146804e+02] [ 6.27593462e-01 7.77424918e-01 -4.16766547e-02 1.13972158e+02] [ 6.70337704e-02 -6.26494731e-04 9.97750510e-01 2.76404923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.17, Y:113.99, Z:27.64 [[ 7.71846788e-01 -6.33615702e-01 -5.27605749e-02 1.88167904e+02] [ 6.32266170e-01 7.73646609e-01 -4.13571579e-02 1.13987075e+02] [ 6.70225845e-02 -1.43733711e-03 9.97750423e-01 2.76443715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.19, Y:114.00, Z:27.65 [[ 7.67627429e-01 -6.38743741e-01 -5.24839409e-02 1.88189192e+02] [ 6.37382384e-01 7.69418199e-01 -4.17052980e-02 1.14003399e+02] [ 6.70210973e-02 -1.43820870e-03 9.97750522e-01 2.76462453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.21, Y:114.02, Z:27.65 [[ 7.64619310e-01 -6.42342272e-01 -5.24758610e-02 1.88211116e+02] [ 6.40988645e-01 7.66415930e-01 -4.17154621e-02 1.14020756e+02] [ 6.70139405e-02 -1.73998312e-03 9.97750522e-01 2.76478218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.23, Y:114.04, Z:27.65 [[ 7.57082727e-01 -6.51209250e-01 -5.24619596e-02 1.88231551e+02] [ 6.49875443e-01 7.58894110e-01 -4.17329374e-02 1.14038136e+02] [ 6.69899470e-02 -2.49845312e-03 9.97750522e-01 2.76488340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.25, Y:114.06, Z:27.65 [[ 7.53217554e-01 -6.55676646e-01 -5.24542913e-02 1.88253344e+02] [ 6.54352909e-01 7.55036309e-01 -4.17425735e-02 1.14055857e+02] [ 6.69745251e-02 -2.88237903e-03 9.97750522e-01 2.76544316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.28, Y:114.07, Z:27.66 [[ 7.45516039e-01 -6.64431151e-01 -5.23171247e-02 1.88275251e+02] [ 6.63116705e-01 7.47341544e-01 -4.19148318e-02 1.14074825e+02] [ 6.69482806e-02 -3.44417997e-03 9.97750503e-01 2.76586481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:188.30, Y:114.10, Z:27.66 [[ 7.42408314e-01 -6.67899858e-01 -5.23418980e-02 1.88297162e+02] [ 6.66596118e-01 7.44241472e-01 -4.18837259e-02 1.14095199e+02] [ 6.69291458e-02 -3.79607972e-03 9.97750510e-01 2.76594620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:188.31, Y:114.12, Z:27.67 [[ 7.39562113e-01 -6.71043149e-01 -5.24306540e-02 1.88313760e+02] [ 6.69755037e-01 7.41406274e-01 -4.17723246e-02 1.14117801e+02] [ 6.69034481e-02 -4.22246598e-03 9.97750520e-01 2.76657132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.33, Y:114.14, Z:27.67 [[ 7.38332156e-01 -6.72396576e-01 -5.24258664e-02 1.88332859e+02] [ 6.71111421e-01 7.40178379e-01 -4.17783324e-02 1.14139677e+02] [ 6.68961005e-02 -4.33731143e-03 9.97750520e-01 2.76713755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.35, Y:114.16, Z:27.68 [[ 7.37194058e-01 -6.73646773e-01 -5.23922312e-02 1.88348193e+02] [ 6.72361770e-01 7.39040387e-01 -4.18205176e-02 1.14164330e+02] [ 6.68922316e-02 -4.39669626e-03 9.97750519e-01 2.76751782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.37, Y:114.19, Z:27.68 [[ 7.37358712e-01 -6.73465307e-01 -5.24081172e-02 1.88367497e+02] [ 6.72181255e-01 7.39205702e-01 -4.18006003e-02 1.14185711e+02] [ 6.68916332e-02 -4.40571717e-03 9.97750519e-01 2.76759027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.38, Y:114.21, Z:27.67 [[ 7.36686502e-01 -6.74206498e-01 -5.23315917e-02 1.88381213e+02] [ 6.72917536e-01 7.38530076e-01 -4.18965048e-02 1.14213351e+02] [ 6.68953502e-02 -4.35025620e-03 9.97750514e-01 2.76746620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.4571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:188.40, Y:114.24, Z:27.67 [[ 7.36792705e-01 -6.74088180e-01 -5.23606251e-02 1.88397693e+02] [ 6.72801488e-01 7.38637860e-01 -4.18601326e-02 1.14235342e+02] [ 6.68929606e-02 -4.38606612e-03 9.97750517e-01 2.76729572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:114.27, Z:27.68 [[ 7.34605506e-01 -6.76481009e-01 -5.22321317e-02 1.88412047e+02] [ 6.75188959e-01 7.36446947e-01 -4.20210074e-02 1.14265109e+02] [ 6.68926073e-02 -4.39769520e-03 9.97750490e-01 2.76768590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:188.43, Y:114.29, Z:27.68 [[ 7.33772281e-01 -6.77372317e-01 -5.23925959e-02 1.88429654e+02] [ 6.76096708e-01 7.35625118e-01 -4.18201780e-02 1.14287544e+02] [ 6.68691405e-02 -4.73597424e-03 9.97750514e-01 2.76803122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.44, Y:114.32, Z:27.68 [[ 7.32682859e-01 -6.78555599e-01 -5.23271181e-02 1.88443050e+02] [ 6.77277176e-01 7.34533758e-01 -4.19020914e-02 1.14315884e+02] [ 6.68689334e-02 -4.73901863e-03 9.97750514e-01 2.76847416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.46, Y:114.34, Z:27.69 [[ 7.35050714e-01 -6.75985962e-01 -5.23777368e-02 1.88456619e+02] [ 6.74705540e-01 7.36900230e-01 -4.18387997e-02 1.14342061e+02] [ 6.68796076e-02 -4.58590961e-03 9.97750514e-01 2.76885593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.47, Y:114.36, Z:27.69 [[ 7.36381785e-01 -6.74541419e-01 -5.23043091e-02 1.88474742e+02] [ 6.73250892e-01 7.38224265e-01 -4.19305591e-02 1.14364847e+02] [ 6.68962090e-02 -4.33702275e-03 9.97750514e-01 2.76941961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.49, Y:114.39, Z:27.70 [[ 7.40695856e-01 -6.69799076e-01 -5.23339984e-02 1.88488426e+02] [ 6.68499350e-01 7.42531856e-01 -4.18934709e-02 1.14394610e+02] [ 6.69198691e-02 -3.95492357e-03 9.97750515e-01 2.76995276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.50, Y:114.42, Z:27.71 [[ 7.42214117e-01 -6.68109070e-01 -5.24258987e-02 1.88503547e+02] [ 6.66813219e-01 7.44052869e-01 -4.17787011e-02 1.14420031e+02] [ 6.69203695e-02 -3.94954053e-03 9.97750503e-01 2.77061812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.52, Y:114.45, Z:27.71 [[ 7.49137066e-01 -6.60346097e-01 -5.23133737e-02 1.88516426e+02] [ 6.59021391e-01 7.50955120e-01 -4.19191295e-02 1.14449700e+02] [ 6.69661294e-02 -3.07245867e-03 9.97750519e-01 2.77079741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.54, Y:114.48, Z:27.71 [[ 7.52359823e-01 -6.56673444e-01 -5.22942178e-02 1.88535400e+02] [ 6.55338204e-01 7.54170154e-01 -4.19430224e-02 1.14475387e+02] [ 6.69816072e-02 -2.71415388e-03 9.97750519e-01 2.77124509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.7571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.55, Y:114.50, Z:27.71 [[ 7.63701533e-01 -6.43415553e-01 -5.26914963e-02 1.88545429e+02] [ 6.42082894e-01 7.65513996e-01 -4.14473166e-02 1.14502575e+02] [ 6.70039260e-02 -2.17892920e-03 9.97750333e-01 2.77071771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.56, Y:114.53, Z:27.71 [[ 7.72843606e-01 -6.32439209e-01 -5.22819957e-02 1.88556777e+02] [ 6.31046142e-01 7.74609790e-01 -4.19576047e-02 1.14533511e+02] [ 6.70337801e-02 -5.65685107e-04 9.97750546e-01 2.77062906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:188.57, Y:114.56, Z:27.71 [[ 7.76442755e-01 -6.28016530e-01 -5.22674581e-02 1.88573535e+02] [ 6.26612183e-01 7.78199983e-01 -4.19757068e-02 1.14555961e+02] [ 6.70359727e-02 -1.59692556e-04 9.97750546e-01 2.77075723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.59, Y:114.58, Z:27.71 [[ 7.81388627e-01 -6.21852582e-01 -5.22606865e-02 1.88591491e+02] [ 6.20433809e-01 7.83134229e-01 -4.19841358e-02 1.14579994e+02] [ 6.70350757e-02 3.81629453e-04 9.97750546e-01 2.77067340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.61, Y:114.60, Z:27.71 [[ 7.82237312e-01 -6.20784434e-01 -5.22635132e-02 1.88611445e+02] [ 6.19363512e-01 7.83981165e-01 -4.19806177e-02 1.14600751e+02] [ 6.70345240e-02 4.68692439e-04 9.97750546e-01 2.77081726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.63, Y:114.62, Z:27.71 [[ 7.82538074e-01 -6.20406901e-01 -5.22440436e-02 1.88630196e+02] [ 6.18983522e-01 7.84279920e-01 -4.20048335e-02 1.14624357e+02] [ 6.70340429e-02 5.32179381e-04 9.97750547e-01 2.77085875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93710568099993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:188.65, Y:114.64, Z:27.71 [[ 7.82700501e-01 -6.20196969e-01 -5.23033961e-02 1.88651671e+02] [ 6.18778050e-01 7.84445991e-01 -4.19310423e-02 1.14643372e+02] [ 6.70346947e-02 4.55254417e-04 9.97750541e-01 2.77124317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.9671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.67, Y:114.66, Z:27.72 [[ 7.82065469e-01 -6.21003958e-01 -5.22272591e-02 1.88671598e+02] [ 6.19580517e-01 7.83807263e-01 -4.20256620e-02 1.14663086e+02] [ 6.70342075e-02 5.07826812e-04 9.97750549e-01 2.77164631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:188.69, Y:114.68, Z:27.72 [[ 7.81265364e-01 -6.22013120e-01 -5.21929968e-02 1.88692392e+02] [ 6.20589086e-01 7.83006674e-01 -4.20682169e-02 1.14681149e+02] [ 6.70344477e-02 4.76036643e-04 9.97750548e-01 2.77197554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:188.72, Y:114.70, Z:27.72 [[ 7.79629303e-01 -6.24061225e-01 -5.22086061e-02 1.88715354e+02] [ 6.22643062e-01 7.81375398e-01 -4.20488362e-02 1.14696954e+02] [ 6.70355685e-02 2.75178449e-04 9.97750548e-01 2.77194247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05710568099994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:188.74, Y:114.71, Z:27.72 [[ 7.76143962e-01 -6.28391939e-01 -5.21931134e-02 1.88738824e+02] [ 6.26982227e-01 7.77896886e-01 -4.20680578e-02 1.14710732e+02] [ 6.70360888e-02 -7.32854269e-05 9.97750549e-01 2.77216033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0871056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:188.76, Y:114.73, Z:27.72 [[ 7.73863343e-01 -6.31198940e-01 -5.21864397e-02 1.88761866e+02] [ 6.29795028e-01 7.75620916e-01 -4.20763350e-02 1.14727378e+02] [ 6.70354322e-02 -3.05426957e-04 9.97750549e-01 2.77215612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:188.79, Y:114.74, Z:27.72 [[ 7.70469070e-01 -6.35333949e-01 -5.22320318e-02 1.88786058e+02] [ 6.33943299e-01 7.72237159e-01 -4.20198044e-02 1.14742364e+02] [ 6.70321241e-02 -7.37186943e-04 9.97750545e-01 2.77209457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.1471056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:188.81, Y:114.76, Z:27.72 [[ 7.69086594e-01 -6.37018545e-01 -5.20882399e-02 1.88809131e+02] [ 6.35619686e-01 7.70848198e-01 -4.21979859e-02 1.14758511e+02] [ 6.70330254e-02 -6.54405448e-04 9.97750543e-01 2.77209427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.83, Y:114.77, Z:27.72 [[ 7.66470377e-01 -6.40167405e-01 -5.20466604e-02 1.88834943e+02] [ 6.38772285e-01 7.68234957e-01 -4.22494895e-02 1.14773369e+02] [ 6.70308100e-02 -8.62982110e-04 9.97750533e-01 2.77187091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.2071056809999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:188.86, Y:114.79, Z:27.72 [[ 7.64978731e-01 -6.41940259e-01 -5.21559680e-02 1.88858547e+02] [ 6.40558443e-01 7.66753729e-01 -4.21141198e-02 1.14788636e+02] [ 6.70255320e-02 -1.19253981e-03 9.97750548e-01 2.77186463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:188.88, Y:114.81, Z:27.72 [[ 7.66340699e-01 -6.40314130e-01 -5.21512021e-02 1.88880208e+02] [ 6.38928147e-01 7.68112445e-01 -4.21200207e-02 1.14805760e+02] [ 6.70280318e-02 -1.04258476e-03 9.97750548e-01 2.77211401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.2671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.90, Y:114.82, Z:27.73 [[ 7.73875016e-01 -6.31188814e-01 -5.21357865e-02 1.88900901e+02] [ 6.29780649e-01 7.75629184e-01 -4.21390935e-02 1.14823498e+02] [ 6.70357619e-02 -2.23717776e-04 9.97750548e-01 2.77280996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29710568099995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:188.92, Y:114.84, Z:27.73 [[ 7.77859529e-01 -6.26272234e-01 -5.21310094e-02 1.88923513e+02] [ 6.24852586e-01 7.79604416e-01 -4.21450024e-02 1.14842029e+02] [ 6.70358100e-02 2.08695648e-04 9.97750548e-01 2.77327337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.3271056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.95, Y:114.86, Z:27.74 [[ 7.84228410e-01 -6.18278538e-01 -5.21291619e-02 1.88945729e+02] [ 6.16840954e-01 7.85958551e-01 -4.21472873e-02 1.14858087e+02] [ 6.70301237e-02 8.97698136e-04 9.97750548e-01 2.77360112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.97, Y:114.88, Z:27.74 [[ 7.85579735e-01 -6.16561259e-01 -5.21219145e-02 1.88968275e+02] [ 6.15119299e-01 7.87306229e-01 -4.21562479e-02 1.14875305e+02] [ 6.70278173e-02 1.05589850e-03 9.97750548e-01 2.77385986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.3871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.99, Y:114.89, Z:27.74 [[ 7.86364359e-01 -6.15557270e-01 -5.21568987e-02 1.88992377e+02] [ 6.14115971e-01 7.88091408e-01 -4.21130093e-02 1.14889609e+02] [ 6.70273728e-02 1.08578506e-03 9.97750546e-01 2.77422521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.02, Y:114.90, Z:27.75 [[ 7.86066550e-01 -6.15942110e-01 -5.21027506e-02 1.89015355e+02] [ 6.14497223e-01 7.87790594e-01 -4.21798962e-02 1.14904902e+02] [ 6.70264311e-02 1.13920990e-03 9.97750550e-01 2.77452291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.04, Y:114.92, Z:27.75 [[ 7.85908513e-01 -6.16145049e-01 -5.20873059e-02 1.89039854e+02] [ 6.14699344e-01 7.87631871e-01 -4.21989601e-02 1.14918730e+02] [ 6.70263025e-02 1.14648922e-03 9.97750550e-01 2.77486248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.06, Y:114.93, Z:27.75 [[ 7.85995003e-01 -6.16036018e-01 -5.20718613e-02 1.89063063e+02] [ 6.14588813e-01 7.87717101e-01 -4.22180094e-02 1.14934332e+02] [ 6.70257101e-02 1.18036102e-03 9.97750550e-01 2.77514980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:114.95, Z:27.75 [[ 7.85763325e-01 -6.16332845e-01 -5.20559431e-02 1.89084952e+02] [ 6.14884990e-01 7.87484877e-01 -4.22376280e-02 1.14952400e+02] [ 6.70257053e-02 1.18036094e-03 9.97750551e-01 2.77534074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.11, Y:114.97, Z:27.75 [[ 7.85447212e-01 -6.16736989e-01 -5.20400175e-02 1.89107433e+02] [ 6.15288722e-01 7.87168415e-01 -4.22572405e-02 1.14968704e+02] [ 6.70258614e-02 1.17119590e-03 9.97750551e-01 2.77536017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.13, Y:114.98, Z:27.76 [[ 7.83204268e-01 -6.19583242e-01 -5.20353770e-02 1.89132890e+02] [ 6.18140851e-01 7.84930399e-01 -4.22629540e-02 1.14981776e+02] [ 6.70295672e-02 9.35333737e-04 9.97750551e-01 2.77557056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.5971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.16, Y:115.00, Z:27.76 [[ 7.81399075e-01 -6.21860817e-01 -5.20058655e-02 1.89157044e+02] [ 6.20421040e-01 7.83127387e-01 -4.22992637e-02 1.14996648e+02] [ 6.70314722e-02 7.87072333e-04 9.97750551e-01 2.77590489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.19, Y:115.01, Z:27.76 [[ 7.77144746e-01 -6.27182193e-01 -5.18511326e-02 1.89185244e+02] [ 6.25741530e-01 7.78872368e-01 -4.24896647e-02 1.15009422e+02] [ 6.70341755e-02 5.75212618e-04 9.97750514e-01 2.77596159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.6571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.21, Y:115.02, Z:27.76 [[ 7.76454496e-01 -6.28022056e-01 -5.20260722e-02 1.89207127e+02] [ 6.26597663e-01 7.78195507e-01 -4.22743748e-02 1.15023949e+02] [ 6.70356954e-02 2.24713169e-04 9.97750553e-01 2.77644400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.23, Y:115.04, Z:27.76 [[ 7.75206340e-01 -6.29605374e-01 -5.14995495e-02 1.89233281e+02] [ 6.28141298e-01 7.76914550e-01 -4.29219203e-02 1.15039952e+02] [ 6.70346211e-02 9.24350825e-04 9.97750222e-01 2.77628050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.26, Y:115.06, Z:27.76 [[ 7.76316360e-01 -6.28231165e-01 -5.15607628e-02 1.89260377e+02] [ 6.26769061e-01 7.78026162e-01 -4.28466644e-02 1.15057051e+02] [ 6.70332323e-02 9.45875641e-04 9.97750295e-01 2.77570001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.28, Y:115.07, Z:27.76 [[ 7.79083048e-01 -6.24759527e-01 -5.20109403e-02 1.89282451e+02] [ 6.23326594e-01 7.80817042e-01 -4.22930747e-02 1.15071380e+02] [ 6.70340299e-02 5.30015306e-04 9.97750549e-01 2.77596409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.31, Y:115.09, Z:27.76 [[ 7.81366000e-01 -6.21936413e-01 -5.15972152e-02 1.89309120e+02] [ 6.20463530e-01 7.83066444e-01 -4.28013137e-02 1.15088576e+02] [ 6.70237433e-02 1.42930099e-03 9.97750357e-01 2.77566185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.33, Y:115.10, Z:27.76 [[ 7.84746964e-01 -6.17631256e-01 -5.19984038e-02 1.89329754e+02] [ 6.16181569e-01 7.86466964e-01 -4.23082596e-02 1.15102824e+02] [ 6.70259302e-02 1.16082023e-03 9.97750559e-01 2.77628544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.36, Y:115.12, Z:27.76 [[ 7.86131657e-01 -6.15918995e-01 -5.13888047e-02 1.89355148e+02] [ 6.14416417e-01 7.87806208e-01 -4.30562927e-02 1.15118900e+02] [ 6.70036079e-02 2.27378943e-03 9.97750142e-01 2.77562472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.38, Y:115.14, Z:27.76 [[ 7.85029009e-01 -6.17309749e-01 -5.15570441e-02 1.89380999e+02] [ 6.15823656e-01 7.86717934e-01 -4.28499415e-02 1.15137140e+02] [ 6.70125378e-02 1.88839976e-03 9.97750346e-01 2.77577266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.41, Y:115.15, Z:27.76 [[ 7.85863872e-01 -6.16212334e-01 -5.19647337e-02 1.89406161e+02] [ 6.14756802e-01 7.87578933e-01 -4.23497126e-02 1.15147043e+02] [ 6.70227448e-02 1.33543558e-03 9.97750554e-01 2.77621131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.43, Y:115.16, Z:27.76 [[ 7.85724617e-01 -6.16430309e-01 -5.14830225e-02 1.89430933e+02] [ 6.14936427e-01 7.87406723e-01 -4.29399985e-02 1.15161934e+02] [ 6.70075946e-02 2.08022794e-03 9.97750297e-01 2.77590682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.9571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.46, Y:115.17, Z:27.76 [[ 7.82834294e-01 -6.20104662e-01 -5.13875130e-02 1.89455123e+02] [ 6.18611001e-01 7.84516750e-01 -4.30569177e-02 1.15173994e+02] [ 6.70141601e-02 1.91755087e-03 9.97750182e-01 2.77628078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.48, Y:115.19, Z:27.76 [[ 7.82782203e-01 -6.20201415e-01 -5.10120331e-02 1.89482801e+02] [ 6.18677955e-01 7.84438613e-01 -4.35160940e-02 1.15189152e+02] [ 6.70045516e-02 2.50360362e-03 9.97749529e-01 2.77613804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.51, Y:115.20, Z:27.77 [[ 7.84635651e-01 -6.17816423e-01 -5.14758520e-02 1.89508296e+02] [ 6.16324950e-01 7.86319893e-01 -4.29485864e-02 1.15204583e+02] [ 6.70108285e-02 1.97314012e-03 9.97750297e-01 2.77699560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:115.22, Z:27.77 [[ 7.83790497e-01 -6.18874168e-01 -5.16451549e-02 1.89531752e+02] [ 6.17398582e-01 7.85488483e-01 -4.27414815e-02 1.15222749e+02] [ 6.70182732e-02 1.61472162e-03 9.97750442e-01 2.77662869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.56, Y:115.24, Z:27.77 [[ 7.88095954e-01 -6.13360274e-01 -5.19031914e-02 1.89555894e+02] [ 6.11893525e-01 7.89801472e-01 -4.24258117e-02 1.15237502e+02] [ 6.70155245e-02 1.67638381e-03 9.97750525e-01 2.77660389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.58, Y:115.25, Z:27.77 [[ 7.90385161e-01 -6.10408886e-01 -5.18872754e-02 1.89578606e+02] [ 6.08934494e-01 7.92084075e-01 -4.24452683e-02 1.15254675e+02] [ 6.70080535e-02 1.95215842e-03 9.97750525e-01 2.77658533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.1371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.60, Y:115.26, Z:27.77 [[ 7.96502763e-01 -6.02405762e-01 -5.18714371e-02 1.89603102e+02] [ 6.00913053e-01 7.98185605e-01 -4.24646152e-02 1.15264506e+02] [ 6.69839633e-02 2.65295979e-03 9.97750525e-01 2.77653077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.63, Y:115.28, Z:27.76 [[ 7.97323593e-01 -6.01375805e-01 -5.12077069e-02 1.89626791e+02] [ 5.99828869e-01 7.98957323e-01 -4.32726702e-02 1.15279576e+02] [ 6.69359093e-02 3.78645998e-03 9.97750092e-01 2.77644392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.66, Y:115.29, Z:27.77 [[ 7.95779304e-01 -6.03423311e-01 -5.11429947e-02 1.89657700e+02] [ 6.01875541e-01 7.97412375e-01 -4.33513216e-02 1.15294160e+02] [ 6.69412549e-02 3.71636695e-03 9.97749997e-01 2.77677504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.69, Y:115.30, Z:27.77 [[ 7.92665853e-01 -6.07453382e-01 -5.17806390e-02 1.89686119e+02] [ 6.05964132e-01 7.94351790e-01 -4.25758738e-02 1.15303552e+02] [ 6.69949018e-02 2.37123134e-03 9.97750500e-01 2.77709911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.71, Y:115.32, Z:27.77 [[ 7.90465621e-01 -6.10315081e-01 -5.17648919e-02 1.89713222e+02] [ 6.08830684e-01 7.92155833e-01 -4.25950110e-02 1.15318102e+02] [ 6.70022387e-02 2.15383725e-03 9.97750500e-01 2.77735360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.74, Y:115.33, Z:27.78 [[ 7.85749069e-01 -6.16346596e-01 -5.21082945e-02 1.89737218e+02] [ 6.14902760e-01 7.87474231e-01 -4.21773698e-02 1.15325426e+02] [ 6.70298175e-02 1.09929486e-03 9.97750367e-01 2.77756883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.76, Y:115.34, Z:27.78 [[ 7.82160305e-01 -6.20965496e-01 -5.12553432e-02 1.89764535e+02] [ 6.19463522e-01 7.83835224e-01 -4.32121111e-02 1.15342156e+02] [ 6.70089734e-02 2.04798256e-03 9.97750271e-01 2.77780518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.3471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.79, Y:115.35, Z:27.78 [[ 7.81600682e-01 -6.21629723e-01 -5.17384046e-02 1.89792765e+02] [ 6.20167772e-01 7.83310268e-01 -4.26258107e-02 1.15348556e+02] [ 6.70246945e-02 1.22987157e-03 9.97750559e-01 2.77845294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.82, Y:115.36, Z:27.78 [[ 7.79090008e-01 -6.24801386e-01 -5.14002730e-02 1.89819505e+02] [ 6.23319257e-01 7.80782305e-01 -4.30359789e-02 1.15364709e+02] [ 6.70213629e-02 1.49012116e-03 9.97750428e-01 2.77833538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.4071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.84, Y:115.38, Z:27.78 [[ 7.77963409e-01 -6.26176636e-01 -5.17276998e-02 1.89841753e+02] [ 6.24723817e-01 7.79680760e-01 -4.26387714e-02 1.15380213e+02] [ 6.70304947e-02 8.55877917e-04 9.97750560e-01 2.77840512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.86, Y:115.40, Z:27.79 [[ 7.77035620e-01 -6.27328143e-01 -5.17208528e-02 1.89864438e+02] [ 6.25877316e-01 7.78754654e-01 -4.26470752e-02 1.15395206e+02] [ 6.70315653e-02 7.67387943e-04 9.97750560e-01 2.77860848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.89, Y:115.41, Z:27.79 [[ 7.74289948e-01 -6.30728220e-01 -5.15459909e-02 1.89889181e+02] [ 6.29270814e-01 7.76003449e-01 -4.28589674e-02 1.15409475e+02] [ 6.70322269e-02 7.48880006e-04 9.97750530e-01 2.77895611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.91, Y:115.42, Z:27.79 [[ 7.75637476e-01 -6.29057647e-01 -5.17008937e-02 1.89911634e+02] [ 6.27609039e-01 7.77358382e-01 -4.26712889e-02 1.15423608e+02] [ 6.70328237e-02 6.49502525e-04 9.97750559e-01 2.77917454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5271056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:189.93, Y:115.44, Z:27.80 [[ 7.77252671e-01 -6.27084581e-01 -5.14122016e-02 1.89934286e+02] [ 6.25608439e-01 7.78950130e-01 -4.30206451e-02 1.15440710e+02] [ 6.70251243e-02 1.27400411e-03 9.97750475e-01 2.77950844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.96, Y:115.46, Z:27.80 [[ 7.81910621e-01 -6.21258577e-01 -5.15127409e-02 1.89957716e+02] [ 6.19777791e-01 7.83603961e-01 -4.28989795e-02 1.15458080e+02] [ 6.70169468e-02 1.61671494e-03 9.97750527e-01 2.78007811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:189.98, Y:115.48, Z:27.80 [[ 7.84521478e-01 -6.17945220e-01 -5.16696779e-02 1.89978706e+02] [ 6.16469756e-01 7.86219417e-01 -4.27091196e-02 1.15476622e+02] [ 6.70156004e-02 1.65342788e-03 9.97750558e-01 2.78028127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.00, Y:115.50, Z:27.80 [[ 7.87835854e-01 -6.13716662e-01 -5.16384144e-02 1.90000284e+02] [ 6.12229612e-01 7.89523656e-01 -4.27469192e-02 1.15496327e+02] [ 6.70042463e-02 2.06298921e-03 9.97750558e-01 2.78029508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.03, Y:115.51, Z:27.80 [[ 7.88131945e-01 -6.13337395e-01 -5.16263260e-02 1.90027485e+02] [ 6.11848577e-01 7.89818188e-01 -4.27615260e-02 1.15513092e+02] [ 6.70026542e-02 2.11423056e-03 9.97750557e-01 2.78009141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.05, Y:115.53, Z:27.80 [[ 7.88715559e-01 -6.12544626e-01 -5.21234000e-02 1.90048745e+02] [ 6.11093585e-01 7.90434767e-01 -4.21605274e-02 1.15526197e+02] [ 6.70253520e-02 1.40038862e-03 9.97750290e-01 2.78049860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.07, Y:115.54, Z:27.81 [[ 7.87629664e-01 -6.13986230e-01 -5.15792751e-02 1.90074303e+02] [ 6.12495145e-01 7.89313856e-01 -4.28174555e-02 1.15539488e+02] [ 6.70015646e-02 2.13224254e-03 9.97750592e-01 2.78088045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.10, Y:115.56, Z:27.81 [[ 7.87178461e-01 -6.14561538e-01 -5.16157603e-02 1.90097305e+02] [ 6.13074566e-01 7.88866282e-01 -4.27734281e-02 1.15555440e+02] [ 6.70048367e-02 2.02601147e-03 9.97750594e-01 2.78100078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.12, Y:115.57, Z:27.81 [[ 7.87665612e-01 -6.13938347e-01 -5.16002944e-02 1.90122880e+02] [ 6.12448819e-01 7.89351178e-01 -4.27920774e-02 1.15569468e+02] [ 6.70024505e-02 2.10330844e-03 9.97750594e-01 2.78085847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.15, Y:115.59, Z:27.81 [[ 7.87220749e-01 -6.14509962e-01 -5.15848750e-02 1.90146591e+02] [ 6.13020442e-01 7.88906322e-01 -4.28106572e-02 1.15585221e+02] [ 6.70032093e-02 2.07885469e-03 9.97750594e-01 2.78099294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.17, Y:115.60, Z:27.81 [[ 7.85465757e-01 -6.16752908e-01 -5.15693252e-02 1.90170242e+02] [ 6.15266975e-01 7.87154492e-01 -4.28293802e-02 1.15600532e+02] [ 6.70081707e-02 1.91210884e-03 9.97750595e-01 2.78126280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.19, Y:115.61, Z:27.82 [[ 7.79001314e-01 -6.24899330e-01 -5.15536551e-02 1.90194724e+02] [ 6.23429817e-01 7.80704357e-01 -4.28482340e-02 1.15614001e+02] [ 6.70239958e-02 1.23874481e-03 9.97750595e-01 2.78152540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.22, Y:115.63, Z:27.82 [[ 7.71599507e-01 -6.34017388e-01 -5.15378731e-02 1.90218607e+02] [ 6.32566736e-01 7.73318645e-01 -4.28672081e-02 1.15629268e+02] [ 6.70337535e-02 4.75172467e-04 9.97750595e-01 2.78154681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.24, Y:115.65, Z:27.81 [[ 7.64715535e-01 -6.42304255e-01 -5.15305148e-02 1.90240990e+02] [ 6.40871638e-01 7.66449730e-01 -4.28760517e-02 1.15646877e+02] [ 6.70350196e-02 -2.36462633e-04 9.97750595e-01 2.78145300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:115.66, Z:27.82 [[ 7.61172934e-01 -6.46499807e-01 -5.15147000e-02 1.90262045e+02] [ 6.45075462e-01 7.62913929e-01 -4.28950445e-02 1.15664927e+02] [ 6.70329202e-02 -5.80322005e-04 9.97750596e-01 2.78161085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.28, Y:115.69, Z:27.82 [[ 7.52491069e-01 -6.56585923e-01 -5.14986991e-02 1.90284253e+02] [ 6.55183593e-01 7.54249844e-01 -4.29142462e-02 1.15687139e+02] [ 6.70197757e-02 -1.44851569e-03 9.97750596e-01 2.78178399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.30, Y:115.70, Z:27.82 [[ 7.52066264e-01 -6.57029690e-01 -5.20415228e-02 1.90303345e+02] [ 6.55673231e-01 7.53861074e-01 -4.22622227e-02 1.15702907e+02] [ 6.69996133e-02 -2.33824147e-03 9.97750262e-01 2.78199571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.32, Y:115.72, Z:27.83 [[ 7.48510662e-01 -6.61121202e-01 -5.14834376e-02 1.90322755e+02] [ 6.59728337e-01 7.50276886e-01 -4.29315177e-02 1.15723412e+02] [ 6.70097698e-02 -1.83038396e-03 9.97750640e-01 2.78272743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.34, Y:115.74, Z:27.83 [[ 7.47514641e-01 -6.62248270e-01 -5.14693194e-02 1.90341811e+02] [ 6.60856905e-01 7.49282045e-01 -4.29484368e-02 1.15743442e+02] [ 6.70075649e-02 -1.90926978e-03 9.97750641e-01 2.78312691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.0971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.36, Y:115.77, Z:27.84 [[ 7.47630997e-01 -6.62118153e-01 -5.14533143e-02 1.90355208e+02] [ 6.60725163e-01 7.49397121e-01 -4.29676029e-02 1.15768890e+02] [ 6.70085954e-02 -1.87258765e-03 9.97750641e-01 2.78354218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.37, Y:115.80, Z:27.84 [[ 7.49983782e-01 -6.59452803e-01 -5.14424704e-02 1.90369917e+02] [ 6.58052645e-01 7.51744229e-01 -4.29805817e-02 1.15795329e+02] [ 6.70152453e-02 -1.61711456e-03 9.97750641e-01 2.78392879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.39, Y:115.82, Z:27.84 [[ 7.51841406e-01 -6.57335393e-01 -5.14264661e-02 1.90388360e+02] [ 6.55928968e-01 7.53596850e-01 -4.29997224e-02 1.15816078e+02] [ 6.70200623e-02 -1.40313708e-03 9.97750641e-01 2.78429583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.40, Y:115.84, Z:27.84 [[ 7.56381009e-01 -6.52107935e-01 -5.14102242e-02 1.90401297e+02] [ 6.50688056e-01 7.58125588e-01 -4.30191324e-02 1.15841235e+02] [ 6.70285241e-02 -9.13164045e-04 9.97750642e-01 2.78440759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.42, Y:115.87, Z:27.84 [[ 7.59321618e-01 -6.48707097e-01 -5.10860313e-02 1.90422128e+02] [ 6.47253271e-01 7.61038166e-01 -4.34063657e-02 1.15865022e+02] [ 6.70364371e-02 -1.06209085e-04 9.97750522e-01 2.78431917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.43, Y:115.89, Z:27.84 [[ 7.65575239e-01 -6.41289542e-01 -5.14030817e-02 1.90434910e+02] [ 6.39844437e-01 7.67298978e-01 -4.30276132e-02 1.15891192e+02] [ 6.70346904e-02 5.08994109e-05 9.97750644e-01 2.78433908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.45, Y:115.91, Z:27.85 [[ 7.67841198e-01 -6.38575238e-01 -5.13961037e-02 1.90454209e+02] [ 6.37123482e-01 7.69559338e-01 -4.30359467e-02 1.15914497e+02] [ 6.70340415e-02 2.99108294e-04 9.97750644e-01 2.78459432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.47, Y:115.94, Z:27.85 [[ 7.74857751e-01 -6.30026162e-01 -5.15994209e-02 1.90470028e+02] [ 6.28571586e-01 7.76573570e-01 -4.27931208e-02 1.15935877e+02] [ 6.70315322e-02 7.24651554e-04 9.97750594e-01 2.78457336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.49, Y:115.96, Z:27.84 [[ 7.77059770e-01 -6.27326663e-01 -5.13748086e-02 1.90490848e+02] [ 6.25848380e-01 7.78755126e-01 -4.30611049e-02 1.15957568e+02] [ 6.70217748e-02 1.30821161e-03 9.97750655e-01 2.78435820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.36710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:115.98, Z:27.84 [[ 7.81371385e-01 -6.21934240e-01 -5.15418245e-02 1.90508643e+02] [ 6.20457361e-01 7.83068015e-01 -4.28619482e-02 1.15979125e+02] [ 6.70180674e-02 1.51159535e-03 9.97750617e-01 2.78408158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.53, Y:116.00, Z:27.84 [[ 7.81143710e-01 -6.22236843e-01 -5.13401979e-02 1.90530223e+02] [ 6.20744823e-01 7.82826974e-01 -4.31021167e-02 1.15997635e+02] [ 6.70102168e-02 1.79978522e-03 9.97750666e-01 2.78427183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.55, Y:116.02, Z:27.84 [[ 7.82030498e-01 -6.21123266e-01 -5.13243503e-02 1.90548220e+02] [ 6.19627613e-01 7.83710535e-01 -4.31209792e-02 1.16018885e+02] [ 6.70068775e-02 1.91993613e-03 9.97750666e-01 2.78444810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.4571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.57, Y:116.04, Z:27.85 [[ 7.81071815e-01 -6.22329706e-01 -5.13084503e-02 1.90568645e+02] [ 6.20835407e-01 7.82753056e-01 -4.31398899e-02 1.16038688e+02] [ 6.70090813e-02 1.84124945e-03 9.97750667e-01 2.78466751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.59, Y:116.06, Z:27.84 [[ 7.76906501e-01 -6.27523201e-01 -5.12925051e-02 1.90590146e+02] [ 6.26038894e-01 7.78596569e-01 -4.31588402e-02 1.16058131e+02] [ 6.70193420e-02 1.41928039e-03 9.97750667e-01 2.78442914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.61, Y:116.08, Z:27.84 [[ 7.74418965e-01 -6.30579272e-01 -5.14300303e-02 1.90613091e+02] [ 6.29112467e-01 7.76124278e-01 -4.29954446e-02 1.16075004e+02] [ 6.70281313e-02 9.41214487e-04 9.97750642e-01 2.78428699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.64, Y:116.09, Z:27.84 [[ 7.66857725e-01 -6.39765908e-01 -5.12719440e-02 1.90636190e+02] [ 6.38306967e-01 7.68569732e-01 -4.31831457e-02 1.16091346e+02] [ 6.70331687e-02 3.88089834e-04 9.97750672e-01 2.78426932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.66, Y:116.11, Z:27.84 [[ 7.62751751e-01 -6.44656976e-01 -5.12557364e-02 1.90657602e+02] [ 6.43207720e-01 7.64471964e-01 -4.32023747e-02 1.16108897e+02] [ 6.70342856e-02 -1.53984438e-05 9.97750672e-01 2.78441287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.68, Y:116.13, Z:27.85 [[ 7.56202035e-01 -6.52328900e-01 -5.12395215e-02 1.90681420e+02] [ 6.50895793e-01 7.57935723e-01 -4.32215975e-02 1.16126260e+02] [ 6.70309610e-02 -6.67328983e-04 9.97750673e-01 2.78459466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.70, Y:116.14, Z:27.85 [[ 7.50175668e-01 -6.59244456e-01 -5.13148539e-02 1.90703841e+02] [ 6.57833425e-01 7.51927382e-01 -4.31323289e-02 1.16142092e+02] [ 6.70197925e-02 -1.39980246e-03 9.97750664e-01 2.78508883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.73, Y:116.16, Z:27.85 [[ 7.47335705e-01 -6.62460806e-01 -5.13324995e-02 1.90725465e+02] [ 6.61058745e-01 7.49094613e-01 -4.31114334e-02 1.16160013e+02] [ 6.70125338e-02 -1.71508423e-03 9.97750660e-01 2.78548760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.75, Y:116.18, Z:27.85 [[ 7.44190334e-01 -6.66000405e-01 -5.12270267e-02 1.90748483e+02] [ 6.64598122e-01 7.45949037e-01 -4.32362184e-02 1.16179337e+02] [ 6.70080902e-02 -1.86940991e-03 9.97750681e-01 2.78545069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.77, Y:116.19, Z:27.86 [[ 7.39817134e-01 -6.70842211e-01 -5.13939225e-02 1.90770859e+02] [ 6.69465096e-01 7.41595675e-01 -4.30388158e-02 1.16193405e+02] [ 6.69857650e-02 -2.56558391e-03 9.97750633e-01 2.78576465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.7571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.79, Y:116.21, Z:27.86 [[ 7.37072782e-01 -6.73874646e-01 -5.11534528e-02 1.90792382e+02] [ 6.72485128e-01 7.38841575e-01 -4.33229728e-02 1.16210410e+02] [ 6.69885505e-02 -2.46775216e-03 9.97750692e-01 2.78607323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.81, Y:116.23, Z:27.86 [[ 7.32422656e-01 -6.78929403e-01 -5.11069359e-02 1.90813565e+02] [ 6.77548265e-01 7.34198002e-01 -4.33779089e-02 1.16228054e+02] [ 6.69731480e-02 -2.85645256e-03 9.97750689e-01 2.78629531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.83, Y:116.25, Z:27.86 [[ 7.32016910e-01 -6.79363731e-01 -5.11484519e-02 1.90832898e+02] [ 6.77987058e-01 7.33795718e-01 -4.33289008e-02 1.16246202e+02] [ 6.69685987e-02 -2.96050030e-03 9.97750691e-01 2.78648711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.8471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.85, Y:116.27, Z:27.87 [[ 7.32473233e-01 -6.78879511e-01 -5.10448147e-02 1.90852959e+02] [ 6.77493160e-01 7.34244521e-01 -4.34511380e-02 1.16265589e+02] [ 6.69774628e-02 -2.75571731e-03 9.97750683e-01 2.78682945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.87, Y:116.28, Z:27.87 [[ 7.35958348e-01 -6.75093732e-01 -5.11249737e-02 1.90872503e+02] [ 6.73704813e-01 7.37727612e-01 -4.33566175e-02 1.16282998e+02] [ 6.69860854e-02 -2.53447628e-03 9.97750691e-01 2.78703772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.89, Y:116.30, Z:27.88 [[ 7.42688667e-01 -6.67706696e-01 -5.08066233e-02 1.90891557e+02] [ 6.66274434e-01 7.44423190e-01 -4.37320463e-02 1.16303991e+02] [ 6.70218087e-02 -1.37185905e-03 9.97750568e-01 2.78780946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.91, Y:116.33, Z:27.89 [[ 7.49905574e-01 -6.59588471e-01 -5.08397389e-02 1.90908277e+02] [ 6.58140072e-01 7.51626614e-01 -4.36930097e-02 1.16328440e+02] [ 6.70319063e-02 -6.94037873e-04 9.97750591e-01 2.78871145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.93, Y:116.35, Z:27.89 [[ 7.55203072e-01 -6.53494312e-01 -5.11224446e-02 1.90926242e+02] [ 6.52054522e-01 7.56931197e-01 -4.33597007e-02 1.16349012e+02] [ 6.70314910e-02 -5.89241977e-04 9.97750686e-01 2.78882761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:116.37, Z:27.89 [[ 7.62778298e-01 -6.44650350e-01 -5.09430488e-02 1.90943814e+02] [ 6.43176382e-01 7.64477407e-01 -4.35710477e-02 1.16373398e+02] [ 6.70329010e-02 4.69683835e-04 9.97750655e-01 2.78860559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.96, Y:116.39, Z:27.89 [[ 7.66075011e-01 -6.40716375e-01 -5.11038574e-02 1.90963253e+02] [ 6.39246297e-01 7.67777447e-01 -4.33816172e-02 1.16393298e+02] [ 6.70317016e-02 5.65621286e-04 9.97750686e-01 2.78851946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.98, Y:116.42, Z:27.88 [[ 7.72931949e-01 -6.32428717e-01 -5.10893405e-02 1.90981884e+02] [ 6.30939260e-01 7.74617456e-01 -4.33987067e-02 1.16415816e+02] [ 6.70212833e-02 1.30997628e-03 9.97750686e-01 2.78813683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.00, Y:116.44, Z:27.88 [[ 7.78646646e-01 -6.25380567e-01 -5.10739335e-02 1.91001782e+02] [ 6.23874672e-01 7.80317482e-01 -4.34168308e-02 1.16437628e+02] [ 6.70059255e-02 1.94263615e-03 9.97750686e-01 2.78757214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.02, Y:116.46, Z:27.88 [[ 7.80118441e-01 -6.23544798e-01 -5.10597994e-02 1.91023223e+02] [ 6.22033886e-01 7.81784741e-01 -4.34334468e-02 1.16456371e+02] [ 6.70004718e-02 2.12230739e-03 9.97750687e-01 2.78750064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.05, Y:116.47, Z:27.88 [[ 7.81832965e-01 -6.21395011e-01 -5.10436552e-02 1.91046014e+02] [ 6.19878282e-01 7.83493972e-01 -4.34524114e-02 1.16472715e+02] [ 6.69935078e-02 2.33167442e-03 9.97750687e-01 2.78769907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.07, Y:116.49, Z:27.88 [[ 7.85043743e-01 -6.17335035e-01 -5.10272074e-02 1.91068947e+02] [ 6.15808467e-01 7.86695711e-01 -4.34717180e-02 1.16488565e+02] [ 6.69794997e-02 2.70421379e-03 9.97750687e-01 2.78773558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.2071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.09, Y:116.50, Z:27.88 [[ 7.87184669e-01 -6.14603155e-01 -5.10221336e-02 1.91091777e+02] [ 6.13070471e-01 7.88830964e-01 -4.34776721e-02 1.16504715e+02] [ 6.69693533e-02 2.94479346e-03 9.97750687e-01 2.78793477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.12, Y:116.52, Z:27.88 [[ 7.91390142e-01 -6.09179804e-01 -5.10059835e-02 1.91116458e+02] [ 6.07634629e-01 7.93024718e-01 -4.34966105e-02 1.16518335e+02] [ 6.69462623e-02 3.42978689e-03 9.97750688e-01 2.78834160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.14, Y:116.53, Z:27.89 [[ 7.92763745e-01 -6.07391796e-01 -5.09985431e-02 1.91139253e+02] [ 6.05842376e-01 7.94394299e-01 -4.35053324e-02 1.16534265e+02] [ 6.69377339e-02 3.59237167e-03 9.97750688e-01 2.78871777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.17, Y:116.55, Z:27.89 [[ 7.94350502e-01 -6.05316506e-01 -5.09824248e-02 1.91166714e+02] [ 6.03761622e-01 7.95975845e-01 -4.35242127e-02 1.16546262e+02] [ 6.69267031e-02 3.79224866e-03 9.97750688e-01 2.78924516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.19, Y:116.56, Z:27.90 [[ 7.94044585e-01 -6.05718934e-01 -5.09683182e-02 1.91190704e+02] [ 6.04163820e-01 7.95669708e-01 -4.35407259e-02 1.16559433e+02] [ 6.69273889e-02 3.78006382e-03 9.97750688e-01 2.78958622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.22, Y:116.57, Z:27.90 [[ 7.91239969e-01 -6.09378577e-01 -5.09613749e-02 1.91218778e+02] [ 6.07830461e-01 7.92871760e-01 -4.35488509e-02 1.16568472e+02] [ 6.69435718e-02 3.48171539e-03 9.97750688e-01 2.78980179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.25, Y:116.58, Z:27.90 [[ 7.88672654e-01 -6.12698196e-01 -5.09545373e-02 1.91247429e+02] [ 6.11156437e-01 7.90310452e-01 -4.35568499e-02 1.16578566e+02] [ 6.69571067e-02 3.21090292e-03 9.97750688e-01 2.78963954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.27, Y:116.59, Z:27.90 [[ 7.88022212e-01 -6.13535823e-01 -5.09390551e-02 1.91271957e+02] [ 6.11994639e-01 7.89660551e-01 -4.35749486e-02 1.16592877e+02] [ 6.69593542e-02 3.16359871e-03 9.97750689e-01 2.78974108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.30, Y:116.60, Z:27.90 [[ 7.89344241e-01 -6.11835360e-01 -5.09230999e-02 1.91300043e+02] [ 6.10289450e-01 7.90978120e-01 -4.35935864e-02 1.16603663e+02] [ 6.69511554e-02 3.33251570e-03 9.97750689e-01 2.78986277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:116.62, Z:27.90 [[ 7.90041572e-01 -6.10936003e-01 -5.09069197e-02 1.91324499e+02] [ 6.09387021e-01 7.91672540e-01 -4.36124729e-02 1.16619153e+02] [ 6.69460403e-02 3.43365050e-03 9.97750689e-01 2.78973289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.35, Y:116.63, Z:27.90 [[ 7.93292884e-01 -6.06708563e-01 -5.09030377e-02 1.91350664e+02] [ 6.05150606e-01 7.94915279e-01 -4.36170024e-02 1.16630437e+02] [ 6.69264113e-02 3.79705358e-03 9.97750689e-01 2.79013041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.37, Y:116.65, Z:27.90 [[ 7.94186794e-01 -6.05538985e-01 -5.08908038e-02 1.91374024e+02] [ 6.03977729e-01 7.95806016e-01 -4.36312719e-02 1.16645835e+02] [ 6.69196439e-02 3.91446785e-03 9.97750689e-01 2.79044107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.40, Y:116.66, Z:27.91 [[ 7.95293999e-01 -6.04085403e-01 -5.08751506e-02 1.91402096e+02] [ 6.02520028e-01 7.96909239e-01 -4.36495162e-02 1.16657086e+02] [ 6.69109132e-02 4.06090112e-03 9.97750690e-01 2.79052495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.5971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.43, Y:116.67, Z:27.91 [[ 7.94878041e-01 -6.04633786e-01 -5.08614273e-02 1.91426426e+02] [ 6.03068509e-01 7.96493376e-01 -4.36655012e-02 1.16671937e+02] [ 6.69124272e-02 4.03582295e-03 9.97750690e-01 2.79056069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.45, Y:116.69, Z:27.91 [[ 7.94043335e-01 -6.05730881e-01 -5.08456663e-02 1.91453147e+02] [ 6.04166669e-01 7.95659700e-01 -4.36838462e-02 1.16685256e+02] [ 6.69165022e-02 3.96761006e-03 9.97750690e-01 2.79056765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.6571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:116.70, Z:27.90 [[ 7.91115200e-01 -6.09551392e-01 -5.08315037e-02 1.91478431e+02] [ 6.07993936e-01 7.92738075e-01 -4.37003198e-02 1.16698929e+02] [ 6.69336592e-02 3.66674121e-03 9.97750690e-01 2.79047794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.50, Y:116.71, Z:27.90 [[ 7.88516471e-01 -6.12910737e-01 -5.08153898e-02 1.91502162e+02] [ 6.11358996e-01 7.90144811e-01 -4.37190494e-02 1.16713632e+02] [ 6.69473913e-02 3.40674488e-03 9.97750691e-01 2.79038763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:116.72, Z:27.90 [[ 7.81815090e-01 -6.21436824e-01 -5.08078678e-02 1.91529507e+02] [ 6.19902290e-01 7.83459656e-01 -4.37277893e-02 1.16724389e+02] [ 6.69799731e-02 2.69113196e-03 9.97750691e-01 2.79012605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:191.55, Y:116.74, Z:27.90 [[ 7.78140243e-01 -6.26032589e-01 -5.08031551e-02 1.91553603e+02] [ 6.24507414e-01 7.79793493e-01 -4.37332639e-02 1.16739311e+02] [ 6.69944181e-02 2.30366557e-03 9.97750691e-01 2.79027336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:191.58, Y:116.75, Z:27.91 [[ 7.71406232e-01 -6.34313017e-01 -5.07880095e-02 1.91578755e+02] [ 6.32804442e-01 7.73074642e-01 -4.37508456e-02 1.16751402e+02] [ 6.70146531e-02 1.61079697e-03 9.97750691e-01 2.79105730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80710568099994 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:191.60, Y:116.77, Z:27.91 [[ 7.66860504e-01 -6.39816226e-01 -5.05980749e-02 1.91601753e+02] [ 6.38305070e-01 7.68526625e-01 -4.39711790e-02 1.16768768e+02] [ 6.70194415e-02 1.42275274e-03 9.97750655e-01 2.79125458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8371056809999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:191.63, Y:116.78, Z:27.92 [[ 7.59231357e-01 -6.48837482e-01 -5.07707445e-02 1.91626251e+02] [ 6.47359498e-01 7.60926927e-01 -4.37708996e-02 1.16783811e+02] [ 6.70330269e-02 3.65315795e-04 9.97750690e-01 2.79185223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.65, Y:116.80, Z:27.92 [[ 7.55344274e-01 -6.53359615e-01 -5.07566861e-02 1.91648533e+02] [ 6.51890688e-01 7.57047695e-01 -4.37871957e-02 1.16801279e+02] [ 6.70340176e-02 -1.34034804e-05 9.97750690e-01 2.79217737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8971056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:191.67, Y:116.82, Z:27.92 [[ 7.48467461e-01 -6.61227377e-01 -5.07426389e-02 1.91673038e+02] [ 6.59775251e-01 7.50185227e-01 -4.38034683e-02 1.16815704e+02] [ 6.70304305e-02 -6.93266604e-04 9.97750691e-01 2.79248464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92710568099994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:191.70, Y:116.83, Z:27.93 [[ 7.41029403e-01 -6.69558889e-01 -5.06588348e-02 1.91695891e+02] [ 6.68119435e-01 7.42757811e-01 -4.39005118e-02 1.16832587e+02] [ 6.70212232e-02 -1.31458201e-03 9.97750684e-01 2.79282425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.9571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:191.72, Y:116.85, Z:27.93 [[ 7.37712930e-01 -6.73206249e-01 -5.07245474e-02 1.91715734e+02] [ 6.71780559e-01 7.39452702e-01 -4.38244533e-02 1.16850562e+02] [ 6.70112995e-02 -1.74589897e-03 9.97750689e-01 2.79298563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98710568099995 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:191.73, Y:116.87, Z:27.93 [[ 7.31591000e-01 -6.79854795e-01 -5.07155469e-02 1.91734785e+02] [ 6.78444187e-01 7.33343023e-01 -4.38348666e-02 1.16871340e+02] [ 6.69932368e-02 -2.33847407e-03 9.97750689e-01 2.79301500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0171056809999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:191.75, Y:116.89, Z:27.93 [[ 7.29282882e-01 -6.82331258e-01 -5.07004178e-02 1.91753781e+02] [ 6.80925385e-01 7.31038707e-01 -4.38523583e-02 1.16890066e+02] [ 6.69858027e-02 -2.54242724e-03 9.97750689e-01 2.79314346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04710568099995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:191.77, Y:116.91, Z:27.94 [[ 7.23474773e-01 -6.88487328e-01 -5.06897739e-02 1.91771687e+02] [ 6.87095527e-01 7.25241773e-01 -4.38646585e-02 1.16911862e+02] [ 6.69626029e-02 -3.09374309e-03 9.97750690e-01 2.79352465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:191.79, Y:116.94, Z:27.94 [[ 7.16195223e-01 -6.96057943e-01 -5.06728962e-02 1.91786285e+02] [ 6.94683431e-01 7.17975704e-01 -4.38841471e-02 1.16937492e+02] [ 6.69278175e-02 -3.77200492e-03 9.97750690e-01 2.79415440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.80, Y:116.96, Z:27.94 [[ 7.12678712e-01 -6.99666528e-01 -5.05549464e-02 1.91804042e+02] [ 6.98291425e-01 7.14458751e-01 -4.40202189e-02 1.16962346e+02] [ 6.69188976e-02 -3.92981261e-03 9.97750679e-01 2.79410841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.1371056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:191.82, Y:116.98, Z:27.94 [[ 7.10473384e-01 -7.01891373e-01 -5.07550165e-02 1.91819357e+02] [ 7.00538178e-01 7.12270136e-01 -4.37894410e-02 1.16983930e+02] [ 6.68867133e-02 -4.44459446e-03 9.97750677e-01 2.79408130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:117.01, Z:27.94 [[ 7.04844644e-01 -7.07557685e-01 -5.05583784e-02 1.91831782e+02] [ 7.06202778e-01 7.06640092e-01 -4.40160992e-02 1.17013501e+02] [ 6.68705064e-02 -4.67995547e-03 9.97750687e-01 2.79411695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.84, Y:117.04, Z:27.95 [[ 7.00425050e-01 -7.11928304e-01 -5.06244920e-02 1.91842554e+02] [ 7.10590035e-01 7.02232928e-01 -4.39399283e-02 1.17044077e+02] [ 6.68322638e-02 -5.19663307e-03 9.97750692e-01 2.79463688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:191.86, Y:117.07, Z:27.95 [[ 6.98764402e-01 -7.13559314e-01 -5.06104285e-02 1.91856861e+02] [ 7.12224104e-01 7.00574540e-01 -4.39561208e-02 1.17068370e+02] [ 6.68216770e-02 -5.33099458e-03 9.97750692e-01 2.79471111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.87, Y:117.10, Z:27.95 [[ 6.96396264e-01 -7.15871296e-01 -5.06016909e-02 1.91865802e+02] [ 7.14541370e-01 6.98210288e-01 -4.39661770e-02 1.17099224e+02] [ 6.68047453e-02 -5.53912014e-03 9.97750692e-01 2.79457109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.88, Y:117.13, Z:27.95 [[ 6.96217915e-01 -7.16059021e-01 -5.03993500e-02 1.91881510e+02] [ 7.14712889e-01 6.98020006e-01 -4.41990743e-02 1.17125142e+02] [ 6.68289005e-02 -5.24887769e-03 9.97750644e-01 2.79470650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.90, Y:117.14, Z:27.95 [[ 6.96183536e-01 -7.16088269e-01 -5.04586502e-02 1.91902836e+02] [ 7.14747100e-01 6.97989294e-01 -4.41308175e-02 1.17143700e+02] [ 6.68211583e-02 -5.34202528e-03 9.97750668e-01 2.79489695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.3471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.91, Y:117.18, Z:27.95 [[ 6.94144470e-01 -7.18065112e-01 -5.04574101e-02 1.91912236e+02] [ 7.16728981e-01 6.95953959e-01 -4.41322448e-02 1.17176771e+02] [ 6.68058596e-02 -5.53013452e-03 9.97750668e-01 2.79500611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.92, Y:117.21, Z:27.95 [[ 6.93639886e-01 -7.18550952e-01 -5.04800747e-02 1.91923533e+02] [ 7.17217961e-01 6.95451682e-01 -4.41061652e-02 1.17206377e+02] [ 6.67989798e-02 -5.61142089e-03 9.97750674e-01 2.79518448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.4071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.94, Y:117.23, Z:27.95 [[ 6.92575637e-01 -7.19577578e-01 -5.04687582e-02 1.91935550e+02] [ 7.18246337e-01 6.94388722e-01 -4.41191794e-02 1.17232952e+02] [ 6.67921088e-02 -5.69313191e-03 9.97750672e-01 2.79526788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.95, Y:117.27, Z:27.95 [[ 6.96878732e-01 -7.15431050e-01 -5.01841185e-02 1.91947072e+02] [ 7.14065639e-01 6.98666432e-01 -4.44463680e-02 1.17268351e+02] [ 6.68602708e-02 -4.86102609e-03 9.97750507e-01 2.79548474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.95, Y:117.30, Z:27.96 [[ 7.05677530e-01 -7.06715693e-01 -5.07164059e-02 1.91954891e+02] [ 7.05371567e-01 7.07481092e-01 -4.38344360e-02 1.17298822e+02] [ 6.68593821e-02 -4.84093417e-03 9.97750664e-01 2.79568268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.97, Y:117.32, Z:27.96 [[ 7.10194364e-01 -7.02204626e-01 -5.03252303e-02 1.91968820e+02] [ 7.00817296e-01 7.11964943e-01 -4.42836141e-02 1.17323009e+02] [ 6.69259584e-02 -3.81881870e-03 9.97750637e-01 2.79596739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.97, Y:117.36, Z:27.97 [[ 7.18331359e-01 -6.93887501e-01 -5.02015470e-02 1.91974720e+02] [ 6.92469760e-01 7.20077780e-01 -4.44254815e-02 1.17358659e+02] [ 6.69753048e-02 -2.85083670e-03 9.97750561e-01 2.79686241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:117.39, Z:27.97 [[ 7.22401425e-01 -6.89652043e-01 -5.01621469e-02 1.91989879e+02] [ 6.88220928e-01 7.24136945e-01 -4.44706586e-02 1.17387353e+02] [ 6.69935444e-02 -2.39697213e-03 9.97750530e-01 2.79660780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5871056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:192.00, Y:117.42, Z:27.96 [[ 7.35971814e-01 -6.75124201e-01 -5.05252675e-02 1.91999548e+02] [ 6.73687259e-01 7.37702314e-01 -4.40542154e-02 1.17416160e+02] [ 6.70146737e-02 -1.61556815e-03 9.97750682e-01 2.79615074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:192.02, Y:117.44, Z:27.96 [[ 7.40093498e-01 -6.70639112e-01 -5.00479442e-02 1.92016088e+02] [ 6.69154554e-01 7.41783628e-01 -4.46008113e-02 1.17438800e+02] [ 6.70357940e-02 -4.81039339e-04 9.97750455e-01 2.79618219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.03, Y:117.47, Z:27.97 [[ 7.43512417e-01 -6.66848901e-01 -5.00182864e-02 1.92028241e+02] [ 6.65353441e-01 7.45192951e-01 -4.46347850e-02 1.17466691e+02] [ 6.70379318e-02 -9.33220854e-05 9.97750423e-01 2.79674144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:192.04, Y:117.49, Z:27.97 [[ 7.43104959e-01 -6.67307546e-01 -4.99565718e-02 1.92040207e+02] [ 6.65808377e-01 7.44782275e-01 -4.47053457e-02 1.17492873e+02] [ 6.70389838e-02 -4.07399631e-05 9.97750356e-01 2.79652993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.7071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:192.06, Y:117.52, Z:27.97 [[ 7.38599171e-01 -6.72310298e-01 -4.97003766e-02 1.92060051e+02] [ 6.70802741e-01 7.40269446e-01 -4.49981184e-02 1.17519381e+02] [ 6.70443687e-02 -1.03575918e-04 9.97749990e-01 2.79661040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73710568099995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:192.08, Y:117.54, Z:27.97 [[ 7.37087566e-01 -6.73928040e-01 -5.02286442e-02 1.92080393e+02] [ 6.72465136e-01 7.38796239e-01 -4.43932123e-02 1.17540329e+02] [ 6.70265640e-02 -1.05532727e-03 9.97750633e-01 2.79657091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.7671056809999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:192.10, Y:117.56, Z:27.97 [[ 7.35902638e-01 -6.75218211e-01 -5.02759815e-02 1.92098978e+02] [ 6.73762001e-01 7.37616986e-01 -4.43390218e-02 1.17558863e+02] [ 6.70229329e-02 -1.24484275e-03 9.97750659e-01 2.79674380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79710568099995 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:192.12, Y:117.58, Z:27.97 [[ 7.33060862e-01 -6.78328447e-01 -4.99228405e-02 1.92122555e+02] [ 6.76851911e-01 7.34758148e-01 -4.47432059e-02 1.17581953e+02] [ 6.70318032e-02 -9.90876915e-04 9.97750347e-01 2.79682585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.8271056809999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:192.14, Y:117.60, Z:27.97 [[ 7.36611898e-01 -6.74427914e-01 -5.04965442e-02 1.92137597e+02] [ 6.72987149e-01 7.38339157e-01 -4.40861205e-02 1.17600212e+02] [ 6.70164862e-02 -1.50916449e-03 9.97750727e-01 2.79730717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85710568099995 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:192.16, Y:117.63, Z:27.98 [[ 7.36508949e-01 -6.74591231e-01 -4.98120364e-02 1.92156589e+02] [ 6.73097555e-01 7.38191329e-01 -4.48691813e-02 1.17628477e+02] [ 6.70391696e-02 -4.81806378e-04 9.97750228e-01 2.79772947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.8871056809999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:192.18, Y:117.65, Z:27.98 [[ 7.37505608e-01 -6.73451201e-01 -5.04872018e-02 1.92177106e+02] [ 6.72007457e-01 7.39230344e-01 -4.40962160e-02 1.17648371e+02] [ 6.70183212e-02 -1.40656951e-03 9.97750754e-01 2.79799703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91710568099995 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:192.20, Y:117.67, Z:27.98 [[ 7.37661662e-01 -6.73281315e-01 -5.04731860e-02 1.92196141e+02] [ 6.71836077e-01 7.39385146e-01 -4.41122529e-02 1.17667399e+02] [ 6.70190797e-02 -1.36978952e-03 9.97750754e-01 2.79805568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.9471056809999 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:192.22, Y:117.69, Z:27.98 [[ 7.37021291e-01 -6.73982770e-01 -5.04662599e-02 1.92216731e+02] [ 6.72538630e-01 7.38745695e-01 -4.41201752e-02 1.17688025e+02] [ 6.70179701e-02 -1.42300084e-03 9.97750754e-01 2.79800786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97710568099995 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:192.24, Y:117.71, Z:27.98 [[ 7.35401836e-01 -6.75750498e-01 -5.04519981e-02 1.92236335e+02] [ 6.74309386e-01 7.37128770e-01 -4.41364778e-02 1.17708169e+02] [ 6.70148662e-02 -1.56220899e-03 9.97750754e-01 2.79751560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.0071056809999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:192.26, Y:117.73, Z:27.98 [[ 7.34784949e-01 -6.76421786e-01 -5.04444832e-02 1.92257184e+02] [ 6.74981662e-01 7.36512708e-01 -4.41450650e-02 1.17727695e+02] [ 6.70136867e-02 -1.61197179e-03 9.97750754e-01 2.79762428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03710568099996 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:192.27, Y:117.75, Z:27.98 [[ 7.36388828e-01 -6.74676409e-01 -5.04305125e-02 1.92273649e+02] [ 6.73231098e-01 7.38112250e-01 -4.41610193e-02 1.17751252e+02] [ 6.70177769e-02 -1.43170804e-03 9.97750754e-01 2.79833209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.06710568099993 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:192.29, Y:117.78, Z:27.99 [[ 7.42275253e-01 -6.68195116e-01 -5.04255465e-02 1.92288804e+02] [ 6.66734368e-01 7.43985609e-01 -4.41666889e-02 1.17775529e+02] [ 6.70278468e-02 -8.36604736e-04 9.97750754e-01 2.79938986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.0971056809999 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:192.31, Y:117.79, Z:28.00 [[ 7.47519467e-01 -6.62323490e-01 -5.04206440e-02 1.92308409e+02] [ 6.60848927e-01 7.49217929e-01 -4.41722849e-02 1.17792801e+02] [ 6.70323923e-02 -3.00785667e-04 9.97750754e-01 2.79974775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.12710568099993 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:192.33, Y:117.81, Z:28.00 [[ 7.52200154e-01 -6.57030905e-01 -5.00531619e-02 1.92332916e+02] [ 6.55516380e-01 7.53863287e-01 -4.45916941e-02 1.17811696e+02] [ 6.70313623e-02 7.31211671e-04 9.97750601e-01 2.79978157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.1571056809999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:192.35, Y:117.83, Z:28.00 [[ 7.54749029e-01 -6.54073483e-01 -5.04160929e-02 1.92353801e+02] [ 6.52580005e-01 7.56430885e-01 -4.41775269e-02 1.17830370e+02] [ 6.70316387e-02 4.42411388e-04 9.97750752e-01 2.80004689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18710568099993 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:192.37, Y:117.85, Z:28.00 [[ 7.59748611e-01 -6.48259799e-01 -5.04111193e-02 1.92371895e+02] [ 6.46753077e-01 7.61418612e-01 -4.41832016e-02 1.17852502e+02] [ 6.70261579e-02 9.64579564e-04 9.97750752e-01 2.80046838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2171056809999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:192.39, Y:117.87, Z:28.01 [[ 7.63280433e-01 -6.44098833e-01 -5.03951716e-02 1.92391059e+02] [ 6.42581809e-01 7.64941081e-01 -4.42013841e-02 1.17869677e+02] [ 6.70193969e-02 1.35503110e-03 9.97750753e-01 2.80054704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24710568099994 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:192.41, Y:117.88, Z:28.00 [[ 7.68322432e-01 -6.38105891e-01 -5.00151186e-02 1.92412455e+02] [ 6.36547680e-01 7.69944697e-01 -4.46342203e-02 1.17884668e+02] [ 6.69902343e-02 2.45646497e-03 9.97750607e-01 2.80035350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2771056809999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:192.43, Y:117.90, Z:28.00 [[ 7.69097584e-01 -6.37194313e-01 -4.97223748e-02 1.92434196e+02] [ 6.35612681e-01 7.70697431e-01 -4.49665399e-02 1.17903307e+02] [ 6.69733301e-02 2.97948522e-03 9.97750317e-01 2.80049600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30710568099994 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:192.46, Y:117.92, Z:28.01 [[ 7.68517159e-01 -6.37893222e-01 -4.97354446e-02 1.92460420e+02] [ 6.36314002e-01 7.70119364e-01 -4.49517044e-02 1.17922229e+02] [ 6.69766165e-02 2.89879634e-03 9.97750334e-01 2.80060065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3371056809999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:192.49, Y:117.93, Z:28.01 [[ 7.69179527e-01 -6.37049269e-01 -5.03098736e-02 1.92486380e+02] [ 6.35510625e-01 7.70820220e-01 -4.42993757e-02 1.17932753e+02] [ 6.70007528e-02 2.10171370e-03 9.97750711e-01 2.80090013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36710568099994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:192.51, Y:117.95, Z:28.01 [[ 7.68178115e-01 -6.38289957e-01 -4.98830128e-02 1.92508786e+02] [ 6.36722438e-01 7.69791505e-01 -4.47836702e-02 1.17948190e+02] [ 6.69844864e-02 2.64020189e-03 9.97750524e-01 2.80092426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3971056809999 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:192.54, Y:117.96, Z:28.02 [[ 7.62550912e-01 -6.45023827e-01 -4.96021033e-02 1.92536576e+02] [ 6.43449825e-01 7.64158446e-01 -4.51020067e-02 1.17963759e+02] [ 6.69957352e-02 2.47611161e-03 9.97750189e-01 2.80154454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42710568099994 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:192.56, Y:117.98, Z:28.02 [[ 7.58376167e-01 -6.49901702e-01 -4.99336246e-02 1.92563261e+02] [ 6.48362739e-01 7.60016707e-01 -4.47254214e-02 1.17981468e+02] [ 6.70175165e-02 1.54359203e-03 9.97750605e-01 2.80166414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.4571056809999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:192.59, Y:117.99, Z:28.02 [[ 7.53636693e-01 -6.55362535e-01 -5.03158375e-02 1.92591184e+02] [ 6.53864335e-01 7.55314317e-01 -4.42912360e-02 1.17993053e+02] [ 6.70310891e-02 4.79768995e-04 9.97750772e-01 2.80195607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48710568099995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:192.61, Y:118.01, Z:28.02 [[ 7.51796561e-01 -6.57473744e-01 -5.03011587e-02 1.92614472e+02] [ 6.55979141e-01 7.53477390e-01 -4.43079004e-02 1.18009219e+02] [ 6.70320669e-02 3.14016269e-04 9.97750772e-01 2.80213020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5171056809999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:192.64, Y:118.02, Z:28.02 [[ 7.50489546e-01 -6.58966544e-01 -5.02845426e-02 1.92639729e+02] [ 6.57474021e-01 7.52172222e-01 -4.43267498e-02 1.18022148e+02] [ 6.70324812e-02 2.05981900e-04 9.97750773e-01 2.80240643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.66, Y:118.04, Z:28.03 [[ 7.49921516e-01 -6.59613494e-01 -5.02768084e-02 1.92663502e+02] [ 6.58121834e-01 7.51604958e-01 -4.43355204e-02 1.18039817e+02] [ 6.70326060e-02 1.59895342e-04 9.97750773e-01 2.80308922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:192.69, Y:118.05, Z:28.03 [[ 7.51369023e-01 -6.57951107e-01 -5.04473215e-02 1.92687432e+02] [ 6.56468680e-01 7.53060647e-01 -4.41421998e-02 1.18053795e+02] [ 6.70333018e-02 4.99948956e-05 9.97750737e-01 2.80304032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.71, Y:118.07, Z:28.03 [[ 7.53023551e-01 -6.56071454e-01 -5.02571281e-02 1.92714119e+02] [ 6.54570396e-01 7.54698610e-01 -4.43576925e-02 1.18066215e+02] [ 6.70308005e-02 5.05558917e-04 9.97750779e-01 2.80319121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.6371056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:192.74, Y:118.08, Z:28.03 [[ 7.53936568e-01 -6.55022423e-01 -5.02521282e-02 1.92737602e+02] [ 6.53518657e-01 7.55609196e-01 -4.43633561e-02 1.18082003e+02] [ 6.70299632e-02 6.06453101e-04 9.97750779e-01 2.80349493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.76, Y:118.10, Z:28.04 [[ 7.55053503e-01 -6.53735837e-01 -5.02360805e-02 1.92760903e+02] [ 6.52228012e-01 7.56722473e-01 -4.43815207e-02 1.18097239e+02] [ 6.70285617e-02 7.45043751e-04 9.97750779e-01 2.80380100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.79, Y:118.12, Z:28.04 [[ 7.55884546e-01 -6.52796214e-01 -4.99565433e-02 1.92785426e+02] [ 6.51265379e-01 7.57532532e-01 -4.46975237e-02 1.18115237e+02] [ 6.70220810e-02 1.25120028e-03 9.97750708e-01 2.80414957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.81, Y:118.13, Z:28.05 [[ 7.57455714e-01 -6.50944076e-01 -5.03254411e-02 1.92809823e+02] [ 6.49436827e-01 7.59125204e-01 -4.42801629e-02 1.18127272e+02] [ 6.70272205e-02 8.57067619e-04 9.97750779e-01 2.80454967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.7571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.83, Y:118.14, Z:28.04 [[ 7.61077924e-01 -6.46713810e-01 -5.02159489e-02 1.92831925e+02] [ 6.45189110e-01 7.62731472e-01 -4.44039877e-02 1.18138970e+02] [ 6.70179567e-02 1.39611145e-03 9.97750793e-01 2.80447954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78710568099996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.86, Y:118.15, Z:28.05 [[ 7.64496048e-01 -6.42718973e-01 -4.95793716e-02 1.92860236e+02] [ 6.41138728e-01 7.66097239e-01 -4.51237396e-02 1.18153934e+02] [ 6.69845033e-02 2.70966532e-03 9.97750337e-01 2.80494301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.89, Y:118.17, Z:28.05 [[ 7.68986154e-01 -6.37317561e-01 -4.98660386e-02 1.92886248e+02] [ 6.35747009e-01 7.70596377e-01 -4.47991583e-02 1.18169086e+02] [ 6.69778790e-02 2.74774753e-03 9.97750677e-01 2.80539020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.8471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.91, Y:118.18, Z:28.05 [[ 7.73879163e-01 -6.31347499e-01 -5.01136507e-02 1.92906126e+02] [ 6.29782583e-01 7.75494665e-01 -4.45187904e-02 1.18180084e+02] [ 6.69696957e-02 2.89145984e-03 9.97750820e-01 2.80529665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.93, Y:118.20, Z:28.06 [[ 7.78213953e-01 -6.26065833e-01 -4.92403852e-02 1.92933291e+02] [ 6.24427304e-01 7.79756245e-01 -4.55053759e-02 1.18196809e+02] [ 6.68848589e-02 4.66587749e-03 9.97749791e-01 2.80573976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.9071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:192.96, Y:118.21, Z:28.06 [[ 7.78882654e-01 -6.25189512e-01 -4.97984587e-02 1.92957809e+02] [ 6.23589226e-01 7.80463252e-01 -4.48730446e-02 1.18214321e+02] [ 6.69200239e-02 3.89705375e-03 9.97750732e-01 2.80582970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.98, Y:118.23, Z:28.06 [[ 7.79541388e-01 -6.24342003e-01 -5.01227179e-02 1.92984952e+02] [ 6.22763432e-01 7.81143365e-01 -4.45056222e-02 1.18226012e+02] [ 6.69397578e-02 3.47937864e-03 9.97750952e-01 2.80565866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.01, Y:118.24, Z:28.06 [[ 7.80899435e-01 -6.22636799e-01 -5.01945041e-02 1.93009195e+02] [ 6.21059929e-01 7.82503065e-01 -4.44243027e-02 1.18239562e+02] [ 6.69375590e-02 3.51711777e-03 9.97750967e-01 2.80583362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:118.26, Z:28.06 [[ 7.79850820e-01 -6.23972812e-01 -4.99061859e-02 1.93034286e+02] [ 6.22377846e-01 7.81436624e-01 -4.47506375e-02 1.18256516e+02] [ 6.69217025e-02 3.83831692e-03 9.97750847e-01 2.80574356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:118.27, Z:28.05 [[ 7.80460015e-01 -6.23198649e-01 -5.00560606e-02 1.93062495e+02] [ 6.21612916e-01 7.82054930e-01 -4.45810390e-02 1.18268146e+02] [ 6.69294323e-02 3.67822464e-03 9.97750932e-01 2.80520619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05710568099994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:193.09, Y:118.28, Z:28.05 [[ 7.81675741e-01 -6.21659763e-01 -5.02212593e-02 1.93089975e+02] [ 6.20082814e-01 7.83279300e-01 -4.43941598e-02 1.18278686e+02] [ 6.69353357e-02 3.56049803e-03 9.97750963e-01 2.80532399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:193.11, Y:118.29, Z:28.06 [[ 7.82779823e-01 -6.20286598e-01 -5.00028533e-02 1.93114080e+02] [ 6.18691126e-01 7.84365013e-01 -4.46409817e-02 1.18293018e+02] [ 6.69106914e-02 4.00773815e-03 9.97750920e-01 2.80606497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:118.30, Z:28.07 [[ 7.86466883e-01 -6.15607681e-01 -4.99702389e-02 1.93142108e+02] [ 6.14000459e-01 7.88040182e-01 -4.46778217e-02 1.18302696e+02] [ 6.68825663e-02 4.45587752e-03 9.97750905e-01 2.80651441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.1471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.17, Y:118.32, Z:28.06 [[ 7.88761763e-01 -6.12668138e-01 -4.99262907e-02 1.93167638e+02] [ 6.11051938e-01 7.90325872e-01 -4.47274563e-02 1.18316997e+02] [ 6.68611266e-02 4.77175061e-03 9.97750881e-01 2.80610317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:193.20, Y:118.33, Z:28.06 [[ 7.91921855e-01 -6.08576628e-01 -4.99426090e-02 1.93197904e+02] [ 6.06953504e-01 7.93478763e-01 -4.47090135e-02 1.18328526e+02] [ 6.68372603e-02 5.09320334e-03 9.97750891e-01 2.80595858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.2071056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:193.22, Y:118.35, Z:28.06 [[ 7.91751673e-01 -6.08788095e-01 -5.00633999e-02 1.93219114e+02] [ 6.07173929e-01 7.93317788e-01 -4.45724933e-02 1.18347449e+02] [ 6.68513889e-02 4.89315487e-03 9.97750945e-01 2.80615005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:118.36, Z:28.06 [[ 7.93079231e-01 -6.07058875e-01 -5.00485386e-02 1.93248591e+02] [ 6.05440247e-01 7.94640739e-01 -4.45892794e-02 1.18356357e+02] [ 6.68389255e-02 5.06143184e-03 9.97750941e-01 2.80614279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.27, Y:118.37, Z:28.07 [[ 7.92750183e-01 -6.07492544e-01 -4.99995633e-02 1.93274811e+02] [ 6.05871313e-01 7.94309015e-01 -4.46446079e-02 1.18370812e+02] [ 6.68363703e-02 5.09872003e-03 9.97750922e-01 2.80655142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:118.38, Z:28.07 [[ 7.90887102e-01 -6.09905762e-01 -5.01253808e-02 1.93302858e+02] [ 6.08298205e-01 7.92459982e-01 -4.45024884e-02 1.18380078e+02] [ 6.68646824e-02 4.70526495e-03 9.97750958e-01 2.80694400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.3271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:193.33, Y:118.40, Z:28.07 [[ 7.89899792e-01 -6.11189434e-01 -5.00579106e-02 1.93328324e+02] [ 6.09579644e-01 7.91470404e-01 -4.45786660e-02 1.18395107e+02] [ 6.68653644e-02 4.69839572e-03 9.97750945e-01 2.80726977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:193.36, Y:118.40, Z:28.08 [[ 7.88217691e-01 -6.13356532e-01 -5.00663282e-02 1.93358431e+02] [ 6.11751660e-01 7.89793325e-01 -4.45691628e-02 1.18404894e+02] [ 6.68788390e-02 4.50204321e-03 9.97750947e-01 2.80773878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.3871056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:193.38, Y:118.42, Z:28.08 [[ 7.87371214e-01 -6.14440387e-01 -5.00957352e-02 1.93383681e+02] [ 6.12839780e-01 7.88951172e-01 -4.45359738e-02 1.18418541e+02] [ 6.68877899e-02 4.36568444e-03 9.97750953e-01 2.80806923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:193.42, Y:118.44, Z:28.08 [[ 7.84371604e-01 -6.18265458e-01 -5.00900192e-02 1.93415180e+02] [ 6.16672150e-01 7.85958925e-01 -4.45424230e-02 1.18435228e+02] [ 6.69077392e-02 4.04869189e-03 9.97750952e-01 2.80832951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.44, Y:118.45, Z:28.09 [[ 7.85098059e-01 -6.17266992e-01 -5.10146857e-02 1.93437156e+02] [ 6.15738422e-01 7.86748977e-01 -4.34999259e-02 1.18447086e+02] [ 6.69868202e-02 2.74000535e-03 9.97750098e-01 2.80866817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.47, Y:118.46, Z:28.09 [[ 7.85405293e-01 -6.16932076e-01 -5.03322850e-02 1.93465499e+02] [ 6.15353497e-01 7.87007244e-01 -4.42681800e-02 1.18457045e+02] [ 6.69223331e-02 3.79631534e-03 9.97750966e-01 2.80947379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.49, Y:118.47, Z:28.10 [[ 7.82211567e-01 -6.20985274e-01 -5.02230481e-02 1.93492989e+02] [ 6.19407145e-01 7.83813896e-01 -4.43910446e-02 1.18470349e+02] [ 6.69317080e-02 3.61467372e-03 9.97751011e-01 2.80981002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53710568099996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.52, Y:118.49, Z:28.10 [[ 7.80576891e-01 -6.23022424e-01 -5.04259498e-02 1.93516245e+02] [ 6.21463100e-01 7.82197693e-01 -4.41631577e-02 1.18485305e+02] [ 6.69576992e-02 3.13487322e-03 9.97750890e-01 2.81007770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.54, Y:118.50, Z:28.10 [[ 7.75296869e-01 -6.29593460e-01 -5.02676786e-02 1.93543203e+02] [ 6.28036387e-01 7.76919683e-01 -4.43407552e-02 1.18498112e+02] [ 6.69705984e-02 2.80731740e-03 9.97751000e-01 2.81006979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.5971056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:193.57, Y:118.51, Z:28.10 [[ 7.69536980e-01 -6.36614014e-01 -5.03530833e-02 1.93571827e+02] [ 6.35078010e-01 7.71179818e-01 -4.42448778e-02 1.18509982e+02] [ 6.69981909e-02 2.06993370e-03 9.97750950e-01 2.81002309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.62710568099993 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:193.60, Y:118.53, Z:28.10 [[ 7.65994558e-01 -6.40862644e-01 -5.04718523e-02 1.93595305e+02] [ 6.39344509e-01 7.67654062e-01 -4.41116634e-02 1.18525773e+02] [ 6.70144397e-02 1.52039249e-03 9.97750847e-01 2.81048130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.6571056809999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:193.62, Y:118.54, Z:28.11 [[ 7.57269533e-01 -6.51164098e-01 -5.02809347e-02 1.93621015e+02] [ 6.49654326e-01 7.58936431e-01 -4.43255188e-02 1.18539649e+02] [ 6.70232196e-02 9.01138203e-04 9.97751009e-01 2.81126218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68710568099993 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:193.64, Y:118.56, Z:28.12 [[ 7.51821611e-01 -6.57449711e-01 -5.02408487e-02 1.93643235e+02] [ 6.55950877e-01 7.53498318e-01 -4.43703920e-02 1.18555248e+02] [ 6.70276963e-02 4.03090823e-04 9.97751034e-01 2.81180282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7171056809999 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:193.67, Y:118.57, Z:28.12 [[ 7.40484009e-01 -6.70200541e-01 -5.01464603e-02 1.93668346e+02] [ 6.68723422e-01 7.42179813e-01 -4.44759453e-02 1.18568507e+02] [ 6.70254931e-02 -6.00386292e-04 9.97751083e-01 2.81211408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74710568099994 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:193.69, Y:118.58, Z:28.12 [[ 7.29092402e-01 -6.82584712e-01 -5.00238011e-02 1.93690838e+02] [ 6.81126977e-01 7.30804845e-01 -4.46129966e-02 1.18584503e+02] [ 6.70097857e-02 -1.54556355e-03 9.97751121e-01 2.81183946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7771056809999 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:193.71, Y:118.60, Z:28.12 [[ 7.24563137e-01 -6.87397126e-01 -4.99344663e-02 1.93711874e+02] [ 6.85943889e-01 7.26279388e-01 -4.47127652e-02 1.18602550e+02] [ 6.70017999e-02 -1.85502059e-03 9.97751130e-01 2.81183769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80710568099994 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:193.73, Y:118.62, Z:28.12 [[ 7.15535665e-01 -6.96789773e-01 -4.99271835e-02 1.93734502e+02] [ 6.95358481e-01 7.17270259e-01 -4.47208958e-02 1.18624398e+02] [ 6.69723467e-02 -2.71789461e-03 9.97751130e-01 2.81221249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8371056809999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:193.75, Y:118.64, Z:28.12 [[ 7.15177452e-01 -6.97124529e-01 -5.03845588e-02 1.93752720e+02] [ 6.95729747e-01 7.16941828e-01 -4.42101114e-02 1.18640668e+02] [ 6.69427508e-02 -3.43596154e-03 9.97750902e-01 2.81240415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86710568099994 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:193.77, Y:118.66, Z:28.13 [[ 7.12216009e-01 -7.00183908e-01 -4.99084451e-02 1.93770299e+02] [ 6.98759456e-01 7.13956192e-01 -4.47412375e-02 1.18662203e+02] [ 6.69595379e-02 -3.00857232e-03 9.97751156e-01 2.81292104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8971056809999 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:193.79, Y:118.68, Z:28.13 [[ 7.10911197e-01 -7.01509818e-01 -4.98923339e-02 1.93789397e+02] [ 7.00087356e-01 7.12653007e-01 -4.47591964e-02 1.18682915e+02] [ 6.69549375e-02 -3.10917825e-03 9.97751156e-01 2.81328239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92710568099994 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:193.80, Y:118.71, Z:28.13 [[ 7.07661702e-01 -7.04788895e-01 -4.98751297e-02 1.93804889e+02] [ 7.03373156e-01 7.09408981e-01 -4.47783589e-02 1.18708471e+02] [ 6.69411550e-02 -3.39289769e-03 9.97751156e-01 2.81344886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.9571056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:193.82, Y:118.73, Z:28.13 [[ 7.07695475e-01 -7.04742834e-01 -5.00465013e-02 1.93822064e+02] [ 7.03340392e-01 7.09453486e-01 -4.45874964e-02 1.18731107e+02] [ 6.69283834e-02 -3.64535641e-03 9.97751123e-01 2.81316915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98710568099995 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:193.84, Y:118.76, Z:28.14 [[ 7.11614634e-01 -7.00786891e-01 -5.00234567e-02 1.93835626e+02] [ 6.99372874e-01 7.13363337e-01 -4.46131372e-02 1.18758113e+02] [ 6.69492017e-02 -3.23768734e-03 9.97751132e-01 2.81364093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0171056809999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:193.85, Y:118.79, Z:28.14 [[ 7.17620943e-01 -6.94648284e-01 -4.98391758e-02 1.93850484e+02] [ 6.93205073e-01 7.19345583e-01 -4.48180675e-02 1.18786263e+02] [ 6.69843846e-02 -2.38638560e-03 9.97751170e-01 2.81414243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04710568099995 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:193.87, Y:118.81, Z:28.14 [[ 7.20453690e-01 -6.91696113e-01 -5.00296714e-02 1.93866493e+02] [ 6.90260482e-01 7.22184702e-01 -4.46063147e-02 1.18809321e+02] [ 6.69846778e-02 -2.39672107e-03 9.97751126e-01 2.81406411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0771056809999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:193.88, Y:118.84, Z:28.15 [[ 7.23724819e-01 -6.88282277e-01 -4.98988282e-02 1.93878785e+02] [ 6.86828456e-01 7.25440526e-01 -4.47516997e-02 1.18839254e+02] [ 6.70004340e-02 -1.88401934e-03 9.97751168e-01 2.81473111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10710568099995 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:193.90, Y:118.87, Z:28.15 [[ 7.23399681e-01 -6.88614818e-01 -5.00253339e-02 1.93897595e+02] [ 6.87171460e-01 7.25124269e-01 -4.46114200e-02 1.18865396e+02] [ 6.69946685e-02 -2.10409470e-03 9.97751115e-01 2.81519797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.1371056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:193.91, Y:118.89, Z:28.15 [[ 7.25646365e-01 -6.86217462e-01 -5.04276612e-02 1.93907744e+02] [ 6.84799242e-01 7.27392207e-01 -4.41653107e-02 1.18888245e+02] [ 6.69876952e-02 -2.48442709e-03 9.97750709e-01 2.81504589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16710568099995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:193.93, Y:118.91, Z:28.15 [[ 7.22868489e-01 -6.89206656e-01 -4.95513103e-02 1.93926722e+02] [ 6.87728726e-01 7.24563370e-01 -4.51344895e-02 1.18914324e+02] [ 6.70100550e-02 -1.45155923e-03 9.97751244e-01 2.81515427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.1971056809999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:193.94, Y:118.94, Z:28.15 [[ 7.16733973e-01 -6.95541214e-01 -5.01480908e-02 1.93941269e+02] [ 6.94124090e-01 7.18480213e-01 -4.44739398e-02 1.18940190e+02] [ 6.69638691e-02 -2.93301427e-03 9.97751090e-01 2.81501439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:193.96, Y:118.96, Z:28.15 [[ 7.12025449e-01 -7.00369644e-01 -5.00212096e-02 1.93959171e+02] [ 6.98954528e-01 7.13773176e-01 -4.46141456e-02 1.18962515e+02] [ 6.69501909e-02 -3.19614386e-03 9.97751200e-01 2.81513537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.2571056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:193.97, Y:118.99, Z:28.16 [[ 7.01687181e-01 -7.10739613e-01 -4.98427760e-02 1.93969406e+02] [ 7.09336353e-01 7.03444312e-01 -4.48111508e-02 1.18989602e+02] [ 6.69106772e-02 -3.91188286e-03 9.97751301e-01 2.81554851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28710568099996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:193.98, Y:119.02, Z:28.16 [[ 6.94386909e-01 -7.17886171e-01 -4.96615172e-02 1.93981389e+02] [ 7.16486756e-01 6.96147057e-01 -4.50111401e-02 1.19020398e+02] [ 6.68845941e-02 -4.32667296e-03 9.97751337e-01 2.81611515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.99, Y:119.05, Z:28.17 [[ 6.89275853e-01 -7.22786982e-01 -4.97772697e-02 1.93991319e+02] [ 7.21409195e-01 6.91053001e-01 -4.48834295e-02 1.19051105e+02] [ 6.68398901e-02 -4.97271590e-03 9.97751322e-01 2.81672093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.3471056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:194.01, Y:119.08, Z:28.17 [[ 6.88136843e-01 -7.23869004e-01 -4.98131469e-02 1.94006355e+02] [ 7.22496845e-01 6.89918355e-01 -4.48438746e-02 1.19075643e+02] [ 6.68280952e-02 -5.13111911e-03 9.97751310e-01 2.81698433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.02, Y:119.11, Z:28.17 [[ 6.85547990e-01 -7.26326635e-01 -4.97350287e-02 1.94017658e+02] [ 7.24954678e-01 6.87329626e-01 -4.49299448e-02 1.19107831e+02] [ 6.68181743e-02 -5.25400840e-03 9.97751335e-01 2.81705183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.4071056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:194.03, Y:119.13, Z:28.17 [[ 6.85027199e-01 -7.26806806e-01 -4.98959166e-02 1.94033049e+02] [ 7.25448835e-01 6.86819608e-01 -4.47528032e-02 1.19132445e+02] [ 6.67961358e-02 -5.54004717e-03 9.97751264e-01 2.81728898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43710568099993 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:194.04, Y:119.16, Z:28.17 [[ 6.83778632e-01 -7.27992038e-01 -4.97430819e-02 1.94044014e+02] [ 7.26625066e-01 6.85564091e-01 -4.49209362e-02 1.19164835e+02] [ 6.68041546e-02 -5.42859382e-03 9.97751339e-01 2.81715495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.4671056809999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:194.06, Y:119.19, Z:28.18 [[ 6.84087019e-01 -7.27696186e-01 -4.98318255e-02 1.94058495e+02] [ 7.26335462e-01 6.85877294e-01 -4.48233678e-02 1.19188907e+02] [ 6.67963114e-02 -5.53153794e-03 9.97751299e-01 2.81763057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49710568099994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:194.07, Y:119.22, Z:28.18 [[ 6.87958958e-01 -7.24040826e-01 -4.97730406e-02 1.94071682e+02] [ 7.22665952e-01 6.89738351e-01 -4.48879608e-02 1.19218362e+02] [ 6.68310911e-02 -5.08820707e-03 9.97751329e-01 2.81806841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5271056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:194.08, Y:119.24, Z:28.19 [[ 6.90815528e-01 -7.21303963e-01 -4.99449605e-02 1.94083557e+02] [ 7.19935539e-01 6.92600032e-01 -4.46991749e-02 1.19242404e+02] [ 6.68335733e-02 -5.07826792e-03 9.97751214e-01 2.81873079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55710568099994 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:194.09, Y:119.27, Z:28.19 [[ 7.02838961e-01 -7.09617015e-01 -4.96093504e-02 1.94094637e+02] [ 7.08192921e-01 7.04579119e-01 -4.50672001e-02 1.19273494e+02] [ 6.69341643e-02 -3.45800669e-03 9.97751402e-01 2.81887242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5871056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:194.11, Y:119.31, Z:28.19 [[ 7.16134423e-01 -6.96196264e-01 -4.96210706e-02 1.94105570e+02] [ 6.94740399e-01 7.17848092e-01 -4.50543527e-02 1.19306222e+02] [ 6.69870629e-02 -2.20878956e-03 9.97751399e-01 2.81916281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61710568099994 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:194.12, Y:119.33, Z:28.19 [[ 7.22895471e-01 -6.89162668e-01 -4.97690244e-02 1.94120225e+02] [ 6.87701259e-01 7.24604493e-01 -4.48921773e-02 1.19330266e+02] [ 6.70008714e-02 -1.77386909e-03 9.97751340e-01 2.81885807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.6471056809999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:194.13, Y:119.36, Z:28.19 [[ 7.34371440e-01 -6.76940995e-01 -4.94921950e-02 1.94132086e+02] [ 6.75430640e-01 7.36037249e-01 -4.51953341e-02 1.19360109e+02] [ 6.70226736e-02 -2.38382381e-04 9.97751424e-01 2.81934903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67710568099994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:194.15, Y:119.38, Z:28.19 [[ 7.38107919e-01 -6.72866019e-01 -4.94774823e-02 1.94148526e+02] [ 6.71345387e-01 7.39764352e-01 -4.52114352e-02 1.19382861e+02] [ 6.70229160e-02 1.54438837e-04 9.97751424e-01 2.81937369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.7071056809999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:194.17, Y:119.41, Z:28.20 [[ 7.43239744e-01 -6.67193509e-01 -4.94722606e-02 1.94168827e+02] [ 6.65659856e-01 7.44884129e-01 -4.52171483e-02 1.19408374e+02] [ 6.70196895e-02 6.75483873e-04 9.97751424e-01 2.81978501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73710568099995 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:194.19, Y:119.43, Z:28.19 [[ 7.43443480e-01 -6.66922842e-01 -5.00571093e-02 1.94185000e+02] [ 6.65431448e-01 7.45126764e-01 -4.45768260e-02 1.19428054e+02] [ 6.70281953e-02 -1.69224113e-04 9.97751067e-01 2.81946303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.7671056809999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:194.20, Y:119.45, Z:28.19 [[ 7.43803745e-01 -6.66566065e-01 -4.94537070e-02 1.94202888e+02] [ 6.65029738e-01 7.45445575e-01 -4.52365203e-02 1.19450812e+02] [ 6.70181764e-02 7.58907461e-04 9.97751466e-01 2.81905826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79710568099995 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:194.22, Y:119.47, Z:28.19 [[ 7.43482249e-01 -6.66925024e-01 -4.94485342e-02 1.94223391e+02] [ 6.65389114e-01 7.45124468e-01 -4.52421740e-02 1.19471528e+02] [ 6.70184507e-02 7.34236916e-04 9.97751466e-01 2.81919648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.8271056809999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:194.24, Y:119.49, Z:28.19 [[ 7.43781115e-01 -6.66592775e-01 -4.94340500e-02 1.94244802e+02] [ 6.65055080e-01 7.45421662e-01 -4.52579947e-02 1.19490614e+02] [ 6.70178640e-02 7.85675697e-04 9.97751466e-01 2.81911276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85710568099995 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:194.27, Y:119.51, Z:28.19 [[ 7.42686033e-01 -6.67813720e-01 -4.94195524e-02 1.94265679e+02] [ 6.66277669e-01 7.44328120e-01 -4.52738199e-02 1.19508667e+02] [ 6.70188406e-02 6.97089570e-04 9.97751467e-01 2.81936810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.8871056809999 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:194.29, Y:119.53, Z:28.20 [[ 7.41225443e-01 -6.69434879e-01 -4.94144350e-02 1.94288764e+02] [ 6.67902047e-01 7.42870535e-01 -4.52794046e-02 1.19528242e+02] [ 6.70201405e-02 5.58244405e-04 9.97751467e-01 2.82014074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91710568099995 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:194.31, Y:119.54, Z:28.20 [[ 7.37284521e-01 -6.73754259e-01 -4.96662149e-02 1.94310665e+02] [ 6.72249530e-01 7.38955449e-01 -4.50045963e-02 1.19543933e+02] [ 6.70231586e-02 -2.06897364e-04 9.97751399e-01 2.81971659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.9471056809999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:194.33, Y:119.56, Z:28.20 [[ 7.34400646e-01 -6.76916012e-01 -4.94004381e-02 1.94332477e+02] [ 6.75398925e-01 7.36060257e-01 -4.52944736e-02 1.19561351e+02] [ 6.70222536e-02 -1.00712137e-04 9.97751476e-01 2.82043575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97710568099995 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:194.36, Y:119.58, Z:28.21 [[ 7.28763722e-01 -6.82993042e-01 -4.92335407e-02 1.94355367e+02] [ 6.81477480e-01 7.30424764e-01 -4.54764541e-02 1.19577196e+02] [ 6.70214991e-02 -4.09959258e-04 9.97751447e-01 2.82110112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.0071056809999 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:194.38, Y:119.59, Z:28.22 [[ 7.21341906e-01 -6.90834964e-01 -4.91213447e-02 1.94380433e+02] [ 6.89329124e-01 7.23011836e-01 -4.55987296e-02 1.19593896e+02] [ 6.70165103e-02 -9.68499028e-04 9.97751397e-01 2.82157699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03710568099996 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:194.40, Y:119.61, Z:28.21 [[ 7.13808707e-01 -6.98589971e-01 -4.94892146e-02 1.94401299e+02] [ 6.97129903e-01 7.15518725e-01 -4.51979301e-02 1.19613541e+02] [ 6.69852804e-02 -2.23773530e-03 9.97751454e-01 2.82058484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.06710568099993 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:194.43, Y:119.63, Z:28.22 [[ 7.15547999e-01 -6.96817865e-01 -4.93550900e-02 1.94426625e+02] [ 6.95343493e-01 7.17245673e-01 -4.53439214e-02 1.19626585e+02] [ 6.69961793e-02 -1.87298850e-03 9.97751474e-01 2.82208542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.0971056809999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:194.45, Y:119.65, Z:28.22 [[ 7.12612290e-01 -6.99831350e-01 -4.91915140e-02 1.94447545e+02] [ 6.98351877e-01 7.14305551e-01 -4.55218211e-02 1.19645865e+02] [ 6.69953690e-02 -1.91357696e-03 9.97751451e-01 2.82229190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.12710568099993 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:194.47, Y:119.67, Z:28.22 [[ 7.12357656e-01 -7.00080611e-01 -4.93326264e-02 1.94468300e+02] [ 6.98612323e-01 7.14060595e-01 -4.53683806e-02 1.19665218e+02] [ 6.69880082e-02 -2.14586749e-03 9.97751473e-01 2.82248044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.1571056809999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:194.49, Y:119.69, Z:28.23 [[ 7.10141308e-01 -7.02329872e-01 -4.93160570e-02 1.94488382e+02] [ 7.00865728e-01 7.11847812e-01 -4.53863847e-02 1.19685992e+02] [ 6.69817410e-02 -2.33318764e-03 9.97751473e-01 2.82272127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18710568099993 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:194.51, Y:119.70, Z:28.23 [[ 7.08546801e-01 -7.03939502e-01 -4.93012031e-02 1.94508708e+02] [ 7.02478115e-01 7.10255665e-01 -4.54025141e-02 1.19703895e+02] [ 6.69770820e-02 -2.46321013e-03 9.97751474e-01 2.82284680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2171056809999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:194.53, Y:119.72, Z:28.24 [[ 7.03645629e-01 -7.08839150e-01 -4.92939006e-02 1.94529076e+02] [ 7.07389102e-01 7.05364126e-01 -4.54104411e-02 1.19724036e+02] [ 6.69588476e-02 -2.91710975e-03 9.97751474e-01 2.82358714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24710568099994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:194.55, Y:119.75, Z:28.24 [[ 7.00834811e-01 -7.11619394e-01 -4.92788556e-02 1.94548567e+02] [ 7.10175019e-01 7.02558078e-01 -4.54267619e-02 1.19745577e+02] [ 6.69478229e-02 -3.15995615e-03 9.97751474e-01 2.82406562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2771056809999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:194.57, Y:119.77, Z:28.25 [[ 6.96926059e-01 -7.15448901e-01 -4.92639664e-02 1.94566112e+02] [ 7.14012855e-01 6.98656272e-01 -4.54429031e-02 1.19768304e+02] [ 6.69306542e-02 -3.50476191e-03 9.97751474e-01 2.82470856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30710568099994 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:194.58, Y:119.79, Z:28.25 [[ 6.95161248e-01 -7.17160883e-01 -4.93062554e-02 1.94582774e+02] [ 7.15732328e-01 6.96897655e-01 -4.53970720e-02 1.19791902e+02] [ 6.69184180e-02 -3.73179567e-03 9.97751472e-01 2.82458424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3371056809999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:194.60, Y:119.81, Z:28.25 [[ 6.95303257e-01 -7.17027044e-01 -4.92503591e-02 1.94600308e+02] [ 7.15593886e-01 6.97035863e-01 -4.54576323e-02 1.19814466e+02] [ 6.69236183e-02 -3.63641601e-03 9.97751475e-01 2.82490788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36710568099994 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:194.61, Y:119.84, Z:28.25 [[ 6.98380848e-01 -7.14030945e-01 -4.92341344e-02 1.94614225e+02] [ 7.12589118e-01 7.00106246e-01 -4.54751981e-02 1.19840347e+02] [ 6.69398237e-02 -3.32470100e-03 9.97751475e-01 2.82515632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3971056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:194.63, Y:119.87, Z:28.25 [[ 7.02836438e-01 -7.09646796e-01 -4.92175496e-02 1.94627724e+02] [ 7.08192947e-01 7.04551718e-01 -4.54931407e-02 1.19866367e+02] [ 6.69603707e-02 -2.88128455e-03 9.97751476e-01 2.82509470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42710568099994 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:194.64, Y:119.89, Z:28.25 [[ 7.05080360e-01 -7.07417715e-01 -4.92124164e-02 1.94644870e+02] [ 7.05958056e-01 7.06790699e-01 -4.54986930e-02 1.19889074e+02] [ 6.69694596e-02 -2.66166697e-03 9.97751476e-01 2.82532397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.4571056809999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:194.66, Y:119.92, Z:28.25 [[ 7.06888077e-01 -7.05623542e-01 -4.90373661e-02 1.94661698e+02] [ 7.04146413e-01 7.08583396e-01 -4.56880677e-02 1.19916335e+02] [ 6.69856395e-02 -2.23313512e-03 9.97751441e-01 2.82528020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48710568099995 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:194.68, Y:119.94, Z:28.24 [[ 7.08125170e-01 -7.04360372e-01 -4.93478417e-02 1.94679547e+02] [ 7.02903503e-01 7.09837905e-01 -4.53521154e-02 1.19936333e+02] [ 6.69732015e-02 -2.57179631e-03 9.97751460e-01 2.82438353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5171056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:194.70, Y:119.96, Z:28.24 [[ 7.09910126e-01 -7.02583895e-01 -4.90253394e-02 1.94696395e+02] [ 7.01098645e-01 7.11598308e-01 -4.57005296e-02 1.19960553e+02] [ 6.69948047e-02 -1.92833036e-03 9.97751461e-01 2.82413498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54710568099995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:194.71, Y:119.98, Z:28.25 [[ 7.11721697e-01 -7.00741968e-01 -4.91214838e-02 1.94714615e+02] [ 6.99259495e-01 7.13412292e-01 -4.55967222e-02 1.19983520e+02] [ 6.69954072e-02 -1.89648747e-03 9.97751481e-01 2.82474908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5771056809999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:194.73, Y:120.01, Z:28.26 [[ 7.18417485e-01 -6.93872559e-01 -4.91649230e-02 1.94733076e+02] [ 6.92377118e-01 7.20096617e-01 -4.55498357e-02 1.20008078e+02] [ 6.70092757e-02 -1.31686929e-03 9.97751484e-01 2.82597445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60710568099995 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:194.75, Y:120.03, Z:28.26 [[ 7.20965565e-01 -6.91202377e-01 -4.94765438e-02 1.94749986e+02] [ 6.89723715e-01 7.22659629e-01 -4.52134644e-02 1.20028087e+02] [ 6.70063548e-02 -1.52779469e-03 9.97751379e-01 2.82600214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.6371056809999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:194.77, Y:120.05, Z:28.26 [[ 7.26494871e-01 -6.85412087e-01 -4.91474580e-02 1.94769786e+02] [ 6.83895830e-01 7.28155213e-01 -4.55684089e-02 1.20047839e+02] [ 6.70201160e-02 -5.06526236e-04 9.97751496e-01 2.82623757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66710568099995 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:194.79, Y:120.07, Z:28.26 [[ 7.30673284e-01 -6.80956368e-01 -4.91424170e-02 1.94789335e+02] [ 6.79429619e-01 7.32323984e-01 -4.55738446e-02 1.20067262e+02] [ 6.70219703e-02 -8.92229267e-05 9.97751496e-01 2.82632533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.6971056809999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:194.81, Y:120.09, Z:28.26 [[ 7.32138920e-01 -6.79380682e-01 -4.91374785e-02 1.94808541e+02] [ 6.77850023e-01 7.33785994e-01 -4.55791686e-02 1.20087062e+02] [ 6.70220002e-02 6.24423506e-05 9.97751496e-01 2.82648710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72710568099995 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:194.83, Y:120.11, Z:28.27 [[ 7.36221097e-01 -6.74955960e-01 -4.91217714e-02 1.94828016e+02] [ 6.73414274e-01 7.37857854e-01 -4.55960903e-02 1.20108624e+02] [ 6.70202377e-02 4.89501611e-04 9.97751496e-01 2.82693000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.7571056809999 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:194.85, Y:120.13, Z:28.27 [[ 7.39141382e-01 -6.71757744e-01 -4.91075419e-02 1.94849021e+02] [ 6.70207958e-01 7.40770472e-01 -4.56114105e-02 1.20128432e+02] [ 6.70172352e-02 8.01015590e-04 9.97751496e-01 2.82732840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78710568099996 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:194.87, Y:120.14, Z:28.28 [[ 7.46631038e-01 -6.63424422e-01 -4.90930699e-02 1.94868817e+02] [ 6.61855437e-01 7.48241645e-01 -4.56269819e-02 1.20144274e+02] [ 6.70035335e-02 1.57400563e-03 9.97751497e-01 2.82778944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81710568099993 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:194.89, Y:120.17, Z:28.28 [[ 7.47073334e-01 -6.62960386e-01 -4.86308642e-02 1.94891806e+02] [ 6.61357959e-01 7.48650959e-01 -4.61236541e-02 1.20166037e+02] [ 6.69856987e-02 2.29534295e-03 9.97751295e-01 2.82791246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.8471056809999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:194.91, Y:120.18, Z:28.28 [[ 7.49571528e-01 -6.60102187e-01 -4.90675795e-02 1.94914709e+02] [ 6.58524278e-01 7.51173388e-01 -4.56543087e-02 1.20182271e+02] [ 6.69947690e-02 1.90897754e-03 9.97751501e-01 2.82822846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87710568099993 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:194.94, Y:120.20, Z:28.28 [[ 7.50890659e-01 -6.58602467e-01 -4.90510884e-02 1.94939763e+02] [ 6.57020205e-01 7.52488217e-01 -4.56720199e-02 1.20197265e+02] [ 6.69900711e-02 2.06713695e-03 9.97751501e-01 2.82820410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.9071056809999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:194.96, Y:120.21, Z:28.28 [[ 7.51386636e-01 -6.58037630e-01 -4.90367213e-02 1.94962489e+02] [ 6.56453162e-01 7.52982007e-01 -4.56874403e-02 1.20213281e+02] [ 6.69878238e-02 2.13862133e-03 9.97751501e-01 2.82837299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93710568099993 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:194.99, Y:120.22, Z:28.28 [[ 7.54224333e-01 -6.54784444e-01 -4.90202749e-02 1.94988164e+02] [ 6.53191952e-01 7.55811695e-01 -4.57050797e-02 1.20224554e+02] [ 6.69770723e-02 2.45223423e-03 9.97751501e-01 2.82844991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.9671056809999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:195.01, Y:120.24, Z:28.28 [[ 7.54459114e-01 -6.54536118e-01 -4.87228444e-02 1.95014128e+02] [ 6.52922513e-01 7.56025130e-01 -4.60238525e-02 1.20242820e+02] [ 6.69599685e-02 2.91087295e-03 9.97751417e-01 2.82815701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99710568099994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:195.04, Y:120.25, Z:28.28 [[ 7.55953046e-01 -6.52789330e-01 -4.90008548e-02 1.95041765e+02] [ 6.51191302e-01 7.57534836e-01 -4.57259390e-02 1.20252511e+02] [ 6.69692595e-02 2.65773242e-03 9.97751500e-01 2.82837878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0271056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:195.07, Y:120.27, Z:28.29 [[ 7.54298980e-01 -6.54721863e-01 -4.87065703e-02 1.95065198e+02] [ 6.53107533e-01 7.55864251e-01 -4.60411145e-02 1.20267456e+02] [ 6.69596796e-02 2.91813776e-03 9.97751415e-01 2.82856222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:195.10, Y:120.28, Z:28.29 [[ 7.48033954e-01 -6.61874102e-01 -4.86608389e-02 1.95095402e+02] [ 6.60271569e-01 7.49611341e-01 -4.60900526e-02 1.20278821e+02] [ 6.69825289e-02 2.34755581e-03 9.97751387e-01 2.82902906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0871056809999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:195.12, Y:120.29, Z:28.29 [[ 7.45485561e-01 -6.64719767e-01 -4.89786690e-02 1.95121957e+02] [ 6.63145510e-01 7.47091017e-01 -4.57498018e-02 1.20291871e+02] [ 6.70023212e-02 1.62583216e-03 9.97751495e-01 2.82945269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.15, Y:120.30, Z:28.30 [[ 7.38264310e-01 -6.72739081e-01 -4.88665267e-02 1.95151886e+02] [ 6.71174321e-01 7.39879039e-01 -4.58698066e-02 1.20302130e+02] [ 6.70137304e-02 1.06608318e-03 9.97751484e-01 2.82998177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.1471056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:195.18, Y:120.32, Z:28.30 [[ 7.32712666e-01 -6.78774175e-01 -4.89670129e-02 1.95178536e+02] [ 6.77229895e-01 7.34346977e-01 -4.57622845e-02 1.20315715e+02] [ 6.70210348e-02 3.68680490e-04 9.97751495e-01 2.83026818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.20, Y:120.33, Z:28.30 [[ 7.30558626e-01 -6.81093087e-01 -4.89520270e-02 1.95201655e+02] [ 6.79552920e-01 7.32196814e-01 -4.57783093e-02 1.20331047e+02] [ 6.70218082e-02 1.78245871e-04 9.97751495e-01 2.83013682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.2071056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:195.23, Y:120.34, Z:28.30 [[ 7.27936936e-01 -6.83894889e-01 -4.89448430e-02 1.95229227e+02] [ 6.82360511e-01 7.29580548e-01 -4.57859889e-02 1.20343346e+02] [ 6.70220092e-02 -6.87156368e-05 9.97751495e-01 2.83014974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:195.25, Y:120.36, Z:28.30 [[ 7.28369464e-01 -6.83435248e-01 -4.89304154e-02 1.95252214e+02] [ 6.81898798e-01 7.30011138e-01 -4.58014023e-02 1.20359786e+02] [ 6.70220409e-02 -5.24858463e-06 9.97751495e-01 2.83047527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.2671056809999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:195.28, Y:120.38, Z:28.31 [[ 7.31654047e-01 -6.79929405e-01 -4.87684210e-02 1.95275982e+02] [ 6.78373541e-01 7.33277367e-01 -4.59743589e-02 1.20375408e+02] [ 6.70200978e-02 5.54119306e-04 9.97751472e-01 2.83127019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29710568099995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:195.30, Y:120.39, Z:28.32 [[ 7.37002392e-01 -6.74134744e-01 -4.86808092e-02 1.95300216e+02] [ 6.72559939e-01 7.38607392e-01 -4.60678792e-02 1.20393576e+02] [ 6.70119635e-02 1.21137510e-03 9.97751437e-01 2.83180946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.3271056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:195.32, Y:120.41, Z:28.32 [[ 7.40220159e-01 -6.70583140e-01 -4.89118484e-02 1.95321871e+02] [ 6.69016881e-01 7.41833421e-01 -4.58212623e-02 1.20412071e+02] [ 6.70114098e-02 1.19496976e-03 9.97751494e-01 2.83230528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:195.34, Y:120.43, Z:28.33 [[ 7.43164881e-01 -6.67319303e-01 -4.88969055e-02 1.95343386e+02] [ 6.65744913e-01 7.44770207e-01 -4.58372026e-02 1.20429907e+02] [ 6.70050086e-02 1.51173309e-03 9.97751494e-01 2.83261852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.3871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:195.37, Y:120.44, Z:28.33 [[ 7.46854298e-01 -6.63188879e-01 -4.88791184e-02 1.95367730e+02] [ 6.61604374e-01 7.48449641e-01 -4.58561623e-02 1.20444515e+02] [ 6.69948556e-02 1.90923337e-03 9.97751494e-01 2.83300083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:195.39, Y:120.46, Z:28.33 [[ 7.47582232e-01 -6.62368816e-01 -4.88708331e-02 1.95393337e+02] [ 6.60781984e-01 7.49175261e-01 -4.58649907e-02 1.20457921e+02] [ 6.69923587e-02 1.99488603e-03 9.97751494e-01 2.83335201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.4471056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:195.42, Y:120.47, Z:28.34 [[ 7.47991346e-01 -6.61907181e-01 -4.88654380e-02 1.95415936e+02] [ 6.60318991e-01 7.49583021e-01 -4.58707380e-02 1.20474888e+02] [ 6.69908735e-02 2.04413831e-03 9.97751494e-01 2.83352796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47710568099995 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:195.44, Y:120.49, Z:28.33 [[ 7.50387796e-01 -6.59190466e-01 -4.88475597e-02 1.95441799e+02] [ 6.57595279e-01 7.51972458e-01 -4.58897687e-02 1.20488568e+02] [ 6.69821176e-02 2.31319771e-03 9.97751495e-01 2.83310138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.5071056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:195.47, Y:120.51, Z:28.33 [[ 7.51657250e-01 -6.57742984e-01 -4.88420468e-02 1.95465313e+02] [ 6.56144365e-01 7.53238451e-01 -4.58956354e-02 1.20505464e+02] [ 6.69772399e-02 2.45035333e-03 9.97751495e-01 2.83279797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53710568099996 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:195.49, Y:120.52, Z:28.32 [[ 7.54522078e-01 -6.54455791e-01 -4.88267445e-02 1.95489919e+02] [ 6.52849235e-01 7.56095214e-01 -4.59119093e-02 1.20520237e+02] [ 6.69649827e-02 2.76504643e-03 9.97751495e-01 2.83211154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.56710568099993 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:195.51, Y:120.54, Z:28.32 [[ 7.56932415e-01 -6.51666936e-01 -4.88213536e-02 1.95513580e+02] [ 6.50054218e-01 7.58499232e-01 -4.59176412e-02 1.20535507e+02] [ 6.69539677e-02 3.02002422e-03 9.97751495e-01 2.83198773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.5971056809999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:195.54, Y:120.55, Z:28.32 [[ 7.57237318e-01 -6.51313012e-01 -4.88160287e-02 1.95537183e+02] [ 6.49699198e-01 7.58803007e-01 -4.59233015e-02 1.20553365e+02] [ 6.69521931e-02 3.05910299e-03 9.97751495e-01 2.83203716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.62710568099993 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:195.56, Y:120.57, Z:28.32 [[ 7.57331441e-01 -6.51202445e-01 -4.88309688e-02 1.95563316e+02] [ 6.49589422e-01 7.58897945e-01 -4.59074264e-02 1.20567348e+02] [ 6.69527502e-02 3.04705664e-03 9.97751494e-01 2.83216620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.6571056809999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:195.59, Y:120.58, Z:28.33 [[ 7.55959850e-01 -6.52796952e-01 -4.87938991e-02 1.95589305e+02] [ 6.51184701e-01 7.57527146e-01 -4.59467932e-02 1.20581228e+02] [ 6.69566297e-02 2.96009030e-03 9.97751496e-01 2.83259453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68710568099993 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:195.61, Y:120.60, Z:28.33 [[ 7.55600211e-01 -6.53214309e-01 -4.87789727e-02 1.95612111e+02] [ 6.51601905e-01 7.57167349e-01 -4.59626343e-02 1.20597595e+02] [ 6.69572958e-02 2.94490458e-03 9.97751496e-01 2.83308081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7171056809999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:195.64, Y:120.61, Z:28.34 [[ 7.55803881e-01 -6.52979035e-01 -4.87737050e-02 1.95638148e+02] [ 6.51365783e-01 7.57370147e-01 -4.59682235e-02 1.20610684e+02] [ 6.69560343e-02 2.97343922e-03 9.97751496e-01 2.83396050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74710568099994 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:195.66, Y:120.63, Z:28.34 [[ 7.56508868e-01 -6.52163256e-01 -4.87588023e-02 1.95661511e+02] [ 6.50547301e-01 7.58072344e-01 -4.59840255e-02 1.20626643e+02] [ 6.69517913e-02 3.06741578e-03 9.97751496e-01 2.83429613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7771056809999 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:195.69, Y:120.64, Z:28.34 [[ 7.58958161e-01 -6.49312520e-01 -4.87417767e-02 1.95688988e+02] [ 6.47689541e-01 7.60514345e-01 -4.60020651e-02 1.20640163e+02] [ 6.69385372e-02 3.34410380e-03 9.97751497e-01 2.83443444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80710568099994 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:195.71, Y:120.66, Z:28.35 [[ 7.59808251e-01 -6.48318688e-01 -4.87268015e-02 1.95714931e+02] [ 6.46692662e-01 7.61361249e-01 -4.60179219e-02 1.20658045e+02] [ 6.69329772e-02 3.45353178e-03 9.97751497e-01 2.83491104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8371056809999 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:195.74, Y:120.67, Z:28.35 [[ 7.60405994e-01 -6.47583351e-01 -4.91785407e-02 1.95738813e+02] [ 6.45986488e-01 7.61989256e-01 -4.55393348e-02 1.20668519e+02] [ 6.69640346e-02 2.85971031e-03 9.97751292e-01 2.83494760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86710568099994 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:195.77, Y:120.69, Z:28.36 [[ 7.60454763e-01 -6.47561851e-01 -4.87052705e-02 1.95766555e+02] [ 6.45932873e-01 7.62004619e-01 -4.60400257e-02 1.20686549e+02] [ 6.69274053e-02 3.55102152e-03 9.97751529e-01 2.83557750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8971056809999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:195.80, Y:120.70, Z:28.36 [[ 7.58562943e-01 -6.49730484e-01 -4.93209854e-02 1.95797006e+02] [ 6.48147824e-01 7.60160661e-01 -4.53890672e-02 1.20700373e+02] [ 6.69825335e-02 2.46317503e-03 9.97751108e-01 2.83556032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92710568099994 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:195.82, Y:120.71, Z:28.36 [[ 7.56968840e-01 -6.51541325e-01 -4.99207037e-02 1.95824533e+02] [ 6.50003952e-01 7.58611797e-01 -4.47549314e-02 1.20710230e+02] [ 6.70301221e-02 1.42943385e-03 9.97749928e-01 2.83566529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.9571056809999 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:195.84, Y:120.72, Z:28.36 [[ 7.54747060e-01 -6.54123601e-01 -4.97914703e-02 1.95841567e+02] [ 6.52582848e-01 7.56386400e-01 -4.48914349e-02 1.20723252e+02] [ 6.70261381e-02 1.38861904e-03 9.97750254e-01 2.83582932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98710568099995 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:195.87, Y:120.74, Z:28.36 [[ 7.56370857e-01 -6.52334643e-01 -4.86069962e-02 1.95867382e+02] [ 6.50709099e-01 7.57924023e-01 -4.61394003e-02 1.20735287e+02] [ 6.69387393e-02 3.26948306e-03 9.97751730e-01 2.83604297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0171056809999 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:195.89, Y:120.76, Z:28.36 [[ 7.56146857e-01 -6.52594826e-01 -4.85996269e-02 1.95887841e+02] [ 6.50969320e-01 7.57700062e-01 -4.61471613e-02 1.20755050e+02] [ 6.69393390e-02 3.25716493e-03 9.97751731e-01 2.83623395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04710568099995 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:195.91, Y:120.77, Z:28.37 [[ 7.57919091e-01 -6.50536910e-01 -4.85837407e-02 1.95909902e+02] [ 6.48906122e-01 7.59466748e-01 -4.61638802e-02 1.20771667e+02] [ 6.69290436e-02 3.46219938e-03 9.97751731e-01 2.83680850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0771056809999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:195.94, Y:120.79, Z:28.38 [[ 7.61911551e-01 -6.45857629e-01 -4.85665769e-02 1.95939206e+02] [ 6.44216198e-01 7.63447916e-01 -4.61819304e-02 1.20789068e+02] [ 6.69050039e-02 3.89917070e-03 9.97751731e-01 2.83753661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10710568099995 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:195.96, Y:120.80, Z:28.37 [[ 7.63924644e-01 -6.43417462e-01 -4.93265436e-02 1.95958640e+02] [ 6.41822065e-01 7.65509577e-01 -4.53819921e-02 1.20802843e+02] [ 6.69595077e-02 3.00955806e-03 9.97751155e-01 2.83708413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.1371056809999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:195.98, Y:120.82, Z:28.37 [[ 7.66016164e-01 -6.40985335e-01 -4.85493267e-02 1.95983851e+02] [ 6.39333083e-01 7.67540799e-01 -4.61988143e-02 1.20816365e+02] [ 6.68763515e-02 4.34984780e-03 9.97751789e-01 2.83711056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16710568099995 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:196.01, Y:120.83, Z:28.37 [[ 7.64400718e-01 -6.42911544e-01 -4.85416208e-02 1.96011253e+02] [ 6.41262624e-01 7.65928958e-01 -4.62069095e-02 1.20829727e+02] [ 6.68863886e-02 4.19266759e-03 9.97751789e-01 2.83741168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.1971056809999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:196.04, Y:120.85, Z:28.38 [[ 7.61281977e-01 -6.46602585e-01 -4.85267805e-02 1.96035434e+02] [ 6.44960093e-01 7.62817121e-01 -4.62224896e-02 1.20845888e+02] [ 6.69046403e-02 3.89051139e-03 9.97751789e-01 2.83792045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22710568099995 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:196.06, Y:120.86, Z:28.38 [[ 7.53800966e-01 -6.55300937e-01 -4.86290582e-02 1.96064568e+02] [ 6.53683070e-01 7.55362058e-01 -4.61151286e-02 1.20858246e+02] [ 6.69518325e-02 2.97363640e-03 9.97751778e-01 2.83795134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.2571056809999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:196.09, Y:120.87, Z:28.38 [[ 7.50771458e-01 -6.58764513e-01 -4.86984101e-02 1.96087678e+02] [ 6.57158552e-01 7.52344827e-01 -4.60423545e-02 1.20872479e+02] [ 6.69690661e-02 2.56470893e-03 9.97751756e-01 2.83819787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28710568099996 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:196.11, Y:120.88, Z:28.38 [[ 7.44746172e-01 -6.65583096e-01 -4.85003175e-02 1.96114406e+02] [ 6.63978020e-01 7.46320385e-01 -4.62500889e-02 1.20884745e+02] [ 6.69800531e-02 2.24143187e-03 9.97751797e-01 2.83832630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31710568099993 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:196.14, Y:120.90, Z:28.39 [[ 7.42533408e-01 -6.68051164e-01 -4.84951637e-02 1.96137027e+02] [ 6.66450969e-01 7.44112583e-01 -4.62554923e-02 1.20901349e+02] [ 6.69868969e-02 2.02659956e-03 9.97751797e-01 2.83864017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.3471056809999 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:196.16, Y:120.92, Z:28.39 [[ 7.40120566e-01 -6.70724541e-01 -4.84782278e-02 1.96160762e+02] [ 6.69128891e-01 7.41704332e-01 -4.62732353e-02 1.20915877e+02] [ 6.69931060e-02 1.80959031e-03 9.97751797e-01 2.83861537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37710568099993 meters Centerline goodness : 0.997351 Centerline is valid? [True, True] Translation: X:196.19, Y:120.93, Z:28.38 [[ 7.38699853e-01 -6.72289623e-01 -4.84684578e-02 1.96186125e+02] [ 6.70696657e-01 7.40286319e-01 -4.62834665e-02 1.20932092e+02] [ 6.69964304e-02 1.68195727e-03 9.97751797e-01 2.83824100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.4071056809999 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:196.21, Y:120.95, Z:28.38 [[ 7.38464705e-01 -6.72548980e-01 -4.84535669e-02 1.96210018e+02] [ 6.70955551e-01 7.40050705e-01 -4.62990504e-02 1.20948455e+02] [ 6.69964755e-02 1.68002496e-03 9.97751798e-01 2.83796459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43710568099993 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:196.23, Y:120.97, Z:28.38 [[ 7.37918291e-01 -6.73149520e-01 -4.84388174e-02 1.96231631e+02] [ 6.71556370e-01 7.39504571e-01 -4.63144764e-02 1.20967180e+02] [ 6.69972945e-02 1.64690288e-03 9.97751798e-01 2.83830974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.4671056809999 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:196.25, Y:120.99, Z:28.39 [[ 7.35671473e-01 -6.75605321e-01 -4.84245177e-02 1.96252462e+02] [ 6.74016484e-01 7.37262073e-01 -4.63294228e-02 1.20985815e+02] [ 6.70019648e-02 1.44431152e-03 9.97751798e-01 2.83914839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49710568099994 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:196.27, Y:121.00, Z:28.40 [[ 7.33915857e-01 -6.77512618e-01 -4.84166022e-02 1.96272598e+02] [ 6.75927370e-01 7.35510033e-01 -4.63376934e-02 1.21004443e+02] [ 6.70052687e-02 1.28186140e-03 9.97751798e-01 2.83959281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5271056809999 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:196.30, Y:121.03, Z:28.40 [[ 7.31532203e-01 -6.80086006e-01 -4.84113674e-02 1.96296479e+02] [ 6.78506005e-01 7.33131580e-01 -4.63431618e-02 1.21025288e+02] [ 6.70092381e-02 1.05411177e-03 9.97751798e-01 2.83993827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55710568099994 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:196.32, Y:121.05, Z:28.40 [[ 7.29516748e-01 -6.82213353e-01 -4.88902454e-02 1.96318255e+02] [ 6.80671344e-01 7.31153140e-01 -4.58432906e-02 1.21045424e+02] [ 6.70211614e-02 1.65259157e-04 9.97751541e-01 2.84019204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5871056809999 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:196.34, Y:121.07, Z:28.41 [[ 7.23241294e-01 -6.88849871e-01 -4.90702073e-02 1.96338894e+02] [ 6.87335595e-01 7.24903686e-01 -4.56555221e-02 1.21066270e+02] [ 6.70209747e-02 -7.07741236e-04 9.97751316e-01 2.84072630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61710568099994 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:196.36, Y:121.09, Z:28.41 [[ 7.20924731e-01 -6.91238355e-01 -4.95688378e-02 1.96360672e+02] [ 6.89765213e-01 7.22624942e-01 -4.51347266e-02 1.21087741e+02] [ 6.70185327e-02 -1.65211933e-03 9.97750363e-01 2.84088759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.6471056809999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:196.37, Y:121.11, Z:28.41 [[ 7.15954577e-01 -6.96357532e-01 -4.99522978e-02 1.96368901e+02] [ 6.94924343e-01 7.17690029e-01 -4.47345484e-02 1.21105101e+02] [ 6.70015058e-02 -2.68516303e-03 9.97749261e-01 2.84124451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67710568099994 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:196.39, Y:121.13, Z:28.41 [[ 7.15902531e-01 -6.96527255e-01 -4.83047435e-02 1.96392119e+02] [ 6.94976892e-01 7.17530265e-01 -4.64482280e-02 1.21131196e+02] [ 6.70125721e-02 -3.18276539e-04 9.97752080e-01 2.84094307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.7071056809999 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:196.41, Y:121.15, Z:28.42 [[ 7.13984158e-01 -6.98424039e-01 -4.92999314e-02 1.96406980e+02] [ 6.96948851e-01 7.15681571e-01 -4.54113110e-02 1.21150480e+02] [ 6.69994036e-02 -1.93657387e-03 9.97751136e-01 2.84151672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73710568099995 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:196.42, Y:121.17, Z:28.42 [[ 7.12758076e-01 -6.99731370e-01 -4.84967538e-02 1.96421704e+02] [ 6.98201970e-01 7.14405490e-01 -4.62472042e-02 1.21174712e+02] [ 6.70069667e-02 -8.97460758e-04 9.97752104e-01 2.84169041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.7671056809999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:196.44, Y:121.20, Z:28.42 [[ 7.12713367e-01 -6.99775496e-01 -4.85171351e-02 1.96438207e+02] [ 6.98247641e-01 7.14362225e-01 -4.62259970e-02 1.21198121e+02] [ 6.70066285e-02 -9.31089189e-04 9.97752096e-01 2.84178414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79710568099995 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:196.45, Y:121.22, Z:28.42 [[ 7.19050786e-01 -6.93249714e-01 -4.86908784e-02 1.96451448e+02] [ 6.91719125e-01 7.20697237e-01 -4.60450282e-02 1.21220976e+02] [ 6.70120842e-02 -5.71698072e-04 9.97752000e-01 2.84213197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.8271056809999 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:196.47, Y:121.24, Z:28.43 [[ 7.22745050e-01 -6.89423868e-01 -4.83148302e-02 1.96468500e+02] [ 6.87858305e-01 7.24358076e-01 -4.64363032e-02 1.21244029e+02] [ 6.70115333e-02 3.27851085e-04 9.97752147e-01 2.84258902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85710568099995 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:196.49, Y:121.27, Z:28.42 [[ 7.31781185e-01 -6.79826153e-01 -4.82980174e-02 1.96487961e+02] [ 6.78238286e-01 7.33372261e-01 -4.64537836e-02 1.21274387e+02] [ 6.70009232e-02 1.23644030e-03 9.97752147e-01 2.84246564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.8871056809999 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:196.51, Y:121.30, Z:28.42 [[ 7.35951112e-01 -6.75243083e-01 -4.92213405e-02 1.96507239e+02] [ 6.73708944e-01 7.37595199e-01 -4.54926545e-02 1.21298910e+02] [ 6.70240247e-02 3.19512301e-04 9.97751311e-01 2.84228849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91710568099995 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:196.52, Y:121.32, Z:28.43 [[ 7.40093464e-01 -6.70681140e-01 -4.94820406e-02 1.96517493e+02] [ 6.69155034e-01 7.41745699e-01 -4.52201220e-02 1.21322007e+02] [ 6.70313737e-02 3.55960248e-04 9.97750805e-01 2.84319523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.9471056809999 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:196.54, Y:121.34, Z:28.43 [[ 7.43770638e-01 -6.66655318e-01 -4.87434659e-02 1.96535846e+02] [ 6.65069454e-01 7.45363997e-01 -4.59905776e-02 1.21340944e+02] [ 6.69914877e-02 1.78865104e-03 9.97751944e-01 2.84307699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97710568099995 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:196.56, Y:121.36, Z:28.43 [[ 7.44734315e-01 -6.65607767e-01 -4.83435673e-02 1.96563538e+02] [ 6.63992569e-01 7.46297690e-01 -4.64071785e-02 1.21363645e+02] [ 6.69676711e-02 2.46124882e-03 9.97752110e-01 2.84290945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.0071056809999 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:196.58, Y:121.38, Z:28.43 [[ 7.40080415e-01 -6.70694790e-01 -4.94922031e-02 1.96580144e+02] [ 6.69169472e-01 7.41733365e-01 -4.52087858e-02 1.21382662e+02] [ 6.70313154e-02 3.39465584e-04 9.97750814e-01 2.84310083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03710568099996 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:196.60, Y:121.40, Z:28.43 [[ 7.38543138e-01 -6.72418127e-01 -4.90703180e-02 1.96601291e+02] [ 6.70867318e-01 7.40171083e-01 -4.56487643e-02 1.21404206e+02] [ 6.70154870e-02 7.93908961e-04 9.97751620e-01 2.84334042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.06710568099993 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:196.61, Y:121.42, Z:28.43 [[ 7.36978190e-01 -6.74119043e-01 -4.92611764e-02 1.96613016e+02] [ 6.72585254e-01 7.38622626e-01 -4.54498878e-02 1.21423827e+02] [ 6.70240544e-02 3.63235233e-04 9.97751294e-01 2.84290752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.0971056809999 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:196.64, Y:121.45, Z:28.43 [[ 7.37510643e-01 -6.73606103e-01 -4.82997903e-02 1.96637962e+02] [ 6.72005096e-01 7.39088344e-01 -4.64496598e-02 1.21446386e+02] [ 6.69865863e-02 1.79941323e-03 9.97752254e-01 2.84308901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.12710568099993 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:196.65, Y:121.46, Z:28.43 [[ 7.35792716e-01 -6.75424441e-01 -4.91009569e-02 1.96654008e+02] [ 6.73882488e-01 7.37429047e-01 -4.56157159e-02 1.21464252e+02] [ 6.70184412e-02 4.75436538e-04 9.97751624e-01 2.84294630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.1571056809999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:196.68, Y:121.49, Z:28.43 [[ 7.33646758e-01 -6.77813753e-01 -4.82799276e-02 1.96679716e+02] [ 6.76220539e-01 7.35232230e-01 -4.64688124e-02 1.21488752e+02] [ 6.69941589e-02 1.44381490e-03 9.97752323e-01 2.84310962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18710568099993 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:196.69, Y:121.50, Z:28.44 [[ 7.33530244e-01 -6.77862139e-01 -4.93589018e-02 1.96693165e+02] [ 6.76343699e-01 7.35189027e-01 -4.53463797e-02 1.21504571e+02] [ 6.70267170e-02 -1.20641253e-04 9.97751174e-01 2.84379711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2171056809999 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:196.71, Y:121.53, Z:28.44 [[ 7.31693748e-01 -6.79923534e-01 -4.82519115e-02 1.96713350e+02] [ 6.78333149e-01 7.33281886e-01 -4.64953151e-02 1.21529159e+02] [ 6.69955117e-02 1.28946028e-03 9.97752444e-01 2.84445364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24710568099994 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:196.73, Y:121.55, Z:28.45 [[ 7.31725028e-01 -6.79858203e-01 -4.86960716e-02 1.96733800e+02] [ 6.78298185e-01 7.33343300e-01 -4.60345102e-02 1.21549013e+02] [ 6.70078772e-02 6.54146233e-04 9.97752232e-01 2.84471232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2771056809999 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:196.76, Y:121.57, Z:28.45 [[ 7.29893563e-01 -6.81823494e-01 -4.87043070e-02 1.96755808e+02] [ 6.80268404e-01 7.31516581e-01 -4.60259722e-02 1.21569450e+02] [ 6.70095974e-02 4.62059633e-04 9.97752224e-01 2.84514180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30710568099994 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:196.77, Y:121.59, Z:28.45 [[ 7.29072318e-01 -6.82682919e-01 -4.89651532e-02 1.96774998e+02] [ 6.81147851e-01 7.30714740e-01 -4.57555793e-02 1.21587753e+02] [ 6.70161116e-02 6.61743100e-06 9.97751893e-01 2.84520986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3371056809999 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:196.79, Y:121.61, Z:28.45 [[ 7.26786754e-01 -6.85128392e-01 -4.87862718e-02 1.96794996e+02] [ 6.83586388e-01 7.28422326e-01 -4.59408936e-02 1.21607899e+02] [ 6.70124201e-02 3.96016013e-05 9.97752141e-01 2.84505920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36710568099994 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:196.81, Y:121.62, Z:28.45 [[ 7.28883592e-01 -6.82891178e-01 -4.88707346e-02 1.96813906e+02] [ 6.81350015e-01 7.30520105e-01 -4.58533852e-02 1.21623793e+02] [ 6.70139264e-02 1.23704394e-04 9.97752033e-01 2.84537494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3971056809999 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:196.84, Y:121.65, Z:28.46 [[ 7.32315419e-01 -6.79259542e-01 -4.81726179e-02 1.96840844e+02] [ 6.77662446e-01 7.33896677e-01 -4.65754898e-02 1.21646958e+02] [ 6.69905701e-02 1.46317531e-03 9.97752536e-01 2.84562047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42710568099994 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:196.85, Y:121.66, Z:28.46 [[ 7.35716619e-01 -6.75487424e-01 -4.93740449e-02 1.96854514e+02] [ 6.73964653e-01 7.37371504e-01 -4.53311429e-02 1.21663774e+02] [ 6.70276307e-02 7.45141879e-05 9.97751117e-01 2.84621985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.4571056809999 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:196.88, Y:121.69, Z:28.47 [[ 7.36217357e-01 -6.75015745e-01 -4.83502518e-02 1.96875174e+02] [ 6.73421674e-01 7.37801603e-01 -4.63901137e-02 1.21686922e+02] [ 6.69869505e-02 1.59309943e-03 9.97752580e-01 2.84681831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48710568099995 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:196.89, Y:121.71, Z:28.47 [[ 7.43134243e-01 -6.67359795e-01 -4.88098570e-02 1.96893630e+02] [ 6.65780434e-01 7.44733689e-01 -4.59145559e-02 1.21706609e+02] [ 6.69918735e-02 1.62403094e-03 9.97752199e-01 2.84721854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5171056809999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:196.92, Y:121.73, Z:28.48 [[ 7.45169311e-01 -6.65112973e-01 -4.84502930e-02 1.96915003e+02] [ 6.63504600e-01 7.46739070e-01 -4.62861491e-02 1.21727567e+02] [ 6.69652450e-02 2.34402557e-03 9.97752555e-01 2.84757734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54710568099995 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:196.94, Y:121.75, Z:28.47 [[ 7.48227863e-01 -6.61658752e-01 -4.86082450e-02 1.96936414e+02] [ 6.60053677e-01 7.49801179e-01 -4.61230505e-02 1.21746009e+02] [ 6.69642394e-02 2.42650066e-03 9.97752426e-01 2.84736394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5771056809999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:196.96, Y:121.77, Z:28.47 [[ 7.48401002e-01 -6.61474419e-01 -4.84513440e-02 1.96958691e+02] [ 6.59858502e-01 7.49962980e-01 -4.62848330e-02 1.21766484e+02] [ 6.69529474e-02 2.66858416e-03 9.97752565e-01 2.84715795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60710568099995 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:196.98, Y:121.78, Z:28.47 [[ 7.50128995e-01 -6.59502717e-01 -4.86071676e-02 1.96981029e+02] [ 6.57893045e-01 7.51697610e-01 -4.61242275e-02 1.21783821e+02] [ 6.69569451e-02 2.62080292e-03 9.97752424e-01 2.84676854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.6371056809999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:197.00, Y:121.80, Z:28.47 [[ 7.52140306e-01 -6.57217018e-01 -4.84845416e-02 1.97001670e+02] [ 6.55594468e-01 7.53695421e-01 -4.62504700e-02 1.21799368e+02] [ 6.69391730e-02 3.00064545e-03 9.97752546e-01 2.84661416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66710568099995 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:197.03, Y:121.82, Z:28.47 [[ 7.52605549e-01 -6.56717210e-01 -4.80353333e-02 1.97026824e+02] [ 6.55064164e-01 7.54127901e-01 -4.67124200e-02 1.21815796e+02] [ 6.69016352e-02 3.68980103e-03 9.97752753e-01 2.84654059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.6971056809999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:197.06, Y:121.84, Z:28.46 [[ 7.54909836e-01 -6.54068070e-01 -4.80218523e-02 1.97063393e+02] [ 6.52408808e-01 7.56425411e-01 -4.67262749e-02 1.21835371e+02] [ 6.68871138e-02 3.94424511e-03 9.97752753e-01 2.84630892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72710568099995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:197.09, Y:121.86, Z:28.47 [[ 7.52728769e-01 -6.56467469e-01 -4.94960906e-02 1.97094540e+02] [ 6.54910461e-01 7.54352596e-01 -4.52155705e-02 1.21861547e+02] [ 6.70200556e-02 1.61955322e-03 9.97750314e-01 2.84683357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.7571056809999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:197.10, Y:121.87, Z:28.48 [[ 7.45204209e-01 -6.64847949e-01 -5.14576639e-02 1.97099503e+02] [ 6.63445377e-01 7.46976194e-01 -4.32064606e-02 1.21872764e+02] [ 6.71633767e-02 -1.94171292e-03 9.97740102e-01 2.84778262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78710568099996 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:197.13, Y:121.89, Z:28.47 [[ 7.44137101e-01 -6.66246529e-01 -4.87394990e-02 1.97133608e+02] [ 6.64660789e-01 7.45729349e-01 -4.59757974e-02 1.21891582e+02] [ 6.69776902e-02 1.81706272e-03 9.97752819e-01 2.84715247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81710568099993 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:197.14, Y:121.90, Z:28.48 [[ 7.33250855e-01 -6.78106033e-01 -5.01536748e-02 1.97140359e+02] [ 6.76643446e-01 7.34962966e-01 -4.45318515e-02 1.21903366e+02] [ 6.70584107e-02 -1.28313717e-03 9.97748226e-01 2.84837207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.8471056809999 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:197.16, Y:121.92, Z:28.48 [[ 7.29979102e-01 -6.81799744e-01 -4.77453739e-02 1.97163140e+02] [ 6.80181654e-01 7.31536603e-01 -4.69799528e-02 1.21923243e+02] [ 6.69584084e-02 1.81885635e-03 9.97754110e-01 2.84840859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87710568099993 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:197.19, Y:121.94, Z:28.49 [[ 7.21730261e-01 -6.90509806e-01 -4.79754007e-02 1.97186719e+02] [ 6.88926014e-01 7.23322706e-01 -4.67462329e-02 1.21939727e+02] [ 6.69804289e-02 6.86669276e-04 9.97754053e-01 2.84886362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.9071056809999 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:197.21, Y:121.96, Z:28.49 [[ 7.19657007e-01 -6.92655579e-01 -4.81875579e-02 1.97210750e+02] [ 6.91090958e-01 7.21268476e-01 -4.65303415e-02 1.21960080e+02] [ 6.69856671e-02 1.83900757e-04 9.97753921e-01 2.84880547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93710568099993 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:197.23, Y:121.98, Z:28.49 [[ 7.19307934e-01 -6.92999553e-01 -4.84532255e-02 1.97231397e+02] [ 6.91453841e-01 7.20937977e-01 -4.62603338e-02 1.21980907e+02] [ 6.69901610e-02 -2.27743750e-04 9.97753610e-01 2.84900772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.9671056809999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:197.25, Y:122.00, Z:28.49 [[ 7.15138553e-01 -6.97305352e-01 -4.83952079e-02 1.97253183e+02] [ 6.95765467e-01 7.16773986e-01 -4.63192048e-02 1.22002503e+02] [ 6.69870555e-02 -5.47065342e-04 9.97753695e-01 2.84944843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99710568099994 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:197.27, Y:122.02, Z:28.50 [[ 7.13086911e-01 -6.99394888e-01 -4.85164706e-02 1.97269726e+02] [ 6.97868125e-01 7.14734883e-01 -4.61966147e-02 1.22023038e+02] [ 6.69860901e-02 -9.15897094e-04 9.97753489e-01 2.84994515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0271056809999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:197.29, Y:122.04, Z:28.50 [[ 7.16124153e-01 -6.96316848e-01 -4.80525184e-02 1.97288374e+02] [ 6.94751418e-01 7.17734523e-01 -4.66649905e-02 1.22044175e+02] [ 6.69825704e-02 3.33715040e-05 9.97754145e-01 2.84991814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05710568099994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:197.31, Y:122.07, Z:28.50 [[ 7.19129075e-01 -6.93201319e-01 -4.82214186e-02 1.97309142e+02] [ 6.91640332e-01 7.20744008e-01 -4.64943647e-02 1.22066980e+02] [ 6.69852534e-02 8.35715138e-05 9.97753962e-01 2.85000229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0871056809999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:197.33, Y:122.09, Z:28.51 [[ 7.27242321e-01 -6.84674593e-01 -4.83664010e-02 1.97325333e+02] [ 6.83104338e-01 7.28848582e-01 -4.63487590e-02 1.22090658e+02] [ 6.69856005e-02 6.67480728e-04 9.97753719e-01 2.85109603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11710568099994 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:197.34, Y:122.11, Z:28.52 [[ 7.35947829e-01 -6.75314245e-01 -4.82852276e-02 1.97340796e+02] [ 6.73718222e-01 7.37528292e-01 -4.64303362e-02 1.22108862e+02] [ 6.69667889e-02 1.63966749e-03 9.97753858e-01 2.85161734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.1471056809999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:197.36, Y:122.13, Z:28.52 [[ 7.37847273e-01 -6.73291665e-01 -4.75366787e-02 1.97364161e+02] [ 6.71642693e-01 7.39371362e-01 -4.71813852e-02 1.22129939e+02] [ 6.69140922e-02 2.88499353e-03 9.97754570e-01 2.85167023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17710568099994 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:197.40, Y:122.15, Z:28.50 [[ 7.46397388e-01 -6.63757820e-01 -4.81299872e-02 1.97402711e+02] [ 6.62127259e-01 7.47941923e-01 -4.65872564e-02 1.22153761e+02] [ 6.69210910e-02 2.90442997e-03 9.97754044e-01 2.85047998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.2071056809999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:197.41, Y:122.16, Z:28.52 [[ 7.39135844e-01 -6.71643667e-01 -5.07246267e-02 1.97405251e+02] [ 6.70204964e-01 7.40872817e-01 -4.39633341e-02 1.22163878e+02] [ 6.71081921e-02 -1.50102054e-03 9.97744575e-01 2.85225793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23710568099995 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:197.43, Y:122.19, Z:28.52 [[ 7.38744123e-01 -6.72299642e-01 -4.76477983e-02 1.97426533e+02] [ 6.70656511e-01 7.40273801e-01 -4.70589456e-02 1.22185503e+02] [ 6.69101290e-02 2.80921334e-03 9.97755052e-01 2.85172919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.2671056809999 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:197.45, Y:122.20, Z:28.49 [[ 7.38507571e-01 -6.72549353e-01 -4.77905329e-02 1.97447971e+02] [ 6.70915955e-01 7.40047762e-01 -4.69158029e-02 1.22204377e+02] [ 6.69204698e-02 2.58424468e-03 9.97754966e-01 2.84941940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29710568099995 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:197.48, Y:122.22, Z:28.51 [[ 7.40643196e-01 -6.70225136e-01 -4.73911648e-02 1.97475641e+02] [ 6.68561319e-01 7.42150238e-01 -4.73158221e-02 1.22222854e+02] [ 6.68836175e-02 3.36024205e-03 9.97755126e-01 2.85142312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.3271056809999 meters Centerline goodness : 0.998173 Centerline is valid? [True, True] Translation: X:197.50, Y:122.24, Z:28.52 [[ 7.41475170e-01 -6.69229187e-01 -4.84444870e-02 1.97495018e+02] [ 6.67631243e-01 7.43053471e-01 -4.62608077e-02 1.22239710e+02] [ 6.69559270e-02 1.95818715e-03 9.97754012e-01 2.85176714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35710568099995 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:197.51, Y:122.26, Z:28.52 [[ 7.41735658e-01 -6.68974683e-01 -4.79696507e-02 1.97513312e+02] [ 6.67345411e-01 7.43280453e-01 -4.67361727e-02 1.22256571e+02] [ 6.69202200e-02 2.65355960e-03 9.97754801e-01 2.85214014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.3871056809999 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:197.54, Y:122.28, Z:28.53 [[ 7.40005810e-01 -6.70923266e-01 -4.74696968e-02 1.97535948e+02] [ 6.69265950e-01 7.41519942e-01 -4.72362552e-02 1.22280252e+02] [ 6.68916295e-02 3.18525156e-03 9.97755162e-01 2.85257750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41710568099995 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:197.56, Y:122.30, Z:28.52 [[ 7.40778807e-01 -6.70026699e-01 -4.80726768e-02 1.97560768e+02] [ 6.68406229e-01 7.42333078e-01 -4.66338265e-02 1.22296959e+02] [ 6.69318470e-02 2.41327369e-03 9.97754631e-01 2.85209228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.4471056809999 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:197.58, Y:122.32, Z:28.53 [[ 7.37131663e-01 -6.74048564e-01 -4.79108086e-02 1.97582155e+02] [ 6.72426153e-01 7.38683523e-01 -4.67944582e-02 1.22316249e+02] [ 6.69326623e-02 2.27719606e-03 9.97754896e-01 2.85287766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47710568099995 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:197.60, Y:122.34, Z:28.51 [[ 7.17279361e-01 -6.95139913e-01 -4.78625139e-02 1.97596360e+02] [ 6.93559981e-01 7.18874355e-01 -4.68424457e-02 1.22343376e+02] [ 6.69691875e-02 4.03595285e-04 9.97754962e-01 2.85112778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.5071056809999 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:197.62, Y:122.35, Z:28.53 [[ 7.27561655e-01 -6.84373983e-01 -4.78151729e-02 1.97624692e+02] [ 6.82767371e-01 7.29129684e-01 -4.68894527e-02 1.22348201e+02] [ 6.69533834e-02 1.46832785e-03 9.97755024e-01 2.85320881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53710568099996 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:197.65, Y:122.37, Z:28.53 [[ 7.21460286e-01 -6.90848871e-01 -4.71475581e-02 1.97646829e+02] [ 6.89212816e-01 7.22996926e-01 -4.75514388e-02 1.22367463e+02] [ 6.69383973e-02 1.81177336e-03 9.97755465e-01 2.85313898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.56710568099993 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:197.67, Y:122.38, Z:28.53 [[ 7.15324804e-01 -6.97200821e-01 -4.71321652e-02 1.97669863e+02] [ 6.95577412e-01 7.16874797e-01 -4.75666910e-02 1.22384622e+02] [ 6.69513974e-02 1.24156441e-03 9.97755466e-01 2.85314222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.5971056809999 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:197.69, Y:122.40, Z:28.53 [[ 7.12657070e-01 -6.99928673e-01 -4.71142497e-02 1.97690260e+02] [ 6.98310025e-01 7.14212035e-01 -4.75844296e-02 1.22401114e+02] [ 6.69552708e-02 1.01102729e-03 9.97755466e-01 2.85324731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.62710568099993 meters Centerline goodness : 0.997236 Centerline is valid? [True, True] Translation: X:197.72, Y:122.43, Z:28.53 [[ 7.07613265e-01 -7.05052751e-01 -4.67342130e-02 1.97715382e+02] [ 7.03420461e-01 7.09154065e-01 -4.79600598e-02 1.22425153e+02] [ 6.69561292e-02 1.06337280e-03 9.97755354e-01 2.85345997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.6571056809999 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:197.74, Y:122.45, Z:28.54 [[ 7.07450716e-01 -7.05152256e-01 -4.76841862e-02 1.97736932e+02] [ 7.03582547e-01 7.09055863e-01 -4.70253334e-02 1.22447695e+02] [ 6.69707718e-02 -2.81655401e-04 9.97754898e-01 2.85396998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68710568099993 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:197.75, Y:122.47, Z:28.54 [[ 7.10523617e-01 -7.02038025e-01 -4.79458114e-02 1.97751637e+02] [ 7.00478642e-01 7.12139372e-01 -4.67673810e-02 1.22466047e+02] [ 6.69765798e-02 -3.55688092e-04 9.97754484e-01 2.85437373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7171056809999 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:197.77, Y:122.49, Z:28.55 [[ 7.11864247e-01 -7.00722876e-01 -4.72942404e-02 1.97770512e+02] [ 6.99117589e-01 7.13433236e-01 -4.74090172e-02 1.22488076e+02] [ 6.69618658e-02 6.84549032e-04 9.97755301e-01 2.85509939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74710568099994 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:197.79, Y:122.51, Z:28.55 [[ 7.19376016e-01 -6.93003851e-01 -4.73688733e-02 1.97789524e+02] [ 6.91386558e-01 7.20932706e-01 -4.73356140e-02 1.22506101e+02] [ 6.69535328e-02 1.30190310e-03 9.97755245e-01 2.85521526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7771056809999 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:197.81, Y:122.53, Z:28.55 [[ 7.21315446e-01 -6.91015642e-01 -4.69191839e-02 1.97808803e+02] [ 6.89365243e-01 7.22836701e-01 -4.77772458e-02 1.22528852e+02] [ 6.69297323e-02 2.11801074e-03 9.97755443e-01 2.85530993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80710568099994 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:197.83, Y:122.55, Z:28.55 [[ 7.26617549e-01 -6.85419588e-01 -4.71903120e-02 1.97828307e+02] [ 6.83774672e-01 7.28144838e-01 -4.75109867e-02 1.22550622e+02] [ 6.69263430e-02 2.25477662e-03 9.97755371e-01 2.85533953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8371056809999 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:197.85, Y:122.57, Z:28.56 [[ 7.28139339e-01 -6.83779287e-01 -4.75288275e-02 1.97845874e+02] [ 6.82152493e-01 7.29686343e-01 -4.71785595e-02 1.22570789e+02] [ 6.69408581e-02 1.93065693e-03 9.97755077e-01 2.85586684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86710568099994 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:197.87, Y:122.59, Z:28.56 [[ 7.32939268e-01 -6.78658028e-01 -4.71519795e-02 1.97867429e+02] [ 6.76996672e-01 7.34448574e-01 -4.75478577e-02 1.22592103e+02] [ 6.68994395e-02 2.92795887e-03 9.97755427e-01 2.85564305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8971056809999 meters Centerline goodness : 0.996756 Centerline is valid? [True, True] Translation: X:197.89, Y:122.61, Z:28.55 [[ 7.36625904e-01 -6.74631676e-01 -4.74802999e-02 1.97885033e+02] [ 6.72982616e-01 7.38149081e-01 -4.72264018e-02 1.22610271e+02] [ 6.69079664e-02 2.83477449e-03 9.97755124e-01 2.85538850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92710568099994 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:197.91, Y:122.63, Z:28.55 [[ 7.38708749e-01 -6.72397252e-01 -4.68115413e-02 1.97905631e+02] [ 6.70702116e-01 7.40179810e-01 -4.78802741e-02 1.22630716e+02] [ 6.68435224e-02 3.97297761e-03 9.97755561e-01 2.85505034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.9571056809999 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:197.93, Y:122.65, Z:28.55 [[ 7.37849162e-01 -6.73341447e-01 -4.67964800e-02 1.97930441e+02] [ 6.71647267e-01 7.39321323e-01 -4.78949899e-02 1.22650705e+02] [ 6.68473173e-02 3.90855030e-03 9.97755561e-01 2.85491016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98710568099995 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:197.96, Y:122.67, Z:28.54 [[ 7.40704096e-01 -6.70183250e-01 -4.70303487e-02 1.97958417e+02] [ 6.68497137e-01 7.42185594e-01 -4.76667905e-02 1.22674324e+02] [ 6.68507319e-02 3.86733352e-03 9.97755493e-01 2.85427105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0171056809999 meters Centerline goodness : 0.996612 Centerline is valid? [True, True] Translation: X:197.97, Y:122.69, Z:28.56 [[ 7.34602956e-01 -6.76787001e-01 -4.81440855e-02 1.97971071e+02] [ 6.75184213e-01 7.36176895e-01 -4.65817331e-02 1.22689960e+02] [ 6.69684749e-02 1.71295233e-03 9.97753621e-01 2.85592350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04710568099995 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:197.99, Y:122.71, Z:28.57 [[ 7.34298995e-01 -6.77197239e-01 -4.69987698e-02 1.97991320e+02] [ 6.75523388e-01 7.35794247e-01 -4.76967386e-02 1.22708936e+02] [ 6.68815241e-02 3.27489903e-03 9.97755550e-01 2.85666997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0771056809999 meters Centerline goodness : 0.996448 Centerline is valid? [True, True] Translation: X:198.01, Y:122.73, Z:28.57 [[ 7.33667942e-01 -6.77885304e-01 -4.69346997e-02 1.98014288e+02] [ 6.76208885e-01 7.35160264e-01 -4.77590813e-02 1.22729310e+02] [ 6.68797056e-02 3.30164589e-03 9.97755583e-01 2.85682378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10710568099995 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:198.04, Y:122.75, Z:28.57 [[ 7.32601947e-01 -6.79028895e-01 -4.70547211e-02 1.98038213e+02] [ 6.77362236e-01 7.34105292e-01 -4.76426437e-02 1.22748788e+02] [ 6.68938515e-02 3.03000244e-03 9.97755497e-01 2.85702972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.1371056809999 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:198.06, Y:122.77, Z:28.58 [[ 7.31794338e-01 -6.79885477e-01 -4.72523504e-02 1.98060098e+02] [ 6.78232883e-01 7.33313423e-01 -4.74508151e-02 1.22766147e+02] [ 6.69119029e-02 2.67613999e-03 9.97755298e-01 2.85752427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16710568099995 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:198.08, Y:122.78, Z:28.57 [[ 7.33014465e-01 -6.78572267e-01 -4.72172813e-02 1.98080510e+02] [ 6.76914770e-01 7.34528137e-01 -4.74848401e-02 1.22782585e+02] [ 6.69043173e-02 2.84499955e-03 9.97755340e-01 2.85684895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.1971056809999 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:198.10, Y:122.80, Z:28.58 [[ 7.32013681e-01 -6.79675386e-01 -4.68758017e-02 1.98104299e+02] [ 6.77999018e-01 7.33505966e-01 -4.78155789e-02 1.22802595e+02] [ 6.68827523e-02 3.21991041e-03 9.97755646e-01 2.85804144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22710568099995 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:198.12, Y:122.83, Z:28.57 [[ 7.25912103e-01 -6.86155870e-01 -4.73470197e-02 1.98115823e+02] [ 6.84522434e-01 7.27451888e-01 -4.73580820e-02 1.22825838e+02] [ 6.69377049e-02 1.96770777e-03 9.97755216e-01 2.85671642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.2571056809999 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:198.15, Y:122.84, Z:28.59 [[ 7.31647616e-01 -6.80088554e-01 -4.65974747e-02 1.98147413e+02] [ 6.78395948e-01 7.33121285e-01 -4.80844979e-02 1.22837540e+02] [ 6.68633172e-02 3.56937026e-03 9.97755760e-01 2.85868056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28710568099996 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:198.17, Y:122.85, Z:28.59 [[ 7.30959031e-01 -6.80795327e-01 -4.70809836e-02 1.98168174e+02] [ 6.79134016e-01 7.32468231e-01 -4.76159545e-02 1.22854915e+02] [ 6.69020440e-02 2.83101441e-03 9.97755532e-01 2.85899693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31710568099993 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:198.18, Y:122.88, Z:28.57 [[ 7.18355014e-01 -6.94089394e-01 -4.69679298e-02 1.98179872e+02] [ 6.92448909e-01 7.19886667e-01 -4.77252133e-02 1.22881942e+02] [ 6.69371508e-02 1.76075455e-03 9.97755640e-01 2.85749772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.3471056809999 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:198.21, Y:122.89, Z:28.60 [[ 7.28964861e-01 -6.82969670e-01 -4.65044198e-02 1.98212283e+02] [ 6.81277295e-01 7.30438662e-01 -4.81726908e-02 1.22893666e+02] [ 6.68691129e-02 3.43379356e-03 9.97755847e-01 2.85956522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37710568099993 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:198.23, Y:122.91, Z:28.59 [[ 7.29977039e-01 -6.81825785e-01 -4.74038120e-02 1.98233624e+02] [ 6.80186711e-01 7.31511016e-01 -4.73040284e-02 1.22908105e+02] [ 6.69295170e-02 2.28741160e-03 9.97755084e-01 2.85939855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.4071056809999 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:198.26, Y:122.93, Z:28.60 [[ 7.29918207e-01 -6.81925389e-01 -4.68740234e-02 1.98256621e+02] [ 6.80253725e-01 7.31415530e-01 -4.78141385e-02 1.22929612e+02] [ 6.68900637e-02 3.01418125e-03 9.97755799e-01 2.85971251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43710568099993 meters Centerline goodness : 0.995795 Centerline is valid? [True, True] Translation: X:198.28, Y:122.95, Z:28.60 [[ 7.31172294e-01 -6.80557554e-01 -4.72069120e-02 1.98278407e+02] [ 6.78903590e-01 7.32689735e-01 -4.74938701e-02 1.22948577e+02] [ 6.69103319e-02 2.67725994e-03 9.97755401e-01 2.85957001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.4671056809999 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:198.30, Y:122.97, Z:28.60 [[ 7.30847109e-01 -6.80892129e-01 -4.74174243e-02 1.98300478e+02] [ 6.79251927e-01 7.32379933e-01 -4.72911497e-02 1.22965546e+02] [ 6.69277416e-02 2.35422315e-03 9.97755048e-01 2.85977021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49710568099994 meters Centerline goodness : 0.995238 Centerline is valid? [True, True] Translation: X:198.32, Y:122.99, Z:28.58 [[ 7.22053932e-01 -6.90222505e-01 -4.72336032e-02 1.98318197e+02] [ 6.88590577e-01 7.23595075e-01 -4.74677138e-02 1.22994977e+02] [ 6.69412870e-02 1.74963525e-03 9.97755382e-01 2.85829563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5271056809999 meters Centerline goodness : 0.995717 Centerline is valid? [True, True] Translation: X:198.34, Y:123.00, Z:28.60 [[ 7.27586631e-01 -6.84346750e-01 -4.78249003e-02 1.98343561e+02] [ 6.82739370e-01 7.29155238e-01 -4.68998092e-02 1.23003556e+02] [ 6.69675085e-02 1.47173184e-03 9.97754071e-01 2.86000275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55710568099994 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:198.36, Y:123.02, Z:28.60 [[ 7.28943358e-01 -6.82941689e-01 -4.72464730e-02 1.98362239e+02] [ 6.81295225e-01 7.30468942e-01 -4.74546235e-02 1.23017260e+02] [ 6.69208219e-02 2.40293618e-03 9.97755396e-01 2.85951655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5871056809999 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:198.39, Y:123.04, Z:28.61 [[ 7.24933288e-01 -6.87261437e-01 -4.62973456e-02 1.98385391e+02] [ 6.85565679e-01 7.26402569e-01 -4.83632870e-02 1.23040570e+02] [ 6.68687329e-02 3.32028552e-03 9.97756257e-01 2.86055540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61710568099994 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:198.40, Y:123.06, Z:28.61 [[ 7.23674440e-01 -6.88521624e-01 -4.72575632e-02 1.98403872e+02] [ 6.86887686e-01 7.25213394e-01 -4.74430255e-02 1.23059627e+02] [ 6.69373668e-02 1.87266669e-03 9.97755422e-01 2.86065319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6471056809999 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:198.42, Y:123.08, Z:28.61 [[ 7.22776428e-01 -6.89485441e-01 -4.69474376e-02 1.98424405e+02] [ 6.87834315e-01 7.24296163e-01 -4.77391232e-02 1.23079645e+02] [ 6.69192793e-02 2.21265441e-03 9.97755939e-01 2.86072994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67710568099994 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:198.43, Y:123.11, Z:28.59 [[ 7.09328790e-01 -7.03312400e-01 -4.69503543e-02 1.98433323e+02] [ 7.01691110e-01 7.10880319e-01 -4.77363363e-02 1.23106377e+02] [ 6.69496401e-02 9.16111424e-04 9.97755935e-01 2.85901149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.7071056809999 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:198.46, Y:123.12, Z:28.61 [[ 7.20790161e-01 -6.91611899e-01 -4.62009199e-02 1.98463490e+02] [ 6.89919422e-01 7.22262896e-01 -4.84510161e-02 1.23120692e+02] [ 6.68785094e-02 3.04810376e-03 9.97756470e-01 2.86096043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73710568099995 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:198.48, Y:123.14, Z:28.61 [[ 7.20580019e-01 -6.91781922e-01 -4.69276970e-02 1.98482019e+02] [ 6.90134430e-01 7.22103639e-01 -4.77577600e-02 1.23140128e+02] [ 6.69246157e-02 2.02686820e-03 9.97755976e-01 2.86147853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.7671056809999 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:198.50, Y:123.16, Z:28.62 [[ 7.20197104e-01 -6.92180524e-01 -4.69281739e-02 1.98502201e+02] [ 6.90533906e-01 7.21721667e-01 -4.77573051e-02 1.23160396e+02] [ 6.69257564e-02 1.98917756e-03 9.97755975e-01 2.86181935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79710568099995 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:198.52, Y:123.18, Z:28.62 [[ 7.18757988e-01 -6.93666094e-01 -4.70563961e-02 1.98521154e+02] [ 6.92030596e-01 7.20294765e-01 -4.76351214e-02 1.23182030e+02] [ 6.69373444e-02 1.67365817e-03 9.97755777e-01 2.86212622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.8271056809999 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:198.54, Y:123.20, Z:28.62 [[ 7.18323647e-01 -6.94129020e-01 -4.68619435e-02 1.98539763e+02] [ 6.92482494e-01 7.19848108e-01 -4.78194235e-02 1.23202401e+02] [ 6.69263309e-02 1.89874720e-03 9.97756113e-01 2.86230466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85710568099995 meters Centerline goodness : 0.995805 Centerline is valid? [True, True] Translation: X:198.56, Y:123.22, Z:28.63 [[ 7.15662158e-01 -6.96875092e-01 -4.68271559e-02 1.98557118e+02] [ 6.95232259e-01 7.17190525e-01 -4.78524537e-02 1.23223193e+02] [ 6.69311756e-02 1.69044089e-03 9.97756163e-01 2.86290848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.8871056809999 meters Centerline goodness : 0.995934 Centerline is valid? [True, True] Translation: X:198.58, Y:123.24, Z:28.63 [[ 7.11440770e-01 -7.01186795e-01 -4.67879243e-02 1.98576111e+02] [ 6.99550781e-01 7.12976355e-01 -4.78896872e-02 1.23241701e+02] [ 6.69383000e-02 1.34014694e-03 9.97756217e-01 2.86316515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91710568099995 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:198.60, Y:123.26, Z:28.63 [[ 7.08771432e-01 -7.03889079e-01 -4.67249621e-02 1.98596223e+02] [ 7.02254980e-01 7.10308940e-01 -4.79494889e-02 1.23262727e+02] [ 6.69402799e-02 1.17239058e-03 9.97756295e-01 2.86340230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.9471056809999 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:198.60, Y:123.29, Z:28.62 [[ 6.97401428e-01 -7.15155037e-01 -4.67388664e-02 1.98604236e+02] [ 7.13546667e-01 6.98965855e-01 -4.79362930e-02 1.23289769e+02] [ 6.69507531e-02 8.04768791e-05 9.97756278e-01 2.86175391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97710568099995 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:198.63, Y:123.30, Z:28.63 [[ 7.08009440e-01 -7.04700091e-01 -4.60479641e-02 1.98631466e+02] [ 7.03025780e-01 7.09502403e-01 -4.85910772e-02 1.23303159e+02] [ 6.69132778e-02 2.03003545e-03 9.97756730e-01 2.86291675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.0071056809999 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:198.65, Y:123.33, Z:28.63 [[ 7.05430557e-01 -7.07282836e-01 -4.60295523e-02 1.98650158e+02] [ 7.05612856e-01 7.06928363e-01 -4.86085122e-02 1.23327838e+02] [ 6.69195625e-02 1.81088598e-03 9.97756730e-01 2.86332334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03710568099996 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:198.67, Y:123.35, Z:28.63 [[ 7.09382951e-01 -7.03272461e-01 -4.67298028e-02 1.98667648e+02] [ 7.01637316e-01 7.10919368e-01 -4.79450662e-02 1.23345727e+02] [ 6.69395666e-02 1.22403918e-03 9.97756281e-01 2.86314745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.06710568099993 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:198.69, Y:123.37, Z:28.64 [[ 7.08513581e-01 -7.04196590e-01 -4.59963917e-02 1.98687045e+02] [ 7.02518135e-01 7.10001795e-01 -4.86386817e-02 1.23370202e+02] [ 6.69087145e-02 2.14786723e-03 9.97756789e-01 2.86366503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.0971056809999 meters Centerline goodness : 0.995854 Centerline is valid? [True, True] Translation: X:198.71, Y:123.39, Z:28.64 [[ 7.10470750e-01 -7.02183537e-01 -4.65788950e-02 1.98706178e+02] [ 7.00536658e-01 7.11994329e-01 -4.80881098e-02 1.23390929e+02] [ 6.69305881e-02 1.53497198e-03 9.97756453e-01 2.86393323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.12710568099993 meters Centerline goodness : 0.995363 Centerline is valid? [True, True] Translation: X:198.72, Y:123.41, Z:28.64 [[ 7.12534593e-01 -7.00091348e-01 -4.65463038e-02 1.98724478e+02] [ 6.98437989e-01 7.14051082e-01 -4.81188941e-02 1.23410423e+02] [ 6.69240600e-02 1.77666984e-03 9.97756490e-01 2.86386237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.1571056809999 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:198.74, Y:123.43, Z:28.63 [[ 7.15637675e-01 -6.96922721e-01 -4.64912805e-02 1.98743246e+02] [ 6.95259278e-01 7.17143013e-01 -4.81708865e-02 1.23428636e+02] [ 6.69122822e-02 2.14940709e-03 9.97756547e-01 2.86330468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18710568099993 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:198.76, Y:123.45, Z:28.65 [[ 7.15468327e-01 -6.97132924e-01 -4.59430112e-02 1.98763836e+02] [ 6.95436616e-01 7.16936096e-01 -4.86882681e-02 1.23448673e+02] [ 6.68803978e-02 2.88446150e-03 9.97756830e-01 2.86452260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2171056809999 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:198.78, Y:123.47, Z:28.64 [[ 7.17559884e-01 -6.94953621e-01 -4.63387345e-02 1.98782793e+02] [ 6.93276764e-01 7.19050065e-01 -4.83149191e-02 1.23466857e+02] [ 6.68964981e-02 2.54327981e-03 9.97756679e-01 2.86419095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24710568099994 meters Centerline goodness : 0.996362 Centerline is valid? [True, True] Translation: X:198.81, Y:123.48, Z:28.64 [[ 7.23183517e-01 -6.89128343e-01 -4.59099977e-02 1.98808714e+02] [ 6.87413872e-01 7.24629997e-01 -4.87189525e-02 1.23481650e+02] [ 6.68413725e-02 3.67357417e-03 9.97756852e-01 2.86403296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2771056809999 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:198.82, Y:123.51, Z:28.65 [[ 7.15296106e-01 -6.97313046e-01 -4.58911355e-02 1.98817845e+02] [ 6.95614012e-01 7.16760685e-01 -4.87367134e-02 1.23508319e+02] [ 6.68777079e-02 2.93866443e-03 9.97756852e-01 2.86484713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30710568099994 meters Centerline goodness : 0.995947 Centerline is valid? [True, True] Translation: X:198.84, Y:123.53, Z:28.65 [[ 7.18340144e-01 -6.94190922e-01 -4.56771565e-02 1.98838960e+02] [ 6.92472741e-01 7.19782290e-01 -4.89383068e-02 1.23526344e+02] [ 6.68501366e-02 3.52416457e-03 9.97756804e-01 2.86460236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3371056809999 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:198.86, Y:123.55, Z:28.65 [[ 7.21306645e-01 -6.91122981e-01 -4.54505150e-02 1.98863333e+02] [ 6.89385316e-01 7.22725432e-01 -4.91511585e-02 1.23548557e+02] [ 6.68177383e-02 4.12013958e-03 9.97756691e-01 2.86470412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36710568099994 meters Centerline goodness : 0.996677 Centerline is valid? [True, True] Translation: X:198.88, Y:123.57, Z:28.65 [[ 7.23727897e-01 -6.88532900e-01 -4.62642077e-02 1.98881495e+02] [ 6.86838293e-01 7.25197857e-01 -4.83862343e-02 1.23566655e+02] [ 6.68662185e-02 3.24243816e-03 9.97756681e-01 2.86503680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3971056809999 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:198.90, Y:123.58, Z:28.65 [[ 7.25936328e-01 -6.86230558e-01 -4.58701347e-02 1.98899799e+02] [ 6.84507987e-01 7.27373122e-01 -4.87561029e-02 1.23584374e+02] [ 6.68226308e-02 3.99535274e-03 9.97756871e-01 2.86547746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42710568099994 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:198.92, Y:123.60, Z:28.66 [[ 7.27326891e-01 -6.84776338e-01 -4.55736739e-02 1.98917962e+02] [ 6.83033560e-01 7.28739181e-01 -4.90342950e-02 1.23604476e+02] [ 6.67888468e-02 4.53561261e-03 9.97756823e-01 2.86575189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4571056809999 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:198.94, Y:123.62, Z:28.66 [[ 7.31830055e-01 -6.79982731e-01 -4.52576670e-02 1.98942567e+02] [ 6.78212607e-01 7.33208193e-01 -4.93295636e-02 1.23624894e+02] [ 6.67265437e-02 5.40653686e-03 9.97756653e-01 2.86613619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48710568099995 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:198.96, Y:123.64, Z:28.65 [[ 7.32182757e-01 -6.79544913e-01 -4.61207247e-02 1.98956540e+02] [ 6.77823772e-01 7.33621508e-01 -4.85223422e-02 1.23642313e+02] [ 6.68082664e-02 4.26549867e-03 9.97756714e-01 2.86540939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5171056809999 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:198.98, Y:123.66, Z:28.66 [[ 7.33810718e-01 -6.77858909e-01 -4.50458697e-02 1.98981119e+02] [ 6.76072510e-01 7.35168401e-01 -4.95316471e-02 1.23656278e+02] [ 6.66917682e-02 5.89257932e-03 9.97756226e-01 2.86582709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54710568099995 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:199.01, Y:123.67, Z:28.66 [[ 7.32692527e-01 -6.79079550e-01 -4.48622999e-02 1.99006731e+02] [ 6.77284978e-01 7.34039894e-01 -4.97040514e-02 1.23674680e+02] [ 6.66837227e-02 6.03322522e-03 9.97755923e-01 2.86622990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5771056809999 meters Centerline goodness : 0.996688 Centerline is valid? [True, True] Translation: X:199.03, Y:123.69, Z:28.66 [[ 7.31214992e-01 -6.80647215e-01 -4.52106746e-02 1.99026470e+02] [ 6.78875438e-01 7.32591341e-01 -4.93767947e-02 1.23694570e+02] [ 6.67291265e-02 5.41263598e-03 9.97756447e-01 2.86620083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60710568099995 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:199.05, Y:123.71, Z:28.66 [[ 7.30439530e-01 -6.81483240e-01 -4.51518293e-02 1.99050933e+02] [ 6.79709662e-01 7.31813672e-01 -4.94320246e-02 1.23712685e+02] [ 6.67298223e-02 5.41697014e-03 9.97756377e-01 2.86602623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.6371056809999 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:199.07, Y:123.73, Z:28.67 [[ 7.28705143e-01 -6.83322784e-01 -4.53738608e-02 1.99073552e+02] [ 6.81565494e-01 7.30099670e-01 -4.92234658e-02 1.23731188e+02] [ 6.67629565e-02 4.94413484e-03 9.97756615e-01 2.86653774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66710568099995 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:199.09, Y:123.75, Z:28.67 [[ 7.28216149e-01 -6.83834228e-01 -4.55191091e-02 1.99094758e+02] [ 6.82086346e-01 7.29622284e-01 -4.90870535e-02 1.23747593e+02] [ 6.67791637e-02 4.69802228e-03 9.97756720e-01 2.86694931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.6971056809999 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:199.12, Y:123.76, Z:28.68 [[ 7.26324465e-01 -6.85846699e-01 -4.54651187e-02 1.99122764e+02] [ 6.84099570e-01 7.27731587e-01 -4.91377236e-02 1.23763228e+02] [ 6.67873484e-02 4.58726265e-03 9.97756687e-01 2.86753209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72710568099995 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:199.14, Y:123.78, Z:28.68 [[ 7.25420999e-01 -6.86775736e-01 -4.58635168e-02 1.99144399e+02] [ 6.85053760e-01 7.26858613e-01 -4.87637360e-02 1.23782154e+02] [ 6.68260429e-02 3.95526345e-03 9.97756802e-01 2.86791513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.7571056809999 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:199.17, Y:123.80, Z:28.68 [[ 7.26284690e-01 -6.85859371e-01 -4.59072174e-02 1.99166841e+02] [ 6.84138151e-01 7.27723221e-01 -4.87227299e-02 1.23800246e+02] [ 6.68246890e-02 3.97969393e-03 9.97756796e-01 2.86763145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78710568099996 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:199.19, Y:123.82, Z:28.68 [[ 7.24870105e-01 -6.87365426e-01 -4.57395058e-02 1.99186863e+02] [ 6.85637328e-01 7.26300351e-01 -4.88800098e-02 1.23820035e+02] [ 6.68190478e-02 4.07094527e-03 9.97756805e-01 2.86775838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81710568099993 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:199.21, Y:123.84, Z:28.68 [[ 7.24320574e-01 -6.87947344e-01 -4.56963712e-02 1.99212413e+02] [ 6.86217863e-01 7.25749155e-01 -4.89204393e-02 1.23839025e+02] [ 6.68187890e-02 4.07641447e-03 9.97756800e-01 2.86806539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.8471056809999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:199.24, Y:123.85, Z:28.69 [[ 7.26683386e-01 -6.85420850e-01 -4.61466591e-02 1.99236427e+02] [ 6.83712844e-01 7.28137780e-01 -4.84986689e-02 1.23853530e+02] [ 6.68431248e-02 3.69211346e-03 9.97756666e-01 2.86878820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87710568099993 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:199.26, Y:123.87, Z:28.69 [[ 7.26731690e-01 -6.85384862e-01 -4.59199471e-02 1.99256521e+02] [ 6.83663451e-01 7.28169996e-01 -4.87107994e-02 1.23874488e+02] [ 6.68231723e-02 4.00589199e-03 9.97756792e-01 2.86891403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.9071056809999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:199.27, Y:123.89, Z:28.69 [[ 7.28721182e-01 -6.83256578e-01 -4.61073360e-02 1.99273762e+02] [ 6.81541945e-01 7.30167712e-01 -4.85354513e-02 1.23893999e+02] [ 6.68282544e-02 3.94472802e-03 9.97756696e-01 2.86909987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93710568099993 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:199.30, Y:123.91, Z:28.70 [[ 7.31205064e-01 -6.80627476e-01 -4.56661113e-02 1.99296311e+02] [ 6.78882021e-01 7.32614021e-01 -4.89479027e-02 1.23914461e+02] [ 6.67709208e-02 4.78905238e-03 9.97756839e-01 2.86986484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.9671056809999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:199.32, Y:123.93, Z:28.70 [[ 7.30062217e-01 -6.81828592e-01 -4.60318487e-02 1.99315301e+02] [ 6.80106716e-01 7.31500040e-01 -4.86060319e-02 1.23932528e+02] [ 6.68132815e-02 4.17885791e-03 9.97756745e-01 2.87015340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99710568099994 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:199.34, Y:123.95, Z:28.71 [[ 7.29245052e-01 -6.82729287e-01 -4.56330372e-02 1.99336736e+02] [ 6.80985992e-01 7.30656672e-01 -4.89786270e-02 1.23952065e+02] [ 6.67812262e-02 4.64196231e-03 9.97756844e-01 2.87089584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0271056809999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:199.36, Y:123.97, Z:28.71 [[ 7.27735705e-01 -6.84333702e-01 -4.56960290e-02 1.99357565e+02] [ 6.82597177e-01 7.29155640e-01 -4.89198060e-02 1.23972006e+02] [ 6.67969892e-02 4.40870920e-03 9.97756847e-01 2.87098274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05710568099994 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:199.38, Y:123.99, Z:28.70 [[ 7.26781149e-01 -6.85345818e-01 -4.57194886e-02 1.99375723e+02] [ 6.83612635e-01 7.28205163e-01 -4.88979063e-02 1.23992666e+02] [ 6.68051433e-02 4.28365640e-03 9.97756846e-01 2.87043061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0871056809999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:199.40, Y:124.01, Z:28.71 [[ 7.26465128e-01 -6.85685204e-01 -4.56532503e-02 1.99396609e+02] [ 6.83948835e-01 7.27885252e-01 -4.89597003e-02 1.24013358e+02] [ 6.68012697e-02 4.34302765e-03 9.97756848e-01 2.87075548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11710568099994 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:199.42, Y:124.03, Z:28.71 [[ 7.20968027e-01 -6.91447938e-01 -4.58786788e-02 1.99415558e+02] [ 6.89736174e-01 7.22417802e-01 -4.87496630e-02 1.24033927e+02] [ 6.68514282e-02 3.50276399e-03 9.97756793e-01 2.87069662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1471056809999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:199.44, Y:124.05, Z:28.71 [[ 7.20255975e-01 -6.92200230e-01 -4.57184001e-02 1.99437787e+02] [ 6.90480558e-01 7.21696269e-01 -4.88988068e-02 1.24051641e+02] [ 6.68425641e-02 3.65199132e-03 9.97756851e-01 2.87141276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17710568099994 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:199.46, Y:124.07, Z:28.71 [[ 7.18273613e-01 -6.94250223e-01 -4.58218790e-02 1.99458863e+02] [ 6.92540763e-01 7.19726063e-01 -4.88025147e-02 1.24071367e+02] [ 6.68603573e-02 3.32003948e-03 9.97756819e-01 2.87119317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.2071056809999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:199.48, Y:124.09, Z:28.71 [[ 7.15216589e-01 -6.97404431e-01 -4.57415577e-02 1.99477462e+02] [ 6.95696625e-01 7.16670935e-01 -4.88771751e-02 1.24094817e+02] [ 6.68688034e-02 3.13551921e-03 9.97756850e-01 2.87143388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23710568099995 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:199.50, Y:124.11, Z:28.71 [[ 7.14143057e-01 -6.98486399e-01 -4.60048260e-02 1.99496152e+02] [ 6.96796433e-01 7.15618331e-01 -4.86326587e-02 1.24114720e+02] [ 6.68911475e-02 2.67467695e-03 9.97756694e-01 2.87123957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.2671056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:199.52, Y:124.13, Z:28.72 [[ 7.14291852e-01 -6.98346705e-01 -4.58151739e-02 1.99519381e+02] [ 6.96645184e-01 7.15753587e-01 -4.88087202e-02 1.24133784e+02] [ 6.68777840e-02 2.94675098e-03 9.97756823e-01 2.87228334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29710568099995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:199.54, Y:124.15, Z:28.72 [[ 7.16917331e-01 -6.95638449e-01 -4.60074858e-02 1.99537727e+02] [ 6.93942779e-01 7.18386053e-01 -4.86302310e-02 1.24150336e+02] [ 6.68801946e-02 2.93729289e-03 9.97756690e-01 2.87196518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.3271056809999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:199.56, Y:124.18, Z:28.73 [[ 7.17503015e-01 -6.95070093e-01 -4.54641565e-02 1.99556715e+02] [ 6.93341340e-01 7.18932292e-01 -4.91339519e-02 1.24175393e+02] [ 6.68371907e-02 3.73157944e-03 9.97756917e-01 2.87308157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35710568099995 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:199.58, Y:124.20, Z:28.71 [[ 7.14812445e-01 -6.97804532e-01 -4.59565315e-02 1.99575963e+02] [ 6.96110303e-01 7.16282745e-01 -4.86772655e-02 1.24200014e+02] [ 6.68850870e-02 2.80430016e-03 9.97756744e-01 2.87144927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.3871056809999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:199.59, Y:124.22, Z:28.73 [[ 7.16908556e-01 -6.95632569e-01 -4.62325832e-02 1.99594020e+02] [ 6.93950209e-01 7.18392934e-01 -4.84221071e-02 1.24218430e+02] [ 6.68971558e-02 2.63111212e-03 9.97756407e-01 2.87318993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41710568099995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:199.61, Y:124.24, Z:28.74 [[ 7.16325954e-01 -6.96255443e-01 -4.58855695e-02 1.99614943e+02] [ 6.94553890e-01 7.17787631e-01 -4.87422880e-02 1.24238420e+02] [ 6.68731776e-02 3.04536519e-03 9.97756836e-01 2.87363974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.4471056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:199.64, Y:124.26, Z:28.74 [[ 7.12562256e-01 -7.00098539e-01 -4.60116032e-02 1.99637914e+02] [ 6.98412336e-01 7.14041816e-01 -4.86260568e-02 1.24258233e+02] [ 6.68972401e-02 2.51402145e-03 9.97756703e-01 2.87390107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47710568099995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:199.65, Y:124.27, Z:28.72 [[ 7.10892693e-01 -7.01785097e-01 -4.61438731e-02 1.99654586e+02] [ 7.00110288e-01 7.12385391e-01 -4.85040038e-02 1.24274424e+02] [ 6.69116081e-02 2.17534157e-03 9.97756536e-01 2.87199903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.5071056809999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:199.68, Y:124.29, Z:28.72 [[ 7.15655944e-01 -6.97005515e-01 -4.49430867e-02 1.99679111e+02] [ 6.95250937e-01 7.17053139e-01 -4.96077664e-02 1.24291181e+02] [ 6.68034682e-02 4.25536975e-03 9.97757079e-01 2.87202583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.5371056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:199.69, Y:124.32, Z:28.72 [[ 7.11056342e-01 -7.01700351e-01 -4.48942806e-02 1.99693781e+02] [ 6.99952192e-01 7.12461611e-01 -4.96526097e-02 1.24319197e+02] [ 6.68267052e-02 3.88195294e-03 9.97757046e-01 2.87229125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.56710568099993 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:199.71, Y:124.34, Z:28.74 [[ 7.08151196e-01 -7.04606466e-01 -4.52947187e-02 1.99709370e+02] [ 7.02887393e-01 7.09591672e-01 -4.92846029e-02 1.24343782e+02] [ 6.68670051e-02 3.06386370e-03 9.97757193e-01 2.87355291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.5971056809999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:199.73, Y:124.36, Z:28.75 [[ 7.09052689e-01 -7.03681609e-01 -4.55683818e-02 1.99730766e+02] [ 7.01976700e-01 7.10510007e-01 -4.90330882e-02 1.24364592e+02] [ 6.68804737e-02 2.77910075e-03 9.97757124e-01 2.87451679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.62710568099993 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:199.75, Y:124.39, Z:28.75 [[ 7.09237251e-01 -7.03475358e-01 -4.58796486e-02 1.99748284e+02] [ 7.01788391e-01 7.10715680e-01 -4.87470747e-02 1.24385874e+02] [ 6.68997515e-02 2.37543647e-03 9.97756874e-01 2.87462542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.6571056809999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:199.77, Y:124.41, Z:28.75 [[ 7.09542983e-01 -7.03191211e-01 -4.55068710e-02 1.99765307e+02] [ 7.01481725e-01 7.10994839e-01 -4.90889862e-02 1.24408667e+02] [ 6.68740941e-02 2.90850731e-03 9.97757183e-01 2.87475516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68710568099993 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:199.78, Y:124.43, Z:28.74 [[ 7.13510880e-01 -6.99170751e-01 -4.54145912e-02 1.99784820e+02] [ 6.97447729e-01 7.14946586e-01 -4.91736041e-02 1.24430966e+02] [ 6.68497527e-02 3.41159801e-03 9.97757221e-01 2.87433277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7171056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:199.80, Y:124.45, Z:28.75 [[ 7.12703750e-01 -6.99974596e-01 -4.57048149e-02 1.99801379e+02] [ 6.98270096e-01 7.14161682e-01 -4.89077244e-02 1.24451909e+02] [ 6.68747921e-02 2.94241307e-03 9.97757037e-01 2.87500909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74710568099994 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:199.82, Y:124.47, Z:28.75 [[ 7.12539694e-01 -7.00169137e-01 -4.52809467e-02 1.99821027e+02] [ 6.98440416e-01 7.13968443e-01 -4.92955211e-02 1.24473707e+02] [ 6.68443695e-02 3.49897228e-03 9.97757279e-01 2.87518733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7771056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:199.84, Y:124.50, Z:28.76 [[ 7.13378488e-01 -6.99315099e-01 -4.52716836e-02 1.99842259e+02] [ 6.97584134e-01 7.14804514e-01 -4.93039919e-02 1.24495166e+02] [ 6.68394297e-02 3.59159906e-03 9.97757281e-01 2.87560013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80710568099994 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:199.86, Y:124.51, Z:28.76 [[ 7.13788593e-01 -6.98880972e-01 -4.55107885e-02 1.99860792e+02] [ 6.97162954e-01 7.15230343e-01 -4.90853541e-02 1.24514986e+02] [ 6.68555169e-02 3.30813003e-03 9.97757183e-01 2.87588238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8371056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:199.88, Y:124.54, Z:28.77 [[ 7.13895234e-01 -6.98765690e-01 -4.56081719e-02 1.99881408e+02] [ 6.97053086e-01 7.15343521e-01 -4.89963448e-02 1.24536641e+02] [ 6.68624750e-02 3.18694008e-03 9.97757111e-01 2.87654042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86710568099994 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:199.90, Y:124.56, Z:28.77 [[ 7.11983636e-01 -7.00701374e-01 -4.57917792e-02 1.99897167e+02] [ 6.99003457e-01 7.13449359e-01 -4.88280521e-02 1.24557747e+02] [ 6.68839987e-02 2.75616213e-03 9.97756952e-01 2.87684694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8971056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:199.92, Y:124.58, Z:28.77 [[ 7.10636581e-01 -7.02073468e-01 -4.57000578e-02 1.99915857e+02] [ 7.00373001e-01 7.12099203e-01 -4.89120116e-02 1.24580158e+02] [ 6.68828003e-02 2.75157803e-03 9.97757045e-01 2.87725986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92710568099994 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:199.93, Y:124.60, Z:28.77 [[ 7.10342452e-01 -7.02366477e-01 -4.57704238e-02 1.99934488e+02] [ 7.00670740e-01 7.11810665e-01 -4.88476346e-02 1.24599613e+02] [ 6.68888168e-02 2.62855181e-03 9.97756973e-01 2.87728800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9571056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:199.96, Y:124.62, Z:28.76 [[ 7.12889132e-01 -6.99789189e-01 -4.56527758e-02 1.99955145e+02] [ 6.98081290e-01 7.14342991e-01 -4.89551237e-02 1.24615860e+02] [ 6.68700068e-02 3.03022707e-03 9.97757095e-01 2.87644223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98710568099995 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:199.97, Y:124.64, Z:28.77 [[ 7.00863273e-01 -7.11867658e-01 -4.51121936e-02 1.99970760e+02] [ 7.10153005e-01 7.02308745e-01 -4.94483264e-02 1.24641671e+02] [ 6.68833524e-02 2.61995606e-03 9.97757362e-01 2.87749071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:199.99, Y:124.66, Z:28.78 [[ 6.94890695e-01 -7.17666962e-01 -4.56185708e-02 1.99987117e+02] [ 7.15994451e-01 6.96385119e-01 -4.89868624e-02 1.24664182e+02] [ 6.69243465e-02 1.37787133e-03 9.97757101e-01 2.87818715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04710568099995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:200.00, Y:124.69, Z:28.78 [[ 6.86493177e-01 -7.25721982e-01 -4.53290404e-02 2.00001003e+02] [ 7.24049591e-01 6.87987373e-01 -4.92500163e-02 1.24685550e+02] [ 6.69276269e-02 9.89326985e-04 9.97757342e-01 2.87830034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0771056809999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:200.02, Y:124.71, Z:28.78 [[ 6.84347161e-01 -7.27778048e-01 -4.48115528e-02 2.00019461e+02] [ 7.26079231e-01 6.85811122e-01 -4.97197597e-02 1.24705030e+02] [ 6.69172110e-02 1.48883863e-03 9.97757421e-01 2.87847517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10710568099995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:200.05, Y:124.73, Z:28.79 [[ 6.82144029e-01 -7.29856918e-01 -4.45915257e-02 2.00046644e+02] [ 7.28149497e-01 6.83598109e-01 -4.99192938e-02 1.24726878e+02] [ 6.69166245e-02 1.58285122e-03 9.97757315e-01 2.87912982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.1371056809999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:200.06, Y:124.75, Z:28.79 [[ 6.79178877e-01 -7.32547269e-01 -4.57225498e-02 2.00061320e+02] [ 7.30913971e-01 6.80716132e-01 -4.88908451e-02 1.24748951e+02] [ 6.69389324e-02 -2.13621157e-04 9.97757051e-01 2.87873164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16710568099995 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:200.08, Y:124.77, Z:28.79 [[ 6.77045362e-01 -7.34539166e-01 -4.54069492e-02 2.00079442e+02] [ 7.32891094e-01 6.78566292e-01 -4.91775527e-02 1.24773535e+02] [ 6.69344637e-02 1.70852724e-05 9.97757374e-01 2.87923337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.1971056809999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:200.10, Y:124.79, Z:28.80 [[ 6.74743523e-01 -7.36638540e-01 -4.56600380e-02 2.00095162e+02] [ 7.35010725e-01 6.76286460e-01 -4.89474991e-02 1.24794674e+02] [ 6.69358798e-02 -5.33609682e-04 9.97757136e-01 2.87962417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22710568099995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:200.11, Y:124.82, Z:28.80 [[ 6.73399867e-01 -7.37875067e-01 -4.55302513e-02 2.00111947e+02] [ 7.36242102e-01 6.74937148e-01 -4.90653933e-02 1.24816326e+02] [ 6.69341884e-02 -4.80658624e-04 9.97757277e-01 2.88043714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.2571056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:200.13, Y:124.84, Z:28.81 [[ 6.72140331e-01 -7.39028932e-01 -4.54270065e-02 2.00128384e+02] [ 7.37392266e-01 6.73673534e-01 -4.91590791e-02 1.24838306e+02] [ 6.69329537e-02 -4.55723578e-04 9.97757371e-01 2.88076741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.2871056809999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:200.14, Y:124.86, Z:28.81 [[ 6.71501852e-01 -7.39607908e-01 -4.54467314e-02 2.00136106e+02] [ 7.37973774e-01 6.73037779e-01 -4.91411959e-02 1.24861674e+02] [ 6.69325843e-02 -5.40091812e-04 9.97757354e-01 2.88108810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31710568099993 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:200.16, Y:124.89, Z:28.82 [[ 6.71334806e-01 -7.39814148e-01 -4.45489013e-02 2.00156789e+02] [ 7.38125960e-01 6.72810968e-01 -4.99546660e-02 1.24888844e+02] [ 6.69301581e-02 6.53605426e-04 9.97757449e-01 2.88154947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.3471056809999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:200.17, Y:124.91, Z:28.81 [[ 6.74226958e-01 -7.37130807e-01 -4.53451537e-02 2.00166919e+02] [ 7.35484807e-01 6.75750064e-01 -4.92336212e-02 1.24914836e+02] [ 6.69336094e-02 -1.56036971e-04 9.97757419e-01 2.88122823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37710568099993 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:200.18, Y:124.94, Z:28.81 [[ 6.77879507e-01 -7.33802590e-01 -4.48679491e-02 2.00180937e+02] [ 7.32120391e-01 6.79362266e-01 -4.96653265e-02 1.24941702e+02] [ 6.69261368e-02 8.18366641e-04 9.97757597e-01 2.88118311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.4071056809999 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:200.20, Y:124.96, Z:28.82 [[ 6.79229006e-01 -7.32540578e-01 -4.50805714e-02 2.00196422e+02] [ 7.30868361e-01 6.80723050e-01 -4.94728928e-02 1.24964477e+02] [ 6.69282856e-02 6.55460422e-04 9.97757573e-01 2.88172099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43710568099993 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:200.21, Y:124.99, Z:28.81 [[ 6.81099281e-01 -7.30805636e-01 -4.50210122e-02 2.00207328e+02] [ 7.29126052e-01 6.82585013e-01 -4.95267650e-02 1.24993124e+02] [ 6.69251072e-02 9.06651174e-04 9.97757590e-01 2.88122724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.4671056809999 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:200.22, Y:125.02, Z:28.80 [[ 6.78836255e-01 -7.32899542e-01 -4.51619454e-02 2.00217835e+02] [ 7.31233001e-01 6.80336682e-01 -4.93993623e-02 1.25021020e+02] [ 6.69300980e-02 5.10173214e-04 9.97757537e-01 2.87971029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49710568099994 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:200.23, Y:125.04, Z:28.81 [[ 6.87633273e-01 -7.24670811e-01 -4.48631034e-02 2.00233803e+02] [ 7.22968673e-01 6.89093070e-01 -4.96692945e-02 1.25039309e+02] [ 6.69087415e-02 1.71964116e-03 9.97757617e-01 2.88052654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5271056809999 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:200.26, Y:125.06, Z:28.81 [[ 6.92939680e-01 -7.19626518e-01 -4.44103001e-02 2.00255289e+02] [ 7.17887481e-01 6.94355618e-01 -5.00783364e-02 1.25060158e+02] [ 6.68742402e-02 2.81966799e-03 9.97757428e-01 2.88139805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55710568099994 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:200.27, Y:125.09, Z:28.80 [[ 6.92299759e-01 -7.20214884e-01 -4.48504591e-02 2.00267806e+02] [ 7.18502622e-01 6.93747661e-01 -4.96806258e-02 1.25086686e+02] [ 6.68956272e-02 2.16871282e-03 9.97757622e-01 2.88039653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5871056809999 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:200.29, Y:125.10, Z:28.83 [[ 6.97496782e-01 -7.15182055e-01 -4.48649953e-02 2.00289015e+02] [ 7.13460193e-01 6.98933254e-01 -4.96674951e-02 1.25104691e+02] [ 6.68789384e-02 2.63352980e-03 9.97757622e-01 2.88266390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61710568099994 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:200.31, Y:125.12, Z:28.82 [[ 6.97767490e-01 -7.14911625e-01 -4.49655309e-02 2.00306530e+02] [ 7.13195028e-01 6.99210268e-01 -4.95767381e-02 1.25124911e+02] [ 6.68833473e-02 2.52384302e-03 9.97757610e-01 2.88238361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6471056809999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:200.32, Y:125.15, Z:28.83 [[ 6.95130794e-01 -7.17483924e-01 -4.48330092e-02 2.00323607e+02] [ 7.15764968e-01 6.96570735e-01 -4.96962878e-02 1.25149766e+02] [ 6.68856498e-02 2.45552254e-03 9.97757626e-01 2.88273240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67710568099994 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:200.33, Y:125.17, Z:28.81 [[ 6.91801964e-01 -7.20674941e-01 -4.51405832e-02 2.00333349e+02] [ 7.18980621e-01 6.93270962e-01 -4.94190205e-02 1.25166988e+02] [ 6.69097052e-02 1.73297088e-03 9.97757530e-01 2.88130156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.7071056809999 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:200.36, Y:125.19, Z:28.82 [[ 6.91478310e-01 -7.21100876e-01 -4.32582234e-02 2.00358133e+02] [ 7.19299571e-01 6.92817188e-01 -5.11123459e-02 1.25190948e+02] [ 6.68271981e-02 4.22745702e-03 9.97755608e-01 2.88207051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73710568099995 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:200.37, Y:125.22, Z:28.82 [[ 6.85418027e-01 -7.26799426e-01 -4.43251980e-02 2.00373068e+02] [ 7.25070478e-01 6.86846122e-01 -5.01518389e-02 1.25218666e+02] [ 6.68949181e-02 2.23608197e-03 9.97757521e-01 2.88154367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.7671056809999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:200.40, Y:125.23, Z:28.83 [[ 6.85540928e-01 -7.26655565e-01 -4.47808693e-02 2.00395921e+02] [ 7.24952934e-01 6.87000010e-01 -4.97416289e-02 1.25234221e+02] [ 6.69094891e-02 1.63589985e-03 9.97757708e-01 2.88307104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79710568099995 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:200.41, Y:125.26, Z:28.81 [[ 6.73216391e-01 -7.38097455e-01 -4.46300159e-02 2.00410272e+02] [ 7.36410623e-01 6.74693738e-01 -4.98773904e-02 1.25262643e+02] [ 6.69259672e-02 7.12258961e-04 9.97757690e-01 2.88143302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.8271056809999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:200.45, Y:125.28, Z:28.82 [[ 6.82981679e-01 -7.29062420e-01 -4.47662204e-02 2.00445168e+02] [ 7.27364066e-01 6.84445740e-01 -4.97548438e-02 1.25278599e+02] [ 6.69144357e-02 1.42030666e-03 9.97757707e-01 2.88154696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85710568099995 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:200.45, Y:125.30, Z:28.85 [[ 6.72094021e-01 -7.38999819e-01 -4.65713936e-02 2.00450199e+02] [ 7.37433607e-01 6.73702667e-01 -4.81289121e-02 1.25298868e+02] [ 6.69425294e-02 -1.99615667e-03 9.97754836e-01 2.88450916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.8871056809999 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:200.47, Y:125.32, Z:28.84 [[ 6.67685935e-01 -7.43085140e-01 -4.49440351e-02 2.00468512e+02] [ 7.41428634e-01 6.69196854e-01 -4.95898347e-02 1.25323288e+02] [ 6.69258761e-02 -2.12359389e-04 9.97757928e-01 2.88443929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91710568099995 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:200.49, Y:125.34, Z:28.85 [[ 6.64882507e-01 -7.45581007e-01 -4.51687219e-02 2.00485355e+02] [ 7.43943823e-01 6.66414568e-01 -4.93883808e-02 1.25341990e+02] [ 6.69241329e-02 -7.65521170e-04 9.97757773e-01 2.88486942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.9471056809999 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:200.50, Y:125.36, Z:28.85 [[ 6.62750798e-01 -7.47498343e-01 -4.48063280e-02 2.00503568e+02] [ 7.45843558e-01 6.64263506e-01 -4.97129983e-02 1.25363836e+02] [ 6.69235923e-02 -4.71181770e-04 9.97757992e-01 2.88523792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97710568099995 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:200.52, Y:125.39, Z:28.85 [[ 6.60200034e-01 -7.49750567e-01 -4.48330380e-02 2.00520646e+02] [ 7.48102566e-01 6.61720142e-01 -4.96890822e-02 1.25385067e+02] [ 6.69213418e-02 -7.34977020e-04 9.97757984e-01 2.88538619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.0071056809999 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:200.54, Y:125.41, Z:28.86 [[ 6.59666507e-01 -7.50219429e-01 -4.48431535e-02 2.00538179e+02] [ 7.48573122e-01 6.61188457e-01 -4.96800298e-02 1.25407549e+02] [ 6.69206990e-02 -7.96127704e-04 9.97757980e-01 2.88550484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.0371056809999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:200.56, Y:125.43, Z:28.84 [[ 6.65857813e-01 -7.44730935e-01 -4.48241835e-02 2.00556828e+02] [ 7.43070939e-01 6.67364809e-01 -4.96969914e-02 1.25426632e+02] [ 6.69249695e-02 -2.16418172e-04 9.97757988e-01 2.88397402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.06710568099993 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:200.56, Y:125.46, Z:28.84 [[ 6.49775327e-01 -7.58817679e-01 -4.45842415e-02 2.00559874e+02] [ 7.57175600e-01 6.51301750e-01 -4.99113288e-02 1.25462965e+02] [ 6.69113932e-02 -1.32694983e-03 9.97758039e-01 2.88359519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.0971056809999 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:200.58, Y:125.48, Z:28.86 [[ 6.61348900e-01 -7.48753308e-01 -4.45658661e-02 2.00582119e+02] [ 7.47086885e-01 6.62848707e-01 -4.99277308e-02 1.25477813e+02] [ 6.69239804e-02 -2.74924258e-04 9.97758039e-01 2.88644033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.12710568099993 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:200.60, Y:125.51, Z:28.88 [[ 6.64720233e-01 -7.45751167e-01 -4.47460496e-02 2.00597181e+02] [ 7.44088765e-01 6.66224550e-01 -4.97670381e-02 1.25505098e+02] [ 6.69247435e-02 -2.13875621e-04 9.97758003e-01 2.88761326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.1571056809999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:200.62, Y:125.53, Z:28.88 [[ 6.68102290e-01 -7.42688797e-01 -4.53065120e-02 2.00615297e+02] [ 7.41053165e-01 6.69636406e-01 -4.92675391e-02 1.25528636e+02] [ 6.69293393e-02 -6.58778382e-04 9.97757500e-01 2.88758046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18710568099993 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:200.63, Y:125.55, Z:28.88 [[ 6.74307339e-01 -7.37043399e-01 -4.55701684e-02 2.00629694e+02] [ 7.35410754e-01 6.75845267e-01 -4.90326123e-02 1.25549526e+02] [ 6.69375459e-02 -4.49741565e-04 9.97757066e-01 2.88818655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2171056809999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:200.65, Y:125.57, Z:28.88 [[ 6.77860750e-01 -7.33799481e-01 -4.52009471e-02 2.00648225e+02] [ 7.32137528e-01 6.79366019e-01 -4.93604342e-02 1.25571288e+02] [ 6.69286485e-02 3.66191242e-04 9.97757697e-01 2.88819572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24710568099994 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:200.66, Y:125.60, Z:28.88 [[ 6.81928639e-01 -7.30026916e-01 -4.51002634e-02 2.00661956e+02] [ 7.28350730e-01 6.83417838e-01 -4.94497075e-02 1.25595922e+02] [ 6.69219420e-02 8.72361954e-04 9.97757833e-01 2.88811086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2771056809999 meters Centerline goodness : 0.997772 Centerline is valid? [True, True] Translation: X:200.68, Y:125.62, Z:28.88 [[ 6.86713767e-01 -7.25518805e-01 -4.52400924e-02 2.00680465e+02] [ 7.23840988e-01 6.88201421e-01 -4.93257321e-02 1.25619109e+02] [ 6.69210421e-02 1.12602611e-03 9.97757639e-01 2.88843202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30710568099994 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:200.69, Y:125.64, Z:28.87 [[ 6.83465022e-01 -7.28573415e-01 -4.53469081e-02 2.00688457e+02] [ 7.26908482e-01 6.84967378e-01 -4.92315880e-02 1.25642767e+02] [ 6.69299789e-02 6.85016244e-04 9.97757440e-01 2.88738110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3371056809999 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:200.71, Y:125.66, Z:28.89 [[ 6.94970165e-01 -7.17679921e-01 -4.41814545e-02 2.00712901e+02] [ 7.15925722e-01 6.96365326e-01 -5.02562725e-02 1.25664508e+02] [ 6.68343507e-02 3.29597029e-03 9.97758641e-01 2.88864529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36710568099994 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:200.73, Y:125.69, Z:28.89 [[ 6.97661364e-01 -7.15012397e-01 -4.50099263e-02 2.00731328e+02] [ 7.13299082e-01 6.99107484e-01 -4.95292376e-02 1.25687604e+02] [ 6.68807952e-02 2.44909635e-03 9.97757967e-01 2.88883491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3971056809999 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:200.75, Y:125.71, Z:28.89 [[ 7.01645297e-01 -7.11099313e-01 -4.50737626e-02 2.00748446e+02] [ 7.09381509e-01 7.03086246e-01 -4.94732857e-02 1.25707054e+02] [ 6.68711621e-02 2.73820456e-03 9.97757861e-01 2.88862593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42710568099994 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:200.77, Y:125.73, Z:28.89 [[ 7.02002797e-01 -7.10767454e-01 -4.47403477e-02 2.00767213e+02] [ 7.09030450e-01 7.03419722e-01 -4.97645980e-02 1.25727785e+02] [ 6.68422995e-02 3.21261808e-03 9.97758381e-01 2.88899101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4571056809999 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:200.79, Y:125.75, Z:28.89 [[ 7.00965056e-01 -7.11795870e-01 -4.46612796e-02 2.00786739e+02] [ 7.10056573e-01 7.02379010e-01 -4.98336208e-02 1.25748735e+02] [ 6.68405108e-02 3.21959165e-03 9.97758478e-01 2.88891066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48710568099995 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:200.80, Y:125.77, Z:28.89 [[ 6.98828544e-01 -7.13895467e-01 -4.46310241e-02 2.00803680e+02] [ 7.12158744e-01 7.00245602e-01 -4.98600065e-02 1.25768661e+02] [ 6.68475110e-02 3.05922164e-03 9.97758514e-01 2.88868293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5171056809999 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:200.83, Y:125.79, Z:28.89 [[ 6.96976134e-01 -7.15729422e-01 -4.42228876e-02 2.00825662e+02] [ 7.13973927e-01 6.98369290e-01 -5.02151888e-02 1.25788154e+02] [ 6.68243946e-02 3.42479938e-03 9.97758874e-01 2.88881656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54710568099995 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:200.85, Y:125.81, Z:28.89 [[ 6.94148295e-01 -7.18475687e-01 -4.41682331e-02 2.00847801e+02] [ 7.16722698e-01 6.95544559e-01 -5.02627167e-02 1.25806643e+02] [ 6.68335141e-02 3.23340385e-03 9.97758902e-01 2.88915919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5771056809999 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:200.87, Y:125.83, Z:28.90 [[ 6.91572471e-01 -7.20943095e-01 -4.43685788e-02 2.00867473e+02] [ 7.19206190e-01 6.92988891e-01 -5.00884575e-02 1.25826329e+02] [ 6.68578598e-02 2.72964179e-03 9.97758776e-01 2.88951112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60710568099995 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:200.90, Y:125.85, Z:28.90 [[ 6.87015805e-01 -7.25296595e-01 -4.42055755e-02 2.00895667e+02] [ 7.23559558e-01 6.88431900e-01 -5.02303228e-02 1.25847095e+02] [ 6.68644104e-02 2.52365900e-03 9.97758880e-01 2.89010560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.6371056809999 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:200.91, Y:125.87, Z:28.90 [[ 6.86192867e-01 -7.25997432e-01 -4.54651303e-02 2.00914427e+02] [ 7.24333340e-01 6.87696965e-01 -4.91334727e-02 1.25869844e+02] [ 6.69370072e-02 7.83128820e-04 9.97756896e-01 2.89034107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66710568099995 meters Centerline goodness : 0.997488 Centerline is valid? [True, True] Translation: X:200.93, Y:125.89, Z:28.90 [[ 6.79912455e-01 -7.31888864e-01 -4.53623667e-02 2.00927359e+02] [ 7.30231846e-01 6.81423931e-01 -4.92227397e-02 1.25887893e+02] [ 6.69365773e-02 3.42109084e-04 9.97757174e-01 2.89008962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.6971056809999 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:200.95, Y:125.91, Z:28.90 [[ 6.71815064e-01 -7.39412304e-01 -4.39768755e-02 2.00948165e+02] [ 7.37692552e-01 6.73251360e-01 -5.04212801e-02 1.25906415e+02] [ 6.68896061e-02 1.43236200e-03 9.97759354e-01 2.89048526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72710568099995 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:200.97, Y:125.93, Z:28.91 [[ 6.67783509e-01 -7.43065826e-01 -4.37991333e-02 2.00968863e+02] [ 7.41343845e-01 6.69217066e-01 -5.05749110e-02 1.25926749e+02] [ 6.68916154e-02 1.30287362e-03 9.97759397e-01 2.89087997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.7571056809999 meters Centerline goodness : 0.997327 Centerline is valid? [True, True] Translation: X:200.99, Y:125.95, Z:28.92 [[ 6.62142632e-01 -7.48084105e-01 -4.40148538e-02 2.00988120e+02] [ 7.46385347e-01 6.63603729e-01 -5.03885296e-02 1.25947666e+02] [ 6.69032792e-02 5.12351605e-04 9.97759334e-01 2.89158266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.7871056809999 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:201.01, Y:125.97, Z:28.92 [[ 6.59187907e-01 -7.50681802e-01 -4.41376751e-02 2.01005955e+02] [ 7.48995894e-01 6.60663927e-01 -5.02824708e-02 1.25970522e+02] [ 6.69063055e-02 8.66592909e-05 9.97759259e-01 2.89182713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81710568099993 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:201.03, Y:125.99, Z:28.92 [[ 6.60501957e-01 -7.49523142e-01 -4.41839957e-02 2.01029347e+02] [ 7.47837322e-01 6.61978126e-01 -5.02424070e-02 1.25992677e+02] [ 6.69066854e-02 1.42767111e-04 9.97759227e-01 2.89230899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.8471056809999 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:201.05, Y:126.02, Z:28.92 [[ 6.59096637e-01 -7.50694631e-01 -4.52680269e-02 2.01045915e+02] [ 7.49075162e-01 6.60647844e-01 -4.93034281e-02 1.26016815e+02] [ 6.69180432e-02 -1.41343094e-03 9.97757474e-01 2.89248760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87710568099993 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:201.06, Y:126.03, Z:28.92 [[ 6.61169812e-01 -7.48868530e-01 -4.52813930e-02 2.01059091e+02] [ 7.47245569e-01 6.62717415e-01 -4.92918626e-02 1.26032213e+02] [ 6.69218924e-02 -1.24602872e-03 9.97757439e-01 2.89247497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.9071056809999 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:201.07, Y:126.06, Z:28.92 [[ 6.54884596e-01 -7.54451974e-01 -4.39133827e-02 2.01069727e+02] [ 7.52761797e-01 6.56355254e-01 -5.04723457e-02 1.26062808e+02] [ 6.69017403e-02 -2.75512928e-06 9.97759569e-01 2.89242603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93710568099993 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:201.09, Y:126.08, Z:28.92 [[ 6.61755760e-01 -7.48416430e-01 -4.41832652e-02 2.01088296e+02] [ 7.46728293e-01 6.63229058e-01 -5.02401652e-02 1.26079310e+02] [ 6.69041905e-02 2.53824533e-04 9.97759372e-01 2.89159773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.9671056809999 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:201.10, Y:126.11, Z:28.93 [[ 6.53470975e-01 -7.55695288e-01 -4.35926206e-02 2.01103784e+02] [ 7.53989482e-01 6.54923313e-01 -5.07475612e-02 1.26110510e+02] [ 6.68995163e-02 2.93680900e-04 9.97759675e-01 2.89289500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99710568099994 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:201.12, Y:126.13, Z:28.93 [[ 6.52185668e-01 -7.56732650e-01 -4.48280173e-02 2.01118689e+02] [ 7.55101198e-01 6.53722881e-01 -4.96847544e-02 1.26132636e+02] [ 6.69031765e-02 -1.44600482e-03 9.97758425e-01 2.89337687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0271056809999 meters Centerline goodness : 0.997235 Centerline is valid? [True, True] Translation: X:201.13, Y:126.16, Z:28.94 [[ 6.51042416e-01 -7.57726808e-01 -4.46526291e-02 2.01132259e+02] [ 7.56087364e-01 6.52570572e-01 -4.98351998e-02 1.26157685e+02] [ 6.69004586e-02 -1.31645976e-03 9.97758786e-01 2.89394867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05710568099994 meters Centerline goodness : 0.997202 Centerline is valid? [True, True] Translation: X:201.15, Y:126.18, Z:28.93 [[ 6.55941848e-01 -7.53498582e-01 -4.44992099e-02 2.01146149e+02] [ 7.51840350e-01 6.57449179e-01 -4.99666316e-02 1.26182647e+02] [ 6.69057551e-02 -6.81096938e-04 9.97759067e-01 2.89304147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0871056809999 meters Centerline goodness : 0.996920 Centerline is valid? [True, True] Translation: X:201.16, Y:126.21, Z:28.94 [[ 6.55076904e-01 -7.54255898e-01 -4.44104731e-02 2.01159470e+02] [ 7.52594253e-01 6.56580253e-01 -5.00425995e-02 1.26207804e+02] [ 6.69039655e-02 -6.41315718e-04 9.97759214e-01 2.89426594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11710568099994 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:201.18, Y:126.23, Z:28.94 [[ 6.62533380e-01 -7.47717503e-01 -4.43627872e-02 2.01175118e+02] [ 7.46038293e-01 6.64016964e-01 -5.00833024e-02 1.26225900e+02] [ 6.69058051e-02 8.55215976e-05 9.97759293e-01 2.89366012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1471056809999 meters Centerline goodness : 0.996795 Centerline is valid? [True, True] Translation: X:201.19, Y:126.26, Z:28.95 [[ 6.63128103e-01 -7.47248202e-01 -4.33733183e-02 2.01188551e+02] [ 7.45512218e-01 6.64543501e-01 -5.09260988e-02 1.26255298e+02] [ 6.68778925e-02 1.43518853e-03 9.97760135e-01 2.89480909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17710568099994 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:201.20, Y:126.28, Z:28.94 [[ 6.71303035e-01 -7.39873478e-01 -4.40394356e-02 2.01202174e+02] [ 7.38158829e-01 6.72744790e-01 -5.03586305e-02 1.26277311e+02] [ 6.68863159e-02 1.29780335e-03 9.97759759e-01 2.89369336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.2071056809999 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:201.22, Y:126.30, Z:28.94 [[ 6.73638247e-01 -7.37789738e-01 -4.33337636e-02 2.01217221e+02] [ 7.36031808e-01 6.75026210e-01 -5.09587501e-02 1.26301344e+02] [ 6.68482691e-02 2.43273471e-03 9.97760187e-01 2.89390238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23710568099995 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:201.23, Y:126.33, Z:28.94 [[ 6.78265636e-01 -7.33539019e-01 -4.33155291e-02 2.01230535e+02] [ 7.31771409e-01 6.79641252e-01 -5.09742449e-02 1.26326680e+02] [ 6.68306180e-02 2.87701287e-03 9.97760187e-01 2.89383017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.2671056809999 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:201.25, Y:126.35, Z:28.94 [[ 6.80098426e-01 -7.31841136e-01 -4.32976000e-02 2.01245905e+02] [ 7.30069129e-01 6.81468371e-01 -5.09894694e-02 1.26348540e+02] [ 6.68221362e-02 3.06761673e-03 9.97760188e-01 2.89390781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29710568099995 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:201.26, Y:126.37, Z:28.94 [[ 6.82275059e-01 -7.29813291e-01 -4.32816886e-02 2.01261517e+02] [ 7.28036362e-01 6.83638613e-01 -5.10029720e-02 1.26372550e+02] [ 6.68116804e-02 3.28741258e-03 9.97760188e-01 2.89400429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.3271056809999 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:201.28, Y:126.40, Z:28.95 [[ 6.80367306e-01 -7.31593165e-01 -4.32639578e-02 2.01279149e+02] [ 7.29818852e-01 6.81734263e-01 -5.10180080e-02 1.26396237e+02] [ 6.68189483e-02 3.13613267e-03 9.97760188e-01 2.89459890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35710568099995 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:201.30, Y:126.42, Z:28.95 [[ 6.79909762e-01 -7.32008319e-01 -4.34342771e-02 2.01297755e+02] [ 7.30244000e-01 6.81289640e-01 -5.08736369e-02 1.26417066e+02] [ 6.68312484e-02 2.87186210e-03 9.97760160e-01 2.89456890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.3871056809999 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:201.32, Y:126.44, Z:28.94 [[ 6.78299358e-01 -7.33512572e-01 -4.32352519e-02 2.01316086e+02] [ 7.31740593e-01 6.79669329e-01 -5.10422240e-02 1.26437707e+02] [ 6.68257876e-02 2.98491893e-03 9.97760194e-01 2.89448697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41710568099995 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:201.33, Y:126.46, Z:28.94 [[ 6.73119860e-01 -7.38268837e-01 -4.32293713e-02 2.01334772e+02] [ 7.36506225e-01 6.74501863e-01 -5.10472039e-02 1.26458067e+02] [ 6.68448513e-02 2.52218573e-03 9.97760194e-01 2.89431123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.4471056809999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:201.35, Y:126.48, Z:28.94 [[ 6.67013251e-01 -7.43791153e-01 -4.32208737e-02 2.01353312e+02] [ 7.42039525e-01 6.68409150e-01 -5.10543977e-02 1.26479122e+02] [ 6.68630368e-02 1.98236312e-03 9.97760194e-01 2.89442745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47710568099995 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:201.37, Y:126.50, Z:28.95 [[ 6.63261152e-01 -7.47140010e-01 -4.32024279e-02 2.01371583e+02] [ 7.45394418e-01 6.64664590e-01 -5.10700018e-02 1.26502088e+02] [ 6.68715657e-02 1.66989965e-03 9.97760194e-01 2.89514259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.5071056809999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:201.39, Y:126.52, Z:28.95 [[ 6.63038020e-01 -7.47322450e-01 -4.34711425e-02 2.01389231e+02] [ 7.45592084e-01 6.64460284e-01 -5.08426620e-02 1.26522103e+02] [ 6.68807104e-02 1.29887823e-03 9.97760133e-01 2.89502147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.5371056809999 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:201.41, Y:126.54, Z:28.96 [[ 6.59306004e-01 -7.50633956e-01 -4.31770584e-02 2.01406155e+02] [ 7.48894416e-01 6.60716916e-01 -5.10911983e-02 1.26543286e+02] [ 6.68786011e-02 1.34967587e-03 9.97760207e-01 2.89613627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.56710568099993 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:201.42, Y:126.56, Z:28.97 [[ 6.55153062e-01 -7.54261379e-01 -4.31768212e-02 2.01419961e+02] [ 7.52529640e-01 6.56573537e-01 -5.10913986e-02 1.26561154e+02] [ 6.68850270e-02 9.80848510e-04 9.97760207e-01 2.89698979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.5971056809999 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:201.44, Y:126.59, Z:28.97 [[ 6.50992857e-01 -7.57912384e-01 -4.21558908e-02 2.01439600e+02] [ 7.56131982e-01 6.52353452e-01 -5.19557463e-02 1.26585713e+02] [ 6.68784444e-02 1.94740239e-03 9.97759230e-01 2.89698486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.62710568099993 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:201.46, Y:126.61, Z:28.97 [[ 6.47853434e-01 -7.60572724e-01 -4.26035031e-02 2.01456546e+02] [ 7.58822640e-01 6.49251839e-01 -5.15776170e-02 1.26606966e+02] [ 6.68889315e-02 1.08623363e-03 9.97759836e-01 2.89713160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.6571056809999 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:201.48, Y:126.63, Z:28.97 [[ 6.46334504e-01 -7.61868127e-01 -4.25284255e-02 2.01476465e+02] [ 7.60116675e-01 6.47731313e-01 -5.16409450e-02 1.26629479e+02] [ 6.68905829e-02 1.05075916e-03 9.97759764e-01 2.89732206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68710568099993 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:201.49, Y:126.65, Z:28.98 [[ 6.45509555e-01 -7.62538420e-01 -4.30415252e-02 2.01492284e+02] [ 7.60817135e-01 6.46942859e-01 -5.12076493e-02 1.26649977e+02] [ 6.68932074e-02 3.08297036e-04 9.97760093e-01 2.89772007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7171056809999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:201.51, Y:126.68, Z:28.97 [[ 6.42591490e-01 -7.65028395e-01 -4.25174330e-02 2.01506345e+02] [ 7.63283246e-01 6.43996127e-01 -5.16495349e-02 1.26678189e+02] [ 6.68944230e-02 7.36707298e-04 9.97759787e-01 2.89718779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74710568099994 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:201.52, Y:126.70, Z:28.98 [[ 6.44316280e-01 -7.63542127e-01 -4.31271568e-02 2.01518977e+02] [ 7.61827911e-01 6.45758013e-01 -5.11353262e-02 1.26698299e+02] [ 6.68936829e-02 9.18513562e-05 9.97760105e-01 2.89772565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7771056809999 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:201.53, Y:126.72, Z:28.98 [[ 6.46181842e-01 -7.62011289e-01 -4.22826574e-02 2.01534270e+02] [ 7.60246740e-01 6.47562318e-01 -5.18453280e-02 1.26724017e+02] [ 6.68873809e-02 1.35625712e-03 9.97759610e-01 2.89797270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80710568099994 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:201.55, Y:126.75, Z:28.98 [[ 6.46208948e-01 -7.61981077e-01 -4.24126746e-02 2.01551374e+02] [ 7.60223618e-01 6.47598197e-01 -5.17361134e-02 1.26748617e+02] [ 6.68883110e-02 1.18922244e-03 9.97759760e-01 2.89816605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8371056809999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:201.57, Y:126.77, Z:28.99 [[ 6.47654304e-01 -7.60730790e-01 -4.28085013e-02 2.01565197e+02] [ 7.58992506e-01 6.49067042e-01 -5.14038114e-02 1.26772596e+02] [ 6.68900493e-02 8.00568005e-04 9.97760031e-01 2.89865540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86710568099994 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:201.58, Y:126.79, Z:28.99 [[ 6.49673980e-01 -7.59010212e-01 -4.27459638e-02 2.01582762e+02] [ 7.57264724e-01 6.51077856e-01 -5.14564266e-02 1.26793391e+02] [ 6.68869038e-02 1.05989104e-03 9.97760001e-01 2.89923675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8971056809999 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:201.60, Y:126.82, Z:29.00 [[ 6.52339100e-01 -7.56735792e-01 -4.24810593e-02 2.01601180e+02] [ 7.54970871e-01 6.53718785e-01 -5.16791432e-02 1.26817184e+02] [ 6.68781238e-02 1.64036342e-03 9.97759804e-01 2.89970328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92710568099994 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:201.62, Y:126.84, Z:29.00 [[ 6.54794225e-01 -7.54601322e-01 -4.26774925e-02 2.01617650e+02] [ 7.52842630e-01 6.56181591e-01 -5.15140288e-02 1.26837613e+02] [ 6.68767391e-02 1.60165292e-03 9.97759959e-01 2.90006725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9571056809999 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:201.63, Y:126.86, Z:29.00 [[ 6.58608179e-01 -7.51282045e-01 -4.25506226e-02 2.01634601e+02] [ 7.49509477e-01 6.59977920e-01 -5.16206160e-02 1.26863005e+02] [ 6.68641133e-02 2.10566502e-03 9.97759869e-01 2.89993736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98710568099995 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:201.65, Y:126.88, Z:29.00 [[ 6.64811953e-01 -7.45769870e-01 -4.30391362e-02 2.01652547e+02] [ 7.44012314e-01 6.66200575e-01 -5.12100660e-02 1.26883124e+02] [ 6.68636215e-02 2.02341671e-03 9.97760072e-01 2.89985805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0171056809999 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:201.67, Y:126.90, Z:29.00 [[ 6.67245458e-01 -7.43594116e-01 -4.30266117e-02 2.01671074e+02] [ 7.41831356e-01 6.68627468e-01 -5.12205869e-02 1.26904192e+02] [ 6.68561015e-02 2.25821427e-03 9.97760072e-01 2.89994594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04710568099995 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:201.69, Y:126.92, Z:29.00 [[ 6.72639755e-01 -7.38719130e-01 -4.30093937e-02 2.01690250e+02] [ 7.36945439e-01 6.74007708e-01 -5.12350406e-02 1.26922865e+02] [ 6.68369675e-02 2.76714865e-03 9.97760073e-01 2.90015493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0771056809999 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:201.71, Y:126.94, Z:29.01 [[ 6.74713383e-01 -7.36850087e-01 -4.25887365e-02 2.01710630e+02] [ 7.35050333e-01 6.76047101e-01 -5.15880261e-02 1.26944840e+02] [ 6.68046334e-02 3.50226666e-03 9.97759929e-01 2.90053186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10710568099995 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:201.73, Y:126.96, Z:29.01 [[ 6.76477498e-01 -7.35219024e-01 -4.27923042e-02 2.01729976e+02] [ 7.33426768e-01 6.77821099e-01 -5.14172410e-02 1.26963654e+02] [ 6.68084604e-02 3.39758513e-03 9.97760034e-01 2.90070221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.1371056809999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:201.76, Y:126.98, Z:29.01 [[ 6.79819535e-01 -7.32150194e-01 -4.24439870e-02 2.01755494e+02] [ 7.30333711e-01 6.81130554e-01 -5.17091702e-02 1.26984366e+02] [ 6.67687754e-02 4.15462953e-03 9.97759826e-01 2.90093647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16710568099995 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:201.78, Y:127.00, Z:29.01 [[ 6.81034906e-01 -7.30968922e-01 -4.33115682e-02 2.01776831e+02] [ 7.29195648e-01 6.82403539e-01 -5.09815308e-02 1.27000075e+02] [ 6.68218820e-02 3.13759503e-03 9.97759987e-01 2.90143425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.1971056809999 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:201.80, Y:127.02, Z:29.01 [[ 6.81152871e-01 -7.30880413e-01 -4.29486779e-02 2.01798558e+02] [ 7.29087832e-01 6.82495947e-01 -5.12856237e-02 1.27017049e+02] [ 6.67959564e-02 3.61999137e-03 9.97760089e-01 2.90079970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22710568099995 meters Centerline goodness : 0.997582 Centerline is valid? [True, True] Translation: X:201.82, Y:127.04, Z:29.01 [[ 6.83183902e-01 -7.29011007e-01 -4.24583040e-02 2.01820450e+02] [ 7.27189226e-01 6.84487550e-01 -5.16974209e-02 1.27035029e+02] [ 6.67501694e-02 4.44362447e-03 9.97759825e-01 2.90089492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.2571056809999 meters Centerline goodness : 0.996994 Centerline is valid? [True, True] Translation: X:201.84, Y:127.05, Z:29.00 [[ 6.79237891e-01 -7.32688735e-01 -4.24629955e-02 2.01843698e+02] [ 7.30874263e-01 6.80551685e-01 -5.16934861e-02 1.27050785e+02] [ 6.67734981e-02 4.07706391e-03 9.97759830e-01 2.90037238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.2871056809999 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:201.87, Y:127.07, Z:29.01 [[ 6.72371307e-01 -7.39006613e-01 -4.22616913e-02 2.01871734e+02] [ 7.37193900e-01 6.73687923e-01 -5.18626697e-02 1.27067495e+02] [ 6.67980469e-02 3.71591002e-03 9.97759597e-01 2.90058892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31710568099993 meters Centerline goodness : 0.997481 Centerline is valid? [True, True] Translation: X:201.89, Y:127.08, Z:29.01 [[ 6.69723554e-01 -7.41379109e-01 -4.27478311e-02 2.01894896e+02] [ 7.39596888e-01 6.71080419e-01 -5.14539931e-02 1.27083759e+02] [ 6.68341479e-02 2.84378830e-03 9.97760046e-01 2.90060771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.3471056809999 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:201.92, Y:127.10, Z:29.01 [[ 6.64666725e-01 -7.45925769e-01 -4.25780631e-02 2.01922916e+02] [ 7.44143734e-01 6.66023974e-01 -5.15962155e-02 1.27095717e+02] [ 6.68449575e-02 2.61008869e-03 9.97759961e-01 2.90140967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37710568099993 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:201.95, Y:127.12, Z:29.02 [[ 6.57428324e-01 -7.52310845e-01 -4.26191449e-02 2.01945942e+02] [ 7.50544226e-01 6.58805542e-01 -5.15618322e-02 1.27120196e+02] [ 6.68682544e-02 1.91065581e-03 9.97759984e-01 2.90170844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.4071056809999 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:201.97, Y:127.14, Z:29.01 [[ 6.51052663e-01 -7.57779257e-01 -4.36007798e-02 2.01965262e+02] [ 7.56078486e-01 6.52510991e-01 -5.07417977e-02 1.27136843e+02] [ 6.69010697e-02 6.99709085e-05 9.97759611e-01 2.90130760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43710568099993 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:201.99, Y:127.16, Z:29.03 [[ 6.47178904e-01 -7.61126393e-01 -4.29660329e-02 2.01987632e+02] [ 7.59397777e-01 6.48603351e-01 -5.12709321e-02 1.27158184e+02] [ 6.68915726e-02 5.53155800e-04 9.97760097e-01 2.90273473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.4671056809999 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:202.01, Y:127.18, Z:29.03 [[ 6.45294220e-01 -7.62688037e-01 -4.36156858e-02 2.02012189e+02] [ 7.60999206e-01 6.46766380e-01 -5.07292639e-02 1.27177251e+02] [ 6.68997619e-02 -4.56201472e-04 9.97759597e-01 2.90279233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49710568099994 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:202.03, Y:127.20, Z:29.03 [[ 6.43583988e-01 -7.64115870e-01 -4.38929202e-02 2.02027050e+02] [ 7.62445978e-01 6.45078294e-01 -5.04987633e-02 1.27196605e+02] [ 6.69012765e-02 -9.65785020e-04 9.97759133e-01 2.90287167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5271056809999 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:202.05, Y:127.22, Z:29.03 [[ 6.45412598e-01 -7.62594712e-01 -4.34957913e-02 2.02045718e+02] [ 7.60898915e-01 6.46876512e-01 -5.08293173e-02 1.27218076e+02] [ 6.68985743e-02 -2.90018652e-04 9.97759739e-01 2.90305434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55710568099994 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:202.06, Y:127.24, Z:29.03 [[ 6.44972861e-01 -7.62972478e-01 -4.33936248e-02 2.02062983e+02] [ 7.61271816e-01 6.46430940e-01 -5.09142667e-02 1.27239566e+02] [ 6.68971658e-02 -1.96023248e-04 9.97759856e-01 2.90323594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5871056809999 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:202.08, Y:127.26, Z:29.04 [[ 6.50140188e-01 -7.58584804e-01 -4.32068366e-02 2.02080940e+02] [ 7.56863997e-01 6.51574128e-01 -5.10690343e-02 1.27261738e+02] [ 6.68926503e-02 5.00332584e-04 9.97760053e-01 2.90371128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61710568099994 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:202.11, Y:127.28, Z:29.02 [[ 6.61000743e-01 -7.49142063e-01 -4.31762256e-02 2.02107526e+02] [ 7.47399128e-01 6.62407660e-01 -5.10943833e-02 1.27284693e+02] [ 6.68772143e-02 1.50355199e-03 9.97760080e-01 2.90214995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6471056809999 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:202.11, Y:127.31, Z:29.03 [[ 6.58893557e-01 -7.50932778e-01 -4.42633379e-02 2.02111468e+02] [ 7.49253202e-01 6.60378645e-01 -5.01964515e-02 1.27306774e+02] [ 6.69247239e-02 -9.03291529e-05 9.97758023e-01 2.90323051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67710568099994 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:202.13, Y:127.33, Z:29.04 [[ 6.61375387e-01 -7.48831029e-01 -4.28332495e-02 2.02129309e+02] [ 7.47069301e-01 6.62758008e-01 -5.13739540e-02 1.27330018e+02] [ 6.68584899e-02 1.97806297e-03 9.97760507e-01 2.90370073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.7071056809999 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:202.15, Y:127.35, Z:29.04 [[ 6.66404983e-01 -7.44354570e-01 -4.29030615e-02 2.02147017e+02] [ 7.42587241e-01 6.67780507e-01 -5.13164998e-02 1.27351516e+02] [ 6.68474993e-02 2.33830504e-03 9.97760464e-01 2.90390959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73710568099995 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:202.17, Y:127.37, Z:29.04 [[ 6.68100957e-01 -7.42830627e-01 -4.29391507e-02 2.02165006e+02] [ 7.41062062e-01 6.69474932e-01 -5.12867869e-02 1.27373927e+02] [ 6.68440810e-02 2.44417582e-03 9.97760440e-01 2.90407208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.7671056809999 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:202.18, Y:127.39, Z:29.04 [[ 6.68218968e-01 -7.42721091e-01 -4.29975884e-02 2.02183277e+02] [ 7.40955384e-01 6.69596685e-01 -5.12386479e-02 1.27393937e+02] [ 6.68470671e-02 2.37934173e-03 9.97760396e-01 2.90440788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79710568099995 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:202.20, Y:127.42, Z:29.04 [[ 6.66477032e-01 -7.44298598e-01 -4.27546753e-02 2.02199576e+02] [ 7.42523342e-01 6.67842170e-01 -5.14385248e-02 1.27416123e+02] [ 6.68389971e-02 2.53625095e-03 9.97760550e-01 2.90384632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.8271056809999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:202.22, Y:127.44, Z:29.04 [[ 6.69142197e-01 -7.41913936e-01 -4.25726803e-02 2.02224377e+02] [ 7.40124325e-01 6.70488365e-01 -5.15881325e-02 1.27436119e+02] [ 6.68184412e-02 3.01072005e-03 9.97760608e-01 2.90408968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85710568099995 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:202.24, Y:127.46, Z:29.04 [[ 6.66007322e-01 -7.44697613e-01 -4.31243815e-02 2.02239411e+02] [ 7.42942688e-01 6.67398978e-01 -5.11347829e-02 1.27459942e+02] [ 6.68611189e-02 2.01719586e-03 9.97760253e-01 2.90422708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.8871056809999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:202.26, Y:127.48, Z:29.05 [[ 6.64561430e-01 -7.45998209e-01 -4.29508742e-02 2.02256260e+02] [ 7.44236814e-01 6.65944604e-01 -5.12771872e-02 1.27479883e+02] [ 6.68555927e-02 2.11121910e-03 9.97760428e-01 2.90488817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91710568099995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:202.28, Y:127.50, Z:29.05 [[ 6.65143889e-01 -7.45493245e-01 -4.27016235e-02 2.02275343e+02] [ 7.43717693e-01 6.66508551e-01 -5.14815022e-02 1.27501378e+02] [ 6.68401093e-02 2.48465374e-03 9.97760606e-01 2.90527866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.9471056809999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:202.29, Y:127.52, Z:29.05 [[ 6.65298587e-01 -7.45356117e-01 -4.26854667e-02 2.02293740e+02] [ 7.43579438e-01 6.66661767e-01 -5.14947387e-02 1.27523661e+02] [ 6.68386871e-02 2.51934158e-03 9.97760614e-01 2.90532276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97710568099995 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:202.31, Y:127.55, Z:29.05 [[ 6.65154758e-01 -7.45482716e-01 -4.27161382e-02 2.02312002e+02] [ 7.43707902e-01 6.66520393e-01 -5.14696228e-02 1.27546392e+02] [ 6.68408914e-02 2.46693504e-03 9.97760597e-01 2.90531948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.0071056809999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:202.33, Y:127.57, Z:29.06 [[ 6.66608102e-01 -7.44183896e-01 -4.27079443e-02 2.02330338e+02] [ 7.42405994e-01 6.67969706e-01 -5.14763258e-02 1.27565088e+02] [ 6.68354657e-02 2.60790196e-03 9.97760602e-01 2.90562863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.0371056809999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:202.35, Y:127.59, Z:29.05 [[ 6.66665699e-01 -7.44142623e-01 -4.25276630e-02 2.02351260e+02] [ 7.42355261e-01 6.68014717e-01 -5.16236776e-02 1.27587528e+02] [ 6.68244836e-02 2.84510072e-03 9.97760690e-01 2.90549224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.06710568099993 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:202.37, Y:127.61, Z:29.05 [[ 6.67424078e-01 -7.43446609e-01 -4.28046732e-02 2.02371251e+02] [ 7.41672195e-01 6.68790401e-01 -5.13980079e-02 1.27609875e+02] [ 6.68390292e-02 2.55723216e-03 9.97760495e-01 2.90545437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.0971056809999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:202.39, Y:127.63, Z:29.06 [[ 6.67672248e-01 -7.43214656e-01 -4.29621292e-02 2.02390135e+02] [ 7.41447964e-01 6.69048820e-01 -5.12698093e-02 1.27631490e+02] [ 6.68482356e-02 2.37724565e-03 9.97760323e-01 2.90551173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.12710568099993 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:202.41, Y:127.65, Z:29.06 [[ 6.69413191e-01 -7.41644392e-01 -4.30066955e-02 2.02408908e+02] [ 7.39876798e-01 6.70788687e-01 -5.12333935e-02 1.27647106e+02] [ 6.68453638e-02 2.47665326e-03 9.97760274e-01 2.90558526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.1571056809999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:202.43, Y:127.67, Z:29.06 [[ 6.70229648e-01 -7.40935974e-01 -4.24982496e-02 2.02432015e+02] [ 7.39140620e-01 6.71568029e-01 -5.16481048e-02 1.27665587e+02] [ 6.68084045e-02 3.20390859e-03 9.97760679e-01 2.90565951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18710568099993 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:202.45, Y:127.69, Z:29.06 [[ 6.70423381e-01 -7.40762126e-01 -4.24730880e-02 2.02450061e+02] [ 7.38965135e-01 6.71759545e-01 -5.16685793e-02 1.27685206e+02] [ 6.68058289e-02 3.25369235e-03 9.97760690e-01 2.90593843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2171056809999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:202.47, Y:127.70, Z:29.06 [[ 6.70951409e-01 -7.40290314e-01 -4.23610532e-02 2.02469415e+02] [ 7.38486665e-01 6.72278501e-01 -5.17596707e-02 1.27704981e+02] [ 6.67956082e-02 3.44515102e-03 9.97760732e-01 2.90632758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24710568099994 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:202.49, Y:127.73, Z:29.07 [[ 6.71711998e-01 -7.39611400e-01 -4.21659624e-02 2.02489690e+02] [ 7.37796512e-01 6.73023631e-01 -5.19182014e-02 1.27725299e+02] [ 6.67779828e-02 3.76417883e-03 9.97760759e-01 2.90668744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2771056809999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:202.51, Y:127.75, Z:29.07 [[ 6.70775849e-01 -7.40452934e-01 -4.22990867e-02 2.02511786e+02] [ 7.38646449e-01 6.72099055e-01 -5.18100700e-02 1.27745822e+02] [ 6.67920946e-02 3.50887346e-03 9.97760745e-01 2.90715103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30710568099994 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:202.53, Y:127.77, Z:29.08 [[ 6.70221450e-01 -7.40940211e-01 -4.25536400e-02 2.02530125e+02] [ 7.39147686e-01 6.71563692e-01 -5.16033437e-02 1.27766726e+02] [ 6.68124719e-02 3.13224330e-03 9.97760634e-01 2.90763959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3371056809999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:202.55, Y:127.79, Z:29.08 [[ 6.69541411e-01 -7.41552770e-01 -4.25885885e-02 2.02549905e+02] [ 7.39763266e-01 6.70887719e-01 -5.15749790e-02 1.27786873e+02] [ 6.68177295e-02 3.02611093e-03 9.97760609e-01 2.90750180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36710568099994 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:202.57, Y:127.81, Z:29.07 [[ 6.69527769e-01 -7.41569161e-01 -4.25175974e-02 2.02570126e+02] [ 7.39776053e-01 6.70869190e-01 -5.16325591e-02 1.27807071e+02] [ 6.68128597e-02 3.11593174e-03 9.97760659e-01 2.90737340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3971056809999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:202.59, Y:127.83, Z:29.08 [[ 6.68648449e-01 -7.42363486e-01 -4.24936088e-02 2.02588990e+02] [ 7.40570744e-01 6.69990332e-01 -5.16519866e-02 1.27827383e+02] [ 6.68148559e-02 3.06749717e-03 9.97760675e-01 2.90805861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42710568099994 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:202.61, Y:127.85, Z:29.08 [[ 6.67522723e-01 -7.43387382e-01 -4.22920251e-02 2.02608392e+02] [ 7.41586400e-01 6.68853349e-01 -5.18151414e-02 1.27848400e+02] [ 6.68058849e-02 3.22459366e-03 9.97760781e-01 2.90840045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4571056809999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:202.62, Y:127.87, Z:29.08 [[ 6.67316064e-01 -7.43562572e-01 -4.24731954e-02 2.02623839e+02] [ 7.41771196e-01 6.68659747e-01 -5.16685178e-02 1.27867663e+02] [ 6.68188921e-02 2.97383899e-03 9.97760689e-01 2.90836914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48710568099995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:202.65, Y:127.89, Z:29.09 [[ 6.67157282e-01 -7.43736845e-01 -4.19126120e-02 2.02646675e+02] [ 7.41917343e-01 6.68462400e-01 -5.21217389e-02 1.27891714e+02] [ 6.67818628e-02 3.67770393e-03 9.97760822e-01 2.90853078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5171056809999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:202.67, Y:127.91, Z:29.08 [[ 6.65515870e-01 -7.45164101e-01 -4.26507835e-02 2.02665133e+02] [ 7.43385110e-01 6.66876138e-01 -5.15247015e-02 1.27908063e+02] [ 6.68371477e-02 2.58454917e-03 9.97760550e-01 2.90824478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54710568099995 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:202.69, Y:127.93, Z:29.08 [[ 6.60810564e-01 -7.49375109e-01 -4.20279026e-02 2.02687167e+02] [ 7.47572689e-01 6.62139090e-01 -5.20278780e-02 1.27930377e+02] [ 6.68167139e-02 2.96165926e-03 9.97760871e-01 2.90849831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5771056809999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:202.71, Y:127.95, Z:29.09 [[ 6.59142599e-01 -7.50819752e-01 -4.24350630e-02 2.02706854e+02] [ 7.49041196e-01 6.60503178e-01 -5.16995000e-02 1.27950204e+02] [ 6.68454997e-02 2.29173249e-03 9.97760706e-01 2.90861257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60710568099995 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:202.72, Y:127.97, Z:29.09 [[ 6.51460300e-01 -7.57502127e-01 -4.23084623e-02 2.02723298e+02] [ 7.55730917e-01 6.52830288e-01 -5.18015113e-02 1.27970076e+02] [ 6.68600006e-02 1.77281512e-03 9.97760792e-01 2.90863235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.6371056809999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:202.74, Y:127.99, Z:29.09 [[ 6.47776134e-01 -7.60669768e-01 -4.20426418e-02 2.02742362e+02] [ 7.58891355e-01 6.49136584e-01 -5.20154497e-02 1.27991712e+02] [ 6.68579969e-02 1.78856954e-03 9.97760898e-01 2.90889435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66710568099995 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:202.76, Y:128.01, Z:29.10 [[ 6.43175674e-01 -7.64564475e-01 -4.20263713e-02 2.02762674e+02] [ 7.62793449e-01 6.44545721e-01 -5.20285364e-02 1.28013653e+02] [ 6.68670884e-02 1.40604827e-03 9.97760901e-01 2.90980910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.6971056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:202.78, Y:128.03, Z:29.10 [[ 6.32853948e-01 -7.73105479e-01 -4.24711480e-02 2.02781130e+02] [ 7.71376831e-01 6.34277474e-01 -5.16707816e-02 1.28031634e+02] [ 6.68854568e-02 -6.12014651e-05 9.97760659e-01 2.91018715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72710568099995 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:202.80, Y:128.06, Z:29.11 [[ 6.22851985e-01 -7.81220549e-01 -4.18313087e-02 2.02800680e+02] [ 7.79475665e-01 6.24255111e-01 -5.21847207e-02 1.28057583e+02] [ 6.68811844e-02 -1.03130277e-04 9.97760942e-01 2.91056978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.7571056809999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:202.81, Y:128.07, Z:29.11 [[ 6.23828822e-01 -7.80376499e-01 -4.30130210e-02 2.02814156e+02] [ 7.78694748e-01 6.25308051e-01 -5.12282134e-02 1.28074446e+02] [ 6.68736822e-02 -1.53637755e-03 9.97760267e-01 2.91081480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.7871056809999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:202.83, Y:128.10, Z:29.12 [[ 6.17249096e-01 -7.85647059e-01 -4.19791917e-02 2.02825313e+02] [ 7.83920482e-01 6.18674472e-01 -5.20631956e-02 1.28103736e+02] [ 6.68747508e-02 -7.72387800e-04 9.97761079e-01 2.91151280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81710568099993 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:202.84, Y:128.12, Z:29.11 [[ 6.19810328e-01 -7.83613917e-01 -4.22419949e-02 2.02840966e+02] [ 7.81897057e-01 6.21247483e-01 -5.18512945e-02 1.28123918e+02] [ 6.68741290e-02 -8.90923688e-04 9.97761022e-01 2.91094885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.8471056809999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:202.86, Y:128.15, Z:29.12 [[ 6.18305611e-01 -7.84823430e-01 -4.18372511e-02 2.02858327e+02] [ 7.83087216e-01 6.19719238e-01 -5.21773726e-02 1.28151733e+02] [ 6.68773739e-02 -5.00654294e-04 9.97761077e-01 2.91164898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87710568099993 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:202.87, Y:128.18, Z:29.11 [[ 6.19291722e-01 -7.84006869e-01 -4.25557514e-02 2.02870475e+02] [ 7.82308235e-01 6.20750707e-01 -5.15983059e-02 1.28177923e+02] [ 6.68699391e-02 -1.33731105e-03 9.97760804e-01 2.91132831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.9071056809999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:202.88, Y:128.20, Z:29.11 [[ 6.22507402e-01 -7.81451666e-01 -4.26360076e-02 2.02884179e+02] [ 7.79751466e-01 6.23964692e-01 -5.15336349e-02 1.28199927e+02] [ 6.68744082e-02 -1.16542021e-03 9.97760721e-01 2.91115472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93710568099993 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:202.90, Y:128.23, Z:29.11 [[ 6.22300446e-01 -7.81642792e-01 -4.21509380e-02 2.02898951e+02] [ 7.79916455e-01 6.23726086e-01 -5.19239131e-02 1.28227173e+02] [ 6.68765920e-02 -5.61935918e-04 9.97761097e-01 2.91141714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.9671056809999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:202.91, Y:128.25, Z:29.12 [[ 6.26807146e-01 -7.78013863e-01 -4.25115499e-02 2.02908886e+02] [ 7.76298864e-01 6.28246786e-01 -5.16338026e-02 1.28250221e+02] [ 6.68795588e-02 -6.37231447e-04 9.97760852e-01 2.91203844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99710568099994 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:202.93, Y:128.28, Z:29.12 [[ 6.31921211e-01 -7.73890108e-01 -4.20676251e-02 2.02926006e+02] [ 7.72141845e-01 6.33319796e-01 -5.19904641e-02 1.28276491e+02] [ 6.68771656e-02 3.71703402e-04 9.97761147e-01 2.91209291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0271056809999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:202.94, Y:128.30, Z:29.12 [[ 6.34463402e-01 -7.71777459e-01 -4.26115598e-02 2.02941818e+02] [ 7.70053706e-01 6.35892713e-01 -5.15533487e-02 1.28301551e+02] [ 6.68840928e-02 -1.04476484e-04 9.97760746e-01 2.91206728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05710568099994 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:202.95, Y:128.32, Z:29.12 [[ 6.40196074e-01 -7.67027305e-01 -4.26391901e-02 2.02952526e+02] [ 7.65294424e-01 6.41614358e-01 -5.15311577e-02 1.28323884e+02] [ 6.68837216e-02 3.58510391e-04 9.97760712e-01 2.91175233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0871056809999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:202.97, Y:128.35, Z:29.12 [[ 6.41885131e-01 -7.65640597e-01 -4.21658039e-02 2.02968352e+02] [ 7.63879585e-01 6.43267628e-01 -5.19108622e-02 1.28346157e+02] [ 6.68689602e-02 1.11121374e-03 9.97761147e-01 2.91227778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11710568099994 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:202.99, Y:128.37, Z:29.12 [[ 6.41584618e-01 -7.65898636e-01 -4.20530324e-02 2.02985397e+02] [ 7.64132268e-01 6.42960161e-01 -5.20010381e-02 1.28371898e+02] [ 6.68659487e-02 1.22898716e-03 9.97761211e-01 2.91222275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1471056809999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:203.00, Y:128.39, Z:29.13 [[ 6.42355810e-01 -7.65239578e-01 -4.22776729e-02 2.03002018e+02] [ 7.63483570e-01 6.43744801e-01 -5.18215206e-02 1.28393369e+02] [ 6.68719107e-02 1.00954618e-03 9.97761058e-01 2.91255532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17710568099994 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:203.01, Y:128.42, Z:29.13 [[ 6.39897216e-01 -7.67295769e-01 -4.22936751e-02 2.03014657e+02] [ 7.65545070e-01 6.41292915e-01 -5.18087267e-02 1.28418707e+02] [ 6.68752510e-02 7.74545532e-04 9.97761044e-01 2.91293087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.2071056809999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:203.03, Y:128.44, Z:29.13 [[ 6.41260259e-01 -7.66169647e-01 -4.20636605e-02 2.03029271e+02] [ 7.64404443e-01 6.42637271e-01 -5.19921544e-02 1.28440629e+02] [ 6.68664866e-02 1.18685343e-03 9.97761226e-01 2.91318698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23710568099995 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:203.04, Y:128.47, Z:29.14 [[ 6.43396338e-01 -7.64401170e-01 -4.16173394e-02 2.03043316e+02] [ 7.62609098e-01 6.44737991e-01 -5.23477377e-02 1.28467660e+02] [ 6.68469518e-02 1.94258106e-03 9.97761350e-01 2.91364904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.2671056809999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:203.06, Y:128.49, Z:29.13 [[ 6.48335944e-01 -7.60185919e-01 -4.21648288e-02 2.03056275e+02] [ 7.58413233e-01 6.49703435e-01 -5.19115972e-02 1.28491036e+02] [ 6.68570993e-02 1.67779019e-03 9.97761150e-01 2.91349170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29710568099995 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:203.07, Y:128.51, Z:29.13 [[ 6.50524414e-01 -7.58347363e-01 -4.15603690e-02 2.03072475e+02] [ 7.56539973e-01 6.51845308e-01 -5.23924083e-02 1.28513633e+02] [ 6.68225762e-02 2.64046022e-03 9.97761380e-01 2.91344169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.3271056809999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:203.09, Y:128.53, Z:29.13 [[ 6.57857661e-01 -7.51993125e-01 -4.15889051e-02 2.03086529e+02] [ 7.50174416e-01 6.59162923e-01 -5.23697183e-02 1.28533122e+02] [ 6.67955324e-02 3.25288779e-03 9.97761382e-01 2.91265194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35710568099995 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:203.10, Y:128.55, Z:29.13 [[ 6.59663882e-01 -7.50462604e-01 -4.06133292e-02 2.03104088e+02] [ 7.48592985e-01 6.60896523e-01 -5.31444157e-02 1.28554891e+02] [ 6.67241046e-02 4.65459825e-03 9.97760607e-01 2.91268516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.3871056809999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:203.12, Y:128.57, Z:29.13 [[ 6.61798772e-01 -7.48574001e-01 -4.07351173e-02 2.03124212e+02] [ 7.46706754e-01 6.63034669e-01 -5.30476415e-02 1.28574761e+02] [ 6.67188802e-02 4.68967682e-03 9.97760792e-01 2.91281220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41710568099995 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:203.15, Y:128.60, Z:29.13 [[ 6.59255704e-01 -7.50823167e-01 -4.05769585e-02 2.03146404e+02] [ 7.48952461e-01 6.60486801e-01 -5.31732692e-02 1.28598652e+02] [ 6.67242679e-02 4.66456809e-03 9.97760549e-01 2.91347874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.4471056809999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:203.16, Y:128.62, Z:29.14 [[ 6.59154912e-01 -7.50858660e-01 -4.15460512e-02 2.03164041e+02] [ 7.49035626e-01 6.60454057e-01 -5.24029597e-02 1.28620752e+02] [ 6.67864742e-02 3.42219586e-03 9.97761422e-01 2.91369772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47710568099995 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:203.19, Y:128.64, Z:29.14 [[ 6.60609469e-01 -7.49579035e-01 -4.15499802e-02 2.03186783e+02] [ 7.47753679e-01 6.61905350e-01 -5.23998367e-02 1.28637385e+02] [ 6.67799731e-02 3.54667772e-03 9.97761423e-01 2.91356006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.5071056809999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:203.21, Y:128.66, Z:29.14 [[ 6.60893851e-01 -7.49350149e-01 -4.11542487e-02 2.03209840e+02] [ 7.47504838e-01 6.62161420e-01 -5.27140513e-02 1.28657715e+02] [ 6.67520379e-02 4.07539235e-03 9.97761272e-01 2.91427122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.5371056809999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:203.23, Y:128.68, Z:29.15 [[ 6.54380277e-01 -7.55021303e-01 -4.15846720e-02 2.03227868e+02] [ 7.53208477e-01 6.55693627e-01 -5.23722992e-02 1.28679732e+02] [ 6.68090060e-02 2.94947222e-03 9.97761423e-01 2.91482649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.56710568099993 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:203.25, Y:128.70, Z:29.15 [[ 6.53556289e-01 -7.55734656e-01 -4.15849496e-02 2.03247330e+02] [ 7.53923277e-01 6.54871634e-01 -5.23720790e-02 1.28700994e+02] [ 6.68121990e-02 2.87624012e-03 9.97761423e-01 2.91510461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.5971056809999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:203.27, Y:128.72, Z:29.15 [[ 6.53973311e-01 -7.55373356e-01 -4.15932955e-02 2.03271462e+02] [ 7.53561670e-01 6.55288233e-01 -5.23654579e-02 1.28720982e+02] [ 6.68110688e-02 2.90249860e-03 9.97761423e-01 2.91539500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.62710568099993 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:203.29, Y:128.74, Z:29.16 [[ 6.49610962e-01 -7.59100470e-01 -4.20960246e-02 2.03285411e+02] [ 7.57321946e-01 6.50970776e-01 -5.19665138e-02 1.28743056e+02] [ 6.68510868e-02 1.87777379e-03 9.97761197e-01 2.91563270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.6571056809999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:203.31, Y:128.76, Z:29.15 [[ 6.49186110e-01 -7.59491406e-01 -4.15956542e-02 2.03306462e+02] [ 7.57688226e-01 6.50512620e-01 -5.23629951e-02 1.28760764e+02] [ 6.68277428e-02 2.47679168e-03 9.97761454e-01 2.91539927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68710568099993 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:203.32, Y:128.79, Z:29.16 [[ 6.40403736e-01 -7.66915499e-01 -4.15171369e-02 2.03322381e+02] [ 7.65123683e-01 6.41745550e-01 -5.24251758e-02 1.28785022e+02] [ 6.68491177e-02 1.80753371e-03 9.97761459e-01 2.91593165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7171056809999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:203.34, Y:128.81, Z:29.15 [[ 6.40915772e-01 -7.66480885e-01 -4.16416406e-02 2.03344121e+02] [ 7.64694538e-01 6.42264886e-01 -5.23266654e-02 1.28807348e+02] [ 6.68523524e-02 1.69384998e-03 9.97761441e-01 2.91494976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74710568099994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:203.36, Y:128.83, Z:29.16 [[ 6.30414450e-01 -7.75122111e-01 -4.19920662e-02 2.03358400e+02] [ 7.73372675e-01 6.31811363e-01 -5.20490868e-02 1.28830244e+02] [ 6.68754626e-02 3.36979893e-04 9.97761274e-01 2.91582776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7771056809999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:203.37, Y:128.85, Z:29.16 [[ 6.27900348e-01 -7.77152141e-01 -4.21390925e-02 2.03372840e+02] [ 7.75415041e-01 6.29312757e-01 -5.19323401e-02 1.28850696e+02] [ 6.68779978e-02 -6.69517647e-05 9.97761158e-01 2.91583916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80710568099994 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:203.39, Y:128.88, Z:29.16 [[ 6.21121993e-01 -7.82613041e-01 -4.15246644e-02 2.03390100e+02] [ 7.80855545e-01 6.22508482e-01 -5.24195279e-02 1.28876560e+02] [ 6.68736619e-02 1.34157188e-04 9.97761442e-01 2.91571239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8371056809999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:203.41, Y:128.90, Z:29.16 [[ 6.20365699e-01 -7.83194428e-01 -4.18675006e-02 2.03409214e+02] [ 7.81456499e-01 6.21776772e-01 -5.21477338e-02 1.28898762e+02] [ 6.68740538e-02 -3.66965090e-04 9.97761357e-01 2.91614804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86710568099994 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:203.42, Y:128.92, Z:29.16 [[ 6.19063653e-01 -7.84211169e-01 -4.21074313e-02 2.03423979e+02] [ 7.82488458e-01 6.20493536e-01 -5.19575315e-02 1.28923130e+02] [ 6.68730654e-02 -7.83559682e-04 9.97761183e-01 2.91552670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8971056809999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:203.44, Y:128.95, Z:29.16 [[ 6.19988506e-01 -7.83474763e-01 -4.22084003e-02 2.03438456e+02] [ 7.81755797e-01 6.21423046e-01 -5.18774762e-02 1.28945205e+02] [ 6.68739661e-02 -8.33222693e-04 9.97761083e-01 2.91643823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92710568099994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:203.45, Y:128.97, Z:29.17 [[ 6.22961755e-01 -7.81130253e-01 -4.18829252e-02 2.03449736e+02] [ 7.79388494e-01 6.24368081e-01 -5.21351515e-02 1.28968144e+02] [ 6.68747057e-02 -1.64864470e-04 9.97761368e-01 2.91726521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9571056809999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:203.47, Y:128.99, Z:29.17 [[ 6.25910457e-01 -7.78791859e-01 -4.14649345e-02 2.03466170e+02] [ 7.77022841e-01 6.27282119e-01 -5.24656819e-02 1.28991469e+02] [ 6.68700579e-02 6.19617726e-04 9.97761500e-01 2.91724945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98710568099995 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:203.48, Y:129.02, Z:29.17 [[ 6.25296510e-01 -7.79274864e-01 -4.16528581e-02 2.03476099e+02] [ 7.77516763e-01 6.26682199e-01 -5.23173520e-02 1.29018638e+02] [ 6.68727021e-02 3.28062239e-04 9.97761462e-01 2.91729585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0171056809999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:203.49, Y:129.04, Z:29.17 [[ 6.26179659e-01 -7.78579088e-01 -4.13961078e-02 2.03492613e+02] [ 7.76806026e-01 6.27546070e-01 -5.25197879e-02 1.29042643e+02] [ 6.68687734e-02 7.30076847e-04 9.97761512e-01 2.91724638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04710568099995 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:203.50, Y:129.07, Z:29.17 [[ 6.25959715e-01 -7.78735401e-01 -4.17805158e-02 2.03502957e+02] [ 7.76982801e-01 6.27352474e-01 -5.22168651e-02 1.29066651e+02] [ 6.68742313e-02 2.22911737e-04 9.97761388e-01 2.91720806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0771056809999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:203.52, Y:129.09, Z:29.17 [[ 6.22826928e-01 -7.81281842e-01 -4.10524121e-02 2.03516123e+02] [ 7.79496807e-01 6.24177787e-01 -5.27903129e-02 1.29091188e+02] [ 6.68681167e-02 8.79004271e-04 9.97761436e-01 2.91658284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10710568099995 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:203.53, Y:129.12, Z:29.18 [[ 6.30341103e-01 -7.75240844e-01 -4.08867556e-02 2.03534520e+02] [ 7.73434389e-01 6.31663378e-01 -5.29209161e-02 1.29117179e+02] [ 6.68531218e-02 1.73500582e-03 9.97761319e-01 2.91795075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.1371056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:203.54, Y:129.14, Z:29.17 [[ 6.31337569e-01 -7.74386498e-01 -4.16944249e-02 2.03541969e+02] [ 7.72619871e-01 6.32712351e-01 -5.22839880e-02 1.29140179e+02] [ 6.68685920e-02 7.94904699e-04 9.97761474e-01 2.91736319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16710568099995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:203.56, Y:129.17, Z:29.18 [[ 6.35079185e-01 -7.71382546e-01 -4.05388133e-02 2.03559558e+02] [ 7.69550588e-01 6.36366467e-01 -5.31940917e-02 1.29166604e+02] [ 6.68305353e-02 2.58579280e-03 9.97760990e-01 2.91837317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.1971056809999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:203.57, Y:129.19, Z:29.18 [[ 6.40086807e-01 -7.67192221e-01 -4.12913488e-02 2.03573951e+02] [ 7.65389632e-01 6.41413930e-01 -5.26011452e-02 1.29193193e+02] [ 6.68400357e-02 2.06532876e-03 9.97761567e-01 2.91821611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22710568099995 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:203.59, Y:129.22, Z:29.18 [[ 6.42413002e-01 -7.65240022e-01 -4.13913543e-02 2.03589077e+02] [ 7.63438455e-01 6.43741504e-01 -5.25223839e-02 1.29216248e+02] [ 6.68375629e-02 2.14131072e-03 9.97761572e-01 2.91815367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.2571056809999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:203.61, Y:129.24, Z:29.18 [[ 6.44728393e-01 -7.63290625e-01 -4.13850371e-02 2.03606307e+02] [ 7.61484725e-01 6.46050997e-01 -5.25273576e-02 1.29239170e+02] [ 6.68304841e-02 2.35180525e-03 9.97761572e-01 2.91816413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.2871056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:203.62, Y:129.26, Z:29.18 [[ 6.47431617e-01 -7.60997209e-01 -4.14191879e-02 2.03620899e+02] [ 7.59188337e-01 6.48750159e-01 -5.25004804e-02 1.29259026e+02] [ 6.68234237e-02 2.54550653e-03 9.97761570e-01 2.91793713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31710568099993 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:203.64, Y:129.29, Z:29.19 [[ 6.45232577e-01 -7.62911397e-01 -4.05107521e-02 2.03639194e+02] [ 7.61061448e-01 6.46493564e-01 -5.32122635e-02 1.29285747e+02] [ 6.67861828e-02 3.50311429e-03 9.97761161e-01 2.91863004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.3471056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:203.66, Y:129.31, Z:29.19 [[ 6.44711011e-01 -7.63312868e-01 -4.12453336e-02 2.03656282e+02] [ 7.61500061e-01 6.46024055e-01 -5.26362718e-02 1.29308034e+02] [ 6.68234213e-02 2.52685997e-03 9.97761618e-01 2.91891915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37710568099993 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:203.67, Y:129.33, Z:29.19 [[ 6.43189981e-01 -7.64602460e-01 -4.11062826e-02 2.03673016e+02] [ 7.62785333e-01 6.44497070e-01 -5.27452534e-02 1.29330076e+02] [ 6.68220292e-02 2.56994908e-03 9.97761601e-01 2.91898818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.4071056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:203.69, Y:129.35, Z:29.19 [[ 6.41250600e-01 -7.66226161e-01 -4.11720671e-02 2.03691282e+02] [ 7.64415641e-01 6.42566806e-01 -5.26937073e-02 1.29350981e+02] [ 6.68311007e-02 2.31729933e-03 9.97761612e-01 2.91879800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43710568099993 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:203.71, Y:129.37, Z:29.19 [[ 6.36469367e-01 -7.70215622e-01 -4.09223761e-02 2.03709904e+02] [ 7.68400794e-01 6.37779726e-01 -5.28889509e-02 1.29373651e+02] [ 6.68353580e-02 2.21741080e-03 9.97761554e-01 2.91916210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.4671056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:203.73, Y:129.40, Z:29.20 [[ 6.32666496e-01 -7.73320198e-01 -4.13397732e-02 2.03727261e+02] [ 7.71532970e-01 6.34014213e-01 -5.25628554e-02 1.29396236e+02] [ 6.68579215e-02 1.35975951e-03 9.97761579e-01 2.91965288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49710568099994 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:203.74, Y:129.42, Z:29.20 [[ 6.22716015e-01 -7.81349031e-01 -4.14542617e-02 2.03741066e+02] [ 7.79585128e-01 6.24094194e-01 -5.24734738e-02 1.29418024e+02] [ 6.68714620e-02 3.58946563e-04 9.97761534e-01 2.91995763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.76, Y:129.44, Z:29.20 [[ 6.18949178e-01 -7.84358767e-01 -4.10273027e-02 2.03758271e+02] [ 7.82579380e-01 6.20307175e-01 -5.28064656e-02 1.29440423e+02] [ 6.68687444e-02 5.77397397e-04 9.97761614e-01 2.92008981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:203.77, Y:129.47, Z:29.20 [[ 6.09937145e-01 -7.91386051e-01 -4.10462838e-02 2.03774628e+02] [ 7.89623306e-01 6.11316673e-01 -5.27916668e-02 1.29466990e+02] [ 6.68708663e-02 -2.11503816e-04 9.97761616e-01 2.92010726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5871056809999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:203.79, Y:129.49, Z:29.21 [[ 6.04504514e-01 -7.95522264e-01 -4.14562385e-02 2.03786742e+02] [ 7.93790756e-01 6.05923193e-01 -5.24720958e-02 1.29488145e+02] [ 6.68620168e-02 -1.18796013e-03 9.97761524e-01 2.92082404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61710568099994 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:203.80, Y:129.51, Z:29.21 [[ 5.95591262e-01 -8.02239726e-01 -4.10179275e-02 2.03800419e+02] [ 8.00500595e-01 5.97000435e-01 -5.28136266e-02 1.29512922e+02] [ 6.68569099e-02 -1.37954084e-03 9.97761620e-01 2.92148990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6471056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:203.82, Y:129.54, Z:29.22 [[ 5.91595257e-01 -8.05192280e-01 -4.09932224e-02 2.03817789e+02] [ 8.03458848e-01 5.93011440e-01 -5.28328637e-02 1.29538022e+02] [ 6.68500638e-02 -1.68069569e-03 9.97761617e-01 2.92178413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67710568099994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:203.83, Y:129.56, Z:29.22 [[ 5.84061822e-01 -8.10653011e-01 -4.13942505e-02 2.03832092e+02] [ 8.08954784e-01 5.85520105e-01 -5.25201312e-02 1.29561328e+02] [ 6.68127684e-02 -2.81107346e-03 9.97761571e-01 2.92218936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.7071056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:203.85, Y:129.59, Z:29.22 [[ 5.78723396e-01 -8.14474499e-01 -4.13584439e-02 2.03845069e+02] [ 8.12783911e-01 5.80190503e-01 -5.25480234e-02 1.29586788e+02] [ 6.67948014e-02 -3.20470720e-03 9.97761587e-01 2.92239897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73710568099995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:203.86, Y:129.62, Z:29.22 [[ 5.75477782e-01 -8.16779642e-01 -4.11866299e-02 2.03856799e+02] [ 8.15085401e-01 5.76940578e-01 -5.26816720e-02 1.29615900e+02] [ 6.67915553e-02 -3.25348907e-03 9.97761646e-01 2.92190443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.7671056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:203.87, Y:129.64, Z:29.22 [[ 5.75597142e-01 -8.16662205e-01 -4.18422497e-02 2.03867831e+02] [ 8.15004309e-01 5.77101600e-01 -5.21701068e-02 1.29639090e+02] [ 6.67525837e-02 -4.07264939e-03 9.97761247e-01 2.92239648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79710568099995 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:203.88, Y:129.67, Z:29.23 [[ 5.74795895e-01 -8.17258416e-01 -4.12111732e-02 2.03877353e+02] [ 8.15566822e-01 5.76261677e-01 -5.26615548e-02 1.29669944e+02] [ 6.67865187e-02 -3.34082001e-03 9.97761695e-01 2.92262076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.8271056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:203.89, Y:129.69, Z:29.21 [[ 5.81689057e-01 -8.12357011e-01 -4.13995990e-02 2.03894659e+02] [ 8.10663407e-01 5.83152642e-01 -5.25151064e-02 1.29691672e+02] [ 6.68033004e-02 -3.01367725e-03 9.97761613e-01 2.92135425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85710568099995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:203.90, Y:129.72, Z:29.23 [[ 5.77497431e-01 -8.15362379e-01 -4.09988758e-02 2.03898526e+02] [ 8.13654315e-01 5.78943915e-01 -5.28261225e-02 1.29724644e+02] [ 6.68084826e-02 -2.85196217e-03 9.97761742e-01 2.92331881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.8871056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:203.91, Y:129.75, Z:29.23 [[ 5.79414343e-01 -8.13986553e-01 -4.12905719e-02 2.03910909e+02] [ 8.12291051e-01 5.80875641e-01 -5.25998003e-02 1.29751322e+02] [ 6.68002175e-02 -3.06288333e-03 9.97761670e-01 2.92346662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91710568099995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:203.92, Y:129.78, Z:29.21 [[ 5.96368018e-01 -8.01646619e-01 -4.13265712e-02 2.03924685e+02] [ 7.99922752e-01 5.97795774e-01 -5.25718901e-02 1.29777414e+02] [ 6.68489276e-02 -1.70587067e-03 9.97761650e-01 2.92078008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.9471056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:203.93, Y:129.81, Z:29.24 [[ 5.84876383e-01 -8.10088715e-01 -4.09376388e-02 2.03926942e+02] [ 8.08364318e-01 5.86303310e-01 -5.28730363e-02 1.29812290e+02] [ 6.68337232e-02 -2.16833622e-03 9.97761771e-01 2.92359338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:203.94, Y:129.84, Z:29.21 [[ 6.01380907e-01 -7.97895052e-01 -4.12854773e-02 2.03940721e+02] [ 7.96160084e-01 6.02795124e-01 -5.26038001e-02 1.29836214e+02] [ 6.68589963e-02 -1.23492802e-03 9.97761670e-01 2.92125732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.0071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.94, Y:129.87, Z:29.24 [[ 5.95746667e-01 -8.02130189e-01 -4.09031622e-02 2.03943342e+02] [ 8.00384900e-01 5.97147940e-01 -5.28994257e-02 1.29869454e+02] [ 6.68574654e-02 -1.22361684e-03 9.97761786e-01 2.92403786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.0371056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:203.95, Y:129.90, Z:29.24 [[ 6.05369119e-01 -7.94880058e-01 -4.11573017e-02 2.03947509e+02] [ 7.93131295e-01 6.06766140e-01 -5.27029381e-02 1.29900474e+02] [ 6.68653715e-02 -7.38412788e-04 9.97761734e-01 2.92371282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.06710568099993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:203.95, Y:129.93, Z:29.24 [[ 6.13872160e-01 -7.88344439e-01 -4.09147537e-02 2.03951947e+02] [ 7.86568273e-01 6.15234073e-01 -5.28903327e-02 1.29932159e+02] [ 6.68679502e-02 2.85655663e-04 9.97761793e-01 2.92392611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.0971056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:203.96, Y:129.96, Z:29.24 [[ 6.17148139e-01 -7.85778963e-01 -4.09828872e-02 2.03964227e+02] [ 7.84000625e-01 6.18507230e-01 -5.28377399e-02 1.29959847e+02] [ 6.68669965e-02 4.78103703e-04 9.97761783e-01 2.92419925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.97, Y:129.99, Z:29.24 [[ 6.24316329e-01 -7.80088216e-01 -4.11278173e-02 2.03972500e+02] [ 7.78304843e-01 6.25668884e-01 -5.27258946e-02 1.29987304e+02] [ 6.68632446e-02 9.07657611e-04 9.97761736e-01 2.92433637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.1571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.99, Y:130.01, Z:29.24 [[ 6.26227309e-01 -7.78564174e-01 -4.09534537e-02 2.03987376e+02] [ 7.76768706e-01 6.27563670e-01 -5.28603568e-02 1.30012751e+02] [ 6.68560798e-02 1.29123775e-03 9.97761794e-01 2.92438246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.00, Y:130.04, Z:29.24 [[ 6.27535980e-01 -7.77505535e-01 -4.10333805e-02 2.03999058e+02] [ 7.75711832e-01 6.28874746e-01 -5.27987553e-02 1.30040543e+02] [ 6.68561812e-02 1.30303988e-03 9.97761772e-01 2.92406518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.01, Y:130.06, Z:29.24 [[ 6.27249892e-01 -7.77739102e-01 -4.09812529e-02 2.04014029e+02] [ 7.75943276e-01 6.28585781e-01 -5.28389017e-02 1.30064414e+02] [ 6.68551128e-02 1.34406780e-03 9.97761789e-01 2.92415391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.03, Y:130.09, Z:29.24 [[ 6.26678415e-01 -7.78202031e-01 -4.09360746e-02 2.04029450e+02] [ 7.76404923e-01 6.28012556e-01 -5.28736658e-02 1.30087300e+02] [ 6.68547630e-02 1.35181522e-03 9.97761802e-01 2.92445891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.05, Y:130.11, Z:29.25 [[ 6.22905418e-01 -7.81228695e-01 -4.08725541e-02 2.04046786e+02] [ 7.79434866e-01 6.24243941e-01 -5.29225096e-02 1.30109754e+02] [ 6.68590273e-02 1.10822425e-03 9.97761816e-01 2.92452106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:204.06, Y:130.13, Z:29.25 [[ 6.19143470e-01 -7.84210651e-01 -4.09269912e-02 2.04064774e+02] [ 7.82426033e-01 6.20494270e-01 -5.28806583e-02 1.30130125e+02] [ 6.68645390e-02 7.18370921e-04 9.97761804e-01 2.92490978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.08, Y:130.15, Z:29.25 [[ 6.17071496e-01 -7.85849089e-01 -4.07918891e-02 2.04081917e+02] [ 7.84061189e-01 6.18417903e-01 -5.29844301e-02 1.30153000e+02] [ 6.68642006e-02 7.11844559e-04 9.97761831e-01 2.92513069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.10, Y:130.18, Z:29.25 [[ 6.16874808e-01 -7.85998192e-01 -4.08939202e-02 2.04098989e+02] [ 7.84215801e-01 6.18228534e-01 -5.29061186e-02 1.30175535e+02] [ 6.68659019e-02 5.66793373e-04 9.97761810e-01 2.92532048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.11, Y:130.20, Z:29.25 [[ 6.15624027e-01 -7.86978739e-01 -4.08842381e-02 2.04114929e+02] [ 7.85198011e-01 6.16979935e-01 -5.29135466e-02 1.30197540e+02] [ 6.68665908e-02 4.72628215e-04 9.97761813e-01 2.92518996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.13, Y:130.22, Z:29.26 [[ 6.15883853e-01 -7.86780226e-01 -4.07916122e-02 2.04132337e+02] [ 7.84994353e-01 6.17232940e-01 -5.29845649e-02 1.30219039e+02] [ 6.68651347e-02 6.11152801e-04 9.97761835e-01 2.92554333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4571056809999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:204.14, Y:130.24, Z:29.24 [[ 6.03571462e-01 -7.96273385e-01 -4.06224863e-02 2.04140481e+02] [ 7.94499990e-01 6.04936897e-01 -5.31141758e-02 1.30241357e+02] [ 6.68674454e-02 -2.16364159e-04 9.97761844e-01 2.92363911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.17, Y:130.26, Z:29.26 [[ 6.13492393e-01 -7.88735814e-01 -3.90243599e-02 2.04169661e+02] [ 7.86866370e-01 6.14726696e-01 -5.43360299e-02 1.30262044e+02] [ 6.68460885e-02 2.62778454e-03 9.97759838e-01 2.92589352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5171056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:204.19, Y:130.28, Z:29.26 [[ 6.10856326e-01 -7.90694848e-01 -4.06965138e-02 2.04189629e+02] [ 7.88912919e-01 6.12210393e-01 -5.30550813e-02 1.30284433e+02] [ 6.68652082e-02 3.03026533e-04 9.97761972e-01 2.92585598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:204.21, Y:130.30, Z:29.26 [[ 6.10768533e-01 -7.90754504e-01 -4.08547915e-02 2.04207102e+02] [ 7.88980800e-01 6.12133405e-01 -5.29338416e-02 1.30304745e+02] [ 6.68662562e-02 9.66786697e-05 9.97761943e-01 2.92591648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5771056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:204.22, Y:130.33, Z:29.26 [[ 6.10180432e-01 -7.91218591e-01 -4.06568670e-02 2.04224587e+02] [ 7.89435806e-01 6.11533363e-01 -5.30853464e-02 1.30325219e+02] [ 6.68651436e-02 2.95653093e-04 9.97761978e-01 2.92583569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:204.24, Y:130.35, Z:29.26 [[ 6.09072462e-01 -7.92074716e-01 -4.06002423e-02 2.04242122e+02] [ 7.90290943e-01 6.10424090e-01 -5.31286729e-02 1.30349521e+02] [ 6.68652444e-02 2.73207804e-04 9.97761978e-01 2.92595133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.6371056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:204.26, Y:130.37, Z:29.26 [[ 6.06490723e-01 -7.94037332e-01 -4.09111015e-02 2.04260306e+02] [ 7.92273912e-01 6.07868903e-01 -5.28908733e-02 1.30372445e+02] [ 6.68659143e-02 -3.34974399e-04 9.97761914e-01 2.92563026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:204.28, Y:130.39, Z:29.26 [[ 6.02625080e-01 -7.96945881e-01 -4.14762211e-02 2.04278289e+02] [ 7.95218772e-01 6.04049157e-01 -5.24568474e-02 1.30394391e+02] [ 6.68589448e-02 -1.37085770e-03 9.97761496e-01 2.92626630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.6971056809999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:204.30, Y:130.41, Z:29.25 [[ 6.03866562e-01 -7.96006916e-01 -4.14507581e-02 2.04302740e+02] [ 7.94276254e-01 6.05286267e-01 -5.24763424e-02 1.30406837e+02] [ 6.68611062e-02 -1.23464445e-03 9.97761529e-01 2.92507272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.32, Y:130.43, Z:29.27 [[ 5.89513617e-01 -8.06737363e-01 -4.06020155e-02 2.04315487e+02] [ 8.04987432e-01 5.90908590e-01 -5.31250610e-02 1.30432257e+02] [ 6.68500513e-02 -1.36616537e-03 9.97762098e-01 2.92742995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.7571056809999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:204.34, Y:130.45, Z:29.26 [[ 5.85068490e-01 -8.09956867e-01 -4.08011680e-02 2.04339482e+02] [ 8.08225174e-01 5.86486094e-01 -5.29729127e-02 1.30448921e+02] [ 6.68350921e-02 -1.98374907e-03 9.97762063e-01 2.92585801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.7871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.37, Y:130.49, Z:29.27 [[ 5.75652803e-01 -8.16686927e-01 -4.05748011e-02 2.04374766e+02] [ 8.14959621e-01 5.77075685e-01 -5.31457389e-02 1.30492626e+02] [ 6.68181613e-02 -2.47333100e-03 9.97762104e-01 2.92743978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81710568099993 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:204.36, Y:130.49, Z:29.26 [[ 5.53982233e-01 -8.31229412e-01 -4.64903303e-02 2.04358526e+02] [ 8.29888565e-01 5.55807429e-01 -4.86114318e-02 1.30490742e+02] [ 6.62469228e-02 -1.16519240e-02 9.97735224e-01 2.92640823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.8471056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:204.38, Y:130.52, Z:29.28 [[ 5.62779881e-01 -8.25672518e-01 -3.92899240e-02 2.04384156e+02] [ 8.23902281e-01 5.64146373e-01 -5.40731208e-02 1.30515287e+02] [ 6.68119579e-02 -1.93979354e-03 9.97763699e-01 2.92819420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87710568099993 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:204.41, Y:130.54, Z:29.26 [[ 5.72620310e-01 -8.18811295e-01 -4.06699418e-02 2.04405969e+02] [ 8.17097577e-01 5.74055607e-01 -5.30255602e-02 1.30538634e+02] [ 6.67647357e-02 -2.86779819e-03 9.97764624e-01 2.92602891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.41, Y:130.56, Z:29.28 [[ 5.65310742e-01 -8.23844856e-01 -4.12724883e-02 2.04409592e+02] [ 8.22176898e-01 5.66799676e-01 -5.25668729e-02 1.30564589e+02] [ 6.67001808e-02 -4.21666850e-03 9.97764153e-01 2.92815398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.43, Y:130.59, Z:29.29 [[ 5.65450754e-01 -8.23781925e-01 -4.06052335e-02 2.04425446e+02] [ 8.22077350e-01 5.66896802e-01 -5.30739780e-02 1.30587943e+02] [ 6.67403607e-02 -3.36992184e-03 9.97764686e-01 2.92872145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.9671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.44, Y:130.61, Z:29.29 [[ 5.66174173e-01 -8.23283202e-01 -4.06395906e-02 2.04437900e+02] [ 8.21579213e-01 5.67620929e-01 -5.30478838e-02 1.30611933e+02] [ 6.67413138e-02 -3.35430112e-03 9.97764675e-01 2.92924814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.45, Y:130.64, Z:29.29 [[ 5.66410635e-01 -8.23137047e-01 -4.03037740e-02 2.04451228e+02] [ 8.21414587e-01 5.67835279e-01 -5.33026470e-02 1.30637129e+02] [ 6.67612882e-02 -2.91492174e-03 9.97764719e-01 2.92944441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:130.66, Z:29.30 [[ 5.65866634e-01 -8.23515268e-01 -4.02188378e-02 2.04463713e+02] [ 8.21789203e-01 5.67286933e-01 -5.33670457e-02 1.30662973e+02] [ 6.67641981e-02 -2.85277611e-03 9.97764704e-01 2.92978340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.47, Y:130.69, Z:29.29 [[ 5.65802559e-01 -8.23558289e-01 -4.02393860e-02 2.04472978e+02] [ 8.21833433e-01 5.67224320e-01 -5.33514698e-02 1.30690912e+02] [ 6.67628035e-02 -2.88367460e-03 9.97764708e-01 2.92912764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.49, Y:130.72, Z:29.29 [[ 5.64152411e-01 -8.24689639e-01 -4.02374972e-02 2.04487908e+02] [ 8.22967532e-01 5.65577500e-01 -5.33529007e-02 1.30717950e+02] [ 6.67570075e-02 -3.01498617e-03 9.97764708e-01 2.92938140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:204.50, Y:130.74, Z:29.30 [[ 5.63930013e-01 -8.24825377e-01 -4.05713925e-02 2.04499288e+02] [ 8.23121614e-01 5.65377035e-01 -5.31000694e-02 1.30743749e+02] [ 6.67364184e-02 -3.45046728e-03 9.97764674e-01 2.92952794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1471056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:204.51, Y:130.77, Z:29.30 [[ 5.65506660e-01 -8.23748315e-01 -4.05084127e-02 2.04508611e+02] [ 8.22038399e-01 5.66946373e-01 -5.31477305e-02 1.30769337e+02] [ 6.67464511e-02 -3.24407518e-03 9.97764695e-01 2.92961438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17710568099994 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:204.53, Y:130.79, Z:29.28 [[ 5.72891153e-01 -8.18649359e-01 -4.01117772e-02 2.04527517e+02] [ 8.16905589e-01 5.74289660e-01 -5.34475821e-02 1.30792007e+02] [ 6.67906077e-02 -2.14788805e-03 9.97764702e-01 2.92762475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.2071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.53, Y:130.83, Z:29.30 [[ 5.64209901e-01 -8.24647786e-01 -4.02891498e-02 2.04530619e+02] [ 8.22928365e-01 5.65638199e-01 -5.33135433e-02 1.30825222e+02] [ 6.67539777e-02 -3.07505515e-03 9.97764727e-01 2.93026230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.54, Y:130.85, Z:29.30 [[ 5.64859012e-01 -8.24193764e-01 -4.04837771e-02 2.04543224e+02] [ 8.22483647e-01 5.66298486e-01 -5.31664834e-02 1.30849724e+02] [ 6.67453858e-02 -3.26567739e-03 9.97764696e-01 2.93024374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.2671056809999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:204.56, Y:130.87, Z:29.28 [[ 5.78257207e-01 -8.14854129e-01 -4.03899792e-02 2.04563232e+02] [ 8.13115778e-01 5.79662417e-01 -5.32373381e-02 1.30871673e+02] [ 6.67932177e-02 -2.05685488e-03 9.97764719e-01 2.92816537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.57, Y:130.90, Z:29.31 [[ 5.67615218e-01 -8.22309198e-01 -4.02560204e-02 2.04567302e+02] [ 8.20582131e-01 5.69034250e-01 -5.33384417e-02 1.30900278e+02] [ 6.67677456e-02 -2.75765984e-03 9.97764734e-01 2.93069754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.3271056809999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:204.59, Y:130.92, Z:29.29 [[ 5.78981499e-01 -8.14358846e-01 -4.00011636e-02 2.04586227e+02] [ 8.12598976e-01 5.80359703e-01 -5.35305461e-02 1.30924542e+02] [ 6.68081372e-02 -1.51170879e-03 9.97764696e-01 2.92867232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35710568099995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:204.59, Y:130.95, Z:29.31 [[ 5.71511587e-01 -8.19607849e-01 -4.02179142e-02 2.04591140e+02] [ 8.17872053e-01 5.72919931e-01 -5.33672043e-02 1.30953071e+02] [ 6.67818242e-02 -2.39313244e-03 9.97764732e-01 2.93068307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.3871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.60, Y:130.98, Z:29.32 [[ 5.75278423e-01 -8.16976901e-01 -4.00434815e-02 2.04601291e+02] [ 8.15225511e-01 5.76667370e-01 -5.34987026e-02 1.30981783e+02] [ 6.67989734e-02 -1.86781839e-03 9.97764706e-01 2.93151000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:204.61, Y:131.01, Z:29.31 [[ 5.78391254e-01 -8.14762690e-01 -4.03152042e-02 2.04613368e+02] [ 8.13020184e-01 5.79791296e-01 -5.32938451e-02 1.31007238e+02] [ 6.67962411e-02 -1.95238082e-03 9.97764727e-01 2.93120502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.62, Y:131.03, Z:29.32 [[ 5.89227066e-01 -8.06963420e-01 -4.02679086e-02 2.04620025e+02] [ 8.05199931e-01 5.90600574e-01 -5.33294767e-02 1.31029656e+02] [ 6.68171868e-02 -1.00054616e-03 9.97764733e-01 2.93209579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.64, Y:131.06, Z:29.32 [[ 5.90792090e-01 -8.05875212e-01 -3.91132834e-02 2.04635844e+02] [ 8.04050808e-01 5.92085143e-01 -5.41985361e-02 1.31059922e+02] [ 6.68356508e-02 5.70999304e-04 9.97763835e-01 2.93220570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.5071056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:204.66, Y:131.08, Z:29.31 [[ 6.04347389e-01 -7.95712921e-01 -4.00647026e-02 2.04658670e+02] [ 7.93913737e-01 6.05673743e-01 -5.34817292e-02 1.31083415e+02] [ 6.68222414e-02 5.13625678e-04 9.97764764e-01 2.93090828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.5371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.66, Y:131.11, Z:29.33 [[ 5.93565844e-01 -8.03760221e-01 -4.06090613e-02 2.04661213e+02] [ 8.02006874e-01 5.94952408e-01 -5.30717069e-02 1.31112337e+02] [ 6.68173857e-02 -1.06719387e-03 9.97764651e-01 2.93327788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.67, Y:131.14, Z:29.33 [[ 5.91002157e-01 -8.05670146e-01 -4.01505526e-02 2.04673347e+02] [ 8.03897713e-01 5.92364006e-01 -5.34167778e-02 1.31139672e+02] [ 6.68200453e-02 -7.07506483e-04 9.97764792e-01 2.93328375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.5971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.69, Y:131.16, Z:29.33 [[ 5.90457107e-01 -8.06070544e-01 -4.01333151e-02 2.04687530e+02] [ 8.04298153e-01 5.91819012e-01 -5.34297415e-02 1.31163765e+02] [ 6.68197997e-02 -7.31180647e-04 9.97764792e-01 2.93329458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:131.19, Z:29.33 [[ 5.93163538e-01 -8.04078321e-01 -4.01879426e-02 2.04701833e+02] [ 8.02304136e-01 5.94523106e-01 -5.33886766e-02 1.31189016e+02] [ 6.68213379e-02 -5.74736241e-04 9.97764791e-01 2.93297087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.6571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.72, Y:131.21, Z:29.33 [[ 5.95861117e-01 -8.02090053e-01 -4.00134608e-02 2.04717211e+02] [ 8.00302509e-01 5.97203089e-01 -5.35197634e-02 1.31212031e+02] [ 6.68238323e-02 -1.32527110e-04 9.97764781e-01 2.93301988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.73, Y:131.24, Z:29.34 [[ 6.00817665e-01 -7.98388179e-01 -3.99305521e-02 2.04731985e+02] [ 7.96588225e-01 6.02142979e-01 -5.35820245e-02 1.31237091e+02] [ 6.68231566e-02 3.84819273e-04 9.97764761e-01 2.93391944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7171056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:204.75, Y:131.26, Z:29.34 [[ 6.05564410e-01 -7.94786817e-01 -4.00707001e-02 2.04747866e+02] [ 7.92985931e-01 6.06888413e-01 -5.34767883e-02 1.31258628e+02] [ 6.68210900e-02 6.08138329e-04 9.97764788e-01 2.93363633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74710568099994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:204.77, Y:131.28, Z:29.33 [[ 6.19425344e-01 -7.84042266e-01 -3.98744122e-02 2.04772259e+02] [ 7.82208940e-01 6.20704133e-01 -5.36241954e-02 1.31278469e+02] [ 6.67938481e-02 2.02606392e-03 9.97764740e-01 2.93288933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.79, Y:131.30, Z:29.34 [[ 6.17038724e-01 -7.85908917e-01 -4.01296190e-02 2.04785755e+02] [ 7.84091866e-01 6.18340448e-01 -5.34325308e-02 1.31300466e+02] [ 6.68068690e-02 1.50463272e-03 9.97764791e-01 2.93421990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.80, Y:131.32, Z:29.34 [[ 6.18595467e-01 -7.84705809e-01 -3.97044255e-02 2.04804645e+02] [ 7.82865679e-01 6.19864579e-01 -5.37515865e-02 1.31321933e+02] [ 6.67905492e-02 2.16725568e-03 9.97764664e-01 2.93408612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.82, Y:131.34, Z:29.35 [[ 6.19239042e-01 -7.84195895e-01 -3.97467929e-02 2.04824242e+02] [ 7.82356751e-01 6.20509543e-01 -5.37198348e-02 1.31344137e+02] [ 6.67901382e-02 2.16924727e-03 9.97764688e-01 2.93492619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.85, Y:131.37, Z:29.35 [[ 6.21037355e-01 -7.82747063e-01 -4.02447460e-02 2.04846274e+02] [ 7.80928946e-01 6.22337641e-01 -5.33464420e-02 1.31366524e+02] [ 6.68025911e-02 1.70184619e-03 9.97764761e-01 2.93453699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.86, Y:131.39, Z:29.35 [[ 6.22077947e-01 -7.81902794e-01 -4.05838462e-02 2.04864445e+02] [ 7.80099373e-01 6.23398868e-01 -5.30925523e-02 1.31385495e+02] [ 6.68131388e-02 1.36827299e-03 9.97764568e-01 2.93504948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.89, Y:131.40, Z:29.35 [[ 6.26120080e-01 -7.78687676e-01 -4.02386548e-02 2.04886436e+02] [ 7.76860851e-01 6.27408086e-01 -5.33508366e-02 1.31401873e+02] [ 6.67896963e-02 2.14419442e-03 9.97764771e-01 2.93481003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.91, Y:131.42, Z:29.35 [[ 6.25573061e-01 -7.79148292e-01 -3.98281954e-02 2.04910130e+02] [ 7.77302856e-01 6.26834218e-01 -5.36575567e-02 1.31417926e+02] [ 6.67728694e-02 2.60815195e-03 9.97764793e-01 2.93495165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98710568099995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:204.93, Y:131.44, Z:29.35 [[ 6.24045928e-01 -7.80374057e-01 -3.97870655e-02 2.04930807e+02] [ 7.78529146e-01 6.25307874e-01 -5.36882861e-02 1.31438578e+02] [ 6.67761110e-02 2.52856620e-03 9.97764781e-01 2.93532547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0171056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.95, Y:131.46, Z:29.36 [[ 6.17960234e-01 -7.85199924e-01 -3.98274703e-02 2.04954121e+02] [ 7.83366815e-01 6.19239244e-01 -5.36581036e-02 1.31460443e+02] [ 6.67950715e-02 1.95905566e-03 9.97764792e-01 2.93574764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:204.97, Y:131.48, Z:29.36 [[ 6.15132561e-01 -7.87392058e-01 -4.03197085e-02 2.04974106e+02] [ 7.85587428e-01 6.16451558e-01 -5.32904336e-02 1.31479088e+02] [ 6.68156113e-02 1.10602481e-03 9.97764727e-01 2.93623293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:205.00, Y:131.49, Z:29.36 [[ 6.09549122e-01 -7.91731989e-01 -4.01288506e-02 2.04999265e+02] [ 7.89927355e-01 6.10867988e-01 -5.34329010e-02 1.31494116e+02] [ 6.68179672e-02 8.71101095e-04 9.97764802e-01 2.93627482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.02, Y:131.51, Z:29.37 [[ 6.05700562e-01 -7.94691724e-01 -3.98985374e-02 2.05020919e+02] [ 7.92882191e-01 6.07012660e-01 -5.36046897e-02 1.31513995e+02] [ 6.68181206e-02 8.33550984e-04 9.97764824e-01 2.93651317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.1371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.04, Y:131.53, Z:29.37 [[ 6.02344636e-01 -7.97236190e-01 -3.99424087e-02 2.05042186e+02] [ 7.95434368e-01 6.03667301e-01 -5.35719801e-02 1.31532773e+02] [ 6.68214474e-02 4.97230217e-04 9.97764825e-01 2.93673686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:205.07, Y:131.55, Z:29.37 [[ 5.97870112e-01 -8.00602249e-01 -3.98417958e-02 2.05065893e+02] [ 7.98802870e-01 5.99196109e-01 -5.36469668e-02 1.31547894e+02] [ 6.68229313e-02 2.48177150e-04 9.97764819e-01 2.93696804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.1971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.09, Y:131.57, Z:29.37 [[ 5.96154789e-01 -8.01904340e-01 -3.93560299e-02 2.05088077e+02] [ 8.00083815e-01 5.97452029e-01 -5.40089147e-02 1.31567017e+02] [ 6.68233230e-02 7.09550615e-04 9.97764571e-01 2.93654911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22710568099995 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:205.10, Y:131.60, Z:29.34 [[ 5.83742824e-01 -8.10987567e-01 -3.92871713e-02 2.05101531e+02] [ 8.09183771e-01 5.85063340e-01 -5.40602777e-02 1.31597647e+02] [ 6.68276967e-02 -2.33242243e-04 9.97764504e-01 2.93379543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.2571056809999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:205.12, Y:131.62, Z:29.34 [[ 5.83436730e-01 -8.11174734e-01 -3.99641498e-02 2.05118433e+02] [ 8.09405652e-01 5.84802820e-01 -5.35551295e-02 1.31620479e+02] [ 6.68137154e-02 -1.10117909e-03 9.97764860e-01 2.93398366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.2871056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:205.15, Y:131.63, Z:29.37 [[ 6.01642968e-01 -7.97765773e-01 -3.99438515e-02 2.05146866e+02] [ 7.95965229e-01 6.02967314e-01 -5.35702646e-02 1.31628789e+02] [ 6.68213604e-02 4.36256090e-04 9.97764860e-01 2.93652672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31710568099993 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:205.17, Y:131.65, Z:29.36 [[ 6.04611212e-01 -7.95553021e-01 -3.92514097e-02 2.05165654e+02] [ 7.93713877e-01 6.05882001e-01 -5.40858819e-02 1.31650007e+02] [ 6.68099094e-02 1.54654213e-03 9.97764523e-01 2.93641157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.3471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.19, Y:131.67, Z:29.37 [[ 6.10871254e-01 -7.90749578e-01 -3.93880079e-02 2.05185781e+02] [ 7.88906990e-01 6.12136815e-01 -5.39840828e-02 1.31670490e+02] [ 6.67987404e-02 1.90384962e-03 9.97764653e-01 2.93741519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:205.20, Y:131.69, Z:29.38 [[ 6.13378863e-01 -7.88806755e-01 -3.93735223e-02 2.05201325e+02] [ 7.86959468e-01 6.14637576e-01 -5.39948744e-02 1.31688493e+02] [ 6.67919680e-02 2.13394851e-03 9.97764641e-01 2.93758103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.4071056809999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:205.22, Y:131.71, Z:29.38 [[ 6.17453047e-01 -7.85662452e-01 -3.85518762e-02 2.05221358e+02] [ 7.83770425e-01 6.18645507e-01 -5.46045587e-02 1.31714289e+02] [ 6.67506964e-02 3.49993073e-03 9.97763547e-01 2.93818711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.24, Y:131.74, Z:29.39 [[ 6.19931118e-01 -7.83668091e-01 -3.93666460e-02 2.05239273e+02] [ 7.81810152e-01 6.21173924e-01 -5.39985430e-02 1.31736096e+02] [ 6.67704691e-02 2.69813362e-03 9.97764714e-01 2.93883210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.4671056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:205.26, Y:131.76, Z:29.39 [[ 6.24754434e-01 -7.79828531e-01 -3.93618979e-02 2.05259951e+02] [ 7.77962738e-01 6.25985426e-01 -5.40020779e-02 1.31756108e+02] [ 6.67523355e-02 3.11594774e-03 9.97764710e-01 2.93855475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:205.28, Y:131.78, Z:29.38 [[ 6.27054203e-01 -7.77989490e-01 -3.91839272e-02 2.05279974e+02] [ 7.76111841e-01 6.28267350e-01 -5.41345337e-02 1.31777807e+02] [ 6.67340804e-02 3.53417700e-03 9.97764537e-01 2.93843930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:131.80, Z:29.38 [[ 6.27613685e-01 -7.77540539e-01 -3.91378640e-02 2.05300293e+02] [ 7.75659897e-01 6.28822284e-01 -5.41688057e-02 1.31797277e+02] [ 6.67292035e-02 3.63941224e-03 9.97764485e-01 2.93823174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.32, Y:131.82, Z:29.38 [[ 6.26337781e-01 -7.78569302e-01 -3.91257839e-02 2.05318045e+02] [ 7.76690087e-01 6.27548624e-01 -5.41777839e-02 1.31817296e+02] [ 6.67344912e-02 3.54498443e-03 9.97764472e-01 2.93842658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:205.34, Y:131.84, Z:29.39 [[ 6.21418462e-01 -7.82502539e-01 -3.91007806e-02 2.05339914e+02] [ 7.80629832e-01 6.22639398e-01 -5.41963671e-02 1.31836268e+02] [ 6.67544814e-02 3.15538731e-03 9.97764443e-01 2.93866090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:131.86, Z:29.39 [[ 6.18275045e-01 -7.84984710e-01 -3.91787330e-02 2.05359910e+02] [ 7.83120566e-01 6.19508851e-01 -5.41383622e-02 1.31856509e+02] [ 6.67693585e-02 2.79072673e-03 9.97764534e-01 2.93904318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.38, Y:131.88, Z:29.39 [[ 6.11355383e-01 -7.90386368e-01 -3.91661095e-02 2.05381315e+02] [ 7.88532535e-01 6.12604653e-01 -5.41477546e-02 1.31876614e+02] [ 6.67909880e-02 2.21976967e-03 9.97764520e-01 2.93939453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.40, Y:131.90, Z:29.39 [[ 6.08661999e-01 -7.92458223e-01 -3.92496658e-02 2.05400911e+02] [ 7.90612641e-01 6.09923273e-01 -5.40856086e-02 1.31896470e+02] [ 6.67998699e-02 1.88857266e-03 9.97764607e-01 2.93948925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.7071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.42, Y:131.92, Z:29.40 [[ 6.03491468e-01 -7.96401152e-01 -3.92842582e-02 2.05423622e+02] [ 7.94565486e-01 6.04767075e-01 -5.40598990e-02 1.31915790e+02] [ 6.68111918e-02 1.41077214e-03 9.97764639e-01 2.93978405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:205.44, Y:131.94, Z:29.39 [[ 6.00594483e-01 -7.98582322e-01 -3.94023115e-02 2.05442241e+02] [ 7.96757032e-01 6.01884733e-01 -5.39722179e-02 1.31935495e+02] [ 6.68169089e-02 1.02134747e-03 9.97764731e-01 2.93916773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.7671056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:205.46, Y:131.96, Z:29.39 [[ 5.98708523e-01 -8.00009642e-01 -3.91494295e-02 2.05460604e+02] [ 7.98175113e-01 5.99985988e-01 -5.41599714e-02 1.31959277e+02] [ 6.68176085e-02 1.17793613e-03 9.97764511e-01 2.93902869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:205.48, Y:131.98, Z:29.40 [[ 5.98859130e-01 -7.99873743e-01 -3.96199162e-02 2.05480073e+02] [ 7.98061902e-01 6.00168000e-01 -5.38105267e-02 1.31978705e+02] [ 6.68202333e-02 6.05779538e-04 9.97764847e-01 2.93965627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.8271056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:205.50, Y:132.00, Z:29.39 [[ 5.99625395e-01 -7.99313981e-01 -3.93261289e-02 2.05498409e+02] [ 7.97486565e-01 6.00912713e-01 -5.40286104e-02 1.32000839e+02] [ 6.68173945e-02 1.03486743e-03 9.97764684e-01 2.93919765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:205.52, Y:132.02, Z:29.40 [[ 6.00893569e-01 -7.98366573e-01 -3.92139348e-02 2.05515153e+02] [ 7.96531687e-01 6.02170387e-01 -5.41118902e-02 1.32023409e+02] [ 6.68145947e-02 1.28034521e-03 9.97764587e-01 2.94004023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.8871056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:205.53, Y:132.05, Z:29.40 [[ 5.99836584e-01 -7.99158056e-01 -3.92743408e-02 2.05533379e+02] [ 7.97327786e-01 6.01119916e-01 -5.40670760e-02 1.32048714e+02] [ 6.68167279e-02 1.11688697e-03 9.97764640e-01 2.94011709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:205.55, Y:132.07, Z:29.41 [[ 6.00144409e-01 -7.98899781e-01 -3.98224695e-02 2.05549303e+02] [ 7.97095755e-01 6.01463987e-01 -5.36603174e-02 1.32070915e+02] [ 6.68209971e-02 4.61618034e-04 9.97764873e-01 2.94078776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.9471056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:205.56, Y:132.09, Z:29.41 [[ 5.99929034e-01 -7.99062070e-01 -3.98115729e-02 2.05564687e+02] [ 7.97257866e-01 6.01248367e-01 -5.36684006e-02 1.32093330e+02] [ 6.68210265e-02 4.57142060e-04 9.97764873e-01 2.94123778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.58, Y:132.12, Z:29.42 [[ 5.94621459e-01 -8.03035726e-01 -3.94834628e-02 2.05581426e+02] [ 8.01224121e-01 5.95930739e-01 -5.39116246e-02 1.32116762e+02] [ 6.68223698e-02 4.21906092e-04 9.97764798e-01 2.94206033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.60, Y:132.14, Z:29.43 [[ 5.88202814e-01 -8.07733962e-01 -3.97906445e-02 2.05597254e+02] [ 8.05948156e-01 5.89546948e-01 -5.36839471e-02 1.32138408e+02] [ 6.68208003e-02 -4.92147839e-04 9.97764871e-01 2.94252414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.0371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:132.16, Z:29.43 [[ 5.83822994e-01 -8.10920766e-01 -3.94743335e-02 2.05614400e+02] [ 8.09126388e-01 5.85155791e-01 -5.39183605e-02 1.32162821e+02] [ 6.68221530e-02 -4.60946259e-04 9.97764796e-01 2.94278692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.63, Y:132.18, Z:29.43 [[ 5.76768839e-01 -8.15938046e-01 -3.97845669e-02 2.05630500e+02] [ 8.14171035e-01 5.78137590e-01 -5.36884756e-02 1.32184639e+02] [ 6.68074235e-02 -1.42560224e-03 9.97764870e-01 2.94260859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.0971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.65, Y:132.21, Z:29.43 [[ 5.72351768e-01 -8.19053662e-01 -3.95544201e-02 2.05647578e+02] [ 8.17282303e-01 5.73714952e-01 -5.38589899e-02 1.32209006e+02] [ 6.68063651e-02 -1.50083946e-03 9.97764831e-01 2.94271341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.66, Y:132.23, Z:29.43 [[ 5.68862949e-01 -8.21467131e-01 -3.98333709e-02 2.05662481e+02] [ 8.19715937e-01 5.70251883e-01 -5.36523284e-02 1.32231299e+02] [ 6.67886791e-02 -2.13122721e-03 9.97764867e-01 2.94305394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.1571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.68, Y:132.26, Z:29.43 [[ 5.63329406e-01 -8.25278457e-01 -3.96919205e-02 2.05676746e+02] [ 8.23529290e-01 5.64720892e-01 -5.37570681e-02 1.32257629e+02] [ 6.67794070e-02 -2.40452193e-03 9.97764867e-01 2.94260750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.69, Y:132.28, Z:29.43 [[ 5.62572669e-01 -8.25784149e-01 -3.99065212e-02 2.05691568e+02] [ 8.24047420e-01 5.63979676e-01 -5.35982613e-02 1.32281984e+02] [ 6.67670616e-02 -2.73194894e-03 9.97764850e-01 2.94279108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.70, Y:132.31, Z:29.44 [[ 5.63288065e-01 -8.25299390e-01 -3.98430991e-02 2.05702198e+02] [ 8.23558144e-01 5.64689455e-01 -5.36451703e-02 1.32307077e+02] [ 6.67723043e-02 -2.59542459e-03 9.97764864e-01 2.94361503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.71, Y:132.33, Z:29.44 [[ 5.64216487e-01 -8.24671263e-01 -3.97122586e-02 2.05712582e+02] [ 8.22921664e-01 5.65607415e-01 -5.37418554e-02 1.32334385e+02] [ 6.67809116e-02 -2.35803706e-03 9.97764877e-01 2.94414156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:205.73, Y:132.36, Z:29.44 [[ 5.64219612e-01 -8.24667908e-01 -3.97375263e-02 2.05727443e+02] [ 8.22919610e-01 5.65612176e-01 -5.37231951e-02 1.32361054e+02] [ 6.67798236e-02 -2.38910944e-03 9.97764876e-01 2.94375412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30710568099994 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:205.74, Y:132.39, Z:29.43 [[ 5.67134195e-01 -8.22658203e-01 -3.99034625e-02 2.05737481e+02] [ 8.20913545e-01 5.68531371e-01 -5.36006788e-02 1.32385712e+02] [ 6.67814083e-02 -2.35851500e-03 9.97764843e-01 2.94301338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3371056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:205.75, Y:132.41, Z:29.43 [[ 5.67385676e-01 -8.22504239e-01 -3.95002749e-02 2.05752204e+02] [ 8.20738453e-01 5.68756008e-01 -5.38979966e-02 1.32413393e+02] [ 6.67973494e-02 -1.83844326e-03 9.97764869e-01 2.94294952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36710568099994 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:205.76, Y:132.44, Z:29.43 [[ 5.70887534e-01 -8.20062131e-01 -3.98186534e-02 2.05760774e+02] [ 8.18306757e-01 5.72271182e-01 -5.36632620e-02 1.32439424e+02] [ 6.67942769e-02 -1.94818581e-03 9.97764867e-01 2.94322463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3971056809999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:205.77, Y:132.47, Z:29.43 [[ 5.73488017e-01 -8.18254839e-01 -3.96296935e-02 2.05770849e+02] [ 8.16485476e-01 5.74853688e-01 -5.38024671e-02 1.32468098e+02] [ 6.68054045e-02 -1.50199902e-03 9.97764893e-01 2.94313980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42710568099994 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:205.78, Y:132.49, Z:29.43 [[ 5.75059393e-01 -8.17152137e-01 -3.96116128e-02 2.05784907e+02] [ 8.15379239e-01 5.76420471e-01 -5.38157778e-02 1.32493651e+02] [ 6.68086223e-02 -1.35121818e-03 9.97764893e-01 2.94327266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4571056809999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:205.80, Y:132.52, Z:29.44 [[ 5.77074175e-01 -8.15725573e-01 -3.97138132e-02 2.05797392e+02] [ 8.13954472e-01 5.78437608e-01 -5.37405880e-02 1.32517883e+02] [ 6.68095350e-02 -1.31293035e-03 9.97764883e-01 2.94386758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48710568099995 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:205.81, Y:132.54, Z:29.44 [[ 5.81411195e-01 -8.12652055e-01 -3.94672041e-02 2.05808025e+02] [ 8.10861405e-01 5.82748842e-01 -5.39218826e-02 1.32544654e+02] [ 6.68191962e-02 -6.51646389e-04 9.97764887e-01 2.94418406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5171056809999 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:205.82, Y:132.57, Z:29.44 [[ 5.83441570e-01 -8.11197419e-01 -3.94294542e-02 2.05820018e+02] [ 8.09401559e-01 5.84772226e-01 -5.39496108e-02 1.32568883e+02] [ 6.68210347e-02 -4.37816050e-04 9.97764881e-01 2.94433885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54710568099995 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:205.83, Y:132.60, Z:29.45 [[ 5.85552921e-01 -8.09692821e-01 -3.90552442e-02 2.05830779e+02] [ 8.07875137e-01 5.86853896e-01 -5.42242303e-02 1.32596908e+02] [ 6.68246923e-02 1.99395618e-04 9.97764712e-01 2.94474015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5771056809999 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:205.85, Y:132.62, Z:29.45 [[ 5.84748497e-01 -8.10273248e-01 -3.90699223e-02 2.05847348e+02] [ 8.08457576e-01 5.86052259e-01 -5.42134417e-02 1.32623722e+02] [ 6.68247177e-02 1.14853812e-04 9.97764724e-01 2.94472197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60710568099995 meters Centerline goodness : 0.996640 Centerline is valid? [True, True] Translation: X:205.84, Y:132.63, Z:29.43 [[ 5.71989414e-01 -8.19306260e-01 -3.95646555e-02 2.05840212e+02] [ 8.17536146e-01 5.73354051e-01 -5.38496335e-02 1.32630790e+02] [ 6.68038973e-02 -1.54411565e-03 9.97764930e-01 2.94302158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.6371056809999 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:205.88, Y:132.67, Z:29.45 [[ 5.83723049e-01 -8.11174727e-01 -3.55382096e-02 2.05877114e+02] [ 8.09194228e-01 5.84787236e-01 -5.68206846e-02 1.32667991e+02] [ 6.68737947e-02 4.41022915e-03 9.97751695e-01 2.94533925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66710568099995 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:205.92, Y:132.70, Z:29.43 [[ 5.99248053e-01 -7.99563295e-01 -4.00038435e-02 2.05918233e+02] [ 7.97771000e-01 6.00581813e-01 -5.35062406e-02 1.32696441e+02] [ 6.68072069e-02 1.49604298e-04 9.97765892e-01 2.94291691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.6971056809999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:205.91, Y:132.71, Z:29.46 [[ 5.83782230e-01 -8.10741712e-01 -4.35452004e-02 2.05909430e+02] [ 8.09163421e-01 5.85377810e-01 -5.08662709e-02 1.32713655e+02] [ 6.67298016e-02 -5.54035822e-03 9.97755701e-01 2.94582636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72710568099995 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:205.92, Y:132.74, Z:29.46 [[ 5.85286907e-01 -8.09839322e-01 -3.99938716e-02 2.05924466e+02] [ 8.08070992e-01 5.86650884e-01 -5.34977718e-02 1.32736614e+02] [ 6.67870394e-02 -1.00634208e-03 9.97766746e-01 2.94589393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.7571056809999 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:205.96, Y:132.75, Z:29.43 [[ 6.14751119e-01 -7.87714437e-01 -3.98375014e-02 2.05957080e+02] [ 7.85889531e-01 6.16038342e-01 -5.36134946e-02 1.32750501e+02] [ 6.67735521e-02 1.65108056e-03 9.97766790e-01 2.94294504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.7871056809999 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:205.96, Y:132.78, Z:29.46 [[ 5.94290601e-01 -8.03268882e-01 -3.97213278e-02 2.05957935e+02] [ 8.01471943e-01 5.95616568e-01 -5.36994288e-02 1.32783123e+02] [ 6.67937611e-02 7.75360843e-05 9.97766800e-01 2.94612092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81710568099993 meters Centerline goodness : 0.996215 Centerline is valid? [True, True] Translation: X:205.97, Y:132.80, Z:29.45 [[ 5.98993199e-01 -7.99764176e-01 -3.98046444e-02 2.05969517e+02] [ 7.97963569e-01 6.00314192e-01 -5.36377996e-02 1.32803204e+02] [ 6.67928835e-02 3.66021035e-04 9.97766795e-01 2.94494990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.8471056809999 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:205.99, Y:132.83, Z:29.46 [[ 6.07898698e-01 -7.93069429e-01 -3.87305297e-02 2.05991949e+02] [ 7.91203049e-01 6.09126343e-01 -5.44319177e-02 1.32827821e+02] [ 6.67600758e-02 2.44537875e-03 9.97766061e-01 2.94640947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87710568099993 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:206.00, Y:132.86, Z:29.44 [[ 6.00808491e-01 -7.98402184e-01 -3.97883282e-02 2.06001827e+02] [ 7.96597838e-01 6.02124293e-01 -5.36490449e-02 1.32857994e+02] [ 6.67910336e-02 5.37505414e-04 9.97766841e-01 2.94374830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.9071056809999 meters Centerline goodness : 0.996800 Centerline is valid? [True, True] Translation: X:206.03, Y:132.87, Z:29.46 [[ 6.18150110e-01 -7.85055789e-01 -3.97221590e-02 2.06028785e+02] [ 7.83219927e-01 6.19421563e-01 -5.36979927e-02 1.32870765e+02] [ 6.67606818e-02 2.08223367e-03 9.97766844e-01 2.94649475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93710568099993 meters Centerline goodness : 0.987891 Centerline is valid? [True, True] Translation: X:206.06, Y:132.88, Z:29.43 [[ 6.41596263e-01 -7.66011519e-01 -3.97566055e-02 2.06064178e+02] [ 7.64139623e-01 6.42814045e-01 -5.36725203e-02 1.32881358e+02] [ 6.66698732e-02 4.05649093e-03 9.97766843e-01 2.94315015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.9671056809999 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:206.07, Y:132.91, Z:29.47 [[ 6.23432035e-01 -7.80869159e-01 -3.96970416e-02 2.06066090e+02] [ 7.79023587e-01 6.24689351e-01 -5.37165388e-02 1.32912743e+02] [ 6.67439076e-02 2.56367937e-03 9.97766846e-01 2.94681591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99710568099994 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:206.09, Y:132.93, Z:29.47 [[ 6.27007813e-01 -7.77999520e-01 -3.97234003e-02 2.06086651e+02] [ 7.76149424e-01 6.28258463e-01 -5.36970653e-02 1.32931098e+02] [ 6.67328535e-02 2.83718524e-03 9.97766845e-01 2.94696096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0271056809999 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:206.11, Y:132.95, Z:29.48 [[ 6.28139559e-01 -7.77099200e-01 -3.94655288e-02 2.06106916e+02] [ 7.75235384e-01 6.29369721e-01 -5.38874122e-02 1.32950249e+02] [ 6.67142738e-02 3.25374092e-03 9.97766816e-01 2.94776612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05710568099994 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:206.15, Y:132.96, Z:29.45 [[ 6.49702243e-01 -7.59157043e-01 -3.95926681e-02 2.06147400e+02] [ 7.57265043e-01 6.50888551e-01 -5.37935760e-02 1.32959309e+02] [ 6.66081864e-02 4.96766352e-03 9.97766842e-01 2.94501625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0871056809999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:206.15, Y:132.99, Z:29.48 [[ 6.28215286e-01 -7.77028157e-01 -3.96584968e-02 2.06153440e+02] [ 7.75173116e-01 6.29458589e-01 -5.37450012e-02 1.32986237e+02] [ 6.67247606e-02 3.02123076e-03 9.97766846e-01 2.94848540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11710568099994 meters Centerline goodness : 0.992378 Centerline is valid? [True, True] Translation: X:206.16, Y:133.02, Z:29.45 [[ 6.07729383e-01 -7.93163967e-01 -3.94451220e-02 2.06163168e+02] [ 7.91331787e-01 6.09006188e-01 -5.39023734e-02 1.33016938e+02] [ 6.67757437e-02 1.54387727e-03 9.97766815e-01 2.94540208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1471056809999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:206.20, Y:133.02, Z:29.48 [[ 6.25232236e-01 -7.79431528e-01 -3.96376618e-02 2.06201545e+02] [ 7.77580295e-01 6.26481207e-01 -5.37604158e-02 1.33020553e+02] [ 6.67348132e-02 2.79128026e-03 9.97766843e-01 2.94849744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17710568099994 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:206.22, Y:133.04, Z:29.49 [[ 6.25115946e-01 -7.79532813e-01 -3.94797181e-02 2.06217701e+02] [ 7.77674455e-01 6.26354318e-01 -5.38768137e-02 1.33042726e+02] [ 6.67270361e-02 2.97688715e-03 9.97766827e-01 2.94868081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.2071056809999 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:206.25, Y:133.05, Z:29.46 [[ 6.42162524e-01 -7.65551615e-01 -3.94717306e-02 2.06254760e+02] [ 7.63666030e-01 6.43359036e-01 -5.38826983e-02 1.33054136e+02] [ 6.66444813e-02 4.45822980e-03 9.97766825e-01 2.94551592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23710568099995 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:206.27, Y:133.08, Z:29.49 [[ 6.22228152e-01 -7.81833052e-01 -3.96131890e-02 2.06266008e+02] [ 7.79985495e-01 6.23482558e-01 -5.37785015e-02 1.33077742e+02] [ 6.67439424e-02 2.56478474e-03 9.97766841e-01 2.94892137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.2671056809999 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:206.29, Y:133.10, Z:29.49 [[ 6.23385403e-01 -7.80910245e-01 -3.96210755e-02 2.06286104e+02] [ 7.79061198e-01 6.24637612e-01 -5.37726939e-02 1.33095913e+02] [ 6.67404616e-02 2.65386987e-03 9.97766840e-01 2.94902947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29710568099995 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:206.31, Y:133.11, Z:29.49 [[ 6.27208883e-01 -7.77848328e-01 -3.95094522e-02 2.06311322e+02] [ 7.75988019e-01 6.28444308e-01 -5.38548580e-02 1.33112520e+02] [ 6.67204015e-02 3.11938376e-03 9.97766835e-01 2.94859715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.3271056809999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:206.34, Y:133.13, Z:29.49 [[ 6.30326902e-01 -7.75327865e-01 -3.94296605e-02 2.06336325e+02] [ 7.73458970e-01 6.31549325e-01 -5.39135638e-02 1.33128521e+02] [ 6.67024637e-02 3.48594503e-03 9.97766821e-01 2.94894458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35710568099995 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:206.36, Y:133.15, Z:29.50 [[ 6.31774380e-01 -7.74146073e-01 -3.94840520e-02 2.06357819e+02] [ 7.72277371e-01 6.32997080e-01 -5.38735468e-02 1.33147791e+02] [ 6.66992843e-02 3.54328677e-03 9.97766832e-01 2.94950460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.3871056809999 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:206.39, Y:133.16, Z:29.47 [[ 6.50759405e-01 -7.58258433e-01 -3.94505460e-02 2.06394643e+02] [ 7.56358547e-01 6.51933075e-01 -5.38981851e-02 1.33158987e+02] [ 6.65878691e-02 5.23599321e-03 9.97766827e-01 2.94742151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41710568099995 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:206.40, Y:133.18, Z:29.50 [[ 6.34946643e-01 -7.71542710e-01 -3.95551139e-02 2.06404772e+02] [ 7.69672218e-01 6.36166598e-01 -5.38213353e-02 1.33184422e+02] [ 6.66891011e-02 3.72920388e-03 9.97766835e-01 2.95048694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.4471056809999 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:206.44, Y:133.20, Z:29.47 [[ 6.52847184e-01 -7.56460618e-01 -3.94700718e-02 2.06440867e+02] [ 7.54558356e-01 6.54016989e-01 -5.38838094e-02 1.33196233e+02] [ 6.65750773e-02 5.39542077e-03 9.97766831e-01 2.94730942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47710568099995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:206.45, Y:133.22, Z:29.51 [[ 6.34954173e-01 -7.71537655e-01 -3.95328431e-02 2.06448753e+02] [ 7.69666143e-01 6.36172562e-01 -5.38377169e-02 1.33222073e+02] [ 6.66875359e-02 3.75739213e-03 9.97766834e-01 2.95101703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.5071056809999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:206.47, Y:133.24, Z:29.51 [[ 6.31357725e-01 -7.74495589e-01 -3.92938493e-02 2.06473075e+02] [ 7.72618932e-01 6.32568239e-01 -5.40130360e-02 1.33238149e+02] [ 6.66888992e-02 3.74237561e-03 9.97766799e-01 2.95122966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.5371056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:206.50, Y:133.26, Z:29.51 [[ 6.29391582e-01 -7.76095826e-01 -3.92620119e-02 2.06495059e+02] [ 7.74220803e-01 6.30604645e-01 -5.40363780e-02 1.33257618e+02] [ 6.66962144e-02 3.61257502e-03 9.97766789e-01 2.95138738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.56710568099993 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:206.52, Y:133.27, Z:29.52 [[ 6.24037668e-01 -7.80409154e-01 -3.92242323e-02 2.06520245e+02] [ 7.78540793e-01 6.25260993e-01 -5.40640689e-02 1.33273507e+02] [ 6.67174767e-02 3.20035060e-03 9.97766774e-01 2.95163070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.5971056809999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:206.54, Y:133.29, Z:29.52 [[ 6.21533899e-01 -7.82407743e-01 -3.91629291e-02 2.06542307e+02] [ 7.80540500e-01 6.22758979e-01 -5.41089895e-02 1.33293622e+02] [ 6.67243580e-02 3.06231897e-03 9.97766747e-01 2.95195794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.62710568099993 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:206.57, Y:133.31, Z:29.52 [[ 6.17498720e-01 -7.85591290e-01 -3.92639284e-02 2.06566018e+02] [ 7.83735045e-01 6.18740330e-01 -5.40350237e-02 1.33312201e+02] [ 6.67436200e-02 2.59404130e-03 9.97766786e-01 2.95218572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.6571056809999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:206.58, Y:133.33, Z:29.52 [[ 6.14876608e-01 -7.87633566e-01 -3.94983957e-02 2.06584839e+02] [ 7.85792409e-01 6.16140433e-01 -5.38633160e-02 1.33334220e+02] [ 6.67611143e-02 2.08175354e-03 9.97766816e-01 2.95219827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68710568099993 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:206.61, Y:133.35, Z:29.52 [[ 6.12557915e-01 -7.89438008e-01 -3.95022984e-02 2.06605372e+02] [ 7.87600760e-01 6.13827414e-01 -5.38604598e-02 1.33352568e+02] [ 6.67670878e-02 1.88061074e-03 9.97766816e-01 2.95222950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7171056809999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:206.62, Y:133.37, Z:29.52 [[ 6.11556672e-01 -7.90217728e-01 -3.94256292e-02 2.06623902e+02] [ 7.88378487e-01 6.12823277e-01 -5.39165389e-02 1.33373396e+02] [ 6.67667481e-02 1.89070118e-03 9.97766820e-01 2.95233142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74710568099994 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:206.64, Y:133.39, Z:29.53 [[ 6.11230047e-01 -7.90473518e-01 -3.93630191e-02 2.06643313e+02] [ 7.88631864e-01 6.12493145e-01 -5.39623095e-02 1.33392679e+02] [ 6.67653560e-02 1.94045386e-03 9.97766817e-01 2.95262882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7771056809999 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:206.65, Y:133.42, Z:29.51 [[ 6.01146771e-01 -7.98181473e-01 -3.91011036e-02 2.06654370e+02] [ 7.96343550e-01 6.02415414e-01 -5.41536628e-02 1.33423459e+02] [ 6.67795578e-02 1.41638788e-03 9.97766749e-01 2.95085613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80710568099994 meters Centerline goodness : 0.997926 Centerline is valid? [True, True] Translation: X:206.69, Y:133.43, Z:29.51 [[ 6.20916158e-01 -7.82886274e-01 -3.93980515e-02 2.06687253e+02] [ 7.81030817e-01 6.22158893e-01 -5.39367631e-02 1.33434276e+02] [ 6.67381996e-02 2.71911542e-03 9.97766816e-01 2.95057759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8371056809999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:206.69, Y:133.46, Z:29.53 [[ 6.09766337e-01 -7.91602378e-01 -3.93787972e-02 2.06692252e+02] [ 7.89763803e-01 6.11033915e-01 -5.39508169e-02 1.33461830e+02] [ 6.67693755e-02 1.79744337e-03 9.97766816e-01 2.95341760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86710568099994 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:206.71, Y:133.48, Z:29.53 [[ 6.11567189e-01 -7.90220040e-01 -3.92155856e-02 2.06708007e+02] [ 7.88370968e-01 6.12819437e-01 -5.40699082e-02 1.33484968e+02] [ 6.67591981e-02 2.15095261e-03 9.97766798e-01 2.95345580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8971056809999 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:206.73, Y:133.51, Z:29.51 [[ 6.21374557e-01 -7.82538573e-01 -3.90773882e-02 2.06732388e+02] [ 7.80667729e-01 6.22594118e-01 -5.41706665e-02 1.33505140e+02] [ 6.67199881e-02 3.15381792e-03 9.97766755e-01 2.95094779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92710568099994 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:206.74, Y:133.54, Z:29.52 [[ 6.10076299e-01 -7.91365040e-01 -3.93482403e-02 2.06738562e+02] [ 7.89524530e-01 6.11341075e-01 -5.39732110e-02 1.33535051e+02] [ 6.67677078e-02 1.86137588e-03 9.97766811e-01 2.95242440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9571056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:206.76, Y:133.55, Z:29.54 [[ 6.16709287e-01 -7.86207569e-01 -3.93359203e-02 2.06757108e+02] [ 7.84355919e-01 6.17957697e-01 -5.39821884e-02 1.33553434e+02] [ 6.67491399e-02 2.43795500e-03 9.97766811e-01 2.95407535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98710568099995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:206.77, Y:133.58, Z:29.55 [[ 6.17945763e-01 -7.85243046e-01 -3.91968407e-02 2.06773172e+02] [ 7.83383033e-01 6.19181709e-01 -5.40835806e-02 1.33577947e+02] [ 6.67387224e-02 2.71457948e-03 9.97766793e-01 2.95478303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0171056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:206.79, Y:133.60, Z:29.55 [[ 6.21798460e-01 -7.82191045e-01 -3.92917771e-02 2.06788627e+02] [ 7.80329311e-01 6.23031789e-01 -5.40144062e-02 1.33600542e+02] [ 6.67296111e-02 2.92554927e-03 9.97766807e-01 2.95515058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04710568099995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:206.81, Y:133.62, Z:29.56 [[ 6.22205281e-01 -7.81876718e-01 -3.91073561e-02 2.06805253e+02] [ 7.80005953e-01 6.23424924e-01 -5.41486600e-02 1.33623531e+02] [ 6.67180771e-02 3.18761169e-03 9.97766775e-01 2.95582441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0771056809999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:206.82, Y:133.65, Z:29.56 [[ 6.22423034e-01 -7.81699087e-01 -3.91931669e-02 2.06822108e+02] [ 7.79831877e-01 6.23648078e-01 -5.40862147e-02 1.33645889e+02] [ 6.67218878e-02 3.10042496e-03 9.97766795e-01 2.95608888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10710568099995 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:206.84, Y:133.67, Z:29.56 [[ 6.24677847e-01 -7.79900041e-01 -3.91600925e-02 2.06844840e+02] [ 7.78027807e-01 6.25895208e-01 -5.41102666e-02 1.33665776e+02] [ 6.67107134e-02 3.33384401e-03 9.97766790e-01 2.95586454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.1371056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:206.86, Y:133.68, Z:29.55 [[ 6.24347475e-01 -7.80151457e-01 -3.94199849e-02 2.06863918e+02] [ 7.78291529e-01 6.25583561e-01 -5.39212704e-02 1.33684642e+02] [ 6.67272522e-02 2.98536869e-03 9.97766787e-01 2.95544387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16710568099995 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:206.88, Y:133.71, Z:29.56 [[ 6.23057384e-01 -7.81195819e-01 -3.91482859e-02 2.06884021e+02] [ 7.79325588e-01 6.24277814e-01 -5.41187514e-02 1.33708623e+02] [ 6.67167487e-02 3.20982672e-03 9.97766793e-01 2.95611899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.1971056809999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:206.90, Y:133.73, Z:29.56 [[ 6.22861128e-01 -7.81326071e-01 -3.96684579e-02 2.06902097e+02] [ 7.79479870e-01 6.24117823e-01 -5.37408156e-02 1.33728100e+02] [ 6.67468919e-02 2.55230066e-03 9.97766675e-01 2.95617781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22710568099995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:206.92, Y:133.75, Z:29.56 [[ 6.24707694e-01 -7.79871481e-01 -3.92526397e-02 2.06921921e+02] [ 7.78003414e-01 6.25931378e-01 -5.40425566e-02 1.33749424e+02] [ 6.67157075e-02 3.22211316e-03 9.97766823e-01 2.95567249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.2571056809999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:206.94, Y:133.77, Z:29.56 [[ 6.26318035e-01 -7.78568456e-01 -3.94572892e-02 2.06940080e+02] [ 7.76707101e-01 6.27551989e-01 -5.38941623e-02 1.33770148e+02] [ 6.67217950e-02 3.10812917e-03 9.97766777e-01 2.95597226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.2871056809999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:206.96, Y:133.79, Z:29.56 [[ 6.27723653e-01 -7.77452911e-01 -3.91150385e-02 2.06958435e+02] [ 7.75573967e-01 6.28930561e-01 -5.41421320e-02 1.33791428e+02] [ 6.66936012e-02 3.64969135e-03 9.97766828e-01 2.95600637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31710568099993 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:206.98, Y:133.81, Z:29.56 [[ 6.29846462e-01 -7.75732708e-01 -3.91433246e-02 2.06978073e+02] [ 7.73851730e-01 6.31050194e-01 -5.41216455e-02 1.33811964e+02] [ 6.66853332e-02 3.79719745e-03 9.97766830e-01 2.95619036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.3471056809999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:207.00, Y:133.83, Z:29.56 [[ 6.30824981e-01 -7.74940314e-01 -3.90813555e-02 2.06997793e+02] [ 7.73055071e-01 6.32022030e-01 -5.41665026e-02 1.33833993e+02] [ 6.66760842e-02 3.95754287e-03 9.97766825e-01 2.95637185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37710568099993 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:207.02, Y:133.85, Z:29.56 [[ 6.29945365e-01 -7.75641559e-01 -3.93574443e-02 2.07017814e+02] [ 7.73769977e-01 6.31163705e-01 -5.39666533e-02 1.33854944e+02] [ 6.66997695e-02 3.54243438e-03 9.97766802e-01 2.95613544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.4071056809999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:207.04, Y:133.88, Z:29.57 [[ 6.29773948e-01 -7.75772504e-01 -3.95195759e-02 2.07039868e+02] [ 7.73908472e-01 6.31003919e-01 -5.38491534e-02 1.33875590e+02] [ 6.67116998e-02 3.32825935e-03 9.97766742e-01 2.95718310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43710568099993 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:207.06, Y:133.89, Z:29.57 [[ 6.21812215e-01 -7.82148974e-01 -3.99067871e-02 2.07059902e+02] [ 7.80315406e-01 6.23087694e-01 -5.35685869e-02 1.33894802e+02] [ 6.67640433e-02 2.16972094e-03 9.97766433e-01 2.95700062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.4671056809999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:207.08, Y:133.92, Z:29.57 [[ 6.16253347e-01 -7.86560807e-01 -3.94196558e-02 2.07076470e+02] [ 7.84713809e-01 6.17508565e-01 -5.39204050e-02 1.33915753e+02] [ 6.67536524e-02 2.29548178e-03 9.97766847e-01 2.95720024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49710568099994 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:207.10, Y:133.94, Z:29.58 [[ 6.04987890e-01 -7.95273092e-01 -3.91198382e-02 2.07097501e+02] [ 7.93430177e-01 6.06248937e-01 -5.41366888e-02 1.33937493e+02] [ 6.67698123e-02 1.71318099e-03 9.97766935e-01 2.95766605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5271056809999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:207.12, Y:133.96, Z:29.59 [[ 5.95173252e-01 -8.02635105e-01 -3.93152555e-02 2.07118763e+02] [ 8.00817079e-01 5.96470002e-01 -5.39957697e-02 1.33957670e+02] [ 6.67892708e-02 6.52509810e-04 9.97766890e-01 2.95850444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55710568099994 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:207.15, Y:133.98, Z:29.57 [[ 5.99261864e-01 -7.99587458e-01 -3.93079557e-02 2.07145432e+02] [ 7.97762493e-01 6.00548826e-01 -5.40010296e-02 1.33979557e+02] [ 6.67848926e-02 1.00234488e-03 9.97766893e-01 2.95726173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5871056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:207.16, Y:134.00, Z:29.57 [[ 5.97539962e-01 -8.00836560e-01 -4.00848775e-02 2.07163417e+02] [ 7.99051465e-01 5.98882956e-01 -5.34412043e-02 1.33995384e+02] [ 6.68038201e-02 -9.66248679e-05 9.97766125e-01 2.95734956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61710568099994 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:207.16, Y:134.03, Z:29.58 [[ 5.74392123e-01 -8.17651129e-01 -3.89912867e-02 2.07163833e+02] [ 8.15851197e-01 5.75713637e-01 -5.42276038e-02 1.34030566e+02] [ 6.67870769e-02 -6.63179449e-04 9.97767030e-01 2.95767146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6471056809999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:207.19, Y:134.05, Z:29.59 [[ 5.81080140e-01 -8.12901692e-01 -3.92008955e-02 2.07186256e+02] [ 8.11101094e-01 5.82400807e-01 -5.40769390e-02 1.34048178e+02] [ 6.67898684e-02 -3.72853875e-04 9.97766994e-01 2.95907498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67710568099994 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:207.20, Y:134.07, Z:29.59 [[ 5.79789675e-01 -8.13823662e-01 -3.91788305e-02 2.07202972e+02] [ 8.12024093e-01 5.81111731e-01 -5.40927856e-02 1.34072094e+02] [ 6.67892669e-02 -4.51715733e-04 9.97767002e-01 2.95903070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.7071056809999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:207.22, Y:134.10, Z:29.59 [[ 5.75942072e-01 -8.16537840e-01 -3.94548551e-02 2.07216427e+02] [ 8.14758018e-01 5.77290856e-01 -5.38947119e-02 1.34096415e+02] [ 6.67839987e-02 -1.10592752e-03 9.97766844e-01 2.95939759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73710568099995 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:207.23, Y:134.12, Z:29.59 [[ 5.74188884e-01 -8.17781807e-01 -3.92433587e-02 2.07231276e+02] [ 8.15994518e-01 5.75527529e-01 -5.40463653e-02 1.34120659e+02] [ 6.67837676e-02 -9.89543328e-04 9.97766981e-01 2.95948687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.7671056809999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:207.25, Y:134.14, Z:29.58 [[ 5.79248686e-01 -8.14204258e-01 -3.92732214e-02 2.07250182e+02] [ 8.12410149e-01 5.80578205e-01 -5.40249760e-02 1.34141543e+02] [ 6.67885419e-02 -6.12067251e-04 9.97766965e-01 2.95806348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79710568099995 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:207.26, Y:134.17, Z:29.59 [[ 5.70325911e-01 -8.20499027e-01 -3.88548724e-02 2.07256302e+02] [ 8.18699102e-01 5.71647322e-01 -5.43242071e-02 1.34173899e+02] [ 6.67842428e-02 -8.27946208e-04 9.97767097e-01 2.95947967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.8271056809999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:207.27, Y:134.20, Z:29.59 [[ 5.74245520e-01 -8.17733282e-01 -3.94254114e-02 2.07273371e+02] [ 8.15954806e-01 5.75596056e-01 -5.39159939e-02 1.34200904e+02] [ 6.67820139e-02 -1.20833598e-03 9.97766858e-01 2.95872547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85710568099995 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:207.28, Y:134.23, Z:29.60 [[ 5.72698882e-01 -8.18783853e-01 -4.01122554e-02 2.07281142e+02] [ 8.17041847e-01 5.74097784e-01 -5.34261586e-02 1.34225283e+02] [ 6.67728329e-02 -2.17628991e-03 9.97765831e-01 2.95974221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.8871056809999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:207.29, Y:134.25, Z:29.60 [[ 5.79360233e-01 -8.14123343e-01 -3.93052374e-02 2.07287797e+02] [ 8.12330761e-01 5.80691629e-01 -5.39996890e-02 1.34253069e+02] [ 6.67866297e-02 -6.43580996e-04 9.97767073e-01 2.96043555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91710568099995 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:207.30, Y:134.28, Z:29.61 [[ 5.83716524e-01 -8.11022176e-01 -3.89621605e-02 2.07300737e+02] [ 8.09206201e-01 5.85015395e-01 -5.42430783e-02 1.34279807e+02] [ 6.67858031e-02 1.34159290e-04 9.97767327e-01 2.96070933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.9471056809999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:207.31, Y:134.31, Z:29.61 [[ 5.91055979e-01 -8.05684179e-01 -3.90619221e-02 2.07308233e+02] [ 8.03861145e-01 5.92345019e-01 -5.41722933e-02 1.34307035e+02] [ 6.67838946e-02 6.18496466e-04 9.97767272e-01 2.96118055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97710568099995 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:207.32, Y:134.34, Z:29.61 [[ 5.92874334e-01 -8.04350322e-01 -3.89946573e-02 2.07315777e+02] [ 8.02521254e-01 5.94154722e-01 -5.42199589e-02 1.34335560e+02] [ 6.67807012e-02 8.51580798e-04 9.97767314e-01 2.96107635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.0071056809999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:207.33, Y:134.36, Z:29.61 [[ 5.93317966e-01 -8.04031695e-01 -3.88178366e-02 2.07331785e+02] [ 8.02193744e-01 5.94585413e-01 -5.43450444e-02 1.34361646e+02] [ 6.67756576e-02 1.10446551e-03 9.97767404e-01 2.96102204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.0371056809999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:207.35, Y:134.39, Z:29.61 [[ 5.90570961e-01 -8.06040030e-01 -3.90564923e-02 2.07346284e+02] [ 8.04217499e-01 5.91860733e-01 -5.41764453e-02 1.34386351e+02] [ 6.67843878e-02 5.85120841e-04 9.97767259e-01 2.96136594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.06710568099993 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:207.36, Y:134.41, Z:29.62 [[ 5.90227186e-01 -8.06293581e-01 -3.90196146e-02 2.07362371e+02] [ 8.04469883e-01 5.91515257e-01 -5.42024674e-02 1.34409671e+02] [ 6.67837989e-02 6.01665004e-04 9.97767289e-01 2.96155484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.0971056809999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:207.38, Y:134.43, Z:29.62 [[ 5.88032297e-01 -8.07898029e-01 -3.89716801e-02 2.07378065e+02] [ 8.06075607e-01 5.89322107e-01 -5.42362441e-02 1.34432895e+02] [ 6.67842273e-02 4.78542537e-04 9.97767327e-01 2.96158654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.12710568099993 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:207.39, Y:134.46, Z:29.61 [[ 5.84161927e-01 -8.10703272e-01 -3.89236076e-02 2.07391103e+02] [ 8.08884788e-01 5.85457220e-01 -5.42700853e-02 1.34456052e+02] [ 6.67850429e-02 2.17803578e-04 9.97767363e-01 2.96140873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.1571056809999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:207.41, Y:134.48, Z:29.62 [[ 5.84741908e-01 -8.10296550e-01 -3.86833586e-02 2.07407755e+02] [ 8.08465945e-01 5.86019785e-01 -5.44392064e-02 1.34480216e+02] [ 6.67811146e-02 5.58707299e-04 9.97767493e-01 2.96196967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18710568099993 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:207.42, Y:134.50, Z:29.62 [[ 5.89747288e-01 -8.06649481e-01 -3.89198013e-02 2.07422541e+02] [ 8.04821915e-01 5.91029735e-01 -5.42728173e-02 1.34503409e+02] [ 6.67818998e-02 6.83737807e-04 9.97767363e-01 2.96198756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2171056809999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:207.44, Y:134.53, Z:29.62 [[ 5.93486747e-01 -8.03907261e-01 -3.88149015e-02 2.07437949e+02] [ 8.02068956e-01 5.94753610e-01 -5.43464148e-02 1.34526499e+02] [ 6.67747803e-02 1.12164934e-03 9.97767443e-01 2.96197797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24710568099994 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:207.45, Y:134.55, Z:29.62 [[ 6.03498372e-01 -7.96427012e-01 -3.86488080e-02 2.07454684e+02] [ 7.94565572e-01 6.04730810e-01 -5.44628211e-02 1.34548660e+02] [ 6.67477869e-02 2.15921163e-03 9.97767543e-01 2.96207927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2771056809999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:207.47, Y:134.57, Z:29.62 [[ 6.11843482e-01 -7.90035287e-01 -3.86238268e-02 2.07470855e+02] [ 7.88159890e-01 6.13054552e-01 -5.44803103e-02 1.34570866e+02] [ 6.67198804e-02 2.89167166e-03 9.97767556e-01 2.96206874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30710568099994 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:207.49, Y:134.59, Z:29.62 [[ 6.14244051e-01 -7.88179916e-01 -3.84274137e-02 2.07486683e+02] [ 7.86292311e-01 6.15435869e-01 -5.46176991e-02 1.34593323e+02] [ 6.66981822e-02 3.33341687e-03 9.97767629e-01 2.96196721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3371056809999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:207.51, Y:134.61, Z:29.62 [[ 6.16823682e-01 -7.86172296e-01 -3.82317376e-02 2.07505517e+02] [ 7.84272395e-01 6.17995759e-01 -5.47544685e-02 1.34614202e+02] [ 6.66734979e-02 3.78975643e-03 9.97767650e-01 2.96179684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36710568099994 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:207.52, Y:134.64, Z:29.62 [[ 6.16212087e-01 -7.86653795e-01 -3.81899399e-02 2.07524596e+02] [ 7.84753016e-01 6.17382745e-01 -5.47836628e-02 1.34635289e+02] [ 6.66735862e-02 3.78868463e-03 9.97767648e-01 2.96231795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3971056809999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:207.54, Y:134.66, Z:29.63 [[ 6.13215771e-01 -7.88993194e-01 -3.81596358e-02 2.07544343e+02] [ 7.87095580e-01 6.14391553e-01 -5.48048154e-02 1.34655007e+02] [ 6.66855843e-02 3.57189642e-03 9.97767646e-01 2.96287983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42710568099994 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:207.57, Y:134.68, Z:29.63 [[ 6.13475277e-01 -7.88802003e-01 -3.79405281e-02 2.07567312e+02] [ 7.86894626e-01 6.14635258e-01 -5.49576827e-02 1.34676866e+02] [ 6.66703165e-02 3.85998198e-03 9.97767593e-01 2.96303145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4571056809999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:207.59, Y:134.70, Z:29.63 [[ 6.08627023e-01 -7.92521767e-01 -3.85018909e-02 2.07588525e+02] [ 7.90645923e-01 6.09837340e-01 -5.45659427e-02 1.34696732e+02] [ 6.67245881e-02 2.76894422e-03 9.97767589e-01 2.96344341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48710568099995 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:207.61, Y:134.72, Z:29.63 [[ 6.07157041e-01 -7.93643477e-01 -3.86051585e-02 2.07608777e+02] [ 7.91774418e-01 6.08377910e-01 -5.44939410e-02 1.34719346e+02] [ 6.67352865e-02 2.51980303e-03 9.97767534e-01 2.96342492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5171056809999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:207.62, Y:134.74, Z:29.63 [[ 6.05175807e-01 -7.95143207e-01 -3.88525856e-02 2.07624588e+02] [ 7.93288183e-01 6.06418228e-01 -5.43211875e-02 1.34737435e+02] [ 6.67540393e-02 2.05257139e-03 9.97767350e-01 2.96345672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54710568099995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:207.64, Y:134.76, Z:29.64 [[ 6.06161863e-01 -7.94425712e-01 -3.81521186e-02 2.07642879e+02] [ 7.92538358e-01 6.07353990e-01 -5.48095112e-02 1.34760446e+02] [ 6.67139264e-02 2.98641802e-03 9.97767675e-01 2.96364514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5771056809999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:207.66, Y:134.78, Z:29.64 [[ 6.07819358e-01 -7.93136947e-01 -3.85928877e-02 2.07659059e+02] [ 7.91266325e-01 6.09037825e-01 -5.45025765e-02 1.34782233e+02] [ 6.67325355e-02 2.59046860e-03 9.97767537e-01 2.96360951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60710568099995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:207.68, Y:134.80, Z:29.64 [[ 6.08620086e-01 -7.92528528e-01 -3.84723651e-02 2.07675807e+02] [ 7.90651413e-01 6.09828393e-01 -5.45863974e-02 1.34803837e+02] [ 6.67228178e-02 2.80414807e-03 9.97767609e-01 2.96408304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.6371056809999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:207.70, Y:134.83, Z:29.64 [[ 6.08225525e-01 -7.92838668e-01 -3.83217651e-02 2.07696008e+02] [ 7.90955606e-01 6.09424420e-01 -5.46910081e-02 1.34825177e+02] [ 6.67153654e-02 2.95365223e-03 9.97767676e-01 2.96433160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66710568099995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:207.71, Y:134.84, Z:29.65 [[ 6.04590880e-01 -7.95615655e-01 -3.82831259e-02 2.07714773e+02] [ 7.93736412e-01 6.05795729e-01 -5.47178424e-02 1.34844839e+02] [ 6.67261262e-02 2.69519750e-03 9.97767688e-01 2.96469019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.6971056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:207.74, Y:134.87, Z:29.65 [[ 6.02734639e-01 -7.97025653e-01 -3.82238494e-02 2.07735313e+02] [ 7.95146631e-01 6.03939805e-01 -5.47589983e-02 1.34867276e+02] [ 6.67292305e-02 2.61157997e-03 9.97767703e-01 2.96508655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72710568099995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:207.75, Y:134.89, Z:29.65 [[ 5.95860114e-01 -8.02158109e-01 -3.86405599e-02 2.07753600e+02] [ 8.00308090e-01 5.97109723e-01 -5.44696232e-02 1.34885709e+02] [ 6.67659039e-02 1.53192320e-03 9.97767492e-01 2.96522014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.7571056809999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:207.77, Y:134.91, Z:29.65 [[ 5.93010784e-01 -8.04286904e-01 -3.82202342e-02 2.07772279e+02] [ 8.02422532e-01 5.94238435e-01 -5.47609602e-02 1.34909458e+02] [ 6.67554553e-02 1.80506279e-03 9.97767734e-01 2.96537620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.7871056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:207.79, Y:134.93, Z:29.66 [[ 5.88692622e-01 -8.07441460e-01 -3.84614861e-02 2.07791075e+02] [ 8.05594519e-01 5.89946570e-01 -5.45940930e-02 1.34927618e+02] [ 6.67717559e-02 1.15477735e-03 9.97767608e-01 2.96553240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81710568099993 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:207.81, Y:134.95, Z:29.65 [[ 5.83468101e-01 -8.11242489e-01 -3.80867473e-02 2.07807477e+02] [ 8.09386747e-01 5.84708677e-01 -5.48530512e-02 1.34951535e+02] [ 6.67687774e-02 1.17809710e-03 9.97767780e-01 2.96544873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.8471056809999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:207.83, Y:134.97, Z:29.66 [[ 5.78938355e-01 -8.14478667e-01 -3.81429108e-02 2.07825257e+02] [ 8.12632414e-01 5.80193034e-01 -5.48142641e-02 1.34974128e+02] [ 6.67752999e-02 7.37914180e-04 9.97767766e-01 2.96555675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87710568099993 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:207.84, Y:135.00, Z:29.66 [[ 5.75470892e-01 -8.16931081e-01 -3.81688508e-02 2.07839165e+02] [ 8.15091362e-01 5.76735148e-01 -5.47963564e-02 1.34996234e+02] [ 6.67781645e-02 4.22607510e-04 9.97767758e-01 2.96566717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.9071056809999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:207.85, Y:135.02, Z:29.65 [[ 5.66742143e-01 -8.23022750e-01 -3.79064158e-02 2.07853519e+02] [ 8.21184474e-01 5.68008408e-01 -5.49773439e-02 1.35016819e+02] [ 6.67787677e-02 2.98175569e-05 9.97767806e-01 2.96524784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93710568099993 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:207.88, Y:135.04, Z:29.66 [[ 5.62770526e-01 -8.25760706e-01 -3.75312127e-02 2.07875888e+02] [ 8.23911254e-01 5.64020594e-01 -5.52359984e-02 1.35040941e+02] [ 6.67800939e-02 1.62803343e-04 9.97767705e-01 2.96577630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.9671056809999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:207.89, Y:135.06, Z:29.65 [[ 5.58670004e-01 -8.28510199e-01 -3.81926203e-02 2.07891167e+02] [ 8.26697750e-01 5.59973133e-01 -5.47806567e-02 1.35063594e+02] [ 6.67731740e-02 -9.69443547e-04 9.97767710e-01 2.96517127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99710568099994 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:207.91, Y:135.09, Z:29.66 [[ 5.55492983e-01 -8.30665194e-01 -3.77210855e-02 2.07905803e+02] [ 8.28835651e-01 5.56771862e-01 -5.51049604e-02 1.35087990e+02] [ 6.67758117e-02 -6.54161620e-04 9.97767790e-01 2.96551792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0271056809999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:207.92, Y:135.11, Z:29.66 [[ 5.54097238e-01 -8.31587487e-01 -3.79275852e-02 2.07919944e+02] [ 8.29769759e-01 5.55392850e-01 -5.49629723e-02 1.35111895e+02] [ 6.67712297e-02 -1.01633209e-03 9.97767794e-01 2.96590945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05710568099994 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:207.94, Y:135.13, Z:29.66 [[ 5.58816311e-01 -8.28419690e-01 -3.80150931e-02 2.07936415e+02] [ 8.26598699e-01 5.60107370e-01 -5.49028789e-02 1.35133321e+02] [ 6.67751597e-02 -7.42602206e-04 9.97767772e-01 2.96562612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0871056809999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:207.95, Y:135.16, Z:29.66 [[ 5.59836571e-01 -8.27749674e-01 -3.75964207e-02 2.07951164e+02] [ 8.25907747e-01 5.61097544e-01 -5.51900260e-02 1.35158640e+02] [ 6.67787853e-02 -1.53780181e-04 9.97767794e-01 2.96616605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11710568099994 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:207.96, Y:135.18, Z:29.67 [[ 5.68426176e-01 -8.21852506e-01 -3.80807204e-02 2.07961595e+02] [ 8.20019627e-01 5.69700322e-01 -5.48575919e-02 1.35182493e+02] [ 6.67794481e-02 -4.44469434e-05 9.97767760e-01 2.96664953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1471056809999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:207.98, Y:135.21, Z:29.67 [[ 5.75994292e-01 -8.16580949e-01 -3.77641276e-02 2.07975486e+02] [ 8.14722122e-01 5.77230145e-01 -5.50747121e-02 1.35210505e+02] [ 6.67715536e-02 9.55449594e-04 9.97767832e-01 2.96721513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17710568099994 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:207.99, Y:135.23, Z:29.67 [[ 5.79024007e-01 -8.14410693e-01 -3.82938984e-02 2.07988622e+02] [ 8.12571079e-01 5.80288641e-01 -5.47113774e-02 1.35233698e+02] [ 6.67790450e-02 5.62686604e-04 9.97767630e-01 2.96742256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.2071056809999 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:208.00, Y:135.26, Z:29.67 [[ 5.85407874e-01 -8.09845338e-01 -3.80545617e-02 2.08000883e+02] [ 8.07985216e-01 5.86641827e-01 -5.48749220e-02 1.35257027e+02] [ 6.67645974e-02 1.37668818e-03 9.97767805e-01 2.96742850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23710568099995 meters Centerline goodness : 0.996744 Centerline is valid? [True, True] Translation: X:208.01, Y:135.29, Z:29.66 [[ 5.76879045e-01 -8.15965157e-01 -3.75690051e-02 2.08007910e+02] [ 8.14096432e-01 5.78099704e-01 -5.52062642e-02 1.35288190e+02] [ 6.67650188e-02 1.26254393e-03 9.97767928e-01 2.96559560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.2671056809999 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:208.03, Y:135.31, Z:29.68 [[ 5.84763354e-01 -8.10330820e-01 -3.76268835e-02 2.08027760e+02] [ 8.08452873e-01 5.85969775e-01 -5.51667880e-02 1.35308632e+02] [ 6.67515650e-02 1.83995387e-03 9.97767931e-01 2.96792709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29710568099995 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:208.05, Y:135.33, Z:29.68 [[ 5.86261884e-01 -8.09240919e-01 -3.77642491e-02 2.08045859e+02] [ 8.07366736e-01 5.87474172e-01 -5.50731420e-02 1.35333361e+02] [ 6.67529610e-02 1.79768546e-03 9.97767914e-01 2.96832654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.3271056809999 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:208.06, Y:135.36, Z:29.68 [[ 5.81097513e-01 -8.12932948e-01 -3.82845036e-02 2.08056013e+02] [ 8.11089656e-01 5.82356822e-01 -5.47183852e-02 1.35356293e+02] [ 6.67776200e-02 7.44552686e-04 9.97767606e-01 2.96830179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35710568099995 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:208.07, Y:135.38, Z:29.66 [[ 5.72011820e-01 -8.19380028e-01 -3.76675954e-02 2.08066593e+02] [ 8.17523062e-01 5.73250220e-01 -5.51382758e-02 1.35383154e+02] [ 6.67721593e-02 7.45617645e-04 9.97767970e-01 2.96642555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.3871056809999 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:208.09, Y:135.41, Z:29.68 [[ 5.82663168e-01 -8.11845447e-01 -3.75580002e-02 2.08089724e+02] [ 8.09967675e-01 5.83869771e-01 -5.52128276e-02 1.35407260e+02] [ 6.67532636e-02 1.74971489e-03 9.97767979e-01 2.96840290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41710568099995 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:208.10, Y:135.45, Z:29.68 [[ 5.74974231e-01 -8.17265168e-01 -3.85003817e-02 2.08096673e+02] [ 8.15441040e-01 5.76261786e-01 -5.45734730e-02 1.35451287e+02] [ 6.67872973e-02 -1.64506276e-05 9.97767236e-01 2.96760445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4471056809999 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:208.11, Y:135.46, Z:29.69 [[ 5.83637334e-01 -8.11017268e-01 -4.02300092e-02 2.08114344e+02] [ 8.09257765e-01 5.85020579e-01 -5.34115402e-02 1.35457522e+02] [ 6.68530646e-02 -1.38347837e-03 9.97761872e-01 2.96858178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4771056809999 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:208.13, Y:135.48, Z:29.68 [[ 5.87223280e-01 -8.08547383e-01 -3.76822166e-02 2.08128428e+02] [ 8.06669119e-01 5.88427785e-01 -5.51151009e-02 1.35480643e+02] [ 6.67364339e-02 1.96778986e-03 9.97768699e-01 2.96773585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.5071056809999 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:208.15, Y:135.50, Z:29.68 [[ 5.90787736e-01 -8.05967831e-01 -3.72250819e-02 2.08146054e+02] [ 8.04065081e-01 5.91952667e-01 -5.54200863e-02 1.35501867e+02] [ 6.67022932e-02 2.81011885e-03 9.97768965e-01 2.96783609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.5371056809999 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:208.16, Y:135.52, Z:29.68 [[ 5.90723358e-01 -8.06013557e-01 -3.72566820e-02 2.08162475e+02] [ 8.04112218e-01 5.91890607e-01 -5.53990163e-02 1.35524836e+02] [ 6.67042383e-02 2.76693974e-03 9.97768956e-01 2.96814017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.56710568099993 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:208.18, Y:135.55, Z:29.69 [[ 5.88515932e-01 -8.07631601e-01 -3.71509831e-02 2.08181985e+02] [ 8.05729044e-01 5.89681141e-01 -5.54694545e-02 1.35546004e+02] [ 6.67061184e-02 2.71103160e-03 9.97768983e-01 2.96854174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.5971056809999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:208.20, Y:135.57, Z:29.68 [[ 5.85539327e-01 -8.09786153e-01 -3.72838258e-02 2.08198227e+02] [ 8.07893485e-01 5.86720604e-01 -5.53809519e-02 1.35568742e+02] [ 6.67219168e-02 2.30636535e-03 9.97768944e-01 2.96843440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.62710568099993 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:208.21, Y:135.59, Z:29.69 [[ 5.81598773e-01 -8.12622650e-01 -3.72464252e-02 2.08213566e+02] [ 8.10734157e-01 5.82786685e-01 -5.54058333e-02 1.35587990e+02] [ 6.67307557e-02 2.02701547e-03 9.97768960e-01 2.96876002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.6571056809999 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:208.23, Y:135.61, Z:29.69 [[ 5.75953163e-01 -8.16669746e-01 -3.64483238e-02 2.08232152e+02] [ 8.14755790e-01 5.77099797e-01 -5.59359099e-02 1.35609790e+02] [ 6.67154856e-02 2.51998138e-03 9.97768858e-01 2.96885585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68710568099993 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:208.25, Y:135.64, Z:29.69 [[ 5.70782362e-01 -8.20292630e-01 -3.64348158e-02 2.08251301e+02] [ 8.18385387e-01 5.71940145e-01 -5.59448707e-02 1.35642495e+02] [ 6.67296989e-02 2.11462465e-03 9.97768849e-01 2.96887183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7171056809999 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:208.26, Y:135.65, Z:29.70 [[ 5.69675523e-01 -8.20963532e-01 -3.85833799e-02 2.08263961e+02] [ 8.19151467e-01 5.70980367e-01 -5.45187631e-02 1.35653445e+02] [ 6.67882687e-02 -5.47627393e-04 9.97767021e-01 2.96975221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74710568099994 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:208.28, Y:135.68, Z:29.70 [[ 5.71893777e-01 -8.19525404e-01 -3.62714716e-02 2.08283364e+02] [ 8.17610267e-01 5.73037844e-01 -5.60453509e-02 1.35677026e+02] [ 6.67155147e-02 2.39605988e-03 9.97769161e-01 2.97018692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7771056809999 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:208.30, Y:135.70, Z:29.70 [[ 5.73341945e-01 -8.18489319e-01 -3.68001262e-02 2.08302261e+02] [ 8.16594289e-01 5.74518662e-01 -5.56962689e-02 1.35701272e+02] [ 6.67291605e-02 1.88223423e-03 9.97769350e-01 2.97025939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80710568099994 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:208.31, Y:135.72, Z:29.71 [[ 5.74619284e-01 -8.17572061e-01 -3.72639801e-02 2.08314787e+02] [ 8.15694843e-01 5.75824517e-01 -5.53899658e-02 1.35723814e+02] [ 6.67428018e-02 1.43210605e-03 9.97769185e-01 2.97060432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8371056809999 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:208.33, Y:135.75, Z:29.71 [[ 5.77441994e-01 -8.15601775e-01 -3.68033911e-02 2.08329654e+02] [ 8.13701028e-01 5.78609409e-01 -5.56937059e-02 1.35748301e+02] [ 6.67186737e-02 2.21292739e-03 9.97769373e-01 2.97104565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86710568099994 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:208.35, Y:135.77, Z:29.72 [[ 5.79004735e-01 -8.14491604e-01 -3.68367175e-02 2.08348028e+02] [ 8.12590010e-01 5.80170778e-01 -5.56717476e-02 1.35772204e+02] [ 6.67157581e-02 2.30105679e-03 9.97769369e-01 2.97153676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8971056809999 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:208.36, Y:135.79, Z:29.72 [[ 5.78457533e-01 -8.14865293e-01 -3.71676847e-02 2.08364999e+02] [ 8.12978352e-01 5.79647385e-01 -5.54536650e-02 1.35792015e+02] [ 6.67314182e-02 1.86106721e-03 9.97769239e-01 2.97154970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92710568099994 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:208.38, Y:135.81, Z:29.71 [[ 5.78584353e-01 -8.14788123e-01 -3.68844272e-02 2.08383447e+02] [ 8.12889141e-01 5.79754632e-01 -5.56400184e-02 1.35812879e+02] [ 6.67187437e-02 2.20949373e-03 9.97769376e-01 2.97106260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9571056809999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:208.40, Y:135.84, Z:29.72 [[ 5.76929624e-01 -8.15970440e-01 -3.66667514e-02 2.08401896e+02] [ 8.14064771e-01 5.78088916e-01 -5.57831015e-02 1.35837342e+02] [ 6.67140044e-02 2.33381320e-03 9.97769410e-01 2.97170845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98710568099995 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:208.42, Y:135.86, Z:29.72 [[ 5.76471238e-01 -8.16266984e-01 -3.72709388e-02 2.08416725e+02] [ 8.14387296e-01 5.77672684e-01 -5.53859411e-02 1.35860557e+02] [ 6.67401184e-02 1.57542296e-03 9.97769149e-01 2.97190934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0171056809999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:208.43, Y:135.88, Z:29.72 [[ 5.73070418e-01 -8.18660815e-01 -3.72124395e-02 2.08432266e+02] [ 8.16783658e-01 5.74275717e-01 -5.54243338e-02 1.35882694e+02] [ 6.67439306e-02 1.36753371e-03 9.97769201e-01 2.97242326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04710568099995 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:208.45, Y:135.90, Z:29.72 [[ 5.69990334e-01 -8.20823061e-01 -3.68852536e-02 2.08452969e+02] [ 8.18936563e-01 5.71180560e-01 -5.56387735e-02 1.35900129e+02] [ 6.67377282e-02 1.50688029e-03 9.97769415e-01 2.97227433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0771056809999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:208.47, Y:135.92, Z:29.73 [[ 5.66258135e-01 -8.23416872e-01 -3.65565354e-02 2.08469926e+02] [ 8.21521899e-01 5.67434674e-01 -5.58539266e-02 1.35923753e+02] [ 6.67345112e-02 1.59574593e-03 9.97769492e-01 2.97331098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10710568099995 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:208.49, Y:135.94, Z:29.74 [[ 5.62489492e-01 -8.25984233e-01 -3.68187311e-02 2.08487828e+02] [ 8.24105807e-01 5.63692372e-01 -5.56823883e-02 1.35944326e+02] [ 6.67472126e-02 9.78228220e-04 9.97769439e-01 2.97357014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.1371056809999 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:208.50, Y:135.97, Z:29.74 [[ 5.58638402e-01 -8.28597805e-01 -3.67262067e-02 2.08501291e+02] [ 8.26721033e-01 5.59843794e-01 -5.57428037e-02 1.35966188e+02] [ 6.67493037e-02 7.77743194e-04 9.97769475e-01 2.97353064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16710568099995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:208.52, Y:135.99, Z:29.73 [[ 5.58116833e-01 -8.28980570e-01 -3.60113254e-02 2.08519213e+02] [ 8.27074228e-01 5.59275151e-01 -5.62096776e-02 1.35991692e+02] [ 6.67369700e-02 1.58752808e-03 9.97769340e-01 2.97341706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.1971056809999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:208.54, Y:136.02, Z:29.73 [[ 5.57134576e-01 -8.29608494e-01 -3.67533829e-02 2.08535037e+02] [ 8.27735106e-01 5.58345195e-01 -5.57246577e-02 1.36016167e+02] [ 6.67507241e-02 6.24068267e-04 9.97769488e-01 2.97338432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.2271056809999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:208.55, Y:136.04, Z:29.74 [[ 5.58281394e-01 -8.28827518e-01 -3.69706807e-02 2.08548476e+02] [ 8.26961794e-01 5.59504009e-01 -5.55828637e-02 1.36038252e+02] [ 6.67538510e-02 4.57538224e-04 9.97769369e-01 2.97422278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.2571056809999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:208.56, Y:136.06, Z:29.74 [[ 5.63243676e-01 -8.25487284e-01 -3.64322099e-02 2.08561859e+02] [ 8.23591471e-01 5.64418725e-01 -5.59338232e-02 1.36062987e+02] [ 6.67356812e-02 1.49911489e-03 9.97769563e-01 2.97360738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.2871056809999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:208.58, Y:136.09, Z:29.74 [[ 5.65686649e-01 -8.23814874e-01 -3.64371908e-02 2.08575221e+02] [ 8.21915796e-01 5.66856414e-01 -5.59305783e-02 1.36088367e+02] [ 6.67310976e-02 1.69087871e-03 9.97769563e-01 2.97412936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31710568099993 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:208.59, Y:136.11, Z:29.74 [[ 5.72983532e-01 -8.18754743e-01 -3.64766056e-02 2.08588377e+02] [ 8.16846971e-01 5.74139067e-01 -5.59049084e-02 1.36111143e+02] [ 6.67150532e-02 2.23678713e-03 9.97769562e-01 2.97400196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.3471056809999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:208.60, Y:136.14, Z:29.74 [[ 5.74248211e-01 -8.17879958e-01 -3.62128011e-02 2.08604307e+02] [ 8.15959615e-01 5.75382770e-01 -5.60765075e-02 1.36138462e+02] [ 6.67000734e-02 2.65365084e-03 9.97769542e-01 2.97397216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37710568099993 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:208.62, Y:136.16, Z:29.74 [[ 5.77358597e-01 -8.15663918e-01 -3.67344923e-02 2.08620197e+02] [ 8.13760507e-01 5.78521512e-01 -5.57377647e-02 1.36159652e+02] [ 6.67149775e-02 2.28759858e-03 9.97769452e-01 2.97423191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.4071056809999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:208.64, Y:136.18, Z:29.74 [[ 5.77872859e-01 -8.15315154e-01 -3.63889825e-02 2.08637886e+02] [ 8.13396940e-01 5.79010959e-01 -5.59618319e-02 1.36183403e+02] [ 6.66961492e-02 2.74013683e-03 9.97769570e-01 2.97373396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43710568099993 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:208.65, Y:136.21, Z:29.74 [[ 5.77015048e-01 -8.15919322e-01 -3.64594957e-02 2.08654659e+02] [ 8.14005168e-01 5.78159988e-01 -5.59161351e-02 1.36208439e+02] [ 6.67024766e-02 2.58623350e-03 9.97769558e-01 2.97389159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.4671056809999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:208.67, Y:136.23, Z:29.73 [[ 5.65512127e-01 -8.23918483e-01 -3.68017304e-02 2.08666638e+02] [ 8.22034832e-01 5.66706967e-01 -5.56951471e-02 1.36229889e+02] [ 6.67440581e-02 1.24397682e-03 9.97769354e-01 2.97265251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49710568099994 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:208.69, Y:136.25, Z:29.74 [[ 5.66797262e-01 -8.23062902e-01 -3.61707563e-02 2.08687088e+02] [ 8.21151329e-01 5.67946356e-01 -5.61019788e-02 1.36249929e+02] [ 6.67185067e-02 2.09678338e-03 9.97769635e-01 2.97438405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5271056809999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:208.71, Y:136.27, Z:29.75 [[ 5.59279384e-01 -8.28181245e-01 -3.63647538e-02 2.08707895e+02] [ 8.26288300e-01 5.60458955e-01 -5.59768326e-02 1.36271042e+02] [ 6.67399149e-02 1.25891787e-03 9.97769612e-01 2.97465217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55710568099994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:208.73, Y:136.29, Z:29.75 [[ 5.52076781e-01 -8.32995394e-01 -3.64678054e-02 2.08727460e+02] [ 8.31117118e-01 5.53279642e-01 -5.59104151e-02 1.36293458e+02] [ 6.67500126e-02 5.57824695e-04 9.97769575e-01 2.97543769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5871056809999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:208.74, Y:136.32, Z:29.76 [[ 5.47435750e-01 -8.36043622e-01 -3.66764390e-02 2.08741756e+02] [ 8.34181019e-01 5.48662973e-01 -5.57760616e-02 1.36315210e+02] [ 6.67542246e-02 -6.09792159e-05 9.97769447e-01 2.97575315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61710568099994 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:208.76, Y:136.34, Z:29.76 [[ 5.43269730e-01 -8.38768207e-01 -3.64128486e-02 2.08756623e+02] [ 8.36900349e-01 5.44488649e-01 -5.59456703e-02 1.36337395e+02] [ 6.67518323e-02 -8.03364655e-05 9.97769606e-01 2.97609792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6471056809999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:208.77, Y:136.36, Z:29.76 [[ 5.37694839e-01 -8.42353104e-01 -3.64075224e-02 2.08773151e+02] [ 8.40493140e-01 5.38925765e-01 -5.59490893e-02 1.36359683e+02] [ 6.67498409e-02 -5.16736218e-04 9.97769609e-01 2.97646687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67710568099994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:208.79, Y:136.38, Z:29.75 [[ 5.44286004e-01 -8.38109411e-01 -3.64055079e-02 2.08792930e+02] [ 8.36239762e-01 5.45502167e-01 -5.59503815e-02 1.36379152e+02] [ 6.67518248e-02 9.27627060e-06 9.97769610e-01 2.97549798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.7071056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:208.80, Y:136.41, Z:29.77 [[ 5.37333410e-01 -8.42600977e-01 -3.60055584e-02 2.08801425e+02] [ 8.40724229e-01 5.38538383e-01 -5.62065954e-02 1.36408066e+02] [ 6.67501073e-02 -6.90637368e-05 9.97769722e-01 2.97701969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73710568099995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:208.81, Y:136.43, Z:29.77 [[ 5.42470634e-01 -8.39290342e-01 -3.62950818e-02 2.08813919e+02] [ 8.37418601e-01 5.43683476e-01 -5.60211077e-02 1.36433036e+02] [ 6.67510108e-02 -4.37085794e-06 9.97769664e-01 2.97705271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.7671056809999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:208.83, Y:136.46, Z:29.77 [[ 5.44900560e-01 -8.37716668e-01 -3.62513987e-02 2.08826723e+02] [ 8.35839564e-01 5.46105050e-01 -5.60490695e-02 1.36457421e+02] [ 6.67503116e-02 2.40816108e-04 9.97769682e-01 2.97717990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79710568099995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:208.84, Y:136.48, Z:29.77 [[ 5.47497296e-01 -8.36023516e-01 -3.62131444e-02 2.08836428e+02] [ 8.34141071e-01 5.48693392e-01 -5.60734866e-02 1.36482907e+02] [ 6.67486664e-02 4.93211266e-04 9.97769699e-01 2.97715484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.8271056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:208.85, Y:136.51, Z:29.77 [[ 5.50262628e-01 -8.34221167e-01 -3.58620211e-02 2.08853555e+02] [ 8.32320154e-01 5.51428842e-01 -5.62973701e-02 1.36508305e+02] [ 6.67398105e-02 1.12965591e-03 9.97769774e-01 2.97710390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85710568099995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:208.87, Y:136.53, Z:29.77 [[ 5.54286263e-01 -8.31534826e-01 -3.62846000e-02 2.08866372e+02] [ 8.29645675e-01 5.55471805e-01 -5.60279135e-02 1.36531409e+02] [ 6.67442336e-02 9.52141322e-04 9.97769663e-01 2.97702471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.8871056809999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:208.88, Y:136.56, Z:29.77 [[ 5.55430524e-01 -8.30778642e-01 -3.61078975e-02 2.08881403e+02] [ 8.28880554e-01 5.56601543e-01 -5.61404507e-02 1.36557518e+02] [ 6.67379988e-02 1.25298587e-03 9.97769748e-01 2.97712761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91710568099995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:208.89, Y:136.58, Z:29.77 [[ 5.57739786e-01 -8.29218209e-01 -3.63798492e-02 2.08891396e+02] [ 8.27328073e-01 5.58923889e-01 -5.59673656e-02 1.36580932e+02] [ 6.67427254e-02 1.11715592e-03 9.97769593e-01 2.97700085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9471056809999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:208.91, Y:136.61, Z:29.78 [[ 5.56344062e-01 -8.30173764e-01 -3.59556067e-02 2.08905320e+02] [ 8.28268166e-01 5.57502693e-01 -5.62369349e-02 1.36605998e+02] [ 6.67317755e-02 1.50620041e-03 9.97769814e-01 2.97800539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9771056809999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:208.91, Y:136.62, Z:29.77 [[ 5.47158584e-01 -8.36252846e-01 -3.60369454e-02 2.08909677e+02] [ 8.34363524e-01 5.48343618e-01 -5.61852945e-02 1.36622293e+02] [ 6.67457415e-02 6.74353452e-04 9.97769789e-01 2.97718172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.0071056809999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:208.94, Y:136.65, Z:29.79 [[ 5.55302996e-01 -8.30978943e-01 -3.33553504e-02 2.08936899e+02] [ 8.28972955e-01 5.56285753e-01 -5.78792013e-02 1.36648910e+02] [ 6.66515037e-02 4.48981050e-03 9.97766214e-01 2.97882472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.0371056809999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:208.95, Y:136.67, Z:29.79 [[ 5.57002212e-01 -8.29738258e-01 -3.58184244e-02 2.08952149e+02] [ 8.27826504e-01 5.58150043e-01 -5.63188173e-02 1.36672868e+02] [ 6.67219325e-02 1.71826480e-03 9.97770130e-01 2.97911792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.06710568099993 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:208.97, Y:136.70, Z:29.79 [[ 5.61667525e-01 -8.26572882e-01 -3.61505591e-02 2.08965643e+02] [ 8.24668104e-01 5.62827127e-01 -5.61083267e-02 1.36695524e+02] [ 6.67241366e-02 1.70201199e-03 9.97770010e-01 2.97944366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.0971056809999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:208.98, Y:136.72, Z:29.80 [[ 5.62703055e-01 -8.25874394e-01 -3.60105120e-02 2.08978903e+02] [ 8.23962510e-01 5.63850759e-01 -5.61970098e-02 1.36720901e+02] [ 6.67162260e-02 1.95091726e-03 9.97770083e-01 2.97958720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.12710568099993 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:208.99, Y:136.75, Z:29.80 [[ 5.67690661e-01 -8.22456831e-01 -3.59454326e-02 2.08993995e+02] [ 8.20535446e-01 5.68822335e-01 -5.62381783e-02 1.36745287e+02] [ 6.67000388e-02 2.43138701e-03 9.97770110e-01 2.97967182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.1571056809999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:209.01, Y:136.77, Z:29.80 [[ 5.69233525e-01 -8.21379137e-01 -3.61871196e-02 2.09009449e+02] [ 8.19465243e-01 5.70378080e-01 -5.60853036e-02 1.36770034e+02] [ 6.67076380e-02 2.27154829e-03 9.97769979e-01 2.97969547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18710568099993 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:209.03, Y:136.79, Z:29.80 [[ 5.70579799e-01 -8.20443658e-01 -3.62063140e-02 2.09026159e+02] [ 8.18528654e-01 5.71722522e-01 -5.60731694e-02 1.36792394e+02] [ 6.67048414e-02 2.35831223e-03 9.97769965e-01 2.97951245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2171056809999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:209.04, Y:136.82, Z:29.80 [[ 5.69453981e-01 -8.21220980e-01 -3.63079204e-02 2.09042030e+02] [ 8.19311603e-01 5.70606250e-01 -5.60089753e-02 1.36816312e+02] [ 6.67132719e-02 2.14703348e-03 9.97769878e-01 2.97984415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:209.06, Y:136.84, Z:29.80 [[ 5.70011797e-01 -8.20828254e-01 -3.64352787e-02 2.09058911e+02] [ 8.18923183e-01 5.71171434e-01 -5.59286492e-02 1.36837293e+02] [ 6.67186058e-02 2.04229546e-03 9.97769741e-01 2.97995908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2771056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:209.07, Y:136.86, Z:29.80 [[ 5.69226660e-01 -8.21389836e-01 -3.60519942e-02 2.09074722e+02] [ 8.19470618e-01 5.70362019e-01 -5.61700355e-02 1.36861223e+02] [ 6.67001844e-02 2.42993175e-03 9.97770104e-01 2.97969873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30710568099994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:209.09, Y:136.88, Z:29.80 [[ 5.66755951e-01 -8.23099108e-01 -3.59937504e-02 2.09091809e+02] [ 8.21180998e-01 5.67893103e-01 -5.62066891e-02 1.36883737e+02] [ 6.67042783e-02 2.29809163e-03 9.97770143e-01 2.97954430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3371056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:209.11, Y:136.91, Z:29.80 [[ 5.60924733e-01 -8.27086590e-01 -3.59334965e-02 2.09111532e+02] [ 8.25174153e-01 5.62071323e-01 -5.62445183e-02 1.36906381e+02] [ 6.67162748e-02 1.89754885e-03 9.97770183e-01 2.97983556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36710568099994 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:209.13, Y:136.93, Z:29.80 [[ 5.56999474e-01 -8.29721863e-01 -3.62383398e-02 2.09127215e+02] [ 8.27827222e-01 5.58175722e-01 -5.60531318e-02 1.36926012e+02] [ 6.67358704e-02 1.22248070e-03 9.97769928e-01 2.97993921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.15, Y:136.95, Z:29.80 [[ 5.46438190e-01 -8.36735867e-01 -3.57546195e-02 2.09150720e+02] [ 8.34836412e-01 5.47605875e-01 -5.63557553e-02 1.36948116e+02] [ 6.67343215e-02 9.45678656e-04 9.97770332e-01 2.97998977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42710568099994 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:209.16, Y:136.97, Z:29.80 [[ 5.39046344e-01 -8.41490184e-01 -3.63773129e-02 2.09164403e+02] [ 8.39627102e-01 5.40272273e-01 -5.59660694e-02 1.36970245e+02] [ 6.67485516e-02 -3.75072710e-04 9.97769758e-01 2.98029295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:136.99, Z:29.80 [[ 5.29557989e-01 -8.47503825e-01 -3.61331291e-02 2.09180966e+02] [ 8.45644177e-01 5.30788626e-01 -5.61191653e-02 1.36992182e+02] [ 6.67402612e-02 -8.37417951e-04 9.97770032e-01 2.97977839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:209.19, Y:137.02, Z:29.81 [[ 5.23595675e-01 -8.51199694e-01 -3.61476097e-02 2.09194431e+02] [ 8.49349352e-01 5.24840291e-01 -5.61101352e-02 1.37016976e+02] [ 6.67326518e-02 -1.32292473e-03 9.97770015e-01 2.98066455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5171056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:209.21, Y:137.04, Z:29.81 [[ 5.19401690e-01 -8.53779529e-01 -3.58106261e-02 2.09209828e+02] [ 8.51920851e-01 5.20633211e-01 -5.63198282e-02 1.37040997e+02] [ 6.67289176e-02 -1.25520514e-03 9.97770352e-01 2.98141797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:209.22, Y:137.07, Z:29.82 [[ 5.16123273e-01 -8.55748335e-01 -3.62153918e-02 2.09218795e+02] [ 8.53911906e-01 5.17388481e-01 -5.60679692e-02 1.37066701e+02] [ 6.67174979e-02 -1.98677049e-03 9.97769928e-01 2.98181123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5771056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:209.23, Y:137.09, Z:29.82 [[ 5.19829393e-01 -8.53524972e-01 -3.56724622e-02 2.09229939e+02] [ 8.51659826e-01 5.21050861e-01 -5.64051545e-02 1.37091804e+02] [ 6.67303750e-02 -1.05974569e-03 9.97770482e-01 2.98240097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60710568099995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:209.24, Y:137.12, Z:29.82 [[ 5.19565901e-01 -8.53672202e-01 -3.59867481e-02 2.09239950e+02] [ 8.51820856e-01 5.20808670e-01 -5.62099536e-02 1.37116103e+02] [ 6.67270853e-02 -1.44948739e-03 9.97770212e-01 2.98224427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.6371056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:209.25, Y:137.14, Z:29.83 [[ 5.20604722e-01 -8.53058109e-01 -3.55328887e-02 2.09251780e+02] [ 8.51186030e-01 5.21815259e-01 -5.64905182e-02 1.37143339e+02] [ 6.67312981e-02 -8.35867904e-04 9.97770633e-01 2.98268271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66710568099995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:209.26, Y:137.17, Z:29.81 [[ 5.16134552e-01 -8.55762175e-01 -3.57242762e-02 2.09260399e+02] [ 8.53904592e-01 5.17367483e-01 -5.63722888e-02 1.37166405e+02] [ 6.67238514e-02 -1.40943755e-03 9.97770485e-01 2.98133516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.6971056809999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:209.27, Y:137.19, Z:29.82 [[ 5.19078196e-01 -8.54008603e-01 -3.50304561e-02 2.09268147e+02] [ 8.52117693e-01 5.20258756e-01 -5.68002152e-02 1.37186149e+02] [ 6.67327740e-02 -3.66318192e-04 9.97770817e-01 2.98196087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.7271056809999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:209.28, Y:137.21, Z:29.82 [[ 5.21773320e-01 -8.52414798e-01 -3.37877745e-02 2.09281886e+02] [ 8.50469772e-01 5.22864532e-01 -5.75660344e-02 1.37213126e+02] [ 6.67365685e-02 1.30094004e-03 9.97769782e-01 2.98152041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.7571056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:209.30, Y:137.24, Z:29.82 [[ 5.23823102e-01 -8.51147249e-01 -3.40252668e-02 2.09298032e+02] [ 8.49209055e-01 5.24925671e-01 -5.74196875e-02 1.37237603e+02] [ 6.67333450e-02 1.18319416e-03 9.97770144e-01 2.98177402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.7871056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:209.31, Y:137.26, Z:29.82 [[ 5.24218731e-01 -8.50884684e-01 -3.44960527e-02 2.09310458e+02] [ 8.48964935e-01 5.25352089e-01 -5.71289994e-02 1.37260610e+02] [ 6.67327639e-02 6.62152425e-04 9.97770665e-01 2.98160162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81710568099993 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:209.33, Y:137.29, Z:29.82 [[ 5.28987513e-01 -8.47950940e-01 -3.39324878e-02 2.09327928e+02] [ 8.46002430e-01 5.30071997e-01 -5.74766712e-02 1.37288485e+02] [ 6.67240589e-02 1.69747426e-03 9.97770023e-01 2.98246818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.8471056809999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:209.34, Y:137.31, Z:29.83 [[ 5.31339145e-01 -8.46433894e-01 -3.50482000e-02 2.09338999e+02] [ 8.44526983e-01 5.32493506e-01 -5.67876934e-02 1.37313475e+02] [ 6.67299673e-02 5.74373860e-04 9.97770906e-01 2.98316181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87710568099993 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:209.35, Y:137.34, Z:29.83 [[ 5.31136712e-01 -8.46563730e-01 -3.49806310e-02 2.09353294e+02] [ 8.44654352e-01 5.32286994e-01 -5.68293989e-02 1.37336955e+02] [ 6.67294428e-02 6.37637771e-04 9.97770903e-01 2.98334366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.9071056809999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:209.36, Y:137.36, Z:29.84 [[ 5.32742884e-01 -8.45554514e-01 -3.49654547e-02 2.09364733e+02] [ 8.43642343e-01 5.33888520e-01 -5.68387608e-02 1.37360847e+02] [ 6.67279256e-02 7.82107275e-04 9.97770902e-01 2.98370905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93710568099993 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:209.37, Y:137.39, Z:29.84 [[ 5.35809162e-01 -8.43622309e-01 -3.47842184e-02 2.09374347e+02] [ 8.41698742e-01 5.36935629e-01 -5.69504820e-02 1.37387248e+02] [ 6.67215833e-02 1.23675716e-03 9.97770866e-01 2.98383125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.9671056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:209.39, Y:137.41, Z:29.85 [[ 5.38465964e-01 -8.41928663e-01 -3.47927149e-02 2.09385822e+02] [ 8.40001892e-01 5.39586936e-01 -5.69452423e-02 1.37409014e+02] [ 6.67175261e-02 1.43712844e-03 9.97770869e-01 2.98458887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99710568099994 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:209.40, Y:137.44, Z:29.85 [[ 5.44892575e-01 -8.37810985e-01 -3.41296863e-02 2.09400250e+02] [ 8.35850126e-01 5.45953604e-01 -5.73517960e-02 1.37437021e+02] [ 6.66831899e-02 2.72326519e-03 9.97770483e-01 2.98547417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0271056809999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:209.41, Y:137.46, Z:29.82 [[ 5.50953740e-01 -8.33795492e-01 -3.51433290e-02 2.09411288e+02] [ 8.31865826e-01 5.52069736e-01 -5.67296600e-02 1.37458745e+02] [ 6.67025032e-02 2.02088392e-03 9.97770862e-01 2.98189246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05710568099994 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:209.42, Y:137.49, Z:29.85 [[ 5.53745975e-01 -8.31992144e-01 -3.39774551e-02 2.09418827e+02] [ 8.30014246e-01 5.54775667e-01 -5.74483366e-02 1.37485587e+02] [ 6.66464300e-02 3.61001343e-03 9.97770124e-01 2.98459169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0871056809999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:209.43, Y:137.51, Z:29.85 [[ 5.62529809e-01 -8.26068012e-01 -3.42323350e-02 2.09432434e+02] [ 8.24088757e-01 5.63556120e-01 -5.72906660e-02 1.37513001e+02] [ 6.66178285e-02 4.01722500e-03 9.97770478e-01 2.98483146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11710568099994 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:209.45, Y:137.54, Z:29.85 [[ 5.67048497e-01 -8.22954051e-01 -3.46789982e-02 2.09450003e+02] [ 8.20985732e-01 5.68094831e-01 -5.70148331e-02 1.37537067e+02] [ 6.66215474e-02 3.85921268e-03 9.97770853e-01 2.98529100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1471056809999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:209.47, Y:137.56, Z:29.85 [[ 5.68414938e-01 -8.21991127e-01 -3.51432202e-02 2.09465017e+02] [ 8.20038465e-01 5.69489990e-01 -5.67280162e-02 1.37560775e+02] [ 6.66436380e-02 3.42625944e-03 9.97770959e-01 2.98544822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17710568099994 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:209.48, Y:137.59, Z:29.85 [[ 5.65847105e-01 -8.23766494e-01 -3.50116670e-02 2.09479993e+02] [ 8.21812219e-01 5.66919210e-01 -5.68092067e-02 1.37585733e+02] [ 6.66463076e-02 3.37230943e-03 9.97770964e-01 2.98545568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.2071056809999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:209.50, Y:137.61, Z:29.84 [[ 5.56176899e-01 -8.30321236e-01 -3.51269509e-02 2.09495716e+02] [ 8.28384076e-01 5.57279646e-01 -5.67381576e-02 1.37612274e+02] [ 6.66864319e-02 2.45784571e-03 9.97770955e-01 2.98429206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23710568099995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:209.52, Y:137.63, Z:29.86 [[ 5.53738380e-01 -8.31941625e-01 -3.53120178e-02 2.09515639e+02] [ 8.30014905e-01 5.54859395e-01 -5.66242771e-02 1.37632863e+02] [ 6.67012980e-02 2.04553435e-03 9.97770892e-01 2.98567720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.2671056809999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:209.54, Y:137.65, Z:29.86 [[ 5.48692178e-01 -8.35274847e-01 -3.53952564e-02 2.09535460e+02] [ 8.33358230e-01 5.49830470e-01 -5.65730950e-02 1.37650998e+02] [ 6.67154737e-02 1.54428650e-03 9.97770846e-01 2.98559762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29710568099995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:209.55, Y:137.67, Z:29.86 [[ 5.45751422e-01 -8.37212315e-01 -3.50845319e-02 2.09554806e+02] [ 8.35287436e-01 5.46875432e-01 -5.67640739e-02 1.37674081e+02] [ 6.67104503e-02 1.67340531e-03 9.97770974e-01 2.98577846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.3271056809999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:209.57, Y:137.70, Z:29.86 [[ 5.41199405e-01 -8.40152644e-01 -3.53091914e-02 2.09570930e+02] [ 8.38242835e-01 5.42348999e-01 -5.66260798e-02 1.37698917e+02] [ 6.67244553e-02 1.04832403e-03 9.97770890e-01 2.98588655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35710568099995 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:209.59, Y:137.72, Z:29.87 [[ 5.35243633e-01 -8.43948320e-01 -3.55736725e-02 2.09587109e+02] [ 8.42057450e-01 5.36424423e-01 -5.64631625e-02 1.37719516e+02] [ 6.67345779e-02 2.66472255e-04 9.97770728e-01 2.98659817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.3871056809999 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:209.60, Y:137.74, Z:29.86 [[ 5.29094945e-01 -8.47831859e-01 -3.52090727e-02 2.09598610e+02] [ 8.45934652e-01 5.30265119e-01 -5.66874631e-02 1.37742923e+02] [ 6.67315803e-02 2.08475535e-04 9.97770942e-01 2.98551799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41710568099995 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:209.62, Y:137.77, Z:29.87 [[ 5.27624257e-01 -8.48759173e-01 -3.49357973e-02 2.09615648e+02] [ 8.46852861e-01 5.28779440e-01 -5.68553861e-02 1.37768109e+02] [ 6.67298618e-02 4.12800979e-04 9.97770993e-01 2.98685951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4471056809999 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:209.63, Y:137.79, Z:29.87 [[ 5.28352510e-01 -8.48287473e-01 -3.53834435e-02 2.09632985e+02] [ 8.46398407e-01 5.29535986e-01 -5.65807043e-02 1.37791715e+02] [ 6.67335093e-02 -5.39330331e-05 9.97770833e-01 2.98707818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4771056809999 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:209.65, Y:137.82, Z:29.87 [[ 5.28786968e-01 -8.48007112e-01 -3.56129150e-02 2.09646086e+02] [ 8.46126870e-01 5.29984768e-01 -5.64399207e-02 1.37816073e+02] [ 6.67357566e-02 -2.88349794e-04 9.97770643e-01 2.98717685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.5071056809999 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:209.65, Y:137.84, Z:29.87 [[ 5.24290252e-01 -8.50792589e-01 -3.56609443e-02 2.09654073e+02] [ 8.48920712e-01 5.25501174e-01 -5.64104708e-02 1.37841161e+02] [ 6.67334786e-02 -6.97854294e-04 9.97770593e-01 2.98720808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.5371056809999 meters Centerline goodness : 0.997588 Centerline is valid? [True, True] Translation: X:209.66, Y:137.86, Z:29.87 [[ 5.20414269e-01 -8.53199857e-01 -3.49140757e-02 2.09663963e+02] [ 8.51302609e-01 5.21584114e-01 -5.68672089e-02 1.37863366e+02] [ 6.67297217e-02 -1.27936748e-04 9.97771080e-01 2.98727539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.56710568099993 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:209.68, Y:137.89, Z:29.88 [[ 5.16188543e-01 -8.55790895e-01 -3.42247266e-02 2.09681237e+02] [ 8.53871414e-01 5.17321779e-01 -5.72868768e-02 1.37893981e+02] [ 6.67307840e-02 3.47313823e-04 9.97770957e-01 2.98801903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.5971056809999 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:209.69, Y:137.92, Z:29.88 [[ 5.08702653e-01 -8.60210914e-01 -3.54794886e-02 2.09691714e+02] [ 8.58353451e-01 5.09935579e-01 -5.65248557e-02 1.37917560e+02] [ 6.67155514e-02 -1.69959744e-03 9.97770588e-01 2.98813799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.62710568099993 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:209.71, Y:137.94, Z:29.88 [[ 5.09806757e-01 -8.59590588e-01 -3.46567787e-02 2.09708100e+02] [ 8.57697351e-01 5.10982968e-01 -5.70233419e-02 1.37939716e+02] [ 6.67257516e-02 -6.54142306e-04 9.97771139e-01 2.98802790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.6571056809999 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:209.72, Y:137.97, Z:29.89 [[ 5.01541907e-01 -8.64442762e-01 -3.45604761e-02 2.09719651e+02] [ 8.62556880e-01 5.02729862e-01 -5.70816495e-02 1.37971393e+02] [ 6.67184021e-02 -1.18153708e-03 9.97771146e-01 2.98881001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68710568099993 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:209.73, Y:138.00, Z:29.90 [[ 4.98483883e-01 -8.66160211e-01 -3.57813910e-02 2.09730867e+02] [ 8.64330485e-01 4.99758357e-01 -5.63417918e-02 1.37996835e+02] [ 6.66830674e-02 -2.84147191e-03 9.97770161e-01 2.98972347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7171056809999 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:209.74, Y:138.02, Z:29.90 [[ 4.97447981e-01 -8.66764210e-01 -3.55712153e-02 2.09740575e+02] [ 8.64926943e-01 4.98710981e-01 -5.64689299e-02 1.38021871e+02] [ 6.66850031e-02 -2.67614735e-03 9.97770489e-01 2.98995089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74710568099994 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:209.74, Y:138.05, Z:29.90 [[ 4.98584201e-01 -8.66122314e-01 -3.52977499e-02 2.09744404e+02] [ 8.64271761e-01 4.99826952e-01 -5.66333877e-02 1.38048932e+02] [ 6.66942076e-02 -2.27033610e-03 9.97770880e-01 2.98998475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7771056809999 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:209.76, Y:138.08, Z:29.91 [[ 5.01758588e-01 -8.64323289e-01 -3.44030723e-02 2.09755473e+02] [ 8.62431050e-01 5.02935664e-01 -5.71699299e-02 1.38075386e+02] [ 6.67158339e-02 -9.84774468e-04 9.97771531e-01 2.99052884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80710568099994 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:209.76, Y:138.10, Z:29.91 [[ 5.14666390e-01 -8.56692522e-01 -3.45894380e-02 2.09763359e+02] [ 8.54790309e-01 5.15827376e-01 -5.70582727e-02 1.38100683e+02] [ 6.67235747e-02 -2.00741156e-04 9.97771479e-01 2.99051048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8371056809999 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:209.77, Y:138.13, Z:29.90 [[ 5.21319103e-01 -8.52683679e-01 -3.40137752e-02 2.09773119e+02] [ 8.50749877e-01 5.22426615e-01 -5.74027777e-02 1.38127376e+02] [ 6.67161131e-02 9.87949509e-04 9.97771509e-01 2.99036825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86710568099994 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:209.78, Y:138.16, Z:29.90 [[ 5.34179096e-01 -8.44689867e-01 -3.39370228e-02 2.09777644e+02] [ 8.42736602e-01 5.35251968e-01 -5.74486798e-02 1.38156220e+02] [ 6.66911760e-02 2.08791260e-03 9.97771481e-01 2.98985219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8971056809999 meters Centerline goodness : 0.997421 Centerline is valid? [True, True] Translation: X:209.78, Y:138.18, Z:29.89 [[ 5.35421175e-01 -8.43906242e-01 -3.38588222e-02 2.09784688e+02] [ 8.41948457e-01 5.36485852e-01 -5.74954386e-02 1.38184032e+02] [ 6.66855386e-02 2.27689221e-03 9.97771444e-01 2.98917968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92710568099994 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:209.80, Y:138.21, Z:29.90 [[ 5.45324933e-01 -8.37554684e-01 -3.35092247e-02 2.09798714e+02] [ 8.35571709e-01 5.46342495e-01 -5.77043971e-02 1.38210011e+02] [ 6.66381015e-02 3.46828632e-03 9.97771183e-01 2.98977191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9571056809999 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:209.82, Y:138.24, Z:29.90 [[ 5.49368292e-01 -8.34900299e-01 -3.37041489e-02 2.09817891e+02] [ 8.32919459e-01 5.50389668e-01 -5.75880880e-02 1.38235864e+02] [ 6.66307272e-02 3.56422806e-03 9.97771338e-01 2.99011833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98710568099995 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:209.83, Y:138.26, Z:29.91 [[ 5.45082331e-01 -8.37657453e-01 -3.48603506e-02 2.09827479e+02] [ 8.35724977e-01 5.46192693e-01 -5.68973174e-02 1.38257582e+02] [ 6.67009307e-02 1.88005670e-03 9.97771242e-01 2.99056725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0171056809999 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:209.84, Y:138.28, Z:29.90 [[ 5.40468277e-01 -8.40680587e-01 -3.39144798e-02 2.09840265e+02] [ 8.38718556e-01 5.41525005e-01 -5.74617502e-02 1.38282933e+02] [ 6.66725167e-02 2.61154965e-03 9.97771495e-01 2.99009762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04710568099995 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:209.86, Y:138.31, Z:29.90 [[ 5.42472073e-01 -8.39380579e-01 -3.41217438e-02 2.09857295e+02] [ 8.37423727e-01 5.43538262e-01 -5.73381116e-02 1.38306592e+02] [ 6.66749706e-02 2.52996638e-03 9.97771541e-01 2.99020532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0771056809999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:209.88, Y:138.33, Z:29.89 [[ 5.43674237e-01 -8.38600608e-01 -3.41664087e-02 2.09876181e+02] [ 8.36643890e-01 5.44740669e-01 -5.73114784e-02 1.38325501e+02] [ 6.66732730e-02 2.57365719e-03 9.97771542e-01 2.98937169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10710568099995 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:209.89, Y:138.35, Z:29.90 [[ 5.36782877e-01 -8.43053692e-01 -3.35352939e-02 2.09891067e+02] [ 8.41082225e-01 5.37822329e-01 -5.76873766e-02 1.38351063e+02] [ 6.66695856e-02 2.75965637e-03 9.97771292e-01 2.98994291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.1371056809999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:209.92, Y:138.38, Z:29.90 [[ 5.35077410e-01 -8.44124919e-01 -3.38420937e-02 2.09918903e+02] [ 8.42166964e-01 5.36141748e-01 -5.75050534e-02 1.38377761e+02] [ 6.66856078e-02 2.26896170e-03 9.97771458e-01 2.99026600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16710568099995 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:209.93, Y:138.39, Z:29.90 [[ 5.33150770e-01 -8.45249114e-01 -3.61135920e-02 2.09930701e+02] [ 8.43382083e-01 5.34372215e-01 -5.61515671e-02 1.38393169e+02] [ 6.67601625e-02 -5.20305170e-04 9.97768916e-01 2.98994059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.1971056809999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:209.95, Y:138.42, Z:29.90 [[ 5.20548529e-01 -8.53152665e-01 -3.40552386e-02 2.09947829e+02] [ 8.51221777e-01 5.21660580e-01 -5.73735667e-02 1.38423536e+02] [ 6.67136868e-02 8.77165050e-04 9.97771775e-01 2.98965531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.2271056809999 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:209.96, Y:138.45, Z:29.90 [[ 5.13724805e-01 -8.57226998e-01 -3.53369313e-02 2.09957258e+02] [ 8.55356303e-01 5.14937442e-01 -5.66129385e-02 1.38448200e+02] [ 6.67264483e-02 -1.14219607e-03 9.97770653e-01 2.99045952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.2571056809999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:209.97, Y:138.47, Z:29.91 [[ 5.13667037e-01 -8.57279811e-01 -3.48927099e-02 2.09974179e+02] [ 8.55391253e-01 5.14850393e-01 -5.68759803e-02 1.38469716e+02] [ 6.67231550e-02 -6.31602557e-04 9.97771327e-01 2.99129343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.2871056809999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:209.99, Y:138.49, Z:29.92 [[ 5.13503206e-01 -8.57377734e-01 -3.48981240e-02 2.09989468e+02] [ 8.55489618e-01 5.14687282e-01 -5.68727894e-02 1.38490349e+02] [ 6.67230839e-02 -6.50623065e-04 9.97771320e-01 2.99185060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31710568099993 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:210.00, Y:138.52, Z:29.91 [[ 5.07815163e-01 -8.60788495e-01 -3.41603207e-02 2.10000838e+02] [ 8.58878818e-01 5.08962779e-01 -5.73067701e-02 1.38517412e+02] [ 6.67153401e-02 -2.38329109e-04 9.97772021e-01 2.99137018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.3471056809999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:210.01, Y:138.54, Z:29.92 [[ 5.03783478e-01 -8.63145238e-01 -3.43875680e-02 2.10010966e+02] [ 8.61249995e-01 5.04955083e-01 -5.71735020e-02 1.38542100e+02] [ 6.67132132e-02 -8.13227091e-04 9.97771861e-01 2.99236129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37710568099993 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:210.02, Y:138.57, Z:29.92 [[ 5.04657416e-01 -8.62648831e-01 -3.40277290e-02 2.10024693e+02] [ 8.60738152e-01 5.05803208e-01 -5.73842125e-02 1.38565221e+02] [ 6.67137583e-02 -3.29596181e-04 9.97772101e-01 2.99219537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.4071056809999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:210.03, Y:138.59, Z:29.93 [[ 4.91905895e-01 -8.69980558e-01 -3.40942654e-02 2.10031346e+02] [ 8.68089635e-01 4.93084071e-01 -5.73453056e-02 1.38588479e+02] [ 6.67006402e-02 -1.38838453e-03 9.97772067e-01 2.99262844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43710568099993 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:210.05, Y:138.62, Z:29.93 [[ 4.89979662e-01 -8.71112601e-01 -3.29054308e-02 2.10050185e+02] [ 8.69176979e-01 4.91083302e-01 -5.80393720e-02 1.38617384e+02] [ 6.67181359e-02 -1.62531135e-04 9.97771850e-01 2.99325373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.4671056809999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:210.06, Y:138.65, Z:29.93 [[ 4.75255712e-01 -8.79167881e-01 -3.45809832e-02 2.10057571e+02] [ 8.77320084e-01 4.76501279e-01 -5.70613869e-02 1.38654620e+02] [ 6.66444214e-02 -3.21984100e-03 9.97771594e-01 2.99257201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49710568099994 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:210.07, Y:138.67, Z:29.94 [[ 4.68775704e-01 -8.82534885e-01 -3.71687435e-02 2.10065039e+02] [ 8.80810899e-01 4.70199171e-01 -5.55418823e-02 1.38669802e+02] [ 6.64943611e-02 -6.70194938e-03 9.97764293e-01 2.99374183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5271056809999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:210.08, Y:138.69, Z:29.94 [[ 4.72858250e-01 -8.80445299e-01 -3.49449615e-02 2.10078259e+02] [ 8.78616566e-01 4.74132322e-01 -5.68460282e-02 1.38690849e+02] [ 6.66183541e-02 -3.82310864e-03 9.97771206e-01 2.99414109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55710568099994 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:210.09, Y:138.72, Z:29.94 [[ 4.66765435e-01 -8.83719749e-01 -3.41969819e-02 2.10087506e+02] [ 8.81867896e-01 4.68003964e-01 -5.72826591e-02 1.38721792e+02] [ 6.66261402e-02 -3.41965525e-03 9.97772150e-01 2.99422385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5871056809999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:210.10, Y:138.75, Z:29.94 [[ 4.63926682e-01 -8.85189456e-01 -3.48089296e-02 2.10095832e+02] [ 8.83367788e-01 4.65210485e-01 -5.69258790e-02 1.38746600e+02] [ 6.65836669e-02 -4.33965303e-03 9.97771408e-01 2.99409036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61710568099994 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:210.10, Y:138.79, Z:29.93 [[ 4.55589562e-01 -8.89535575e-01 -3.41264084e-02 2.10104500e+02] [ 8.87696548e-01 4.56846802e-01 -5.73222313e-02 1.38786086e+02] [ 6.65807045e-02 -4.17848468e-03 9.97772294e-01 2.99263267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6471056809999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:210.12, Y:138.79, Z:29.94 [[ 4.65424734e-01 -8.84350810e-01 -3.61034886e-02 2.10116206e+02] [ 8.82583504e-01 4.66787883e-01 -5.61732316e-02 1.38794976e+02] [ 6.65295138e-02 -5.71993211e-03 9.97768062e-01 2.99364129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67710568099994 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:210.12, Y:138.83, Z:29.94 [[ 4.56726686e-01 -8.88980302e-01 -3.33879854e-02 2.10121081e+02] [ 8.87108884e-01 4.57933935e-01 -5.77437407e-02 1.38832997e+02] [ 6.66225396e-02 -3.24567115e-03 9.97772972e-01 2.99384284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.7071056809999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:210.13, Y:138.85, Z:29.94 [[ 4.58268801e-01 -8.88139081e-01 -3.46219476e-02 2.10125806e+02] [ 8.86317733e-01 4.59552248e-01 -5.70316287e-02 1.38853456e+02] [ 6.65626121e-02 -4.55022997e-03 9.97771875e-01 2.99380194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73710568099995 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:210.13, Y:138.89, Z:29.94 [[ 4.53972285e-01 -8.90410923e-01 -3.28260873e-02 2.10130832e+02] [ 8.88520131e-01 4.55148886e-01 -5.80643539e-02 1.38887363e+02] [ 6.66418920e-02 -2.80703198e-03 9.97773010e-01 2.99406150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.7671056809999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:210.13, Y:138.91, Z:29.94 [[ 4.54123118e-01 -8.90290444e-01 -3.39870276e-02 2.10132144e+02] [ 8.88447980e-01 4.55374419e-01 -5.73962143e-02 1.38914130e+02] [ 6.65761241e-02 -4.13075816e-03 9.97772798e-01 2.99423060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79710568099995 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:210.15, Y:138.94, Z:29.94 [[ 4.53777539e-01 -8.90495252e-01 -3.32287634e-02 2.10146017e+02] [ 8.88621435e-01 4.54980675e-01 -5.78319232e-02 1.38939003e+02] [ 6.66174982e-02 -3.28496360e-03 9.97773180e-01 2.99440941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.8271056809999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:210.15, Y:138.97, Z:29.95 [[ 4.46386194e-01 -8.94224079e-01 -3.32063564e-02 2.10154150e+02] [ 8.92359349e-01 4.47603367e-01 -5.78447861e-02 1.38973636e+02] [ 6.65894775e-02 -3.81088866e-03 9.97773180e-01 2.99457602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:210.16, Y:139.00, Z:29.95 [[ 4.48613480e-01 -8.93051509e-01 -3.47123448e-02 2.10155057e+02] [ 8.91248136e-01 4.49922332e-01 -5.69794225e-02 1.38997496e+02] [ 6.65034184e-02 -5.37557555e-03 9.97771717e-01 2.99483234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.8871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.16, Y:139.03, Z:29.95 [[ 4.47976834e-01 -8.93430570e-01 -3.31447237e-02 2.10162552e+02] [ 8.91561287e-01 4.49186700e-01 -5.78772813e-02 1.39025547e+02] [ 6.65975015e-02 -3.62287131e-03 9.97773345e-01 2.99496037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:139.07, Z:29.95 [[ 4.43039223e-01 -8.95890135e-01 -3.31226984e-02 2.10164517e+02] [ 8.94026631e-01 4.44257970e-01 -5.78898835e-02 1.39066695e+02] [ 6.65779983e-02 -3.96508546e-03 9.97773345e-01 2.99469080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:139.09, Z:29.95 [[ 4.51646749e-01 -8.91515990e-01 -3.48490249e-02 2.10163581e+02] [ 8.89713682e-01 4.52958179e-01 -5.69074048e-02 1.39088640e+02] [ 6.65190122e-02 -5.30360992e-03 9.97771062e-01 2.99517296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:139.12, Z:29.95 [[ 4.54734405e-01 -8.90023094e-01 -3.27950166e-02 2.10171517e+02] [ 8.88130702e-01 4.55907336e-01 -5.80719970e-02 1.39117777e+02] [ 6.66369071e-02 -2.71892613e-03 9.97773587e-01 2.99542537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.0071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.18, Y:139.15, Z:29.95 [[ 4.56514229e-01 -8.89108606e-01 -3.28731688e-02 2.10179939e+02] [ 8.87217028e-01 4.57688464e-01 -5.80277192e-02 1.39148170e+02] [ 6.66386147e-02 -2.67515558e-03 9.97773591e-01 2.99541383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.0371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:139.18, Z:29.96 [[ 4.66231234e-01 -8.84026604e-01 -3.35469873e-02 2.10183162e+02] [ 8.82149254e-01 4.67428692e-01 -5.76464275e-02 1.39175540e+02] [ 6.66417999e-02 -2.71688477e-03 9.97773265e-01 2.99597351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:139.21, Z:29.96 [[ 4.71021594e-01 -8.81505905e-01 -3.29544774e-02 2.10186576e+02] [ 8.79598579e-01 4.72170021e-01 -5.79811309e-02 1.39206642e+02] [ 6.66708256e-02 -1.67634682e-03 9.97773617e-01 2.99619978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.0971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:139.23, Z:29.96 [[ 4.73134851e-01 -8.80362879e-01 -3.32357188e-02 2.10194136e+02] [ 8.78463864e-01 4.74297185e-01 -5.78223103e-02 1.39232779e+02] [ 6.66682235e-02 -1.83862779e-03 9.97773505e-01 2.99635639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:139.26, Z:29.97 [[ 4.72433035e-01 -8.80755316e-01 -3.28192250e-02 2.10198757e+02] [ 8.78840882e-01 4.73569501e-01 -5.80571466e-02 1.39263474e+02] [ 6.66763245e-02 -1.41476263e-03 9.97773655e-01 2.99669773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:139.29, Z:29.97 [[ 4.72205821e-01 -8.80878659e-01 -3.27788080e-02 2.10210080e+02] [ 8.78962943e-01 4.73340118e-01 -5.80799250e-02 1.39290095e+02] [ 6.66768913e-02 -1.38567890e-03 9.97773658e-01 2.99669207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:139.32, Z:29.97 [[ 4.71498502e-01 -8.81256774e-01 -3.27972773e-02 2.10220684e+02] [ 8.79342689e-01 4.72635553e-01 -5.80695211e-02 1.39316888e+02] [ 6.66753181e-02 -1.46035381e-03 9.97773656e-01 2.99703776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:139.34, Z:29.97 [[ 4.75563071e-01 -8.79069158e-01 -3.28204237e-02 2.10228734e+02] [ 8.77150739e-01 4.76692799e-01 -5.80564874e-02 1.39344778e+02] [ 6.66809271e-02 -1.17893750e-03 9.97773654e-01 2.99696019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:139.37, Z:29.97 [[ 4.80676803e-01 -8.76285359e-01 -3.27686001e-02 2.10238752e+02] [ 8.74358406e-01 4.81791901e-01 -5.80856470e-02 1.39371566e+02] [ 6.66872482e-02 -7.31077830e-04 9.97773660e-01 2.99687591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:139.40, Z:29.97 [[ 4.94435269e-01 -8.68599714e-01 -3.26848684e-02 2.10245401e+02] [ 8.66652308e-01 4.95514241e-01 -5.81327280e-02 1.39400794e+02] [ 6.66898887e-02 4.16454373e-04 9.97773664e-01 2.99658869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.26, Y:139.43, Z:29.97 [[ 5.01117496e-01 -8.64765378e-01 -3.25898168e-02 2.10255788e+02] [ 8.62806243e-01 5.02175030e-01 -5.81861426e-02 1.39426381e+02] [ 6.66831538e-02 1.03939672e-03 9.97773660e-01 2.99666411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:139.45, Z:29.97 [[ 5.07470223e-01 -8.61056808e-01 -3.24830017e-02 2.10268357e+02] [ 8.59086111e-01 5.08506089e-01 -5.82461300e-02 1.39452664e+02] [ 6.66710309e-02 1.65248100e-03 9.97773643e-01 2.99689214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:139.48, Z:29.97 [[ 5.14554089e-01 -8.56843767e-01 -3.24476251e-02 2.10279826e+02] [ 8.54863349e-01 5.15571265e-01 -5.82659858e-02 1.39476340e+02] [ 6.66539099e-02 2.24271578e-03 9.97773635e-01 2.99742046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:139.50, Z:29.97 [[ 5.16188937e-01 -8.55862423e-01 -3.23804655e-02 2.10294711e+02] [ 8.53877718e-01 5.17197763e-01 -5.83036542e-02 1.39501072e+02] [ 6.66470111e-02 2.44674324e-03 9.97773616e-01 2.99744062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:139.52, Z:29.98 [[ 5.16255688e-01 -8.55815243e-01 -3.25627818e-02 2.10310127e+02] [ 8.53836845e-01 5.17276750e-01 -5.82014288e-02 1.39523244e+02] [ 6.66536399e-02 2.24351578e-03 9.97773651e-01 2.99756160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:139.55, Z:29.98 [[ 5.13596660e-01 -8.57423499e-01 -3.23019210e-02 2.10329278e+02] [ 8.55439100e-01 5.14606152e-01 -5.83477009e-02 1.39545669e+02] [ 6.66514572e-02 2.33485804e-03 9.97773587e-01 2.99785286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:139.57, Z:29.98 [[ 5.12268178e-01 -8.58217371e-01 -3.23149857e-02 2.10345435e+02] [ 8.56234997e-01 5.13281629e-01 -5.83403770e-02 1.39566615e+02] [ 6.66554135e-02 2.21669698e-03 9.97773593e-01 2.99790533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5171056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.37, Y:139.59, Z:29.99 [[ 5.10017259e-01 -8.59567973e-01 -3.20202299e-02 2.10366162e+02] [ 8.57577901e-01 5.11015890e-01 -5.85055939e-02 1.39588529e+02] [ 6.66523810e-02 2.37902104e-03 9.97773421e-01 2.99889317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.38, Y:139.61, Z:29.98 [[ 5.06631844e-01 -8.61552646e-01 -3.24224265e-02 2.10379740e+02] [ 8.59580783e-01 5.07665533e-01 -5.82802135e-02 1.39614587e+02] [ 6.66712205e-02 1.65691728e-03 9.97773623e-01 2.99795758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.40, Y:139.63, Z:29.99 [[ 5.16131467e-01 -8.55888834e-01 -3.25977409e-02 2.10400892e+02] [ 8.53911802e-01 5.17155190e-01 -5.81819912e-02 1.39630800e+02] [ 6.66554075e-02 2.19396085e-03 9.97773643e-01 2.99884092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:139.66, Z:29.99 [[ 5.17525783e-01 -8.55065293e-01 -3.20999770e-02 2.10418145e+02] [ 8.53069302e-01 5.18512391e-01 -5.84608158e-02 1.39655198e+02] [ 6.66320504e-02 2.87147455e-03 9.97773484e-01 2.99921094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.6371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:139.68, Z:29.99 [[ 5.22406198e-01 -8.52075841e-01 -3.25349917e-02 2.10439204e+02] [ 8.50089162e-01 5.23411090e-01 -5.82172423e-02 1.39675516e+02] [ 6.66346811e-02 2.75540439e-03 9.97773635e-01 2.99911869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:139.70, Z:29.99 [[ 5.25763808e-01 -8.50015056e-01 -3.23546548e-02 2.10457722e+02] [ 8.48018265e-01 5.26748526e-01 -5.83182008e-02 1.39695430e+02] [ 6.66141154e-02 3.22426110e-03 9.97773603e-01 2.99922390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.6971056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:210.48, Y:139.72, Z:29.99 [[ 5.27757450e-01 -8.48789255e-01 -3.20760661e-02 2.10475833e+02] [ 8.46780761e-01 5.28718375e-01 -5.84741228e-02 1.39718749e+02] [ 6.65914127e-02 3.69875833e-03 9.97773473e-01 2.99936432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.7271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:139.74, Z:30.00 [[ 5.27314906e-01 -8.49060621e-01 -3.21722344e-02 2.10492034e+02] [ 8.47055864e-01 5.28283475e-01 -5.84203134e-02 1.39741160e+02] [ 6.65984473e-02 3.55422224e-03 9.97773529e-01 2.99970719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.7571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.51, Y:139.76, Z:29.99 [[ 5.28235215e-01 -8.48491519e-01 -3.20889306e-02 2.10512958e+02] [ 8.46482918e-01 5.29195892e-01 -5.84669019e-02 1.39761356e+02] [ 6.65900006e-02 3.72154486e-03 9.97773482e-01 2.99939376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.7871056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:210.53, Y:139.78, Z:29.99 [[ 5.26580213e-01 -8.49521703e-01 -3.20336697e-02 2.10533512e+02] [ 8.47513123e-01 5.27541011e-01 -5.84977627e-02 1.39780513e+02] [ 6.65941935e-02 3.65480883e-03 9.97773449e-01 2.99911414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:139.80, Z:29.99 [[ 5.25525157e-01 -8.50181357e-01 -3.18586011e-02 2.10550780e+02] [ 8.48168109e-01 5.26476432e-01 -5.85954355e-02 1.39802477e+02] [ 6.65895495e-02 3.77192598e-03 9.97773323e-01 2.99913278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.8471056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:210.57, Y:139.82, Z:29.99 [[ 5.21191827e-01 -8.52845125e-01 -3.18476432e-02 2.10570889e+02] [ 8.50836376e-01 5.22152584e-01 -5.86015444e-02 1.39822561e+02] [ 6.66073707e-02 3.44551264e-03 9.97773314e-01 2.99901374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87710568099993 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:210.59, Y:139.85, Z:29.99 [[ 5.18150343e-01 -8.54706221e-01 -3.15832086e-02 2.10588560e+02] [ 8.52691972e-01 5.19100141e-01 -5.87490052e-02 1.39846695e+02] [ 6.66079882e-02 3.51006879e-03 9.97773048e-01 2.99910727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:139.87, Z:29.99 [[ 5.13603658e-01 -8.57433297e-01 -3.19284035e-02 2.10610656e+02] [ 8.55435967e-01 5.14587712e-01 -5.85558966e-02 1.39865881e+02] [ 6.66377396e-02 2.76181799e-03 9.97773413e-01 2.99941639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.63, Y:139.89, Z:30.00 [[ 5.07483162e-01 -8.61072260e-01 -3.18653977e-02 2.10625340e+02] [ 8.59079787e-01 5.08477137e-01 -5.85911366e-02 1.39889242e+02] [ 6.66540285e-02 2.35909623e-03 9.97773359e-01 3.00000140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:139.91, Z:30.00 [[ 4.97297664e-01 -8.66996055e-01 -3.18256711e-02 2.10646088e+02] [ 8.65014020e-01 4.98312372e-01 -5.86133573e-02 1.39910761e+02] [ 6.66766752e-02 1.61863401e-03 9.97773321e-01 3.00049794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.66, Y:139.93, Z:30.01 [[ 4.91283455e-01 -8.70411657e-01 -3.20017787e-02 2.10664010e+02] [ 8.68443077e-01 4.92323708e-01 -5.85148530e-02 1.39933785e+02] [ 6.66872445e-02 9.55655929e-04 9.97773470e-01 3.00114202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:139.96, Z:30.02 [[ 4.78958991e-01 -8.77246203e-01 -3.22084372e-02 2.10682131e+02] [ 8.75300221e-01 4.80040675e-01 -5.83992540e-02 1.39956546e+02] [ 6.66918838e-02 -2.21204395e-04 9.97773593e-01 3.00152873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:139.98, Z:30.02 [[ 4.73892694e-01 -8.79993642e-01 -3.22009955e-02 2.10697980e+02] [ 8.78053648e-01 4.74985087e-01 -5.84034154e-02 1.39979807e+02] [ 6.66896269e-02 -5.97249684e-04 9.97773590e-01 3.00241926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:140.00, Z:30.03 [[ 4.73679774e-01 -8.80105478e-01 -3.22772418e-02 2.10711634e+02] [ 8.78168640e-01 4.74777693e-01 -5.83607916e-02 1.40002924e+02] [ 6.66881667e-02 -7.00534965e-04 9.97773620e-01 3.00273568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.73, Y:140.03, Z:30.03 [[ 4.72378477e-01 -8.80812965e-01 -3.20483249e-02 2.10726128e+02] [ 8.78869069e-01 4.73464077e-01 -5.84886918e-02 1.40028993e+02] [ 6.66913285e-02 -5.37482280e-04 9.97773510e-01 3.00300797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.74, Y:140.05, Z:30.03 [[ 4.72136456e-01 -8.80932905e-01 -3.23169160e-02 2.10738879e+02] [ 8.78999505e-01 4.73240396e-01 -5.83386531e-02 1.40053863e+02] [ 6.66861093e-02 -8.62748184e-04 9.97773631e-01 3.00311830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.75, Y:140.08, Z:30.03 [[ 4.74881506e-01 -8.79463921e-01 -3.21055568e-02 2.10752042e+02] [ 8.77519104e-01 4.75965378e-01 -5.84566713e-02 1.40080741e+02] [ 6.66916668e-02 -4.13247356e-04 9.97773547e-01 3.00289857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.2071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.76, Y:140.10, Z:30.04 [[ 4.74893270e-01 -8.79442871e-01 -3.25056585e-02 2.10760749e+02] [ 8.77513189e-01 4.76003656e-01 -5.82333439e-02 1.40104318e+02] [ 6.66857114e-02 -8.69520910e-04 9.97773652e-01 3.00391637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.77, Y:140.13, Z:30.04 [[ 4.72962666e-01 -8.80504409e-01 -3.19108489e-02 2.10771966e+02] [ 8.78554674e-01 4.74037838e-01 -5.85646093e-02 1.40130962e+02] [ 6.66933466e-02 -3.36551726e-04 9.97773463e-01 3.00414592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.2671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:140.15, Z:30.04 [[ 4.69939420e-01 -8.82117799e-01 -3.20176510e-02 2.10784315e+02] [ 8.80175792e-01 4.71028360e-01 -5.85052091e-02 1.40154741e+02] [ 6.66897079e-02 -6.87257317e-04 9.97773527e-01 3.00403537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.80, Y:140.18, Z:30.04 [[ 4.59729311e-01 -8.87481666e-01 -3.20195739e-02 2.10796084e+02] [ 8.85552427e-01 4.60840715e-01 -5.85041404e-02 1.40182312e+02] [ 6.66772753e-02 -1.45894324e-03 9.97773528e-01 3.00362914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.3271056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.80, Y:140.21, Z:30.03 [[ 4.53169023e-01 -8.90835878e-01 -3.23925129e-02 2.10803619e+02] [ 8.88929512e-01 4.54319042e-01 -5.82969249e-02 1.40208243e+02] [ 6.66495277e-02 -2.37630020e-03 9.97773618e-01 3.00322922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:140.23, Z:30.03 [[ 4.51523865e-01 -8.91683450e-01 -3.20441062e-02 2.10814881e+02] [ 8.89765526e-01 4.52654622e-01 -5.84901900e-02 1.40232889e+02] [ 6.66596472e-02 -2.10202434e-03 9.97773558e-01 3.00313983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:140.26, Z:30.04 [[ 4.47433346e-01 -8.93741195e-01 -3.20948245e-02 2.10825511e+02] [ 8.91830472e-01 4.48576191e-01 -5.84620384e-02 1.40260788e+02] [ 6.66469062e-02 -2.46527705e-03 9.97773578e-01 3.00375189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.84, Y:140.29, Z:30.04 [[ 4.47185168e-01 -8.93855594e-01 -3.23667033e-02 2.10836733e+02] [ 8.91955963e-01 4.48346264e-01 -5.83111306e-02 1.40285829e+02] [ 6.66332207e-02 -2.79380134e-03 9.97773626e-01 3.00380969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:210.85, Y:140.31, Z:30.04 [[ 4.47638804e-01 -8.93635079e-01 -3.21845846e-02 2.10846451e+02] [ 8.91727641e-01 4.48787067e-01 -5.84121750e-02 1.40313517e+02] [ 6.66431939e-02 -2.55232757e-03 9.97773607e-01 3.00376537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.86, Y:140.34, Z:30.04 [[ 4.47581849e-01 -8.93659138e-01 -3.23084100e-02 2.10857072e+02] [ 8.91756674e-01 4.48738306e-01 -5.83435224e-02 1.40339048e+02] [ 6.66372431e-02 -2.69773859e-03 9.97773622e-01 3.00441999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:140.37, Z:30.05 [[ 4.48886597e-01 -8.93003734e-01 -3.23288457e-02 2.10864911e+02] [ 8.91100391e-01 4.50041607e-01 -5.83321966e-02 1.40365212e+02] [ 6.66401950e-02 -2.62370579e-03 9.97773622e-01 3.00473460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.5371056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.88, Y:140.39, Z:30.05 [[ 4.48579937e-01 -8.93168681e-01 -3.20272839e-02 2.10875546e+02] [ 8.91253862e-01 4.49715915e-01 -5.84991387e-02 1.40391616e+02] [ 6.66527778e-02 -2.30290049e-03 9.97773573e-01 3.00475006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.56710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.88, Y:140.42, Z:30.05 [[ 4.50178417e-01 -8.92363046e-01 -3.20559911e-02 2.10884457e+02] [ 8.90447319e-01 4.51312843e-01 -5.84832490e-02 1.40419703e+02] [ 6.66555707e-02 -2.21627482e-03 9.97773583e-01 3.00451576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.5971056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.89, Y:140.45, Z:30.05 [[ 4.52628609e-01 -8.91119647e-01 -3.21421506e-02 2.10890251e+02] [ 8.89204167e-01 4.53763411e-01 -5.84355820e-02 1.40447644e+02] [ 6.66580271e-02 -2.13131801e-03 9.97773604e-01 3.00508299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.62710568099993 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:210.90, Y:140.47, Z:30.06 [[ 4.55037531e-01 -8.89890070e-01 -3.21948415e-02 2.10899794e+02] [ 8.87973575e-01 4.56170602e-01 -5.84064411e-02 1.40474864e+02] [ 6.66616522e-02 -2.01104575e-03 9.97773612e-01 3.00567610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.6571056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:210.91, Y:140.50, Z:30.06 [[ 4.64643276e-01 -8.84909378e-01 -3.22803186e-02 2.10905895e+02] [ 8.82983995e-01 4.65761172e-01 -5.83591952e-02 1.40502195e+02] [ 6.66775181e-02 -1.38679705e-03 9.97773614e-01 3.00628899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:210.92, Y:140.53, Z:30.06 [[ 4.64343643e-01 -8.85067543e-01 -3.22556251e-02 2.10918958e+02] [ 8.83141594e-01 4.65460564e-01 -5.83728359e-02 1.40526327e+02] [ 6.66776239e-02 -1.38122886e-03 9.97773615e-01 3.00647228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:140.55, Z:30.07 [[ 4.69231544e-01 -8.82486648e-01 -3.22346795e-02 2.10930920e+02] [ 8.80553759e-01 4.70336411e-01 -5.83843968e-02 1.40554990e+02] [ 6.66845941e-02 -9.88567594e-04 9.97773615e-01 3.00699083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:210.94, Y:140.58, Z:30.07 [[ 4.80958729e-01 -8.76134097e-01 -3.26763588e-02 2.10937560e+02] [ 8.74203056e-01 4.82067091e-01 -5.81406667e-02 1.40581116e+02] [ 6.66912178e-02 -6.02511530e-04 9.97773481e-01 3.00654835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7771056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:210.95, Y:140.61, Z:30.07 [[ 4.85243910e-01 -8.73782958e-01 -3.22752265e-02 2.10947419e+02] [ 8.71831745e-01 4.86316059e-01 -5.83617902e-02 1.40607140e+02] [ 6.66914987e-02 1.81136165e-04 9.97773627e-01 3.00662528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:210.96, Y:140.63, Z:30.06 [[ 4.90823237e-01 -8.70663443e-01 -3.22136579e-02 2.10958124e+02] [ 8.68703190e-01 4.91878755e-01 -5.83957032e-02 1.40634305e+02] [ 6.66882180e-02 6.77860669e-04 9.97773633e-01 3.00648977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8371056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:210.97, Y:140.66, Z:30.07 [[ 4.91449958e-01 -8.70305895e-01 -3.23200994e-02 2.10974096e+02] [ 8.68348718e-01 4.92511202e-01 -5.83371204e-02 1.40659964e+02] [ 6.66891507e-02 6.04658443e-04 9.97773617e-01 3.00673989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86710568099994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:210.99, Y:140.68, Z:30.07 [[ 4.92016690e-01 -8.69974389e-01 -3.26211460e-02 2.10988329e+02] [ 8.68027427e-01 4.93096815e-01 -5.81714516e-02 1.40681463e+02] [ 6.66930563e-02 3.05275676e-04 9.97773493e-01 3.00664779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8971056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:211.00, Y:140.71, Z:30.07 [[ 4.88289263e-01 -8.72089880e-01 -3.21377786e-02 2.11003378e+02] [ 8.70129982e-01 4.89345395e-01 -5.84371358e-02 1.40706885e+02] [ 6.66889087e-02 5.70181291e-04 9.97773654e-01 3.00701767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92710568099994 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:211.01, Y:140.73, Z:30.05 [[ 4.79190821e-01 -8.77111442e-01 -3.24295530e-02 2.11007456e+02] [ 8.75173415e-01 4.80286697e-01 -5.82767697e-02 1.40728359e+02] [ 6.66907044e-02 -4.55789570e-04 9.97773593e-01 3.00535949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9571056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:211.03, Y:140.75, Z:30.07 [[ 4.83009689e-01 -8.75081580e-01 -3.05592546e-02 2.11032094e+02] [ 8.73072437e-01 4.83971470e-01 -5.92970083e-02 1.40754539e+02] [ 6.66795271e-02 1.96058665e-03 9.97772518e-01 3.00719852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98710568099995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:211.05, Y:140.78, Z:30.08 [[ 4.81473544e-01 -8.75860408e-01 -3.24310463e-02 2.11047616e+02] [ 8.73919725e-01 4.82564468e-01 -5.82739065e-02 1.40779199e+02] [ 6.66898781e-02 -2.84786802e-04 9.97773711e-01 3.00755803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0171056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:211.07, Y:140.80, Z:30.08 [[ 4.78926440e-01 -8.77256800e-01 -3.24032833e-02 2.11065484e+02] [ 8.75318275e-01 4.80021153e-01 -5.82890198e-02 1.40802133e+02] [ 6.66887003e-02 -4.47033311e-04 9.97773731e-01 3.00849907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:211.08, Y:140.83, Z:30.09 [[ 4.77717039e-01 -8.77912479e-01 -3.24978435e-02 2.11079378e+02] [ 8.75978950e-01 4.78820698e-01 -5.82375990e-02 1.40825281e+02] [ 6.66881551e-02 -6.46333527e-04 9.97773658e-01 3.00871990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0771056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:211.09, Y:140.85, Z:30.10 [[ 4.75669106e-01 -8.79031578e-01 -3.22860174e-02 2.11092525e+02] [ 8.77092814e-01 4.76763223e-01 -5.83525915e-02 1.40850540e+02] [ 6.66865563e-02 -5.61308792e-04 9.97773816e-01 3.00950870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10710568099995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:211.11, Y:140.87, Z:30.09 [[ 4.75198203e-01 -8.79279457e-01 -3.24700577e-02 2.11105399e+02] [ 8.77348067e-01 4.76305561e-01 -5.82527410e-02 1.40874296e+02] [ 6.66861075e-02 -8.05944477e-04 9.97773679e-01 3.00934435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.1371056809999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:211.12, Y:140.90, Z:30.08 [[ 4.79727685e-01 -8.76823667e-01 -3.22739241e-02 2.11123140e+02] [ 8.74879438e-01 4.80812022e-01 -5.83589694e-02 1.40895252e+02] [ 6.66882162e-02 -2.39379322e-04 9.97773834e-01 3.00808162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16710568099995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:211.13, Y:140.92, Z:30.09 [[ 4.72949603e-01 -8.80518527e-01 -3.17142787e-02 2.11134249e+02] [ 8.78562300e-01 4.74011718e-01 -5.86615467e-02 1.40922425e+02] [ 6.66855184e-02 -1.19014363e-04 9.97774036e-01 3.00948534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.1971056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:211.15, Y:140.95, Z:30.10 [[ 4.72452193e-01 -8.80767698e-01 -3.22054135e-02 2.11146758e+02] [ 8.78829995e-01 4.73548048e-01 -5.83959452e-02 1.40947204e+02] [ 6.66840728e-02 -7.13791009e-04 9.97773885e-01 3.00967005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.2271056809999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:211.16, Y:140.97, Z:30.10 [[ 4.72743413e-01 -8.80614185e-01 -3.21297632e-02 2.11158415e+02] [ 8.78673348e-01 4.73833609e-01 -5.84367850e-02 1.40973216e+02] [ 6.66844235e-02 -6.05961429e-04 9.97773933e-01 3.00981142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.2571056809999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:211.17, Y:141.00, Z:30.10 [[ 4.74031127e-01 -8.79920755e-01 -3.21551917e-02 2.11170577e+02] [ 8.77979253e-01 4.75120171e-01 -5.84230654e-02 1.40995865e+02] [ 6.66852480e-02 -5.37239713e-04 9.97773917e-01 3.00973471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.2871056809999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:211.18, Y:141.02, Z:30.10 [[ 4.73009986e-01 -8.80487437e-01 -3.16769072e-02 2.11183821e+02] [ 8.78529846e-01 4.74069476e-01 -5.86808407e-02 1.41019056e+02] [ 6.66847978e-02 -7.24848043e-05 9.97774089e-01 3.01026089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31710568099993 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:211.20, Y:141.05, Z:30.11 [[ 4.69249929e-01 -8.82502153e-01 -3.15349779e-02 2.11198347e+02] [ 8.80543964e-01 4.70308316e-01 -5.87572603e-02 1.41046361e+02] [ 6.66845710e-02 -1.96094229e-04 9.97774087e-01 3.01077579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.3471056809999 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:211.21, Y:141.07, Z:30.08 [[ 4.65308306e-01 -8.84567627e-01 -3.20670057e-02 2.11212617e+02] [ 8.82633675e-01 4.66410668e-01 -5.84712241e-02 1.41069730e+02] [ 6.66781455e-02 -1.09627287e-03 9.97773934e-01 3.00808093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37710568099993 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:211.23, Y:141.09, Z:30.11 [[ 4.63884743e-01 -8.85334097e-01 -3.15353962e-02 2.11226185e+02] [ 8.83382416e-01 4.64955024e-01 -5.87565595e-02 1.41093927e+02] [ 6.66817264e-02 -6.01542968e-04 9.97774115e-01 3.01124364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.4071056809999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:211.24, Y:141.12, Z:30.11 [[ 4.64648464e-01 -8.84913687e-01 -3.20869476e-02 2.11239150e+02] [ 8.82981292e-01 4.65753585e-01 -5.84605524e-02 1.41119918e+02] [ 6.66771539e-02 -1.16856856e-03 9.97773918e-01 3.01141396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43710568099993 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:211.25, Y:141.14, Z:30.12 [[ 4.68593956e-01 -8.82828701e-01 -3.21432510e-02 2.11251113e+02] [ 8.80893457e-01 4.69694167e-01 -5.84303585e-02 1.41143268e+02] [ 6.66814950e-02 -9.34666663e-04 9.97773875e-01 3.01182412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.4671056809999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:211.26, Y:141.17, Z:30.12 [[ 4.70124866e-01 -8.82018611e-01 -3.20278036e-02 2.11263722e+02] [ 8.80077247e-01 4.71214066e-01 -5.84922428e-02 1.41168872e+02] [ 6.66831983e-02 -6.88283411e-04 9.97773961e-01 3.01229854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49710568099994 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:211.27, Y:141.19, Z:30.13 [[ 4.74612810e-01 -8.79610112e-01 -3.20738498e-02 2.11274287e+02] [ 8.77664886e-01 4.75695166e-01 -5.84675783e-02 1.41192905e+02] [ 6.66860484e-02 -4.00630040e-04 9.97773928e-01 3.01290092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5271056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:211.29, Y:141.22, Z:30.13 [[ 4.76893742e-01 -8.78384549e-01 -3.18267611e-02 2.11286421e+02] [ 8.76427684e-01 4.77954581e-01 -5.85997789e-02 1.41217543e+02] [ 6.66848866e-02 5.20132823e-05 9.97774084e-01 3.01329386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:211.30, Y:141.24, Z:30.13 [[ 4.79836732e-01 -8.76782732e-01 -3.17608461e-02 2.11299240e+02] [ 8.74819991e-01 4.80886596e-01 -5.86350169e-02 1.41243328e+02] [ 6.66835354e-02 3.50211833e-04 9.97774114e-01 3.01342773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5871056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:211.31, Y:141.27, Z:30.13 [[ 4.83574453e-01 -8.74717083e-01 -3.20276986e-02 2.11312446e+02] [ 8.72759256e-01 4.84633794e-01 -5.84924462e-02 1.41267229e+02] [ 6.66860470e-02 3.32982296e-04 9.97773953e-01 3.01344497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61710568099994 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:211.33, Y:141.29, Z:30.13 [[ 4.87599424e-01 -8.72491466e-01 -3.17087352e-02 2.11326267e+02] [ 8.70517690e-01 4.88628325e-01 -5.86626855e-02 1.41291387e+02] [ 6.66764787e-02 1.00087669e-03 9.97774146e-01 3.01339574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6471056809999 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:211.35, Y:141.31, Z:30.11 [[ 5.02727239e-01 -8.63862550e-01 -3.17304001e-02 2.11349890e+02] [ 8.61871870e-01 5.03723063e-01 -5.86511288e-02 1.41309015e+02] [ 6.66498480e-02 2.13798081e-03 9.97774136e-01 3.01135410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:211.36, Y:141.34, Z:30.14 [[ 4.89553742e-01 -8.71409378e-01 -3.13501076e-02 2.11355915e+02] [ 8.69421052e-01 4.90554049e-01 -5.88537095e-02 1.41337998e+02] [ 6.66645966e-02 1.55561019e-03 9.97774229e-01 3.01388849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.7071056809999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:211.37, Y:141.36, Z:30.14 [[ 4.86232349e-01 -8.73254699e-01 -3.16912229e-02 2.11374298e+02] [ 8.71281928e-01 4.87263164e-01 -5.86720568e-02 1.41359953e+02] [ 6.66776149e-02 9.16262198e-04 9.97774151e-01 3.01364586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73710568099995 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:211.38, Y:141.39, Z:30.12 [[ 4.71159030e-01 -8.81477540e-01 -3.17256295e-02 2.11381061e+02] [ 8.79523997e-01 4.72225873e-01 -5.86537549e-02 1.41388177e+02] [ 6.66836307e-02 -2.68206222e-04 9.97774134e-01 3.01168346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.7671056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:211.41, Y:141.40, Z:30.14 [[ 4.75215108e-01 -8.79313300e-01 -3.12845357e-02 2.11411021e+02] [ 8.77339364e-01 4.76243459e-01 -5.88880972e-02 1.41403963e+02] [ 6.66801425e-02 5.37358746e-04 9.97774258e-01 3.01425235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79710568099995 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:211.43, Y:141.42, Z:30.15 [[ 4.64933021e-01 -8.84782792e-01 -3.15705154e-02 2.11428260e+02] [ 8.82831222e-01 4.66003320e-01 -5.87361835e-02 1.41424498e+02] [ 6.66807294e-02 -5.63045507e-04 9.97774205e-01 3.01478071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.8271056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:211.44, Y:141.45, Z:30.15 [[ 4.59736036e-01 -8.87497020e-01 -3.14931182e-02 2.11442424e+02] [ 8.85548951e-01 4.60812639e-01 -5.87772751e-02 1.41449081e+02] [ 6.66770834e-02 -8.66666370e-04 9.97774231e-01 3.01512641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85710568099995 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:211.46, Y:141.47, Z:30.15 [[ 4.52392290e-01 -8.91259023e-01 -3.16001683e-02 2.11458577e+02] [ 8.89323853e-01 4.53491994e-01 -5.87204834e-02 1.41470619e+02] [ 6.66655839e-02 -1.53808949e-03 9.97774190e-01 3.01533218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.8871056809999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:211.47, Y:141.49, Z:30.16 [[ 4.50022627e-01 -8.92460178e-01 -3.15351598e-02 2.11473086e+02] [ 8.90525531e-01 4.51123194e-01 -5.87549344e-02 1.41494237e+02] [ 6.66626812e-02 -1.64181499e-03 9.97774219e-01 3.01575385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91710568099995 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:211.50, Y:141.51, Z:30.13 [[ 4.63164729e-01 -8.85713965e-01 -3.14516383e-02 2.11498548e+02] [ 8.83760263e-01 4.64231037e-01 -5.87991629e-02 1.41512521e+02] [ 6.66800664e-02 -5.62009764e-04 9.97774249e-01 3.01335128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9471056809999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:211.50, Y:141.54, Z:30.16 [[ 4.47617284e-01 -8.93681656e-01 -3.11747471e-02 2.11498330e+02] [ 8.91736687e-01 4.48699339e-01 -5.89456069e-02 1.41543851e+02] [ 6.66666960e-02 -1.41459328e-03 9.97774298e-01 3.01626537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9771056809999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:211.51, Y:141.57, Z:30.17 [[ 4.52574832e-01 -8.91171772e-01 -3.14466793e-02 2.11507197e+02] [ 8.89230736e-01 4.53664024e-01 -5.88018028e-02 1.41568906e+02] [ 6.66687339e-02 -1.35113775e-03 9.97774250e-01 3.01653956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.0071056809999 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:211.53, Y:141.60, Z:30.15 [[ 4.62302972e-01 -8.86170638e-01 -3.12660114e-02 2.11531936e+02] [ 8.84211336e-01 4.63358853e-01 -5.88972485e-02 1.41603516e+02] [ 6.66803954e-02 -4.17388707e-04 9.97774298e-01 3.01506081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.0371056809999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:211.53, Y:141.62, Z:30.17 [[ 4.61965968e-01 -8.86249588e-01 -3.38985484e-02 2.11526625e+02] [ 8.84388725e-01 4.63195427e-01 -5.75028554e-02 1.41619812e+02] [ 6.66635345e-02 -3.41513174e-03 9.97769668e-01 3.01653211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.06710568099993 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:211.53, Y:141.65, Z:30.14 [[ 4.54048286e-01 -8.90430700e-01 -3.11981091e-02 2.11534310e+02] [ 8.88479378e-01 4.55117829e-01 -5.89250054e-02 1.41649084e+02] [ 6.66674495e-02 -9.64078945e-04 9.97774785e-01 3.01354491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.0971056809999 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:211.56, Y:141.66, Z:30.15 [[ 4.83329565e-01 -8.74888190e-01 -3.10352654e-02 2.11563203e+02] [ 8.72896979e-01 4.84322835e-01 -5.90106505e-02 1.41664448e+02] [ 6.66588089e-02 1.43100259e-03 9.97774802e-01 3.01472361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.12710568099993 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:211.56, Y:141.69, Z:30.17 [[ 4.72324701e-01 -8.80878552e-01 -3.10218074e-02 2.11562902e+02] [ 8.78899485e-01 4.73341952e-01 -5.90177245e-02 1.41694020e+02] [ 6.66713706e-02 6.10478517e-04 9.97774802e-01 3.01712660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.1571056809999 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:211.57, Y:141.72, Z:30.17 [[ 4.76839513e-01 -8.78443930e-01 -3.09893587e-02 2.11573280e+02] [ 8.76458563e-01 4.77844413e-01 -5.90347652e-02 1.41718821e+02] [ 6.66668231e-02 9.89219901e-04 9.97774802e-01 3.01720537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18710568099993 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:211.59, Y:141.74, Z:30.17 [[ 4.81764493e-01 -8.75754497e-01 -3.09359793e-02 2.11586262e+02] [ 8.73761726e-01 4.82754632e-01 -5.90627770e-02 1.41742257e+02] [ 6.66589799e-02 1.42367414e-03 9.97774801e-01 3.01700336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2171056809999 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:211.60, Y:141.77, Z:30.17 [[ 4.82332994e-01 -8.75444363e-01 -3.08553220e-02 2.11600836e+02] [ 8.73448251e-01 4.83316398e-01 -5.91050993e-02 1.41766844e+02] [ 6.66561091e-02 1.55781243e-03 9.97774792e-01 3.01725321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24710568099994 meters Centerline goodness : 0.997325 Centerline is valid? [True, True] Translation: X:211.61, Y:141.79, Z:30.16 [[ 4.71671577e-01 -8.81230368e-01 -3.09671239e-02 2.11608267e+02] [ 8.79250170e-01 4.72686631e-01 -5.90464769e-02 1.41789623e+02] [ 6.66712940e-02 6.22695896e-04 9.97774800e-01 3.01584432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2771056809999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:211.63, Y:141.81, Z:30.17 [[ 4.79489281e-01 -8.77044137e-01 -2.97256035e-02 2.11630673e+02] [ 8.75014098e-01 4.80402700e-01 -5.96956812e-02 1.41814281e+02] [ 6.66360073e-02 2.61311707e-03 9.97773929e-01 3.01741244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30710568099994 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:211.64, Y:141.84, Z:30.18 [[ 4.74703497e-01 -8.79602333e-01 -3.09245333e-02 2.11644055e+02] [ 8.77617261e-01 4.75708868e-01 -5.90678914e-02 1.41839274e+02] [ 6.66673298e-02 8.99830378e-04 9.97774853e-01 3.01792504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3371056809999 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:211.65, Y:141.86, Z:30.16 [[ 4.64791916e-01 -8.84880029e-01 -3.09161546e-02 2.11647781e+02] [ 8.82906087e-01 4.65818965e-01 -5.90722754e-02 1.41860102e+02] [ 6.66732079e-02 1.60254980e-04 9.97774853e-01 3.01607885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36710568099994 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:211.67, Y:141.89, Z:30.19 [[ 4.70422295e-01 -8.81967677e-01 -2.89116026e-02 2.11672939e+02] [ 8.79920872e-01 4.71301328e-01 -6.01191967e-02 1.41886162e+02] [ 6.66492650e-02 2.84148791e-03 9.97772420e-01 3.01850541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3971056809999 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:211.70, Y:141.91, Z:30.17 [[ 4.83169684e-01 -8.74982181e-01 -3.08745854e-02 2.11699282e+02] [ 8.72986014e-01 4.84152486e-01 -5.90913623e-02 1.41905705e+02] [ 6.66518963e-02 1.59807363e-03 9.97775010e-01 3.01680702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42710568099994 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:211.70, Y:141.94, Z:30.17 [[ 4.67804954e-01 -8.83290707e-01 -3.09200820e-02 2.11700419e+02] [ 8.81313590e-01 4.68825533e-01 -5.90675463e-02 1.41936053e+02] [ 6.66699387e-02 3.81802245e-04 9.97775011e-01 3.01672596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4571056809999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:211.71, Y:141.96, Z:30.19 [[ 4.72185674e-01 -8.80957379e-01 -3.08995948e-02 2.11712325e+02] [ 8.78974519e-01 4.73195049e-01 -5.90782617e-02 1.41958485e+02] [ 6.66669659e-02 7.35952400e-04 9.97775012e-01 3.01937610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48710568099995 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:211.73, Y:141.98, Z:30.20 [[ 4.72066417e-01 -8.81027246e-01 -3.07292876e-02 2.11726266e+02] [ 8.79038730e-01 4.73064633e-01 -5.91672555e-02 1.41983790e+02] [ 6.66649034e-02 9.18640400e-04 9.97774998e-01 3.01973899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5171056809999 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:211.73, Y:142.00, Z:30.18 [[ 4.55775972e-01 -8.89560261e-01 -3.08351367e-02 2.11726714e+02] [ 8.87594172e-01 4.56817644e-01 -5.91119779e-02 1.42003585e+02] [ 6.66697010e-02 -4.27268501e-04 9.97775009e-01 3.01776387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54710568099995 meters Centerline goodness : 0.979399 Centerline is valid? [True, True] Translation: X:211.76, Y:142.03, Z:30.15 [[ 4.71071983e-01 -8.81638127e-01 -2.83795683e-02 2.11760820e+02] [ 8.79574318e-01 4.71913191e-01 -6.03900638e-02 1.42031990e+02] [ 6.66348754e-02 3.48612769e-03 9.97771337e-01 3.01516902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5771056809999 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:211.77, Y:142.05, Z:30.21 [[ 4.60527782e-01 -8.87108599e-01 -3.08625354e-02 2.11773664e+02] [ 8.85138195e-01 4.61560747e-01 -5.90935912e-02 1.42051681e+02] [ 6.66673677e-02 -1.03368419e-04 9.97775251e-01 3.02073300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60710568099995 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:211.79, Y:142.08, Z:30.21 [[ 4.60214778e-01 -8.87271730e-01 -3.08421170e-02 2.11786632e+02] [ 8.85300977e-01 4.61247078e-01 -5.91042484e-02 1.42077007e+02] [ 6.66673651e-02 -1.03907776e-04 9.97775251e-01 3.02092290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.6371056809999 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:211.79, Y:142.11, Z:30.18 [[ 4.41455178e-01 -8.96753805e-01 -3.08210869e-02 2.11790907e+02] [ 8.94804434e-01 4.42527306e-01 -5.91152155e-02 1.42107207e+02] [ 6.66509670e-02 -1.48212726e-03 9.97775251e-01 3.01835716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66710568099995 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:211.82, Y:142.12, Z:30.21 [[ 4.48798110e-01 -8.93101802e-01 -3.08127799e-02 2.11815878e+02] [ 8.91143404e-01 4.49853658e-01 -5.91195451e-02 1.42124436e+02] [ 6.66610140e-02 -9.25865442e-04 9.97775251e-01 3.02107257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.6971056809999 meters Centerline goodness : 0.990379 Centerline is valid? [True, True] Translation: X:211.78, Y:142.09, Z:30.18 [[ 4.18574909e-01 -9.07656438e-01 -3.09004040e-02 2.11784048e+02] [ 9.05737885e-01 4.19701271e-01 -5.90739149e-02 1.42091698e+02] [ 6.65877581e-02 -3.26080799e-03 9.97775244e-01 3.01753564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.7271056809999 meters Centerline goodness : 0.992125 Centerline is valid? [True, True] Translation: X:211.82, Y:142.16, Z:30.18 [[ 4.18165028e-01 -9.08150681e-01 -2.00087598e-02 2.11819932e+02] [ 9.05893421e-01 4.18549058e-01 -6.46049200e-02 1.42160456e+02] [ 6.70456497e-02 8.88971436e-03 9.97710306e-01 3.01795372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.7571056809999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:211.85, Y:142.17, Z:30.21 [[ 4.41353900e-01 -8.96808735e-01 -3.06729187e-02 2.11847597e+02] [ 8.94862094e-01 4.42416320e-01 -5.90731113e-02 1.42174713e+02] [ 6.65474820e-02 -1.37588418e-03 9.97782311e-01 3.02148016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.7871056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:211.86, Y:142.20, Z:30.22 [[ 4.44031692e-01 -8.95483670e-01 -3.07384689e-02 2.11858163e+02] [ 8.93536206e-01 4.45092612e-01 -5.90391075e-02 1.42200961e+02] [ 6.65500221e-02 -1.25069999e-03 9.97782306e-01 3.02191056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81710568099993 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:211.87, Y:142.23, Z:30.22 [[ 4.46630242e-01 -8.94192820e-01 -3.06696530e-02 2.11868301e+02] [ 8.92239839e-01 4.47680957e-01 -5.90747779e-02 1.42227109e+02] [ 6.65544619e-02 -9.80103975e-04 9.97782312e-01 3.02217100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.8471056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:211.87, Y:142.25, Z:30.23 [[ 4.56081257e-01 -8.89408619e-01 -3.06952190e-02 2.11874904e+02] [ 8.87445502e-01 4.57112915e-01 -5.90615320e-02 1.42253600e+02] [ 6.65610167e-02 -3.03476293e-04 9.97782310e-01 3.02250383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.88, Y:142.28, Z:30.23 [[ 4.61877169e-01 -8.86415412e-01 -3.06137060e-02 2.11884923e+02] [ 8.84442808e-01 4.62890558e-01 -5.91037329e-02 1.42279866e+02] [ 6.65612552e-02 2.22592713e-04 9.97782316e-01 3.02279264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.9071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:211.89, Y:142.31, Z:30.23 [[ 4.73279737e-01 -8.80382672e-01 -3.05391702e-02 2.11894211e+02] [ 8.78394670e-01 4.74262577e-01 -5.91422944e-02 1.42305905e+02] [ 6.65514367e-02 1.16540516e-03 9.97782315e-01 3.02307904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93710568099993 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:211.92, Y:142.33, Z:30.20 [[ 4.97744542e-01 -8.66782961e-01 -3.06213913e-02 2.11918265e+02] [ 8.64770800e-01 4.98676928e-01 -5.90997884e-02 1.42327444e+02] [ 6.64968709e-02 2.93611207e-03 9.97782314e-01 3.02028959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.9671056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:211.92, Y:142.36, Z:30.23 [[ 4.84414606e-01 -8.74304975e-01 -3.05499557e-02 2.11915534e+02] [ 8.72305011e-01 4.85372866e-01 -5.91366921e-02 1.42358063e+02] [ 6.65316237e-02 1.99779795e-03 9.97782317e-01 3.02339879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.93, Y:142.38, Z:30.24 [[ 4.87901943e-01 -8.72365966e-01 -3.04846757e-02 2.11929842e+02] [ 8.70360100e-01 4.88847789e-01 -5.91703918e-02 1.42382329e+02] [ 6.65206024e-02 2.33670375e-03 9.97782316e-01 3.02355918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0271056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:211.94, Y:142.41, Z:30.24 [[ 4.88024128e-01 -8.72294739e-01 -3.05669679e-02 2.11943791e+02] [ 8.70291375e-01 4.88975265e-01 -5.91279372e-02 1.42406499e+02] [ 6.65234797e-02 2.25369149e-03 9.97782315e-01 3.02374873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:211.96, Y:142.43, Z:30.24 [[ 4.87075609e-01 -8.72825858e-01 -3.05347821e-02 2.11959560e+02] [ 8.70822496e-01 4.88026746e-01 -5.91445278e-02 1.42430835e+02] [ 6.65246635e-02 2.21748175e-03 9.97782317e-01 3.02350021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0871056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:211.97, Y:142.46, Z:30.24 [[ 4.87283071e-01 -8.72708663e-01 -3.05744723e-02 2.11973898e+02] [ 8.70706348e-01 4.88236417e-01 -5.91240811e-02 1.42455004e+02] [ 6.65256686e-02 2.18877668e-03 9.97782313e-01 3.02370522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:211.99, Y:142.48, Z:30.24 [[ 4.87133910e-01 -8.72796875e-01 -3.04330120e-02 2.11989855e+02] [ 8.70790200e-01 4.88078024e-01 -5.91968819e-02 1.42477248e+02] [ 6.65205379e-02 2.33603996e-03 9.97782321e-01 3.02377533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1471056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:212.01, Y:142.50, Z:30.24 [[ 4.86218091e-01 -8.73306245e-01 -3.04658925e-02 2.12008571e+02] [ 8.71301612e-01 4.87166535e-01 -5.91799697e-02 1.42500273e+02] [ 6.65242004e-02 2.22939063e-03 9.97782321e-01 3.02398135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:212.02, Y:142.52, Z:30.24 [[ 4.86037453e-01 -8.73401618e-01 -3.06138379e-02 2.12024881e+02] [ 8.71401926e-01 4.86996316e-01 -5.91039053e-02 1.42523384e+02] [ 6.65302728e-02 2.04975434e-03 9.97782302e-01 3.02423623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.2071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:212.04, Y:142.54, Z:30.25 [[ 4.85922507e-01 -8.73467353e-01 -3.05630568e-02 2.12042341e+02] [ 8.71466157e-01 4.86878200e-01 -5.91299940e-02 1.42544426e+02] [ 6.65286055e-02 2.09792527e-03 9.97782313e-01 3.02457816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23710568099995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:212.06, Y:142.57, Z:30.25 [[ 4.85682631e-01 -8.73606151e-01 -3.04084685e-02 2.12058380e+02] [ 8.71600274e-01 4.86628418e-01 -5.92093283e-02 1.42568790e+02] [ 6.65232583e-02 2.25291290e-03 9.97782331e-01 3.02498881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.2671056809999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:212.10, Y:142.59, Z:30.22 [[ 5.11840716e-01 -8.58539183e-01 -3.04885683e-02 2.12103277e+02] [ 8.56508051e-01 5.12730995e-01 -5.91682794e-02 1.42590804e+02] [ 6.64307202e-02 4.17103027e-03 9.97782322e-01 3.02184924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29710568099995 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:212.10, Y:142.61, Z:30.23 [[ 4.99109704e-01 -8.65919418e-01 -3.27576790e-02 2.12102256e+02] [ 8.63974771e-01 5.00183108e-01 -5.80039071e-02 1.42607679e+02] [ 6.66115472e-02 6.48504616e-04 9.97778774e-01 3.02312399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:142.64, Z:30.26 [[ 4.76488972e-01 -8.78659099e-01 -3.02728814e-02 2.12108667e+02] [ 8.76659224e-01 4.77446630e-01 -5.92732690e-02 1.42635088e+02] [ 6.65346823e-02 1.70405833e-03 9.97782658e-01 3.02587005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.13, Y:142.66, Z:30.26 [[ 4.73960438e-01 -8.80018353e-01 -3.04828063e-02 2.12125923e+02] [ 8.78028078e-01 4.74937960e-01 -5.91661158e-02 1.42658659e+02] [ 6.65447096e-02 1.27763832e-03 9.97782626e-01 3.02592482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:142.68, Z:30.26 [[ 4.65493596e-01 -8.84522312e-01 -3.05939872e-02 2.12143893e+02] [ 8.82545219e-01 4.66497604e-01 -5.91094095e-02 1.42679799e+02] [ 6.65556133e-02 5.14474460e-04 9.97782584e-01 3.02600940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41710568099995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:212.16, Y:142.70, Z:30.26 [[ 4.59067892e-01 -8.87875292e-01 -3.05636461e-02 2.12160576e+02] [ 8.85904503e-01 4.60084190e-01 -5.91248702e-02 1.42701169e+02] [ 6.65573618e-02 6.58579063e-05 9.97782598e-01 3.02593995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4471056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:212.17, Y:142.73, Z:30.27 [[ 4.55025717e-01 -8.89963474e-01 -3.02756088e-02 2.12173342e+02] [ 8.87987547e-01 4.56031806e-01 -5.92714779e-02 1.42725573e+02] [ 6.65560909e-02 8.56830864e-05 9.97782681e-01 3.02674888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4771056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:212.19, Y:142.75, Z:30.27 [[ 4.49093945e-01 -8.92970893e-01 -3.02921282e-02 2.12190844e+02] [ 8.91002270e-01 4.50114256e-01 -5.92630757e-02 1.42749498e+02] [ 6.65551204e-02 -3.75666501e-04 9.97782679e-01 3.02702543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.5071056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:212.21, Y:142.78, Z:30.27 [[ 4.45929449e-01 -8.94552991e-01 -3.03623554e-02 2.12206836e+02] [ 8.92590414e-01 4.46961374e-01 -5.92273905e-02 1.42775173e+02] [ 6.65528394e-02 -6.89909755e-04 9.97782664e-01 3.02693409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.5371056809999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:212.22, Y:142.80, Z:30.27 [[ 4.42842410e-01 -8.96078092e-01 -3.05720958e-02 2.12220986e+02] [ 8.94126377e-01 4.43894944e-01 -5.91210749e-02 1.42797850e+02] [ 6.65478988e-02 -1.15399798e-03 9.97782564e-01 3.02715191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.56710568099993 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:212.21, Y:142.83, Z:30.25 [[ 4.19811212e-01 -9.07096804e-01 -3.05603357e-02 2.12214895e+02] [ 9.05172178e-01 4.20912487e-01 -5.91270386e-02 1.42831495e+02] [ 6.64971747e-02 -2.84017191e-03 9.97782571e-01 3.02460338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.5971056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:212.24, Y:142.85, Z:30.28 [[ 4.44230988e-01 -8.95407718e-01 -3.00640695e-02 2.12243072e+02] [ 8.93436864e-01 4.45246882e-01 -5.93783167e-02 1.42849395e+02] [ 6.65537362e-02 -4.82659730e-04 9.97782725e-01 3.02772486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.62710568099993 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:212.26, Y:142.87, Z:30.28 [[ 4.50693394e-01 -8.92148581e-01 -3.07631971e-02 2.12255153e+02] [ 8.90194255e-01 4.51741405e-01 -5.90244957e-02 1.42874561e+02] [ 6.65556300e-02 -7.83270988e-04 9.97782408e-01 3.02760762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.6571056809999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:212.27, Y:142.90, Z:30.28 [[ 4.52271190e-01 -8.91358005e-01 -3.05233780e-02 2.12265999e+02] [ 8.89393651e-01 4.53299843e-01 -5.91454678e-02 1.42899599e+02] [ 6.65560287e-02 -3.97507502e-04 9.97782610e-01 3.02774340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68710568099993 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:212.28, Y:142.92, Z:30.28 [[ 4.56098778e-01 -8.89407611e-01 -3.04632031e-02 2.12277658e+02] [ 8.87436830e-01 4.57114974e-01 -5.91757871e-02 1.42923717e+02] [ 6.65565817e-02 -4.41642348e-05 9.97782651e-01 3.02838721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7171056809999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:212.29, Y:142.95, Z:30.29 [[ 4.56950751e-01 -8.88979935e-01 -3.01775887e-02 2.12289809e+02] [ 8.86998671e-01 4.57946024e-01 -5.93194452e-02 1.42948376e+02] [ 6.65535033e-02 3.38583943e-04 9.97782800e-01 3.02862426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74710568099994 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:212.31, Y:142.97, Z:30.27 [[ 4.67074047e-01 -8.83705093e-01 -3.01188366e-02 2.12308192e+02] [ 8.81710693e-01 4.68042684e-01 -5.93489688e-02 1.42970169e+02] [ 6.65438870e-02 1.16426276e-03 9.97782820e-01 3.02668778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7771056809999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:212.31, Y:143.00, Z:30.29 [[ 4.57532690e-01 -8.88691433e-01 -2.98558891e-02 2.12312572e+02] [ 8.86698950e-01 4.58505166e-01 -5.94809559e-02 1.43000739e+02] [ 6.65492953e-02 7.41296287e-04 9.97782863e-01 3.02872137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80710568099994 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:212.32, Y:143.02, Z:30.28 [[ 4.61806835e-01 -8.86462865e-01 -3.02991058e-02 2.12322463e+02] [ 8.84480166e-01 4.62799382e-01 -5.92584949e-02 1.43019686e+02] [ 6.65528626e-02 5.67019918e-04 9.97782739e-01 3.02848274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8371056809999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:212.34, Y:143.05, Z:30.29 [[ 4.62870711e-01 -8.85944141e-01 -2.92178759e-02 2.12336558e+02] [ 8.83925452e-01 4.63788251e-01 -5.98017936e-02 1.43049412e+02] [ 6.65319562e-02 1.85407451e-03 9.97782572e-01 3.02917789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86710568099994 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:212.35, Y:143.07, Z:30.29 [[ 4.70022497e-01 -8.82131031e-01 -3.03923718e-02 2.12349290e+02] [ 8.80142246e-01 4.71002840e-01 -5.92110724e-02 1.43071560e+02] [ 6.65468178e-02 1.08092564e-03 9.97782718e-01 3.02882945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8971056809999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:212.36, Y:143.10, Z:30.29 [[ 4.71548910e-01 -8.81334674e-01 -2.98465727e-02 2.12362734e+02] [ 8.79326774e-01 4.72489082e-01 -5.94852250e-02 1.43098402e+02] [ 6.65285712e-02 1.80530250e-03 9.97782887e-01 3.02915448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92710568099994 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:212.38, Y:143.12, Z:30.30 [[ 4.75399956e-01 -8.79249612e-01 -3.02490076e-02 2.12376792e+02] [ 8.77250272e-01 4.76358485e-01 -5.92836708e-02 1.43123015e+02] [ 6.65345160e-02 1.64750432e-03 9.97782764e-01 3.02973051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9571056809999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:212.39, Y:143.15, Z:30.30 [[ 4.78115607e-01 -8.77775748e-01 -3.02523098e-02 2.12392681e+02] [ 8.75773559e-01 4.79068174e-01 -5.92820183e-02 1.43147701e+02] [ 6.65292367e-02 1.84948513e-03 9.97782762e-01 3.02985933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98710568099995 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:212.41, Y:143.17, Z:30.30 [[ 4.78858567e-01 -8.77368279e-01 -3.03212031e-02 2.12406408e+02] [ 8.75367447e-01 4.79814087e-01 -5.92475795e-02 1.43171948e+02] [ 6.65304872e-02 1.82901689e-03 9.97782716e-01 3.02969579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0171056809999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:212.42, Y:143.19, Z:30.30 [[ 4.80033098e-01 -8.76731518e-01 -3.01673676e-02 2.12423402e+02] [ 8.74724610e-01 4.80975549e-01 -5.93243490e-02 1.43194547e+02] [ 6.65212928e-02 2.08951217e-03 9.97782818e-01 3.02961083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04710568099995 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:212.44, Y:143.22, Z:30.30 [[ 4.80713831e-01 -8.76363663e-01 -3.00157176e-02 2.12440143e+02] [ 8.74351335e-01 4.81644469e-01 -5.93999110e-02 1.43218812e+02] [ 6.65128279e-02 2.31007604e-03 9.97782896e-01 3.02974892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0771056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:212.46, Y:143.24, Z:30.30 [[ 4.78894049e-01 -8.77352211e-01 -3.02256076e-02 2.12458508e+02] [ 8.75348336e-01 4.79843037e-01 -5.92954446e-02 1.43242074e+02] [ 6.65265368e-02 1.93830025e-03 9.97782773e-01 3.03004307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10710568099995 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:212.47, Y:143.27, Z:30.29 [[ 4.70585649e-01 -8.81833347e-01 -3.03165938e-02 2.12468456e+02] [ 8.79841419e-01 4.71559634e-01 -5.92502336e-02 1.43266395e+02] [ 6.65449137e-02 1.20851469e-03 9.97782699e-01 3.02888536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.1371056809999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:212.49, Y:143.29, Z:30.30 [[ 4.71595259e-01 -8.81319258e-01 -2.95681689e-02 2.12488164e+02] [ 8.79302795e-01 4.72516539e-01 -5.96214274e-02 1.43289875e+02] [ 6.65169610e-02 2.11780893e-03 9.97783047e-01 3.03038387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16710568099995 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:212.50, Y:143.31, Z:30.31 [[ 4.69355236e-01 -8.82501300e-01 -2.99519348e-02 2.12503362e+02] [ 8.80499172e-01 4.70307495e-01 -5.94312094e-02 1.43314585e+02] [ 6.65347390e-02 1.52169550e-03 9.97782949e-01 3.03064459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.1971056809999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:212.52, Y:143.34, Z:30.31 [[ 4.63687150e-01 -8.85489197e-01 -3.00517770e-02 2.12518320e+02] [ 8.83496400e-01 4.64658923e-01 -5.93817894e-02 1.43338268e+02] [ 6.65457593e-02 9.83935880e-04 9.97782889e-01 3.03123495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.2271056809999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:212.53, Y:143.36, Z:30.31 [[ 4.60977029e-01 -8.86907502e-01 -2.99209385e-02 2.12531196e+02] [ 8.84913493e-01 4.61946129e-01 -5.94464805e-02 1.43362641e+02] [ 6.65453912e-02 9.26019790e-04 9.97782969e-01 3.03146144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.2571056809999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:212.54, Y:143.39, Z:30.31 [[ 4.56824379e-01 -8.89059030e-01 -2.97578294e-02 2.12542289e+02] [ 8.87064330e-01 4.57791882e-01 -5.95270331e-02 1.43388159e+02] [ 6.65459390e-02 7.96290918e-04 9.97783045e-01 3.03138346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.2871056809999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:212.55, Y:143.42, Z:30.31 [[ 4.55120402e-01 -8.89939691e-01 -2.95426047e-02 2.12554655e+02] [ 8.87939953e-01 4.56077319e-01 -5.96332039e-02 1.43415172e+02] [ 6.65436671e-02 9.08228670e-04 9.97783100e-01 3.03121103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31710568099993 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:212.57, Y:143.44, Z:30.31 [[ 4.53828400e-01 -8.90596002e-01 -2.96402501e-02 2.12566414e+02] [ 8.88600784e-01 4.54794752e-01 -5.95850708e-02 1.43440695e+02] [ 6.65464561e-02 7.03047887e-04 9.97783080e-01 3.03146971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.3471056809999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:212.58, Y:143.46, Z:30.32 [[ 4.51951629e-01 -8.91545860e-01 -2.97607980e-02 2.12577826e+02] [ 8.89556573e-01 4.52930233e-01 -5.95256904e-02 1.43464915e+02] [ 6.65494480e-02 4.28819246e-04 9.97783036e-01 3.03189542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37710568099993 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:212.59, Y:143.49, Z:30.31 [[ 4.40640202e-01 -8.97198494e-01 -2.95139941e-02 2.12585114e+02] [ 8.95213592e-01 4.41627495e-01 -5.96471363e-02 1.43493505e+02] [ 6.65495121e-02 -1.38402450e-04 9.97783114e-01 3.03071500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.4071056809999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:212.61, Y:143.51, Z:30.31 [[ 4.58043498e-01 -8.88444968e-01 -2.93545994e-02 2.12608033e+02] [ 8.86436187e-01 4.58981213e-01 -5.97254787e-02 1.43513818e+02] [ 6.65360107e-02 1.33588800e-03 9.97783130e-01 3.03069712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43710568099993 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:212.62, Y:143.54, Z:30.30 [[ 4.62109343e-01 -8.86337763e-01 -2.93312966e-02 2.12622039e+02] [ 8.84323984e-01 4.63036275e-01 -5.97369206e-02 1.43538854e+02] [ 6.65285429e-02 1.66662006e-03 9.97783130e-01 3.03042772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.4671056809999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:212.63, Y:143.57, Z:30.33 [[ 4.47610389e-01 -8.93748249e-01 -2.93088312e-02 2.12626711e+02] [ 8.91749115e-01 4.48568499e-01 -5.97479408e-02 1.43567926e+02] [ 6.65466359e-02 6.07674737e-04 9.97783131e-01 3.03349568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49710568099994 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:212.64, Y:143.59, Z:30.34 [[ 4.47112714e-01 -8.93981591e-01 -2.97848282e-02 2.12638574e+02] [ 8.91998377e-01 4.48103686e-01 -5.95145484e-02 1.43592756e+02] [ 6.65516019e-02 4.16928310e-05 9.97782984e-01 3.03368870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5271056809999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:212.64, Y:143.62, Z:30.33 [[ 4.41807898e-01 -8.96616525e-01 -2.97420239e-02 2.12644428e+02] [ 8.94637809e-01 4.42807762e-01 -5.95355046e-02 1.43620357e+02] [ 6.65505163e-02 -3.05082980e-04 9.97783010e-01 3.03251897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55710568099994 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:212.66, Y:143.64, Z:30.34 [[ 4.51577373e-01 -8.91753114e-01 -2.92277436e-02 2.12661569e+02] [ 8.89747225e-01 4.52521158e-01 -5.97869305e-02 1.43643409e+02] [ 6.65413537e-02 9.93121235e-04 9.97783174e-01 3.03418795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5871056809999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:212.67, Y:143.67, Z:30.34 [[ 4.58690488e-01 -8.88104865e-01 -2.95429524e-02 2.12670910e+02] [ 8.86101324e-01 4.59639390e-01 -5.96328341e-02 1.43671037e+02] [ 6.65393147e-02 1.17496453e-03 9.97783112e-01 3.03389308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61710568099994 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:212.68, Y:143.70, Z:30.34 [[ 4.63778465e-01 -8.85456350e-01 -2.96072136e-02 2.12682073e+02] [ 8.83449392e-01 4.64720179e-01 -5.96013948e-02 1.43695380e+02] [ 6.65335031e-02 1.48536856e-03 9.97783086e-01 3.03385478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6471056809999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:212.69, Y:143.72, Z:30.33 [[ 4.70490086e-01 -8.81907310e-01 -2.96407840e-02 2.12690858e+02] [ 8.79894284e-01 4.71418796e-01 -5.95849644e-02 1.43722458e+02] [ 6.65216384e-02 1.95337861e-03 9.97783071e-01 3.03341033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67710568099994 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:212.70, Y:143.75, Z:30.33 [[ 4.72714297e-01 -8.80721112e-01 -2.95214631e-02 2.12702092e+02] [ 8.78702144e-01 4.73629860e-01 -5.96430882e-02 1.43748369e+02] [ 6.65111734e-02 2.25356755e-03 9.97783135e-01 3.03340561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.7071056809999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:212.71, Y:143.77, Z:30.34 [[ 4.75670890e-01 -8.79134770e-01 -2.93131371e-02 2.12713090e+02] [ 8.77106537e-01 4.76565549e-01 -5.97444614e-02 1.43773126e+02] [ 6.64930646e-02 2.70795693e-03 9.97783213e-01 3.03350024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73710568099995 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:212.72, Y:143.80, Z:30.33 [[ 4.68423331e-01 -8.83021932e-01 -2.91864817e-02 2.12718803e+02] [ 8.80997311e-01 4.69326082e-01 -5.98060743e-02 1.43802577e+02] [ 6.65080524e-02 2.30134861e-03 9.97783234e-01 3.03272965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.7671056809999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:212.74, Y:143.82, Z:30.34 [[ 4.79772782e-01 -8.76910382e-01 -2.90905492e-02 2.12740704e+02] [ 8.74871496e-01 4.80642820e-01 -5.98527013e-02 1.43822397e+02] [ 6.64676188e-02 3.26520470e-03 9.97783240e-01 3.03416089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79710568099995 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:212.74, Y:143.85, Z:30.31 [[ 4.62753733e-01 -8.86002069e-01 -2.93141088e-02 2.12739065e+02] [ 8.83987157e-01 4.63678045e-01 -5.97442720e-02 1.43847642e+02] [ 6.65258572e-02 1.73358926e-03 9.97783195e-01 3.03144184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.8271056809999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:212.77, Y:143.87, Z:30.34 [[ 4.80597810e-01 -8.76504113e-01 -2.76818462e-02 2.12772461e+02] [ 8.74424977e-01 4.81369568e-01 -6.05334550e-02 1.43866408e+02] [ 6.63830206e-02 4.88654815e-03 9.97782249e-01 3.03409079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85710568099995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:212.79, Y:143.89, Z:30.34 [[ 4.78213385e-01 -8.77764793e-01 -2.89987266e-02 2.12790475e+02] [ 8.75724875e-01 4.79080805e-01 -5.98959644e-02 1.43889326e+02] [ 6.64673021e-02 3.24814574e-03 9.97783317e-01 3.03421152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.8871056809999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:212.80, Y:143.91, Z:30.35 [[ 4.73933019e-01 -8.80083988e-01 -2.89770146e-02 2.12802453e+02] [ 8.78047684e-01 4.74808889e-01 -5.99064666e-02 1.43913440e+02] [ 6.64812661e-02 2.94845206e-03 9.97783317e-01 3.03486909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91710568099995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:212.82, Y:143.94, Z:30.35 [[ 4.71843473e-01 -8.81214593e-01 -2.87154646e-02 2.12824601e+02] [ 8.79172737e-01 4.72706413e-01 -6.00328775e-02 1.43935540e+02] [ 6.64758320e-02 3.08026777e-03 9.97783281e-01 3.03507711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9471056809999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:212.84, Y:143.96, Z:30.36 [[ 4.68167065e-01 -8.83165710e-01 -2.89469703e-02 2.12838492e+02] [ 8.81134284e-01 4.69054199e-01 -5.99210430e-02 1.43960539e+02] [ 6.64979084e-02 2.54689090e-03 9.97783314e-01 3.03556678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9771056809999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:212.85, Y:143.98, Z:30.36 [[ 4.62939117e-01 -8.85906630e-01 -2.92714319e-02 2.12854478e+02] [ 8.83890275e-01 4.63860132e-01 -5.97642027e-02 1.43982743e+02] [ 6.65233537e-02 1.79445318e-03 9.97783255e-01 3.03592802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.0071056809999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:212.87, Y:144.01, Z:30.36 [[ 4.59512183e-01 -8.87694800e-01 -2.90946083e-02 2.12868043e+02] [ 8.85676629e-01 4.60429081e-01 -5.98495631e-02 1.44005695e+02] [ 6.65241497e-02 1.73318880e-03 9.97783310e-01 3.03624027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.0371056809999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:212.89, Y:144.03, Z:30.37 [[ 4.54608049e-01 -8.90214189e-01 -2.91585217e-02 2.12885245e+02] [ 8.88203073e-01 4.55540360e-01 -5.98187423e-02 1.44026833e+02] [ 6.65343766e-02 1.29539315e-03 9.97783292e-01 3.03672014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.06710568099993 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:212.90, Y:144.05, Z:30.37 [[ 4.50908779e-01 -8.92095316e-01 -2.91070574e-02 2.12897548e+02] [ 8.90086494e-01 4.51845980e-01 -5.98434859e-02 1.44052604e+02] [ 6.65380003e-02 1.07615446e-03 9.97783311e-01 3.03709932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.0971056809999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:212.91, Y:144.08, Z:30.37 [[ 4.52246911e-01 -8.91417065e-01 -2.91264093e-02 2.12912712e+02] [ 8.89407436e-01 4.53182395e-01 -5.98341864e-02 1.44081186e+02] [ 6.65367908e-02 1.15458100e-03 9.97783304e-01 3.03692483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.12710568099993 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:212.92, Y:144.10, Z:30.37 [[ 4.53754151e-01 -8.90627283e-01 -2.98364453e-02 2.12923703e+02] [ 8.88638015e-01 4.54733780e-01 -5.94951050e-02 1.44102823e+02] [ 6.65556033e-02 4.82351383e-04 9.97782601e-01 3.03689997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.1571056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:212.94, Y:144.13, Z:30.37 [[ 4.56114132e-01 -8.89445391e-01 -2.90997526e-02 2.12939061e+02] [ 8.87430975e-01 4.57039089e-01 -5.98459316e-02 1.44129215e+02] [ 6.65294124e-02 1.47255332e-03 9.97783378e-01 3.03718558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18710568099993 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:212.95, Y:144.15, Z:30.37 [[ 4.62108249e-01 -8.86335581e-01 -2.94143499e-02 2.12954105e+02] [ 8.84324413e-01 4.63040776e-01 -5.96956601e-02 1.44154240e+02] [ 6.65304310e-02 1.57402923e-03 9.97783155e-01 3.03729109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2171056809999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:212.97, Y:144.17, Z:30.37 [[ 4.70202917e-01 -8.82066634e-01 -2.94562481e-02 2.12970665e+02] [ 8.80048253e-01 4.71119823e-01 -5.96756559e-02 1.44165502e+02] [ 6.65153273e-02 2.13674778e-03 9.97783116e-01 3.03701955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24710568099994 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:212.99, Y:144.20, Z:30.37 [[ 4.71610787e-01 -8.81389592e-01 -2.71229211e-02 2.12986162e+02] [ 8.79303471e-01 4.72365455e-01 -6.07970627e-02 1.44200290e+02] [ 6.63978292e-02 4.82327192e-03 9.97781571e-01 3.03713898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2771056809999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:213.00, Y:144.23, Z:30.36 [[ 4.66599547e-01 -8.83976854e-01 -2.94921182e-02 2.12995336e+02] [ 8.81963506e-01 4.67527105e-01 -5.96555059e-02 1.44225216e+02] [ 6.65224511e-02 1.82426009e-03 9.97783261e-01 3.03587417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30710568099994 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:213.01, Y:144.25, Z:30.37 [[ 4.74451873e-01 -8.79808477e-01 -2.88524583e-02 2.13014021e+02] [ 8.77768259e-01 4.75318089e-01 -5.99633087e-02 1.44248551e+02] [ 6.64703226e-02 3.12393203e-03 9.97783512e-01 3.03731859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3371056809999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:213.03, Y:144.27, Z:30.38 [[ 4.74722319e-01 -8.79650069e-01 -2.92314149e-02 2.13029892e+02] [ 8.77620587e-01 4.75613634e-01 -5.97810749e-02 1.44272229e+02] [ 6.64892861e-02 2.72531901e-03 9.97783417e-01 3.03778074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36710568099994 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:213.04, Y:144.30, Z:30.38 [[ 4.75233215e-01 -8.79375745e-01 -2.91837392e-02 2.13044882e+02] [ 8.77344356e-01 4.76120117e-01 -5.98039752e-02 1.44296515e+02] [ 6.64851306e-02 2.81664651e-03 9.97783440e-01 3.03800160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3971056809999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:213.06, Y:144.32, Z:30.38 [[ 4.70507685e-01 -8.81905136e-01 -2.94253152e-02 2.13057299e+02] [ 8.79885681e-01 4.71421810e-01 -5.96880719e-02 1.44320432e+02] [ 6.65109525e-02 2.19278305e-03 9.97783286e-01 3.03833817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42710568099994 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:213.07, Y:144.35, Z:30.38 [[ 4.68087778e-01 -8.83202009e-01 -2.91211832e-02 2.13071354e+02] [ 8.81176042e-01 4.68986892e-01 -5.98337537e-02 1.44346372e+02] [ 6.65027446e-02 2.34655982e-03 9.97783483e-01 3.03838962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4571056809999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:213.09, Y:144.37, Z:30.38 [[ 4.60953050e-01 -8.86942933e-01 -2.92321710e-02 2.13086428e+02] [ 8.84927618e-01 4.61875941e-01 -5.97806537e-02 1.44369395e+02] [ 6.65236649e-02 1.68771917e-03 9.97783420e-01 3.03844773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48710568099995 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:213.10, Y:144.39, Z:30.39 [[ 4.55105977e-01 -8.89970793e-01 -2.88190444e-02 2.13102000e+02] [ 8.87949079e-01 4.56014337e-01 -5.99779805e-02 1.44393339e+02] [ 6.65205483e-02 1.70649351e-03 9.97783596e-01 3.03862897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5171056809999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:213.12, Y:144.42, Z:30.39 [[ 4.53098646e-01 -8.90994893e-01 -2.88048084e-02 2.13116285e+02] [ 8.88974802e-01 4.54010603e-01 -5.99847720e-02 1.44419951e+02] [ 6.65238140e-02 1.57227008e-03 9.97783599e-01 3.03873953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54710568099995 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:213.12, Y:144.44, Z:30.38 [[ 4.42044333e-01 -8.96523254e-01 -2.90321108e-02 2.13116854e+02] [ 8.94521665e-01 4.42996397e-01 -5.98763945e-02 1.44435316e+02] [ 6.65417005e-02 4.98168737e-04 9.97783521e-01 3.03763659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5771056809999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:213.14, Y:144.47, Z:30.39 [[ 4.45581010e-01 -8.94861543e-01 -2.60841504e-02 2.13138659e+02] [ 8.92770397e-01 4.46325779e-01 -6.12724805e-02 1.44467734e+02] [ 6.64724152e-02 4.01469640e-03 9.97780186e-01 3.03881428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60710568099995 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:213.14, Y:144.50, Z:30.37 [[ 4.32060159e-01 -9.01394084e-01 -2.85083277e-02 2.13144924e+02] [ 8.99386970e-01 4.32999530e-01 -6.01205962e-02 1.44498130e+02] [ 6.65364422e-02 3.35695916e-04 9.97783939e-01 3.03706852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.6371056809999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:213.16, Y:144.52, Z:30.39 [[ 4.38777560e-01 -8.98142020e-01 -2.85510993e-02 2.13161395e+02] [ 8.96129266e-01 4.39704783e-01 -6.01002773e-02 1.44517877e+02] [ 6.65326394e-02 7.85177356e-04 9.97783940e-01 3.03915379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66710568099995 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:213.18, Y:144.54, Z:30.40 [[ 4.34631988e-01 -9.00167662e-01 -2.81640601e-02 2.13178088e+02] [ 8.98147271e-01 4.35542603e-01 -6.02836696e-02 1.44543323e+02] [ 6.65320580e-02 9.05737460e-04 9.97783877e-01 3.03968181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.6971056809999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:213.19, Y:144.57, Z:30.40 [[ 4.28112074e-01 -9.03272008e-01 -2.86309733e-02 2.13190017e+02] [ 9.01272883e-01 4.29068377e-01 -6.00626271e-02 1.44570066e+02] [ 6.65375350e-02 -9.07839439e-05 9.97783919e-01 3.03968735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.7271056809999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:213.20, Y:144.59, Z:30.41 [[ 4.19638605e-01 -9.07237588e-01 -2.86949635e-02 2.13199107e+02] [ 9.05249563e-01 4.20617813e-01 -6.00323562e-02 1.44594959e+02] [ 6.65332228e-02 -7.84208951e-04 9.97783902e-01 3.04051663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.7571056809999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:213.21, Y:144.62, Z:30.41 [[ 4.14469615e-01 -9.09613147e-01 -2.86157565e-02 2.13207825e+02] [ 9.07628146e-01 4.15454891e-01 -6.00698156e-02 1.44620204e+02] [ 6.65288500e-02 -1.07535265e-03 9.97783922e-01 3.04075628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.7871056809999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:213.22, Y:144.65, Z:30.41 [[ 4.11136329e-01 -9.11133654e-01 -2.83263810e-02 2.13218533e+02] [ 9.09142844e-01 4.12109773e-01 -6.02065186e-02 1.44647003e+02] [ 6.65297638e-02 -9.99639569e-04 9.97783940e-01 3.04094557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81710568099993 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:213.23, Y:144.67, Z:30.41 [[ 4.07321035e-01 -9.12839072e-01 -2.85377425e-02 2.13226177e+02] [ 9.10859286e-01 4.08316721e-01 -6.01067182e-02 1.44672696e+02] [ 6.65201983e-02 -1.51113714e-03 9.97783934e-01 3.04114794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.8471056809999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:213.23, Y:144.70, Z:30.41 [[ 4.03909734e-01 -9.14359639e-01 -2.83439301e-02 2.13229041e+02] [ 9.12377183e-01 4.04900064e-01 -6.01981184e-02 1.44700210e+02] [ 6.65191889e-02 -1.54574912e-03 9.97783949e-01 3.04118837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87710568099993 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:213.24, Y:144.73, Z:30.41 [[ 4.03676031e-01 -9.14474421e-01 -2.79677507e-02 2.13236549e+02] [ 9.12479907e-01 4.04642083e-01 -6.03755195e-02 1.44727009e+02] [ 6.65287971e-02 -1.14786045e-03 9.97783845e-01 3.04119481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.9071056809999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:213.25, Y:144.75, Z:30.42 [[ 4.04943431e-01 -9.13917251e-01 -2.78581563e-02 2.13246506e+02] [ 9.11917859e-01 4.05899476e-01 -6.04270953e-02 1.44754713e+02] [ 6.65329759e-02 -9.34794922e-04 9.97783789e-01 3.04198888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93710568099993 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:213.27, Y:144.78, Z:30.41 [[ 4.21384464e-01 -9.06440376e-01 -2.83015584e-02 2.13267402e+02] [ 9.04437911e-01 4.22333749e-01 -6.02185168e-02 1.44777108e+02] [ 6.65371983e-02 -2.21854959e-04 9.97783921e-01 3.04100664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.9671056809999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:213.26, Y:144.81, Z:30.43 [[ 4.08540686e-01 -9.12301398e-01 -2.82960752e-02 2.13256675e+02] [ 9.10312362e-01 4.09517795e-01 -6.02210932e-02 1.44813062e+02] [ 6.65275338e-02 -1.15550033e-03 9.97783921e-01 3.04270420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99710568099994 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:213.26, Y:144.84, Z:30.42 [[ 4.08864696e-01 -9.12148617e-01 -2.85405093e-02 2.13262854e+02] [ 9.10167179e-01 4.09857215e-01 -6.01063142e-02 1.44838667e+02] [ 6.65234250e-02 -1.40128493e-03 9.97783880e-01 3.04235150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0271056809999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:213.26, Y:144.87, Z:30.42 [[ 4.09186889e-01 -9.12018987e-01 -2.80616790e-02 2.13262052e+02] [ 9.10021695e-01 4.10147103e-01 -6.03313329e-02 1.44869709e+02] [ 6.65327374e-02 -8.49946280e-04 9.97783881e-01 3.04236386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05710568099994 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:213.25, Y:144.89, Z:30.40 [[ 3.99359014e-01 -9.16366007e-01 -2.80306797e-02 2.13254576e+02] [ 9.14378136e-01 4.00338604e-01 -6.03458951e-02 1.44885275e+02] [ 6.65206901e-02 -1.53096350e-03 9.97783871e-01 3.03973975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0871056809999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:213.27, Y:144.92, Z:30.42 [[ 4.12148976e-01 -9.10805197e-01 -2.38141818e-02 2.13273919e+02] [ 9.08680267e-01 4.12816615e-01 -6.23106329e-02 1.44924453e+02] [ 6.65837381e-02 4.04178644e-03 9.97772654e-01 3.04231022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11710568099994 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:213.28, Y:144.95, Z:30.43 [[ 4.12955642e-01 -9.10310996e-01 -2.83112796e-02 2.13278689e+02] [ 9.08318630e-01 4.13924098e-01 -6.02005622e-02 1.44952398e+02] [ 6.65199546e-02 -8.55500909e-04 9.97784728e-01 3.04259617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1471056809999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:213.29, Y:144.98, Z:30.43 [[ 4.13535871e-01 -9.10051089e-01 -2.81974979e-02 2.13286555e+02] [ 9.08054470e-01 4.14495528e-01 -6.02539413e-02 1.44978674e+02] [ 6.65219016e-02 -6.87697925e-04 9.97784728e-01 3.04269410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17710568099994 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:213.29, Y:145.01, Z:30.43 [[ 4.16066247e-01 -9.08905473e-01 -2.79234649e-02 2.13292143e+02] [ 9.06897552e-01 4.17002160e-01 -6.03823638e-02 1.45008038e+02] [ 6.65260061e-02 -2.00658520e-04 9.97784671e-01 3.04317902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.2071056809999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:213.30, Y:145.03, Z:30.43 [[ 4.17830727e-01 -9.08088693e-01 -2.81497512e-02 2.13303806e+02] [ 9.06086054e-01 4.18777772e-01 -6.02763740e-02 1.45033280e+02] [ 6.65247838e-02 -3.20775828e-04 9.97784721e-01 3.04279303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23710568099995 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:213.31, Y:145.06, Z:30.44 [[ 4.23052362e-01 -9.05666165e-01 -2.82045655e-02 2.13306826e+02] [ 9.03659810e-01 4.23991508e-01 -6.02507144e-02 1.45060540e+02] [ 6.65255297e-02 1.87471987e-06 9.97784723e-01 3.04390925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.2671056809999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:213.33, Y:145.08, Z:30.42 [[ 4.38303073e-01 -8.98385421e-01 -2.81789123e-02 2.13328533e+02] [ 8.96362708e-01 4.39206445e-01 -6.02627111e-02 1.45082182e+02] [ 6.65155009e-02 1.15480530e-03 9.97784724e-01 3.04230912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29710568099995 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:213.32, Y:145.12, Z:30.44 [[ 4.37048144e-01 -8.98997251e-01 -2.81578135e-02 2.13319820e+02] [ 8.96975168e-01 4.37952926e-01 -6.02725679e-02 1.45115733e+02] [ 6.65166696e-02 1.08515446e-03 9.97784724e-01 3.04432913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.3271056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:213.33, Y:145.14, Z:30.45 [[ 4.45124895e-01 -8.95026690e-01 -2.81256503e-02 2.13329954e+02] [ 8.92995599e-01 4.46009269e-01 -6.02875782e-02 1.45141985e+02] [ 6.65032923e-02 1.71941996e-03 9.97784724e-01 3.04453968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35710568099995 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:213.35, Y:145.16, Z:30.42 [[ 4.58919425e-01 -8.88031055e-01 -2.81745605e-02 2.13353506e+02] [ 8.85987908e-01 4.59775581e-01 -6.02647650e-02 1.45159773e+02] [ 6.64709577e-02 2.69435141e-03 9.97784722e-01 3.04243074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.3871056809999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:213.35, Y:145.19, Z:30.45 [[ 4.48139616e-01 -8.93540621e-01 -2.74962490e-02 2.13347408e+02] [ 8.91488490e-01 4.48974620e-01 -6.05810423e-02 1.45194284e+02] [ 6.64767401e-02 2.63617548e-03 9.97784493e-01 3.04536793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41710568099995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:213.36, Y:145.22, Z:30.46 [[ 4.47749730e-01 -8.93711188e-01 -2.82929611e-02 2.13359253e+02] [ 8.91682376e-01 4.48639407e-01 -6.02098230e-02 1.45220176e+02] [ 6.65035297e-02 1.73059718e-03 9.97784689e-01 3.04557015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4471056809999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:213.37, Y:145.25, Z:30.44 [[ 4.39964234e-01 -8.97570257e-01 -2.82684695e-02 2.13365481e+02] [ 8.95548526e-01 4.40869870e-01 -6.02212237e-02 1.45247415e+02] [ 6.65154957e-02 1.17939829e-03 9.97784695e-01 3.04404117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4771056809999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:213.38, Y:145.27, Z:30.44 [[ 4.41288295e-01 -8.96926863e-01 -2.80507448e-02 2.13378661e+02] [ 8.94897367e-01 4.42176324e-01 -6.03224707e-02 1.45271955e+02] [ 6.65082196e-02 1.51706256e-03 9.97784724e-01 3.04431636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.5071056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:213.40, Y:145.29, Z:30.44 [[ 4.56233764e-01 -8.89418467e-01 -2.80275569e-02 2.13404615e+02] [ 8.87373742e-01 4.57086142e-01 -6.03332425e-02 1.45290113e+02] [ 6.64725079e-02 2.65514431e-03 9.97784724e-01 3.04416660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.5371056809999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:213.41, Y:145.32, Z:30.43 [[ 4.52094472e-01 -8.91530330e-01 -2.80046324e-02 2.13410177e+02] [ 8.89488937e-01 4.52954796e-01 -6.03438814e-02 1.45319087e+02] [ 6.64832331e-02 2.37132448e-03 9.97784725e-01 3.04337455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.56710568099993 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:213.42, Y:145.34, Z:30.45 [[ 4.51484338e-01 -8.91839916e-01 -2.79903005e-02 2.13417891e+02] [ 8.89798703e-01 4.52345091e-01 -6.03505285e-02 1.45338954e+02] [ 6.64842853e-02 2.34158536e-03 9.97784725e-01 3.04517705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.5971056809999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:213.43, Y:145.37, Z:30.44 [[ 4.41932073e-01 -8.96643244e-01 -2.69617623e-02 2.13432826e+02] [ 8.94581938e-01 4.42745148e-01 -6.08267193e-02 1.45369663e+02] [ 6.64770564e-02 2.76177256e-03 9.97784132e-01 3.04371247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.62710568099993 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:213.46, Y:145.38, Z:30.46 [[ 4.50679355e-01 -8.92247728e-01 -2.79662618e-02 2.13458825e+02] [ 8.90206627e-01 4.51540327e-01 -6.03613657e-02 1.45381602e+02] [ 6.64851863e-02 2.30786974e-03 9.97784743e-01 3.04609582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.6571056809999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:213.46, Y:145.41, Z:30.43 [[ 4.31745258e-01 -9.01584187e-01 -2.72394110e-02 2.13461256e+02] [ 8.99540274e-01 4.32600338e-01 -6.06979650e-02 1.45410856e+02] [ 6.65081038e-02 1.70311136e-03 9.97784431e-01 3.04348473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68710568099993 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:213.49, Y:145.43, Z:30.46 [[ 4.44612470e-01 -8.95323685e-01 -2.67441686e-02 2.13494933e+02] [ 8.93253952e-01 4.45404604e-01 -6.09271357e-02 1.45429612e+02] [ 6.64614835e-02 3.19962998e-03 9.97783861e-01 3.04559239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7171056809999 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:213.50, Y:145.45, Z:30.47 [[ 4.38174752e-01 -8.98454641e-01 -2.79668582e-02 2.13502063e+02] [ 8.96425807e-01 4.39064185e-01 -6.03606948e-02 1.45454796e+02] [ 6.65105921e-02 1.37831901e-03 9.97784767e-01 3.04697176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74710568099994 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:213.52, Y:145.48, Z:30.47 [[ 4.34823312e-01 -9.00083166e-01 -2.79102548e-02 2.13518630e+02] [ 8.98055984e-01 4.35716504e-01 -6.03869054e-02 1.45478456e+02] [ 6.65141956e-02 1.19266284e-03 9.97784766e-01 3.04706226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7771056809999 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:213.54, Y:145.50, Z:30.47 [[ 4.32433628e-01 -9.01231628e-01 -2.79769513e-02 2.13535252e+02] [ 8.99208811e-01 4.33336663e-01 -6.03560395e-02 1.45502450e+02] [ 6.65182104e-02 9.42860047e-04 9.97784766e-01 3.04720396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80710568099994 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:213.55, Y:145.53, Z:30.47 [[ 4.30521401e-01 -9.02145886e-01 -2.80022051e-02 2.13547441e+02] [ 9.00125745e-01 4.31430413e-01 -6.03443577e-02 1.45527132e+02] [ 6.65204170e-02 7.74031719e-04 9.97784764e-01 3.04738218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8371056809999 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:213.56, Y:145.55, Z:30.47 [[ 4.28673720e-01 -9.03027545e-01 -2.79301918e-02 2.13559210e+02] [ 9.01007103e-01 4.29582052e-01 -6.03776437e-02 1.45554167e+02] [ 6.65209844e-02 7.17007941e-04 9.97784769e-01 3.04734612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86710568099994 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:213.57, Y:145.58, Z:30.47 [[ 4.25834535e-01 -9.04367831e-01 -2.79959783e-02 2.13570148e+02] [ 9.02352244e-01 4.26753601e-01 -6.03472543e-02 1.45579419e+02] [ 6.65235001e-02 4.35711123e-04 9.97784763e-01 3.04738537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8971056809999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:213.58, Y:145.60, Z:30.47 [[ 4.23343968e-01 -9.05540790e-01 -2.78525113e-02 2.13582760e+02] [ 9.03523384e-01 4.24259012e-01 -6.04134578e-02 1.45599342e+02] [ 6.65235293e-02 4.10277676e-04 9.97784772e-01 3.04732969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92710568099994 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:213.60, Y:145.63, Z:30.48 [[ 4.22499171e-01 -9.05958619e-01 -2.70819416e-02 2.13595222e+02] [ 9.03919055e-01 4.23364564e-01 -6.07683134e-02 1.45628062e+02] [ 6.65191116e-02 1.19467897e-03 9.97784436e-01 3.04798981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9571056809999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:213.62, Y:145.66, Z:30.47 [[ 4.27637301e-01 -9.03518184e-01 -2.79504950e-02 2.13615098e+02] [ 9.01499399e-01 4.28549308e-01 -6.03682424e-02 1.45660236e+02] [ 6.65219700e-02 6.18357862e-04 9.97784769e-01 3.04741080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98710568099995 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:213.62, Y:145.68, Z:30.49 [[ 4.23647390e-01 -9.05335339e-01 -2.98464804e-02 2.13619278e+02] [ 9.03380170e-01 4.24693808e-01 -5.94931700e-02 1.45679196e+02] [ 6.65368847e-02 -1.75859241e-03 9.97782416e-01 3.04859257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0171056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:213.64, Y:145.71, Z:30.48 [[ 4.38013249e-01 -8.98525845e-01 -2.82081444e-02 2.13637754e+02] [ 8.96504421e-01 4.38919235e-01 -6.02472207e-02 1.45705467e+02] [ 6.65147821e-02 1.10035479e-03 9.97784833e-01 3.04775816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04710568099995 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:213.64, Y:145.73, Z:30.49 [[ 4.33720693e-01 -9.00591919e-01 -2.86453339e-02 2.13640366e+02] [ 8.98587944e-01 4.34665507e-01 -6.00466886e-02 1.45730738e+02] [ 6.65287012e-02 3.03139701e-04 9.97784466e-01 3.04947278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0771056809999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:213.65, Y:145.76, Z:30.50 [[ 4.34996536e-01 -9.00001261e-01 -2.78521742e-02 2.13651994e+02] [ 8.97972469e-01 4.35885448e-01 -6.04096215e-02 1.45755734e+02] [ 6.65090929e-02 1.26749050e-03 9.97785014e-01 3.04973751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10710568099995 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:213.67, Y:145.78, Z:30.50 [[ 4.36220406e-01 -8.99411714e-01 -2.77547662e-02 2.13666045e+02] [ 8.97378889e-01 4.37100016e-01 -6.04541560e-02 1.45781844e+02] [ 6.65047848e-02 1.46479515e-03 9.97785031e-01 3.04995168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.1371056809999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:213.68, Y:145.81, Z:30.50 [[ 4.35369348e-01 -8.99816529e-01 -2.79954534e-02 2.13676434e+02] [ 8.97791546e-01 4.36267028e-01 -6.03441834e-02 1.45806482e+02] [ 6.65121869e-02 1.13792642e-03 9.97784964e-01 3.05018361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16710568099995 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:213.69, Y:145.83, Z:30.50 [[ 4.36916771e-01 -8.99074930e-01 -2.77129079e-02 2.13691301e+02] [ 8.97040232e-01 4.37791994e-01 -6.04730676e-02 1.45830617e+02] [ 6.65023082e-02 1.56210409e-03 9.97785048e-01 3.05011947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.1971056809999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:213.71, Y:145.85, Z:30.48 [[ 4.52802343e-01 -8.91179959e-01 -2.77185754e-02 2.13711467e+02] [ 8.89130206e-01 4.53641705e-01 -6.04704850e-02 1.45853622e+02] [ 6.64643862e-02 2.73575465e-03 9.97785048e-01 3.04842434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.2271056809999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:213.71, Y:145.88, Z:30.50 [[ 4.43001911e-01 -8.96097086e-01 -2.75557505e-02 2.13712947e+02] [ 8.94052076e-01 4.43852721e-01 -6.05445929e-02 1.45883083e+02] [ 6.64845281e-02 2.18509448e-03 9.97785063e-01 3.05003563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.2571056809999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:213.73, Y:145.91, Z:30.50 [[ 4.44431656e-01 -8.95376768e-01 -2.79454182e-02 2.13725437e+02] [ 8.93341392e-01 4.45305477e-01 -6.03671216e-02 1.45908660e+02] [ 6.64955660e-02 1.86426098e-03 9.97784979e-01 3.05028705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.2871056809999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:213.74, Y:145.93, Z:30.51 [[ 4.45304741e-01 -8.94944556e-01 -2.78913710e-02 2.13738798e+02] [ 8.92906803e-01 4.46172935e-01 -6.03916735e-02 1.45933943e+02] [ 6.64915743e-02 1.98830363e-03 9.97785006e-01 3.05061935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31710568099993 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:213.75, Y:145.96, Z:30.51 [[ 4.46355435e-01 -8.94418133e-01 -2.79826670e-02 2.13753434e+02] [ 8.92381931e-01 4.47227389e-01 -6.03502447e-02 1.45957824e+02] [ 6.64929683e-02 1.96643335e-03 9.97784956e-01 3.05068510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.3471056809999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:213.77, Y:145.98, Z:30.51 [[ 4.45927174e-01 -8.94634891e-01 -2.78812959e-02 2.13765910e+02] [ 8.92596253e-01 4.46793271e-01 -6.03962102e-02 1.45982384e+02] [ 6.64897324e-02 2.04557111e-03 9.97785013e-01 3.05083459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37710568099993 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:213.78, Y:146.01, Z:30.51 [[ 4.46888381e-01 -8.94159604e-01 -2.77376744e-02 2.13784695e+02] [ 8.92116022e-01 4.47742595e-01 -6.04613273e-02 1.46007494e+02] [ 6.64814148e-02 2.27424088e-03 9.97785072e-01 3.05068149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.4071056809999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:213.80, Y:146.03, Z:30.51 [[ 4.47276245e-01 -8.93938772e-01 -2.85907748e-02 2.13800340e+02] [ 8.91918969e-01 4.48187011e-01 -6.00745915e-02 1.46032050e+02] [ 6.65170205e-02 1.36928329e-03 9.97784351e-01 3.05084088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43710568099993 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:213.81, Y:146.06, Z:30.49 [[ 4.35770815e-01 -8.99607793e-01 -2.84537516e-02 2.13808779e+02] [ 8.97595796e-01 4.36698266e-01 -6.01365997e-02 1.46056224e+02] [ 6.65250577e-02 6.65807212e-04 9.97784533e-01 3.04892255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.4671056809999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:213.83, Y:146.08, Z:30.50 [[ 4.48539681e-01 -8.93344388e-01 -2.73488591e-02 2.13834150e+02] [ 8.91288703e-01 4.49363822e-01 -6.06350048e-02 1.46079853e+02] [ 6.64575291e-02 2.82147652e-03 9.97785266e-01 3.05026216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49710568099994 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:213.84, Y:146.11, Z:30.50 [[ 4.27805997e-01 -9.03429249e-01 -2.82421772e-02 2.13843843e+02] [ 9.01419339e-01 4.28737094e-01 -6.02302247e-02 1.46110645e+02] [ 6.65222157e-02 3.08806631e-04 9.97784896e-01 3.04988354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5271056809999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:213.87, Y:146.12, Z:30.52 [[ 4.38130988e-01 -8.98439247e-01 -2.91231441e-02 2.13869464e+02] [ 8.96444859e-01 4.39097835e-01 -5.98306370e-02 1.46123379e+02] [ 6.65421020e-02 1.06363311e-04 9.97783613e-01 3.05236762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55710568099994 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:213.88, Y:146.15, Z:30.52 [[ 4.35634238e-01 -8.99682994e-01 -2.81659492e-02 2.13882196e+02] [ 8.97662937e-01 4.36542747e-01 -6.02634255e-02 1.46147316e+02] [ 6.65136199e-02 9.69282749e-04 9.97785046e-01 3.05214866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5871056809999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:213.90, Y:146.17, Z:30.53 [[ 4.28105560e-01 -9.03304932e-01 -2.76736144e-02 2.13899124e+02] [ 9.01278106e-01 4.28998009e-01 -6.04854095e-02 1.46171868e+02] [ 6.65086943e-02 9.52517328e-04 9.97785391e-01 3.05291572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61710568099994 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:213.92, Y:146.19, Z:30.52 [[ 4.35045248e-01 -8.99973261e-01 -2.79957419e-02 2.13923090e+02] [ 8.97948863e-01 4.35943681e-01 -6.03402536e-02 1.46190223e+02] [ 6.65091816e-02 1.11199600e-03 9.97785193e-01 3.05181044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6471056809999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:213.93, Y:146.22, Z:30.53 [[ 4.16273980e-01 -9.08829913e-01 -2.72793654e-02 2.13929913e+02] [ 9.06803256e-01 4.17166543e-01 -6.06624244e-02 1.46218687e+02] [ 6.65118644e-02 5.15171504e-04 9.97785501e-01 3.05341884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67710568099994 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:213.94, Y:146.25, Z:30.53 [[ 4.12308684e-01 -9.10618442e-01 -2.78496493e-02 2.13942994e+02] [ 9.08612794e-01 4.13247983e-01 -6.04060861e-02 1.46245509e+02] [ 6.65157073e-02 -3.98593791e-04 9.97785298e-01 3.05337704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7071056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:213.95, Y:146.27, Z:30.54 [[ 4.07045369e-01 -9.12973320e-01 -2.81741684e-02 2.13953870e+02] [ 9.10983079e-01 4.08017675e-01 -6.02611558e-02 1.46269113e+02] [ 6.65123862e-02 -1.13716629e-03 9.97784951e-01 3.05357568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73710568099995 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:213.96, Y:146.29, Z:30.54 [[ 4.07022349e-01 -9.12999830e-01 -2.76426915e-02 2.13964570e+02] [ 9.10993410e-01 4.07959556e-01 -6.04979980e-02 1.46293808e+02] [ 6.65117620e-02 -5.58272556e-04 9.97785485e-01 3.05391683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7671056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:213.98, Y:146.32, Z:30.54 [[ 4.08818247e-01 -9.12207087e-01 -2.73106505e-02 2.13975826e+02] [ 9.10188917e-01 4.09729455e-01 -6.06457658e-02 1.46319388e+02] [ 6.65114753e-02 -6.47558197e-05 9.97785658e-01 3.05417773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79710568099995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:213.99, Y:146.34, Z:30.55 [[ 4.14520712e-01 -9.09627074e-01 -2.74073862e-02 2.13987065e+02] [ 9.07606071e-01 4.15425715e-01 -6.06027611e-02 1.46343477e+02] [ 6.65116453e-02 2.45989544e-04 9.97785619e-01 3.05456843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.8271056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:214.00, Y:146.37, Z:30.55 [[ 4.20062566e-01 -9.07085842e-01 -2.72528178e-02 2.14001005e+02] [ 9.05054903e-01 4.20944892e-01 -6.06714211e-02 1.46368903e+02] [ 6.65061216e-02 8.20496521e-04 9.97785680e-01 3.05465051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85710568099995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:214.01, Y:146.39, Z:30.54 [[ 4.25648583e-01 -9.04471898e-01 -2.74566752e-02 2.14009903e+02] [ 9.02441345e-01 4.26532026e-01 -6.05809343e-02 1.46394927e+02] [ 6.65049039e-02 1.00814992e-03 9.97785589e-01 3.05443556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.8871056809999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:214.02, Y:146.42, Z:30.55 [[ 4.30573742e-01 -9.02148831e-01 -2.70876022e-02 2.14022843e+02] [ 9.00103202e-01 4.31421304e-01 -6.07444239e-02 1.46420262e+02] [ 6.64866797e-02 1.77331650e-03 9.97785737e-01 3.05464593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91710568099995 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:214.03, Y:146.45, Z:30.55 [[ 4.33528844e-01 -9.00718354e-01 -2.75533673e-02 2.14032490e+02] [ 8.98682878e-01 4.34401021e-01 -6.05379029e-02 1.46445836e+02] [ 6.64968112e-02 1.48318767e-03 9.97785535e-01 3.05484415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9471056809999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:214.04, Y:146.47, Z:30.55 [[ 4.34029382e-01 -9.00477416e-01 -2.75484969e-02 2.14044902e+02] [ 8.98441319e-01 4.34900100e-01 -6.05400676e-02 1.46469239e+02] [ 6.64958077e-02 1.52546025e-03 9.97785538e-01 3.05533747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9771056809999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:214.06, Y:146.49, Z:30.56 [[ 4.30481467e-01 -9.02182324e-01 -2.74364746e-02 2.14057272e+02] [ 9.00146513e-01 4.31352678e-01 -6.05897950e-02 1.46492538e+02] [ 6.64978389e-02 1.38593691e-03 9.97785607e-01 3.05569722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.0071056809999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:214.07, Y:146.52, Z:30.56 [[ 4.25432276e-01 -9.04575295e-01 -2.74028201e-02 2.14068735e+02] [ 9.02543427e-01 4.26312599e-01 -6.06047030e-02 1.46517488e+02] [ 6.65036845e-02 1.05096161e-03 9.97785626e-01 3.05578164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.0371056809999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:214.08, Y:146.54, Z:30.56 [[ 4.21527080e-01 -9.06405977e-01 -2.72603518e-02 2.14079580e+02] [ 9.04373865e-01 4.22406629e-01 -6.06675506e-02 1.46543494e+02] [ 6.65043838e-02 9.19465670e-04 9.97785709e-01 3.05573924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.06710568099993 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:214.09, Y:146.57, Z:30.56 [[ 4.18781044e-01 -9.07681301e-01 -2.71494781e-02 2.14089638e+02] [ 9.05648698e-01 4.19659329e-01 -6.07164181e-02 1.46568237e+02] [ 6.65046892e-02 8.38995475e-04 9.97785760e-01 3.05579827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.0971056809999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:214.10, Y:146.59, Z:30.56 [[ 4.16894230e-01 -9.08552808e-01 -2.70369332e-02 2.14100251e+02] [ 9.06518822e-01 4.17769214e-01 -6.07660195e-02 1.46592820e+02] [ 6.65043360e-02 8.23514006e-04 9.97785796e-01 3.05580429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.12710568099993 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:214.11, Y:146.62, Z:30.56 [[ 4.15901927e-01 -9.09008684e-01 -2.69962779e-02 2.14110669e+02] [ 9.06974499e-01 4.16776414e-01 -6.07838746e-02 1.46619257e+02] [ 6.65044818e-02 7.95195008e-04 9.97785809e-01 3.05569409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.1571056809999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:214.12, Y:146.64, Z:30.56 [[ 4.14329334e-01 -9.09726702e-01 -2.69912901e-02 2.14120378e+02] [ 9.07693890e-01 4.15207005e-01 -6.07860621e-02 1.46644438e+02] [ 6.65056765e-02 6.85619541e-04 9.97785811e-01 3.05591961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18710568099993 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:214.13, Y:146.67, Z:30.56 [[ 4.10704508e-01 -9.11367563e-01 -2.70365002e-02 2.14130044e+02] [ 9.09339563e-01 4.11593279e-01 -6.07662043e-02 1.46670298e+02] [ 6.65083893e-02 3.71594795e-04 9.97785797e-01 3.05592958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2171056809999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:214.14, Y:146.69, Z:30.56 [[ 4.05694612e-01 -9.13606069e-01 -2.71262365e-02 2.14136953e+02] [ 9.11585598e-01 4.06600471e-01 -6.07268801e-02 1.46694749e+02] [ 6.65099867e-02 -9.13184108e-05 9.97785755e-01 3.05588508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24710568099994 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:214.15, Y:146.72, Z:30.56 [[ 4.02812202e-01 -9.14895293e-01 -2.66258087e-02 2.14149792e+02] [ 9.12863115e-01 4.03691150e-01 -6.09457924e-02 1.46720054e+02] [ 6.65076219e-02 2.43990196e-04 9.97785887e-01 3.05618266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2771056809999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:214.16, Y:146.74, Z:30.56 [[ 3.92752277e-01 -9.19253366e-01 -2.68122690e-02 2.14158510e+02] [ 9.17236474e-01 3.93665816e-01 -6.08644068e-02 1.46744522e+02] [ 6.65048846e-02 -6.88556656e-04 9.97785862e-01 3.05626651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30710568099994 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:214.17, Y:146.77, Z:30.56 [[ 3.92390738e-01 -9.19417970e-01 -2.64594873e-02 2.14168910e+02] [ 9.17391021e-01 3.93281688e-01 -6.10182551e-02 1.46769112e+02] [ 6.65073121e-02 -3.30697940e-04 9.97785883e-01 3.05643456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3371056809999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:214.18, Y:146.80, Z:30.57 [[ 3.87000656e-01 -9.21699798e-01 -2.64570186e-02 2.14183146e+02] [ 9.19678028e-01 3.87903296e-01 -6.10193311e-02 1.46797171e+02] [ 6.65042699e-02 -7.17417560e-04 9.97785883e-01 3.05673106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36710568099994 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:214.19, Y:146.82, Z:30.57 [[ 3.84288924e-01 -9.22811844e-01 -2.72088951e-02 2.14189235e+02] [ 9.20815587e-01 3.85247067e-01 -6.06906335e-02 1.46823606e+02] [ 6.64881824e-02 -1.73163642e-03 9.97785710e-01 3.05683713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3971056809999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:214.20, Y:146.85, Z:30.57 [[ 3.84246810e-01 -9.22832023e-01 -2.71191288e-02 2.14197431e+02] [ 9.20833048e-01 3.85199142e-01 -6.07298836e-02 1.46848608e+02] [ 6.64897465e-02 -1.63692599e-03 9.97785766e-01 3.05700708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42710568099994 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:214.20, Y:146.87, Z:30.57 [[ 3.84541029e-01 -9.22709155e-01 -2.71295571e-02 2.14204582e+02] [ 9.20710197e-01 3.85493410e-01 -6.07253246e-02 1.46874718e+02] [ 6.64900784e-02 -1.62708104e-03 9.97785760e-01 3.05723288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4571056809999 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:214.21, Y:146.90, Z:30.57 [[ 3.87764091e-01 -9.21365801e-01 -2.69085688e-02 2.14207576e+02] [ 9.19356839e-01 3.88694906e-01 -6.08216430e-02 1.46900006e+02] [ 6.64982054e-02 -1.15412762e-03 9.97785877e-01 3.05744308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48710568099995 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:214.22, Y:146.93, Z:30.58 [[ 3.96217288e-01 -9.17783684e-01 -2.61719435e-02 2.14217219e+02] [ 9.15744808e-01 3.97080650e-01 -6.11424872e-02 1.46930299e+02] [ 6.65079495e-02 2.58889076e-04 9.97785862e-01 3.05810342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5171056809999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:214.23, Y:146.95, Z:30.58 [[ 4.02150995e-01 -9.15169135e-01 -2.72035199e-02 2.14225036e+02] [ 9.13154562e-01 4.03069803e-01 -6.06916836e-02 1.46952665e+02] [ 6.65080730e-02 -4.33797294e-04 9.97785793e-01 3.05799234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54710568099995 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:214.22, Y:146.98, Z:30.59 [[ 4.06775659e-01 -9.13140928e-01 -2.65933941e-02 2.14223181e+02] [ 9.11104173e-01 4.07643624e-01 -6.09578723e-02 1.46983505e+02] [ 6.65037556e-02 5.66826404e-04 9.97786014e-01 3.05878079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5771056809999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:214.23, Y:147.01, Z:30.59 [[ 4.11117025e-01 -9.11190902e-01 -2.67194999e-02 2.14232596e+02] [ 9.09153592e-01 4.11983717e-01 -6.09029006e-02 1.47010660e+02] [ 6.65021679e-02 7.46090016e-04 9.97786002e-01 3.05906924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60710568099995 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:214.23, Y:147.04, Z:30.59 [[ 4.15141457e-01 -9.09348162e-01 -2.72670199e-02 2.14234060e+02] [ 9.07322507e-01 4.16035723e-01 -6.06642075e-02 1.47037005e+02] [ 6.65089399e-02 4.44246689e-04 9.97785730e-01 3.05942926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.6371056809999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:214.24, Y:147.06, Z:30.59 [[ 4.14598955e-01 -9.09608904e-01 -2.68206542e-02 2.14238228e+02] [ 9.07571162e-01 4.15464618e-01 -6.08583324e-02 1.47063360e+02] [ 6.65003139e-02 8.90148746e-04 9.97786007e-01 3.05889964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66710568099995 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:214.26, Y:147.08, Z:30.57 [[ 4.31169287e-01 -9.01882054e-01 -2.64916410e-02 2.14261764e+02] [ 8.99820072e-01 4.31975334e-01 -6.10012211e-02 1.47084769e+02] [ 6.64596420e-02 2.46414274e-03 9.97786071e-01 3.05727661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.6971056809999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:214.25, Y:147.12, Z:30.58 [[ 4.11963637e-01 -9.10815848e-01 -2.64660688e-02 2.14250148e+02] [ 9.08770697e-01 4.12811479e-01 -6.10123139e-02 1.47118046e+02] [ 6.64964794e-02 1.08326689e-03 9.97786072e-01 3.05843184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.7271056809999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:214.27, Y:147.14, Z:30.60 [[ 4.16812600e-01 -9.08607806e-01 -2.64407064e-02 2.14265839e+02] [ 9.06557471e-01 4.17647828e-01 -6.10233032e-02 1.47143036e+02] [ 6.64891532e-02 1.46526175e-03 9.97786072e-01 3.05997847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.7571056809999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:214.29, Y:147.16, Z:30.58 [[ 4.26405554e-01 -9.04125824e-01 -2.71071612e-02 2.14285568e+02] [ 9.02084767e-01 4.27263862e-01 -6.07343797e-02 1.47162569e+02] [ 6.64934315e-02 1.44451963e-03 9.97785817e-01 3.05804336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.7871056809999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:214.29, Y:147.19, Z:30.60 [[ 4.19799956e-01 -9.07232706e-01 -2.63972589e-02 2.14287482e+02] [ 9.05178505e-01 4.20625513e-01 -6.10413975e-02 1.47190955e+02] [ 6.64821128e-02 1.73094459e-03 9.97786116e-01 3.05983847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81710568099993 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:214.30, Y:147.22, Z:30.60 [[ 4.14342914e-01 -9.09738735e-01 -2.63701276e-02 2.14297479e+02] [ 9.07688788e-01 4.15178975e-01 -6.10531162e-02 1.47219915e+02] [ 6.64907072e-02 1.36105695e-03 9.97786116e-01 3.05957791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.8471056809999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:214.31, Y:147.24, Z:30.60 [[ 4.10566470e-01 -9.11425169e-01 -2.71907006e-02 2.14308702e+02] [ 9.09401768e-01 4.11465823e-01 -6.06984420e-02 1.47244235e+02] [ 6.65101317e-02 1.93473856e-04 9.97785731e-01 3.05972701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87710568099993 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:214.32, Y:147.27, Z:30.60 [[ 4.12350704e-01 -9.10634854e-01 -2.66656958e-02 2.14323742e+02] [ 9.08595012e-01 4.13211040e-01 -6.09240533e-02 1.47270559e+02] [ 6.64981263e-02 8.93758115e-04 9.97786150e-01 3.06019616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.9071056809999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:214.33, Y:147.30, Z:30.60 [[ 4.13243082e-01 -9.10220013e-01 -2.70126411e-02 2.14334237e+02] [ 9.08189004e-01 4.14124605e-01 -6.07745387e-02 1.47296491e+02] [ 6.65048007e-02 5.82074022e-04 9.97785935e-01 3.05977617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93710568099993 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:214.34, Y:147.32, Z:30.60 [[ 4.14840497e-01 -9.09477453e-01 -2.75340505e-02 2.14344218e+02] [ 9.07459714e-01 4.15753226e-01 -6.05485236e-02 1.47319084e+02] [ 6.65148874e-02 1.31938046e-04 9.97785424e-01 3.06004448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.9671056809999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:214.36, Y:147.34, Z:30.60 [[ 4.19260764e-01 -9.07462824e-01 -2.70487325e-02 2.14360250e+02] [ 9.05427053e-01 4.20131237e-01 -6.07584982e-02 1.47337866e+02] [ 6.65000958e-02 9.83000229e-04 9.97785934e-01 3.05991593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99710568099994 meters Centerline goodness : 0.982128 Centerline is valid? [True, True] Translation: X:213.94, Y:147.55, Z:30.83 [[ 3.02483921e-01 9.52789941e-01 2.63591851e-02 2.13943945e+02] [ 9.50854514e-01 -3.03558614e-01 6.10562100e-02 1.47547538e+02] [ 6.61753004e-02 6.59522841e-03 -9.97786216e-01 3.08346850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0271056809999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:214.37, Y:147.48, Z:30.62 [[ 3.54985045e-01 -9.34764909e-01 -1.41486106e-02 2.14373980e+02] [ 9.32526605e-01 3.55125273e-01 -6.54230220e-02 1.47476979e+02] [ 6.61796744e-02 1.00302386e-02 9.97757308e-01 3.06207470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05710568099994 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:214.38, Y:147.50, Z:30.63 [[ 3.51590383e-01 -9.35858407e-01 -2.35211674e-02 2.14384671e+02] [ 9.33801904e-01 3.52376243e-01 -6.20079608e-02 1.47503135e+02] [ 6.63189720e-02 -1.62708209e-04 9.97798460e-01 3.06272691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0871056809999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:214.39, Y:147.52, Z:30.62 [[ 3.46406811e-01 -9.37793415e-01 -2.33630425e-02 2.14393135e+02] [ 9.35737404e-01 3.47193577e-01 -6.20655375e-02 1.47521125e+02] [ 6.63161507e-02 -3.61747828e-04 9.97798596e-01 3.06219641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11710568099994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:214.41, Y:147.55, Z:30.62 [[ 3.45762004e-01 -9.38073950e-01 -2.15847586e-02 2.14409155e+02] [ 9.35976400e-01 3.46431913e-01 -6.27144977e-02 1.47554873e+02] [ 6.63084857e-02 1.48146578e-03 9.97798071e-01 3.06221996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1471056809999 meters Centerline goodness : 0.966967 Centerline is valid? [True, True] Translation: X:213.98, Y:147.75, Z:30.85 [[ 2.56582065e-01 9.66233085e-01 2.36488694e-02 2.13975687e+02] [ 9.64269408e-01 -2.57577015e-01 6.19563525e-02 1.47745413e+02] [ 6.59556828e-02 6.90699245e-03 -9.97798648e-01 3.08499205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17710568099994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:214.43, Y:147.69, Z:30.63 [[ 2.98151541e-01 -9.54460794e-01 -1.05000776e-02 2.14432018e+02] [ 9.52228404e-01 2.98179755e-01 -6.59537783e-02 1.47694510e+02] [ 6.60812062e-02 9.66574847e-03 9.97767432e-01 3.06293988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2071056809999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:214.44, Y:147.72, Z:30.63 [[ 2.97394526e-01 -9.54531255e-01 -2.06538124e-02 2.14439354e+02] [ 9.52463757e-01 2.98109195e-01 -6.27988760e-02 1.47718758e+02] [ 6.61005813e-02 -9.95965824e-04 9.97812468e-01 3.06317135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23710568099995 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:214.46, Y:147.74, Z:30.61 [[ 3.06859534e-01 -9.51536255e-01 -2.03956124e-02 2.14455338e+02] [ 9.49456393e-01 3.07536583e-01 -6.28793122e-02 1.47740538e+02] [ 6.61043422e-02 -6.96281032e-05 9.97812713e-01 3.06136386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2671056809999 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:214.45, Y:147.77, Z:30.64 [[ 2.92605704e-01 -9.56032194e-01 -1.96047552e-02 2.14453577e+02] [ 9.53945936e-01 2.93261643e-01 -6.31249529e-02 1.47771968e+02] [ 6.60988100e-02 -2.31155252e-04 9.97813056e-01 3.06380794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29710568099995 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:214.47, Y:147.79, Z:30.61 [[ 3.03159795e-01 -9.52723879e-01 -2.02817366e-02 2.14470964e+02] [ 9.50644259e-01 3.03837402e-01 -6.29152302e-02 1.47794486e+02] [ 6.61031923e-02 -2.07348154e-04 9.97812771e-01 3.06093727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.3271056809999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:214.46, Y:147.82, Z:30.64 [[ 2.79895169e-01 -9.59832246e-01 -1.95129226e-02 2.14464531e+02] [ 9.57752937e-01 2.80572691e-01 -6.31528004e-02 1.47824416e+02] [ 6.60908874e-02 -1.01239516e-03 9.97813094e-01 3.06377904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35710568099995 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:214.48, Y:147.85, Z:30.62 [[ 2.92744808e-01 -9.55989211e-01 -1.96241113e-02 2.14482443e+02] [ 9.53903291e-01 2.93401721e-01 -6.31184777e-02 1.47846656e+02] [ 6.60983317e-02 -2.41897703e-04 9.97813085e-01 3.06212945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.3871056809999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:214.48, Y:147.88, Z:30.65 [[ 2.75978099e-01 -9.60966783e-01 -1.94661591e-02 2.14475118e+02] [ 9.58889247e-01 2.76661024e-01 -6.31671546e-02 1.47878569e+02] [ 6.60870648e-02 -1.23313941e-03 9.97813098e-01 3.06480921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4171056809999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:214.49, Y:147.90, Z:30.65 [[ 2.83842128e-01 -9.58664533e-01 -1.98987538e-02 2.14486383e+02] [ 9.56590684e-01 2.84536477e-01 -6.30337683e-02 1.47901832e+02] [ 6.60901593e-02 -1.14332358e-03 9.97813000e-01 3.06473113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4471056809999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:214.48, Y:147.94, Z:30.65 [[ 2.78718146e-01 -9.60176187e-01 -1.94392715e-02 2.14478938e+02] [ 9.58096155e-01 2.79393373e-01 -6.31751609e-02 1.47935021e+02] [ 6.60904888e-02 -1.01662759e-03 9.97813116e-01 3.06547464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4771056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:214.49, Y:147.96, Z:30.64 [[ 3.04436678e-01 -9.52324024e-01 -1.99314540e-02 2.14491766e+02] [ 9.50236298e-01 3.05088336e-01 -6.30244828e-02 1.47958554e+02] [ 6.61005832e-02 2.47373134e-04 9.97812934e-01 3.06397610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.5071056809999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:214.49, Y:147.99, Z:30.66 [[ 2.93772687e-01 -9.55680509e-01 -1.92969945e-02 2.14488413e+02] [ 9.53587294e-01 2.94405735e-01 -6.32181633e-02 1.47991621e+02] [ 6.60975123e-02 1.70400982e-04 9.97813154e-01 3.06607130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.5371056809999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:214.49, Y:148.02, Z:30.66 [[ 3.00836203e-01 -9.53453606e-01 -2.05864102e-02 2.14486955e+02] [ 9.51381890e-01 3.01538971e-01 -6.28231467e-02 1.48018764e+02] [ 6.61065607e-02 -6.86060925e-04 9.97812333e-01 3.06635461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.56710568099993 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:214.50, Y:148.04, Z:30.65 [[ 3.20234967e-01 -9.47127789e-01 -1.99628941e-02 2.14496911e+02] [ 9.45030207e-01 3.20853901e-01 -6.30133461e-02 1.48043314e+02] [ 6.60868636e-02 1.31353886e-03 9.97813009e-01 3.06453366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.5971056809999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:214.49, Y:148.07, Z:30.66 [[ 3.12867714e-01 -9.49601992e-01 -1.92314928e-02 2.14493995e+02] [ 9.47495445e-01 3.13454327e-01 -6.32358025e-02 1.48074654e+02] [ 6.60770387e-02 1.56268920e-03 9.97813301e-01 3.06626139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.62710568099993 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:214.50, Y:148.10, Z:30.66 [[ 3.16103358e-01 -9.48516290e-01 -1.98875467e-02 2.14500723e+02] [ 9.46419997e-01 3.16726426e-01 -6.30361789e-02 1.48100224e+02] [ 6.60897542e-02 1.10397595e-03 9.97813072e-01 3.06580991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.6571056809999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:214.51, Y:148.13, Z:30.66 [[ 3.17369898e-01 -9.48095700e-01 -1.97709681e-02 2.14506180e+02] [ 9.45996385e-01 3.17982416e-01 -6.30715737e-02 1.48127530e+02] [ 6.60847080e-02 1.31375457e-03 9.97813152e-01 3.06588076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68710568099993 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:214.52, Y:148.15, Z:30.66 [[ 3.16988935e-01 -9.48226042e-01 -1.96313097e-02 2.14515309e+02] [ 9.46124366e-01 3.17593011e-01 -6.31138922e-02 1.48152806e+02] [ 6.60810030e-02 1.43274504e-03 9.97813233e-01 3.06605660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7171056809999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:214.52, Y:148.18, Z:30.66 [[ 3.15129427e-01 -9.48844407e-01 -1.96909802e-02 2.14523308e+02] [ 9.46745037e-01 3.15741588e-01 -6.30958299e-02 1.48177446e+02] [ 6.60853867e-02 1.24101497e-03 9.97813200e-01 3.06618096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74710568099994 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:214.52, Y:148.21, Z:30.64 [[ 2.95620992e-01 -9.55105549e-01 -1.95350822e-02 2.14522666e+02] [ 9.53016046e-01 2.96265739e-01 -6.31429272e-02 1.48205620e+02] [ 6.60957357e-02 4.91279946e-05 9.97813285e-01 3.06387062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7771056809999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:214.54, Y:148.23, Z:30.67 [[ 3.10460017e-01 -9.50395039e-01 -1.90747948e-02 2.14542792e+02] [ 9.48287186e-01 3.11041545e-01 -6.32816782e-02 1.48228263e+02] [ 6.60756466e-02 1.55804745e-03 9.97813400e-01 3.06660928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80710568099994 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:214.55, Y:148.25, Z:30.67 [[ 3.09907895e-01 -9.50568298e-01 -1.94166908e-02 2.14553467e+02] [ 9.48467130e-01 3.10513377e-01 -6.31786891e-02 1.48253322e+02] [ 6.60848012e-02 1.16348155e-03 9.97813332e-01 3.06659650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8371056809999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:214.56, Y:148.28, Z:30.67 [[ 3.08045726e-01 -9.51171747e-01 -1.94971261e-02 2.14564285e+02] [ 9.49073288e-01 3.08660662e-01 -6.31544900e-02 1.48279801e+02] [ 6.60887625e-02 9.50269184e-04 9.97813295e-01 3.06653319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86710568099994 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:214.58, Y:148.30, Z:30.65 [[ 3.17828830e-01 -9.47945467e-01 -1.96017122e-02 2.14579466e+02] [ 9.45842695e-01 3.18429074e-01 -6.31230649e-02 1.48301358e+02] [ 6.60789782e-02 1.52219361e-03 9.97813235e-01 3.06517197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8971056809999 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:214.59, Y:148.33, Z:30.68 [[ 3.10363460e-01 -9.50428449e-01 -1.89811790e-02 2.14586164e+02] [ 9.48318992e-01 3.10938973e-01 -6.33091260e-02 1.48328378e+02] [ 6.60727828e-02 1.64862690e-03 9.97813444e-01 3.06761785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92710568099994 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:214.60, Y:148.36, Z:30.68 [[ 3.10716685e-01 -9.50308711e-01 -1.91962315e-02 2.14597644e+02] [ 9.48202949e-01 3.11305723e-01 -6.32448773e-02 1.48355741e+02] [ 6.60780546e-02 1.44931530e-03 9.97813405e-01 3.06795417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9571056809999 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:214.61, Y:148.38, Z:30.68 [[ 3.10951501e-01 -9.50226604e-01 -1.94567546e-02 2.14608124e+02] [ 9.48125483e-01 3.11557337e-01 -6.31671994e-02 1.48380943e+02] [ 6.60850480e-02 1.19449065e-03 9.97813279e-01 3.06845085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98710568099995 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:214.62, Y:148.41, Z:30.69 [[ 3.10853971e-01 -9.50262568e-01 -1.92577505e-02 2.14617032e+02] [ 9.48157852e-01 3.11446796e-01 -6.32264179e-02 1.48407407e+02] [ 6.60794630e-02 1.39479574e-03 9.97813389e-01 3.06861551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0171056809999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:214.63, Y:148.43, Z:30.67 [[ 3.21207714e-01 -9.46814813e-01 -1.91654253e-02 2.14634984e+02] [ 9.44702141e-01 3.21771372e-01 -6.32538442e-02 1.48431545e+02] [ 6.60565619e-02 2.21200438e-03 9.97813428e-01 3.06662898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04710568099995 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:214.64, Y:148.46, Z:30.69 [[ 3.04335528e-01 -9.52379609e-01 -1.87873912e-02 2.14644853e+02] [ 9.50270345e-01 3.04911513e-01 -6.33659331e-02 1.48458053e+02] [ 6.60769144e-02 1.43140403e-03 9.97813506e-01 3.06884244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0771056809999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:214.66, Y:148.48, Z:30.69 [[ 3.00720232e-01 -9.53519158e-01 -1.91978489e-02 2.14656040e+02] [ 9.51419735e-01 3.01331457e-01 -6.32442939e-02 1.48484361e+02] [ 6.60895617e-02 7.53626372e-04 9.97813410e-01 3.06887222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10710568099995 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:214.67, Y:148.51, Z:30.69 [[ 2.92347621e-01 -9.56118912e-01 -1.92222373e-02 2.14669648e+02] [ 9.54025403e-01 2.92978845e-01 -6.32370756e-02 1.48509314e+02] [ 6.60938729e-02 1.48705948e-04 9.97813398e-01 3.06858057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.1371056809999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:214.68, Y:148.54, Z:30.69 [[ 2.89126979e-01 -9.57096797e-01 -1.92694460e-02 2.14681193e+02] [ 9.55006351e-01 2.89768367e-01 -6.32231226e-02 1.48536322e+02] [ 6.60943240e-02 -1.22932811e-04 9.97813372e-01 3.06932019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.1671056809999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:214.69, Y:148.56, Z:30.69 [[ 2.82317075e-01 -9.59124137e-01 -1.94411781e-02 2.14692222e+02] [ 9.57041769e-01 2.82984620e-01 -6.31724331e-02 1.48561020e+02] [ 6.60917598e-02 -7.71362927e-04 9.97813251e-01 3.06930566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.1971056809999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:214.70, Y:148.59, Z:30.69 [[ 2.82988570e-01 -9.58935289e-01 -1.89889839e-02 2.14703010e+02] [ 9.56843429e-01 2.83624836e-01 -6.33056467e-02 1.48587694e+02] [ 6.60917660e-02 -2.54710051e-04 9.97813516e-01 3.06949934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.2271056809999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:214.71, Y:148.61, Z:30.70 [[ 2.82342833e-01 -9.59118429e-01 -1.93484912e-02 2.14710125e+02] [ 9.57034180e-01 2.83004216e-01 -6.31996208e-02 1.48613468e+02] [ 6.60916255e-02 -6.73207434e-04 9.97813331e-01 3.06968474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.2571056809999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:214.72, Y:148.64, Z:30.70 [[ 2.85229334e-01 -9.58266845e-01 -1.92062760e-02 2.14718737e+02] [ 9.56177800e-01 2.85875056e-01 -6.32413383e-02 1.48640227e+02] [ 6.60926729e-02 -3.26329939e-04 9.97813436e-01 3.07004554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.2871056809999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:214.72, Y:148.66, Z:30.70 [[ 2.90590951e-01 -9.56657279e-01 -1.90722411e-02 2.14721852e+02] [ 9.54562073e-01 2.91216101e-01 -6.32805717e-02 1.48664975e+02] [ 6.60919632e-02 1.83123469e-04 9.97813519e-01 3.07018754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31710568099993 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:214.73, Y:148.69, Z:30.70 [[ 2.96914509e-01 -9.54729099e-01 -1.82790192e-02 2.14732305e+02] [ 9.52615321e-01 2.97473126e-01 -6.35121235e-02 1.48694457e+02] [ 6.60743894e-02 1.44479717e-03 9.97813654e-01 3.07042454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.3471056809999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:214.74, Y:148.72, Z:30.71 [[ 3.03716494e-01 -9.52571806e-01 -1.90590359e-02 2.14738728e+02] [ 9.50467970e-01 3.04311901e-01 -6.32843108e-02 1.48719976e+02] [ 6.60827417e-02 1.10548581e-03 9.97813534e-01 3.07085556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37710568099993 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:214.75, Y:148.75, Z:30.71 [[ 3.07086432e-01 -9.51494974e-01 -1.88477437e-02 2.14746929e+02] [ 9.49385280e-01 3.07660339e-01 -6.33459230e-02 1.48747620e+02] [ 6.60720306e-02 1.55890304e-03 9.97813638e-01 3.07068868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.4071056809999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:214.75, Y:148.77, Z:30.71 [[ 3.10202623e-01 -9.50481090e-01 -1.89744343e-02 2.14752957e+02] [ 9.48371748e-01 3.10778047e-01 -6.33090317e-02 1.48774652e+02] [ 6.60708752e-02 1.64381032e-03 9.97813578e-01 3.07061764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43710568099993 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:214.76, Y:148.80, Z:30.70 [[ 3.12196822e-01 -9.49831470e-01 -1.87968586e-02 2.14760468e+02] [ 9.47717851e-01 3.12755990e-01 -6.33606033e-02 1.48800216e+02] [ 6.60607252e-02 1.96686060e-03 9.97813666e-01 3.07046659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.4671056809999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:214.77, Y:148.83, Z:30.71 [[ 3.13180050e-01 -9.49515641e-01 -1.83930426e-02 2.14769890e+02] [ 9.47394620e-01 3.13710095e-01 -6.34776454e-02 1.48827121e+02] [ 6.60431003e-02 2.45446258e-03 9.97813752e-01 3.07123930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49710568099994 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:214.78, Y:148.85, Z:30.71 [[ 3.14076760e-01 -9.49213942e-01 -1.86729988e-02 2.14780175e+02] [ 9.47097103e-01 3.14623482e-01 -6.33967097e-02 1.48854592e+02] [ 6.60520046e-02 2.22629015e-03 9.97813698e-01 3.07136296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5271056809999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:214.79, Y:148.88, Z:30.71 [[ 3.13646864e-01 -9.49354458e-01 -1.87551965e-02 2.14786559e+02] [ 9.47239257e-01 3.14200025e-01 -6.33729762e-02 1.48880648e+02] [ 6.60563007e-02 2.11107685e-03 9.97813664e-01 3.07087744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55710568099994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:214.80, Y:148.91, Z:30.71 [[ 3.14673783e-01 -9.49023351e-01 -1.83054368e-02 2.14795697e+02] [ 9.46900080e-01 3.15194639e-01 -6.35025866e-02 1.48909175e+02] [ 6.60352131e-02 2.64917958e-03 9.97813776e-01 3.07106216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5871056809999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:214.80, Y:148.94, Z:30.71 [[ 3.10865885e-01 -9.50270699e-01 -1.86547460e-02 2.14804916e+02] [ 9.48155410e-01 3.11418545e-01 -6.34019653e-02 1.48935287e+02] [ 6.60584638e-02 2.02190979e-03 9.97813706e-01 3.07073825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61710568099994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:214.82, Y:148.96, Z:30.71 [[ 3.11058914e-01 -9.50215274e-01 -1.82560828e-02 2.14817803e+02] [ 9.48093198e-01 3.11584556e-01 -6.35165560e-02 1.48962450e+02] [ 6.60427151e-02 2.44892298e-03 9.97813792e-01 3.07142956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6471056809999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:214.82, Y:148.99, Z:30.71 [[ 3.00713596e-01 -9.53532797e-01 -1.86155355e-02 2.14824817e+02] [ 9.51422824e-01 3.01286177e-01 -6.34133204e-02 1.48987687e+02] [ 6.60752844e-02 1.35800225e-03 9.97813716e-01 3.07091676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67710568099994 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:214.84, Y:149.01, Z:30.71 [[ 3.05821738e-01 -9.51914521e-01 -1.82156151e-02 2.14838404e+02] [ 9.49794701e-01 3.06356360e-01 -6.35279970e-02 1.49013221e+02] [ 6.60536924e-02 2.12714774e-03 9.97813803e-01 3.07104956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7071056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:214.84, Y:149.04, Z:30.72 [[ 2.95001063e-01 -9.55323590e-01 -1.81992305e-02 2.14844815e+02] [ 9.53209685e-01 2.95558614e-01 -6.35326905e-02 1.49041869e+02] [ 6.60732173e-02 1.39452841e-03 9.97813803e-01 3.07220124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73710568099995 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:214.86, Y:149.07, Z:30.73 [[ 2.88175414e-01 -9.57397688e-01 -1.85633534e-02 2.14856311e+02] [ 9.55294435e-01 2.88772177e-01 -6.34284771e-02 1.49066104e+02] [ 6.60868573e-02 5.45059423e-04 9.97813725e-01 3.07253548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7671056809999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:214.86, Y:149.09, Z:30.73 [[ 2.84605241e-01 -9.58466838e-01 -1.84709873e-02 2.14864943e+02] [ 9.56364108e-01 2.85203725e-01 -6.34549281e-02 1.49090217e+02] [ 6.60874387e-02 3.94615825e-04 9.97813758e-01 3.07275975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79710568099995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:214.87, Y:149.12, Z:30.73 [[ 2.78665847e-01 -9.60216974e-01 -1.81303449e-02 2.14872422e+02] [ 9.58111607e-01 2.79254809e-01 -6.35523466e-02 1.49118619e+02] [ 6.60870279e-02 3.38974560e-04 9.97813805e-01 3.07287047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.8271056809999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:214.88, Y:149.14, Z:30.73 [[ 2.73037752e-01 -9.61827206e-01 -1.84068581e-02 2.14878129e+02] [ 9.59730602e-01 2.73657293e-01 -6.34732793e-02 1.49144900e+02] [ 6.60874978e-02 -3.35023541e-04 9.97813775e-01 3.07270703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85710568099995 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:214.88, Y:149.17, Z:30.73 [[ 2.74353748e-01 -9.61450413e-01 -1.85236033e-02 2.14884220e+02] [ 9.59355206e-01 2.74978125e-01 -6.34398871e-02 1.49170358e+02] [ 6.60878914e-02 -3.65744392e-04 9.97813739e-01 3.07279284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.8871056809999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:214.89, Y:149.20, Z:30.73 [[ 2.76226517e-01 -9.60917817e-01 -1.83264891e-02 2.14891561e+02] [ 9.58817656e-01 2.76833791e-01 -6.34960944e-02 1.49196637e+02] [ 6.60879199e-02 -3.24563814e-05 9.97813803e-01 3.07336234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9171056809999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:214.90, Y:149.22, Z:30.74 [[ 2.83187064e-01 -9.58890395e-01 -1.82838149e-02 2.14897762e+02] [ 9.56785103e-01 2.83776267e-01 -6.35082428e-02 1.49223698e+02] [ 6.60859567e-02 4.91031075e-04 9.97813813e-01 3.07358668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9471056809999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:214.90, Y:149.25, Z:30.74 [[ 2.90585149e-01 -9.56673811e-01 -1.83163788e-02 2.14902049e+02] [ 9.54564611e-01 2.91160235e-01 -6.34989827e-02 1.49251268e+02] [ 6.60808150e-02 9.67694365e-04 9.97813805e-01 3.07357465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9771056809999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:214.91, Y:149.28, Z:30.74 [[ 2.94623445e-01 -9.55438841e-01 -1.82660243e-02 2.14908205e+02] [ 9.53326350e-01 2.95186271e-01 -6.35132681e-02 1.49278891e+02] [ 6.60749228e-02 1.29901553e-03 9.97813819e-01 3.07369973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.0071056809999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:214.91, Y:149.30, Z:30.74 [[ 3.00127738e-01 -9.53723289e-01 -1.83092802e-02 2.14914590e+02] [ 9.51608326e-01 3.00681252e-01 -6.35010103e-02 1.49304893e+02] [ 6.60676497e-02 1.63515106e-03 9.97813806e-01 3.07384777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.0371056809999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:214.93, Y:149.33, Z:30.74 [[ 3.04740305e-01 -9.52267348e-01 -1.78953865e-02 2.14925620e+02] [ 9.50142896e-01 3.05255984e-01 -6.36180950e-02 1.49331330e+02] [ 6.60441084e-02 2.38382331e-03 9.97813857e-01 3.07418219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.06710568099993 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:214.93, Y:149.36, Z:30.74 [[ 3.06480784e-01 -9.51702011e-01 -1.82431075e-02 2.14933269e+02] [ 9.49582312e-01 3.07015772e-01 -6.35196753e-02 1.49356299e+02] [ 6.60527244e-02 2.14422769e-03 9.97813830e-01 3.07435408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.0971056809999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:214.94, Y:149.38, Z:30.75 [[ 3.08280116e-01 -9.51122279e-01 -1.81598463e-02 2.14940145e+02] [ 9.49000212e-01 3.08805541e-01 -6.35431823e-02 1.49383474e+02] [ 6.60451976e-02 2.35540159e-03 9.97813852e-01 3.07453358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.12710568099993 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:214.95, Y:149.41, Z:30.75 [[ 3.10144103e-01 -9.50514373e-01 -1.82500044e-02 2.14947992e+02] [ 9.48392733e-01 3.10671383e-01 -6.35178453e-02 1.49410727e+02] [ 6.60443790e-02 2.39151361e-03 9.97813821e-01 3.07465504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.1571056809999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:214.96, Y:149.43, Z:30.75 [[ 3.13329299e-01 -9.49469203e-01 -1.82478431e-02 2.14955624e+02] [ 9.47345772e-01 3.13849318e-01 -6.35184519e-02 1.49434666e+02] [ 6.60358870e-02 2.61517502e-03 9.97813822e-01 3.07459744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18710568099993 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:214.96, Y:149.46, Z:30.75 [[ 3.15483201e-01 -9.48763713e-01 -1.78260347e-02 2.14964089e+02] [ 9.46632565e-01 3.15970201e-01 -6.36366164e-02 1.49462372e+02] [ 6.60086082e-02 3.20157848e-03 9.97813917e-01 3.07460845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2171056809999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:214.97, Y:149.49, Z:30.75 [[ 3.15455400e-01 -9.48765504e-01 -1.82183917e-02 2.14973206e+02] [ 9.46640446e-01 3.15968693e-01 -6.35267809e-02 1.49489860e+02] [ 6.60284597e-02 2.79359958e-03 9.97813830e-01 3.07502088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24710568099994 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:214.98, Y:149.51, Z:30.75 [[ 3.16342931e-01 -9.48468390e-01 -1.82992754e-02 2.14983350e+02] [ 9.46344114e-01 3.16859639e-01 -6.35042304e-02 1.49514690e+02] [ 6.60300569e-02 2.77170281e-03 9.97813785e-01 3.07509449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2771056809999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:214.99, Y:149.54, Z:30.76 [[ 3.14473256e-01 -9.49099660e-01 -1.77877908e-02 2.14990591e+02] [ 9.46968493e-01 3.14959968e-01 -6.36466157e-02 1.49541162e+02] [ 6.60094234e-02 3.17068102e-03 9.97813962e-01 3.07583400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30710568099994 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:215.00, Y:149.57, Z:30.76 [[ 3.13735631e-01 -9.49339584e-01 -1.80085609e-02 2.14998858e+02] [ 9.47212192e-01 3.14238758e-01 -6.35851136e-02 1.49568154e+02] [ 6.60228531e-02 2.89098729e-03 9.97813923e-01 3.07596511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3371056809999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:215.01, Y:149.60, Z:30.76 [[ 3.11600280e-01 -9.50041425e-01 -1.80708991e-02 2.15008147e+02] [ 9.47916145e-01 3.12112351e-01 -6.35677732e-02 1.49595241e+02] [ 6.60321686e-02 2.67803889e-03 9.97813901e-01 3.07557914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36710568099994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:215.02, Y:149.62, Z:30.74 [[ 3.16753139e-01 -9.48336907e-01 -1.80155323e-02 2.15022625e+02] [ 9.46208039e-01 3.17249964e-01 -6.35830752e-02 1.49618838e+02] [ 6.60136038e-02 3.09369722e-03 9.97813927e-01 3.07447085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3971056809999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:215.03, Y:149.65, Z:30.76 [[ 3.07108753e-01 -9.51512256e-01 -1.75681646e-02 2.15034103e+02] [ 9.49381583e-01 3.07597299e-01 -6.37064520e-02 1.49646571e+02] [ 6.60213898e-02 2.88591712e-03 9.97814035e-01 3.07601162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42710568099994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:215.04, Y:149.67, Z:30.76 [[ 3.02925164e-01 -9.52835285e-01 -1.84733359e-02 2.15043857e+02] [ 9.50721329e-01 3.03483384e-01 -6.34569891e-02 1.49673637e+02] [ 6.60704088e-02 1.65972440e-03 9.97813583e-01 3.07620490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4571056809999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:215.05, Y:149.70, Z:30.77 [[ 2.93594046e-01 -9.55750098e-01 -1.85549525e-02 2.15052020e+02] [ 9.53643113e-01 2.94178325e-01 -6.34344207e-02 1.49695828e+02] [ 6.60859186e-02 9.29165566e-04 9.97813504e-01 3.07680556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48710568099995 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:215.06, Y:149.73, Z:30.77 [[ 2.90581063e-01 -9.56687553e-01 -1.76513919e-02 2.15063299e+02] [ 9.54567051e-01 2.91111979e-01 -6.36832894e-02 1.49725745e+02] [ 6.60635419e-02 1.65572085e-03 9.97814044e-01 3.07711396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5171056809999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:215.07, Y:149.75, Z:30.78 [[ 2.82071267e-01 -9.59214640e-01 -1.85222679e-02 2.15072303e+02] [ 9.57114147e-01 2.82678697e-01 -6.34449748e-02 1.49750181e+02] [ 6.60931992e-02 1.68079786e-04 9.97813440e-01 3.07750468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54710568099995 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:215.08, Y:149.78, Z:30.78 [[ 2.72976732e-01 -9.61849152e-01 -1.81634905e-02 2.15082270e+02] [ 9.59747930e-01 2.73580337e-01 -6.35429791e-02 1.49776369e+02] [ 6.60879344e-02 -8.66176792e-05 9.97813799e-01 3.07760161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5771056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:215.09, Y:149.80, Z:30.78 [[ 2.67814590e-01 -9.63298422e-01 -1.82070033e-02 2.15089689e+02] [ 9.61201277e-01 2.68432325e-01 -6.35310333e-02 1.49801578e+02] [ 6.60866924e-02 -4.86057227e-04 9.97813767e-01 3.07753685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60710568099995 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:215.09, Y:149.83, Z:30.78 [[ 2.58438858e-01 -9.65859394e-01 -1.80274181e-02 2.15094874e+02] [ 9.63764914e-01 2.59065132e-01 -6.35802560e-02 1.49828794e+02] [ 6.60798630e-02 -9.42584278e-04 9.97813892e-01 3.07781029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.6371056809999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:215.10, Y:149.86, Z:30.78 [[ 2.49323685e-01 -9.68254437e-01 -1.79177460e-02 2.15097083e+02] [ 9.66163804e-01 2.49962472e-01 -6.36102767e-02 1.49858403e+02] [ 6.60696967e-02 -1.45192897e-03 9.97813954e-01 3.07778677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.6671056809999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:215.10, Y:149.89, Z:30.78 [[ 2.47607961e-01 -9.68688705e-01 -1.82343018e-02 2.15102667e+02] [ 9.66605471e-01 2.48271215e-01 -6.35237598e-02 1.49885792e+02] [ 6.60618009e-02 -1.89638722e-03 9.97813731e-01 3.07786194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.6971056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:215.11, Y:149.91, Z:30.78 [[ 2.45390371e-01 -9.69258110e-01 -1.79522159e-02 2.15106390e+02] [ 9.67170802e-01 2.46039901e-01 -6.36003707e-02 1.49913408e+02] [ 6.60621365e-02 -1.75594046e-03 9.97813966e-01 3.07794122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.7271056809999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:215.11, Y:149.94, Z:30.78 [[ 2.44346695e-01 -9.69522111e-01 -1.79323604e-02 2.15105642e+02] [ 9.67435111e-01 2.44997170e-01 -6.36057540e-02 1.49942545e+02] [ 6.60605624e-02 -1.80653936e-03 9.97813980e-01 3.07775967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.7571056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:215.12, Y:149.96, Z:30.76 [[ 2.61085834e-01 -9.65151056e-01 -1.78220562e-02 2.15121903e+02] [ 9.63051082e-01 2.61692829e-01 -6.36354971e-02 1.49963858e+02] [ 6.60817715e-02 -5.49223658e-04 9.97814060e-01 3.07621065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.7871056809999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:215.11, Y:150.00, Z:30.78 [[ 2.48492529e-01 -9.68488374e-01 -1.67848916e-02 2.15108765e+02] [ 9.66377176e-01 2.49058538e-01 -6.39139909e-02 1.49998210e+02] [ 6.60803777e-02 -3.38386904e-04 9.97814246e-01 3.07818074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81710568099993 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:215.11, Y:150.03, Z:30.78 [[ 2.52982935e-01 -9.67298962e-01 -1.82305720e-02 2.15109210e+02] [ 9.65212114e-01 2.53634363e-01 -6.35231035e-02 1.50030583e+02] [ 6.60697315e-02 -1.52610775e-03 9.97813841e-01 3.07810691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.8471056809999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:215.11, Y:150.06, Z:30.78 [[ 2.57244057e-01 -9.66162232e-01 -1.88689347e-02 2.15107562e+02] [ 9.64084775e-01 2.57928196e-01 -6.33529282e-02 1.50059463e+02] [ 6.60760367e-02 -1.89408836e-03 9.97812793e-01 3.07819234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87710568099993 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:215.11, Y:150.08, Z:30.79 [[ 2.57462652e-01 -9.66107740e-01 -1.86766339e-02 2.15108070e+02] [ 9.64026367e-01 2.58133706e-01 -6.34046812e-02 1.50082177e+02] [ 6.60768220e-02 -1.68043017e-03 9.97813124e-01 3.07857590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.9071056809999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:215.11, Y:150.11, Z:30.79 [[ 2.58633840e-01 -9.65810090e-01 -1.78719898e-02 2.15112035e+02] [ 9.63712744e-01 2.59249454e-01 -6.36197204e-02 1.50110246e+02] [ 6.60778715e-02 -7.69251717e-04 9.97814173e-01 3.07909504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93710568099993 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:215.11, Y:150.14, Z:30.79 [[ 2.60259013e-01 -9.65374503e-01 -1.78133535e-02 2.15113105e+02] [ 9.63275058e-01 2.60867231e-01 -6.36352949e-02 1.50138145e+02] [ 6.60788113e-02 -5.97500092e-04 9.97814228e-01 3.07906499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.9671056809999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:215.12, Y:150.17, Z:30.79 [[ 2.62225796e-01 -9.64847257e-01 -1.75328845e-02 2.15116140e+02] [ 9.62741585e-01 2.62811225e-01 -6.37094985e-02 1.50165836e+02] [ 6.60777737e-02 -1.73363128e-04 9.97814461e-01 3.07913727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99710568099994 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:215.12, Y:150.19, Z:30.79 [[ 2.61969648e-01 -9.64911880e-01 -1.78035702e-02 2.15120497e+02] [ 9.62811181e-01 2.62573499e-01 -6.36379370e-02 1.50193495e+02] [ 6.60797472e-02 -4.70268529e-04 9.97814234e-01 3.07944924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0271056809999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:215.12, Y:150.22, Z:30.78 [[ 2.62887026e-01 -9.64662558e-01 -1.77921423e-02 2.15122515e+02] [ 9.62561082e-01 2.63488125e-01 -6.36409509e-02 1.50219109e+02] [ 6.60800607e-02 -3.95643407e-04 9.97814246e-01 3.07836920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05710568099994 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:215.13, Y:150.25, Z:30.79 [[ 2.68639269e-01 -9.63092275e-01 -1.69178345e-02 2.15130359e+02] [ 9.60972476e-01 2.69169944e-01 -6.38705026e-02 1.50246990e+02] [ 6.60669602e-02 9.00551849e-04 9.97814785e-01 3.07930754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0871056809999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:215.14, Y:150.28, Z:30.79 [[ 2.75904134e-01 -9.61028022e-01 -1.73795567e-02 2.15136654e+02] [ 9.58911733e-01 2.76449431e-01 -6.37495117e-02 1.50276101e+02] [ 6.60696357e-02 9.23293044e-04 9.97814587e-01 3.07934216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11710568099994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:215.14, Y:150.30, Z:30.80 [[ 2.75185983e-01 -9.61226000e-01 -1.78115701e-02 2.15143195e+02] [ 9.59117306e-01 2.75761480e-01 -6.36364667e-02 1.50303063e+02] [ 6.60807712e-02 4.28478497e-04 9.97814185e-01 3.07953517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1471056809999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:215.15, Y:150.33, Z:30.80 [[ 2.76813274e-01 -9.60759208e-01 -1.77807602e-02 2.15147043e+02] [ 9.58649028e-01 2.77383159e-01 -6.36445116e-02 1.50328504e+02] [ 6.60791340e-02 5.72137092e-04 9.97814222e-01 3.08013439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17710568099994 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:215.15, Y:150.35, Z:30.80 [[ 2.77831853e-01 -9.60465409e-01 -1.77668095e-02 2.15152683e+02] [ 9.58354395e-01 2.78398576e-01 -6.36481531e-02 1.50354085e+02] [ 6.60781038e-02 6.56584314e-04 9.97814238e-01 3.08036589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2071056809999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:215.16, Y:150.38, Z:30.81 [[ 2.75856682e-01 -9.61041855e-01 -1.73679199e-02 2.15158213e+02] [ 9.58925410e-01 2.76401312e-01 -6.37524420e-02 1.50380891e+02] [ 6.60692809e-02 9.31997406e-04 9.97814603e-01 3.08081802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23710568099995 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:215.17, Y:150.41, Z:30.79 [[ 2.72155570e-01 -9.62095610e-01 -1.74178854e-02 2.15165706e+02] [ 9.59982105e-01 2.72711651e-01 -6.37394127e-02 1.50405544e+02] [ 6.60734694e-02 6.26177879e-04 9.97814564e-01 3.07940218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2671056809999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:215.17, Y:150.43, Z:30.81 [[ 2.69342894e-01 -9.62901160e-01 -1.66060443e-02 2.15173198e+02] [ 9.60776053e-01 2.69851334e-01 -6.39502485e-02 1.50433992e+02] [ 6.60589317e-02 1.26985534e-03 9.97814915e-01 3.08124819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29710568099995 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:215.18, Y:150.46, Z:30.81 [[ 2.66712882e-01 -9.63620496e-01 -1.73141228e-02 2.15184472e+02] [ 9.61508425e-01 2.67274037e-01 -6.37662807e-02 1.50455610e+02] [ 6.60741105e-02 3.59613571e-04 9.97814653e-01 3.08116692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.3271056809999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:215.19, Y:150.48, Z:30.82 [[ 2.58798585e-01 -9.65789241e-01 -1.65660863e-02 2.15188162e+02] [ 9.63669194e-01 2.59327585e-01 -6.39600476e-02 1.50483691e+02] [ 6.60679690e-02 5.88542780e-04 9.97814951e-01 3.08151489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35710568099995 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:215.19, Y:150.51, Z:30.82 [[ 2.53050861e-01 -9.67312459e-01 -1.64884375e-02 2.15194785e+02] [ 9.65194287e-01 2.53587323e-01 -6.39801326e-02 1.50509344e+02] [ 6.60700381e-02 2.75681941e-04 9.97814950e-01 3.08180823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.3871056809999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:215.21, Y:150.54, Z:30.82 [[ 2.48964509e-01 -9.68372977e-01 -1.64453917e-02 2.15206123e+02] [ 9.66256355e-01 2.49507066e-01 -6.39912471e-02 1.50539047e+02] [ 6.60706359e-02 4.10852003e-05 9.97814947e-01 3.08224213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4171056809999 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:215.21, Y:150.56, Z:30.82 [[ 2.45666302e-01 -9.69197651e-01 -1.74350776e-02 2.15211857e+02] [ 9.67100475e-01 2.46281271e-01 -6.37354472e-02 1.50563832e+02] [ 6.60661788e-02 -1.20382025e-03 9.97814517e-01 3.08235044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4471056809999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:215.22, Y:150.59, Z:30.82 [[ 2.39930746e-01 -9.70634205e-01 -1.73918635e-02 2.15216267e+02] [ 9.68539895e-01 2.40555269e-01 -6.37466346e-02 1.50590752e+02] [ 6.60583684e-02 -1.54993600e-03 9.97814557e-01 3.08222901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4771056809999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:215.22, Y:150.62, Z:30.82 [[ 2.37916496e-01 -9.71137443e-01 -1.69649223e-02 2.15221198e+02] [ 9.69036554e-01 2.38517321e-01 -6.38564347e-02 1.50616579e+02] [ 6.60598025e-02 -1.24713067e-03 9.97814886e-01 3.08239059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.5071056809999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:215.23, Y:150.65, Z:30.82 [[ 2.40651067e-01 -9.70469124e-01 -1.66356331e-02 2.15227835e+02] [ 9.68360669e-01 2.41224293e-01 -6.39410334e-02 1.50645263e+02] [ 6.60657174e-02 -7.21814882e-04 9.97815013e-01 3.08248707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.5371056809999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:215.23, Y:150.67, Z:30.83 [[ 2.39845534e-01 -9.70663260e-01 -1.69397415e-02 2.15229404e+02] [ 9.68560720e-01 2.40440527e-01 -6.38630208e-02 1.50672834e+02] [ 6.60624883e-02 -1.08990796e-03 9.97814893e-01 3.08261337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.56710568099993 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:215.23, Y:150.70, Z:30.82 [[ 2.43751181e-01 -9.69696437e-01 -1.65584583e-02 2.15232172e+02] [ 9.67584844e-01 2.44312576e-01 -6.39604205e-02 1.50700835e+02] [ 6.60676315e-02 -4.31285293e-04 9.97815054e-01 3.08245872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.5971056809999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:215.25, Y:150.73, Z:30.82 [[ 2.55079629e-01 -9.66779139e-01 -1.65069738e-02 2.15245485e+02] [ 9.64660274e-01 2.55612874e-01 -6.39735486e-02 1.50725626e+02] [ 6.60676872e-02 3.94727188e-04 9.97815066e-01 3.08187206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.62710568099993 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:215.24, Y:150.75, Z:30.83 [[ 2.50680444e-01 -9.67925656e-01 -1.67104725e-02 2.15243190e+02] [ 9.65812664e-01 2.51236764e-01 -6.39217246e-02 1.50753324e+02] [ 6.60697623e-02 -1.15259638e-04 9.97815000e-01 3.08260548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.6571056809999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:215.25, Y:150.78, Z:30.82 [[ 2.49245020e-01 -9.68301798e-01 -1.63874517e-02 2.15246573e+02] [ 9.66184196e-01 2.49783135e-01 -6.40037933e-02 1.50779628e+02] [ 6.60682971e-02 1.19329893e-04 9.97815096e-01 3.08215789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68710568099993 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:215.26, Y:150.81, Z:30.83 [[ 2.54574928e-01 -9.66916696e-01 -1.62391270e-02 2.15255059e+02] [ 9.64793760e-01 2.55091550e-01 -6.40414051e-02 1.50806963e+02] [ 6.60651679e-02 6.35927635e-04 9.97815108e-01 3.08306897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7171056809999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:215.26, Y:150.83, Z:30.83 [[ 2.56775067e-01 -9.66328251e-01 -1.66215549e-02 2.15262161e+02] [ 9.64210323e-01 2.57312178e-01 -6.39444752e-02 1.50832141e+02] [ 6.60682814e-02 3.92672135e-04 9.97815027e-01 3.08289930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74710568099994 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:215.27, Y:150.86, Z:30.83 [[ 2.57445114e-01 -9.66156687e-01 -1.62255824e-02 2.15268247e+02] [ 9.64032027e-01 2.57954532e-01 -6.40446010e-02 1.50861262e+02] [ 6.60625820e-02 8.45988523e-04 9.97815123e-01 3.08339015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7771056809999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:215.28, Y:150.89, Z:30.83 [[ 2.63083234e-01 -9.64625659e-01 -1.68686064e-02 2.15280597e+02] [ 9.62508197e-01 2.63622861e-01 -6.38823704e-02 1.50887378e+02] [ 6.60695239e-02 5.70208628e-04 9.97814859e-01 3.08318528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80710568099994 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:215.28, Y:150.92, Z:30.85 [[ 2.60337508e-01 -9.65368219e-01 -1.69877395e-02 2.15282971e+02] [ 9.63254243e-01 2.60891039e-01 -6.38524065e-02 1.50917094e+02] [ 6.60730329e-02 2.59664239e-04 9.97814756e-01 3.08465726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8371056809999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:215.29, Y:150.94, Z:30.84 [[ 2.60784307e-01 -9.65239967e-01 -1.74169873e-02 2.15287294e+02] [ 9.63132823e-01 2.61365230e-01 -6.37446581e-02 1.50940627e+02] [ 6.60810866e-02 -1.51265721e-04 9.97814245e-01 3.08376499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86710568099994 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:215.30, Y:150.97, Z:30.85 [[ 2.70293547e-01 -9.62644988e-01 -1.60008111e-02 2.15295297e+02] [ 9.60510601e-01 2.70759672e-01 -6.40982500e-02 1.50965750e+02] [ 6.60362334e-02 1.95639463e-03 9.97815308e-01 3.08450990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8971056809999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:215.30, Y:150.99, Z:30.84 [[ 2.75527635e-01 -9.61164605e-01 -1.57202004e-02 2.15302322e+02] [ 9.59023797e-01 2.75963442e-01 -6.41680298e-02 1.50993386e+02] [ 6.60142397e-02 2.60401920e-03 9.97815283e-01 3.08408980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92710568099994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:215.32, Y:151.02, Z:30.83 [[ 2.89718074e-01 -9.56979922e-01 -1.59017609e-02 2.15318439e+02] [ 9.54835246e-01 2.90134295e-01 -6.41228789e-02 1.51019691e+02] [ 6.59779538e-02 3.39399515e-03 9.97815309e-01 3.08292728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9571056809999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:215.32, Y:151.05, Z:30.85 [[ 2.81848555e-01 -9.59326606e-01 -1.59328034e-02 2.15320560e+02] [ 9.57185842e-01 2.82284448e-01 -6.41151648e-02 1.51045744e+02] [ 6.60049660e-02 2.82011272e-03 9.97815309e-01 3.08488412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98710568099995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:215.33, Y:151.07, Z:30.85 [[ 2.83102654e-01 -9.58958177e-01 -1.58777418e-02 2.15330260e+02] [ 9.56816104e-01 2.83532073e-01 -6.41288258e-02 1.51071902e+02] [ 6.59987109e-02 2.96296172e-03 9.97815309e-01 3.08519059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0171056809999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:215.34, Y:151.10, Z:30.85 [[ 2.82755140e-01 -9.59062034e-01 -1.57970331e-02 2.15339792e+02] [ 9.56919038e-01 2.83179949e-01 -6.41488242e-02 1.51097177e+02] [ 6.59961048e-02 3.02192808e-03 9.97815305e-01 3.08505340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04710568099995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:215.35, Y:151.13, Z:30.85 [[ 2.83735570e-01 -9.58776326e-01 -1.55589883e-02 2.15351542e+02] [ 9.56629775e-01 2.84142291e-01 -6.42077333e-02 1.51126149e+02] [ 6.59818213e-02 3.33382631e-03 9.97815256e-01 3.08514051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0771056809999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:215.37, Y:151.15, Z:30.85 [[ 2.83408659e-01 -9.58863511e-01 -1.61338047e-02 2.15365772e+02] [ 9.56724745e-01 2.83854475e-01 -6.40655822e-02 1.51152521e+02] [ 6.60098017e-02 2.72113053e-03 9.97815264e-01 3.08522862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10710568099995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:215.38, Y:151.18, Z:30.85 [[ 2.80613085e-01 -9.59685169e-01 -1.61453678e-02 2.15381716e+02] [ 9.57547872e-01 2.81065903e-01 -6.40627178e-02 1.51175850e+02] [ 6.60179525e-02 2.51687428e-03 9.97815261e-01 3.08525352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.1371056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:215.39, Y:151.20, Z:30.86 [[ 2.80822592e-01 -9.59628759e-01 -1.58529793e-02 2.15393722e+02] [ 9.57487376e-01 2.81255449e-01 -6.41349939e-02 1.51203661e+02] [ 6.60045214e-02 2.83152759e-03 9.97815306e-01 3.08557306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.1671056809999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:215.41, Y:151.23, Z:30.85 [[ 2.75820058e-01 -9.61068025e-01 -1.64786717e-02 2.15405241e+02] [ 9.58937769e-01 2.76305712e-01 -6.39805271e-02 1.51228324e+02] [ 6.60427899e-02 1.84509200e-03 9.97815086e-01 3.08538584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.1971056809999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:215.41, Y:151.25, Z:30.85 [[ 2.72552261e-01 -9.62008932e-01 -1.59399019e-02 2.15412896e+02] [ 9.59872624e-01 2.73009322e-01 -6.41128432e-02 1.51253648e+02] [ 6.60288696e-02 2.17382488e-03 9.97815345e-01 3.08537107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.2271056809999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:215.43, Y:151.28, Z:30.86 [[ 2.68797450e-01 -9.63069847e-01 -1.56333506e-02 2.15427198e+02] [ 9.60931018e-01 2.69242444e-01 -6.41878894e-02 1.51280489e+02] [ 6.60265823e-02 2.23096947e-03 9.97815370e-01 3.08611143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.2571056809999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:215.44, Y:151.30, Z:30.86 [[ 2.60783892e-01 -9.65259499e-01 -1.63052317e-02 2.15437852e+02] [ 9.63134394e-01 2.61291245e-01 -6.40236274e-02 1.51303500e+02] [ 6.60598288e-02 9.92201315e-04 9.97815171e-01 3.08647156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.2871056809999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:215.45, Y:151.33, Z:30.87 [[ 2.61590895e-01 -9.65054203e-01 -1.55109423e-02 2.15451070e+02] [ 9.62917026e-01 2.62043727e-01 -6.42174929e-02 1.51329314e+02] [ 6.60379066e-02 1.86296098e-03 9.97815376e-01 3.08662663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31710568099993 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:215.46, Y:151.36, Z:30.87 [[ 2.55467597e-01 -9.66691047e-01 -1.56437582e-02 2.15456603e+02] [ 9.64558739e-01 2.55942786e-01 -6.41851225e-02 1.51357837e+02] [ 6.60510903e-02 1.30789527e-03 9.97815385e-01 3.08709389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.3471056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:215.47, Y:151.39, Z:30.87 [[ 2.53617036e-01 -9.67176101e-01 -1.57730344e-02 2.15465994e+02] [ 9.65046642e-01 2.54104880e-01 -6.41536306e-02 1.51385640e+02] [ 6.60558633e-02 1.04873976e-03 9.97815375e-01 3.08680093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37710568099993 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:215.47, Y:151.41, Z:30.87 [[ 2.52291638e-01 -9.67518453e-01 -1.60303546e-02 2.15472788e+02] [ 9.65393591e-01 2.52799449e-01 -6.40909825e-02 1.51410767e+02] [ 6.60616730e-02 6.94017362e-04 9.97815300e-01 3.08676523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.4071056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:215.48, Y:151.43, Z:30.87 [[ 2.54262486e-01 -9.67002429e-01 -1.60277973e-02 2.15479591e+02] [ 9.64876497e-01 2.54765797e-01 -6.40916030e-02 1.51434798e+02] [ 6.60600703e-02 8.31245400e-04 9.97815302e-01 3.08711310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43710568099993 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:215.48, Y:151.46, Z:30.87 [[ 2.51900792e-01 -9.67628325e-01 -1.55375351e-02 2.15483893e+02] [ 9.65496244e-01 2.52376797e-01 -6.42102448e-02 1.51464454e+02] [ 6.60529650e-02 1.17317974e-03 9.97815429e-01 3.08743805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.4671056809999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:215.49, Y:151.49, Z:30.88 [[ 2.56138293e-01 -9.66510544e-01 -1.58285673e-02 2.15489792e+02] [ 9.64380663e-01 2.56624267e-01 -6.41398616e-02 1.51492227e+02] [ 6.60538470e-02 1.16391049e-03 9.97815381e-01 3.08759524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49710568099994 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:215.49, Y:151.52, Z:30.88 [[ 2.57487399e-01 -9.66150221e-01 -1.59370527e-02 2.15494068e+02] [ 9.64021269e-01 2.57977595e-01 -6.41135909e-02 1.51518812e+02] [ 6.60547626e-02 1.14478402e-03 9.97815343e-01 3.08755442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5271056809999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:215.49, Y:151.55, Z:30.86 [[ 2.47588297e-01 -9.68732723e-01 -1.60295488e-02 2.15488611e+02] [ 9.66610337e-01 2.48106372e-01 -6.40912192e-02 1.51546707e+02] [ 6.60642945e-02 3.73908282e-04 9.97815298e-01 3.08591054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55710568099994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:215.50, Y:151.57, Z:30.88 [[ 2.61311696e-01 -9.65130356e-01 -1.54788107e-02 2.15504243e+02] [ 9.62992943e-01 2.61763012e-01 -6.42239652e-02 1.51573710e+02] [ 6.60362785e-02 1.87648777e-03 9.97815458e-01 3.08780840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5871056809999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:215.51, Y:151.60, Z:30.88 [[ 2.62788937e-01 -9.64716324e-01 -1.62600110e-02 2.15508655e+02] [ 9.62589411e-01 2.63288871e-01 -6.40358963e-02 1.51598120e+02] [ 6.60575545e-02 1.17621075e-03 9.97815121e-01 3.08755447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61710568099994 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:215.51, Y:151.62, Z:30.87 [[ 2.57196014e-01 -9.66230806e-01 -1.57556338e-02 2.15509823e+02] [ 9.64099359e-01 2.57674816e-01 -6.41569536e-02 1.51624103e+02] [ 6.60502551e-02 1.31091625e-03 9.97815437e-01 3.08683335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6471056809999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:215.52, Y:151.65, Z:30.88 [[ 2.59885036e-01 -9.65517150e-01 -1.53753692e-02 2.15516733e+02] [ 9.63379011e-01 2.60332637e-01 -6.42479611e-02 1.51651809e+02] [ 6.60352186e-02 1.88477575e-03 9.97815513e-01 3.08802527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67710568099994 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:215.52, Y:151.68, Z:30.88 [[ 2.55443359e-01 -9.66695264e-01 -1.57783363e-02 2.15521356e+02] [ 9.64565019e-01 2.55927532e-01 -6.41515604e-02 1.51680225e+02] [ 6.60531204e-02 1.16785889e-03 9.97815425e-01 3.08822229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7071056809999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:215.53, Y:151.71, Z:30.89 [[ 2.50818498e-01 -9.67902836e-01 -1.59430568e-02 2.15527716e+02] [ 9.65777389e-01 2.51323762e-01 -6.41124082e-02 1.51705435e+02] [ 6.60614507e-02 6.83134183e-04 9.97815323e-01 3.08901178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73710568099995 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:215.53, Y:151.73, Z:30.89 [[ 2.41965282e-01 -9.70159864e-01 -1.55769403e-02 2.15532318e+02] [ 9.68033487e-01 2.42465733e-01 -6.41991894e-02 1.51731566e+02] [ 6.60603511e-02 4.54975146e-04 9.97815526e-01 3.08947767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7671056809999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:215.54, Y:151.76, Z:30.89 [[ 2.37325360e-01 -9.71301689e-01 -1.58019521e-02 2.15538245e+02] [ 9.69181253e-01 2.37850836e-01 -6.41457672e-02 1.51757399e+02] [ 6.60633995e-02 -9.15383936e-05 9.97815423e-01 3.08948149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79710568099995 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:215.54, Y:151.79, Z:30.89 [[ 2.27383126e-01 -9.73679223e-01 -1.56743448e-02 2.15542818e+02] [ 9.71562182e-01 2.27921843e-01 -6.41760030e-02 1.51789289e+02] [ 6.60593663e-02 -6.36060430e-04 9.97815492e-01 3.08946668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.8271056809999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:215.55, Y:151.82, Z:30.90 [[ 2.20453784e-01 -9.75263803e-01 -1.61444487e-02 2.15545910e+02] [ 9.73158538e-01 2.21038444e-01 -6.40661058e-02 1.51815566e+02] [ 6.60498978e-02 -1.58749260e-03 9.97815058e-01 3.08991283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85710568099995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:215.55, Y:151.84, Z:30.90 [[ 2.13290814e-01 -9.76863008e-01 -1.56745718e-02 2.15550343e+02] [ 9.74753995e-01 2.13860078e-01 -6.41756649e-02 1.51840764e+02] [ 6.60429982e-02 -1.59077169e-03 9.97815510e-01 3.09020568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.8871056809999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:215.55, Y:151.87, Z:30.90 [[ 2.04385576e-01 -9.78765850e-01 -1.56188361e-02 2.15551198e+02] [ 9.76661127e-01 2.04970372e-01 -6.41886998e-02 1.51867719e+02] [ 6.60271059e-02 -2.13506569e-03 9.97815545e-01 3.09020021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9171056809999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:215.55, Y:151.89, Z:30.90 [[ 2.04930701e-01 -9.78649551e-01 -1.57627394e-02 2.15551888e+02] [ 9.76547033e-01 2.05523753e-01 -6.41551256e-02 1.51890831e+02] [ 6.60250022e-02 -2.24570155e-03 9.97815442e-01 3.08989279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9471056809999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:215.56, Y:151.92, Z:30.90 [[ 2.04182391e-01 -9.78818634e-01 -1.49543768e-02 2.15555285e+02] [ 9.76702641e-01 2.04724025e-01 -6.43430257e-02 1.51917404e+02] [ 6.60416727e-02 -1.46826648e-03 9.97815785e-01 3.09008384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9771056809999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:215.56, Y:151.94, Z:30.91 [[ 2.02090047e-01 -9.79253187e-01 -1.49267688e-02 2.15556621e+02] [ 9.77137890e-01 2.02634389e-01 -6.43494298e-02 1.51944426e+02] [ 6.60390609e-02 -1.58113206e-03 9.97815786e-01 3.09068405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.0071056809999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:215.56, Y:151.98, Z:30.91 [[ 1.96943619e-01 -9.80301598e-01 -1.48992338e-02 2.15558127e+02] [ 9.78188716e-01 1.97497259e-01 -6.43558045e-02 1.51977747e+02] [ 6.60306559e-02 -1.89979729e-03 9.97815786e-01 3.09104336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.0371056809999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:215.56, Y:152.00, Z:30.91 [[ 1.96093194e-01 -9.80442833e-01 -1.67125816e-02 2.15563667e+02] [ 9.78363743e-01 1.96767119e-01 -6.39303268e-02 1.52004105e+02] [ 6.59685173e-02 -3.81468193e-03 9.97814413e-01 3.09126407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.06710568099993 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:215.56, Y:152.03, Z:30.91 [[ 1.96009299e-01 -9.80461587e-01 -1.65961344e-02 2.15559049e+02] [ 9.78380312e-01 1.96675823e-01 -6.39576919e-02 1.52033590e+02] [ 6.59721185e-02 -3.70102877e-03 9.97814603e-01 3.09131128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.0971056809999 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:215.56, Y:152.06, Z:30.91 [[ 1.93583778e-01 -9.80941702e-01 -1.66942466e-02 2.15557003e+02] [ 9.78863978e-01 1.94261830e-01 -6.39347650e-02 1.52060203e+02] [ 6.59593321e-02 -3.96466327e-03 9.97814436e-01 3.09127593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.12710568099993 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:215.56, Y:152.09, Z:30.91 [[ 1.99786374e-01 -9.79713250e-01 -1.57274619e-02 2.15556079e+02] [ 9.77613722e-01 2.00388138e-01 -6.41560987e-02 1.52091930e+02] [ 6.60061767e-02 -2.55786825e-03 9.97815936e-01 3.09139591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.1571056809999 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:215.55, Y:152.12, Z:30.92 [[ 2.07183860e-01 -9.78166964e-01 -1.62554259e-02 2.15547022e+02] [ 9.76072152e-01 2.07804316e-01 -6.40353000e-02 1.52120727e+02] [ 6.60151627e-02 -2.59938792e-03 9.97815234e-01 3.09238865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18710568099993 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:215.55, Y:152.15, Z:30.93 [[ 2.12485894e-01 -9.77035291e-01 -1.58677624e-02 2.15546034e+02] [ 9.74930580e-01 2.13069561e-01 -6.41227433e-02 1.52149028e+02] [ 6.60311203e-02 -1.84478838e-03 9.97815859e-01 3.09272177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2171056809999 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:215.54, Y:152.18, Z:30.91 [[ 2.09818631e-01 -9.77616846e-01 -1.55384560e-02 2.15538218e+02] [ 9.75508243e-01 2.10386434e-01 -6.41967001e-02 1.52176587e+02] [ 6.60288558e-02 -1.68822815e-03 9.97816286e-01 3.09149060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24710568099994 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:215.54, Y:152.21, Z:30.93 [[ 2.30971431e-01 -9.72853851e-01 -1.44077354e-02 2.15535934e+02] [ 9.70717098e-01 2.31418613e-01 -6.44495189e-02 1.52211066e+02] [ 6.60341808e-02 9.00162475e-04 9.97816956e-01 3.09286408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2771056809999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:215.54, Y:152.24, Z:30.93 [[ 2.32873052e-01 -9.72379255e-01 -1.57710628e-02 2.15535431e+02] [ 9.70261331e-01 2.33406195e-01 -6.41443496e-02 1.52238360e+02] [ 6.60536987e-02 -3.64561954e-04 9.97816003e-01 3.09267881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30710568099994 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:215.53, Y:152.27, Z:30.93 [[ 2.39689097e-01 -9.70728694e-01 -1.53277341e-02 2.15534021e+02] [ 9.68600699e-01 2.40178055e-01 -6.42431922e-02 1.52268581e+02] [ 6.60440955e-02 5.51938794e-04 9.97816553e-01 3.09334778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3371056809999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:215.53, Y:152.29, Z:30.93 [[ 2.41426232e-01 -9.70291854e-01 -1.57191643e-02 2.15534689e+02] [ 9.68168559e-01 2.41937274e-01 -6.41560390e-02 1.52290227e+02] [ 6.60531338e-02 2.70150108e-04 9.97816071e-01 3.09343464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36710568099994 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:215.53, Y:152.32, Z:30.94 [[ 2.37708042e-01 -9.71231744e-01 -1.42753644e-02 2.15534118e+02] [ 9.69090399e-01 2.38131628e-01 -6.44757798e-02 1.52324337e+02] [ 6.60203399e-02 1.49229279e-03 9.97817162e-01 3.09399665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3971056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:215.54, Y:152.35, Z:30.94 [[ 2.40021200e-01 -9.70643425e-01 -1.55294753e-02 2.15535751e+02] [ 9.68518182e-01 2.40522775e-01 -6.41975524e-02 1.52346972e+02] [ 6.60481247e-02 3.68194346e-04 9.97816371e-01 3.09392170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42710568099994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:215.54, Y:152.38, Z:30.94 [[ 2.36640653e-01 -9.71492942e-01 -1.42360612e-02 2.15539004e+02] [ 9.69351633e-01 2.37063987e-01 -6.44831610e-02 1.52379382e+02] [ 6.60197932e-02 1.45958816e-03 9.97817246e-01 3.09407567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4571056809999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:215.54, Y:152.40, Z:30.94 [[ 2.42473948e-01 -9.70039141e-01 -1.51805470e-02 2.15544696e+02] [ 9.67907817e-01 2.42947052e-01 -6.42743214e-02 1.52402323e+02] [ 6.60366766e-02 8.91478366e-04 9.97816798e-01 3.09372433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48710568099995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:215.55, Y:152.43, Z:30.94 [[ 2.47086549e-01 -9.68889263e-01 -1.42068255e-02 2.15551907e+02] [ 9.66743208e-01 2.47484862e-01 -6.44888647e-02 1.52429264e+02] [ 6.59985429e-02 2.19997902e-03 9.97817294e-01 3.09350460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5171056809999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:215.56, Y:152.46, Z:30.93 [[ 2.49730187e-01 -9.68211592e-01 -1.41826158e-02 2.15557233e+02] [ 9.66064165e-01 2.50121030e-01 -6.44941886e-02 1.52456217e+02] [ 6.59913915e-02 2.40482884e-03 9.97817294e-01 3.09329223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54710568099995 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:215.56, Y:152.48, Z:30.93 [[ 2.55429565e-01 -9.66723986e-01 -1.41588201e-02 2.15561290e+02] [ 9.64574015e-01 2.55806166e-01 -6.44994122e-02 1.52484111e+02] [ 6.59750424e-02 2.81782681e-03 9.97817295e-01 3.09304528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5771056809999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:215.57, Y:152.51, Z:30.93 [[ 2.58090895e-01 -9.66017234e-01 -1.41348658e-02 2.15566732e+02] [ 9.63865960e-01 2.58459978e-01 -6.45046613e-02 1.52509952e+02] [ 6.59659116e-02 3.02394975e-03 9.97817295e-01 3.09307541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60710568099995 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:215.57, Y:152.54, Z:30.94 [[ 2.60173747e-01 -9.65458761e-01 -1.41067984e-02 2.15573030e+02] [ 9.63306381e-01 2.60536319e-01 -6.45107990e-02 1.52537235e+02] [ 6.59578494e-02 3.19484739e-03 9.97817295e-01 3.09352288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.6371056809999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:215.58, Y:152.57, Z:30.94 [[ 2.60542958e-01 -9.65359543e-01 -1.40825685e-02 2.15580943e+02] [ 9.63206754e-01 2.60903092e-01 -6.45160879e-02 1.52568766e+02] [ 6.59554068e-02 3.24478729e-03 9.97817296e-01 3.09377482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.6671056809999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:215.59, Y:152.59, Z:30.94 [[ 2.63245096e-01 -9.64607398e-01 -1.53162212e-02 2.15587444e+02] [ 9.62467949e-01 2.63681348e-01 -6.42463536e-02 1.52589472e+02] [ 6.60111098e-02 2.17116550e-03 9.97816526e-01 3.09423266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.6971056809999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:215.60, Y:152.61, Z:30.95 [[ 2.59666572e-01 -9.65596426e-01 -1.40290081e-02 2.15596012e+02] [ 9.63443465e-01 2.60025094e-01 -6.45262722e-02 1.52614655e+02] [ 6.59542320e-02 3.23915968e-03 9.97817392e-01 3.09477269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.7271056809999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:215.60, Y:152.64, Z:30.95 [[ 2.54040203e-01 -9.67092271e-01 -1.40041151e-02 2.15603596e+02] [ 9.64941149e-01 2.54409596e-01 -6.45316743e-02 1.52644890e+02] [ 6.59708647e-02 2.88049275e-03 9.97817392e-01 3.09535257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.7571056809999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:215.61, Y:152.67, Z:30.96 [[ 2.48337860e-01 -9.68558863e-01 -1.49008603e-02 2.15611051e+02] [ 9.66420984e-01 2.48779505e-01 -6.43369167e-02 1.52666786e+02] [ 6.60211196e-02 1.57678818e-03 9.97816980e-01 3.09604546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.7871056809999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:215.62, Y:152.70, Z:30.96 [[ 2.38843664e-01 -9.70957657e-01 -1.39618157e-02 2.15620643e+02] [ 9.68812116e-01 2.39243937e-01 -6.45400894e-02 1.52696978e+02] [ 6.60059737e-02 1.88861516e-03 9.97817441e-01 3.09624919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81710568099993 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:215.63, Y:152.72, Z:30.96 [[ 2.35194574e-01 -9.71834764e-01 -1.48560834e-02 2.15629182e+02] [ 9.69702474e-01 2.35662176e-01 -6.43463419e-02 1.52721814e+02] [ 6.60350290e-02 7.27929648e-04 9.97817040e-01 3.09616424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.8471056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:215.64, Y:152.75, Z:30.97 [[ 2.30259442e-01 -9.73019767e-01 -1.45986993e-02 2.15637403e+02] [ 9.70886346e-01 2.30720834e-01 -6.44018573e-02 1.52747973e+02] [ 6.60325043e-02 6.55457884e-04 9.97817257e-01 3.09652511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87710568099993 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:215.64, Y:152.78, Z:30.97 [[ 2.25475276e-01 -9.74143135e-01 -1.43545377e-02 2.15643017e+02] [ 9.72008649e-01 2.25930999e-01 -6.44544003e-02 1.52775146e+02] [ 6.60309466e-02 5.80138943e-04 9.97817407e-01 3.09674869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.9071056809999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:215.65, Y:152.80, Z:30.97 [[ 2.22582922e-01 -9.74804174e-01 -1.46172569e-02 2.15652031e+02] [ 9.72674703e-01 2.23062341e-01 -6.43980932e-02 1.52800213e+02] [ 6.60360896e-02 1.16079727e-04 9.97817228e-01 3.09714265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93710568099993 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:215.66, Y:152.83, Z:30.97 [[ 2.17535119e-01 -9.75949705e-01 -1.41649179e-02 2.15661188e+02] [ 9.73816359e-01 2.17995682e-01 -6.44948140e-02 1.52827109e+02] [ 6.60315857e-02 2.35858267e-04 9.97817505e-01 3.09744395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.9671056809999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:215.67, Y:152.85, Z:30.97 [[ 2.14779682e-01 -9.76559835e-01 -1.41625176e-02 2.15668876e+02] [ 9.74427764e-01 2.15246106e-01 -6.44953258e-02 1.52852883e+02] [ 6.60319714e-02 5.19351675e-05 9.97817506e-01 3.09742370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99710568099994 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:215.68, Y:152.88, Z:30.96 [[ 2.15071892e-01 -9.76498128e-01 -1.39816798e-02 2.15684397e+02] [ 9.74363411e-01 2.15525731e-01 -6.45337340e-02 1.52877807e+02] [ 6.60304822e-02 2.56155075e-04 9.97817573e-01 3.09615651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0271056809999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:215.68, Y:152.91, Z:30.97 [[ 1.99706894e-01 -9.79760335e-01 -1.36690173e-02 2.15680231e+02] [ 9.77628448e-01 2.00173605e-01 -6.45998953e-02 1.52906724e+02] [ 6.60285916e-02 -4.62175662e-04 9.97817624e-01 3.09656719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05710568099994 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:215.68, Y:152.93, Z:30.97 [[ 1.93625331e-01 -9.80980759e-01 -1.36375523e-02 2.15679939e+02] [ 9.78851342e-01 1.94103185e-01 -6.46065372e-02 1.52933814e+02] [ 6.60248622e-02 -8.39674240e-04 9.97817625e-01 3.09703190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0871056809999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:215.68, Y:152.96, Z:30.99 [[ 1.96281306e-01 -9.80453249e-01 -1.36042316e-02 2.15682365e+02] [ 9.78322061e-01 1.96751197e-01 -6.46135528e-02 1.52960852e+02] [ 6.60272167e-02 -6.26887315e-04 9.97817625e-01 3.09900751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:215.69, Y:152.99, Z:30.98 [[ 2.03119670e-01 -9.79058965e-01 -1.36360905e-02 2.15692748e+02] [ 9.76924997e-01 2.03576776e-01 -6.46068543e-02 1.52988129e+02] [ 6.60299113e-02 -1.98514767e-04 9.97817624e-01 3.09816844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1471056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:215.68, Y:153.02, Z:30.99 [[ 1.95522081e-01 -9.80605508e-01 -1.35629779e-02 2.15684084e+02] [ 9.78474086e-01 1.95990903e-01 -6.46221995e-02 1.53018243e+02] [ 6.60271050e-02 -6.35955488e-04 9.97817627e-01 3.09927221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17710568099994 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:215.68, Y:153.05, Z:30.99 [[ 1.92962494e-01 -9.81110929e-01 -1.36682178e-02 2.15684276e+02] [ 9.78982285e-01 1.93443806e-01 -6.46001573e-02 1.53045931e+02] [ 6.60239525e-02 -9.15535656e-04 9.97817618e-01 3.09896828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.68, Y:153.07, Z:30.99 [[ 1.88066202e-01 -9.82064898e-01 -1.34029537e-02 2.15682840e+02] [ 9.79934725e-01 1.88540674e-01 -6.46556148e-02 1.53074017e+02] [ 6.60230117e-02 -9.74483823e-04 9.97817625e-01 3.09904532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:215.69, Y:153.10, Z:30.98 [[ 1.87002621e-01 -9.82266712e-01 -1.34954184e-02 2.15689865e+02] [ 9.80138429e-01 1.87485483e-01 -6.46363136e-02 1.53100609e+02] [ 6.60202943e-02 -1.14021819e-03 9.97817629e-01 3.09774491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2671056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:215.69, Y:153.13, Z:31.00 [[ 1.79435519e-01 -9.83677567e-01 -1.34662232e-02 2.15686986e+02] [ 9.81552615e-01 1.79932833e-01 -6.46423956e-02 1.53127966e+02] [ 6.60102901e-02 -1.61866477e-03 9.97817629e-01 3.09953051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29710568099995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:215.69, Y:153.15, Z:31.00 [[ 1.73756983e-01 -9.84697069e-01 -1.34236062e-02 2.15687753e+02] [ 9.82574353e-01 1.74263754e-01 -6.46512556e-02 1.53154404e+02] [ 6.60011499e-02 -1.95608401e-03 9.97817630e-01 3.10015090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:153.19, Z:31.00 [[ 1.64280842e-01 -9.86323339e-01 -1.33445336e-02 2.15684629e+02] [ 9.84204309e-01 1.64802825e-01 -6.46676637e-02 1.53187844e+02] [ 6.59824428e-02 -2.51008921e-03 9.97817627e-01 3.09983897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:153.21, Z:31.00 [[ 1.62975851e-01 -9.86527692e-01 -1.42121713e-02 2.15681843e+02] [ 9.84423751e-01 1.63557327e-01 -6.44893789e-02 1.53213697e+02] [ 6.59450628e-02 -3.48058760e-03 9.97817185e-01 3.10023071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:153.24, Z:31.00 [[ 1.63585609e-01 -9.86438779e-01 -1.33522866e-02 2.15683290e+02] [ 9.84320290e-01 1.64109591e-01 -6.46653648e-02 1.53242228e+02] [ 6.59796618e-02 -2.56460351e-03 9.97817672e-01 3.10033703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:153.27, Z:31.00 [[ 1.67576817e-01 -9.85770959e-01 -1.31767405e-02 2.15681692e+02] [ 9.83647614e-01 1.68080715e-01 -6.47012033e-02 1.53270519e+02] [ 6.59953232e-02 -2.11884764e-03 9.97817683e-01 3.10034938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:153.30, Z:31.00 [[ 1.69372670e-01 -9.85465896e-01 -1.30332745e-02 2.15682516e+02] [ 9.83339431e-01 1.69863285e-01 -6.47304318e-02 1.53298476e+02] [ 6.60035078e-02 -1.85256665e-03 9.97817671e-01 3.10043357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:153.33, Z:31.01 [[ 1.74070517e-01 -9.84647697e-01 -1.29756957e-02 2.15677025e+02] [ 9.82518055e-01 1.74547202e-01 -6.47421553e-02 1.53328274e+02] [ 6.60130855e-02 -1.47915484e-03 9.97817661e-01 3.10063936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.67, Y:153.36, Z:31.01 [[ 1.79395641e-01 -9.83690608e-01 -1.30380724e-02 2.15670741e+02] [ 9.81559328e-01 1.79864900e-01 -6.47294616e-02 1.53359892e+02] [ 6.60188550e-02 -1.18545829e-03 9.97817671e-01 3.10095405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.5371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.67, Y:153.39, Z:31.01 [[ 1.83991129e-01 -9.82837352e-01 -1.33418252e-02 2.15670609e+02] [ 9.80708290e-01 1.84470412e-01 -6.46677446e-02 1.53386878e+02] [ 6.60190469e-02 -1.18614730e-03 9.97817658e-01 3.10107571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.67, Y:153.42, Z:31.02 [[ 1.90956199e-01 -9.81514324e-01 -1.28593525e-02 2.15665178e+02] [ 9.79375233e-01 1.91388561e-01 -6.47655085e-02 1.53417736e+02] [ 6.60294073e-02 -2.26756047e-04 9.97817652e-01 3.10162789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.5971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.67, Y:153.45, Z:31.01 [[ 1.98634206e-01 -9.79985744e-01 -1.31298743e-02 2.15667604e+02] [ 9.77846909e-01 1.99067680e-01 -6.47107586e-02 1.53445753e+02] [ 6.60293545e-02 1.47632124e-05 9.97817681e-01 3.10110549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.62710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.65, Y:153.46, Z:31.00 [[ 1.83839178e-01 -9.82871342e-01 -1.29260256e-02 2.15653044e+02] [ 9.80736386e-01 1.84291421e-01 -6.47519323e-02 1.53457340e+02] [ 6.60249742e-02 -7.73081587e-04 9.97817671e-01 3.10003066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.6571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.66, Y:153.50, Z:31.01 [[ 2.09532892e-01 -9.77765967e-01 -8.34750368e-03 2.15664017e+02] [ 9.75575095e-01 2.09623941e-01 -6.56584948e-02 1.53501294e+02] [ 6.59484783e-02 5.61399763e-03 9.97807237e-01 3.10130143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.67, Y:153.53, Z:31.02 [[ 2.11858740e-01 -9.77217303e-01 -1.27364530e-02 2.15665770e+02] [ 9.75068748e-01 2.12237225e-01 -6.47788338e-02 1.53529832e+02] [ 6.60061467e-02 1.30504484e-03 9.97818363e-01 3.10154461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.67, Y:153.56, Z:31.02 [[ 2.17079146e-01 -9.76068505e-01 -1.29196948e-02 2.15666160e+02] [ 9.73920095e-01 2.17458292e-01 -6.47420977e-02 1.53557023e+02] [ 6.60022173e-02 1.47140891e-03 9.97818391e-01 3.10209096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.67, Y:153.59, Z:31.02 [[ 2.16811885e-01 -9.76129609e-01 -1.27903230e-02 2.15671345e+02] [ 9.73979790e-01 2.17183042e-01 -6.47680085e-02 1.53585698e+02] [ 6.59998121e-02 1.58495792e-03 9.97818377e-01 3.10248178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.68, Y:153.61, Z:31.02 [[ 2.16995880e-01 -9.76084640e-01 -1.30982533e-02 2.15677775e+02] [ 9.73938371e-01 2.17387045e-01 -6.47064249e-02 1.53609794e+02] [ 6.60063380e-02 1.28413617e-03 9.97818377e-01 3.10167508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:153.64, Z:31.02 [[ 2.12382948e-01 -9.77107237e-01 -1.24470918e-02 2.15684423e+02] [ 9.74955133e-01 2.12741097e-01 -6.48360545e-02 1.53636491e+02] [ 6.59997860e-02 1.63471630e-03 9.97818298e-01 3.10198272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.69, Y:153.66, Z:31.03 [[ 2.08264977e-01 -9.77991944e-01 -1.25482148e-02 2.15690629e+02] [ 9.75842564e-01 2.08638889e-01 -6.48159259e-02 1.53664405e+02] [ 6.60074989e-02 1.25380522e-03 9.97818339e-01 3.10272747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.69, Y:153.69, Z:31.02 [[ 1.99493680e-01 -9.79814378e-01 -1.28862730e-02 2.15693607e+02] [ 9.77672710e-01 1.99909187e-01 -6.47486547e-02 1.53690938e+02] [ 6.60177472e-02 3.18389925e-04 9.97818398e-01 3.10152222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8971056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:215.70, Y:153.71, Z:31.01 [[ 1.93027945e-01 -9.81112972e-01 -1.25518425e-02 2.15703268e+02] [ 9.78969732e-01 1.93435484e-01 -6.48149482e-02 1.53708452e+02] [ 6.60187582e-02 2.23222346e-04 9.97818357e-01 3.10114111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:215.71, Y:153.73, Z:31.01 [[ 1.93222173e-01 -9.81096288e-01 -1.07361563e-02 2.15708456e+02] [ 9.78931390e-01 1.93509003e-01 -6.51736132e-02 1.53734534e+02] [ 6.60191329e-02 2.08302673e-03 9.97816183e-01 3.10131140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.73, Y:153.77, Z:31.04 [[ 1.93478504e-01 -9.81044994e-01 -1.08068808e-02 2.15726888e+02] [ 9.78880802e-01 1.93769467e-01 -6.51595641e-02 1.53768207e+02] [ 6.60185077e-02 2.02832683e-03 9.97816337e-01 3.10366662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:215.74, Y:153.80, Z:31.02 [[ 1.92157467e-01 -9.81275430e-01 -1.31923211e-02 2.15742464e+02] [ 9.79141354e-01 1.92609168e-01 -6.46832013e-02 1.53800408e+02] [ 6.60129982e-02 -4.87786953e-04 9.97818644e-01 3.10232654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:215.74, Y:153.83, Z:31.03 [[ 1.86770890e-01 -9.82297354e-01 -1.44409844e-02 2.15744959e+02] [ 9.80184107e-01 1.87316339e-01 -6.44337260e-02 1.53826638e+02] [ 6.59981109e-02 -2.12047903e-03 9.97817495e-01 3.10253245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.75, Y:153.85, Z:31.03 [[ 1.77826634e-01 -9.83966365e-01 -1.37069923e-02 2.15745031e+02] [ 9.81846874e-01 1.78343196e-01 -6.45787915e-02 1.53851334e+02] [ 6.59879075e-02 -1.97433845e-03 9.97818470e-01 3.10324864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:215.75, Y:153.88, Z:31.03 [[ 1.79036820e-01 -9.83757653e-01 -1.29110995e-02 2.15752864e+02] [ 9.81626011e-01 1.79498481e-01 -6.47353912e-02 1.53877208e+02] [ 6.60014593e-02 -1.08385254e-03 9.97818938e-01 3.10328912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.76, Y:153.91, Z:31.04 [[ 1.80513601e-01 -9.83486788e-01 -1.29837784e-02 2.15756575e+02] [ 9.81355472e-01 1.80976843e-01 -6.47210885e-02 1.53905553e+02] [ 6.60020987e-02 -1.05866527e-03 9.97818923e-01 3.10395813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.1371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.76, Y:153.93, Z:31.04 [[ 1.83460576e-01 -9.82938404e-01 -1.32026716e-02 2.15759612e+02] [ 9.80808758e-01 1.83931835e-01 -6.46781259e-02 1.53933265e+02] [ 6.60030054e-02 -1.08340971e-03 9.97818836e-01 3.10411542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.1671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.77, Y:153.96, Z:31.04 [[ 1.94236474e-01 -9.80866749e-01 -1.31382297e-02 2.15766710e+02] [ 9.78731205e-01 1.94680083e-01 -6.46907548e-02 1.53955748e+02] [ 6.60107620e-02 -2.93491246e-04 9.97818868e-01 3.10421944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.1971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.77, Y:153.99, Z:31.05 [[ 1.95565225e-01 -9.80611782e-01 -1.24408779e-02 2.15766614e+02] [ 9.78466761e-01 1.95959888e-01 -6.48268423e-02 1.53987688e+02] [ 6.60078784e-02 5.04890527e-04 9.97818974e-01 3.10519514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.2271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.77, Y:154.02, Z:31.05 [[ 2.02018693e-01 -9.79290042e-01 -1.33963196e-02 2.15770865e+02] [ 9.77154337e-01 2.02462374e-01 -6.46404569e-02 1.54016659e+02] [ 6.60140064e-02 -3.16911083e-05 9.97818696e-01 3.10511366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.2571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.78, Y:154.04, Z:31.05 [[ 2.04633448e-01 -9.78745939e-01 -1.34736376e-02 2.15775634e+02] [ 9.76610039e-01 2.05076529e-01 -6.46254525e-02 1.54042899e+02] [ 6.60150260e-02 6.60394363e-05 9.97818627e-01 3.10527186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.2871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.78, Y:154.07, Z:31.06 [[ 2.07255848e-01 -9.78196405e-01 -1.32968664e-02 2.15782613e+02] [ 9.76057127e-01 2.07681522e-01 -6.46596458e-02 1.54069999e+02] [ 6.60113466e-02 4.22588510e-04 9.97818783e-01 3.10606314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.79, Y:154.10, Z:31.06 [[ 2.08662169e-01 -9.77893166e-01 -1.36034682e-02 2.15789385e+02] [ 9.75757065e-01 2.09105028e-01 -6.46006036e-02 1.54096542e+02] [ 6.60170424e-02 2.06021911e-04 9.97818474e-01 3.10588071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.3471056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:215.80, Y:154.12, Z:31.05 [[ 2.13361900e-01 -9.76879867e-01 -1.35065032e-02 2.15798627e+02] [ 9.74740488e-01 2.13788070e-01 -6.46192160e-02 1.54122140e+02] [ 6.60127404e-02 6.21943119e-04 9.97818586e-01 3.10515825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:215.81, Y:154.15, Z:31.05 [[ 2.16408458e-01 -9.76215923e-01 -1.30327115e-02 2.15805107e+02] [ 9.74069790e-01 2.16796585e-01 -6.47092308e-02 1.54148376e+02] [ 6.59956288e-02 1.30885428e-03 9.97819054e-01 3.10531760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.4071056809999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:215.81, Y:154.18, Z:31.05 [[ 2.22990688e-01 -9.74736913e-01 -1.27712114e-02 2.15813638e+02] [ 9.72585427e-01 2.23346977e-01 -6.47588973e-02 1.54175792e+02] [ 6.59752991e-02 2.01953695e-03 9.97819213e-01 3.10493480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:215.82, Y:154.20, Z:31.06 [[ 2.26583238e-01 -9.73906455e-01 -1.28938981e-02 2.15821006e+02] [ 9.71754932e-01 2.26939737e-01 -6.47356840e-02 1.54201652e+02] [ 6.59726384e-02 2.13831186e-03 9.97819141e-01 3.10552197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.4671056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:215.83, Y:154.23, Z:31.06 [[ 2.32616381e-01 -9.72486755e-01 -1.26147236e-02 2.15830560e+02] [ 9.70330350e-01 2.32940982e-01 -6.47882050e-02 1.54227319e+02] [ 6.59441573e-02 2.83034862e-03 9.97819301e-01 3.10554373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49710568099994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:215.84, Y:154.25, Z:31.06 [[ 2.36041553e-01 -9.71660791e-01 -1.26369643e-02 2.15840616e+02] [ 9.69503463e-01 2.36360033e-01 -6.47840271e-02 1.54253139e+02] [ 6.59349723e-02 3.04014172e-03 9.97819291e-01 3.10555481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5271056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:215.85, Y:154.28, Z:31.06 [[ 2.36342100e-01 -9.71588314e-01 -1.25920614e-02 2.15849051e+02] [ 9.69430472e-01 2.36656926e-01 -6.47924405e-02 1.54281205e+02] [ 6.59315765e-02 3.10605343e-03 9.97819312e-01 3.10564621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55710568099994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:215.86, Y:154.31, Z:31.06 [[ 2.35217090e-01 -9.71861045e-01 -1.26107263e-02 2.15862247e+02] [ 9.69703741e-01 2.35535655e-01 -6.47889670e-02 1.54307308e+02] [ 6.59361488e-02 3.01080380e-03 9.97819302e-01 3.10589612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5871056809999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:215.88, Y:154.33, Z:31.05 [[ 2.28643144e-01 -9.73427819e-01 -1.26725430e-02 2.15876078e+02] [ 9.71273318e-01 2.28980389e-01 -6.47774847e-02 1.54328105e+02] [ 6.59579695e-02 2.50242491e-03 9.97819264e-01 3.10467240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61710568099994 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:215.89, Y:154.36, Z:31.06 [[ 2.31356522e-01 -9.72800936e-01 -1.15108104e-02 2.15889893e+02] [ 9.70635151e-01 2.31610474e-01 -6.49922442e-02 1.54360077e+02] [ 6.58905402e-02 3.86358239e-03 9.97819377e-01 3.10606623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6471056809999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:215.90, Y:154.38, Z:31.06 [[ 2.23533001e-01 -9.74609099e-01 -1.30423068e-02 2.15903062e+02] [ 9.72460405e-01 2.23906081e-01 -6.47057018e-02 1.54382276e+02] [ 6.59830175e-02 1.78073279e-03 9.97819157e-01 3.10634363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67710568099994 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:215.91, Y:154.41, Z:31.07 [[ 2.17581791e-01 -9.75963033e-01 -1.24226544e-02 2.15912778e+02] [ 9.73810090e-01 2.17926896e-01 -6.48211081e-02 1.54411996e+02] [ 6.59702358e-02 2.00658663e-03 9.97819574e-01 3.10685552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7071056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:215.93, Y:154.44, Z:31.07 [[ 2.07205942e-01 -9.78209740e-01 -1.30920523e-02 2.15927925e+02] [ 9.76068066e-01 2.07618186e-01 -6.46979118e-02 1.54435228e+02] [ 6.60062756e-02 6.27057589e-04 9.97819011e-01 3.10730227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73710568099995 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:215.94, Y:154.46, Z:31.07 [[ 1.96366578e-01 -9.80446741e-01 -1.28200756e-02 2.15940680e+02] [ 9.78306483e-01 1.96784546e-01 -6.47477267e-02 1.54462742e+02] [ 6.60044904e-02 1.72326418e-04 9.97819311e-01 3.10708000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7671056809999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:215.95, Y:154.49, Z:31.07 [[ 1.89354766e-01 -9.81824832e-01 -1.28363595e-02 2.15952239e+02] [ 9.79687816e-01 1.89789093e-01 -6.47447519e-02 1.54486484e+02] [ 6.60042062e-02 -3.15897637e-04 9.97819295e-01 3.10738213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79710568099995 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:215.96, Y:154.51, Z:31.08 [[ 1.86504804e-01 -9.82371869e-01 -1.27070192e-02 2.15959137e+02] [ 9.80234494e-01 1.86936804e-01 -6.47685670e-02 1.54513406e+02] [ 6.60022278e-02 -3.76209589e-04 9.97819405e-01 3.10772932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.8271056809999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:215.97, Y:154.54, Z:31.08 [[ 1.85005804e-01 -9.82654603e-01 -1.27586864e-02 2.15965140e+02] [ 9.80518543e-01 1.85444470e-01 -6.47590642e-02 1.54540078e+02] [ 6.60018204e-02 -5.29325817e-04 9.97819362e-01 3.10795029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85710568099995 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:215.97, Y:154.57, Z:31.08 [[ 1.83245779e-01 -9.82981708e-01 -1.29594405e-02 2.15969888e+02] [ 9.80849003e-01 1.83701492e-01 -6.47224487e-02 1.54565645e+02] [ 6.60016516e-02 -8.51138732e-04 9.97819151e-01 3.10779626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.8871056809999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:215.98, Y:154.60, Z:31.08 [[ 1.82036410e-01 -9.83209248e-01 -1.27404959e-02 2.15975616e+02] [ 9.81074284e-01 1.82480329e-01 -6.47624744e-02 1.54595704e+02] [ 6.59999536e-02 -7.10244540e-04 9.97819373e-01 3.10775564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9171056809999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:215.98, Y:154.62, Z:31.08 [[ 1.85655549e-01 -9.82525275e-01 -1.32703227e-02 2.15982123e+02] [ 9.80395475e-01 1.86126503e-01 -6.46655819e-02 1.54619375e+02] [ 6.60055274e-02 -1.00464020e-03 9.97818752e-01 3.10807667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9471056809999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:215.99, Y:154.65, Z:31.08 [[ 1.86599793e-01 -9.82354886e-01 -1.26251973e-02 2.15986699e+02] [ 9.80216562e-01 1.87026191e-01 -6.47819068e-02 1.54649722e+02] [ 6.60000652e-02 -2.87137060e-04 9.97819577e-01 3.10828921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9771056809999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:215.99, Y:154.68, Z:31.09 [[ 1.90567531e-01 -9.81589140e-01 -1.29141677e-02 2.15988947e+02] [ 9.79452557e-01 1.91004349e-01 -6.47304194e-02 1.54676027e+02] [ 6.60053389e-02 -3.13298421e-04 9.97819221e-01 3.10920382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.0071056809999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:215.99, Y:154.70, Z:31.07 [[ 1.87479355e-01 -9.82186964e-01 -1.26593425e-02 2.15987461e+02] [ 9.80048678e-01 1.87906089e-01 -6.47756926e-02 1.54702646e+02] [ 6.60006084e-02 -2.62666821e-04 9.97819548e-01 3.10726581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.0371056809999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:216.00, Y:154.73, Z:31.09 [[ 1.94990139e-01 -9.80729144e-01 -1.22144102e-02 2.15995237e+02] [ 9.78582662e-01 1.95371097e-01 -6.48545173e-02 1.54728134e+02] [ 6.59910580e-02 6.93181336e-04 9.97819974e-01 3.10920284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.06710568099993 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:216.00, Y:154.76, Z:31.09 [[ 1.92167716e-01 -9.81283391e-01 -1.24288242e-02 2.15997943e+02] [ 9.79140420e-01 1.92569013e-01 -6.48167694e-02 1.54757155e+02] [ 6.59970257e-02 2.86126403e-04 9.97819779e-01 3.10903272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.0971056809999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:216.00, Y:154.78, Z:31.10 [[ 1.86622267e-01 -9.82350391e-01 -1.26427051e-02 2.16004299e+02] [ 9.80212244e-01 1.87049770e-01 -6.47791733e-02 1.54781051e+02] [ 6.60006613e-02 -3.03298207e-04 9.97819533e-01 3.10984197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.12710568099993 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:216.01, Y:154.81, Z:31.10 [[ 1.78043439e-01 -9.83946819e-01 -1.22143628e-02 2.16007816e+02] [ 9.81807247e-01 1.78461364e-01 -6.48542370e-02 1.54809367e+02] [ 6.59929120e-02 -4.45278479e-04 9.97819992e-01 3.11026985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.1571056809999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:216.01, Y:154.84, Z:31.10 [[ 1.65829424e-01 -9.86076661e-01 -1.23862883e-02 2.16012482e+02] [ 9.83944649e-01 1.66285150e-01 -6.48241974e-02 1.54837394e+02] [ 6.59812839e-02 -1.43766280e-03 9.97819825e-01 3.11031869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18710568099993 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:216.01, Y:154.86, Z:31.10 [[ 1.55203982e-01 -9.87803405e-01 -1.24962599e-02 2.16013494e+02] [ 9.85677931e-01 1.55689846e-01 -6.48050087e-02 1.54864740e+02] [ 6.59601490e-02 -2.25929214e-03 9.97819700e-01 3.11038612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2171056809999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:216.01, Y:154.89, Z:31.09 [[ 1.37060480e-01 -9.90483946e-01 -1.24891321e-02 2.16005274e+02] [ 9.88367632e-01 1.37584780e-01 -6.48062628e-02 1.54889314e+02] [ 6.59078774e-02 -3.46147643e-03 9.97819708e-01 3.10868898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24710568099994 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:216.02, Y:154.92, Z:31.10 [[ 1.44588761e-01 -9.89426650e-01 -1.13575441e-02 2.16016883e+02] [ 9.87290669e-01 1.45022797e-01 -6.50040188e-02 1.54919330e+02] [ 6.59638114e-02 -1.81434674e-03 9.97820366e-01 3.11032488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2771056809999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:216.02, Y:154.95, Z:31.11 [[ 1.42865016e-01 -9.89659961e-01 -1.27572823e-02 2.16017997e+02] [ 9.87544427e-01 1.43394434e-01 -6.47614130e-02 1.54945284e+02] [ 6.59211008e-02 -3.34624272e-03 9.97819228e-01 3.11069049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30710568099994 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:216.01, Y:154.97, Z:31.10 [[ 1.41804164e-01 -9.89814621e-01 -1.25934636e-02 2.16013374e+02] [ 9.87697256e-01 1.42325144e-01 -6.47895318e-02 1.54972413e+02] [ 6.59219924e-02 -3.25110411e-03 9.97819483e-01 3.11039541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3371056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:216.01, Y:155.00, Z:31.10 [[ 1.43746435e-01 -9.89534980e-01 -1.25493052e-02 2.16012979e+02] [ 9.87415958e-01 1.44260370e-01 -6.47971619e-02 1.54998907e+02] [ 6.59294257e-02 -3.07702319e-03 9.97819544e-01 3.11018834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36710568099994 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:216.01, Y:155.02, Z:31.11 [[ 1.50817941e-01 -9.88482669e-01 -1.24884335e-02 2.16007478e+02] [ 9.86359178e-01 1.51312725e-01 -6.48076560e-02 1.55024386e+02] [ 6.59509037e-02 -2.54392381e-03 9.97819626e-01 3.11050113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.00, Y:155.05, Z:31.11 [[ 1.56586776e-01 -9.87590493e-01 -1.20664820e-02 2.16000993e+02] [ 9.85458572e-01 1.57041458e-01 -6.48797643e-02 1.55054959e+02] [ 6.59695763e-02 -1.73170501e-03 9.97820132e-01 3.11053232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.00, Y:155.08, Z:31.10 [[ 1.62063292e-01 -9.86701823e-01 -1.24500052e-02 2.16001806e+02] [ 9.84572321e-01 1.62531341e-01 -6.48144047e-02 1.55081358e+02] [ 6.59760073e-02 -1.75389474e-03 9.97819668e-01 3.11022577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.00, Y:155.11, Z:31.10 [[ 1.71365796e-01 -9.85134498e-01 -1.19910595e-02 2.15997515e+02] [ 9.82995194e-01 1.71783517e-01 -6.48912330e-02 1.55109705e+02] [ 6.59864586e-02 -6.67016069e-04 9.97820296e-01 3.11021446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.00, Y:155.14, Z:31.10 [[ 1.74912433e-01 -9.84514656e-01 -1.16847211e-02 2.15997154e+02] [ 9.82370427e-01 1.75302247e-01 -6.49420288e-02 1.55138451e+02] [ 6.59847370e-02 -1.19556208e-04 9.97820625e-01 3.11021457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5171056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.00, Y:155.16, Z:31.11 [[ 1.84983492e-01 -9.82670560e-01 -1.18185806e-02 2.15995444e+02] [ 9.80523845e-01 1.85360175e-01 -6.49199119e-02 1.55164509e+02] [ 6.59855803e-02 4.20711926e-04 9.97820488e-01 3.11089113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.00, Y:155.20, Z:31.10 [[ 1.93111382e-01 -9.81109593e-01 -1.14874633e-02 2.16003352e+02] [ 9.78956632e-01 1.93448374e-01 -6.49741431e-02 1.55197268e+02] [ 6.59689862e-02 1.30151816e-03 9.97820825e-01 3.11046102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.00, Y:155.22, Z:31.11 [[ 1.96348706e-01 -9.80451250e-01 -1.27488281e-02 2.15999720e+02] [ 9.78309732e-01 1.96762006e-01 -6.47671366e-02 1.55218463e+02] [ 6.60095050e-02 2.44640856e-04 9.97818964e-01 3.11116341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.00, Y:155.25, Z:31.11 [[ 1.96887319e-01 -9.80360485e-01 -1.13447041e-02 2.16001703e+02] [ 9.78205049e-01 1.97206569e-01 -6.49957828e-02 1.55247592e+02] [ 6.59565473e-02 1.69939858e-03 9.97821049e-01 3.11131228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.6371056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.01, Y:155.27, Z:31.12 [[ 2.01636788e-01 -9.79390497e-01 -1.16986870e-02 2.16006790e+02] [ 9.77236699e-01 2.01969039e-01 -6.49379882e-02 1.55272694e+02] [ 6.59624211e-02 1.66150111e-03 9.97820725e-01 3.11153943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.6671056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.01, Y:155.30, Z:31.11 [[ 2.02017912e-01 -9.79314169e-01 -1.15117910e-02 2.16010832e+02] [ 9.77158576e-01 2.02336945e-01 -6.49682836e-02 1.55297902e+02] [ 6.59536213e-02 1.87591170e-03 9.97820926e-01 3.11145965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.6971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.02, Y:155.32, Z:31.12 [[ 1.96972070e-01 -9.80350404e-01 -1.07279783e-02 2.16015558e+02] [ 9.78189698e-01 1.97250266e-01 -6.50941462e-02 1.55324395e+02] [ 6.59311691e-02 2.32773088e-03 9.97821458e-01 3.11179644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.7271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.02, Y:155.35, Z:31.12 [[ 1.93033155e-01 -9.81135468e-01 -1.05543541e-02 2.16023486e+02] [ 9.78974437e-01 1.93308519e-01 -6.51219527e-02 1.55351827e+02] [ 6.59337041e-02 2.23825311e-03 9.97821496e-01 3.11217948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.7571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.03, Y:155.38, Z:31.13 [[ 1.89869318e-01 -9.81747483e-01 -1.10237231e-02 2.16028305e+02] [ 9.79591477e-01 1.90182735e-01 -6.50466362e-02 1.55379154e+02] [ 6.59558932e-02 1.55161523e-03 9.97821333e-01 3.11253491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.7871056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.03, Y:155.40, Z:31.11 [[ 1.79102017e-01 -9.83767833e-01 -1.11048388e-02 2.16033582e+02] [ 9.81616180e-01 1.79444398e-01 -6.50337070e-02 1.55402876e+02] [ 6.59707701e-02 7.46978635e-04 9.97821276e-01 3.11089243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.04, Y:155.43, Z:31.12 [[ 1.83306884e-01 -9.83001402e-01 -1.03358278e-02 2.16043335e+02] [ 9.80841348e-01 1.83589168e-01 -6.51557175e-02 1.55426113e+02] [ 6.59457077e-02 1.80568433e-03 9.97821579e-01 3.11244970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.8471056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.05, Y:155.45, Z:31.13 [[ 1.83033548e-01 -9.83058076e-01 -9.77448006e-03 2.16047275e+02] [ 9.80893410e-01 1.83279235e-01 -6.52444658e-02 1.55452438e+02] [ 6.59305582e-02 2.35420300e-03 9.97821437e-01 3.11262056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.06, Y:155.48, Z:31.13 [[ 1.78312701e-01 -9.83925667e-01 -9.73973080e-03 2.16057491e+02] [ 9.81761918e-01 1.78566473e-01 -6.52499165e-02 1.55481478e+02] [ 6.59402570e-02 2.07279205e-03 9.97821420e-01 3.11349232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.9071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.06, Y:155.51, Z:31.14 [[ 1.73217386e-01 -9.84824309e-01 -1.08082361e-02 2.16063862e+02] [ 9.82671611e-01 1.73553032e-01 -6.50834037e-02 1.55507655e+02] [ 6.59715202e-02 6.52630239e-04 9.97821293e-01 3.11365996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93710568099993 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.07, Y:155.53, Z:31.14 [[ 1.63268240e-01 -9.86525677e-01 -1.05152355e-02 2.16074669e+02] [ 9.84373527e-01 1.63606261e-01 -6.51287256e-02 1.55533725e+02] [ 6.59715184e-02 2.82532905e-04 9.97821466e-01 3.11365711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.9671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.09, Y:155.56, Z:31.14 [[ 1.50884714e-01 -9.88497523e-01 -1.03174643e-02 2.16085038e+02] [ 9.86347685e-01 1.51236662e-01 -6.51591582e-02 1.55561408e+02] [ 6.59700454e-02 -3.45086057e-04 9.97821544e-01 3.11365418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.09, Y:155.59, Z:31.13 [[ 1.40325093e-01 -9.90049457e-01 -1.05328472e-02 2.16089504e+02] [ 9.87905935e-01 1.40714136e-01 -6.51259907e-02 1.55587329e+02] [ 6.59600723e-02 -1.26665155e-03 9.97821459e-01 3.11299139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0271056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.10, Y:155.62, Z:31.14 [[ 1.35496834e-01 -9.90727361e-01 -9.99516253e-03 2.16098359e+02] [ 9.88579618e-01 1.35860967e-01 -6.52084170e-02 1.55616003e+02] [ 6.59617154e-02 -1.04547988e-03 9.97821607e-01 3.11403144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.10, Y:155.64, Z:31.15 [[ 1.34025126e-01 -9.90922072e-01 -1.05219690e-02 2.16102807e+02] [ 9.88780941e-01 1.34427081e-01 -6.51276426e-02 1.55642318e+02] [ 6.59508562e-02 -1.67518186e-03 9.97821466e-01 3.11451177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0871056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.11, Y:155.67, Z:31.15 [[ 1.37980742e-01 -9.90379588e-01 -1.04683457e-02 2.16106170e+02] [ 9.88236254e-01 1.38370618e-01 -6.51358519e-02 1.55668135e+02] [ 6.59577296e-02 -1.35770558e-03 9.97821494e-01 3.11483004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11710568099994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.11, Y:155.70, Z:31.15 [[ 1.41893375e-01 -9.89828108e-01 -1.03240963e-02 2.16108245e+02] [ 9.87681649e-01 1.42265286e-01 -6.51578774e-02 1.55695772e+02] [ 6.59638590e-02 -9.51449306e-04 9.97821559e-01 3.11462853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1471056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.10, Y:155.72, Z:31.14 [[ 1.48581897e-01 -9.88847239e-01 -1.02253795e-02 2.16102232e+02] [ 9.86697279e-01 1.48932783e-01 -6.51728947e-02 1.55722723e+02] [ 6.59689312e-02 -4.05841792e-04 9.97821595e-01 3.11354142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.11, Y:155.75, Z:31.14 [[ 1.63076444e-01 -9.86563985e-01 -9.87810856e-03 2.16108746e+02] [ 9.84405894e-01 1.63372796e-01 -6.52254914e-02 1.55748646e+02] [ 6.59629350e-02 9.12672911e-04 9.97821657e-01 3.11395765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2071056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.11, Y:155.78, Z:31.15 [[ 1.74581732e-01 -9.84593696e-01 -9.82207877e-03 2.16112235e+02] [ 9.82431830e-01 1.74849163e-01 -6.52339595e-02 1.55777078e+02] [ 6.59463275e-02 1.73913481e-03 9.97821656e-01 3.11453249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23710568099995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:216.11, Y:155.81, Z:31.14 [[ 1.73603418e-01 -9.84762872e-01 -1.01950564e-02 2.16114231e+02] [ 9.82604435e-01 1.73897679e-01 -6.51776124e-02 1.55805150e+02] [ 6.59573894e-02 1.29734867e-03 9.97821597e-01 3.11377262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2671056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.12, Y:155.83, Z:31.15 [[ 1.85801695e-01 -9.82533901e-01 -1.02402529e-02 2.16118705e+02] [ 9.80372336e-01 1.86072162e-01 -6.51708057e-02 1.55826197e+02] [ 6.59379519e-02 2.06958546e-03 9.97821579e-01 3.11453780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.12, Y:155.86, Z:31.15 [[ 1.88655561e-01 -9.81999149e-01 -9.31403138e-03 2.16118818e+02] [ 9.79830135e-01 1.88858317e-01 -6.53103628e-02 1.55856604e+02] [ 6.58937530e-02 3.19499452e-03 9.97821530e-01 3.11503689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.3271056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.12, Y:155.89, Z:31.15 [[ 1.90404359e-01 -9.81655803e-01 -9.90271278e-03 2.16123210e+02] [ 9.79490496e-01 1.90642313e-01 -6.52217516e-02 1.55885048e+02] [ 6.59131870e-02 2.71889278e-03 9.97821657e-01 3.11505637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.13, Y:155.91, Z:31.15 [[ 1.93130128e-01 -9.81121127e-01 -1.01038138e-02 2.16130298e+02] [ 9.78956597e-01 1.93375405e-01 -6.51915100e-02 1.55910552e+02] [ 6.59145969e-02 2.69924951e-03 9.97821617e-01 3.11499565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.3871056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:216.13, Y:155.94, Z:31.15 [[ 1.90677071e-01 -9.81604177e-01 -9.77210038e-03 2.16133689e+02] [ 9.79437888e-01 1.90905760e-01 -6.52411992e-02 1.55939136e+02] [ 6.59065839e-02 2.86883543e-03 9.97821673e-01 3.11537578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4171056809999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:216.14, Y:155.97, Z:31.15 [[ 1.88831122e-01 -9.81960264e-01 -9.84113830e-03 2.16137812e+02] [ 9.79794902e-01 1.89068462e-01 -6.52308725e-02 1.55968524e+02] [ 6.59147736e-02 2.67532171e-03 9.97821670e-01 3.11507948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4471056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:216.14, Y:156.00, Z:31.15 [[ 1.88477572e-01 -9.82026745e-01 -9.98385734e-03 2.16143190e+02] [ 9.79862503e-01 1.88725154e-01 -6.52095886e-02 1.55995512e+02] [ 6.59217650e-02 2.50773750e-03 9.97821643e-01 3.11480996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.15, Y:156.02, Z:31.15 [[ 1.82348995e-01 -9.83185296e-01 -9.77330869e-03 2.16149429e+02] [ 9.81021041e-01 1.82596120e-01 -6.52408915e-02 1.56022631e+02] [ 6.59284535e-02 2.30878956e-03 9.97821682e-01 3.11537241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.5071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.15, Y:156.05, Z:31.16 [[ 1.77217152e-01 -9.84122513e-01 -9.84681124e-03 2.16153522e+02] [ 9.81960154e-01 1.77480433e-01 -6.52299870e-02 1.56049808e+02] [ 6.59419151e-02 1.89069627e-03 9.97821672e-01 3.11570792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.5371056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.16, Y:156.08, Z:31.16 [[ 1.68464249e-01 -9.85659064e-01 -9.79830972e-03 2.16159929e+02] [ 9.83498721e-01 1.68743527e-01 -6.52371594e-02 1.56075489e+02] [ 6.59549988e-02 1.35350397e-03 9.97821681e-01 3.11611174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.56710568099993 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:216.16, Y:156.10, Z:31.16 [[ 1.58348347e-01 -9.87337959e-01 -9.46333195e-03 2.16163629e+02] [ 9.85177623e-01 1.58627626e-01 -6.52865098e-02 1.56100902e+02] [ 6.59609952e-02 1.01494807e-03 9.97821686e-01 3.11648089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.5971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.17, Y:156.13, Z:31.16 [[ 1.51935753e-01 -9.88348771e-01 -9.06825826e-03 2.16173531e+02] [ 9.86186771e-01 1.52202943e-01 -6.53446065e-02 1.56129296e+02] [ 6.59634772e-02 9.85185676e-04 9.97821552e-01 3.11609744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.62710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.18, Y:156.16, Z:31.16 [[ 1.48185199e-01 -9.88916162e-01 -9.27205250e-03 2.16179803e+02] [ 9.86757037e-01 1.48474051e-01 -6.53146674e-02 1.56157417e+02] [ 6.59673895e-02 5.29403922e-04 9.97821639e-01 3.11607121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.6571056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:216.18, Y:156.19, Z:31.16 [[ 1.43048751e-01 -9.89669289e-01 -9.57880449e-03 2.16182582e+02] [ 9.87514653e-01 1.43369047e-01 -6.52696525e-02 1.56185456e+02] [ 6.59686747e-02 -1.22467525e-04 9.97821687e-01 3.11609490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.19, Y:156.21, Z:31.16 [[ 1.44185362e-01 -9.89502011e-01 -9.81587653e-03 2.16185510e+02] [ 9.87349334e-01 1.44518817e-01 -6.52349938e-02 1.56211594e+02] [ 6.59687364e-02 -2.85767957e-04 9.97821649e-01 3.11579714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7171056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.19, Y:156.24, Z:31.16 [[ 1.46786408e-01 -9.89124804e-01 -9.26676827e-03 2.16188184e+02] [ 9.86966061e-01 1.47077965e-01 -6.53151272e-02 1.56239556e+02] [ 6.59677498e-02 4.41387140e-04 9.97821658e-01 3.11593420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.19, Y:156.27, Z:31.16 [[ 1.47846157e-01 -9.88966291e-01 -9.33753055e-03 2.16191486e+02] [ 9.86807884e-01 1.48140074e-01 -6.53048193e-02 1.56266795e+02] [ 6.59675274e-02 4.40717809e-04 9.97821673e-01 3.11640969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.19, Y:156.29, Z:31.17 [[ 1.48665019e-01 -9.88842050e-01 -9.49274467e-03 2.16192887e+02] [ 9.86684824e-01 1.48967397e-01 -6.52822503e-02 1.56294703e+02] [ 6.59679437e-02 3.38839885e-04 9.97821685e-01 3.11679987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80710568099994 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:216.19, Y:156.32, Z:31.17 [[ 1.46083219e-01 -9.89228300e-01 -9.33077712e-03 2.16193205e+02] [ 9.87070363e-01 1.46380537e-01 -6.53057197e-02 1.56321371e+02] [ 6.59681102e-02 3.29936215e-04 9.97821677e-01 3.11729158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8371056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.19, Y:156.35, Z:31.18 [[ 1.40678771e-01 -9.90010301e-01 -9.43858546e-03 2.16193673e+02] [ 9.87855057e-01 1.40994979e-01 -6.52901349e-02 1.56348611e+02] [ 6.59686993e-02 -1.39018454e-04 9.97821683e-01 3.11814379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.19, Y:156.38, Z:31.18 [[ 1.35725681e-01 -9.90699234e-01 -9.67303123e-03 2.16191951e+02] [ 9.88547956e-01 1.36068110e-01 -6.52564859e-02 1.56376284e+02] [ 6.59657417e-02 -7.05274255e-04 9.97821639e-01 3.11805540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8971056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.19, Y:156.42, Z:31.18 [[ 1.31797397e-01 -9.91233621e-01 -9.23874437e-03 2.16190551e+02] [ 9.89079295e-01 1.32119751e-01 -6.53186090e-02 1.56418731e+02] [ 6.59666219e-02 -5.29028095e-04 9.97821690e-01 3.11791376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92710568099994 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:216.20, Y:156.43, Z:31.19 [[ 1.31276062e-01 -9.91254240e-01 -1.34769373e-02 2.16198111e+02] [ 9.89153417e-01 1.31877262e-01 -6.46831155e-02 1.56431423e+02] [ 6.58947141e-02 -4.83941393e-03 9.97814846e-01 3.11908490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9571056809999 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:216.20, Y:156.46, Z:31.19 [[ 1.28184999e-01 -9.91702434e-01 -9.74109222e-03 2.16197595e+02] [ 9.89555418e-01 1.28548244e-01 -6.52336104e-02 1.56459030e+02] [ 6.59445305e-02 -1.27738029e-03 9.97822473e-01 3.11942229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.19, Y:156.48, Z:31.17 [[ 1.19158962e-01 -9.92826132e-01 -9.86977926e-03 2.16188026e+02] [ 9.90684002e-01 1.19550170e-01 -6.52147675e-02 1.56480557e+02] [ 6.59268592e-02 -2.00690840e-03 9.97822440e-01 3.11702109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0171056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.19, Y:156.52, Z:31.17 [[ 1.20594620e-01 -9.92670789e-01 -7.85128768e-03 2.16189397e+02] [ 9.90506852e-01 1.20849865e-01 -6.55094376e-02 1.56515234e+02] [ 6.59781321e-02 1.23331486e-04 9.97821062e-01 3.11707386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.19, Y:156.54, Z:31.19 [[ 1.31380103e-01 -9.91285897e-01 -9.56756080e-03 2.16188907e+02] [ 9.89135950e-01 1.31725008e-01 -6.52579125e-02 1.56542404e+02] [ 6.59495354e-02 -8.90027055e-04 9.97822563e-01 3.11881591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0771056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:216.19, Y:156.57, Z:31.19 [[ 1.33690558e-01 -9.90977403e-01 -9.51952750e-03 2.16188944e+02] [ 9.88826160e-01 1.34027286e-01 -6.52649362e-02 1.56571407e+02] [ 6.59519534e-02 -6.87852096e-04 9.97822563e-01 3.11939789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.19, Y:156.60, Z:31.20 [[ 1.36862095e-01 -9.90541532e-01 -9.81017242e-03 2.16185527e+02] [ 9.88392202e-01 1.37211078e-01 -6.52225049e-02 1.56598962e+02] [ 6.59516643e-02 -7.69809266e-04 9.97822522e-01 3.11977855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.1371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.18, Y:156.63, Z:31.20 [[ 1.41594324e-01 -9.89879403e-01 -9.47709937e-03 2.16182821e+02] [ 9.87725139e-01 1.41911078e-01 -6.52709380e-02 1.56628566e+02] [ 6.59552625e-02 -1.18774922e-04 9.97822574e-01 3.11986440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.1671056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:216.18, Y:156.66, Z:31.18 [[ 1.34112093e-01 -9.90918619e-01 -9.70755307e-03 2.16177417e+02] [ 9.88769185e-01 1.34460286e-01 -6.52374892e-02 1.56657825e+02] [ 6.59503230e-02 -8.49393155e-04 9.97822546e-01 3.11796850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.1971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.18, Y:156.68, Z:31.20 [[ 1.47227409e-01 -9.89057551e-01 -9.44725209e-03 2.16181843e+02] [ 9.86901249e-01 1.47529923e-01 -6.52751647e-02 1.56684793e+02] [ 6.59546470e-02 2.86788464e-04 9.97822581e-01 3.12004402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.2271056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.18, Y:156.71, Z:31.20 [[ 1.54691506e-01 -9.87916217e-01 -9.59617554e-03 2.16178855e+02] [ 9.85759003e-01 1.54987566e-01 -6.52536710e-02 1.56713365e+02] [ 6.59524477e-02 6.34672200e-04 9.97822565e-01 3.11995167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.2571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.18, Y:156.74, Z:31.20 [[ 1.61320219e-01 -9.86857087e-01 -9.42744831e-03 2.16177379e+02] [ 9.84696530e-01 1.61590636e-01 -6.52779400e-02 1.56741995e+02] [ 6.59433851e-02 1.24747595e-03 9.97822586e-01 3.11965624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.2871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.18, Y:156.77, Z:31.20 [[ 1.63045143e-01 -9.86573459e-01 -9.43878980e-03 2.16180022e+02] [ 9.84412525e-01 1.63312533e-01 -6.52763111e-02 1.56769479e+02] [ 6.59413487e-02 1.35132260e-03 9.97822586e-01 3.11960688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.18, Y:156.80, Z:31.19 [[ 1.65531586e-01 -9.86160184e-01 -9.34805877e-03 2.16182477e+02] [ 9.83997867e-01 1.65787524e-01 -6.52893117e-02 1.56796843e+02] [ 6.59355112e-02 1.60897339e-03 9.97822589e-01 3.11936471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.3471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.19, Y:156.82, Z:31.19 [[ 1.65531294e-01 -9.86161390e-01 -9.22518020e-03 2.16186047e+02] [ 9.83998119e-01 1.65779102e-01 -6.53068951e-02 1.56824948e+02] [ 6.59324805e-02 1.73277487e-03 9.97822582e-01 3.11936517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.19, Y:156.85, Z:31.19 [[ 1.66380589e-01 -9.86018246e-01 -9.24760941e-03 2.16190509e+02] [ 9.83854934e-01 1.66628019e-01 -6.53036898e-02 1.56851357e+02] [ 6.59315405e-02 1.76696024e-03 9.97822584e-01 3.11911649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.4071056809999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:216.19, Y:156.88, Z:31.17 [[ 1.53177675e-01 -9.88155942e-01 -9.18878042e-03 2.16185993e+02] [ 9.85995634e-01 1.53450130e-01 -6.53120815e-02 1.56882109e+02] [ 6.59485409e-02 9.44255436e-04 9.97822579e-01 3.11691257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43710568099993 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:216.20, Y:156.91, Z:31.19 [[ 1.66067254e-01 -9.86070550e-01 -9.30256199e-03 2.16199918e+02] [ 9.83907738e-01 1.66319007e-01 -6.52958717e-02 1.56905687e+02] [ 6.59335290e-02 1.69064336e-03 9.97822585e-01 3.11905372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.4671056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.21, Y:156.93, Z:31.19 [[ 1.66939630e-01 -9.85922923e-01 -9.33545067e-03 2.16205287e+02] [ 9.83760140e-01 1.67191646e-01 -6.52911940e-02 1.56931556e+02] [ 6.59328942e-02 1.71584349e-03 9.97822584e-01 3.11931121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.21, Y:156.96, Z:31.20 [[ 1.65756431e-01 -9.86124335e-01 -9.14336189e-03 2.16211615e+02] [ 9.83960391e-01 1.65998331e-01 -6.53184709e-02 1.56959426e+02] [ 6.59299165e-02 1.83025070e-03 9.97822578e-01 3.12036123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.22, Y:156.99, Z:31.21 [[ 1.63883854e-01 -9.86436078e-01 -9.27076951e-03 2.16217820e+02] [ 9.84273578e-01 1.64138292e-01 -6.53004179e-02 1.56987369e+02] [ 6.59363764e-02 1.57671069e-03 9.97822584e-01 3.12096984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55710568099994 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:216.22, Y:157.02, Z:31.20 [[ 1.49816085e-01 -9.88670382e-01 -9.27455359e-03 2.16224413e+02] [ 9.86511759e-01 1.50101550e-01 -6.52998832e-02 1.57017694e+02] [ 6.59521853e-02 6.33516695e-04 9.97822583e-01 3.11965210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.24, Y:157.04, Z:31.22 [[ 1.52510097e-01 -9.88253408e-01 -9.79143596e-03 2.16235451e+02] [ 9.86098539e-01 1.52823809e-01 -6.52269551e-02 1.57042054e+02] [ 6.59571252e-02 2.92448581e-04 9.97822415e-01 3.12195030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.24, Y:157.07, Z:31.23 [[ 1.41642478e-01 -9.89872303e-01 -9.49906649e-03 2.16244521e+02] [ 9.87718217e-01 1.41960576e-01 -6.52680569e-02 1.57068678e+02] [ 6.59555347e-02 -1.37671675e-04 9.97822554e-01 3.12250487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.25, Y:157.10, Z:31.23 [[ 1.30916424e-01 -9.91348306e-01 -9.45652540e-03 2.16250029e+02] [ 9.89197362e-01 1.31255025e-01 -6.52740141e-02 1.57096283e+02] [ 6.59504998e-02 -8.08929487e-04 9.97822568e-01 3.12273139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.25, Y:157.12, Z:31.23 [[ 1.26270489e-01 -9.91950662e-01 -9.46822363e-03 2.16254838e+02] [ 9.89801449e-01 1.26619933e-01 -6.52723785e-02 1.57124149e+02] [ 6.59458449e-02 -1.12968630e-03 9.97822564e-01 3.12267527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.26, Y:157.15, Z:31.22 [[ 1.18989709e-01 -9.92850493e-01 -9.45237580e-03 2.16261536e+02] [ 9.90703731e-01 1.19353870e-01 -6.52745869e-02 1.57151184e+02] [ 6.59360834e-02 -1.59749988e-03 9.97822570e-01 3.12210749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:157.18, Z:31.22 [[ 1.18638069e-01 -9.92894603e-01 -9.23666511e-03 2.16265048e+02] [ 9.90745668e-01 1.18988812e-01 -6.53045429e-02 1.57178413e+02] [ 6.59395880e-02 -1.40358105e-03 9.97822630e-01 3.12228753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:157.20, Z:31.23 [[ 1.16021521e-01 -9.93203924e-01 -9.21802643e-03 2.16269215e+02] [ 9.91055722e-01 1.16376700e-01 -6.53071251e-02 1.57203969e+02] [ 6.59360564e-02 -1.55854585e-03 9.97822633e-01 3.12250981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:157.23, Z:31.23 [[ 1.13854415e-01 -9.93456443e-01 -9.02594974e-03 2.16270980e+02] [ 9.91306963e-01 1.14201658e-01 -6.53336620e-02 1.57232058e+02] [ 6.59369259e-02 -1.50896095e-03 9.97822652e-01 3.12283368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:157.26, Z:31.23 [[ 1.13095887e-01 -9.93541767e-01 -9.16939181e-03 2.16269606e+02] [ 9.91394089e-01 1.13454196e-01 -6.53139021e-02 1.57259354e+02] [ 6.59323957e-02 -1.70374716e-03 9.97822638e-01 3.12325982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:157.29, Z:31.23 [[ 1.11360866e-01 -9.93738177e-01 -9.12099771e-03 2.16270556e+02] [ 9.91590604e-01 1.11719746e-01 -6.53205442e-02 1.57288076e+02] [ 6.59305141e-02 -1.77014327e-03 9.97822647e-01 3.12342261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.8871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:157.32, Z:31.24 [[ 1.09522905e-01 -9.93941949e-01 -9.17256798e-03 2.16271129e+02] [ 9.91795607e-01 1.09889142e-01 -6.53134780e-02 1.57315406e+02] [ 6.59257712e-02 -1.94399081e-03 9.97822636e-01 3.12351120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:157.34, Z:31.24 [[ 1.03801721e-01 -9.94556645e-01 -9.07098400e-03 2.16268245e+02] [ 9.92411300e-01 1.04173638e-01 -6.53273717e-02 1.57343571e+02] [ 6.59167290e-02 -2.22105343e-03 9.97822655e-01 3.12364740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.26, Y:157.37, Z:31.24 [[ 1.00731063e-01 -9.94873833e-01 -8.90554395e-03 2.16264710e+02] [ 9.92727773e-01 1.01098749e-01 -6.53499179e-02 1.57371691e+02] [ 6.59152627e-02 -2.25801412e-03 9.97822669e-01 3.12407851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.26, Y:157.40, Z:31.24 [[ 1.00660957e-01 -9.94881862e-01 -8.80075994e-03 2.16263560e+02] [ 9.92734656e-01 1.01021919e-01 -6.53641688e-02 1.57399637e+02] [ 6.59186956e-02 -2.15719959e-03 9.97822666e-01 3.12422692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.26, Y:157.43, Z:31.25 [[ 1.06131996e-01 -9.94313885e-01 -8.71197696e-03 2.16256898e+02] [ 9.92163776e-01 1.06475309e-01 -6.53762216e-02 1.57428951e+02] [ 6.59320953e-02 -1.70519908e-03 9.97822655e-01 3.12468305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.0371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.26, Y:157.46, Z:31.25 [[ 1.10687794e-01 -9.93817693e-01 -8.63743300e-03 2.16255089e+02] [ 9.91665266e-01 1.11016348e-01 -6.53863175e-02 1.57457148e+02] [ 6.59409754e-02 -1.32797507e-03 9.97822642e-01 3.12460269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.25, Y:157.49, Z:31.24 [[ 1.19350248e-01 -9.92814952e-01 -8.60167927e-03 2.16246992e+02] [ 9.90659398e-01 1.19657664e-01 -6.53911401e-02 1.57486479e+02] [ 6.59505585e-02 -7.16885629e-04 9.97822635e-01 3.12437025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.0971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.24, Y:157.51, Z:31.25 [[ 1.25081529e-01 -9.92106863e-01 -8.86478758e-03 2.16244810e+02] [ 9.89952029e-01 1.25393828e-01 -6.53557072e-02 1.57513447e+02] [ 6.59514353e-02 -6.00922665e-04 9.97822653e-01 3.12486423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.12710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.24, Y:157.54, Z:31.25 [[ 1.36681334e-01 -9.90579078e-01 -8.44415737e-03 2.16238112e+02] [ 9.88417175e-01 1.36940635e-01 -6.54121559e-02 1.57542793e+02] [ 6.59522613e-02 5.94270526e-04 9.97822603e-01 3.12490097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.1571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.24, Y:157.57, Z:31.25 [[ 1.41105056e-01 -9.89955893e-01 -8.75743083e-03 2.16236307e+02] [ 9.87795393e-01 1.41375389e-01 -6.53701910e-02 1.57568992e+02] [ 6.59516910e-02 5.73514649e-04 9.97822652e-01 3.12476077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.23, Y:157.60, Z:31.25 [[ 1.51202007e-01 -9.88469008e-01 -8.18377372e-03 2.16234115e+02] [ 9.86301690e-01 1.51412331e-01 -6.54467978e-02 1.57598704e+02] [ 6.59312555e-02 1.82401733e-03 9.97822501e-01 3.12511813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2171056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.23, Y:157.63, Z:31.25 [[ 1.55363604e-01 -9.87818784e-01 -8.72924448e-03 2.16234668e+02] [ 9.85654405e-01 1.55600894e-01 -6.53739724e-02 1.57625105e+02] [ 6.59359162e-02 1.55271768e-03 9.97822652e-01 3.12548432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.23, Y:157.65, Z:31.25 [[ 1.57660205e-01 -9.87458821e-01 -8.26653649e-03 2.16232681e+02] [ 9.85290738e-01 1.57861838e-01 -6.54354725e-02 1.57652302e+02] [ 6.59198052e-02 2.17162820e-03 9.97822561e-01 3.12546410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.24, Y:157.68, Z:31.25 [[ 1.58062345e-01 -9.87398882e-01 -7.72935548e-03 2.16235402e+02] [ 9.85227304e-01 1.58227512e-01 -6.55073529e-02 1.57681006e+02] [ 6.59048837e-02 2.73907379e-03 9.97822150e-01 3.12548963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.24, Y:157.71, Z:31.25 [[ 1.57738881e-01 -9.87449815e-01 -7.82993535e-03 2.16240452e+02] [ 9.85278908e-01 1.57911423e-01 -6.54939316e-02 1.57712020e+02] [ 6.59084069e-02 2.61626932e-03 9.97822247e-01 3.12539220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.25, Y:157.74, Z:31.25 [[ 1.55486785e-01 -9.87799369e-01 -8.73304816e-03 2.16247543e+02] [ 9.85634997e-01 1.55724057e-01 -6.53733148e-02 1.57738515e+02] [ 6.59356648e-02 1.55708864e-03 9.97822661e-01 3.12508028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36710568099994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:216.26, Y:157.77, Z:31.24 [[ 1.62060255e-01 -9.86742459e-01 -8.70596824e-03 2.16258524e+02] [ 9.84576372e-01 1.62281319e-01 -6.53769209e-02 1.57766532e+02] [ 6.59229997e-02 2.02330987e-03 9.97822662e-01 3.12374319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3971056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.26, Y:157.79, Z:31.25 [[ 1.47718799e-01 -9.88991301e-01 -8.68121889e-03 2.16258830e+02] [ 9.86828461e-01 1.47969649e-01 -6.53802072e-02 1.57791372e+02] [ 6.59450130e-02 1.09101181e-03 9.97822662e-01 3.12533165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42710568099994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:216.28, Y:157.82, Z:31.23 [[ 1.60882145e-01 -9.86940286e-01 -8.11217149e-03 2.16276438e+02] [ 9.84770618e-01 1.61066478e-01 -6.54554819e-02 1.57820622e+02] [ 6.59072509e-02 2.54199021e-03 9.97822516e-01 3.12337813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.27, Y:157.85, Z:31.26 [[ 1.39902326e-01 -9.90127533e-01 -8.64909978e-03 2.16274292e+02] [ 9.87966481e-01 1.40168130e-01 -6.53844664e-02 1.57847424e+02] [ 6.59512886e-02 6.02418247e-04 9.97822662e-01 3.12567398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.28, Y:157.87, Z:31.26 [[ 1.38916366e-01 -9.90268396e-01 -8.41114742e-03 2.16280584e+02] [ 9.88105693e-01 1.39168609e-01 -6.54158911e-02 1.57874743e+02] [ 6.59498572e-02 7.76235234e-04 9.97822636e-01 3.12609532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.28, Y:157.91, Z:31.24 [[ 1.19543511e-01 -9.92794612e-01 -8.25880580e-03 2.16279558e+02] [ 9.90635861e-01 1.19827918e-01 -6.54359373e-02 1.57905071e+02] [ 6.59540815e-02 -3.59027508e-04 9.97822595e-01 3.12428185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.29, Y:157.93, Z:31.27 [[ 1.32109402e-01 -9.91197827e-01 -8.60079266e-03 2.16292952e+02] [ 9.89038509e-01 1.32389011e-01 -6.53909602e-02 1.57929109e+02] [ 6.59540280e-02 1.32245477e-04 9.97822654e-01 3.12650385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.30, Y:157.96, Z:31.27 [[ 1.29866875e-01 -9.91494977e-01 -8.50329387e-03 2.16299143e+02] [ 9.89335456e-01 1.30144937e-01 -6.54037580e-02 1.57955283e+02] [ 6.59541581e-02 8.11715132e-05 9.97822651e-01 3.12705624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60710568099995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.31, Y:157.98, Z:31.27 [[ 1.26129394e-01 -9.91979927e-01 -8.19756164e-03 2.16305615e+02] [ 9.89818827e-01 1.26395429e-01 -6.54437524e-02 1.57983318e+02] [ 6.59550231e-02 1.40280008e-04 9.97822587e-01 3.12712143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.6371056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.31, Y:158.01, Z:31.27 [[ 1.24288884e-01 -9.92210428e-01 -8.41069301e-03 2.16311062e+02] [ 9.90051682e-01 1.24572982e-01 -6.54159006e-02 1.58012274e+02] [ 6.59540838e-02 -1.96551449e-04 9.97822640e-01 3.12715516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.6671056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:216.32, Y:158.04, Z:31.27 [[ 1.23920612e-01 -9.92254545e-01 -8.63709921e-03 2.16316528e+02] [ 9.90097929e-01 1.24220433e-01 -6.53863545e-02 1.58038770e+02] [ 6.59528116e-02 -4.48857014e-04 9.97822642e-01 3.12702954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.6971056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.32, Y:158.07, Z:31.28 [[ 1.24955667e-01 -9.92125228e-01 -8.57985528e-03 2.16319980e+02] [ 9.89967789e-01 1.25249466e-01 -6.53937996e-02 1.58066892e+02] [ 6.59534606e-02 -3.22454514e-04 9.97822648e-01 3.12755722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.7271056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.32, Y:158.09, Z:31.28 [[ 1.30916703e-01 -9.91355092e-01 -8.71200318e-03 2.16322241e+02] [ 9.89197054e-01 1.31206245e-01 -6.53766773e-02 1.58094096e+02] [ 6.59545711e-02 -5.89888327e-05 9.97822625e-01 3.12809077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.7571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.32, Y:158.12, Z:31.29 [[ 1.34912605e-01 -9.90821003e-01 -8.50460460e-03 2.16324344e+02] [ 9.88660114e-01 1.35179757e-01 -6.54034620e-02 1.58121952e+02] [ 6.59527742e-02 4.15588093e-04 9.97822659e-01 3.12856073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.7871056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:216.33, Y:158.14, Z:31.27 [[ 1.54326379e-01 -9.87982593e-01 -8.58865907e-03 2.16332525e+02] [ 9.85817450e-01 1.54556643e-01 -6.53926496e-02 1.58138206e+02] [ 6.59342338e-02 1.62496085e-03 9.97822648e-01 3.12687313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.33, Y:158.18, Z:31.29 [[ 1.48794520e-01 -9.88852367e-01 -5.58453790e-03 2.16331594e+02] [ 9.86671745e-01 1.48837854e-01 -6.57735553e-02 1.58176377e+02] [ 6.58715265e-02 4.27663886e-03 9.97818948e-01 3.12888928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.8471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.34, Y:158.20, Z:31.29 [[ 1.49750884e-01 -9.88685482e-01 -8.70001077e-03 2.16335384e+02] [ 9.86522513e-01 1.49998535e-01 -6.53740881e-02 1.58204458e+02] [ 6.59394007e-02 1.20707100e-03 9.97822899e-01 3.12942115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.34, Y:158.23, Z:31.30 [[ 1.52405503e-01 -9.88279133e-01 -8.77034653e-03 2.16339483e+02] [ 9.86116005e-01 1.52651994e-01 -6.53650794e-02 1.58231658e+02] [ 6.59377548e-02 1.31341871e-03 9.97822874e-01 3.12991425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.34, Y:158.26, Z:31.30 [[ 1.53682373e-01 -9.88081750e-01 -8.72833831e-03 2.16344193e+02] [ 9.85918012e-01 1.53923292e-01 -6.53704372e-02 1.58259415e+02] [ 6.59348305e-02 1.44085799e-03 9.97822891e-01 3.12974726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.35, Y:158.29, Z:31.30 [[ 1.54710628e-01 -9.87921775e-01 -8.67111300e-03 2.16348334e+02] [ 9.85757396e-01 1.54945510e-01 -6.53777120e-02 1.58285852e+02] [ 6.59316153e-02 1.56701310e-03 9.97822913e-01 3.12954027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.9671056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:216.35, Y:158.31, Z:31.29 [[ 1.56969490e-01 -9.87565760e-01 -8.62842727e-03 2.16354195e+02] [ 9.85400567e-01 1.57196598e-01 -6.53831160e-02 1.58313855e+02] [ 6.59264860e-02 1.76069722e-03 9.97822929e-01 3.12945459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.36, Y:158.34, Z:31.29 [[ 1.60968079e-01 -9.86922146e-01 -8.59968412e-03 2.16361968e+02] [ 9.84755872e-01 1.61184514e-01 -6.53867417e-02 1.58341386e+02] [ 6.59177594e-02 2.05658877e-03 9.97822940e-01 3.12947612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0271056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:216.37, Y:158.37, Z:31.30 [[ 1.63522459e-01 -9.86503152e-01 -8.48156601e-03 2.16367001e+02] [ 9.84335614e-01 1.63725466e-01 -6.54016100e-02 1.58366442e+02] [ 6.59075427e-02 2.34592460e-03 9.97822977e-01 3.12971045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.37, Y:158.40, Z:31.30 [[ 1.66045164e-01 -9.86083976e-01 -8.20952022e-03 2.16373025e+02] [ 9.83914398e-01 1.66224610e-01 -6.54357432e-02 1.58395489e+02] [ 6.58897621e-02 2.78782357e-03 9.97823014e-01 3.13006045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.38, Y:158.42, Z:31.30 [[ 1.67274102e-01 -9.85872867e-01 -8.60612957e-03 2.16378899e+02] [ 9.83705283e-01 1.67477110e-01 -6.53860431e-02 1.58424037e+02] [ 6.59036555e-02 2.47149653e-03 9.97822930e-01 3.13046989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.39, Y:158.45, Z:31.30 [[ 1.68867475e-01 -9.85600880e-01 -8.64186662e-03 2.16390305e+02] [ 9.83433173e-01 1.69069345e-01 -6.53815770e-02 1.58451018e+02] [ 6.59012146e-02 2.54212352e-03 9.97822914e-01 3.13042367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.40, Y:158.47, Z:31.31 [[ 1.69179516e-01 -9.85547440e-01 -8.63340704e-03 2.16397451e+02] [ 9.83379622e-01 1.69380140e-01 -6.53826278e-02 1.58474838e+02] [ 6.59000091e-02 2.57148476e-03 9.97822918e-01 3.13072907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.41, Y:158.50, Z:31.30 [[ 1.66968797e-01 -9.85928997e-01 -8.08916748e-03 2.16407564e+02] [ 9.83758669e-01 1.67138240e-01 -6.54499021e-02 1.58500779e+02] [ 6.58809655e-02 2.97030278e-03 9.97823068e-01 3.13043395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.41, Y:158.53, Z:31.31 [[ 1.63502161e-01 -9.86510027e-01 -8.06293329e-03 2.16414404e+02] [ 9.84340168e-01 1.63677494e-01 -6.54531338e-02 1.58530868e+02] [ 6.58898935e-02 2.76505970e-03 9.97823069e-01 3.13083089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.43, Y:158.56, Z:31.31 [[ 1.62397859e-01 -9.86687698e-01 -8.62102945e-03 2.16427237e+02] [ 9.84521208e-01 1.62612566e-01 -6.53845880e-02 1.58556286e+02] [ 6.59160564e-02 2.13073079e-03 9.97822897e-01 3.13105566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2671056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.44, Y:158.58, Z:31.31 [[ 1.61628537e-01 -9.86816131e-01 -8.37490660e-03 2.16440773e+02] [ 9.84648366e-01 1.61828645e-01 -6.54147235e-02 1.58579653e+02] [ 6.59076041e-02 2.32654798e-03 9.97823018e-01 3.13082008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29710568099995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:216.45, Y:158.61, Z:31.31 [[ 1.60294979e-01 -9.87036924e-01 -7.97691022e-03 2.16448692e+02] [ 9.84867204e-01 1.60471669e-01 -6.54632260e-02 1.58605110e+02] [ 6.58946893e-02 2.63722917e-03 9.97823098e-01 3.13076077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.3271056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:216.46, Y:158.63, Z:31.31 [[ 1.58404215e-01 -9.87342361e-01 -7.94771349e-03 2.16455773e+02] [ 9.85172824e-01 1.58583127e-01 -6.54667705e-02 1.58633674e+02] [ 6.58984891e-02 2.54034106e-03 9.97823098e-01 3.13101166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35710568099995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:216.46, Y:158.66, Z:31.31 [[ 1.56842084e-01 -9.87589444e-01 -8.22502373e-03 2.16463193e+02] [ 9.85421771e-01 1.57042782e-01 -6.54331579e-02 1.58659488e+02] [ 6.59127766e-02 2.15755538e-03 9.97823056e-01 3.13123944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.3871056809999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:216.47, Y:158.69, Z:31.31 [[ 1.50692914e-01 -9.88545399e-01 -8.34502092e-03 2.16472067e+02] [ 9.86379772e-01 1.50915033e-01 -6.54186386e-02 1.58686724e+02] [ 6.59286833e-02 1.62676544e-03 9.97823012e-01 3.13070803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4171056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:216.48, Y:158.71, Z:31.32 [[ 1.51069262e-01 -9.88489023e-01 -8.21763908e-03 2.16480030e+02] [ 9.86322522e-01 1.51282133e-01 -6.54339239e-02 1.58713385e+02] [ 6.59238974e-02 1.77981207e-03 9.97823067e-01 3.13184023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4471056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:216.49, Y:158.74, Z:31.32 [[ 1.41703732e-01 -9.89875364e-01 -8.17406700e-03 2.16489972e+02] [ 9.87710683e-01 1.41934226e-01 -6.54391545e-02 1.58740919e+02] [ 6.59367868e-02 1.19935910e-03 9.97823081e-01 3.13242795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.50, Y:158.77, Z:31.32 [[ 1.37058281e-01 -9.90528077e-01 -8.31600877e-03 2.16496535e+02] [ 9.88365503e-01 1.37308302e-01 -6.54221851e-02 1.58768908e+02] [ 6.59443683e-02 7.47396042e-04 9.97823021e-01 3.13238940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.5071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.50, Y:158.79, Z:31.33 [[ 1.28444633e-01 -9.91680611e-01 -8.45826648e-03 2.16501093e+02] [ 9.89521383e-01 1.28722823e-01 -6.54054094e-02 1.58791883e+02] [ 6.59500483e-02 3.13382840e-05 9.97822925e-01 3.13276308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.5371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.50, Y:158.82, Z:31.33 [[ 1.22412833e-01 -9.92449657e-01 -7.66661288e-03 2.16503381e+02] [ 9.90286071e-01 1.22651936e-01 -6.54980943e-02 1.58821662e+02] [ 6.59438861e-02 4.25667353e-04 9.97823242e-01 3.13323757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.56710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.51, Y:158.85, Z:31.33 [[ 1.17060170e-01 -9.93091430e-01 -8.14416942e-03 2.16508380e+02] [ 9.90932925e-01 1.17342418e-01 -6.54423076e-02 1.58849408e+02] [ 6.59458514e-02 -4.09637976e-04 9.97823119e-01 3.13312157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.5971056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.51, Y:158.88, Z:31.33 [[ 1.13285837e-01 -9.93528287e-01 -8.23785610e-03 2.16511102e+02] [ 9.91371651e-01 1.13582455e-01 -6.54314570e-02 1.58877691e+02] [ 6.59436794e-02 -7.54319641e-04 9.97823062e-01 3.13321728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.62710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.52, Y:158.90, Z:31.34 [[ 1.07980483e-01 -9.94117382e-01 -8.41704854e-03 2.16515375e+02] [ 9.91963934e-01 1.08300401e-01 -6.54108316e-02 1.58904851e+02] [ 6.59376144e-02 -1.28631540e-03 9.97822918e-01 3.13374326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.6571056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.52, Y:158.93, Z:31.34 [[ 1.07301333e-01 -9.94192138e-01 -8.27139460e-03 2.16518052e+02] [ 9.92037626e-01 1.07613139e-01 -6.54275262e-02 1.58932221e+02] [ 6.59376429e-02 -1.18507388e-03 9.97823042e-01 3.13392337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68710568099993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.52, Y:158.96, Z:31.34 [[ 1.00236471e-01 -9.94929469e-01 -8.24634993e-03 2.16516945e+02] [ 9.92776996e-01 1.00561927e-01 -6.54303882e-02 1.58956705e+02] [ 6.59278902e-02 -1.62827530e-03 9.97823062e-01 3.13375109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7171056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.52, Y:158.99, Z:31.34 [[ 9.50742089e-02 -9.95440368e-01 -7.70507371e-03 2.16516138e+02] [ 9.93284642e-01 9.53752471e-02 -6.54918417e-02 1.58985504e+02] [ 6.59280963e-02 -1.42674635e-03 9.97823356e-01 3.13388354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.52, Y:159.01, Z:31.34 [[ 8.73104598e-02 -9.96149230e-01 -7.97462577e-03 2.16515256e+02] [ 9.93998483e-01 8.76459993e-02 -6.54613950e-02 1.59011849e+02] [ 6.59082623e-02 -2.21130142e-03 9.97823236e-01 3.13367852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.52, Y:159.04, Z:31.34 [[ 8.15074679e-02 -9.96641796e-01 -7.85258456e-03 2.16515899e+02] [ 9.94491819e-01 8.18475205e-02 -6.54752267e-02 1.59039265e+02] [ 6.58980621e-02 -2.47261117e-03 9.97823297e-01 3.13412256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.52, Y:159.07, Z:31.35 [[ 7.23696578e-02 -9.97347723e-01 -7.75578429e-03 2.16515235e+02] [ 9.95199941e-01 7.27230573e-02 -6.54861467e-02 1.59067617e+02] [ 6.58764836e-02 -2.97934604e-03 9.97823337e-01 3.13455169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8371056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.51, Y:159.10, Z:31.34 [[ 6.85910003e-02 -9.97614488e-01 -7.78509736e-03 2.16514696e+02] [ 9.95468371e-01 6.89544535e-02 -6.54828733e-02 1.59095512e+02] [ 6.58634803e-02 -3.25828240e-03 9.97823324e-01 3.13439170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86710568099994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:216.51, Y:159.13, Z:31.34 [[ 6.42099387e-02 -9.97906172e-01 -7.76887491e-03 2.16512855e+02] [ 9.95761495e-01 6.45817499e-02 -6.54846783e-02 1.59125419e+02] [ 6.58492922e-02 -3.53117931e-03 9.97823332e-01 3.13421324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8971056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:216.51, Y:159.15, Z:31.35 [[ 6.13178653e-02 -9.98086259e-01 -7.99614608e-03 2.16505189e+02] [ 9.95945200e-01 6.17107554e-02 -6.54594664e-02 1.59151026e+02] [ 6.58276422e-02 -3.94988856e-03 9.97823191e-01 3.13462986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92710568099994 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:216.50, Y:159.18, Z:31.35 [[ 6.15420143e-02 -9.98075610e-01 -7.59326609e-03 2.16495265e+02] [ 9.95930038e-01 6.19080639e-02 -6.55038269e-02 1.59180901e+02] [ 6.58478564e-02 -3.53112434e-03 9.97823427e-01 3.13508036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9571056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:216.49, Y:159.21, Z:31.35 [[ 6.30685312e-02 -9.97978136e-01 -7.87402019e-03 2.16492189e+02] [ 9.95835033e-01 6.34496759e-02 -6.54730863e-02 1.59208603e+02] [ 6.58403127e-02 -3.71193377e-03 9.97823268e-01 3.13530878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98710568099995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:216.48, Y:159.24, Z:31.36 [[ 6.52854631e-02 -9.97836638e-01 -7.73640789e-03 2.16482007e+02] [ 9.95691227e-01 6.56528360e-02 -6.54880577e-02 1.59238067e+02] [ 6.58543005e-02 -3.42765529e-03 9.97823362e-01 3.13554789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0171056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.48, Y:159.26, Z:31.36 [[ 6.70411241e-02 -9.97719757e-01 -7.79577732e-03 2.16477427e+02] [ 9.95574324e-01 6.74086101e-02 -6.54816422e-02 1.59264028e+02] [ 6.58578307e-02 -3.37131282e-03 9.97823321e-01 3.13596001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.46, Y:159.29, Z:31.36 [[ 6.42653992e-02 -9.97905142e-01 -7.43539698e-03 2.16464994e+02] [ 9.95756973e-01 6.46152491e-02 -6.55203773e-02 1.59293209e+02] [ 6.58635615e-02 -3.19315519e-03 9.97823529e-01 3.13618529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0771056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.46, Y:159.32, Z:31.36 [[ 6.23111926e-02 -9.98026782e-01 -7.73680257e-03 2.16460601e+02] [ 9.95882479e-01 6.26849840e-02 -6.54880253e-02 1.59319793e+02] [ 6.58437845e-02 -3.62430916e-03 9.97823361e-01 3.13642826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10710568099995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:216.45, Y:159.35, Z:31.37 [[ 5.34949759e-02 -9.98540865e-01 -7.37761486e-03 2.16449212e+02] [ 9.96395973e-01 5.38642025e-02 -6.55264337e-02 1.59349234e+02] [ 6.58282111e-02 -3.84569074e-03 9.97823560e-01 3.13653153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.1371056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:216.44, Y:159.38, Z:31.37 [[ 4.48255404e-02 -9.98964311e-01 -7.80873057e-03 2.16440046e+02] [ 9.96827728e-01 4.52415167e-02 -6.54804213e-02 1.59376660e+02] [ 6.57658828e-02 -4.84876388e-03 9.97823300e-01 3.13653216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.1671056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.44, Y:159.41, Z:31.37 [[ 4.18575833e-02 -9.99096810e-01 -7.31491103e-03 2.16436241e+02] [ 9.96955694e-01 4.22476764e-02 -6.55322675e-02 1.59405166e+02] [ 6.57821173e-02 -4.54961985e-03 9.97823639e-01 3.13667166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.1971056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.42, Y:159.43, Z:31.37 [[ 3.61357147e-02 -9.99321415e-01 -7.13584556e-03 2.16423006e+02] [ 9.97180472e-01 3.65263770e-02 -6.55509792e-02 1.59434013e+02] [ 6.57671439e-02 -4.74699436e-03 9.97823706e-01 3.13694022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.2271056809999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:216.42, Y:159.46, Z:31.38 [[ 3.49110154e-02 -9.99364445e-01 -7.20603134e-03 2.16416794e+02] [ 9.97224807e-01 3.53088808e-02 -6.55436369e-02 1.59460459e+02] [ 6.57564172e-02 -4.89783829e-03 9.97823684e-01 3.13788667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.41, Y:159.49, Z:31.38 [[ 3.73471698e-02 -9.99275683e-01 -7.30058420e-03 2.16412141e+02] [ 9.97136184e-01 3.77459890e-02 -6.55337371e-02 1.59488848e+02] [ 6.57618377e-02 -4.83217706e-03 9.97823647e-01 3.13807498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.2871056809999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:216.41, Y:159.52, Z:31.35 [[ 6.21567373e-02 -9.98039821e-01 -7.28389825e-03 2.16411198e+02] [ 9.95890910e-01 6.25011968e-02 -6.55354607e-02 1.59516246e+02] [ 6.58622518e-02 -3.18049764e-03 9.97823656e-01 3.13505016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.39, Y:159.54, Z:31.38 [[ 6.28228241e-02 -9.98002034e-01 -6.72554844e-03 2.16385132e+02] [ 9.95847526e-01 6.31292311e-02 -6.55927215e-02 1.59544179e+02] [ 6.58862482e-02 -2.57690077e-03 9.97823813e-01 3.13842741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.3471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.38, Y:159.57, Z:31.39 [[ 6.86648705e-02 -9.97618265e-01 -6.55226890e-03 2.16378162e+02] [ 9.95460470e-01 6.89472754e-02 -6.56104086e-02 1.59572894e+02] [ 6.59059031e-02 -2.01739447e-03 9.97823803e-01 3.13856266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.37, Y:159.60, Z:31.39 [[ 8.09927260e-02 -9.96692334e-01 -6.67599165e-03 2.16366766e+02] [ 9.94532199e-01 8.12565740e-02 -6.55978176e-02 1.59600036e+02] [ 6.59233102e-02 -1.32654259e-03 9.97823811e-01 3.13869481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.4071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.36, Y:159.63, Z:31.39 [[ 8.43263390e-02 -9.96415965e-01 -6.65537473e-03 2.16362109e+02] [ 9.94254799e-01 8.45816026e-02 -6.55999093e-02 1.59626245e+02] [ 6.59277192e-02 -1.08533807e-03 9.97823811e-01 3.13879443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43710568099993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.35, Y:159.66, Z:31.39 [[ 8.83564236e-02 -9.96066873e-01 -6.62770193e-03 2.16352024e+02] [ 9.93904486e-01 8.86011203e-02 -6.56027051e-02 1.59655265e+02] [ 6.59319031e-02 -7.90882282e-04 9.97823811e-01 3.13882576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.4671056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:216.35, Y:159.68, Z:31.39 [[ 9.20121133e-02 -9.95735018e-01 -6.74863644e-03 2.16350740e+02] [ 9.93572624e-01 9.22568372e-02 -6.55905262e-02 1.59679577e+02] [ 6.59333917e-02 -6.70137482e-04 9.97823801e-01 3.13878142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49710568099994 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:216.35, Y:159.71, Z:31.39 [[ 9.40633642e-02 -9.95546961e-01 -6.19134450e-03 2.16345690e+02] [ 9.93380242e-01 9.42669010e-02 -6.56463671e-02 1.59708778e+02] [ 6.59376801e-02 2.45588377e-05 9.97823743e-01 3.13859466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5271056809999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:216.34, Y:159.74, Z:31.39 [[ 9.29811770e-02 -9.95647551e-01 -6.36048756e-03 2.16340962e+02] [ 9.93482195e-01 9.31982194e-02 -6.56294189e-02 1.59736925e+02] [ 6.59365562e-02 -2.16730533e-04 9.97823794e-01 3.13899478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55710568099994 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:216.34, Y:159.76, Z:31.39 [[ 9.17915093e-02 -9.95758431e-01 -6.28214881e-03 2.16338982e+02] [ 9.93592801e-01 9.20059754e-02 -6.56372389e-02 1.59764262e+02] [ 6.59368293e-02 -2.16956606e-04 9.97823776e-01 3.13924158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5871056809999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:216.34, Y:159.79, Z:31.39 [[ 8.79146659e-02 -9.96108294e-01 -6.26729208e-03 2.16336543e+02] [ 9.93943410e-01 8.81365815e-02 -6.56387170e-02 1.59793902e+02] [ 6.59356481e-02 -4.58727784e-04 9.97823772e-01 3.13914354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61710568099994 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:216.34, Y:159.82, Z:31.39 [[ 8.43462802e-02 -9.96416161e-01 -6.36699639e-03 2.16338138e+02] [ 9.94252815e-01 8.45825149e-02 -6.56287915e-02 1.59822215e+02] [ 6.59321251e-02 -7.94859646e-04 9.97823794e-01 3.13906925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6471056809999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:216.34, Y:159.85, Z:31.39 [[ 7.81685969e-02 -9.96919016e-01 -6.49198511e-03 2.16339472e+02] [ 9.94758152e-01 7.84264603e-02 -6.56163849e-02 1.59848944e+02] [ 6.59233653e-02 -1.32881436e-03 9.97823804e-01 3.13929643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67710568099994 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:216.34, Y:159.88, Z:31.40 [[ 7.56414088e-02 -9.97113925e-01 -6.49605642e-03 2.16341439e+02] [ 9.94953753e-01 7.59050163e-02 -6.56159819e-02 1.59876182e+02] [ 6.59196925e-02 -1.49999041e-03 9.97823804e-01 3.13957477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7071056809999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:216.36, Y:159.90, Z:31.38 [[ 9.05703457e-02 -9.95868987e-01 -6.47865380e-03 2.16357553e+02] [ 9.93704987e-01 9.08004162e-02 -6.56177001e-02 1.59900496e+02] [ 6.59348970e-02 -4.94852809e-04 9.97823804e-01 3.13791151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73710568099995 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:216.35, Y:159.93, Z:31.38 [[ 8.81108356e-02 -9.96095066e-01 -5.57675912e-03 2.16353839e+02] [ 9.93925590e-01 8.82867985e-02 -6.57066398e-02 1.59932315e+02] [ 6.59424139e-02 2.46583332e-04 9.97823400e-01 3.13784441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7671056809999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:216.35, Y:159.96, Z:31.40 [[ 7.51125614e-02 -9.97153965e-01 -6.48634658e-03 2.16345565e+02] [ 9.94993869e-01 7.53766757e-02 -6.56167529e-02 1.59957734e+02] [ 6.59189246e-02 -1.52523269e-03 9.97823817e-01 3.14014885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79710568099995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:216.35, Y:159.99, Z:31.40 [[ 7.39535672e-02 -9.97243507e-01 -6.02143845e-03 2.16346474e+02] [ 9.95080077e-01 7.41896062e-02 -6.56623397e-02 1.59986314e+02] [ 6.59280701e-02 -1.13584918e-03 9.97823732e-01 3.14048916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.8271056809999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:216.35, Y:160.01, Z:31.40 [[ 8.03141173e-02 -9.96748897e-01 -6.42482206e-03 2.16347898e+02] [ 9.94586979e-01 8.05629087e-02 -6.56228518e-02 1.60012836e+02] [ 6.59271075e-02 -1.11960296e-03 9.97823814e-01 3.14037608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85710568099995 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:216.35, Y:160.04, Z:31.40 [[ 8.29281070e-02 -9.96536172e-01 -6.21185826e-03 2.16349517e+02] [ 9.94372060e-01 8.31572037e-02 -6.56436304e-02 1.60041328e+02] [ 6.59328130e-02 -7.33196286e-04 9.97823795e-01 3.14015090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.8871056809999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:216.35, Y:160.07, Z:31.40 [[ 9.11006387e-02 -9.95821281e-01 -6.37577932e-03 2.16350911e+02] [ 9.93656457e-01 9.13227779e-02 -6.56277063e-02 1.60067145e+02] [ 6.59357204e-02 -3.56608329e-04 9.97823809e-01 3.14022283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9171056809999 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:216.35, Y:160.09, Z:31.40 [[ 9.71306272e-02 -9.95252910e-01 -6.10619347e-03 2.16354063e+02] [ 9.93085117e-01 9.73218699e-02 -6.56536652e-02 1.60090230e+02] [ 6.59362675e-02 3.13011826e-04 9.97823787e-01 3.14046197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9471056809999 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:216.35, Y:160.12, Z:31.41 [[ 9.97232096e-02 -9.95000001e-01 -5.50264763e-03 2.16353929e+02] [ 9.92828345e-01 9.98689638e-02 -6.57120061e-02 1.60121216e+02] [ 6.59329899e-02 1.08982762e-03 9.97823458e-01 3.14133491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9771056809999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:216.36, Y:160.15, Z:31.42 [[ 1.07518709e-01 -9.94182766e-01 -6.35248566e-03 2.16358554e+02] [ 9.92014453e-01 1.07703563e-01 -6.56297721e-02 1.60147824e+02] [ 6.59321737e-02 7.54670807e-04 9.97823822e-01 3.14164854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.0071056809999 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:216.36, Y:160.18, Z:31.42 [[ 1.10127979e-01 -9.93897302e-01 -6.32307212e-03 2.16361280e+02] [ 9.91728352e-01 1.10305198e-01 -6.56326059e-02 1.60175295e+02] [ 6.59295376e-02 9.57216352e-04 9.97823822e-01 3.14195113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.0371056809999 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:216.37, Y:160.20, Z:31.42 [[ 1.15049474e-01 -9.93339793e-01 -6.29867614e-03 2.16366597e+02] [ 9.91169870e-01 1.15214337e-01 -6.56349470e-02 1.60202648e+02] [ 6.59235025e-02 1.30820812e-03 9.97823822e-01 3.14215397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.06710568099993 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:216.37, Y:160.23, Z:31.42 [[ 1.19584066e-01 -9.92804257e-01 -6.27357620e-03 2.16372292e+02] [ 9.90633486e-01 1.19737360e-01 -6.56373461e-02 1.60225701e+02] [ 6.59162181e-02 1.63436604e-03 9.97823823e-01 3.14229301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.0971056809999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:216.38, Y:160.25, Z:31.43 [[ 1.22996185e-01 -9.92392124e-01 -5.45991947e-03 2.16376314e+02] [ 9.90217617e-01 1.23088224e-01 -6.57142278e-02 1.60253972e+02] [ 6.58863339e-02 2.67609089e-03 9.97823546e-01 3.14275678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.12710568099993 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:216.38, Y:160.28, Z:31.43 [[ 1.22844615e-01 -9.92410409e-01 -5.54801516e-03 2.16378967e+02] [ 9.90236232e-01 1.22942812e-01 -6.57059318e-02 1.60281806e+02] [ 6.58893393e-02 2.57777426e-03 9.97823607e-01 3.14282521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.1571056809999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:216.39, Y:160.31, Z:31.43 [[ 1.24032792e-01 -9.92262171e-01 -5.62594238e-03 2.16387508e+02] [ 9.90088157e-01 1.24133539e-01 -6.56986062e-02 1.60308052e+02] [ 6.58886097e-02 2.57860261e-03 9.97823653e-01 3.14283291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18710568099993 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:216.40, Y:160.34, Z:31.42 [[ 1.14284123e-01 -9.93433573e-01 -5.37351253e-03 2.16399283e+02] [ 9.91259615e-01 1.14389525e-01 -6.57222433e-02 1.60336443e+02] [ 6.59053565e-02 2.18446294e-03 9.97823487e-01 3.14245979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2171056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:216.41, Y:160.36, Z:31.42 [[ 1.12318339e-01 -9.93653644e-01 -6.08492125e-03 2.16409291e+02] [ 9.91483083e-01 1.12475049e-01 -6.56556136e-02 1.60362100e+02] [ 6.59233415e-02 1.34123296e-03 9.97823789e-01 3.14214971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24710568099994 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:216.42, Y:160.39, Z:31.43 [[ 9.97099982e-02 -9.95000660e-01 -5.62171469e-03 2.16419953e+02] [ 9.92829733e-01 9.98636449e-02 -6.56991182e-02 1.60389064e+02] [ 6.59320709e-02 9.69453463e-04 9.97823643e-01 3.14260295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2771056809999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:216.43, Y:160.42, Z:31.43 [[ 9.26399572e-02 -9.95684894e-01 -5.42489830e-03 2.16426430e+02] [ 9.93514019e-01 9.27960317e-02 -6.57175025e-02 1.60416506e+02] [ 6.59373336e-02 6.98354109e-04 9.97823522e-01 3.14263723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.43, Y:160.45, Z:31.41 [[ 7.24703349e-02 -9.97353616e-01 -5.81500427e-03 2.16433799e+02] [ 9.95189074e-01 7.26960025e-02 -6.56810340e-02 1.60446252e+02] [ 6.59299444e-02 -1.02710218e-03 9.97823726e-01 3.14108760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.45, Y:160.47, Z:31.43 [[ 7.79383305e-02 -9.96939318e-01 -6.13294752e-03 2.16448261e+02] [ 9.94775791e-01 7.81730635e-02 -6.56513361e-02 1.60467948e+02] [ 6.59298295e-02 -9.84152192e-04 9.97823777e-01 3.14304164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.46, Y:160.50, Z:31.43 [[ 6.95099574e-02 -9.97566438e-01 -5.43756986e-03 2.16459141e+02] [ 9.95399862e-01 6.97171999e-02 -6.57162546e-02 1.60495029e+02] [ 6.59354222e-02 -8.44622227e-04 9.97823535e-01 3.14347062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3971056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:216.46, Y:160.52, Z:31.44 [[ 6.63710300e-02 -9.97780351e-01 -5.40896525e-03 2.16464739e+02] [ 9.95614233e-01 6.65832048e-02 -6.57189170e-02 1.60521155e+02] [ 6.59331904e-02 -1.02341057e-03 9.97823515e-01 3.14360221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.47, Y:160.55, Z:31.44 [[ 6.45489022e-02 -9.97900298e-01 -5.33242697e-03 2.16469977e+02] [ 9.95734018e-01 6.47599936e-02 -6.57260068e-02 1.60547830e+02] [ 6.59333297e-02 -1.06713735e-03 9.97823460e-01 3.14403108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.47, Y:160.58, Z:31.44 [[ 6.39691367e-02 -9.97937637e-01 -5.33123087e-03 2.16470816e+02] [ 9.95771472e-01 6.41814079e-02 -6.57261173e-02 1.60575022e+02] [ 6.59327321e-02 -1.10424462e-03 9.97823459e-01 3.14431846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.47, Y:160.60, Z:31.45 [[ 6.37021723e-02 -9.97955482e-01 -5.18554779e-03 2.16473540e+02] [ 9.95788331e-01 6.39054315e-02 -6.57396025e-02 1.60604148e+02] [ 6.59365814e-02 -9.75952491e-04 9.97823338e-01 3.14456939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5171056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:216.47, Y:160.64, Z:31.43 [[ 5.30906390e-02 -9.98575728e-01 -5.28201619e-03 2.16470622e+02] [ 9.96411615e-01 5.33232668e-02 -6.57306906e-02 1.60636147e+02] [ 6.59187266e-02 -1.77337791e-03 9.97823420e-01 3.14265084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54710568099995 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:216.47, Y:160.66, Z:31.43 [[ 5.27092779e-02 -9.98591402e-01 -6.07818468e-03 2.16473168e+02] [ 9.96433983e-01 5.29950399e-02 -6.56570066e-02 1.60664423e+02] [ 6.58866359e-02 -2.59577636e-03 9.97823739e-01 3.14283085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5771056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.48, Y:160.69, Z:31.45 [[ 6.19494757e-02 -9.98060932e-01 -6.05304284e-03 2.16482147e+02] [ 9.95900758e-01 6.22136050e-02 -6.56593244e-02 1.60686997e+02] [ 6.59085881e-02 -1.96066923e-03 9.97823739e-01 3.14500255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.48, Y:160.72, Z:31.45 [[ 6.17690290e-02 -9.98076058e-01 -5.36373646e-03 2.16481862e+02] [ 9.95910632e-01 6.19882137e-02 -6.57227051e-02 1.60715443e+02] [ 6.59287468e-02 -1.28217449e-03 9.97823510e-01 3.14538237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.6371056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:216.48, Y:160.74, Z:31.46 [[ 6.16851826e-02 -9.98081082e-01 -5.39378329e-03 2.16481438e+02] [ 9.95915895e-01 6.19065266e-02 -6.57199495e-02 1.60742036e+02] [ 6.59277487e-02 -1.31780743e-03 9.97823529e-01 3.14582211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.6671056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.48, Y:160.77, Z:31.46 [[ 6.26403341e-02 -9.98022039e-01 -5.31025514e-03 2.16479049e+02] [ 9.95856038e-01 6.28541081e-02 -6.57275642e-02 1.60770145e+02] [ 6.59313290e-02 -1.17105306e-03 9.97823476e-01 3.14591262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.6971056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:216.48, Y:160.80, Z:31.46 [[ 6.19498607e-02 -9.98064608e-01 -5.40863300e-03 2.16478171e+02] [ 9.95899467e-01 6.21716079e-02 -6.57186625e-02 1.60797463e+02] [ 6.59277345e-02 -1.31519273e-03 9.97823534e-01 3.14641619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.7271056809999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:216.48, Y:160.83, Z:31.46 [[ 6.09646299e-02 -9.98125928e-01 -5.28643243e-03 2.16478599e+02] [ 9.95960118e-01 6.11804723e-02 -6.57296968e-02 1.60825535e+02] [ 6.59299411e-02 -1.25788922e-03 9.97823462e-01 3.14609826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.7571056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:216.48, Y:160.86, Z:31.46 [[ 5.64168285e-02 -9.98393785e-01 -5.19528230e-03 2.16479455e+02] [ 9.96228295e-01 5.66365389e-02 -6.57380104e-02 1.60856484e+02] [ 6.59266639e-02 -1.46695717e-03 9.97823393e-01 3.14610049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.7871056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:216.48, Y:160.88, Z:31.46 [[ 5.42795517e-02 -9.98507736e-01 -6.00268743e-03 2.16478253e+02] [ 9.96349210e-01 5.45569636e-02 -6.56642233e-02 1.60881186e+02] [ 6.58937233e-02 -2.41654827e-03 9.97823721e-01 3.14635080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81710568099993 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:216.48, Y:160.91, Z:31.46 [[ 5.19088704e-02 -9.98638711e-01 -5.11798722e-03 2.16478097e+02] [ 9.96473670e-01 5.21332708e-02 -6.57445658e-02 1.60909059e+02] [ 6.59218859e-02 -1.68721336e-03 9.97823360e-01 3.14639326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.8471056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.48, Y:160.94, Z:31.47 [[ 4.69037831e-02 -9.98886697e-01 -5.04000153e-03 2.16476445e+02] [ 9.96722184e-01 4.71339040e-02 -6.57516838e-02 1.60936962e+02] [ 6.59160372e-02 -1.93947862e-03 9.97823288e-01 3.14668013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.48, Y:160.97, Z:31.45 [[ 4.97442069e-02 -9.98748223e-01 -5.24408595e-03 2.16481854e+02] [ 9.96584663e-01 4.99815899e-02 -6.57331770e-02 1.60966024e+02] [ 6.59130014e-02 -1.95633087e-03 9.97823456e-01 3.14481769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.9071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.48, Y:160.99, Z:31.47 [[ 4.00417379e-02 -9.99181930e-01 -5.66842367e-03 2.16476201e+02] [ 9.97024516e-01 4.03279698e-02 -6.56945230e-02 1.60993441e+02] [ 6.58693763e-02 -3.02103450e-03 9.97823681e-01 3.14692676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.48, Y:161.02, Z:31.47 [[ 3.80949394e-02 -9.99258522e-01 -5.58404966e-03 2.16475031e+02] [ 9.97100901e-01 3.83798407e-02 -6.57022164e-02 1.61021254e+02] [ 6.58678146e-02 -3.06493900e-03 9.97823650e-01 3.14725430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.9671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.47, Y:161.05, Z:31.48 [[ 3.69147568e-02 -9.99303122e-01 -5.52911337e-03 2.16468325e+02] [ 9.97145338e-01 3.71986033e-02 -6.57072185e-02 1.61049792e+02] [ 6.58671039e-02 -3.08776363e-03 9.97823627e-01 3.14754206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99710568099994 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:216.46, Y:161.08, Z:31.48 [[ 3.95883949e-02 -9.99200995e-01 -5.48913975e-03 2.16462815e+02] [ 9.97042104e-01 3.98638440e-02 -6.57108514e-02 1.61078886e+02] [ 6.58771663e-02 -2.87151631e-03 9.97823608e-01 3.14788525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0271056809999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:216.46, Y:161.11, Z:31.48 [[ 3.97956441e-02 -9.99192185e-01 -5.59330973e-03 2.16459843e+02] [ 9.97034162e-01 4.00774802e-02 -6.57014071e-02 1.61105671e+02] [ 6.58724983e-02 -2.96209106e-03 9.97823652e-01 3.14801179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05710568099994 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:216.46, Y:161.13, Z:31.48 [[ 4.16498556e-02 -9.99117380e-01 -5.45436314e-03 2.16455280e+02] [ 9.96957626e-01 4.19185671e-02 -6.57139670e-02 1.61134946e+02] [ 6.58846056e-02 -2.70079170e-03 9.97823594e-01 3.14787854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0871056809999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:216.45, Y:161.16, Z:31.48 [[ 4.21820817e-02 -9.99094050e-01 -5.63477870e-03 2.16454395e+02] [ 9.96935726e-01 4.24614839e-02 -6.56976496e-02 1.61163119e+02] [ 6.58773919e-02 -2.84624856e-03 9.97823666e-01 3.14795584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11710568099994 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:216.45, Y:161.19, Z:31.48 [[ 4.23825375e-02 -9.99086532e-01 -5.46089518e-03 2.16446078e+02] [ 9.96926642e-01 4.26500938e-02 -6.57133135e-02 1.61193266e+02] [ 6.58861942e-02 -2.65901492e-03 9.97823601e-01 3.14790918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1471056809999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:216.44, Y:161.22, Z:31.48 [[ 4.67491460e-02 -9.98889123e-01 -5.91928475e-03 2.16440088e+02] [ 9.96731998e-01 4.70373538e-02 -6.56720040e-02 1.61222015e+02] [ 6.58774780e-02 -2.82983041e-03 9.97823707e-01 3.14813759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17710568099994 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:216.44, Y:161.25, Z:31.49 [[ 5.27468547e-02 -9.98590515e-01 -5.89521519e-03 2.16439744e+02] [ 9.96431497e-01 5.30205224e-02 -6.56741646e-02 1.61247324e+02] [ 6.58941652e-02 -2.41007248e-03 9.97823707e-01 3.14884358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2071056809999 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:216.43, Y:161.28, Z:31.49 [[ 5.82911333e-02 -9.98285196e-01 -5.36770390e-03 2.16431510e+02] [ 9.96120646e-01 5.85181209e-02 -6.57212907e-02 1.61277758e+02] [ 6.59226995e-02 -1.51591216e-03 9.97823581e-01 3.14864972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23710568099995 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:216.43, Y:161.30, Z:31.49 [[ 6.20139196e-02 -9.98058035e-01 -5.86800946e-03 2.16429785e+02] [ 9.95896361e-01 6.22657457e-02 -6.56765982e-02 1.61304862e+02] [ 6.59144325e-02 -1.77106599e-03 9.97823707e-01 3.14859943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2671056809999 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:216.43, Y:161.33, Z:31.48 [[ 7.00370364e-02 -9.97527278e-01 -5.84316318e-03 2.16425542e+02] [ 9.95363473e-01 7.02698375e-02 -6.56788087e-02 1.61333243e+02] [ 6.59270014e-02 -1.21612208e-03 9.97823708e-01 3.14830399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29710568099995 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:216.43, Y:161.36, Z:31.48 [[ 7.45423949e-02 -9.97200867e-01 -5.81909882e-03 2.16425296e+02] [ 9.95035870e-01 7.47638346e-02 -6.56809407e-02 1.61361757e+02] [ 6.59321492e-02 -8.94197439e-04 9.97823708e-01 3.14804545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3271056809999 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:216.42, Y:161.39, Z:31.48 [[ 8.68239632e-02 -9.96207618e-01 -5.65526746e-03 2.16421658e+02] [ 9.94039106e-01 8.70079068e-02 -6.56953529e-02 1.61387055e+02] [ 6.59382640e-02 8.23738868e-05 9.97823701e-01 3.14841520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3571056809999 meters Centerline goodness : 0.997335 Centerline is valid? [True, True] Translation: X:216.42, Y:161.41, Z:31.49 [[ 9.17424819e-02 -9.95769550e-01 -5.13027810e-03 2.16421431e+02] [ 9.93597498e-01 9.18810684e-02 -6.57410165e-02 1.61413205e+02] [ 6.59342779e-02 9.33812528e-04 9.97823531e-01 3.14851551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3871056809999 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:216.42, Y:161.44, Z:31.48 [[ 9.78966826e-02 -9.95185120e-01 -4.77657353e-03 2.16419184e+02] [ 9.93010773e-01 9.79984742e-02 -6.57715962e-02 1.61444537e+02] [ 6.59230108e-02 1.69563211e-03 9.97823272e-01 3.14849264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4171056809999 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:216.42, Y:161.47, Z:31.49 [[ 1.03527027e-01 -9.94610327e-01 -5.69659575e-03 2.16422629e+02] [ 9.92439218e-01 1.03677289e-01 -6.56918429e-02 1.61469015e+02] [ 6.59283930e-02 1.14735620e-03 9.97823697e-01 3.14874030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4471056809999 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:216.43, Y:161.50, Z:31.49 [[ 1.05156985e-01 -9.94441479e-01 -5.30599418e-03 2.16426604e+02] [ 9.92268455e-01 1.05277889e-01 -6.57257856e-02 1.61498394e+02] [ 6.59190513e-02 1.64655483e-03 9.97823615e-01 3.14889040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4771056809999 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:216.43, Y:161.52, Z:31.49 [[ 1.08602786e-01 -9.94068875e-01 -5.70149698e-03 2.16432115e+02] [ 9.91897044e-01 1.08742287e-01 -6.56914643e-02 1.61522535e+02] [ 6.59218338e-02 1.47897806e-03 9.97823694e-01 3.14908870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.5071056809999 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:216.44, Y:161.55, Z:31.50 [[ 1.06492621e-01 -9.94301888e-01 -4.80385035e-03 2.16436700e+02] [ 9.92126874e-01 1.06577424e-01 -6.57686778e-02 1.61550790e+02] [ 6.59059025e-02 2.23784984e-03 9.97823333e-01 3.14964116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.5371056809999 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:216.44, Y:161.58, Z:31.50 [[ 1.06134991e-01 -9.94337041e-01 -5.40490238e-03 2.16442432e+02] [ 9.92164316e-01 1.06260292e-01 -6.57169761e-02 1.61579860e+02] [ 6.59191501e-02 1.61231936e-03 9.97823665e-01 3.14959386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.56710568099993 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:216.45, Y:161.60, Z:31.50 [[ 1.10913875e-01 -9.93813719e-01 -5.69242763e-03 2.16449788e+02] [ 9.91641530e-01 1.11047726e-01 -6.56922999e-02 1.61603146e+02] [ 6.59180400e-02 1.64133993e-03 9.97823691e-01 3.15032938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.5971056809999 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:216.45, Y:161.63, Z:31.50 [[ 1.12398679e-01 -9.93651551e-01 -4.80969140e-03 2.16454810e+02] [ 9.91476148e-01 1.12470946e-01 -6.57672729e-02 1.61629533e+02] [ 6.58907032e-02 2.62346031e-03 9.97823398e-01 3.15036766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.62710568099993 meters Centerline goodness : 0.997034 Centerline is valid? [True, True] Translation: X:216.46, Y:161.66, Z:31.49 [[ 1.15180492e-01 -9.93332871e-01 -4.82298119e-03 2.16463364e+02] [ 9.91157312e-01 1.15247546e-01 -6.57661457e-02 1.61656797e+02] [ 6.58835110e-02 2.79464397e-03 9.97823408e-01 3.14947481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.6571056809999 meters Centerline goodness : 0.996946 Centerline is valid? [True, True] Translation: X:216.47, Y:161.68, Z:31.51 [[ 1.17769866e-01 -9.93028732e-01 -4.91901686e-03 2.16471823e+02] [ 9.90853266e-01 1.17837598e-01 -6.57579312e-02 1.61683547e+02] [ 6.58791602e-02 2.87027881e-03 9.97823480e-01 3.15057316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68710568099993 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:216.49, Y:161.71, Z:31.50 [[ 1.18183752e-01 -9.92980201e-01 -4.78754353e-03 2.16485329e+02] [ 9.90804358e-01 1.18241884e-01 -6.57691539e-02 1.61711840e+02] [ 6.58735558e-02 3.02932639e-03 9.97823380e-01 3.15021237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7171056809999 meters Centerline goodness : 0.997635 Centerline is valid? [True, True] Translation: X:216.49, Y:161.74, Z:31.50 [[ 1.16247143e-01 -9.93206197e-01 -5.29649876e-03 2.16492727e+02] [ 9.91031991e-01 1.16343166e-01 -6.57256481e-02 1.61739480e+02] [ 6.58953324e-02 2.39141910e-03 9.97823675e-01 3.15037132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74710568099994 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:216.51, Y:161.76, Z:31.51 [[ 1.14599568e-01 -9.93395943e-01 -5.60705082e-03 2.16507590e+02] [ 9.91222986e-01 1.14719720e-01 -6.56991474e-02 1.61764308e+02] [ 6.59085058e-02 1.97125628e-03 9.97823723e-01 3.15111060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7771056809999 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:216.53, Y:161.79, Z:31.52 [[ 1.13370677e-01 -9.93538860e-01 -5.25580952e-03 2.16528916e+02] [ 9.91364805e-01 1.13470306e-01 -6.57290842e-02 1.61791060e+02] [ 6.59007777e-02 2.24132617e-03 9.97823664e-01 3.15194451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80710568099994 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:216.54, Y:161.82, Z:31.52 [[ 1.11113152e-01 -9.93793629e-01 -5.30009751e-03 2.16539032e+02] [ 9.91619963e-01 1.11220647e-01 -6.57253092e-02 1.61818067e+02] [ 6.59068738e-02 2.04726376e-03 9.97823678e-01 3.15219884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8371056809999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:216.55, Y:161.84, Z:31.53 [[ 1.04889724e-01 -9.94470225e-01 -5.20748417e-03 2.16552714e+02] [ 9.92296912e-01 1.05004706e-01 -6.57331738e-02 1.61843527e+02] [ 6.59164945e-02 1.72736400e-03 9.97823648e-01 3.15253630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86710568099994 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:216.56, Y:161.87, Z:31.53 [[ 1.03662162e-01 -9.94599280e-01 -5.14076343e-03 2.16562124e+02] [ 9.92425851e-01 1.03775419e-01 -6.57388259e-02 1.61871349e+02] [ 6.59172738e-02 1.71280233e-03 9.97823621e-01 3.15301243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8971056809999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:216.58, Y:161.90, Z:31.53 [[ 9.92932061e-02 -9.95043753e-01 -5.36554738e-03 2.16576611e+02] [ 9.92871800e-01 9.94308510e-02 -6.57198193e-02 1.61898560e+02] [ 6.59275966e-02 1.19823088e-03 9.97823690e-01 3.15270491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92710568099994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.58, Y:161.93, Z:31.51 [[ 8.94897121e-02 -9.95971485e-01 -5.69140220e-03 2.16578857e+02] [ 9.93802685e-01 8.96702351e-02 -6.56922525e-02 1.61928990e+02] [ 6.59379597e-02 2.22649981e-04 9.97823700e-01 3.15119988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.59, Y:161.96, Z:31.53 [[ 8.83127471e-02 -9.96074589e-01 -6.02265936e-03 2.16594757e+02] [ 9.93907855e-01 8.85176749e-02 -6.56642813e-02 1.61956562e+02] [ 6.59396338e-02 -1.86975369e-04 9.97823597e-01 3.15260386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.60, Y:161.98, Z:31.53 [[ 8.50368511e-02 -9.96355871e-01 -6.61147203e-03 2.16603560e+02] [ 9.94193502e-01 8.52876940e-02 -6.56147035e-02 1.61976796e+02] [ 6.59394723e-02 -9.93414751e-04 9.97823130e-01 3.15293556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.61, Y:162.01, Z:31.53 [[ 8.07666548e-02 -9.96719793e-01 -5.13829756e-03 2.16606878e+02] [ 9.94549642e-01 8.09296917e-02 -6.57373151e-02 1.62005442e+02] [ 6.59375239e-02 1.99091037e-04 9.97823734e-01 3.15325328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.61, Y:162.03, Z:31.53 [[ 7.13574288e-02 -9.97436590e-01 -5.32592264e-03 2.16611814e+02] [ 9.95269200e-01 7.15533004e-02 -6.57217259e-02 1.62032230e+02] [ 6.59343416e-02 -6.10993380e-04 9.97823777e-01 3.15329272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0771056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.62, Y:162.06, Z:31.53 [[ 6.59177554e-02 -9.97811806e-01 -5.14299114e-03 2.16615243e+02] [ 9.95644353e-01 6.61133942e-02 -6.57369163e-02 1.62058693e+02] [ 6.59330918e-02 -7.87360118e-04 9.97823736e-01 3.15334834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.62, Y:162.09, Z:31.54 [[ 5.91235026e-02 -9.98238100e-01 -5.01063895e-03 2.16621319e+02] [ 9.96071155e-01 5.93251791e-02 -6.57478395e-02 1.62085235e+02] [ 6.59292554e-02 -1.10371037e-03 9.97823689e-01 3.15353037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1371056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.62, Y:162.11, Z:31.54 [[ 5.62294068e-02 -9.98404821e-01 -5.10559347e-03 2.16624022e+02] [ 9.96239112e-01 5.64436138e-02 -6.57400260e-02 1.62112439e+02] [ 6.59233371e-02 -1.38986923e-03 9.97823723e-01 3.15380763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1671056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.63, Y:162.14, Z:31.54 [[ 5.13126917e-02 -9.98670576e-01 -4.90791298e-03 2.16625174e+02] [ 9.96504561e-01 5.15245551e-02 -6.57562243e-02 1.62138017e+02] [ 6.59216845e-02 -1.51662881e-03 9.97823647e-01 3.15426875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1971056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:216.62, Y:162.17, Z:31.53 [[ 3.79411119e-02 -9.99268680e-01 -4.75162955e-03 2.16620018e+02] [ 9.97104489e-01 3.81716786e-02 -6.57690027e-02 1.62169834e+02] [ 6.59022821e-02 -2.24252206e-03 9.97823562e-01 3.15258262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.2271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.62, Y:162.19, Z:31.54 [[ 4.73899431e-02 -9.98861986e-01 -5.37822436e-03 2.16623784e+02] [ 9.96700302e-01 4.76412317e-02 -6.57177363e-02 1.62191374e+02] [ 6.58991739e-02 -2.24611806e-03 9.97823759e-01 3.15430428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.2571056809999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:216.62, Y:162.22, Z:31.54 [[ 4.30369621e-02 -9.99063731e-01 -4.41374513e-03 2.16622479e+02] [ 9.96896041e-01 4.32342618e-02 -6.57957552e-02 1.62219779e+02] [ 6.59249777e-02 -1.56839563e-03 9.97823350e-01 3.15418127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.2871056809999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:216.62, Y:162.24, Z:31.54 [[ 4.11529407e-02 -9.99142835e-01 -4.47547946e-03 2.16621865e+02] [ 9.96975957e-01 4.13583887e-02 -6.57907729e-02 1.62243172e+02] [ 6.59194780e-02 -1.75446164e-03 9.97823403e-01 3.15436302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.62, Y:162.27, Z:31.55 [[ 3.40505080e-02 -9.99412576e-01 -3.88160618e-03 2.16618689e+02] [ 9.97242895e-01 3.42322967e-02 -6.58388758e-02 1.62274414e+02] [ 6.59330768e-02 -1.62905701e-03 9.97822718e-01 3.15508644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.3471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.62, Y:162.30, Z:31.55 [[ 3.17873200e-02 -9.99484147e-01 -4.58327401e-03 2.16618100e+02] [ 9.97320153e-01 3.20201478e-02 -6.57816353e-02 1.62301599e+02] [ 6.58944587e-02 -2.47996964e-03 9.97823517e-01 3.15539213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.61, Y:162.33, Z:31.56 [[ 2.96774270e-02 -9.99549574e-01 -4.46088758e-03 2.16612217e+02] [ 9.97385107e-01 2.99067834e-02 -6.57915793e-02 1.62329400e+02] [ 6.58953559e-02 -2.49669804e-03 9.97823416e-01 3.15574584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.4071056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.61, Y:162.36, Z:31.56 [[ 3.05501223e-02 -9.99522821e-01 -4.56302654e-03 2.16608879e+02] [ 9.97358959e-01 3.07842984e-02 -6.57832296e-02 1.62356596e+02] [ 6.58923088e-02 -2.54128970e-03 9.97823504e-01 3.15613662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.60, Y:162.39, Z:31.56 [[ 3.74442479e-02 -9.99289711e-01 -4.24295006e-03 2.16601685e+02] [ 9.97121951e-01 3.76424441e-02 -6.58092738e-02 1.62386090e+02] [ 6.59222452e-02 -1.76655988e-03 9.97823199e-01 3.15617953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.4671056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.60, Y:162.41, Z:31.56 [[ 3.72402455e-02 -9.99295174e-01 -4.72424167e-03 2.16603915e+02] [ 9.97131012e-01 3.74705276e-02 -6.57700825e-02 1.62413404e+02] [ 6.59007459e-02 -2.26139386e-03 9.97823621e-01 3.15635531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.61, Y:162.44, Z:31.55 [[ 5.36628455e-02 -9.98547878e-01 -4.73657912e-03 2.16613228e+02] [ 9.96380303e-01 5.38583316e-02 -6.57690880e-02 1.62444000e+02] [ 6.59286875e-02 -1.19007773e-03 9.97823628e-01 3.15459398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5271056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.59, Y:162.47, Z:31.56 [[ 4.79330257e-02 -9.98836491e-01 -5.29988113e-03 2.16592474e+02] [ 9.96674109e-01 4.81779889e-02 -6.57236746e-02 1.62469612e+02] [ 6.59025421e-02 -2.13191972e-03 9.97823787e-01 3.15612792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55710568099994 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:216.58, Y:162.50, Z:31.56 [[ 5.25826365e-02 -9.98605380e-01 -4.72884623e-03 2.16584289e+02] [ 9.96437995e-01 5.27799577e-02 -6.57692867e-02 1.62496296e+02] [ 6.59271519e-02 -1.25367955e-03 9.97823651e-01 3.15608299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.58, Y:162.52, Z:31.56 [[ 5.35166085e-02 -9.98557770e-01 -4.28393054e-03 2.16581851e+02] [ 9.96387447e-01 5.36826016e-02 -6.58045107e-02 1.62522662e+02] [ 6.59395780e-02 -7.46820377e-04 9.97823338e-01 3.15646983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61710568099994 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:216.58, Y:162.55, Z:31.57 [[ 5.39587254e-02 -9.98534464e-01 -4.16890162e-03 2.16577518e+02] [ 9.96363388e-01 5.41161784e-02 -6.58136595e-02 1.62552802e+02] [ 6.59428123e-02 -6.02519760e-04 9.97823222e-01 3.15652540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6471056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.58, Y:162.58, Z:31.57 [[ 5.09187980e-02 -9.98692482e-01 -4.53907287e-03 2.16576890e+02] [ 9.96524258e-01 5.11072366e-02 -6.57833796e-02 1.62581748e+02] [ 6.59293461e-02 -1.17368561e-03 9.97823604e-01 3.15672206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67710568099994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.57, Y:162.61, Z:31.57 [[ 4.44130562e-02 -9.99002002e-01 -4.74131243e-03 2.16572823e+02] [ 9.96836483e-01 4.46289158e-02 -6.57669061e-02 1.62607105e+02] [ 6.59128705e-02 -1.80540391e-03 9.97823749e-01 3.15697277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7071056809999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:216.57, Y:162.64, Z:31.57 [[ 3.75170835e-02 -9.99288211e-01 -3.94198538e-03 2.16569435e+02] [ 9.97118484e-01 3.76953155e-02 -6.58315480e-02 1.62638726e+02] [ 6.59332843e-02 -1.46081880e-03 9.97822964e-01 3.15712819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73710568099995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:216.56, Y:162.66, Z:31.57 [[ 2.57225698e-02 -9.99656884e-01 -4.94618050e-03 2.16557832e+02] [ 9.97497566e-01 2.59923284e-02 -6.57495634e-02 1.62661958e+02] [ 6.58555663e-02 -3.24255527e-03 9.97823897e-01 3.15735068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7671056809999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:216.56, Y:162.69, Z:31.58 [[ 2.24178339e-02 -9.99740586e-01 -4.02513430e-03 2.16556446e+02] [ 9.97574538e-01 2.26342803e-02 -6.58234753e-02 1.62689427e+02] [ 6.58975057e-02 -2.53975176e-03 9.97823165e-01 3.15782460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79710568099995 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:216.55, Y:162.72, Z:31.57 [[ 1.89269240e-02 -9.99813528e-01 -3.83168282e-03 2.16553647e+02] [ 9.97646716e-01 1.91382261e-02 -6.58388836e-02 1.62720689e+02] [ 6.58999381e-02 -2.57653823e-03 9.97822910e-01 3.15716457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8271056809999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:216.55, Y:162.75, Z:31.57 [[ 1.78526349e-02 -9.99829032e-01 -4.81561199e-03 2.16550228e+02] [ 9.97670741e-01 1.81308256e-02 -6.57599153e-02 1.62747359e+02] [ 6.58359835e-02 -3.63040741e-03 9.97823854e-01 3.15698324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8571056809999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:216.54, Y:162.78, Z:31.58 [[ 1.64799559e-02 -9.99853012e-01 -4.72931887e-03 2.16540264e+02] [ 9.97694328e-01 1.67554540e-02 -6.57668811e-02 1.62775901e+02] [ 6.58364560e-02 -3.63457931e-03 9.97823808e-01 3.15752563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8871056809999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:216.54, Y:162.80, Z:31.58 [[ 1.69425593e-02 -9.99844944e-01 -4.79966496e-03 2.16537066e+02] [ 9.97686765e-01 1.72216691e-02 -6.57611803e-02 1.62804520e+02] [ 6.58336419e-02 -3.67439951e-03 9.97823847e-01 3.15774157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9171056809999 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:216.53, Y:162.83, Z:31.58 [[ 1.88715247e-02 -9.99810461e-01 -4.78627939e-03 2.16529283e+02] [ 9.97651628e-01 1.91455928e-02 -6.57622612e-02 1.62833100e+02] [ 6.58414328e-02 -3.53400529e-03 9.97823840e-01 3.15822701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9471056809999 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:216.52, Y:162.86, Z:31.59 [[ 1.82324917e-02 -9.99822366e-01 -4.77617302e-03 2.16520523e+02] [ 9.97663620e-01 1.85072770e-02 -6.57630756e-02 1.62861214e+02] [ 6.58397878e-02 -3.56598934e-03 9.97823835e-01 3.15861164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9771056809999 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:216.52, Y:162.89, Z:31.58 [[ 1.80992444e-02 -9.99825721e-01 -4.57657567e-03 2.16517727e+02] [ 9.97665260e-01 1.83612305e-02 -6.57791271e-02 1.62889489e+02] [ 6.58516947e-02 -3.37533806e-03 9.97823713e-01 3.15846894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.0071056809999 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:216.51, Y:162.93, Z:31.57 [[ 1.50509062e-02 -9.99876267e-01 -4.57395428e-03 2.16509849e+02] [ 9.97716592e-01 1.53193060e-02 -6.57793384e-02 1.62925374e+02] [ 6.58412691e-02 -3.57347142e-03 9.97823711e-01 3.15722260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.0371056809999 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:216.51, Y:162.95, Z:31.57 [[ 1.90848419e-02 -9.99800127e-01 -5.95606505e-03 2.16506619e+02] [ 9.97652287e-01 1.94350394e-02 -6.56672994e-02 1.62949148e+02] [ 6.57699307e-02 -4.68883188e-03 9.97823798e-01 3.15714835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.06710568099993 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:216.50, Y:162.98, Z:31.57 [[ 2.10510696e-02 -9.99766268e-01 -4.92555270e-03 2.16501831e+02] [ 9.97608145e-01 2.13295581e-02 -6.57498258e-02 1.62977064e+02] [ 6.58395178e-02 -3.52966734e-03 9.97823982e-01 3.15730191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.0971056809999 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:216.49, Y:163.00, Z:31.58 [[ 2.97224776e-02 -9.99547180e-01 -4.69150296e-03 2.16493226e+02] [ 9.97384827e-01 2.99668708e-02 -6.57684814e-02 1.63004031e+02] [ 6.58792898e-02 -2.72443165e-03 9.97823881e-01 3.15756236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.12710568099993 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:216.48, Y:163.03, Z:31.58 [[ 3.77809903e-02 -9.99275913e-01 -4.49970602e-03 2.16482558e+02] [ 9.97110268e-01 3.79953317e-02 -6.57834942e-02 1.63027216e+02] [ 6.59068290e-02 -2.00133752e-03 9.97823774e-01 3.15784363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.1571056809999 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:216.48, Y:163.06, Z:31.58 [[ 3.65114856e-02 -9.99326530e-01 -3.66025708e-03 2.16476556e+02] [ 9.97155411e-01 3.66733498e-02 -6.58494702e-02 1.63061882e+02] [ 6.59393565e-02 -1.24558317e-03 9.97822855e-01 3.15835490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18710568099993 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:216.47, Y:163.08, Z:31.59 [[ 4.96311647e-02 -9.98754020e-01 -5.21113981e-03 2.16468860e+02] [ 9.96590857e-01 4.98666082e-02 -6.57265883e-02 1.63083309e+02] [ 6.59045561e-02 -1.93128717e-03 9.97824062e-01 3.15859813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2171056809999 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:216.47, Y:163.11, Z:31.59 [[ 5.33892156e-02 -9.98567219e-01 -3.61946475e-03 2.16465792e+02] [ 9.96393753e-01 5.35116867e-02 -6.58482266e-02 1.63109992e+02] [ 6.59475642e-02 -9.08269028e-05 9.97823086e-01 3.15893672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24710568099994 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:216.46, Y:163.14, Z:31.59 [[ 6.21380979e-02 -9.98061879e-01 -3.36786701e-03 2.16462666e+02] [ 9.95886317e-01 6.22249132e-02 -6.58673237e-02 1.63136728e+02] [ 6.59492301e-02 7.38857528e-04 9.97822706e-01 3.15930826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2771056809999 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:216.46, Y:163.17, Z:31.59 [[ 6.49680310e-02 -9.97882349e-01 -3.15799128e-03 2.16458676e+02] [ 9.95705723e-01 6.50348197e-02 -6.58831275e-02 1.63170561e+02] [ 6.59489894e-02 1.13586708e-03 9.97822349e-01 3.15935278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30710568099994 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:216.46, Y:163.20, Z:31.59 [[ 7.06562373e-02 -9.97488170e-01 -5.00469478e-03 2.16461003e+02] [ 9.95319378e-01 7.08324633e-02 -6.57426596e-02 1.63198606e+02] [ 6.59320201e-02 -3.36140738e-04 9.97824061e-01 3.15937269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3371056809999 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:216.46, Y:163.23, Z:31.59 [[ 7.57365643e-02 -9.97115418e-01 -4.98156867e-03 2.16463577e+02] [ 9.94945642e-01 7.59002153e-02 -6.57444119e-02 1.63226708e+02] [ 6.59328689e-02 2.28658513e-05 9.97824061e-01 3.15943394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36710568099994 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:216.47, Y:163.25, Z:31.59 [[ 8.63620079e-02 -9.96251483e-01 -4.95848770e-03 2.16469676e+02] [ 9.94079987e-01 8.65009957e-02 -6.57461527e-02 1.63250756e+02] [ 6.59286162e-02 7.48836370e-04 9.97824061e-01 3.15924790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3971056809999 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:216.48, Y:163.28, Z:31.59 [[ 9.00961015e-02 -9.95924958e-01 -4.02123484e-03 2.16475842e+02] [ 9.93749752e-01 9.01650648e-02 -6.58155820e-02 1.63275682e+02] [ 6.59099556e-02 1.93362623e-03 9.97823701e-01 3.15936652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42710568099994 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:216.48, Y:163.31, Z:31.60 [[ 8.89943000e-02 -9.96023896e-01 -4.05137109e-03 2.16479814e+02] [ 9.93848862e-01 8.90676602e-02 -6.58133129e-02 1.63307550e+02] [ 6.59124785e-02 1.83055917e-03 9.97823729e-01 3.15951509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4571056809999 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:216.49, Y:163.33, Z:31.59 [[ 9.48113203e-02 -9.95482887e-01 -4.96341902e-03 2.16489198e+02] [ 9.93310394e-01 9.49322068e-02 -6.57444850e-02 1.63333937e+02] [ 6.59186980e-02 1.30310572e-03 9.97824146e-01 3.15914568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48710568099995 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:216.49, Y:163.36, Z:31.59 [[ 9.59106273e-02 -9.95377687e-01 -4.94077970e-03 2.16494972e+02] [ 9.93204982e-01 9.60276199e-02 -6.57461863e-02 1.63361564e+02] [ 6.59167382e-02 1.39855096e-03 9.97824147e-01 3.15911086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5171056809999 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:216.51, Y:163.39, Z:31.59 [[ 9.41579470e-02 -9.95545135e-01 -4.91575792e-03 2.16506066e+02] [ 9.93372548e-01 9.42771131e-02 -6.57480572e-02 1.63388410e+02] [ 6.59186019e-02 1.30752312e-03 9.97824147e-01 3.15908465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54710568099995 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:216.52, Y:163.42, Z:31.59 [[ 8.76109231e-02 -9.96142763e-01 -4.89108514e-03 2.16515573e+02] [ 9.93970907e-01 8.77427416e-02 -6.57498926e-02 1.63415181e+02] [ 6.59254368e-02 8.98812447e-04 9.97824147e-01 3.15918313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5771056809999 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:216.52, Y:163.44, Z:31.59 [[ 8.32342834e-02 -9.96518126e-01 -4.86604533e-03 2.16521790e+02] [ 9.94346763e-01 8.33739890e-02 -6.57517457e-02 1.63442608e+02] [ 6.59285080e-02 6.34263014e-04 9.97824148e-01 3.15914376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6071056809999 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:216.54, Y:163.47, Z:31.59 [[ 7.47574917e-02 -9.97189991e-01 -4.84132698e-03 2.16535409e+02] [ 9.95019777e-01 7.49140263e-02 -6.57535657e-02 1.63468904e+02] [ 6.59314809e-02 9.83555445e-05 9.97824148e-01 3.15897977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6371056809999 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:216.54, Y:163.50, Z:31.59 [[ 6.95421845e-02 -9.97567389e-01 -4.81544797e-03 2.16542631e+02] [ 9.95397892e-01 6.97083592e-02 -6.57554609e-02 1.63496053e+02] [ 6.59311804e-02 -2.20508366e-04 9.97824148e-01 3.15918424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6671056809999 meters Centerline goodness : 0.996253 Centerline is valid? [True, True] Translation: X:216.55, Y:163.52, Z:31.60 [[ 6.07555195e-02 -9.98141178e-01 -4.79117066e-03 2.16551868e+02] [ 9.95973093e-01 6.09391918e-02 -6.57572298e-02 1.63522543e+02] [ 6.59269689e-02 -7.76762403e-04 9.97824149e-01 3.15996929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6971056809999 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:216.56, Y:163.55, Z:31.61 [[ 5.98746733e-02 -9.98194521e-01 -4.76676390e-03 2.16557102e+02] [ 9.96026462e-01 6.00586512e-02 -6.57589990e-02 1.63547825e+02] [ 6.59265579e-02 -8.10524397e-04 9.97824149e-01 3.16050130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.7271056809999 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:216.57, Y:163.58, Z:31.61 [[ 5.05230751e-02 -9.98714292e-01 -4.14515101e-03 2.16566204e+02] [ 9.96544402e-01 5.06864223e-02 -6.58038072e-02 1.63577998e+02] [ 6.59293055e-02 -8.06216349e-04 9.97823971e-01 3.16082885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.7571056809999 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:216.57, Y:163.60, Z:31.61 [[ 4.68655352e-02 -9.98889914e-01 -4.74988258e-03 2.16572867e+02] [ 9.96724332e-01 4.70766313e-02 -6.57601393e-02 1.63604405e+02] [ 6.59107484e-02 -1.65243942e-03 9.97824154e-01 3.16093727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.7871056809999 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:216.58, Y:163.63, Z:31.61 [[ 4.04117001e-02 -9.99171944e-01 -4.72456724e-03 2.16583229e+02] [ 9.97007599e-01 4.06351171e-02 -6.57619581e-02 1.63633350e+02] [ 6.58994868e-02 -2.05287691e-03 9.97824155e-01 3.16094432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81710568099993 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:216.59, Y:163.66, Z:31.62 [[ 3.68911183e-02 -9.99306455e-01 -5.06508096e-03 2.16586527e+02] [ 9.97145359e-01 3.71445346e-02 -6.57374882e-02 1.63659748e+02] [ 6.58800363e-02 -2.62549251e-03 9.97824097e-01 3.16193033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.8471056809999 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:216.59, Y:163.69, Z:31.62 [[ 3.07409414e-02 -9.99516359e-01 -4.69494465e-03 2.16591943e+02] [ 9.97354069e-01 3.09833458e-02 -6.57639171e-02 1.63689224e+02] [ 6.58775761e-02 -2.66087743e-03 9.97824165e-01 3.16241175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87710568099993 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:216.60, Y:163.72, Z:31.62 [[ 3.32407414e-02 -9.99434737e-01 -5.02580096e-03 2.16599265e+02] [ 9.97274282e-01 3.34994704e-02 -6.57403414e-02 1.63715003e+02] [ 6.58715425e-02 -2.82684436e-03 9.97824107e-01 3.16226149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.9071056809999 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:216.60, Y:163.74, Z:31.63 [[ 2.99151106e-02 -9.99541580e-01 -4.66007749e-03 2.16603292e+02] [ 9.97379246e-01 3.01570107e-02 -6.57662146e-02 1.63742214e+02] [ 6.58766000e-02 -2.68046099e-03 9.97824177e-01 3.16290449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93710568099993 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:216.60, Y:163.77, Z:31.62 [[ 2.86303520e-02 -9.99579014e-01 -4.70074334e-03 2.16604832e+02] [ 9.97417295e-01 2.88777020e-02 -6.57633467e-02 1.63770466e+02] [ 6.58714080e-02 -2.80577493e-03 9.97824176e-01 3.16248493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.9671056809999 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:216.61, Y:163.80, Z:31.63 [[ 2.17790426e-02 -9.99751231e-01 -4.81142909e-03 2.16606202e+02] [ 9.97592134e-01 2.20484650e-02 -6.57555984e-02 1.63801340e+02] [ 6.58453251e-02 -3.36774983e-03 9.97824159e-01 3.16295453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99710568099994 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:216.61, Y:163.83, Z:31.63 [[ 2.08460927e-02 -9.99767691e-01 -5.47763637e-03 2.16607611e+02] [ 9.97614441e-01 2.11612073e-02 -6.57086768e-02 1.63830805e+02] [ 6.58093255e-02 -4.09479998e-03 9.97823815e-01 3.16330869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0271056809999 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:216.61, Y:163.86, Z:31.64 [[ 2.09604959e-02 -9.99764210e-01 -5.67292718e-03 2.16606736e+02] [ 9.97612642e-01 2.12881581e-02 -6.56949843e-02 1.63859166e+02] [ 6.58002602e-02 -4.28238442e-03 9.97823625e-01 3.16376781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05710568099994 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:216.61, Y:163.88, Z:31.63 [[ 2.40789055e-02 -9.99692752e-01 -5.88284504e-03 2.16605853e+02] [ 9.97541998e-01 2.44136092e-02 -6.56805759e-02 1.63882546e+02] [ 6.58040172e-02 -4.28686862e-03 9.97823358e-01 3.16254348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0871056809999 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:216.60, Y:163.91, Z:31.64 [[ 2.13335884e-02 -9.99760665e-01 -4.84682045e-03 2.16604956e+02] [ 9.97602134e-01 2.16062861e-02 -6.57506750e-02 1.63913026e+02] [ 6.58396603e-02 -3.43250059e-03 9.97824312e-01 3.16370906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11710568099994 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:216.60, Y:163.94, Z:31.64 [[ 1.76400871e-02 -9.99828466e-01 -5.64500408e-03 2.16601586e+02] [ 9.97677775e-01 1.79730627e-02 -6.56964735e-02 1.63938165e+02] [ 6.57866623e-02 -4.47300359e-03 9.97823686e-01 3.16376970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1471056809999 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:216.60, Y:163.96, Z:31.63 [[ 1.56619713e-02 -9.99864808e-01 -5.00680005e-03 2.16599326e+02] [ 9.97709225e-01 1.59573945e-02 -6.57393696e-02 1.63960159e+02] [ 6.58103777e-02 -3.96572248e-03 9.97824267e-01 3.16324549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17710568099994 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:216.60, Y:163.99, Z:31.64 [[ 5.47291011e-03 -9.99977655e-01 -3.83891766e-03 2.16595450e+02] [ 9.97815390e-01 5.71374540e-03 -6.58164124e-02 1.63991916e+02] [ 6.58368763e-02 -3.47032381e-03 9.97824365e-01 3.16396727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2071056809999 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:216.60, Y:164.02, Z:31.64 [[ 4.49488322e-03 -9.99978311e-01 -4.81381949e-03 2.16596511e+02] [ 9.97824422e-01 4.80172816e-03 -6.57523124e-02 1.64020081e+02] [ 6.57740009e-02 -4.50779769e-03 9.97824364e-01 3.16362377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23710568099995 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:216.59, Y:164.05, Z:31.64 [[-2.30920339e-03 -9.99986346e-01 -4.68783886e-03 2.16590683e+02] [ 9.97833439e-01 -1.99595294e-03 -6.57605081e-02 1.64047791e+02] [ 6.57502535e-02 -4.82953676e-03 9.97824423e-01 3.16435045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2671056809999 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:216.59, Y:164.08, Z:31.64 [[-1.14983214e-03 -9.99988585e-01 -4.63775327e-03 2.16590214e+02] [ 9.97834867e-01 -8.42356238e-04 -6.57637350e-02 1.64078072e+02] [ 6.57590776e-02 -4.70332917e-03 9.97824445e-01 3.16377258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29710568099995 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:216.58, Y:164.10, Z:31.64 [[-6.19788145e-03 -9.99967841e-01 -5.08948931e-03 2.16584048e+02] [ 9.97819964e-01 -5.85000009e-03 -6.57350587e-02 1.64102922e+02] [ 6.57031712e-02 -5.48581214e-03 9.97824132e-01 3.16441102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3271056809999 meters Centerline goodness : 0.996994 Centerline is valid? [True, True] Translation: X:216.58, Y:164.13, Z:31.64 [[-4.76511399e-03 -9.99978749e-01 -4.44926787e-03 2.16581962e+02] [ 9.97824483e-01 -4.46219033e-03 -6.57752944e-02 1.64132735e+02] [ 6.57540431e-02 -4.75301519e-03 9.97824541e-01 3.16370152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3571056809999 meters Centerline goodness : 0.996994 Centerline is valid? [True, True] Translation: X:216.58, Y:164.16, Z:31.64 [[-5.32229982e-03 -9.99974476e-01 -4.76664040e-03 2.16583401e+02] [ 9.97823248e-01 -4.99740900e-03 -6.57555455e-02 1.64160008e+02] [ 6.57300463e-02 -5.10623533e-03 9.97824377e-01 3.16387415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3871056809999 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:216.58, Y:164.19, Z:31.64 [[-6.92496695e-03 -9.99964783e-01 -4.74115814e-03 2.16580384e+02] [ 9.97813842e-01 -6.59829534e-03 -6.57571202e-02 1.64187496e+02] [ 6.57235208e-02 -5.18615910e-03 9.97824395e-01 3.16411457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4171056809999 meters Centerline goodness : 0.996795 Centerline is valid? [True, True] Translation: X:216.57, Y:164.21, Z:31.65 [[-1.10271967e-02 -9.99928403e-01 -4.64642723e-03 2.16568679e+02] [ 9.97777926e-01 -1.06978966e-02 -6.57629442e-02 1.64211902e+02] [ 6.57085288e-02 -5.36128344e-03 9.97824456e-01 3.16470526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4471056809999 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:216.57, Y:164.24, Z:31.65 [[-9.24094519e-03 -9.99949277e-01 -4.00603746e-03 2.16568714e+02] [ 9.97792498e-01 -8.95739507e-03 -6.58019448e-02 1.64241853e+02] [ 6.57627235e-02 -4.60526629e-03 9.97824662e-01 3.16456650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4771056809999 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:216.56, Y:164.27, Z:31.65 [[-9.18378581e-03 -9.99948432e-01 -4.33495939e-03 2.16560958e+02] [ 9.97794518e-01 -8.87882688e-03 -6.57819593e-02 1.64268487e+02] [ 6.57400777e-02 -4.92952613e-03 9.97824605e-01 3.16456255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.5071056809999 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:216.56, Y:164.30, Z:31.65 [[-4.52040819e-03 -9.99981907e-01 -3.96878105e-03 2.16561660e+02] [ 9.97823516e-01 -4.24948461e-03 -6.58040487e-02 1.64297867e+02] [ 6.57859929e-02 -4.25760422e-03 9.97824672e-01 3.16520425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.5371056809999 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:216.55, Y:164.32, Z:31.65 [[-4.06938496e-03 -9.99982266e-01 -4.34830521e-03 2.16548040e+02] [ 9.97826930e-01 -3.77457198e-03 -6.57812281e-02 1.64323917e+02] [ 6.57636485e-02 -4.60654518e-03 9.97824595e-01 3.16527530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.56710568099993 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:216.54, Y:164.35, Z:31.66 [[ 1.45322330e-03 -9.99991271e-01 -3.91752146e-03 2.16539828e+02] [ 9.97830916e-01 1.70788592e-03 -6.58068790e-02 1.64351054e+02] [ 6.58129952e-02 -3.81339194e-03 9.97824688e-01 3.16564053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.5971056809999 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:216.54, Y:164.38, Z:31.65 [[ 4.74475667e-03 -9.99981867e-01 -3.70862305e-03 2.16537125e+02] [ 9.97819142e-01 4.97859807e-03 -6.58192415e-02 1.64380538e+02] [ 6.58365117e-02 -3.38823878e-03 9.97824671e-01 3.16517507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.62710568099993 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:216.53, Y:164.41, Z:31.65 [[ 1.48965378e-02 -9.99881702e-01 -3.83088224e-03 2.16533091e+02] [ 9.97717530e-01 1.51164434e-02 -6.58120397e-02 1.64408798e+02] [ 6.58621636e-02 -2.84176682e-03 9.97824684e-01 3.16536689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.6571056809999 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:216.53, Y:164.43, Z:31.66 [[ 2.15204560e-02 -9.99760511e-01 -3.97373230e-03 2.16530622e+02] [ 9.97595837e-01 2.17354087e-02 -6.58036374e-02 1.64434064e+02] [ 6.58742488e-02 -2.54805452e-03 9.97824679e-01 3.16580127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68710568099993 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:216.52, Y:164.46, Z:31.66 [[ 3.11274120e-02 -9.99508943e-01 -3.59971868e-03 2.16523111e+02] [ 9.97340204e-01 3.12969419e-02 -6.58256746e-02 1.64463736e+02] [ 6.59060106e-02 -1.54116126e-03 9.97824645e-01 3.16589564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7171056809999 meters Centerline goodness : 0.992921 Centerline is valid? [True, True] Translation: X:216.52, Y:164.49, Z:31.67 [[ 4.05737606e-02 -9.99169677e-01 -3.70500733e-03 2.16516716e+02] [ 9.96999942e-01 4.07297175e-02 -6.58194987e-02 1.64488802e+02] [ 6.59157512e-02 -1.02334750e-03 9.97824667e-01 3.16670507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74710568099994 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:216.52, Y:164.52, Z:31.67 [[ 4.44497755e-02 -9.99007054e-01 -3.02056898e-03 2.16516521e+02] [ 9.96833935e-01 4.45522096e-02 -6.58574719e-02 1.64516145e+02] [ 6.59266520e-02 -8.36558226e-05 9.97824468e-01 3.16694469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7771056809999 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:216.52, Y:164.55, Z:31.67 [[ 4.45045779e-02 -9.99004001e-01 -3.21699520e-03 2.16516113e+02] [ 9.96831628e-01 4.46198403e-02 -6.58465995e-02 1.64545129e+02] [ 6.59245582e-02 -2.76327451e-04 9.97824572e-01 3.16666521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80710568099994 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:216.52, Y:164.57, Z:31.67 [[ 4.89346629e-02 -9.98795420e-01 -3.62040329e-03 2.16516938e+02] [ 9.96624101e-01 4.90668800e-02 -6.58243318e-02 1.64569893e+02] [ 6.59226830e-02 -3.87089687e-04 9.97824659e-01 3.16715243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8371056809999 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:216.52, Y:164.60, Z:31.67 [[ 4.88124769e-02 -9.98802801e-01 -3.21047244e-03 2.16516403e+02] [ 9.96629940e-01 4.89179397e-02 -6.58467770e-02 1.64598626e+02] [ 6.59249949e-02 1.44913201e-05 9.97824581e-01 3.16721407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86710568099994 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:216.52, Y:164.63, Z:31.67 [[ 5.02583779e-02 -9.98729779e-01 -3.59499054e-03 2.16518940e+02] [ 9.96558184e-01 5.03860423e-02 -6.58257819e-02 1.64625228e+02] [ 6.59233059e-02 -2.74320223e-04 9.97824655e-01 3.16730078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8971056809999 meters Centerline goodness : 0.993686 Centerline is valid? [True, True] Translation: X:216.52, Y:164.65, Z:31.68 [[ 5.04016270e-02 -9.98724002e-01 -3.16917907e-03 2.16522774e+02] [ 9.96550837e-01 5.05009098e-02 -6.58489718e-02 1.64653607e+02] [ 6.59249951e-02 1.60647261e-04 9.97824568e-01 3.16751270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92710568099994 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:216.52, Y:164.68, Z:31.67 [[ 4.58858762e-02 -9.98941178e-01 -3.31790235e-03 2.16523028e+02] [ 9.96769051e-01 4.60047856e-02 -6.58408559e-02 1.64683098e+02] [ 6.59237815e-02 -2.86017018e-04 9.97824621e-01 3.16699422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9571056809999 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:216.53, Y:164.71, Z:31.68 [[ 4.52970383e-02 -9.98967074e-01 -3.60060661e-03 2.16526729e+02] [ 9.96796161e-01 4.54358575e-02 -6.58254977e-02 1.64711237e+02] [ 6.59211015e-02 -6.07370760e-04 9.97824654e-01 3.16827039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98710568099995 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:216.53, Y:164.74, Z:31.68 [[ 3.96153633e-02 -9.99208553e-01 -3.59048598e-03 2.16529922e+02] [ 9.97038419e-01 3.97658593e-02 -6.58260441e-02 1.64741391e+02] [ 6.59167250e-02 -9.72129814e-04 9.97824654e-01 3.16847751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0171056809999 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:216.53, Y:164.77, Z:31.68 [[ 3.53542279e-02 -9.99364735e-01 -4.49504897e-03 2.16531247e+02] [ 9.97200232e-01 3.55735004e-02 -6.57740275e-02 1.64768517e+02] [ 6.58921482e-02 -2.15707392e-03 9.97824419e-01 3.16805271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04710568099995 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:216.54, Y:164.79, Z:31.68 [[ 2.60985933e-02 -9.99650482e-01 -4.21627082e-03 2.16536964e+02] [ 9.97486360e-01 2.63195758e-02 -6.57893738e-02 1.64793525e+02] [ 6.58773497e-02 -2.48866252e-03 9.97824625e-01 3.16821268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0771056809999 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:216.54, Y:164.82, Z:31.68 [[ 1.90375179e-02 -9.99812683e-01 -3.48883620e-03 2.16541662e+02] [ 9.97645687e-01 1.92259653e-02 -6.58289189e-02 1.64821947e+02] [ 6.58836643e-02 -2.22740316e-03 9.97824825e-01 3.16792063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1071056809999 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:216.55, Y:164.85, Z:31.68 [[ 5.05482578e-03 -9.99981193e-01 -3.47310880e-03 2.16547181e+02] [ 9.97816938e-01 5.27252391e-03 -6.58297742e-02 1.64848805e+02] [ 6.58468482e-02 -3.13276875e-03 9.97824824e-01 3.16790063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1371056809999 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:216.55, Y:164.88, Z:31.68 [[-1.71409628e-04 -9.99995140e-01 -3.11310763e-03 2.16549734e+02] [ 9.97829584e-01 3.39583094e-05 -6.58492292e-02 1.64876670e+02] [ 6.58490148e-02 -3.11763808e-03 9.97824728e-01 3.16803320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1671056809999 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:216.55, Y:164.90, Z:31.68 [[-8.17442249e-03 -9.99961906e-01 -3.06032948e-03 2.16551231e+02] [ 9.97797685e-01 -7.95519385e-03 -6.58520678e-02 1.64901462e+02] [ 6.58252137e-02 -3.59189230e-03 9.97824704e-01 3.16833748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1971056809999 meters Centerline goodness : 0.994763 Centerline is valid? [True, True] Translation: X:216.55, Y:164.93, Z:31.69 [[-8.50104670e-03 -9.99960840e-01 -2.45964520e-03 2.16553752e+02] [ 9.97792636e-01 -8.32055778e-03 -6.58834179e-02 1.64930886e+02] [ 6.58603723e-02 -3.01429388e-03 9.97824296e-01 3.16867841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.2271056809999 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:216.56, Y:164.96, Z:31.69 [[-8.69631785e-03 -9.99958233e-01 -2.81188797e-03 2.16556248e+02] [ 9.97792403e-01 -8.49226948e-03 -6.58650322e-02 1.64958072e+02] [ 6.58384019e-02 -3.37846371e-03 9.97824579e-01 3.16872325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.2571056809999 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:216.56, Y:164.99, Z:31.70 [[-7.32049342e-03 -9.99969342e-01 -2.77941258e-03 2.16557573e+02] [ 9.97803019e-01 -7.12155809e-03 -6.58666756e-02 1.64986109e+02] [ 6.58448625e-02 -3.25548283e-03 9.97824562e-01 3.16980866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.2871056809999 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:216.56, Y:165.01, Z:31.70 [[-6.24688333e-03 -9.99975518e-01 -3.15287756e-03 2.16556976e+02] [ 9.97811483e-01 -6.02574935e-03 -6.58478119e-02 1.65011697e+02] [ 6.58272014e-02 -3.55732103e-03 9.97824697e-01 3.17038375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31710568099993 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:216.55, Y:165.04, Z:31.70 [[-4.46832737e-03 -9.99985241e-01 -3.09072063e-03 2.16552587e+02] [ 9.97820398e-01 -4.25512409e-03 -6.58509544e-02 1.65040087e+02] [ 6.58368311e-02 -3.37822771e-03 9.97824684e-01 3.17048610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.3471056809999 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:216.55, Y:165.07, Z:31.70 [[-4.84044744e-03 -9.99983625e-01 -3.05272782e-03 2.16550446e+02] [ 9.97818606e-01 -4.62893340e-03 -6.58528789e-02 1.65068729e+02] [ 6.58376697e-02 -3.36482602e-03 9.97824674e-01 3.17031147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37710568099993 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:216.55, Y:165.10, Z:31.71 [[-5.54729956e-03 -9.99980227e-01 -2.96204698e-03 2.16549625e+02] [ 9.97814753e-01 -5.34021011e-03 -6.58574338e-02 1.65096249e+02] [ 6.58403136e-02 -3.32090509e-03 9.97824646e-01 3.17075571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.4071056809999 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:216.55, Y:165.12, Z:31.71 [[-7.90033125e-03 -9.99963405e-01 -3.28241580e-03 2.16545491e+02] [ 9.97800646e-01 -7.66711741e-03 -6.58413792e-02 1.65122260e+02] [ 6.58138031e-02 -3.79536531e-03 9.97824703e-01 3.17103444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43710568099993 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:216.54, Y:165.15, Z:31.71 [[-9.16590407e-03 -9.99952768e-01 -3.23222738e-03 2.16543032e+02] [ 9.97789949e-01 -8.93324651e-03 -6.58438733e-02 1.65150047e+02] [ 6.58118891e-02 -3.82860261e-03 9.97824703e-01 3.17140682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.4671056809999 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:216.54, Y:165.18, Z:31.72 [[-7.75076925e-03 -9.99964728e-01 -3.23550334e-03 2.16537227e+02] [ 9.97801604e-01 -7.52095771e-03 -6.58437119e-02 1.65177241e+02] [ 6.58170553e-02 -3.73872984e-03 9.97824703e-01 3.17152237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49710568099994 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:216.53, Y:165.20, Z:31.72 [[-6.63285861e-03 -9.99973484e-01 -3.00608327e-03 2.16530494e+02] [ 9.97808552e-01 -6.42052790e-03 -6.58549236e-02 1.65204366e+02] [ 6.58338767e-02 -3.43630199e-03 9.97824680e-01 3.17210889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5271056809999 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:216.53, Y:165.23, Z:31.72 [[-3.64719687e-03 -9.99988099e-01 -3.24032387e-03 2.16528508e+02] [ 9.97824079e-01 -3.42594725e-03 -6.58435345e-02 1.65231417e+02] [ 6.58316498e-02 -3.47341751e-03 9.97824699e-01 3.17223285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55710568099994 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:216.52, Y:165.26, Z:31.73 [[ 2.58216036e-03 -9.99991984e-01 -3.06021230e-03 2.16519508e+02] [ 9.97825518e-01 2.77808963e-03 -6.58522484e-02 1.65257569e+02] [ 6.58602221e-02 -2.88351685e-03 9.97824692e-01 3.17258946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5871056809999 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:216.52, Y:165.29, Z:31.73 [[ 7.18693383e-03 -9.99970631e-01 -2.66187606e-03 2.16517198e+02] [ 9.97801094e-01 7.34668695e-03 -6.58711151e-02 1.65287011e+02] [ 6.58887365e-02 -2.18261150e-03 9.97824589e-01 3.17290835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61710568099994 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:216.51, Y:165.31, Z:31.73 [[ 1.73889968e-02 -9.99843894e-01 -3.13224498e-03 2.16511117e+02] [ 9.97675130e-01 1.75575651e-02 -6.58488228e-02 1.65312925e+02] [ 6.58935380e-02 -1.97991795e-03 9.97824695e-01 3.17303138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6471056809999 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:216.51, Y:165.34, Z:31.73 [[ 2.16156313e-02 -9.99762400e-01 -2.81220506e-03 2.16508895e+02] [ 9.97591461e-01 2.17539605e-02 -6.58638094e-02 1.65340738e+02] [ 6.59093367e-02 -1.38174393e-03 9.97824659e-01 3.17337345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67710568099994 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:216.51, Y:165.37, Z:31.73 [[ 3.41597121e-02 -9.99411891e-01 -2.99765850e-03 2.16505765e+02] [ 9.97240078e-01 3.42830074e-02 -6.58551640e-02 1.65367151e+02] [ 6.59192027e-02 -7.39791756e-04 9.97824690e-01 3.17334763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7071056809999 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:216.50, Y:165.40, Z:31.74 [[ 4.19762939e-02 -9.99115931e-01 -2.31236106e-03 2.16503592e+02] [ 9.96941141e-01 4.20374150e-02 -6.58879128e-02 1.65395994e+02] [ 6.59268690e-02 4.60442515e-04 9.97824351e-01 3.17371490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73710568099995 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:216.50, Y:165.42, Z:31.74 [[ 4.40560734e-02 -9.99026173e-01 -2.40170522e-03 2.16502382e+02] [ 9.96851488e-01 4.41185594e-02 -6.58837179e-02 1.65421782e+02] [ 6.59255183e-02 5.08434488e-04 9.97824417e-01 3.17405302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7671056809999 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:216.50, Y:165.45, Z:31.74 [[ 4.62438319e-02 -9.98927671e-01 -2.23957342e-03 2.16503104e+02] [ 9.96752471e-01 4.62908613e-02 -6.58913302e-02 1.65450932e+02] [ 6.59243448e-02 8.14767263e-04 9.97824292e-01 3.17437737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79710568099995 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:216.51, Y:165.48, Z:31.74 [[ 4.29400016e-02 -9.99075224e-01 -2.20283013e-03 2.16505191e+02] [ 9.96900099e-01 4.29918009e-02 -6.58930770e-02 1.65481205e+02] [ 6.59268443e-02 6.33447255e-04 9.97824258e-01 3.17402592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8271056809999 meters Centerline goodness : 0.996013 Centerline is valid? [True, True] Translation: X:216.51, Y:165.51, Z:31.75 [[ 4.01956386e-02 -9.99188049e-01 -2.74829957e-03 2.16511586e+02] [ 9.97014668e-01 4.02893777e-02 -6.58674271e-02 1.65506573e+02] [ 6.59246732e-02 -9.25116914e-05 9.97824598e-01 3.17466133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8571056809999 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:216.51, Y:165.53, Z:31.75 [[ 3.75754862e-02 -9.99290739e-01 -2.47015097e-03 2.16513971e+02] [ 9.97116709e-01 3.76565885e-02 -6.58805810e-02 1.65534069e+02] [ 6.59268719e-02 1.24660537e-05 9.97824457e-01 3.17501737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8871056809999 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:216.52, Y:165.56, Z:31.75 [[ 3.26340962e-02 -9.99464469e-01 -2.40650384e-03 2.16515371e+02] [ 9.97290648e-01 3.27217517e-02 -6.58836132e-02 1.65563809e+02] [ 6.59270755e-02 -2.49931601e-04 9.97824413e-01 3.17521894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9171056809999 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:216.52, Y:165.59, Z:31.75 [[ 3.43462979e-02 -9.99406853e-01 -2.50487296e-03 2.16519644e+02] [ 9.97233214e-01 3.44367134e-02 -6.58789030e-02 1.65589170e+02] [ 6.59260867e-02 -2.35246084e-04 9.97824481e-01 3.17542765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9471056809999 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:216.53, Y:165.62, Z:31.76 [[ 3.65187266e-02 -9.99330139e-01 -2.37839370e-03 2.16525125e+02] [ 9.97155915e-01 3.65960786e-02 -6.58848120e-02 1.65619806e+02] [ 6.59277182e-02 3.44000900e-05 9.97824401e-01 3.17552393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9771056809999 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:216.53, Y:165.64, Z:31.76 [[ 4.92592538e-02 -9.98781269e-01 -3.08270835e-03 2.16530613e+02] [ 9.96608040e-01 4.93553214e-02 -6.58518575e-02 1.65643041e+02] [ 6.59237499e-02 1.71561439e-04 9.97824649e-01 3.17575812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.0071056809999 meters Centerline goodness : 0.995997 Centerline is valid? [True, True] Translation: X:216.53, Y:165.67, Z:31.76 [[ 5.43136964e-02 -9.98521412e-01 -2.23870097e-03 2.16531908e+02] [ 9.96345940e-01 5.43430917e-02 -6.58907950e-02 1.65671163e+02] [ 6.59150276e-02 1.34825201e-03 9.97824329e-01 3.17561701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.0371056809999 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:216.54, Y:165.70, Z:31.76 [[ 6.73238779e-02 -9.97728493e-01 -2.31286428e-03 2.16539097e+02] [ 9.95552893e-01 6.73298099e-02 -6.58872791e-02 1.65700226e+02] [ 6.58933404e-02 2.13320841e-03 9.97824392e-01 3.17558636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.06710568099993 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:216.55, Y:165.72, Z:31.76 [[ 7.46747416e-02 -9.97204950e-01 -2.44363423e-03 2.16545911e+02] [ 9.95029437e-01 7.46732710e-02 -6.58811208e-02 1.65724748e+02] [ 6.58794539e-02 2.48816768e-03 9.97824487e-01 3.17567331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.0971056809999 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:216.56, Y:165.76, Z:31.75 [[ 8.00558686e-02 -9.96788589e-01 -1.88840017e-03 2.16558567e+02] [ 9.94613119e-01 8.00060088e-02 -6.59073691e-02 1.65755971e+02] [ 6.58467968e-02 3.39804409e-03 9.97823959e-01 3.17528514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.12710568099993 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:216.57, Y:165.78, Z:31.75 [[ 8.02803091e-02 -9.96768873e-01 -2.62411235e-03 2.16570854e+02] [ 9.94593519e-01 8.02785202e-02 -6.58717784e-02 1.65784897e+02] [ 6.58695982e-02 2.67828160e-03 9.97824645e-01 3.17538324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.1571056809999 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:216.58, Y:165.81, Z:31.76 [[ 8.02322373e-02 -9.96772552e-01 -2.69576436e-03 2.16579607e+02] [ 9.94597240e-01 8.02352823e-02 -6.58682818e-02 1.65814259e+02] [ 6.58719908e-02 2.60355982e-03 9.97824685e-01 3.17570118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18710568099993 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:216.59, Y:165.84, Z:31.75 [[ 8.04920898e-02 -9.96750055e-01 -3.21743982e-03 2.16588337e+02] [ 9.94575189e-01 8.05289955e-02 -6.58427989e-02 1.65839611e+02] [ 6.58879106e-02 2.09983867e-03 9.97824821e-01 3.17516958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2171056809999 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:216.61, Y:165.87, Z:31.75 [[ 7.67459210e-02 -9.97046860e-01 -2.76100733e-03 2.16607147e+02] [ 9.94871615e-01 7.67608786e-02 -6.58652983e-02 1.65869155e+02] [ 6.58827262e-02 2.30804516e-03 9.97824704e-01 3.17523042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24710568099994 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:216.62, Y:165.90, Z:31.75 [[ 7.19543127e-02 -9.97402959e-01 -3.14863184e-03 2.16622298e+02] [ 9.95228372e-01 7.20052996e-02 -6.58462229e-02 1.65895993e+02] [ 6.59019358e-02 1.60431197e-03 9.97824815e-01 3.17539558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2771056809999 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:216.62, Y:165.92, Z:31.76 [[ 7.16079664e-02 -9.97427640e-01 -3.22520665e-03 2.16623466e+02] [ 9.95253199e-01 7.16647608e-02 -6.58424722e-02 1.65924293e+02] [ 6.59042353e-02 1.50494830e-03 9.97824818e-01 3.17558049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30710568099994 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:216.63, Y:165.95, Z:31.76 [[ 7.04349275e-02 -9.97511236e-01 -3.20229341e-03 2.16630589e+02] [ 9.95336823e-01 7.04927674e-02 -6.58435866e-02 1.65952185e+02] [ 6.59054560e-02 1.45032770e-03 9.97824818e-01 3.17575004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3371056809999 meters Centerline goodness : 0.996248 Centerline is valid? [True, True] Translation: X:216.64, Y:165.98, Z:31.76 [[ 6.93784195e-02 -9.97585355e-01 -3.17717260e-03 2.16644615e+02] [ 9.95410960e-01 6.94369049e-02 -6.58447988e-02 1.65978160e+02] [ 6.59064200e-02 1.40561565e-03 9.97824818e-01 3.17586268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36710568099994 meters Centerline goodness : 0.996240 Centerline is valid? [True, True] Translation: X:216.65, Y:166.00, Z:31.76 [[ 7.06939920e-02 -9.97493048e-01 -3.15881724e-03 2.16652493e+02] [ 9.95318547e-01 7.07483988e-02 -6.58456794e-02 1.66000367e+02] [ 6.59040887e-02 1.51086454e-03 9.97824819e-01 3.17637567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3971056809999 meters Centerline goodness : 0.996903 Centerline is valid? [True, True] Translation: X:216.66, Y:166.03, Z:31.77 [[ 6.43017934e-02 -9.97927893e-01 -2.28013750e-03 2.16661873e+02] [ 9.95752384e-01 6.43121578e-02 -6.58872964e-02 1.66030947e+02] [ 6.58974114e-02 1.96621896e-03 9.97824466e-01 3.17675190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42710568099994 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:216.67, Y:166.06, Z:31.77 [[ 5.75480705e-02 -9.98337830e-01 -3.13002561e-03 2.16671119e+02] [ 9.96164171e-01 5.76292181e-02 -6.58469209e-02 1.66058026e+02] [ 6.59178531e-02 6.71343879e-04 9.97824827e-01 3.17710570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4571056809999 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:216.68, Y:166.08, Z:31.77 [[ 5.35761695e-02 -9.98558937e-01 -3.10552664e-03 2.16677727e+02] [ 9.96385552e-01 5.36643479e-02 -6.58480764e-02 1.66084796e+02] [ 6.59198412e-02 4.33585819e-04 9.97824828e-01 3.17724770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48710568099995 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:216.69, Y:166.11, Z:31.78 [[ 4.49873976e-02 -9.98982807e-01 -3.07983130e-03 2.16690547e+02] [ 9.96810179e-01 4.50925683e-02 -6.58492782e-02 1.66112085e+02] [ 6.59211743e-02 -1.07619528e-04 9.97824828e-01 3.17765599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5171056809999 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:216.70, Y:166.14, Z:31.78 [[ 4.29614388e-02 -9.99072060e-01 -3.05524429e-03 2.16696407e+02] [ 9.96899568e-01 4.30693947e-02 -6.58504190e-02 1.66139942e+02] [ 6.59209012e-02 -2.16742971e-04 9.97824828e-01 3.17801986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54710568099995 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:216.70, Y:166.17, Z:31.78 [[ 4.34379257e-02 -9.99051532e-01 -3.03039158e-03 2.16704438e+02] [ 9.96878910e-01 4.35432073e-02 -6.58515627e-02 1.66167350e+02] [ 6.59210575e-02 -1.60478176e-04 9.97824829e-01 3.17823149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5771056809999 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:216.71, Y:166.19, Z:31.78 [[ 4.53382266e-02 -9.98967173e-01 -3.00551826e-03 2.16709095e+02] [ 9.96794279e-01 4.54377357e-02 -6.58526979e-02 1.66194575e+02] [ 6.59212474e-02 -1.02388656e-05 9.97824829e-01 3.17849948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6071056809999 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:216.72, Y:166.22, Z:31.79 [[ 5.05093219e-02 -9.98719143e-01 -2.98030196e-03 2.16715080e+02] [ 9.96545696e-01 5.05959179e-02 -6.58538391e-02 1.66215572e+02] [ 6.59202809e-02 3.56225672e-04 9.97824829e-01 3.17876596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6371056809999 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:216.72, Y:166.25, Z:31.79 [[ 5.70283679e-02 -9.98370990e-01 -1.76955643e-03 2.16721959e+02] [ 9.96195210e-01 5.70209005e-02 -6.59069103e-02 1.66246551e+02] [ 6.59004490e-02 1.99573989e-03 9.97824207e-01 3.17923213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6671056809999 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:216.73, Y:166.28, Z:31.79 [[ 6.48619324e-02 -9.97890950e-01 -2.56535366e-03 2.16728584e+02] [ 9.95715924e-01 6.48898996e-02 -6.58718375e-02 1.66275767e+02] [ 6.58993760e-02 1.71821118e-03 9.97824794e-01 3.17942792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6971056809999 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:216.73, Y:166.30, Z:31.80 [[ 6.90574035e-02 -9.97608461e-01 -2.90417134e-03 2.16732381e+02] [ 9.95433702e-01 6.90985785e-02 -6.58569000e-02 1.66302762e+02] [ 6.59000748e-02 1.65699649e-03 9.97824852e-01 3.17966023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.7271056809999 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:216.74, Y:166.33, Z:31.80 [[ 7.48007068e-02 -9.97194326e-01 -2.88612760e-03 2.16737949e+02] [ 9.95019352e-01 7.48281679e-02 -6.58576908e-02 1.66330353e+02] [ 6.58888792e-02 2.05444900e-03 9.97824852e-01 3.17970143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.7571056809999 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:216.74, Y:166.36, Z:31.80 [[ 7.51515516e-02 -9.97168017e-01 -2.86192498e-03 2.16742122e+02] [ 9.94993014e-01 7.51766506e-02 -6.58587425e-02 1.66357678e+02] [ 6.58873816e-02 2.10179133e-03 9.97824852e-01 3.17982100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.7871056809999 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:216.75, Y:166.38, Z:31.80 [[ 7.35489355e-02 -9.97287573e-01 -2.83725472e-03 2.16751497e+02] [ 9.95112593e-01 7.35759022e-02 -6.58598054e-02 1.66384018e+02] [ 6.58899190e-02 2.02053068e-03 9.97824852e-01 3.17954730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81710568099993 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:216.76, Y:166.41, Z:31.80 [[ 7.27583100e-02 -9.97345639e-01 -2.81169327e-03 2.16756056e+02] [ 9.95170659e-01 7.27853144e-02 -6.58608966e-02 1.66408878e+02] [ 6.58907280e-02 1.99381289e-03 9.97824853e-01 3.17986414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.8471056809999 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:216.76, Y:166.44, Z:31.80 [[ 6.76152074e-02 -9.97708338e-01 -2.50101782e-03 2.16762546e+02] [ 9.95533224e-01 6.76329293e-02 -6.58740203e-02 1.66436317e+02] [ 6.58922105e-02 1.96423921e-03 9.97824813e-01 3.18013684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87710568099993 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:216.77, Y:166.47, Z:31.80 [[ 6.40967293e-02 -9.97940420e-01 -2.55483771e-03 2.16767137e+02] [ 9.95765440e-01 6.41256714e-02 -6.58717475e-02 1.66465283e+02] [ 6.58999101e-02 1.67814447e-03 9.97824827e-01 3.18015895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.9071056809999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:216.78, Y:166.49, Z:31.81 [[ 5.86656247e-02 -9.98273840e-01 -2.77205843e-03 2.16775930e+02] [ 9.96099389e-01 5.87207292e-02 -6.58626066e-02 1.66492172e+02] [ 6.59116945e-02 1.10262525e-03 9.97824851e-01 3.18063823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93710568099993 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:216.78, Y:166.52, Z:31.81 [[ 5.15108718e-02 -9.98668655e-01 -2.74735877e-03 2.16784154e+02] [ 9.96494602e-01 5.15799274e-02 -6.58636369e-02 1.66520151e+02] [ 6.59176582e-02 6.54965175e-04 9.97824851e-01 3.18053866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.9671056809999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:216.79, Y:166.55, Z:31.81 [[ 4.85619247e-02 -9.98816462e-01 -2.72307708e-03 2.16790087e+02] [ 9.96642568e-01 4.86357982e-02 -6.58646408e-02 1.66546425e+02] [ 6.59191265e-02 4.84579192e-04 9.97824851e-01 3.18090918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99710568099994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:216.80, Y:166.57, Z:31.81 [[ 4.14931241e-02 -9.99135490e-01 -2.56772717e-03 2.16800370e+02] [ 9.96961769e-01 4.15721367e-02 -6.58710065e-02 1.66573254e+02] [ 6.59208063e-02 1.73268033e-04 9.97824843e-01 3.18076769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0271056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:216.80, Y:166.60, Z:31.81 [[ 3.77647479e-02 -9.99283053e-01 -2.68399700e-03 2.16804821e+02] [ 9.97109969e-01 3.78595347e-02 -6.58662691e-02 1.66598750e+02] [ 6.59206613e-02 -1.88817125e-04 9.97824850e-01 3.18091421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.81, Y:166.63, Z:31.81 [[ 2.97969120e-02 -9.99552444e-01 -2.65623101e-03 2.16813174e+02] [ 9.97380092e-01 2.99071910e-02 -6.58673888e-02 1.66625402e+02] [ 6.59173499e-02 -6.86627141e-04 9.97824850e-01 3.18101169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0871056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.82, Y:166.65, Z:31.81 [[ 2.48454411e-02 -9.99687845e-01 -2.63003345e-03 2.16818005e+02] [ 9.97515970e-01 2.49647534e-02 -6.58684349e-02 1.66650873e+02] [ 6.59135318e-02 -9.86970044e-04 9.97824850e-01 3.18118673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.83, Y:166.68, Z:31.81 [[ 1.25173208e-02 -9.99918268e-01 -2.60265576e-03 2.16825037e+02] [ 9.97747909e-01 1.26616012e-02 -6.58695167e-02 1.66677298e+02] [ 6.58970868e-02 -1.77228447e-03 9.97824851e-01 3.18113138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.83, Y:166.70, Z:31.81 [[-1.08373536e-03 -9.99996092e-01 -2.57706094e-03 2.16831655e+02] [ 9.97827763e-01 -9.11632453e-04 -6.58705180e-02 1.66704960e+02] [ 6.58679113e-02 -2.64284916e-03 9.97824851e-01 3.18110109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17710568099994 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:216.83, Y:166.73, Z:31.81 [[-7.21231656e-03 -9.99970794e-01 -2.52867138e-03 2.16833895e+02] [ 9.97803290e-01 -7.03010887e-03 -6.58723961e-02 1.66731630e+02] [ 6.58526954e-02 -2.99820920e-03 9.97824851e-01 3.18101689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.83, Y:166.76, Z:31.82 [[-1.67169935e-02 -9.99857053e-01 -2.53277550e-03 2.16833921e+02] [ 9.97691405e-01 -1.65139217e-02 -6.58722383e-02 1.66758760e+02] [ 6.58209961e-02 -3.62811412e-03 9.97824851e-01 3.18153486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.83, Y:166.78, Z:31.82 [[-1.73138916e-02 -9.99846958e-01 -2.50786051e-03 2.16833618e+02] [ 9.97681277e-01 -1.71111634e-02 -6.58731869e-02 1.66782422e+02] [ 6.58201931e-02 -3.64256669e-03 9.97824851e-01 3.18201203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2671056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.83, Y:166.81, Z:31.83 [[-1.98851182e-02 -9.99800406e-01 -1.93144297e-03 2.16827895e+02] [ 9.97631744e-01 -1.97146864e-02 -6.58956340e-02 1.66811181e+02] [ 6.58444038e-02 -3.23721129e-03 9.97824651e-01 3.18280147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29710568099995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:216.82, Y:166.84, Z:31.83 [[-1.76815009e-02 -9.99841174e-01 -2.23408989e-03 2.16822377e+02] [ 9.97673898e-01 -1.74959603e-02 -6.58838734e-02 1.66838994e+02] [ 6.58343218e-02 -3.39381893e-03 9.97824796e-01 3.18329622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3271056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:216.82, Y:166.87, Z:31.83 [[-1.66326579e-02 -9.99859485e-01 -2.08948434e-03 2.16818266e+02] [ 9.97691177e-01 -1.64588938e-02 -6.58894485e-02 1.66868188e+02] [ 6.58457994e-02 -3.18057675e-03 9.97824741e-01 3.18290892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3571056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:216.81, Y:166.89, Z:31.83 [[-1.01968527e-02 -9.99944784e-01 -2.54024989e-03 2.16808871e+02] [ 9.97777892e-01 -1.00074152e-02 -6.58720721e-02 1.66894693e+02] [ 6.58430136e-02 -3.20629300e-03 9.97824843e-01 3.18338394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3871056809999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:216.80, Y:166.92, Z:31.84 [[-5.04479106e-03 -9.99985097e-01 -2.08704678e-03 2.16800204e+02] [ 9.97814926e-01 -4.89632673e-03 -6.58892998e-02 1.66921861e+02] [ 6.58780990e-02 -2.41488418e-03 9.97824756e-01 3.18350906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4171056809999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:216.80, Y:166.95, Z:31.84 [[-3.55271218e-03 -9.99991776e-01 -1.95602158e-03 2.16796785e+02] [ 9.97820769e-01 -3.41610765e-03 -6.58941801e-02 1.66949423e+02] [ 6.58869562e-02 -2.18586202e-03 9.97824700e-01 3.18379677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4471056809999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:216.79, Y:166.98, Z:31.83 [[-2.18212480e-03 -9.99995768e-01 -1.92413157e-03 2.16790314e+02] [ 9.97824432e-01 -2.05059478e-03 -6.58953554e-02 1.66976821e+02] [ 6.58911309e-02 -2.06373738e-03 9.97824684e-01 3.18335591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4771056809999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:216.78, Y:167.01, Z:31.82 [[-1.11014309e-02 -9.99936589e-01 -1.89085611e-03 2.16780720e+02] [ 9.97766344e-01 -1.09527276e-02 -6.58965966e-02 1.67008595e+02] [ 6.58717080e-02 -2.61817910e-03 9.97824666e-01 3.18202282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.5071056809999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:216.78, Y:167.03, Z:31.84 [[ 4.79531906e-03 -9.99985473e-01 -2.46163550e-03 2.16782986e+02] [ 9.97815601e-01 4.94707697e-03 -6.58752784e-02 1.67033447e+02] [ 6.58864993e-02 -2.14036533e-03 9.97824828e-01 3.18394388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.5371056809999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:216.78, Y:167.06, Z:31.84 [[ 7.99006374e-03 -9.99966580e-01 -1.73148519e-03 2.16777910e+02] [ 9.97793248e-01 8.08681240e-03 -6.59032394e-02 1.67060797e+02] [ 6.59150391e-02 -1.20109315e-03 9.97824516e-01 3.18420012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.56710568099993 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:216.77, Y:167.09, Z:31.85 [[ 2.13714966e-02 -9.99770180e-01 -1.68706067e-03 2.16770622e+02] [ 9.97595626e-01 2.14362235e-02 -6.59048898e-02 1.67088326e+02] [ 6.59259078e-02 -2.74518221e-04 9.97824483e-01 3.18467752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.5971056809999 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:216.77, Y:167.12, Z:31.85 [[ 2.64812210e-02 -9.99648009e-01 -1.61322727e-03 2.16768890e+02] [ 9.97472976e-01 2.65299647e-02 -6.59076889e-02 1.67115834e+02] [ 6.59272889e-02 1.36165465e-04 9.97824420e-01 3.18484554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.62710568099993 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:216.77, Y:167.15, Z:31.84 [[ 3.25058333e-02 -9.99470564e-01 -1.40068636e-03 2.16765538e+02] [ 9.97294882e-01 3.25274497e-02 -6.59157335e-02 1.67146353e+02] [ 6.59263961e-02 7.45748504e-04 9.97824210e-01 3.18424828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.6571056809999 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:216.76, Y:167.18, Z:31.84 [[ 4.16628856e-02 -9.99129940e-01 -1.88881264e-03 2.16762056e+02] [ 9.96954837e-01 4.16967614e-02 -6.58971416e-02 1.67175546e+02] [ 6.59185645e-02 8.62404178e-04 9.97824633e-01 3.18442937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68710568099993 meters Centerline goodness : 0.997278 Centerline is valid? [True, True] Translation: X:216.76, Y:167.20, Z:31.85 [[ 4.62517135e-02 -9.98927656e-01 -2.07756117e-03 2.16761092e+02] [ 9.96752696e-01 4.62880471e-02 -6.58899090e-02 1.67203538e+02] [ 6.59154186e-02 9.76706498e-04 9.97824736e-01 3.18455363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7171056809999 meters Centerline goodness : 0.997588 Centerline is valid? [True, True] Translation: X:216.76, Y:167.23, Z:31.84 [[ 5.48709691e-02 -9.98491313e-01 -2.06746968e-03 2.16761525e+02] [ 9.96316110e-01 5.48878653e-02 -6.58902916e-02 1.67232223e+02] [ 6.59043628e-02 1.55561081e-03 9.97824732e-01 3.18439672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74710568099994 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:216.76, Y:167.26, Z:31.84 [[ 5.70558741e-02 -9.98367880e-01 -2.49061287e-03 2.16762567e+02] [ 9.96193070e-01 5.70959211e-02 -6.58742991e-02 1.67260303e+02] [ 6.59089881e-02 1.27738443e-03 9.97824821e-01 3.18448566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7771056809999 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:216.77, Y:167.28, Z:31.84 [[ 6.17386897e-02 -9.98089300e-01 -2.46645424e-03 2.16767749e+02] [ 9.95914305e-01 6.17669405e-02 -6.58752036e-02 1.67284516e+02] [ 6.59016812e-02 1.61067170e-03 9.97824821e-01 3.18446701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80710568099994 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:216.77, Y:167.31, Z:31.85 [[ 5.98412187e-02 -9.98206068e-01 -1.91686500e-03 2.16770019e+02] [ 9.96030764e-01 5.98373516e-02 -6.58954352e-02 1.67313974e+02] [ 6.58919233e-02 2.03400663e-03 9.97824693e-01 3.18461567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8371056809999 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:216.78, Y:167.34, Z:31.85 [[ 6.14647393e-02 -9.98106307e-01 -2.42623865e-03 2.16775548e+02] [ 9.95931287e-01 6.14909345e-02 -6.58766835e-02 1.67339811e+02] [ 6.59011249e-02 1.63272620e-03 9.97824822e-01 3.18487511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86710568099994 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:216.78, Y:167.37, Z:31.85 [[ 6.08939561e-02 -9.98141360e-01 -2.39828880e-03 2.16777658e+02] [ 9.95966333e-01 6.09195515e-02 -6.58777010e-02 1.67367655e+02] [ 6.59013608e-02 1.62293894e-03 9.97824823e-01 3.18532112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8971056809999 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:216.78, Y:167.40, Z:31.86 [[ 5.92593765e-02 -9.98239797e-01 -2.37340569e-03 2.16783900e+02] [ 9.96064795e-01 5.92868922e-02 -6.58785975e-02 1.67395278e+02] [ 6.59033497e-02 1.53985876e-03 9.97824823e-01 3.18596059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92710568099994 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:216.80, Y:167.42, Z:31.86 [[ 5.50181622e-02 -9.98482592e-01 -2.34832520e-03 2.16795340e+02] [ 9.96307699e-01 5.50532633e-02 -6.58794915e-02 1.67423079e+02] [ 6.59088085e-02 1.28491408e-03 9.97824823e-01 3.18610643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9571056809999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:216.80, Y:167.45, Z:31.86 [[ 5.52236682e-02 -9.98471306e-01 -2.32321548e-03 2.16803361e+02] [ 9.96296380e-01 5.52566655e-02 -6.58803770e-02 1.67446199e+02] [ 6.59080393e-02 1.32354491e-03 9.97824824e-01 3.18613099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98710568099995 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:216.81, Y:167.48, Z:31.86 [[ 4.76675924e-02 -9.98861882e-01 -1.65570401e-03 2.16812074e+02] [ 9.96686508e-01 4.76730207e-02 -6.59036279e-02 1.67475825e+02] [ 6.59075542e-02 1.49124943e-03 9.97824619e-01 3.18638188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0171056809999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:216.82, Y:167.50, Z:31.86 [[ 4.48718909e-02 -9.98990130e-01 -2.28779359e-03 2.16816121e+02] [ 9.96815599e-01 4.49250931e-02 -6.58816913e-02 1.67503107e+02] [ 6.59179387e-02 6.75727729e-04 9.97824819e-01 3.18644314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04710568099995 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:216.82, Y:167.53, Z:31.87 [[ 4.09189779e-02 -9.99159909e-01 -2.26121028e-03 2.16819929e+02] [ 9.96985557e-01 4.09790306e-02 -6.58826037e-02 1.67531142e+02] [ 6.59199186e-02 4.41454816e-04 9.97824819e-01 3.18660995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0771056809999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:216.83, Y:167.56, Z:31.87 [[ 3.37293738e-02 -9.99428501e-01 -2.23637820e-03 2.16827971e+02] [ 9.97254581e-01 3.38034315e-02 -6.58834467e-02 1.67557623e+02] [ 6.59213916e-02 -8.03099916e-06 9.97824819e-01 3.18682075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1071056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:216.84, Y:167.58, Z:31.87 [[ 3.17383832e-02 -9.99493767e-01 -2.21031297e-03 2.16839920e+02] [ 9.97319938e-01 3.18150531e-02 -6.58843211e-02 1.67579145e+02] [ 6.59212895e-02 -1.13327368e-04 9.97824820e-01 3.18704305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1371056809999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:216.84, Y:167.61, Z:31.87 [[ 2.72775001e-02 -9.99627039e-01 -1.31148785e-03 2.16844864e+02] [ 9.97451634e-01 2.73046164e-02 -6.59143117e-02 1.67610580e+02] [ 6.59255379e-02 4.89831951e-04 9.97824425e-01 3.18720652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1671056809999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:216.85, Y:167.64, Z:31.87 [[ 2.69000798e-02 -9.99635688e-01 -2.20858929e-03 2.16845763e+02] [ 9.97462258e-01 2.69871574e-02 -6.58842654e-02 1.67638947e+02] [ 6.59198665e-02 -4.30692463e-04 9.97824827e-01 3.18738285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1971056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.85, Y:167.66, Z:31.88 [[ 3.10531476e-02 -9.99515349e-01 -2.18365886e-03 2.16853248e+02] [ 9.97341519e-01 3.11295509e-02 -6.58850917e-02 1.67662682e+02] [ 6.59211368e-02 -1.31914176e-04 9.97824828e-01 3.18752551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.2271056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:216.86, Y:167.69, Z:31.88 [[ 3.20787619e-02 -9.99484199e-01 -1.51287497e-03 2.16855078e+02] [ 9.97309048e-01 3.21087098e-02 -6.59067004e-02 1.67692370e+02] [ 6.59212821e-02 6.05401457e-04 9.97824643e-01 3.18770449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.2571056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.86, Y:167.71, Z:31.88 [[ 4.66147786e-02 -9.98910679e-01 -2.12559836e-03 2.16864439e+02] [ 9.96735854e-01 4.66534910e-02 -6.58869455e-02 1.67713365e+02] [ 6.59143401e-02 9.52645280e-04 9.97824830e-01 3.18803750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.2871056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.87, Y:167.74, Z:31.88 [[ 5.02059158e-02 -9.98738649e-01 -6.90911535e-04 2.16868296e+02] [ 9.96563484e-01 5.01421822e-02 -6.59316620e-02 1.67741575e+02] [ 6.58831429e-02 2.62162227e-03 9.97823902e-01 3.18838306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31710568099993 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:216.88, Y:167.77, Z:31.89 [[ 5.90452578e-02 -9.98254769e-01 -1.03598333e-03 2.16876571e+02] [ 9.96079931e-01 5.89850316e-02 -6.59206855e-02 1.67767569e+02] [ 6.58667463e-02 2.86038167e-03 9.97824328e-01 3.18901987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.3471056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:216.88, Y:167.79, Z:31.89 [[ 6.62268879e-02 -9.97804232e-01 -8.45454496e-04 2.16883067e+02] [ 9.95630148e-01 6.61384489e-02 -6.59265834e-02 1.67794621e+02] [ 6.58377410e-02 3.52435247e-03 9.97824118e-01 3.18926888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37710568099993 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.88, Y:167.83, Z:31.89 [[ 6.50840712e-02 -9.97879542e-01 -6.94866434e-04 2.16884647e+02] [ 9.95705581e-01 6.49881911e-02 -6.59312621e-02 1.67827364e+02] [ 6.58366158e-02 3.59919257e-03 9.97823925e-01 3.18929659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.4071056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.89, Y:167.85, Z:31.89 [[ 7.10059862e-02 -9.97473739e-01 -2.07121392e-03 2.16892876e+02] [ 9.95298685e-01 7.09879671e-02 -6.58880587e-02 1.67854564e+02] [ 6.58686395e-02 2.61697010e-03 9.97824871e-01 3.18921008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43710568099993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.90, Y:167.88, Z:31.89 [[ 7.41402552e-02 -9.97245729e-01 -2.04415107e-03 2.16902330e+02] [ 9.95070764e-01 7.41136163e-02 -6.58888983e-02 1.67877071e+02] [ 6.58589218e-02 2.85094477e-03 9.97824872e-01 3.18944037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.4671056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.91, Y:167.91, Z:31.89 [[ 7.14076846e-02 -9.97446678e-01 -1.03287320e-03 2.16905743e+02] [ 9.95272847e-01 7.13203197e-02 -6.59194310e-02 1.67911787e+02] [ 6.58247824e-02 3.67916329e-03 9.97824414e-01 3.18904235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49710568099994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.92, Y:167.93, Z:31.89 [[ 6.34216425e-02 -9.97983184e-01 -2.69451595e-03 2.16919129e+02] [ 9.95808213e-01 6.34612661e-02 -6.58685915e-02 1.67931428e+02] [ 6.59067440e-02 1.49427314e-03 9.97824668e-01 3.18926976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.92, Y:167.96, Z:31.89 [[ 5.81324944e-02 -9.98308088e-01 -1.25457675e-03 2.16923563e+02] [ 9.96133039e-01 5.80886735e-02 -6.59141453e-02 1.67963398e+02] [ 6.58755011e-02 2.58202832e-03 9.97824509e-01 3.18935378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55710568099994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:216.93, Y:167.98, Z:31.89 [[ 4.40248955e-02 -9.99027889e-01 -2.25500401e-03 2.16926530e+02] [ 9.96853383e-01 4.40777794e-02 -6.58823396e-02 1.67981062e+02] [ 6.59176903e-02 6.52554738e-04 9.97824851e-01 3.18908938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.94, Y:168.01, Z:31.90 [[ 4.56457428e-02 -9.98957682e-01 1.26480514e-04 2.16936288e+02] [ 9.96783162e-01 4.55380314e-02 -6.59516153e-02 1.68012181e+02] [ 6.58771131e-02 3.13648412e-03 9.97822814e-01 3.19032851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61710568099994 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:216.95, Y:168.04, Z:31.90 [[ 3.92639514e-02 -9.99228126e-01 -1.22268547e-03 2.16947075e+02] [ 9.97052769e-01 3.92591252e-02 -6.59127975e-02 1.68037775e+02] [ 6.59099227e-02 1.36891494e-03 9.97824638e-01 3.19030088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6471056809999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:216.94, Y:168.06, Z:31.90 [[ 2.77014752e-02 -9.99615652e-01 -1.08446733e-03 2.16943964e+02] [ 9.97440216e-01 2.77127014e-02 -6.59167766e-02 1.68057050e+02] [ 6.59214952e-02 7.44300633e-04 9.97824535e-01 3.19013057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67710568099994 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:216.96, Y:168.09, Z:31.91 [[ 2.63571851e-02 -9.99652385e-01 6.39490296e-04 2.16957705e+02] [ 9.97476567e-01 2.62576198e-02 -6.59623754e-02 1.68088355e+02] [ 6.59226544e-02 2.37645913e-03 9.97821906e-01 3.19065407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7071056809999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:216.96, Y:168.12, Z:31.91 [[ 2.06452873e-02 -9.99786426e-01 -9.35353666e-04 2.16960601e+02] [ 9.97611302e-01 2.06620385e-02 -6.59148710e-02 1.68118746e+02] [ 6.59201196e-02 4.27712057e-04 9.97824812e-01 3.19092762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73710568099995 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:216.97, Y:168.16, Z:31.89 [[ 2.53239563e-02 -9.99677815e-01 -1.72160422e-03 2.16972102e+02] [ 9.97503938e-01 2.53823623e-02 -6.58910379e-02 1.68162052e+02] [ 6.59135072e-02 -4.86852184e-05 9.97825339e-01 3.18923608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7671056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.97, Y:168.17, Z:31.91 [[ 1.03442938e-02 -9.99931067e-01 -5.55486539e-03 2.16967353e+02] [ 9.97777496e-01 1.06873904e-02 -6.57711793e-02 1.68169028e+02] [ 6.58260125e-02 -4.86216328e-03 9.97819270e-01 3.19063316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79710568099995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:216.98, Y:168.20, Z:31.89 [[ 1.35708393e-02 -9.99907390e-01 -1.02124757e-03 2.16977361e+02] [ 9.97733376e-01 1.36086406e-02 -6.59007995e-02 1.68201971e+02] [ 6.59085942e-02 -1.24603628e-04 9.97825657e-01 3.18929770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8271056809999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:216.97, Y:168.23, Z:31.92 [[-4.58824740e-03 -9.99987549e-01 -1.96236062e-03 2.16967814e+02] [ 9.97818050e-01 -4.44902349e-03 -6.58737096e-02 1.68226970e+02] [ 6.58641588e-02 -2.26032373e-03 9.97826039e-01 3.19178779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8571056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:216.97, Y:168.25, Z:31.92 [[-6.62470091e-03 -9.99976551e-01 -1.73521341e-03 2.16966477e+02] [ 9.97806399e-01 -6.49600520e-03 -6.58801285e-02 1.68251068e+02] [ 6.58673117e-02 -2.16784319e-03 9.97826036e-01 3.19194049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.96, Y:168.28, Z:31.92 [[-8.60899355e-03 -9.99962337e-01 -1.09971253e-03 2.16962731e+02] [ 9.97790046e-01 -8.51782065e-03 -6.58974245e-02 1.68279993e+02] [ 6.58855755e-02 -1.66459272e-03 9.97825796e-01 3.19228432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9171056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.96, Y:168.31, Z:31.92 [[-7.68066714e-03 -9.99969249e-01 -1.58394338e-03 2.16962237e+02] [ 9.97798635e-01 -7.55963470e-03 -6.58842653e-02 1.68309009e+02] [ 6.58702652e-02 -2.08649165e-03 9.97826014e-01 3.19210679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:168.33, Z:31.92 [[-2.64111256e-03 -9.99994408e-01 -2.05142591e-03 2.16957804e+02] [ 9.97824969e-01 -2.50025115e-03 -6.58716882e-02 1.68333462e+02] [ 6.58661908e-02 -2.22093854e-03 9.97825993e-01 3.19202403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9771056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.95, Y:168.36, Z:31.90 [[-1.26982420e-02 -9.99918180e-01 -1.54526500e-03 2.16945129e+02] [ 9.97748052e-01 -1.25688646e-02 -6.58851206e-02 1.68362921e+02] [ 6.58603076e-02 -2.37841034e-03 9.97826018e-01 3.19021210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.95, Y:168.39, Z:31.93 [[ 5.74755916e-03 -9.99981976e-01 -1.73571770e-03 2.16948434e+02] [ 9.97810401e-01 5.84942901e-03 -6.58801040e-02 1.68389091e+02] [ 6.58890695e-02 -1.35326738e-03 9.97826037e-01 3.19270388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.0371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.95, Y:168.42, Z:31.93 [[ 7.77489070e-03 -9.99968337e-01 -1.69594011e-03 2.16945302e+02] [ 9.97796444e-01 7.86973794e-03 -6.58811358e-02 1.68416111e+02] [ 6.58923964e-02 -1.17998438e-03 9.97826037e-01 3.19315738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:168.44, Z:31.94 [[ 1.07750883e-02 -9.99940573e-01 -1.65742378e-03 2.16939358e+02] [ 9.97768304e-01 1.08608816e-02 -6.58821183e-02 1.68441794e+02] [ 6.58962043e-02 -9.43839269e-04 9.97826037e-01 3.19363500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.0971056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.94, Y:168.47, Z:31.94 [[ 9.69815099e-03 -9.99952016e-01 -1.38229164e-03 2.16936772e+02] [ 9.97779151e-01 9.76815928e-03 -6.58889203e-02 1.68472178e+02] [ 6.58992611e-02 -7.40221076e-04 9.97826007e-01 3.19352671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:168.50, Z:31.94 [[ 7.41446722e-03 -9.99970695e-01 -1.90662962e-03 2.16936332e+02] [ 9.97799426e-01 7.52397345e-03 -6.58763611e-02 1.68498905e+02] [ 6.58887760e-02 -1.41399582e-03 9.97825972e-01 3.19380738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:168.53, Z:31.94 [[ 2.34002575e-03 -9.99996033e-01 -1.56811698e-03 2.16934843e+02] [ 9.97824289e-01 2.43825852e-03 -6.58843123e-02 1.68525963e+02] [ 6.58878744e-02 -1.41053423e-03 9.97826036e-01 3.19390186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:168.56, Z:31.92 [[ 4.64030633e-03 -9.99988122e-01 -1.49135576e-03 2.16941238e+02] [ 9.97815947e-01 4.72848743e-03 -6.58860902e-02 1.68556400e+02] [ 6.58923594e-02 -1.18236692e-03 9.97826036e-01 3.19204403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2171056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.93, Y:168.58, Z:31.94 [[-7.84512268e-03 -9.99967356e-01 -1.93438549e-03 2.16933793e+02] [ 9.97798097e-01 -7.70067014e-03 -6.58760745e-02 1.68583181e+02] [ 6.58590280e-02 -2.44693205e-03 9.97825937e-01 3.19388774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:168.61, Z:31.94 [[-1.33167889e-02 -9.99908989e-01 -2.16274929e-03 2.16930521e+02] [ 9.97741558e-01 -1.31454477e-02 -6.58709385e-02 1.68610219e+02] [ 6.58365132e-02 -3.03505423e-03 9.97825807e-01 3.19402954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:168.64, Z:31.94 [[-1.68639580e-02 -9.99855814e-01 -1.98950409e-03 2.16927316e+02] [ 9.97688203e-01 -1.66963212e-02 -6.58747470e-02 1.68636464e+02] [ 6.58320314e-02 -3.09581373e-03 9.97825917e-01 3.19364469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.92, Y:168.66, Z:31.94 [[-1.85603533e-02 -9.99826287e-01 -1.70559623e-03 2.16924956e+02] [ 9.97657702e-01 -1.84077112e-02 -6.58806994e-02 1.68664262e+02] [ 6.58378590e-02 -2.92437026e-03 9.97826049e-01 3.19384892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.92, Y:168.69, Z:31.94 [[-1.98993272e-02 -9.99800665e-01 -1.62703069e-03 2.16917559e+02] [ 9.97631946e-01 -1.97489486e-02 -6.58823171e-02 1.68692066e+02] [ 6.58370523e-02 -2.93419158e-03 9.97826074e-01 3.19364530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.91, Y:168.72, Z:31.94 [[-1.99589691e-02 -9.99799377e-01 -1.68654446e-03 2.16914237e+02] [ 9.97630925e-01 -1.98045466e-02 -6.58810884e-02 1.68717740e+02] [ 6.58344699e-02 -2.99746752e-03 9.97826056e-01 3.19394176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.91, Y:168.74, Z:31.94 [[-1.68054259e-02 -9.99857466e-01 -1.62056452e-03 2.16908766e+02] [ 9.97688266e-01 -1.66621844e-02 -6.58824368e-02 1.68742893e+02] [ 6.58460441e-02 -2.72400061e-03 9.97826076e-01 3.19419568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:168.77, Z:31.94 [[-1.61914321e-02 -9.99867910e-01 -1.41407503e-03 2.16904805e+02] [ 9.97697821e-01 -1.60631098e-02 -6.58865239e-02 1.68771645e+02] [ 6.58551065e-02 -2.47761676e-03 9.97826120e-01 3.19423289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4571056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:216.90, Y:168.80, Z:31.95 [[-1.07616382e-02 -9.99940693e-01 -1.67280014e-03 2.16896517e+02] [ 9.97770853e-01 -1.06280727e-02 -6.58814817e-02 1.68796257e+02] [ 6.58597958e-02 -2.37806390e-03 9.97826053e-01 3.19454493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48710568099995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:216.89, Y:168.82, Z:31.95 [[-9.64764523e-03 -9.99952620e-01 -1.29678060e-03 2.16890541e+02] [ 9.97781365e-01 -9.54124957e-03 -6.58886421e-02 1.68823941e+02] [ 6.58731474e-02 -1.92957376e-03 9.97826140e-01 3.19479761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5171056809999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:216.88, Y:168.85, Z:31.95 [[-7.65316501e-03 -9.99969724e-01 -1.40733643e-03 2.16881033e+02] [ 9.97798602e-01 -7.54382117e-03 -6.58865718e-02 1.68850035e+02] [ 6.58739603e-02 -1.90847913e-03 9.97826127e-01 3.19529241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54710568099995 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:216.88, Y:168.88, Z:31.96 [[-8.53284114e-03 -9.99962992e-01 -1.09761027e-03 2.16878255e+02] [ 9.97791035e-01 -8.44198084e-03 -6.58922115e-02 1.68878422e+02] [ 6.58805070e-02 -1.65743346e-03 9.97826143e-01 3.19557733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5771056809999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:216.87, Y:168.90, Z:31.96 [[-8.65947338e-03 -9.99961625e-01 -1.32763794e-03 2.16873018e+02] [ 9.97790361e-01 -8.55319179e-03 -6.58880747e-02 1.68904183e+02] [ 6.58741907e-02 -1.89526037e-03 9.97826137e-01 3.19625911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6071056809999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:216.87, Y:168.93, Z:31.97 [[-1.01027342e-02 -9.99948306e-01 -1.14908975e-03 2.16869178e+02] [ 9.97776653e-01 -1.00050747e-02 -6.58911895e-02 1.68932204e+02] [ 6.58762866e-02 -1.81221610e-03 9.97826153e-01 3.19686030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6371056809999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:216.86, Y:168.96, Z:31.97 [[-2.15963294e-03 -9.99996253e-01 -1.68239718e-03 2.16864800e+02] [ 9.97825340e-01 -2.04410477e-03 -6.58818018e-02 1.68955924e+02] [ 6.58781159e-02 -1.82101905e-03 9.97826016e-01 3.19702427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6671056809999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:216.86, Y:168.98, Z:31.97 [[ 1.49593708e-03 -9.99998267e-01 -1.10857828e-03 2.16860027e+02] [ 9.97825568e-01 1.56573284e-03 -6.58914667e-02 1.68982817e+02] [ 6.58930883e-02 -1.00759826e-03 9.97826180e-01 3.19705860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6971056809999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:216.85, Y:169.01, Z:31.97 [[ 1.18548279e-02 -9.99929146e-01 -1.07941428e-03 2.16851236e+02] [ 9.97755800e-01 1.19001912e-02 -6.58919445e-02 1.69011493e+02] [ 6.59001211e-02 -2.95854192e-04 9.97826181e-01 3.19710201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.7271056809999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:216.85, Y:169.04, Z:31.97 [[ 1.79839459e-02 -9.99837425e-01 -1.30421245e-03 2.16848299e+02] [ 9.97664081e-01 1.80308006e-02 -6.58883240e-02 1.69036707e+02] [ 6.59011282e-02 -1.16233860e-04 9.97826151e-01 3.19713074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.7571056809999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:216.84, Y:169.07, Z:31.97 [[ 2.77697630e-02 -9.99613819e-01 -1.02636849e-03 2.16843774e+02] [ 9.97440021e-01 2.77770301e-02 -6.58926544e-02 1.69065268e+02] [ 6.58957173e-02 8.06082388e-04 9.97826190e-01 3.19694312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.7871056809999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:216.84, Y:169.09, Z:31.97 [[ 2.89603486e-02 -9.99579927e-01 -1.12631390e-03 2.16841347e+02] [ 9.97406139e-01 2.89716138e-02 -6.58911137e-02 1.69093359e+02] [ 6.58960658e-02 7.84837227e-04 9.97826184e-01 3.19693570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81710568099993 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:216.84, Y:169.12, Z:31.97 [[ 3.55645231e-02 -9.99365987e-01 -1.66990597e-03 2.16841553e+02] [ 9.97192210e-01 3.55972525e-02 -6.58827215e-02 1.69115947e+02] [ 6.59003950e-02 6.77870351e-04 9.97825976e-01 3.19658860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.8471056809999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:216.84, Y:169.14, Z:31.96 [[ 3.55623509e-02 -9.99367118e-01 -8.26465510e-04 2.16843005e+02] [ 9.97193448e-01 3.55394957e-02 -6.58951597e-02 1.69143167e+02] [ 6.58828280e-02 1.51924080e-03 9.97826210e-01 3.19643910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87710568099993 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:216.84, Y:169.17, Z:31.97 [[ 3.27673578e-02 -9.99462786e-01 -6.63069062e-04 2.16843818e+02] [ 9.97289138e-01 3.27398128e-02 -6.58974948e-02 1.69170378e+02] [ 6.58838025e-02 1.49801522e-03 9.97826178e-01 3.19651400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.9071056809999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:216.84, Y:169.20, Z:31.97 [[ 2.93062126e-02 -9.99570111e-01 -8.59669281e-04 2.16844567e+02] [ 9.97396333e-01 2.92991521e-02 -6.58947260e-02 1.69198163e+02] [ 6.58915862e-02 1.07369386e-03 9.97826210e-01 3.19671070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93710568099993 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:216.85, Y:169.23, Z:31.97 [[ 2.36256008e-02 -9.99720460e-01 -9.12668719e-04 2.16848230e+02] [ 9.97546689e-01 2.36343860e-02 -6.58939921e-02 1.69225025e+02] [ 6.58971424e-02 6.46355492e-04 9.97826212e-01 3.19711119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.9671056809999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:216.85, Y:169.25, Z:31.97 [[ 2.12461158e-02 -9.99773541e-01 -1.21242202e-03 2.16851701e+02] [ 9.97599960e-01 2.12798298e-02 -6.58899781e-02 1.69250680e+02] [ 6.59008568e-02 1.90393948e-04 9.97826158e-01 3.19694326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99710568099994 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:216.86, Y:169.28, Z:31.97 [[ 1.65889916e-02 -9.99862036e-01 -8.45048717e-04 2.16860195e+02] [ 9.97688350e-01 1.66086192e-02 -6.58946938e-02 1.69277149e+02] [ 6.58996378e-02 2.50031259e-04 9.97826225e-01 3.19702673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0271056809999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:216.86, Y:169.30, Z:31.97 [[ 1.17503474e-02 -9.99930889e-01 -3.83293801e-04 2.16863726e+02] [ 9.97757022e-01 1.17500629e-02 -6.59003909e-02 1.69304782e+02] [ 6.59003401e-02 3.91918406e-04 9.97826133e-01 3.19706358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05710568099994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:216.87, Y:169.33, Z:31.98 [[ 4.85333889e-03 -9.99988156e-01 -3.65939121e-04 2.16870728e+02] [ 9.97814324e-01 4.86690432e-03 -6.59005943e-02 1.69331090e+02] [ 6.59015948e-02 -4.53013790e-05 9.97826126e-01 3.19776470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0871056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:216.87, Y:169.36, Z:31.98 [[ 4.65429088e-03 -9.99989049e-01 -4.90213273e-04 2.16870892e+02] [ 9.97815329e-01 4.67647865e-03 -6.58991711e-02 1.69358662e+02] [ 6.59007419e-02 -1.82428406e-04 9.97826167e-01 3.19794530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11710568099994 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:216.88, Y:169.38, Z:31.98 [[-6.01779919e-04 -9.99999708e-01 -4.71885223e-04 2.16876721e+02] [ 9.97826111e-01 -5.69374936e-04 -6.58993765e-02 1.69384366e+02] [ 6.58990886e-02 -5.10516318e-04 9.97826162e-01 3.19836529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1471056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.88, Y:169.41, Z:31.99 [[-3.74420914e-03 -9.99992885e-01 -4.58323118e-04 2.16881336e+02] [ 9.97819382e-01 -3.70586754e-03 -6.58995221e-02 1.69409328e+02] [ 6.58973547e-02 -7.04065283e-04 9.97826159e-01 3.19894669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.89, Y:169.44, Z:31.99 [[-1.63335691e-02 -9.99866579e-01 -1.95487894e-04 2.16887753e+02] [ 9.97693188e-01 -1.62851803e-02 -6.59021647e-02 1.69437351e+02] [ 6.58901884e-02 -1.27145450e-03 9.97826070e-01 3.19892075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2071056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.91, Y:169.47, Z:31.97 [[-1.26304584e-03 -9.99998978e-01 -6.69646051e-04 2.16910817e+02] [ 9.97825660e-01 -1.21617283e-03 -6.58974424e-02 1.69474447e+02] [ 6.58965607e-02 -7.51421503e-04 9.97826177e-01 3.19714771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:169.49, Z:32.00 [[-2.67974578e-02 -9.99636358e-01 -3.00812886e-03 2.16895846e+02] [ 9.97475064e-01 -2.65412975e-02 -6.58715145e-02 1.69487722e+02] [ 6.57677212e-02 -4.76572266e-03 9.97823579e-01 3.19983445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.90, Y:169.51, Z:32.00 [[-3.46321744e-02 -9.99399986e-01 -5.28714527e-04 2.16898288e+02] [ 9.97229204e-01 -3.45220898e-02 -6.58949209e-02 1.69514974e+02] [ 6.58371308e-02 -2.80933396e-03 9.97826428e-01 3.20006273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:169.54, Z:32.01 [[-3.91784746e-02 -9.99232181e-01 -3.08113353e-04 2.16901286e+02] [ 9.97061129e-01 -3.90730314e-02 -6.58969124e-02 1.69539829e+02] [ 6.58342766e-02 -2.88894836e-03 9.97826389e-01 3.20052380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:169.57, Z:32.01 [[-4.02686551e-02 -9.99188888e-01 3.35150170e-05 2.16902414e+02] [ 9.97016761e-01 -4.01833259e-02 -6.59005250e-02 1.69567811e+02] [ 6.58484191e-02 -2.62031048e-03 9.97826197e-01 3.20121219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:169.60, Z:32.01 [[-4.11402602e-02 -9.99153376e-01 9.78706095e-05 2.16900499e+02] [ 9.96981115e-01 -4.10572724e-02 -6.59011066e-02 1.69595508e+02] [ 6.58493314e-02 -2.61361352e-03 9.97826155e-01 3.20103824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3871056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.90, Y:169.62, Z:32.01 [[-3.84115863e-02 -9.99262002e-01 3.28967138e-05 2.16898766e+02] [ 9.97089718e-01 -3.83302533e-02 -6.59005737e-02 1.69621691e+02] [ 6.58532001e-02 -2.49854460e-03 9.97826194e-01 3.20105738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4171056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:216.90, Y:169.65, Z:31.99 [[-2.11938841e-02 -9.99775332e-01 3.24808980e-04 2.16898751e+02] [ 9.97601444e-01 -2.11692114e-02 -6.59031335e-02 1.69652830e+02] [ 6.58952032e-02 -1.07271347e-03 9.97825973e-01 3.19928405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4471056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.90, Y:169.68, Z:32.00 [[-1.13914015e-02 -9.99934943e-01 -5.88524564e-04 2.16899965e+02] [ 9.97762260e-01 -1.13278667e-02 -6.58950038e-02 1.69682366e+02] [ 6.58840502e-02 -1.33784405e-03 9.97826389e-01 3.19989612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4771056809999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:216.88, Y:169.70, Z:32.02 [[-7.08753723e-03 -9.99974228e-01 -1.14480212e-03 2.16883613e+02] [ 9.97802360e-01 -6.99671064e-03 -6.58900303e-02 1.69702041e+02] [ 6.58803223e-02 -1.60928430e-03 9.97826234e-01 3.20157768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.5071056809999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:216.88, Y:169.73, Z:32.01 [[ 9.04019040e-04 -9.99999571e-01 2.04292634e-04 2.16881641e+02] [ 9.97825767e-01 8.88590778e-04 -6.59010568e-02 1.69728943e+02] [ 6.59008470e-02 2.63424265e-04 9.97826142e-01 3.20102329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.5371056809999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:216.87, Y:169.76, Z:32.01 [[ 1.26888907e-02 -9.99919467e-01 2.26284373e-04 2.16874981e+02] [ 9.97746003e-01 1.26463960e-02 -6.59013141e-02 1.69757327e+02] [ 6.58931452e-02 1.06198890e-03 9.97826120e-01 3.20089836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.56710568099993 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:216.87, Y:169.78, Z:32.01 [[ 1.67483362e-02 -9.99859665e-01 3.78755829e-04 2.16871329e+02] [ 9.97686506e-01 1.66869697e-02 -6.59028171e-02 1.69784950e+02] [ 6.58872483e-02 1.48164212e-03 9.97825974e-01 3.20107214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.5971056809999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:216.87, Y:169.81, Z:32.01 [[ 2.07794454e-02 -9.99783921e-01 5.71096954e-04 2.16867992e+02] [ 9.97611286e-01 2.06966437e-02 -6.59042614e-02 1.69812742e+02] [ 6.58782011e-02 1.93918677e-03 9.97825788e-01 3.20134180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.62710568099993 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:216.87, Y:169.84, Z:32.02 [[ 2.19418782e-02 -9.99759193e-01 3.32767502e-04 2.16868776e+02] [ 9.97586328e-01 2.18722545e-02 -6.59023709e-02 1.69839556e+02] [ 6.58792228e-02 1.77798611e-03 9.97826020e-01 3.20152738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.6571056809999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:216.87, Y:169.87, Z:32.01 [[ 1.90238072e-02 -9.99818865e-01 5.75390346e-04 2.16869364e+02] [ 9.97646093e-01 1.89445377e-02 -6.59043145e-02 1.69867326e+02] [ 6.58814764e-02 1.82778690e-03 9.97825782e-01 3.20149901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68710568099993 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:216.87, Y:169.90, Z:32.02 [[ 1.58897704e-02 -9.99873595e-01 5.56693812e-04 2.16869114e+02] [ 9.97700563e-01 1.58185440e-02 -6.59041697e-02 1.69895619e+02] [ 6.58870329e-02 1.60261585e-03 9.97825802e-01 3.20162704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7171056809999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:216.87, Y:169.92, Z:32.02 [[ 1.05292754e-02 -9.99944475e-01 4.24740449e-04 2.16869202e+02] [ 9.97771002e-01 1.04783957e-02 -6.59031961e-02 1.69921277e+02] [ 6.58950863e-02 1.11770661e-03 9.97825931e-01 3.20172672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74710568099994 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:216.87, Y:169.95, Z:32.02 [[ 9.48900407e-03 -9.99954883e-01 4.37165648e-04 2.16870957e+02] [ 9.97781365e-01 9.43956666e-03 -6.59032873e-02 1.69947633e+02] [ 6.58961873e-02 1.06155230e-03 9.97825920e-01 3.20170285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7771056809999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:216.87, Y:169.98, Z:32.02 [[ 6.09283598e-03 -9.99981002e-01 9.33937243e-04 2.16872641e+02] [ 9.97807639e-01 6.01803984e-03 -6.59067504e-02 1.69975062e+02] [ 6.58998778e-02 1.33344874e-03 9.97825349e-01 3.20241144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80710568099994 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:216.86, Y:170.01, Z:32.02 [[-3.21370553e-03 -9.99994583e-01 7.11490076e-04 2.16864099e+02] [ 9.97820580e-01 -3.25361008e-03 -6.59052670e-02 1.70006646e+02] [ 6.59072249e-02 4.98139319e-04 9.97825631e-01 3.20158613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8371056809999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:216.88, Y:170.03, Z:32.03 [[ 1.95445186e-03 -9.99997985e-01 -4.58940013e-04 2.16875800e+02] [ 9.97824455e-01 1.98044670e-03 -6.58971607e-02 1.70029118e+02] [ 6.58979368e-02 -3.29148740e-04 9.97826314e-01 3.20303270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86710568099994 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:216.88, Y:170.06, Z:32.03 [[-1.47984336e-03 -9.99998578e-01 8.08892792e-04 2.16880337e+02] [ 9.97824686e-01 -1.52993702e-03 -6.59056571e-02 1.70058480e+02] [ 6.59068009e-02 7.09603147e-04 9.97825531e-01 3.20268669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8971056809999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:216.88, Y:170.08, Z:32.03 [[-3.68778023e-03 -9.99993043e-01 5.60558811e-04 2.16883267e+02] [ 9.97819070e-01 -3.71670616e-03 -6.59036401e-02 1.70081877e+02] [ 6.59052650e-02 3.16298130e-04 9.97825835e-01 3.20264496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92710568099994 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:216.89, Y:170.11, Z:32.03 [[-1.15947114e-02 -9.99931755e-01 1.43127774e-03 2.16885127e+02] [ 9.97757456e-01 -1.16638400e-02 -6.59091299e-02 1.70113101e+02] [ 6.59213261e-02 6.63870695e-04 9.97824603e-01 3.20268853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9571056809999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:216.88, Y:170.14, Z:32.03 [[-2.03288213e-02 -9.99793291e-01 3.36757596e-04 2.16884695e+02] [ 9.97619524e-01 -2.03068192e-02 -6.59008302e-02 1.70144345e+02] [ 6.58940464e-02 -1.00373025e-03 9.97826121e-01 3.20326965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98710568099995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.89, Y:170.17, Z:32.04 [[-1.90569085e-02 -9.99818272e-01 -5.06791464e-04 2.16888545e+02] [ 9.97646036e-01 -1.89821040e-02 -6.58943659e-02 1.70168106e+02] [ 6.58727711e-02 -1.76134139e-03 9.97826476e-01 3.20362213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0171056809999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:216.88, Y:170.20, Z:32.01 [[-3.46113002e-02 -9.99400779e-01 3.74291809e-04 2.16880350e+02] [ 9.97227507e-01 -3.45607161e-02 -6.59003512e-02 1.70199861e+02] [ 6.58737981e-02 -1.90764275e-03 9.97826139e-01 3.20082348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.88, Y:170.22, Z:32.01 [[-3.43754775e-02 -9.99408883e-01 -4.60564176e-04 2.16878878e+02] [ 9.97237909e-01 -3.42704385e-02 -6.58945390e-02 1.70223378e+02] [ 6.58398038e-02 -2.72444830e-03 9.97826487e-01 3.20138504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0771056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:216.89, Y:170.25, Z:32.04 [[-2.02819273e-02 -9.99794119e-01 6.03134311e-04 2.16894126e+02] [ 9.97620116e-01 -2.02775805e-02 -6.59008670e-02 1.70248831e+02] [ 6.58995293e-02 -7.34897669e-04 9.97825993e-01 3.20380151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1071056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:216.90, Y:170.28, Z:32.04 [[-1.73631366e-02 -9.99849010e-01 6.92173372e-04 2.16895308e+02] [ 9.97674916e-01 -1.73710040e-02 -6.59015134e-02 1.70276199e+02] [ 6.59035867e-02 -4.53692968e-04 9.97825892e-01 3.20397481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1371056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.89, Y:170.30, Z:32.04 [[-1.35738842e-02 -9.99907715e-01 5.57222133e-04 2.16894005e+02] [ 9.97733768e-01 -1.35810972e-02 -6.59005447e-02 1.70303347e+02] [ 6.59020307e-02 -3.38567026e-04 9.97826041e-01 3.20436752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1671056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:216.89, Y:170.32, Z:32.04 [[-1.97982499e-04 -9.99999726e-01 7.13208465e-04 2.16894738e+02] [ 9.97826095e-01 -2.44553768e-04 -6.59016309e-02 1.70322274e+02] [ 6.59017873e-02 6.98610648e-04 9.97825870e-01 3.20374259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1971056809999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:216.89, Y:170.35, Z:32.05 [[-1.80127215e-03 -9.99994526e-01 2.77533063e-03 2.16887125e+02] [ 9.97824002e-01 -1.98026886e-03 -6.59040190e-02 1.70352944e+02] [ 6.59091542e-02 2.65058045e-03 9.97822107e-01 3.20533136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.2271056809999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:216.89, Y:170.38, Z:32.06 [[ 3.14296076e-03 -9.99994188e-01 1.32163456e-03 2.16887005e+02] [ 9.97821481e-01 3.04903390e-03 -6.59014130e-02 1.70383216e+02] [ 6.58970002e-02 1.52588091e-03 9.97825264e-01 3.20560301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.2571056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:216.89, Y:170.41, Z:32.06 [[ 1.85490355e-02 -9.99827825e-01 5.04109150e-04 2.16887973e+02] [ 9.97655246e-01 1.84755033e-02 -6.58989090e-02 1.70408035e+02] [ 6.58782492e-02 1.72528834e-03 9.97826177e-01 3.20613073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.2871056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:216.89, Y:170.43, Z:32.06 [[ 3.18038396e-02 -9.99493610e-01 1.01944504e-03 2.16891598e+02] [ 9.97323587e-01 3.16675740e-02 -6.59001271e-02 1.70434537e+02] [ 6.58344726e-02 3.11259366e-03 9.97825703e-01 3.20629712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31710568099993 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:216.89, Y:170.46, Z:32.07 [[ 3.22443747e-02 -9.99479551e-01 9.63469716e-04 2.16889961e+02] [ 9.97309424e-01 3.21108382e-02 -6.58999716e-02 1.70463739e+02] [ 6.58347362e-02 3.08578080e-03 9.97825769e-01 3.20669705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.3471056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:216.91, Y:170.50, Z:32.04 [[ 5.01515646e-02 -9.98741477e-01 5.30859658e-04 2.16907188e+02] [ 9.96572431e-01 5.00076195e-02 -6.58986149e-02 1.70495705e+02] [ 6.57891330e-02 3.83395875e-03 9.97826183e-01 3.20430616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37710568099993 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:216.90, Y:170.52, Z:32.07 [[ 3.52295209e-02 -9.99379225e-01 -2.14411667e-04 2.16898832e+02] [ 9.97206582e-01 3.51670699e-02 -6.58962083e-02 1.70519110e+02] [ 6.58628418e-02 2.10767912e-03 9.97826460e-01 3.20723358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.4071056809999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:216.91, Y:170.55, Z:32.07 [[ 3.23735498e-02 -9.99475766e-01 3.82062037e-04 2.16909137e+02] [ 9.97304186e-01 3.22780210e-02 -6.58975672e-02 1.70546844e+02] [ 6.58506893e-02 2.51437024e-03 9.97826320e-01 3.20704885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.92, Y:170.58, Z:32.07 [[ 2.62660348e-02 -9.99654920e-01 3.70124509e-04 2.16917923e+02] [ 9.97482773e-01 2.61845627e-02 -6.58975405e-02 1.70576337e+02] [ 6.58651090e-02 2.10005991e-03 9.97826326e-01 3.20676955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.4671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.92, Y:170.60, Z:32.07 [[ 2.25511888e-02 -9.99745688e-01 5.42410950e-05 2.16922725e+02] [ 9.97572762e-01 2.24985990e-02 -6.58968720e-02 1.70603803e+02] [ 6.58788933e-02 1.54016224e-03 9.97826437e-01 3.20682053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:170.63, Z:32.07 [[ 1.41699140e-02 -9.99899571e-01 2.46033841e-04 2.16933147e+02] [ 9.97726466e-01 1.41229036e-02 -6.58972064e-02 1.70631777e+02] [ 6.58871138e-02 1.17923222e-03 9.97826387e-01 3.20721145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:170.66, Z:32.07 [[ 9.54099716e-03 -9.99954480e-01 -8.40654359e-05 2.16937392e+02] [ 9.97780983e-01 9.52579877e-03 -6.58966605e-02 1.70659250e+02] [ 6.58944617e-02 5.44840958e-04 9.97826449e-01 3.20746634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.94, Y:170.66, Z:32.07 [[-1.75495966e-03 -9.99998459e-01 -5.19028605e-05 2.16938001e+02] [ 9.97824920e-01 -1.74772495e-03 -6.58967014e-02 1.70660002e+02] [ 6.58965091e-02 -1.67436020e-04 9.97826449e-01 3.20680220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.95, Y:170.71, Z:32.08 [[ 6.96515831e-03 -9.99962733e-01 5.10096532e-03 2.16949595e+02] [ 9.97803975e-01 6.61392942e-03 -6.59051156e-02 1.70708755e+02] [ 6.58689221e-02 5.54880303e-03 9.97812856e-01 3.20757879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.95, Y:170.74, Z:32.08 [[ 4.92473777e-03 -9.99987870e-01 -7.79717001e-05 2.16952560e+02] [ 9.97815257e-01 4.91917513e-03 -6.58825891e-02 1.70735806e+02] [ 6.58821735e-02 2.46653123e-04 9.97827379e-01 3.20778942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:170.77, Z:32.07 [[ 4.42098938e-03 -9.99990218e-01 -1.37278690e-04 2.16959379e+02] [ 9.97817608e-01 4.42042853e-03 -6.58823301e-02 1.70766105e+02] [ 6.58822925e-02 1.54285988e-04 9.97827390e-01 3.20734750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.97, Y:170.81, Z:32.06 [[ 1.06860223e-02 -9.99942757e-01 -5.39618538e-04 2.16966770e+02] [ 9.97770156e-01 1.06983570e-02 -6.58806653e-02 1.70814615e+02] [ 6.58826671e-02 1.65586988e-04 9.97827363e-01 3.20645613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.97, Y:170.82, Z:32.07 [[ 1.05602951e-03 -9.99984687e-01 -5.43234973e-03 2.16968827e+02] [ 9.97828796e-01 1.41145705e-03 -6.58460503e-02 1.70816975e+02] [ 6.58527095e-02 -5.35101961e-03 9.97815007e-01 3.20716123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.97, Y:170.85, Z:32.08 [[-3.96626645e-03 -9.99992100e-01 -2.61141417e-04 2.16972911e+02] [ 9.97820791e-01 -3.94045429e-03 -6.58645716e-02 1.70845495e+02] [ 6.58630223e-02 -5.21808776e-04 9.97828537e-01 3.20760591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.98, Y:170.87, Z:32.08 [[-6.10245555e-03 -9.99981293e-01 -4.16191113e-04 2.16976054e+02] [ 9.97810190e-01 -6.06179367e-03 -6.58641016e-02 1.70872096e+02] [ 6.58603467e-02 -8.17212485e-04 9.97828516e-01 3.20771990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:170.90, Z:32.08 [[-1.16219673e-02 -9.99932397e-01 -3.62443088e-04 2.16980634e+02] [ 9.97761479e-01 -1.15728616e-02 -6.58642503e-02 1.70898959e+02] [ 6.58556032e-02 -1.12710391e-03 9.97828527e-01 3.20822918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:170.92, Z:32.08 [[-1.53287484e-02 -9.99882457e-01 -3.19414470e-04 2.16982648e+02] [ 9.97711671e-01 -1.52744285e-02 -6.58643535e-02 1.70924269e+02] [ 6.58517327e-02 -1.32830164e-03 9.97828535e-01 3.20848218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.99, Y:170.95, Z:32.10 [[-2.08350046e-02 -9.99782901e-01 -2.30566661e-04 2.16987180e+02] [ 9.97612290e-01 -2.07745807e-02 -6.58645205e-02 1.70951460e+02] [ 6.58454315e-02 -1.60230372e-03 9.97828548e-01 3.20952643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.99, Y:170.98, Z:32.10 [[-2.28349602e-02 -9.99739206e-01 -2.89941661e-04 2.16987713e+02] [ 9.97568832e-01 -2.27662851e-02 -6.58644262e-02 1.70977182e+02] [ 6.58406483e-02 -1.79324832e-03 9.97828539e-01 3.20994433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.99, Y:171.00, Z:32.10 [[-2.40759279e-02 -9.99710116e-01 -1.86255494e-04 2.16986477e+02] [ 9.97539630e-01 -2.40113851e-02 -6.58645594e-02 1.71003733e+02] [ 6.58409940e-02 -1.77154762e-03 9.97828555e-01 3.20984627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:171.03, Z:32.10 [[-2.44597616e-02 -9.99700809e-01 -1.13318844e-04 2.16984617e+02] [ 9.97530216e-01 -2.43991876e-02 -6.58646207e-02 1.71032471e+02] [ 6.58421497e-02 -1.72407189e-03 9.97828562e-01 3.20977600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:171.06, Z:32.10 [[-2.50289747e-02 -9.99686663e-01 -3.54960147e-04 2.16984263e+02] [ 9.97516569e-01 -2.49512558e-02 -6.58644759e-02 1.71059055e+02] [ 6.58349815e-02 -2.00259893e-03 9.97828515e-01 3.20995118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:171.01, Z:32.09 [[-2.34361389e-02 -9.99725333e-01 7.97308241e-05 2.16982833e+02] [ 9.97554476e-01 -2.33905012e-02 -6.58631235e-02 1.71013399e+02] [ 6.58468980e-02 -1.46404147e-03 9.97828664e-01 3.20921422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.0371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.97, Y:171.08, Z:32.08 [[-3.75790563e-02 -9.99293645e-01 1.58856355e-04 2.16970026e+02] [ 9.97123480e-01 -3.75079160e-02 -6.58629010e-02 1.71079282e+02] [ 6.58223368e-02 -2.31666626e-03 9.97828669e-01 3.20786591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.06710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:171.04, Z:32.09 [[-1.60923169e-02 -9.99870481e-01 2.40906839e-04 2.16978588e+02] [ 9.97699238e-01 -1.60732408e-02 -6.58626011e-02 1.71039506e+02] [ 6.58579429e-02 -8.19529278e-04 9.97828673e-01 3.20929764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.0971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:171.06, Z:32.10 [[-1.52556997e-02 -9.99882985e-01 -1.13143329e-03 2.16977020e+02] [ 9.97714161e-01 -1.51480887e-02 -6.58558192e-02 1.71064249e+02] [ 6.58309740e-02 -2.13352362e-03 9.97828508e-01 3.20964527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.12710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.97, Y:171.09, Z:32.10 [[-1.67942033e-02 -9.99858868e-01 -4.46630601e-04 2.16974316e+02] [ 9.97688725e-01 -1.67283336e-02 -6.58587228e-02 1.71091211e+02] [ 6.58419566e-02 -1.55164309e-03 9.97828858e-01 3.20995581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.1571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.97, Y:171.12, Z:32.10 [[-1.77893106e-02 -9.99841654e-01 -4.55225115e-04 2.16973474e+02] [ 9.97671594e-01 -1.77207153e-02 -6.58586891e-02 1.71118240e+02] [ 6.58401937e-02 -1.62574584e-03 9.97828856e-01 3.21047687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.97, Y:171.15, Z:32.11 [[-1.98085719e-02 -9.99803709e-01 -4.03890488e-04 2.16970256e+02] [ 9.97633692e-01 -1.97389735e-02 -6.58588676e-02 1.71145212e+02] [ 6.58379677e-02 -1.70750487e-03 9.97828866e-01 3.21115155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2171056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.95, Y:171.17, Z:32.09 [[-3.60547079e-02 -9.99349758e-01 -3.46315260e-04 2.16953195e+02] [ 9.97180988e-01 -3.59536398e-02 -6.58590441e-02 1.71173182e+02] [ 6.58037685e-02 -2.71986759e-03 9.97828876e-01 3.20892668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:171.20, Z:32.11 [[-1.81434063e-02 -9.99835381e-01 -1.65759933e-04 2.16964298e+02] [ 9.97664857e-01 -1.80931004e-02 -6.58594996e-02 1.71199953e+02] [ 6.58456588e-02 -1.36028852e-03 9.97828893e-01 3.21134365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:171.23, Z:32.11 [[-1.61118534e-02 -9.99870122e-01 -3.83314543e-04 2.16962035e+02] [ 9.97699822e-01 -1.60516333e-02 -6.58590254e-02 1.71227919e+02] [ 6.58443190e-02 -1.44354381e-03 9.97828864e-01 3.21140688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.97, Y:171.26, Z:32.09 [[ 4.04541201e-03 -9.99991731e-01 -4.15976201e-04 2.16966555e+02] [ 9.97820666e-01 4.06402508e-03 -6.58589633e-02 1.71255425e+02] [ 6.58601093e-02 -1.48643008e-04 9.97828855e-01 3.20863402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3371056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.95, Y:171.28, Z:32.11 [[-4.33910754e-03 -9.99990582e-01 -8.55895990e-05 2.16952498e+02] [ 9.97819544e-01 -4.32405015e-03 -6.58593963e-02 1.71283033e+02] [ 6.58584059e-02 -3.71173978e-04 9.97828910e-01 3.21119948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36710568099994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.95, Y:171.31, Z:32.11 [[-1.56224759e-03 -9.99998710e-01 -3.73227618e-04 2.16949327e+02] [ 9.97827753e-01 -1.53427554e-03 -6.58591061e-02 1.71308795e+02] [ 6.58584486e-02 -4.75305105e-04 9.97828863e-01 3.21112945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:171.34, Z:32.12 [[ 2.70597737e-03 -9.99996339e-01 -1.79030329e-05 2.16944728e+02] [ 9.97825266e-01 2.70128156e-03 -6.58592544e-02 1.71335243e+02] [ 6.58590616e-02 1.60349553e-04 9.97828922e-01 3.21182384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:171.34, Z:32.12 [[ 2.90003043e-03 -9.99995795e-01 1.66857610e-06 2.16943221e+02] [ 9.97824727e-01 2.89362436e-03 -6.58592535e-02 1.71337118e+02] [ 6.58589717e-02 1.92658786e-04 9.97828923e-01 3.21199378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:171.33, Z:32.12 [[ 6.80488009e-03 -9.99976839e-01 1.21514221e-04 2.16941103e+02] [ 9.97805871e-01 6.78210355e-03 -6.58592949e-02 1.71330267e+02] [ 6.58569454e-02 5.69412208e-04 9.97828912e-01 3.21224795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.94, Y:171.34, Z:32.12 [[ 8.70508156e-03 -9.99962110e-01 -1.28824315e-05 2.16940436e+02] [ 9.97791113e-01 8.68703060e-03 -6.58591696e-02 1.71337397e+02] [ 6.58567861e-02 5.60455468e-04 9.97828928e-01 3.21235406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5171056809999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:216.94, Y:171.36, Z:32.13 [[ 1.03524002e-02 -9.99946412e-01 -8.18134803e-06 2.16939133e+02] [ 9.97775451e-01 1.03304632e-02 -6.58591750e-02 1.71364046e+02] [ 6.58557303e-02 6.73637391e-04 9.97828928e-01 3.21269028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54710568099995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:216.94, Y:171.39, Z:32.13 [[ 1.10816597e-02 -9.99938577e-01 1.98694449e-04 2.16938865e+02] [ 9.97767792e-01 1.10445157e-02 -6.58593300e-02 1.71389922e+02] [ 6.58530903e-02 9.28081609e-04 9.97828898e-01 3.21280513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5771056809999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:216.95, Y:171.42, Z:32.10 [[ 3.23079448e-02 -9.99477936e-01 2.29909378e-04 2.16951589e+02] [ 9.97308502e-01 3.22226686e-02 -6.58593363e-02 1.71420101e+02] [ 6.58175452e-02 2.35707038e-03 9.97828891e-01 3.20996122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6071056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.94, Y:171.44, Z:32.13 [[ 2.07984109e-02 -9.99783690e-01 -1.17615245e-06 2.16943015e+02] [ 9.97613075e-01 2.07533333e-02 -6.58593339e-02 1.71443722e+02] [ 6.58451123e-02 1.36859615e-03 9.97828917e-01 3.21266312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6371056809999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:216.94, Y:171.47, Z:32.13 [[ 2.36434446e-02 -9.99720451e-01 -8.16353796e-05 2.16944169e+02] [ 9.97549879e-01 2.35974884e-02 -6.58589172e-02 1.71468717e+02] [ 6.58424328e-02 1.47569630e-03 9.97828941e-01 3.21260864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6671056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:216.95, Y:171.50, Z:32.12 [[ 2.65882514e-02 -9.99646316e-01 5.55715791e-04 2.16948513e+02] [ 9.97477149e-01 2.64939449e-02 -6.58589951e-02 1.71497306e+02] [ 6.58209787e-02 2.30538932e-03 9.97828785e-01 3.21244778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6971056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:216.95, Y:171.52, Z:32.12 [[ 2.79263068e-02 -9.99609883e-01 4.51418991e-04 2.16952324e+02] [ 9.97440600e-01 2.78359615e-02 -6.58590108e-02 1.71524901e+02] [ 6.58207523e-02 2.28946257e-03 9.97828837e-01 3.21244118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.7271056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.96, Y:171.52, Z:32.12 [[ 2.68787913e-02 -9.99638698e-01 -6.47840790e-05 2.16960677e+02] [ 9.97468435e-01 2.68247042e-02 -6.58570964e-02 1.71518420e+02] [ 6.58350400e-02 1.70553907e-03 9.97829063e-01 3.21218843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.7571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.97, Y:171.55, Z:32.13 [[ 2.60265596e-02 -9.99661172e-01 4.00361942e-04 2.16967149e+02] [ 9.97491736e-01 2.59437019e-02 -6.58571302e-02 1.71545835e+02] [ 6.58244290e-02 2.11339225e-03 9.97828982e-01 3.21263902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.7871056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:216.97, Y:171.57, Z:32.13 [[ 2.50954008e-02 -9.99684944e-01 4.84160544e-04 2.16969672e+02] [ 9.97515607e-01 2.50090478e-02 -6.58571282e-02 1.71573107e+02] [ 6.58242711e-02 2.13566872e-03 9.97828945e-01 3.21278957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81710568099993 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:216.97, Y:171.60, Z:32.13 [[ 2.40210955e-02 -9.99711256e-01 6.25331478e-04 2.16972757e+02] [ 9.97542132e-01 2.39277813e-02 -6.58570966e-02 1.71601263e+02] [ 6.58231180e-02 2.20575410e-03 9.97828869e-01 3.21298858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.8471056809999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.98, Y:171.63, Z:32.13 [[ 2.21529565e-02 -9.99754415e-01 5.97465599e-04 2.16979118e+02] [ 9.97585061e-01 2.20655301e-02 -6.58571058e-02 1.71628549e+02] [ 6.58277489e-02 2.05495236e-03 9.97828885e-01 3.21322240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87710568099993 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:216.98, Y:171.63, Z:32.13 [[ 2.06448133e-02 -9.99786871e-01 -6.52051939e-05 2.16982802e+02] [ 9.97616518e-01 2.06042922e-02 -6.58539766e-02 1.71630694e+02] [ 6.58412847e-02 1.29449327e-03 9.97829269e-01 3.21299063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.9071056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:216.99, Y:171.66, Z:32.13 [[ 1.45658193e-02 -9.99893851e-01 3.52115140e-04 2.16989780e+02] [ 9.97723732e-01 1.45110156e-02 -6.58542698e-02 1.71658812e+02] [ 6.58421698e-02 1.31053502e-03 9.97829189e-01 3.21315461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93710568099993 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:217.00, Y:171.68, Z:32.14 [[ 6.26662708e-03 -9.99980304e-01 3.49276563e-04 2.16995576e+02] [ 9.97809803e-01 6.23002329e-03 -6.58542688e-02 1.71684819e+02] [ 6.58507957e-02 7.61195723e-04 9.97829190e-01 3.21383155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.9671056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:217.00, Y:171.71, Z:32.14 [[ 2.66724904e-03 -9.99996370e-01 3.81795747e-04 2.16998057e+02] [ 9.97825769e-01 2.63631652e-03 -6.58542711e-02 1.71710395e+02] [ 6.58530255e-02 5.56615377e-04 9.97829178e-01 3.21431184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99710568099994 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:217.01, Y:171.75, Z:32.14 [[ 7.46536563e-03 -9.99971981e-01 5.52046744e-04 2.17008279e+02] [ 9.97801715e-01 7.41280768e-03 -6.58542866e-02 1.71749322e+02] [ 6.58483492e-02 1.04245952e-03 9.97829098e-01 3.21359296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0271056809999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:217.00, Y:171.73, Z:32.14 [[-3.51131845e-02 -9.99383320e-01 2.10683095e-04 2.17001468e+02] [ 9.97213068e-01 -3.50508171e-02 -6.58599792e-02 1.71732828e+02] [ 6.58267493e-02 -2.10245766e-03 9.97828852e-01 3.21445731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05710568099994 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:217.00, Y:171.73, Z:32.15 [[-4.35563331e-02 -9.99049884e-01 1.47504874e-03 2.17004765e+02] [ 9.96879182e-01 -4.35589006e-02 -6.58370587e-02 1.71734760e+02] [ 6.58387573e-02 -1.39717548e-03 9.97829297e-01 3.21462058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0871056809999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:217.00, Y:171.75, Z:32.15 [[-4.83143632e-02 -9.98830971e-01 1.55362209e-03 2.17004879e+02] [ 9.96660248e-01 -4.83117666e-02 -6.58355778e-02 1.71747821e+02] [ 6.58336724e-02 -1.63237064e-03 9.97829275e-01 3.21462807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11710568099994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:217.00, Y:171.74, Z:32.14 [[-5.81846306e-02 -9.98304529e-01 1.61746212e-03 2.17004606e+02] [ 9.96133876e-01 -5.81647828e-02 -6.58343337e-02 1.71739572e+02] [ 6.58167928e-02 -2.21933757e-03 9.97829256e-01 3.21420011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:217.00, Y:171.74, Z:32.14 [[-6.19788985e-02 -9.98075961e-01 1.72964589e-03 2.17003355e+02] [ 9.95905277e-01 -6.19581882e-02 -6.58320757e-02 1.71741270e+02] [ 6.58125780e-02 -2.35763607e-03 9.97829217e-01 3.21440441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:217.00, Y:171.72, Z:32.15 [[-7.16864172e-02 -9.97425792e-01 1.68762103e-03 2.17001250e+02] [ 9.95255482e-01 -7.16418217e-02 -6.58329370e-02 1.71722308e+02] [ 6.57843735e-02 -3.03971331e-03 9.97829232e-01 3.21457189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2071056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.00, Y:171.71, Z:32.15 [[-7.60708254e-02 -9.97100788e-01 1.80242761e-03 2.17000396e+02] [ 9.94930480e-01 -7.60242479e-02 -6.58304980e-02 1.71712140e+02] [ 6.57766696e-02 -3.21449015e-03 9.97829192e-01 3.21475342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.00, Y:171.70, Z:32.15 [[-7.90588112e-02 -9.96868314e-01 1.80803281e-03 2.16997385e+02] [ 9.94698144e-01 -7.90060985e-02 -6.58303771e-02 1.71703502e+02] [ 6.57670627e-02 -3.40602448e-03 9.97829190e-01 3.21515112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2671056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.99, Y:171.71, Z:32.15 [[-7.91249834e-02 -9.96863268e-01 1.69161098e-03 2.16993887e+02] [ 9.94693338e-01 -7.90644616e-02 -6.58329211e-02 1.71709103e+02] [ 6.57601672e-02 -3.52639461e-03 9.97829226e-01 3.21520233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:171.72, Z:32.15 [[-7.80291001e-02 -9.96949708e-01 1.65492758e-03 2.16984948e+02] [ 9.94779787e-01 -7.79685485e-02 -6.58337303e-02 1.71718119e+02] [ 6.57619506e-02 -3.49065822e-03 9.97829234e-01 3.21467789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3271056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:171.71, Z:32.15 [[-7.55260015e-02 -9.97142281e-01 1.75891731e-03 2.16980238e+02] [ 9.94972030e-01 -7.54777451e-02 -6.58313778e-02 1.71714815e+02] [ 6.57760093e-02 -3.22190721e-03 9.97829212e-01 3.21466383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.97, Y:171.72, Z:32.15 [[-6.58642485e-02 -9.97826991e-01 1.78813891e-03 2.16968946e+02] [ 9.95656343e-01 -6.58389399e-02 -6.58306969e-02 1.71724301e+02] [ 6.58053753e-02 -2.55551753e-03 9.97829205e-01 3.21491924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:171.74, Z:32.15 [[-5.19573221e-02 -9.98647512e-01 1.89322423e-03 2.16956174e+02] [ 9.96476720e-01 -5.19691771e-02 -6.58281972e-02 1.71737256e+02] [ 6.58375546e-02 -1.53370297e-03 9.97829176e-01 3.21510449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4171056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.95, Y:171.74, Z:32.15 [[-4.40147956e-02 -9.99028965e-01 1.95590954e-03 2.16950528e+02] [ 9.96858375e-01 -4.40480409e-02 -6.58266681e-02 1.71735546e+02] [ 6.58489020e-02 -9.47582538e-04 9.97829156e-01 3.21517331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4471056809999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:216.94, Y:171.87, Z:32.16 [[-3.33432694e-02 -9.99442183e-01 1.88383066e-03 2.16935528e+02] [ 9.97271981e-01 -3.33949461e-02 -6.58283654e-02 1.71867535e+02] [ 6.58545557e-02 -3.16241386e-04 9.97829183e-01 3.21600700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4771056809999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:216.94, Y:171.75, Z:32.15 [[-2.61204310e-02 -9.99656712e-01 2.04495346e-03 2.16936198e+02] [ 9.97487231e-01 -2.61983981e-02 -6.58245305e-02 1.71754606e+02] [ 6.58555082e-02 3.20449857e-04 9.97829118e-01 3.21498032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.5071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:171.77, Z:32.15 [[-2.15818171e-02 -9.99765150e-01 1.96702142e-03 2.16930171e+02] [ 9.97595878e-01 -2.16645016e-02 -6.58263858e-02 1.71770217e+02] [ 6.58535410e-02 5.41639448e-04 9.97829153e-01 3.21487004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.5371056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.93, Y:171.75, Z:32.15 [[-2.09070988e-02 -9.99779417e-01 2.00285013e-03 2.16928246e+02] [ 9.97610278e-01 -2.09936062e-02 -6.58255425e-02 1.71751555e+02] [ 6.58530695e-02 6.21842754e-04 9.97829137e-01 3.21491022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.56710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.93, Y:171.77, Z:32.15 [[-1.92505884e-02 -9.99812731e-01 1.97927470e-03 2.16926852e+02] [ 9.97643686e-01 -1.93391375e-02 -6.58260801e-02 1.71766832e+02] [ 6.58520303e-02 7.07420136e-04 9.97829149e-01 3.21486728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.5971056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:216.93, Y:171.77, Z:32.14 [[-2.10648856e-02 -9.99776392e-01 1.85386666e-03 2.16929216e+02] [ 9.97606943e-01 -2.11412413e-02 -6.58288379e-02 1.71765911e+02] [ 6.58533111e-02 4.62753314e-04 9.97829207e-01 3.21439184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.62710568099993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.93, Y:171.76, Z:32.14 [[-2.05676288e-02 -9.99786670e-01 1.89416809e-03 2.16928646e+02] [ 9.97617337e-01 -2.06477171e-02 -6.58279628e-02 1.71764912e+02] [ 6.58530299e-02 5.35729821e-04 9.97829190e-01 3.21418300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.6571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.93, Y:171.77, Z:32.14 [[-1.86371680e-02 -9.99824533e-01 1.88658869e-03 2.16926815e+02] [ 9.97655343e-01 -1.87209458e-02 -6.58281254e-02 1.71771056e+02] [ 6.58518935e-02 6.55315458e-04 9.97829193e-01 3.21441742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68710568099993 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:216.91, Y:171.78, Z:32.12 [[-2.47034530e-02 -9.99693150e-01 1.82928758e-03 2.16914777e+02] [ 9.97523401e-01 -2.47702939e-02 -6.58293082e-02 1.71783396e+02] [ 6.58544204e-02 1.98545945e-04 9.97829222e-01 3.21176515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7171056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.93, Y:171.77, Z:32.14 [[-1.67859377e-02 -9.99858250e-01 1.30862357e-03 2.16929298e+02] [ 9.97688177e-01 -1.68356773e-02 -6.58396658e-02 1.71774507e+02] [ 6.58523646e-02 2.00417743e-04 9.97829357e-01 3.21419113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.93, Y:172.00, Z:32.16 [[-2.58663391e-02 -9.99664114e-01 1.61001249e-03 2.16927546e+02] [ 9.97493965e-01 -2.59162159e-02 -6.58341820e-02 1.71996250e+02] [ 6.58537947e-02 -9.69115369e-05 9.97829278e-01 3.21615584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7771056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.94, Y:171.76, Z:32.15 [[-2.95731621e-02 -9.99560998e-01 1.79997383e-03 2.16935328e+02] [ 9.97390869e-01 -2.96275017e-02 -6.58305890e-02 1.71763857e+02] [ 6.58550180e-02 -1.51541221e-04 9.97829191e-01 3.21481991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.80710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:171.76, Z:32.15 [[-4.25921449e-02 -9.99090967e-01 1.77451548e-03 2.16939283e+02] [ 9.96920307e-01 -4.26165323e-02 -6.58310896e-02 1.71763076e+02] [ 6.58468707e-02 -1.03483679e-03 9.97829203e-01 3.21526709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:171.75, Z:32.15 [[-5.09844760e-02 -9.98698037e-01 1.67758874e-03 2.16940337e+02] [ 9.96527286e-01 -5.09842417e-02 -6.58329397e-02 1.71745444e+02] [ 6.58327582e-02 -1.68469498e-03 9.97829249e-01 3.21516946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.86710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:171.74, Z:32.15 [[-6.38582501e-02 -9.97957600e-01 1.65922432e-03 2.16944590e+02] [ 9.95787056e-01 -6.38288150e-02 -6.58332797e-02 1.71735809e+02] [ 6.58047282e-02 -2.55176394e-03 9.97829257e-01 3.21493364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:171.74, Z:32.15 [[-6.35395997e-02 -9.97978055e-01 1.58750186e-03 2.16944597e+02] [ 9.95807603e-01 -6.35061348e-02 -6.58345570e-02 1.71738326e+02] [ 6.58022592e-02 -2.60225498e-03 9.97829290e-01 3.21494992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.92710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:171.75, Z:32.14 [[-2.91083856e-02 -9.99575038e-01 1.56351520e-03 2.16955944e+02] [ 9.97404702e-01 -2.91481615e-02 -6.58349772e-02 1.71746543e+02] [ 6.58525734e-02 -3.56892483e-04 9.97829300e-01 3.21414603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9571056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.95, Y:171.76, Z:32.15 [[-4.33894647e-02 -9.99052801e-01 -3.29463619e-03 2.16953924e+02] [ 9.96902449e-01 -4.30790796e-02 -6.58004528e-02 1.71756754e+02] [ 6.55961968e-02 -6.13947731e-03 9.97827363e-01 3.21473862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.98710568099995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.95, Y:171.78, Z:32.15 [[-4.43860487e-02 -9.99014397e-01 3.38036905e-04 2.16951635e+02] [ 9.96847228e-01 -4.43120327e-02 -6.58182990e-02 1.71782859e+02] [ 6.57684074e-02 -2.58444307e-03 9.97831568e-01 3.21469060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0171056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.95, Y:171.81, Z:32.15 [[-4.45120800e-02 -9.99008700e-01 5.40593927e-04 2.16947299e+02] [ 9.96840977e-01 -4.44511111e-02 -6.58191867e-02 1.71810062e+02] [ 6.57779701e-02 -2.39086272e-03 9.97831420e-01 3.21485264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.04710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.95, Y:171.84, Z:32.15 [[-4.26163547e-02 -9.99091434e-01 3.90062009e-04 2.16945881e+02] [ 9.96923995e-01 -4.25495990e-02 -6.58185399e-02 1.71837462e+02] [ 6.57753364e-02 -2.41608407e-03 9.97831533e-01 3.21496776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0771056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:171.87, Z:32.15 [[-4.49036992e-02 -9.98991249e-01 3.78280002e-04 2.16943029e+02] [ 9.96824001e-01 -4.48312065e-02 -6.58184860e-02 1.71866259e+02] [ 6.57690503e-02 -2.57841491e-03 9.97831541e-01 3.21542132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:171.89, Z:32.16 [[-4.48765968e-02 -9.98992538e-01 -2.15514108e-05 2.16940897e+02] [ 9.96826516e-01 -4.47778752e-02 -6.58167145e-02 1.71893552e+02] [ 6.57494416e-02 -2.97511318e-03 9.97831729e-01 3.21595686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1371056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.93, Y:171.92, Z:32.17 [[-3.88580970e-02 -9.99244737e-01 -6.08761447e-05 2.16934843e+02] [ 9.97078273e-01 -3.87698390e-02 -6.58165458e-02 1.71917045e+02] [ 6.57644769e-02 -2.61820400e-03 9.97831739e-01 3.21679789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1671056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.93, Y:171.95, Z:32.18 [[-3.62405820e-02 -9.99342953e-01 5.32107170e-04 2.16929992e+02] [ 9.97174845e-01 -3.61970024e-02 -6.58187379e-02 1.71946365e+02] [ 6.57947526e-02 -1.85470548e-03 9.97831454e-01 3.21750421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1971056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.92, Y:171.97, Z:32.18 [[-2.05638203e-02 -9.99788541e-01 -4.07690636e-05 2.16920246e+02] [ 9.97620790e-01 -2.05165498e-02 -6.58166437e-02 1.71971958e+02] [ 6.58018898e-02 -1.39411370e-03 9.97831733e-01 3.21789392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.2271056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.91, Y:172.00, Z:32.18 [[-1.12873007e-03 -9.99999356e-01 1.19541126e-04 2.16908922e+02] [ 9.97831057e-01 -1.13415050e-03 -6.58171383e-02 1.71997942e+02] [ 6.58172315e-02 4.49920651e-05 9.97831694e-01 3.21776705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.2571056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:172.02, Z:32.18 [[ 7.67809283e-03 -9.99970492e-01 2.48988648e-04 2.16903529e+02] [ 9.97802392e-01 7.64505718e-03 -6.58174781e-02 1.72024724e+02] [ 6.58136324e-02 7.53794176e-04 9.97831648e-01 3.21782702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.2871056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.90, Y:172.05, Z:32.17 [[ 2.09842121e-02 -9.99779727e-01 3.99599633e-04 2.16898086e+02] [ 9.97612494e-01 2.09124179e-02 -6.58177925e-02 1.72052377e+02] [ 6.57949381e-02 1.77978011e-03 9.97831578e-01 3.21716641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:172.08, Z:32.17 [[ 2.56453027e-02 -9.99671092e-01 1.59199921e-04 2.16897472e+02] [ 9.97503791e-01 2.55792218e-02 -6.58171035e-02 1.72080911e+02] [ 6.57913836e-02 1.84670207e-03 9.97831691e-01 3.21710887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.3471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:172.11, Z:32.17 [[ 2.96075506e-02 -9.99561593e-01 1.18969502e-04 2.16896387e+02] [ 9.97394493e-01 2.95355263e-02 -6.58170058e-02 1.72107014e+02] [ 6.57846373e-02 2.06733985e-03 9.97831703e-01 3.21705804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37710568099993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.90, Y:172.13, Z:32.17 [[ 3.28393119e-02 -9.99460560e-01 4.09794303e-04 2.16898986e+02] [ 9.97294391e-01 3.27411519e-02 -6.58172798e-02 1.72129049e+02] [ 6.57683582e-02 2.57007974e-03 9.97831608e-01 3.21709005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.4071056809999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:216.90, Y:172.16, Z:32.17 [[ 3.06617759e-02 -9.99529303e-01 1.01384135e-03 2.16900513e+02] [ 9.97364527e-01 3.05286084e-02 -6.58179606e-02 1.72158635e+02] [ 6.57560291e-02 3.02926496e-03 9.97831132e-01 3.21730543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43710568099993 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.91, Y:172.19, Z:32.18 [[ 2.88123427e-02 -9.99584807e-01 2.50763518e-04 2.16908483e+02] [ 9.97417966e-01 2.87333738e-02 -6.58163738e-02 1.72185457e+02] [ 6.57818420e-02 2.14643996e-03 9.97831720e-01 3.21764613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.4671056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.92, Y:172.21, Z:32.18 [[ 2.08462496e-02 -9.99782583e-01 4.68792939e-04 2.16915257e+02] [ 9.97615535e-01 2.07702038e-02 -6.58167410e-02 1.72212926e+02] [ 6.57926944e-02 1.83970733e-03 9.97831618e-01 3.21812796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.92, Y:172.24, Z:32.18 [[ 1.68353564e-02 -9.99858265e-01 1.45874032e-04 2.16919578e+02] [ 9.97690507e-01 1.67892541e-02 -6.58162079e-02 1.72239525e+02] [ 6.58044303e-02 1.25357646e-03 9.97831752e-01 3.21827941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5271056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.94, Y:172.27, Z:32.16 [[ 2.30110506e-02 -9.99735157e-01 3.27671611e-04 2.16942345e+02] [ 9.97568027e-01 2.29395975e-02 -6.58164631e-02 1.72272837e+02] [ 6.57915154e-02 1.84138068e-03 9.97831692e-01 3.21582702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55710568099994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:172.30, Z:32.18 [[ 2.97390353e-03 -9.99995449e-01 -5.08704287e-04 2.16931746e+02] [ 9.97827312e-01 3.00093634e-03 -6.58152751e-02 1.72296128e+02] [ 6.58165022e-02 -3.11870752e-04 9.97831695e-01 3.21837524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5871056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:172.32, Z:32.18 [[-8.74080324e-04 -9.99999613e-01 1.02447714e-04 2.16941311e+02] [ 9.97831408e-01 -8.78927807e-04 -6.58157238e-02 1.72323708e+02] [ 6.58157884e-02 4.46973176e-05 9.97831789e-01 3.21841364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61710568099994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.93, Y:172.35, Z:32.16 [[-1.69484268e-02 -9.99856358e-01 1.22440072e-04 2.16933702e+02] [ 9.97688334e-01 -1.69197365e-02 -6.58157317e-02 1.72353948e+02] [ 6.58083494e-02 -9.93316077e-04 9.97831787e-01 3.21618228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6471056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.95, Y:172.38, Z:32.19 [[-8.98224403e-03 -9.99959659e-01 -6.04935208e-06 2.16950936e+02] [ 9.97791545e-01 -8.96237055e-03 -6.58157204e-02 1.72379031e+02] [ 6.58130111e-02 -5.97208854e-04 9.97831795e-01 3.21894986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67710568099994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.95, Y:172.32, Z:32.18 [[-9.06515762e-03 -9.99958910e-01 3.59474507e-05 2.16954687e+02] [ 9.97790776e-01 -9.04786834e-03 -6.58156712e-02 1.72323132e+02] [ 6.58132920e-02 -5.60761398e-04 9.97831798e-01 3.21845674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7071056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.96, Y:172.33, Z:32.18 [[-1.81571842e-02 -9.99835121e-01 -2.20021034e-04 2.16956122e+02] [ 9.97667579e-01 -1.81033381e-02 -6.58154287e-02 1.72334053e+02] [ 6.58005940e-02 -1.41453071e-03 9.97831790e-01 3.21800737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73710568099995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:172.38, Z:32.19 [[-7.47016741e-03 -9.99967310e-01 3.09447179e-03 2.16963341e+02] [ 9.97801964e-01 -7.65768387e-03 -6.58224894e-02 1.72375506e+02] [ 6.58440342e-02 2.59596502e-03 9.97826550e-01 3.21909667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7671056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.97, Y:172.40, Z:32.19 [[-2.87024092e-03 -9.99995796e-01 -4.11182568e-04 2.16967997e+02] [ 9.97828205e-01 -2.83695974e-03 -6.58090116e-02 1.72401332e+02] [ 6.58075685e-02 -5.99177281e-04 9.97832153e-01 3.21922426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79710568099995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.97, Y:172.43, Z:32.19 [[-7.13930361e-04 -9.99999692e-01 -3.27547789e-04 2.16968373e+02] [ 9.97831978e-01 -6.90827057e-04 -6.58093170e-02 1.72428821e+02] [ 6.58090705e-02 -3.73820928e-04 9.97832164e-01 3.21937405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8271056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.97, Y:172.46, Z:32.19 [[ 7.50020880e-03 -9.99971823e-01 -3.16130940e-04 2.16969603e+02] [ 9.97803993e-01 7.50475412e-03 -6.58093539e-02 1.72455719e+02] [ 6.58098721e-02 1.78147181e-04 9.97832165e-01 3.21932902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8571056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.97, Y:172.48, Z:32.20 [[ 1.65960016e-02 -9.99862253e-01 -2.19481577e-04 2.16968559e+02] [ 9.97694532e-01 1.65744671e-02 -6.58096352e-02 1.72481542e+02] [ 6.58042079e-02 8.73201241e-04 9.97832172e-01 3.21970771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8871056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.97, Y:172.51, Z:32.20 [[ 2.02460615e-02 -9.99795019e-01 -1.26899590e-04 2.16968448e+02] [ 9.97627483e-01 2.02105214e-02 -6.58098719e-02 1.72507645e+02] [ 6.57989468e-02 1.20579220e-03 9.97832173e-01 3.21994020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9171056809999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:216.97, Y:172.53, Z:32.20 [[ 2.33129484e-02 -9.99728214e-01 -6.55144183e-05 2.16969398e+02] [ 9.97560877e-01 2.32667204e-02 -6.58100032e-02 1.72533447e+02] [ 6.57936413e-02 1.46887059e-03 9.97832170e-01 3.22005339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9471056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.97, Y:172.56, Z:32.20 [[ 2.49835176e-02 -9.99687862e-01 -4.86097645e-05 2.16972437e+02] [ 9.97520630e-01 2.49325556e-02 -6.58100340e-02 1.72560370e+02] [ 6.57907042e-02 1.59567690e-03 9.97832169e-01 3.21993003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9771056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.98, Y:172.59, Z:32.20 [[ 2.61241759e-02 -9.99658705e-01 -3.30804960e-05 2.16975451e+02] [ 9.97491557e-01 2.60697194e-02 -6.58100556e-02 1.72586994e+02] [ 6.57884573e-02 1.68623595e-03 9.97832168e-01 3.21992854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.0071056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:172.61, Z:32.20 [[ 2.49292659e-02 -9.99689216e-01 4.85148730e-05 2.16979509e+02] [ 9.97522133e-01 2.48720315e-02 -6.58101514e-02 1.72611606e+02] [ 6.57884920e-02 1.68899342e-03 9.97832161e-01 3.22028994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.0371056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:172.64, Z:32.21 [[ 2.39736896e-02 -9.99712565e-01 2.21888534e-04 2.16982601e+02] [ 9.97545715e-01 2.39071205e-02 -6.58103099e-02 1.72640067e+02] [ 6.57860890e-02 1.79905990e-03 9.97832127e-01 3.22059454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.06710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.99, Y:172.67, Z:32.21 [[ 2.35835937e-02 -9.99721868e-01 -1.70320896e-05 2.16990485e+02] [ 9.97554608e-01 2.35335889e-02 -6.58101378e-02 1.72666479e+02] [ 6.57922347e-02 1.53504911e-03 9.97832163e-01 3.22096231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.0971056809999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.00, Y:172.69, Z:32.21 [[ 2.29911955e-02 -9.99735655e-01 1.55474111e-04 2.16995803e+02] [ 9.97568634e-01 2.29311255e-02 -6.58102095e-02 1.72694843e+02] [ 6.57892477e-02 1.66815149e-03 9.97832146e-01 3.22107279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.12710568099993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.00, Y:172.72, Z:32.21 [[ 2.31879101e-02 -9.99731124e-01 3.66950395e-05 2.16998605e+02] [ 9.97563922e-01 2.31352281e-02 -6.58101988e-02 1.72720472e+02] [ 6.57916551e-02 1.56260662e-03 9.97832158e-01 3.22128509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.1571056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:217.01, Y:172.72, Z:32.21 [[ 2.36296426e-02 -9.99720781e-01 1.00188485e-06 2.17005318e+02] [ 9.97553548e-01 2.35783514e-02 -6.58101807e-02 1.72716410e+02] [ 6.57917816e-02 1.55607048e-03 9.97832160e-01 3.22147716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18710568099993 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:217.01, Y:172.74, Z:32.21 [[ 2.28061809e-02 -9.99739904e-01 -5.22107565e-05 2.17008367e+02] [ 9.97572553e-01 2.27601759e-02 -6.58101567e-02 1.72742203e+02] [ 6.57942281e-02 1.44879432e-03 9.97832161e-01 3.22141184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2171056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:217.01, Y:172.77, Z:32.21 [[ 1.91947159e-02 -9.99815761e-01 7.84491644e-05 2.17013922e+02] [ 9.97648424e-01 1.91479431e-02 -6.58101659e-02 1.72770267e+02] [ 6.57965390e-02 1.34147212e-03 9.97832158e-01 3.22107078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24710568099994 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:217.00, Y:172.78, Z:32.19 [[-2.06997800e-03 -9.99997858e-01 9.67535844e-06 2.17003515e+02] [ 9.97830022e-01 -2.06612735e-03 -6.58101728e-02 1.72780737e+02] [ 6.58100518e-02 -1.26571246e-04 9.97832161e-01 3.21874810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2771056809999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:217.02, Y:172.78, Z:32.21 [[ 5.11686760e-03 -9.99986907e-01 5.29294746e-05 2.17021883e+02] [ 9.97819118e-01 5.10229183e-03 -6.58101381e-02 1.72783212e+02] [ 6.58090064e-02 3.89555806e-04 9.97832162e-01 3.22091102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.30710568099994 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:217.02, Y:172.78, Z:32.21 [[-1.11777920e-03 -9.99999368e-01 1.19663081e-04 2.17024502e+02] [ 9.97831538e-01 -1.12323108e-03 -6.58100385e-02 1.72784003e+02] [ 6.58101314e-02 4.58425043e-05 9.97832163e-01 3.22110608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3371056809999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:217.03, Y:172.78, Z:32.22 [[-1.01024934e-02 -9.99948953e-01 1.73412527e-04 2.17027791e+02] [ 9.97781141e-01 -1.00920048e-02 -6.58099201e-02 1.72782121e+02] [ 6.58083108e-02 -4.91816536e-04 9.97832162e-01 3.22169049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.36710568099994 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:217.03, Y:172.79, Z:32.22 [[-1.36882501e-02 -9.99906299e-01 1.61061611e-04 2.17028938e+02] [ 9.97738545e-01 -1.36691750e-02 -6.58099504e-02 1.72789440e+02] [ 6.58059855e-02 -7.40125682e-04 9.97832163e-01 3.22185018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3971056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:217.03, Y:172.79, Z:32.22 [[-2.39584258e-02 -9.99712948e-01 1.27521940e-04 2.17030221e+02] [ 9.97545546e-01 -2.39148780e-02 -6.58100421e-02 1.72792424e+02] [ 6.57942009e-02 -1.44949607e-03 9.97832161e-01 3.22191107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.42710568099994 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:217.03, Y:172.79, Z:32.22 [[-3.12026737e-02 -9.99513065e-01 1.59093277e-04 2.17030636e+02] [ 9.97345984e-01 -3.11454971e-02 -6.58099281e-02 1.72789945e+02] [ 6.57828380e-02 -1.89477467e-03 9.97832164e-01 3.22168817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4571056809999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:217.03, Y:172.77, Z:32.21 [[-4.25962358e-02 -9.99092343e-01 2.25887527e-04 2.17030844e+02] [ 9.96925899e-01 -4.25187487e-02 -6.58096404e-02 1.72773042e+02] [ 6.57595123e-02 -2.57804984e-03 9.97832170e-01 3.22114139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.48710568099995 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:217.03, Y:172.77, Z:32.21 [[-4.97477752e-02 -9.98761779e-01 2.58366579e-04 2.17029410e+02] [ 9.96595858e-01 -4.96569159e-02 -6.58094770e-02 1.72767415e+02] [ 6.57408200e-02 -3.01638801e-03 9.97832173e-01 3.22098609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5171056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:217.03, Y:172.76, Z:32.21 [[-5.33871796e-02 -9.98573847e-01 2.85958285e-04 2.17028220e+02] [ 9.96408191e-01 -5.32902419e-02 -6.58093181e-02 1.72760994e+02] [ 6.57307027e-02 -3.22844271e-03 9.97832176e-01 3.22088731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.54710568099995 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:217.03, Y:172.76, Z:32.21 [[-5.50166501e-02 -9.98485370e-01 3.66103071e-04 2.17026783e+02] [ 9.96319646e-01 -5.49214478e-02 -6.58087943e-02 1.72761202e+02] [ 6.57292253e-02 -3.25582373e-03 9.97832185e-01 3.22088293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5771056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:217.02, Y:172.75, Z:32.21 [[-5.47553011e-02 -9.98499721e-01 4.04149502e-04 2.17021603e+02] [ 9.96333868e-01 -5.46631674e-02 -6.58085185e-02 1.72751788e+02] [ 6.57318795e-02 -3.20069740e-03 9.97832188e-01 3.22069247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6071056809999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:217.02, Y:172.74, Z:32.21 [[-5.44453406e-02 -9.98516658e-01 4.34883143e-04 2.17018277e+02] [ 9.96350695e-01 -5.43559002e-02 -6.58082738e-02 1.72744992e+02] [ 6.57342961e-02 -3.14965776e-03 9.97832191e-01 3.22058368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6371056809999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:217.01, Y:172.74, Z:32.20 [[-4.91481324e-02 -9.98791356e-01 5.36107611e-04 2.17010214e+02] [ 9.96624729e-01 -4.90768404e-02 -6.58073941e-02 1.72744911e+02] [ 6.57541669e-02 -2.70001242e-03 9.97832200e-01 3.22039782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6671056809999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:217.00, Y:172.75, Z:32.21 [[-4.60881358e-02 -9.98937244e-01 5.15699148e-04 2.17002293e+02] [ 9.96770448e-01 -4.60221390e-02 -6.58075768e-02 1.72754789e+02] [ 6.57613730e-02 -2.51891487e-03 9.97832199e-01 3.22059504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6971056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:217.00, Y:172.74, Z:32.21 [[-4.60469929e-02 -9.98939086e-01 6.14778839e-04 2.16998290e+02] [ 9.96772105e-01 -4.59876035e-02 -6.58066161e-02 1.72740011e+02] [ 6.57650731e-02 -2.41740238e-03 9.97832206e-01 3.22086857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.7271056809999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:216.99, Y:172.73, Z:32.22 [[-4.78057038e-02 -9.98856432e-01 6.65197557e-04 2.16988035e+02] [ 9.96689468e-01 -4.77458161e-02 -6.58060919e-02 1.72728371e+02] [ 6.57625986e-02 -2.48291114e-03 9.97832208e-01 3.22158784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.7571056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.98, Y:172.73, Z:32.22 [[-5.12884415e-02 -9.98683665e-01 6.57580403e-04 2.16983471e+02] [ 9.96516938e-01 -5.12204969e-02 -6.58061728e-02 1.72729002e+02] [ 6.57532315e-02 -2.71980604e-03 9.97832208e-01 3.22183408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.7871056809999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.98, Y:172.73, Z:32.22 [[-5.20803155e-02 -9.98642630e-01 7.33300372e-04 2.16983554e+02] [ 9.96475807e-01 -5.20156339e-02 -6.58053193e-02 1.72726489e+02] [ 6.57541403e-02 -2.69644571e-03 9.97832211e-01 3.22181756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81710568099993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.98, Y:172.73, Z:32.22 [[-5.68432906e-02 -9.98382804e-01 7.85630156e-04 2.16977872e+02] [ 9.96216199e-01 -5.67717161e-02 -6.58046878e-02 1.72727183e+02] [ 6.57428703e-02 -2.95789751e-03 9.97832213e-01 3.22167099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.8471056809999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.98, Y:172.71, Z:32.21 [[-5.88171499e-02 -9.98268431e-01 8.25997588e-04 2.16975135e+02] [ 9.96101882e-01 -5.87439470e-02 -6.58041723e-02 1.72711929e+02] [ 6.57387502e-02 -3.04763611e-03 9.97832215e-01 3.22132887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87710568099993 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:216.97, Y:172.72, Z:32.21 [[-5.99533625e-02 -9.98200865e-01 7.92608999e-04 2.16966034e+02] [ 9.96034477e-01 -5.98754975e-02 -6.58046036e-02 1.72719214e+02] [ 6.57336701e-02 -3.15574137e-03 9.97832213e-01 3.22119301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.9071056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:216.96, Y:172.72, Z:32.21 [[-5.95326407e-02 -9.98226051e-01 7.84928396e-04 2.16959662e+02] [ 9.96059648e-01 -5.94551836e-02 -6.58047047e-02 1.72722650e+02] [ 6.57346385e-02 -3.13569234e-03 9.97832213e-01 3.22110934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93710568099993 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:216.95, Y:172.72, Z:32.21 [[-5.74122343e-02 -9.98350258e-01 7.73121262e-04 2.16946406e+02] [ 9.96183721e-01 -5.73386022e-02 -6.58048603e-02 1.72724374e+02] [ 6.57406290e-02 -3.00783324e-03 9.97832212e-01 3.22103266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.9671056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.94, Y:172.73, Z:32.21 [[-5.53051399e-02 -9.98469186e-01 7.91070203e-04 2.16940616e+02] [ 9.96302462e-01 -5.52372611e-02 -6.58046280e-02 1.72731306e+02] [ 6.57475899e-02 -2.85118897e-03 9.97832213e-01 3.22133532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.93, Y:172.74, Z:32.22 [[-5.20500469e-02 -9.98644172e-01 7.80752363e-04 2.16929463e+02] [ 9.96477257e-01 -5.19885527e-02 -6.58047590e-02 1.72740592e+02] [ 6.57561293e-02 -2.64713882e-03 9.97832212e-01 3.22181099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0271056809999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.92, Y:172.73, Z:32.22 [[-5.02854622e-02 -9.98734541e-01 8.29553620e-04 2.16923858e+02] [ 9.96567438e-01 -5.02310076e-02 -6.58041536e-02 1.72731783e+02] [ 6.57625505e-02 -2.48228615e-03 9.97832213e-01 3.22179366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05710568099994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.91, Y:172.73, Z:32.21 [[-4.47182621e-02 -9.98999250e-01 8.80258912e-04 2.16909219e+02] [ 9.96831812e-01 -4.46792231e-02 -6.58035387e-02 1.72729354e+02] [ 6.57770151e-02 -2.06514980e-03 9.97832210e-01 3.22149422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0871056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:216.90, Y:172.75, Z:32.21 [[-3.67755757e-02 -9.99323207e-01 8.27982329e-04 2.16896795e+02] [ 9.97155569e-01 -3.67503272e-02 -6.58041387e-02 1.72749118e+02] [ 6.57900316e-02 -1.59435790e-03 9.97832215e-01 3.22134240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11710568099994 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:216.89, Y:172.75, Z:32.22 [[-3.40013935e-02 -9.99421490e-01 7.69014503e-04 2.16890719e+02] [ 9.97253834e-01 -3.39782816e-02 -6.58047675e-02 1.72749361e+02] [ 6.57928286e-02 -1.47055113e-03 9.97832221e-01 3.22152830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1471056809999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:216.88, Y:173.04, Z:32.24 [[-3.79995131e-02 -9.99277530e-01 6.74782650e-04 2.16878857e+02] [ 9.97110092e-01 -3.79615286e-02 -6.58056818e-02 1.73039116e+02] [ 6.57837549e-02 -1.82775127e-03 9.97832229e-01 3.22409707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17710568099994 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:216.87, Y:172.73, Z:32.22 [[-2.66474646e-02 -9.99644458e-01 9.33083599e-04 2.16869594e+02] [ 9.97476659e-01 -2.66510993e-02 -6.58029941e-02 1.72725363e+02] [ 6.58044661e-02 -8.22753848e-04 9.97832198e-01 3.22230435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2071056809999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:216.86, Y:172.73, Z:32.22 [[-2.17794057e-02 -9.99762508e-01 7.64314218e-04 2.16858501e+02] [ 9.97594748e-01 -2.17824893e-02 -6.58045721e-02 1.72726489e+02] [ 6.58055928e-02 -6.70708625e-04 9.97832237e-01 3.22211863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23710568099995 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:216.85, Y:172.70, Z:32.22 [[-2.35814018e-02 -9.99721612e-01 7.85169033e-04 2.16853580e+02] [ 9.97553846e-01 -2.35819505e-02 -6.58043812e-02 1.72702182e+02] [ 6.58045778e-02 -7.68511163e-04 9.97832234e-01 3.22186014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2671056809999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:216.84, Y:173.07, Z:32.24 [[-2.16366595e-02 -9.99765617e-01 7.52803300e-04 2.16844925e+02] [ 9.97597862e-01 -2.16392951e-02 -6.58046114e-02 1.73073967e+02] [ 6.58054780e-02 -6.72797007e-04 9.97832244e-01 3.22425402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2971056809999 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:216.84, Y:172.72, Z:32.21 [[-1.87106200e-02 -9.99824640e-01 7.76302595e-04 2.16838703e+02] [ 9.97656902e-01 -1.87211463e-02 -6.58044400e-02 1.72719570e+02] [ 6.58074338e-02 -4.56758229e-04 9.97832237e-01 3.22096891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3271056809999 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:216.83, Y:172.70, Z:32.21 [[-2.15293151e-02 -9.99767878e-01 8.23439126e-04 2.16828755e+02] [ 9.97600111e-01 -2.15368320e-02 -6.58041261e-02 1.72696871e+02] [ 6.58065858e-02 -5.95254802e-04 9.97832220e-01 3.22050218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3571056809999 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:216.83, Y:172.71, Z:32.21 [[-2.00577701e-02 -9.99798400e-01 9.19042347e-04 2.16825836e+02] [ 9.97630643e-01 -2.00747694e-02 -6.58035174e-02 1.72711403e+02] [ 6.58087010e-02 -4.03007014e-04 9.97832177e-01 3.22071379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3871056809999 meters Centerline goodness : 0.998300 Centerline is valid? [True, True] Translation: X:216.82, Y:172.73, Z:32.21 [[-1.50578937e-02 -9.99886295e-01 8.10179765e-04 2.16823077e+02] [ 9.97718625e-01 -1.50785686e-02 -6.58041214e-02 1.72727931e+02] [ 6.58088555e-02 -1.82540022e-04 9.97832231e-01 3.22114857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4171056809999 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:216.82, Y:172.70, Z:32.21 [[-1.99154604e-02 -9.99801554e-01 4.76102225e-04 2.16819219e+02] [ 9.97633927e-01 -1.99036190e-02 -6.58057292e-02 1.72704219e+02] [ 6.58021465e-02 -8.35575664e-04 9.97832340e-01 3.22127906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4471056809999 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:216.82, Y:172.72, Z:32.21 [[-2.07011248e-02 -9.99785472e-01 6.87836944e-04 2.16816293e+02] [ 9.97617749e-01 -2.07015135e-02 -6.58048168e-02 1.72722059e+02] [ 6.58049391e-02 -6.76035380e-04 9.97832277e-01 3.22135640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4771056809999 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:216.81, Y:172.74, Z:32.21 [[-2.16041122e-02 -9.99766422e-01 6.02809115e-04 2.16813338e+02] [ 9.97598747e-01 -2.15969477e-02 -6.58051114e-02 1.72736196e+02] [ 6.58027596e-02 -8.20299391e-04 9.97832313e-01 3.22137211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.5071056809999 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:216.81, Y:172.73, Z:32.21 [[-2.34471916e-02 -9.99724973e-01 4.55177367e-04 2.16810743e+02] [ 9.97557437e-01 -2.34263164e-02 -6.58055303e-02 1.72726627e+02] [ 6.57980952e-02 -1.08888931e-03 9.97832363e-01 3.22126664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.5371056809999 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:216.81, Y:172.71, Z:32.21 [[-3.04212570e-02 -9.99537082e-01 4.10116618e-04 2.16805278e+02] [ 9.97369809e-01 -3.03822957e-02 -6.58056283e-02 1.72707246e+02] [ 6.57876260e-02 -1.59285199e-03 9.97832376e-01 3.22117443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.56710568099993 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:216.80, Y:172.71, Z:32.21 [[-3.38622157e-02 -9.99426432e-01 3.97613378e-04 2.16802912e+02] [ 9.97259327e-01 -3.38149708e-02 -6.58056463e-02 1.72711995e+02] [ 6.57813476e-02 -1.83180134e-03 9.97832380e-01 3.22140920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.5971056809999 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:216.81, Y:172.74, Z:32.19 [[-2.36777995e-02 -9.99719584e-01 3.40532484e-04 2.16808639e+02] [ 9.97552175e-01 -2.36488809e-02 -6.58056820e-02 1.72736992e+02] [ 6.57952822e-02 -1.21843483e-03 9.97832399e-01 3.21903836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.62710568099993 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:216.79, Y:172.76, Z:32.22 [[-4.42363348e-02 -9.99021094e-01 -1.25185855e-05 2.16794615e+02] [ 9.96855714e-01 -4.41396278e-02 -6.58056189e-02 1.72760194e+02] [ 6.57406489e-02 -2.92347861e-03 9.97832461e-01 3.22168584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.6571056809999 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:216.79, Y:172.79, Z:32.22 [[-5.53174104e-02 -9.98468606e-01 6.53266422e-04 2.16788208e+02] [ 9.96302232e-01 -5.52404428e-02 -6.58054355e-02 1.72789546e+02] [ 6.57407481e-02 -2.98933549e-03 9.97832259e-01 3.22169896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68710568099993 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:216.78, Y:172.79, Z:32.21 [[-5.77273929e-02 -9.98332383e-01 1.99196408e-05 2.16778815e+02] [ 9.96168453e-01 -5.76035792e-02 -6.58045703e-02 1.72789890e+02] [ 6.56959810e-02 -3.77888297e-03 9.97832530e-01 3.22138465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7171056809999 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:216.77, Y:172.82, Z:32.22 [[-5.95440019e-02 -9.98225680e-01 -6.69034376e-05 2.16772261e+02] [ 9.96062329e-01 -5.94105480e-02 -6.58044284e-02 1.72818242e+02] [ 6.56836954e-02 -3.98489900e-03 9.97832537e-01 3.22170080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74710568099994 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:216.76, Y:172.85, Z:32.22 [[-5.83201473e-02 -9.98297913e-01 -1.94854353e-04 2.16760145e+02] [ 9.96134919e-01 -5.81809420e-02 -6.58042658e-02 1.72847602e+02] [ 6.56809243e-02 -4.03181569e-03 9.97832531e-01 3.22175395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7771056809999 meters Centerline goodness : 0.997084 Centerline is valid? [True, True] Translation: X:216.75, Y:172.88, Z:32.22 [[-5.82275853e-02 -9.98303232e-01 -4.52209519e-04 2.16753194e+02] [ 9.96141312e-01 -5.80716801e-02 -6.58039987e-02 1.72875213e+02] [ 6.56660841e-02 -4.28207253e-03 9.97832466e-01 3.22192353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.80710568099994 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:216.75, Y:172.90, Z:32.22 [[-5.83368414e-02 -9.98296832e-01 -4.98157341e-04 2.16745885e+02] [ 9.96135129e-01 -5.81776827e-02 -6.58039655e-02 1.72904093e+02] [ 6.56629087e-02 -4.33502753e-03 9.97832446e-01 3.22207309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8371056809999 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:216.73, Y:172.90, Z:32.22 [[-6.77039700e-02 -9.97705454e-01 2.93610386e-06 2.16731941e+02] [ 9.95543158e-01 -6.75574309e-02 -6.58013297e-02 1.72895220e+02] [ 6.56505439e-02 -4.45208823e-03 9.97832744e-01 3.22188509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.86710568099994 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:216.71, Y:172.92, Z:32.22 [[-4.08897650e-02 -9.99163071e-01 1.08824470e-03 2.16714613e+02] [ 9.96995689e-01 -4.08727284e-02 -6.57952546e-02 1.72915710e+02] [ 6.57846682e-02 -1.60537723e-03 9.97832551e-01 3.22249250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8971056809999 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:216.70, Y:172.95, Z:32.20 [[-3.87885497e-02 -9.99245299e-01 -2.06882450e-03 2.16702333e+02] [ 9.97089176e-01 -3.85686852e-02 -6.57695364e-02 1.72948696e+02] [ 6.56401083e-02 -4.61390745e-03 9.97832695e-01 3.21963536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.92710568099994 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:216.69, Y:172.97, Z:32.22 [[-2.86556225e-02 -9.99585142e-01 -2.89799698e-03 2.16690792e+02] [ 9.97430984e-01 -2.84032099e-02 -6.57623702e-02 1.72965744e+02] [ 6.56527757e-02 -4.77501363e-03 9.97831104e-01 3.22247111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9571056809999 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:216.67, Y:173.00, Z:32.22 [[-2.56343212e-02 -9.99670937e-01 -9.48143564e-04 2.16672508e+02] [ 9.97508150e-01 -2.55164764e-02 -6.57753705e-02 1.73000132e+02] [ 6.57295330e-02 -2.63188791e-03 9.97834005e-01 3.22244249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.98710568099995 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:216.66, Y:173.03, Z:32.23 [[-2.37418182e-02 -9.99714989e-01 -2.50329293e-03 2.16664832e+02] [ 9.97557815e-01 -2.35259142e-02 -6.57642493e-02 1.73026122e+02] [ 6.56866135e-02 -4.05854227e-03 9.97832049e-01 3.22259227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0171056809999 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:216.67, Y:173.06, Z:32.19 [[ 1.90118573e-03 -9.99996234e-01 -1.97904266e-03 2.16672169e+02] [ 9.97832912e-01 2.02723010e-03 -6.57675396e-02 1.73061587e+02] [ 6.57713039e-02 -1.84971759e-03 9.97833009e-01 3.21939872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0471056809999 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:216.64, Y:173.09, Z:32.22 [[-1.61150391e-02 -9.99865396e-01 -3.08149563e-03 2.16641482e+02] [ 9.97709103e-01 -1.58776176e-02 -6.57605240e-02 1.73093629e+02] [ 6.57027455e-02 -4.13416966e-03 9.97830676e-01 3.22243918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0771056809999 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:217.31, Y:173.13, Z:32.63 [[-5.00106565e-02 9.98740817e-01 3.96424686e-03 2.17314676e+02] [ 9.96600616e-01 4.96425179e-02 6.57482476e-02 1.73134650e+02] [ 6.54686633e-02 7.23888389e-03 -9.97828368e-01 3.26272024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1071056809999 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:216.60, Y:173.16, Z:32.24 [[-3.35047217e-03 -9.99989471e-01 3.13561020e-03 2.16603441e+02] [ 9.97834028e-01 -3.54921831e-03 -6.56860365e-02 1.73156088e+02] [ 6.56964739e-02 2.90873932e-03 9.97835414e-01 3.22369448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1371056809999 meters Centerline goodness : 0.996528 Centerline is valid? [True, True] Translation: X:216.59, Y:173.18, Z:32.24 [[ 9.35178506e-04 -9.99996698e-01 -2.39368494e-03 2.16591192e+02] [ 9.97843329e-01 1.09026654e-03 -6.56315698e-02 1.73183349e+02] [ 6.56339629e-02 -2.32714532e-03 9.97841053e-01 3.22403381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1671056809999 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:216.59, Y:173.21, Z:32.25 [[ 3.42324889e-03 -9.99991876e-01 -2.12807571e-03 2.16585812e+02] [ 9.97837424e-01 3.55554905e-03 -6.56340884e-02 1.73209800e+02] [ 6.56411217e-02 -1.89879177e-03 9.97841489e-01 3.22451166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1971056809999 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:216.57, Y:173.24, Z:32.25 [[ 3.80913921e-03 -9.99990691e-01 -2.02670091e-03 2.16574992e+02] [ 9.97835947e-01 3.93395507e-03 -6.56349469e-02 1.73238234e+02] [ 6.56423089e-02 -1.77230238e-03 9.97841644e-01 3.22512514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.2271056809999 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:216.58, Y:173.26, Z:32.23 [[ 1.39657504e-02 -9.99900433e-01 -2.02015850e-03 2.16579172e+02] [ 9.97744523e-01 1.40682448e-02 -6.56349865e-02 1.73259380e+02] [ 6.56568716e-02 -1.09896024e-03 9.97841655e-01 3.22321245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.2571056809999 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:216.57, Y:173.29, Z:32.22 [[ 1.77528888e-02 -9.99842359e-01 -3.04685682e-04 2.16574632e+02] [ 9.97685559e-01 1.77345970e-02 -6.56430456e-02 1.73286927e+02] [ 6.56381010e-02 8.61373182e-04 9.97843123e-01 3.22228402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.2871056809999 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:216.56, Y:173.32, Z:32.25 [[ 3.61205456e-03 -9.99993435e-01 -2.88009222e-04 2.16558178e+02] [ 9.97836587e-01 3.62316981e-03 -6.56431187e-02 1.73322336e+02] [ 6.56437313e-02 -5.02796121e-05 9.97843123e-01 3.22484529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31710568099993 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:216.55, Y:173.35, Z:32.25 [[ 5.13089174e-03 -9.99984524e-01 -2.15067077e-03 2.16548702e+02] [ 9.97829765e-01 5.26099929e-03 -6.56359746e-02 1.73350052e+02] [ 6.56462735e-02 -1.80923223e-03 9.97841317e-01 3.22524326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.3471056809999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:216.54, Y:173.38, Z:32.26 [[ 5.80488479e-03 -9.99980576e-01 -2.26977427e-03 2.16544665e+02] [ 9.97825972e-01 5.94135817e-03 -6.56355801e-02 1.73376172e+02] [ 6.56477907e-02 -1.88383273e-03 9.97841079e-01 3.22565095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37710568099993 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:216.54, Y:173.40, Z:32.26 [[ 5.92907894e-03 -9.99980446e-01 -1.98860094e-03 2.16539040e+02] [ 9.97825291e-01 6.04682758e-03 -6.56362994e-02 1.73403631e+02] [ 6.56470407e-02 -1.59511351e-03 9.97841632e-01 3.22596089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.4071056809999 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:216.53, Y:173.43, Z:32.26 [[ 1.17502074e-03 -9.99997947e-01 -1.65108276e-03 2.16532769e+02] [ 9.97842754e-01 1.28086045e-03 -6.56368567e-02 1.73431845e+02] [ 6.56388367e-02 -1.57039630e-03 9.97842210e-01 3.22639219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43710568099993 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:217.41, Y:173.53, Z:32.63 [[-9.54697129e-02 9.95430966e-01 1.65108276e-03 2.17407168e+02] [ 9.93296089e-01 9.51560920e-02 6.56368567e-02 1.73529153e+02] [ 6.51798490e-02 7.90634591e-03 -9.97842210e-01 3.26302513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.4671056809999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:216.54, Y:173.48, Z:32.26 [[-6.31628994e-02 -9.97984221e-01 6.15983271e-03 2.16540580e+02] [ 9.95867722e-01 -6.34301004e-02 -6.49931039e-02 1.73476684e+02] [ 6.52528109e-02 2.02922569e-03 9.97866701e-01 3.22647041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49710568099994 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:216.54, Y:173.47, Z:32.27 [[-7.40527027e-02 -9.97247818e-01 3.60359890e-03 2.16538853e+02] [ 9.95115272e-01 -7.41299299e-02 -6.51947026e-02 1.73472868e+02] [ 6.52824095e-02 -1.24184763e-03 9.97866056e-01 3.22656188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5271056809999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:217.44, Y:173.49, Z:32.63 [[-1.47288771e-01 9.89086969e-01 -3.60359890e-03 2.17442249e+02] [ 9.86954525e-01 1.47208748e-01 6.51947026e-02 1.73488305e+02] [ 6.50137121e-02 6.04585940e-03 -9.97866056e-01 3.26334694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55710568099994 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:216.50, Y:173.82, Z:32.29 [[-1.43763647e-01 -9.89561221e-01 1.00301838e-02 2.16497618e+02] [ 9.87471037e-01 -1.44111595e-01 -6.42868508e-02 1.73819242e+02] [ 6.50612403e-02 6.62403889e-04 9.97881053e-01 3.22887668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5871056809999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:217.46, Y:173.61, Z:32.64 [[-1.99053908e-01 9.79937211e-01 -1.00301838e-02 2.17455984e+02] [ 9.77830799e-01 1.99284045e-01 6.42868508e-02 1.73612800e+02] [ 6.49959329e-02 2.98872626e-03 -9.97881053e-01 3.26362109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61710568099994 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:216.56, Y:173.50, Z:32.27 [[-2.15489216e-01 -9.76399642e-01 1.44269206e-02 2.16562648e+02] [ 9.74342627e-01 -2.15971233e-01 -6.33472273e-02 1.73499438e+02] [ 6.49680099e-02 4.06119357e-04 9.97887265e-01 3.22728963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6471056809999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:216.57, Y:173.47, Z:32.27 [[-2.17616946e-01 -9.75957155e-01 1.22676945e-02 2.16565736e+02] [ 9.73871246e-01 -2.17953842e-01 -6.38037603e-02 1.73474054e+02] [ 6.49435275e-02 -1.93762457e-03 9.97887060e-01 3.22711655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67710568099994 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:216.49, Y:173.72, Z:32.26 [[-2.23545248e-01 -9.74610769e-01 1.27031553e-02 2.16494422e+02] [ 9.72527948e-01 -2.23897930e-01 -6.37111259e-02 1.73715756e+02] [ 6.49377596e-02 -1.88814589e-03 9.97887530e-01 3.22590584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7071056809999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:216.49, Y:173.72, Z:32.26 [[-2.22711211e-01 -9.74815142e-01 1.16256720e-02 2.16493423e+02] [ 9.72719919e-01 -2.22995150e-01 -6.39462511e-02 1.73721132e+02] [ 6.49282423e-02 -2.93302431e-03 9.97885625e-01 3.22588911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73710568099995 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:217.45, Y:173.80, Z:32.64 [[-2.63366826e-01 9.64625709e-01 -1.16256720e-02 2.17450979e+02] [ 9.62520428e-01 2.63562712e-01 6.39462511e-02 1.73797624e+02] [ 6.47482914e-02 5.65137442e-03 -9.97885625e-01 3.26402343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7671056809999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:216.56, Y:173.56, Z:32.28 [[-2.89318141e-01 -9.57047892e-01 1.88240452e-02 2.16560460e+02] [ 9.55045236e-01 -2.89929864e-01 -6.18811064e-02 1.73564591e+02] [ 6.46808353e-02 7.44880245e-05 9.97906000e-01 3.22789509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7971056809999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:216.56, Y:173.57, Z:32.25 [[-2.93918750e-01 -9.55684071e-01 1.67249646e-02 2.16562412e+02] [ 9.53642711e-01 -2.94384323e-01 -6.24776017e-02 1.73568377e+02] [ 6.46324161e-02 -2.41369802e-03 9.97906220e-01 3.22546485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8271056809999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:216.55, Y:173.58, Z:32.28 [[-2.95957492e-01 -9.55037383e-01 1.76850285e-02 2.16551128e+02] [ 9.53010703e-01 -2.96481326e-01 -6.22046854e-02 1.73576140e+02] [ 6.46510806e-02 -1.55592127e-03 9.97906718e-01 3.22785188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8571056809999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:216.55, Y:173.58, Z:32.28 [[-2.95809036e-01 -9.55097046e-01 1.69306543e-02 2.16546923e+02] [ 9.53058088e-01 -2.96284008e-01 -6.24184834e-02 1.73580882e+02] [ 6.46319913e-02 -2.32805441e-03 9.97906451e-01 3.22795545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8871056809999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:216.54, Y:173.57, Z:32.28 [[-2.95826884e-01 -9.55091424e-01 1.69359535e-02 2.16542484e+02] [ 9.53052542e-01 -2.96302163e-01 -6.24169859e-02 1.73566958e+02] [ 6.46320876e-02 -2.32376889e-03 9.97906455e-01 3.22792334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9171056809999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:216.54, Y:173.59, Z:32.26 [[-2.84724014e-01 -9.58448554e-01 1.75671757e-02 2.16537597e+02] [ 9.56426057e-01 -2.85263957e-01 -6.22388352e-02 1.73588931e+02] [ 6.46640037e-02 -9.19186418e-04 9.97906670e-01 3.22609028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9471056809999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:216.41, Y:174.00, Z:32.32 [[-2.66235009e-01 -9.63748814e-01 1.75254958e-02 2.16411694e+02] [ 9.61736306e-01 -2.66811063e-01 -6.22505695e-02 1.74002542e+02] [ 6.46699087e-02 2.81624725e-04 9.97906671e-01 3.23174947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9771056809999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:217.47, Y:173.94, Z:32.64 [[-3.40325451e-01 9.40144374e-01 -1.75254958e-02 2.17474826e+02] [ 9.38093186e-01 3.40743366e-01 6.22505695e-02 1.73936098e+02] [ 6.44962191e-02 4.74490494e-03 -9.97906671e-01 3.26390555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.0071056809999 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:216.53, Y:173.62, Z:32.30 [[-3.27221110e-01 -9.44684689e-01 2.22976407e-02 2.16534978e+02] [ 9.42743825e-01 -3.27977698e-01 -6.05368543e-02 1.73617991e+02] [ 6.45013682e-02 1.21202646e-03 9.97916883e-01 3.22962416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.0371056809999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:216.53, Y:173.63, Z:32.30 [[-3.20220307e-01 -9.47094583e-01 2.16980838e-02 2.16530114e+02] [ 9.45144737e-01 -3.20952864e-01 -6.07510084e-02 1.73629860e+02] [ 6.45010131e-02 1.05412314e-03 9.97917085e-01 3.22966861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.06710568099993 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:216.52, Y:173.63, Z:32.30 [[-3.09699456e-01 -9.50590346e-01 2.15462562e-02 2.16521050e+02] [ 9.48644995e-01 -3.10443887e-01 -6.08051555e-02 1.73634082e+02] [ 6.44896973e-02 1.60842449e-03 9.97917077e-01 3.23004378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.0971056809999 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:216.51, Y:173.64, Z:32.31 [[-3.11262556e-01 -9.50098518e-01 2.06984919e-02 2.16514253e+02] [ 9.48131622e-01 -3.11949420e-01 -6.11063567e-02 1.73636468e+02] [ 6.45139415e-02 6.04773868e-04 9.97916623e-01 3.23117282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.12710568099993 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:216.51, Y:173.62, Z:32.31 [[-3.16045103e-01 -9.48514085e-01 2.08931510e-02 2.16514770e+02] [ 9.46548281e-01 -3.16734582e-01 -6.10373396e-02 1.73623681e+02] [ 6.45123598e-02 4.85823872e-04 9.97916790e-01 3.23113732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.1571056809999 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:216.50, Y:173.65, Z:32.31 [[-3.17729763e-01 -9.47936835e-01 2.15303291e-02 2.16502201e+02] [ 9.45984812e-01 -3.18456691e-01 -6.08117631e-02 1.73649587e+02] [ 6.45021876e-02 1.04565723e-03 9.97917018e-01 3.23074376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18710568099993 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:216.51, Y:173.63, Z:32.31 [[-3.24411608e-01 -9.45685671e-01 2.08739124e-02 2.16505696e+02] [ 9.43713460e-01 -3.25082453e-01 -6.10434608e-02 1.73634966e+02] [ 6.45136688e-02 -1.04215176e-04 9.97916818e-01 3.23082350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2171056809999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:216.49, Y:173.67, Z:32.31 [[-3.29192432e-01 -9.44019189e-01 2.14502500e-02 2.16490008e+02] [ 9.42056645e-01 -3.29890495e-01 -6.08402762e-02 1.73668842e+02] [ 6.45106218e-02 1.79191996e-04 9.97917004e-01 3.23079600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24710568099994 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:216.49, Y:173.65, Z:32.30 [[-3.38972228e-01 -9.40565710e-01 2.08320274e-02 2.16491709e+02] [ 9.38582517e-01 -3.39609828e-01 -6.10575468e-02 1.73650664e+02] [ 6.45033961e-02 -1.14423599e-03 9.97916832e-01 3.23045630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2771056809999 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:216.50, Y:173.62, Z:32.30 [[-3.40030105e-01 -9.40171788e-01 2.13667463e-02 2.16497927e+02] [ 9.38199486e-01 -3.40700140e-01 -6.08698589e-02 1.73624418e+02] [ 6.45077776e-02 -6.51314087e-04 9.97916992e-01 3.23025153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.30710568099994 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:216.47, Y:173.69, Z:32.30 [[-3.50535286e-01 -9.36317246e-01 2.08573294e-02 2.16468776e+02] [ 9.34326898e-01 -3.51150053e-01 -6.10482459e-02 1.73690725e+02] [ 6.44845778e-02 -1.91200044e-03 9.97916872e-01 3.23042031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3371056809999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:216.48, Y:173.64, Z:32.30 [[-3.51256417e-01 -9.36038020e-01 2.12545093e-02 2.16481714e+02] [ 9.34055463e-01 -3.51895506e-01 -6.09093198e-02 1.73637688e+02] [ 6.44928054e-02 -1.54189899e-03 9.97916981e-01 3.22979804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.36710568099994 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:216.46, Y:173.67, Z:32.29 [[-3.60791046e-01 -9.32410712e-01 2.09782034e-02 2.16459702e+02] [ 9.30416173e-01 -3.61391830e-01 -6.10056645e-02 1.73674525e+02] [ 6.44636864e-02 -2.49183779e-03 9.97916942e-01 3.22943203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3971056809999 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:216.45, Y:173.70, Z:32.30 [[-3.63607052e-01 -9.31306292e-01 2.14126394e-02 2.16446398e+02] [ 9.29318633e-01 -3.64230183e-01 -6.08543538e-02 1.73701210e+02] [ 6.44731722e-02 -2.22790746e-03 9.97916954e-01 3.22984893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.42710568099994 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:216.44, Y:173.70, Z:32.29 [[-3.68786778e-01 -9.29272050e-01 2.12077914e-02 2.16440762e+02] [ 9.27276919e-01 -3.69385437e-01 -6.09254917e-02 1.73701049e+02] [ 6.44502058e-02 -2.80302035e-03 9.97916988e-01 3.22941362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4571056809999 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:216.43, Y:173.71, Z:32.30 [[-3.74773783e-01 -9.26868704e-01 2.14246921e-02 2.16426796e+02] [ 9.24873920e-01 -3.75373768e-01 -6.08503664e-02 1.73706245e+02] [ 6.44425677e-02 -2.98998298e-03 9.97916938e-01 3.22996729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.48710568099995 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:216.42, Y:173.70, Z:32.30 [[-3.76912165e-01 -9.26007361e-01 2.11562524e-02 2.16422129e+02] [ 9.24006106e-01 -3.77489945e-01 -6.09430695e-02 1.73701915e+02] [ 6.44200035e-02 -3.42167784e-03 9.97917008e-01 3.23021582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5171056809999 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:216.43, Y:173.64, Z:32.30 [[-3.77309905e-01 -9.25844514e-01 2.11936805e-02 2.16428209e+02] [ 9.23843712e-01 -3.77889281e-01 -6.09301797e-02 1.73644145e+02] [ 6.44207373e-02 -3.40991185e-03 9.97917001e-01 3.23030601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5471056809999 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:216.42, Y:173.64, Z:32.32 [[-3.66624339e-01 -9.30140858e-01 2.06052845e-02 2.16417948e+02] [ 9.28135626e-01 -3.67188199e-01 -6.11317071e-02 1.73637424e+02] [ 6.44271159e-02 -3.28787303e-03 9.97916999e-01 3.23199037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5771056809999 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:216.41, Y:173.65, Z:32.33 [[-3.61415146e-01 -9.32180493e-01 2.04602002e-02 2.16407783e+02] [ 9.30175691e-01 -3.61980717e-01 -6.11812357e-02 1.73650949e+02] [ 6.44381524e-02 -3.08024440e-03 9.97916949e-01 3.23252518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6071056809999 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:216.40, Y:173.66, Z:32.32 [[-3.52818692e-01 -9.35464397e-01 2.06235670e-02 2.16399943e+02] [ 9.33468083e-01 -3.53413360e-01 -6.11255729e-02 1.73658350e+02] [ 6.44694414e-02 -2.31480319e-03 9.97916997e-01 3.23222427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6371056809999 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:216.41, Y:173.64, Z:32.32 [[-3.47125152e-01 -9.37585817e-01 2.09036912e-02 2.16407624e+02] [ 9.35598795e-01 -3.47750178e-01 -6.10303849e-02 1.73637284e+02] [ 6.44904856e-02 -1.62771331e-03 9.97916994e-01 3.23195621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6671056809999 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:216.40, Y:173.67, Z:32.32 [[-3.46968521e-01 -9.37648756e-01 2.06798463e-02 2.16395637e+02] [ 9.35657340e-01 -3.47579312e-01 -6.11061763e-02 1.73673504e+02] [ 6.44840169e-02 -1.85266964e-03 9.97917020e-01 3.23169079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6971056809999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:216.40, Y:173.65, Z:32.32 [[-3.42093726e-01 -9.39435794e-01 2.07911423e-02 2.16403409e+02] [ 9.37449840e-01 -3.42722085e-01 -6.10685621e-02 1.73650442e+02] [ 6.44955768e-02 -1.40051894e-03 9.97917010e-01 3.23178260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.7271056809999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:216.41, Y:173.64, Z:32.31 [[-3.53248802e-01 -9.35312063e-01 2.01650209e-02 2.16408113e+02] [ 9.33306761e-01 -3.53812598e-01 -6.12791593e-02 1.73641166e+02] [ 6.44497754e-02 -2.82663926e-03 9.97916949e-01 3.23084833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.7571056809999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:216.41, Y:173.66, Z:32.31 [[-3.47176550e-01 -9.37563018e-01 2.10720452e-02 2.16405280e+02] [ 9.35579314e-01 -3.47812411e-01 -6.09743807e-02 1.73656917e+02] [ 6.44964432e-02 -1.45430553e-03 9.97916877e-01 3.23106667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.7871056809999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:216.40, Y:173.68, Z:32.31 [[-3.49461759e-01 -9.36735036e-01 2.00985516e-02 2.16398635e+02] [ 9.34730852e-01 -3.50029324e-01 -6.13001382e-02 1.73681570e+02] [ 6.44570696e-02 -2.63531782e-03 9.97917001e-01 3.23085844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81710568099993 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:216.40, Y:173.69, Z:32.30 [[-3.52810012e-01 -9.35478899e-01 2.01078283e-02 2.16399894e+02] [ 9.33472871e-01 -3.53371012e-01 -6.12970418e-02 1.73689973e+02] [ 6.44476128e-02 -2.85609783e-03 9.97917005e-01 3.23045864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.8471056809999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:216.40, Y:173.70, Z:32.30 [[-3.54978424e-01 -9.34655936e-01 2.02138492e-02 2.16395957e+02] [ 9.32650576e-01 -3.55541706e-01 -6.12617133e-02 1.73703043e+02] [ 6.44454905e-02 -2.89412832e-03 9.97917032e-01 3.23044752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87710568099993 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:216.40, Y:173.70, Z:32.31 [[-3.52062060e-01 -9.35754445e-01 2.03942533e-02 2.16395340e+02] [ 9.33754248e-01 -3.52643377e-01 -6.12017361e-02 1.73703558e+02] [ 6.44616950e-02 -2.50358860e-03 9.97917042e-01 3.23067143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.9071056809999 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:216.40, Y:173.69, Z:32.31 [[-3.44783914e-01 -9.38465853e-01 2.01468411e-02 2.16401402e+02] [ 9.36465474e-01 -3.45364622e-01 -6.12837234e-02 1.73686918e+02] [ 6.44706879e-02 -2.26282091e-03 9.97917036e-01 3.23074980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93710568099993 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:216.38, Y:173.76, Z:32.32 [[-3.52858288e-01 -9.35469070e-01 1.97141656e-02 2.16375092e+02] [ 9.33455862e-01 -3.53393420e-01 -6.14267430e-02 1.73759665e+02] [ 6.44296746e-02 -3.27263195e-03 9.97916884e-01 3.23163884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.9671056809999 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:216.40, Y:173.70, Z:32.31 [[-3.41736955e-01 -9.39577800e-01 2.02338922e-02 2.16395756e+02] [ 9.37580988e-01 -3.42329821e-01 -6.12550761e-02 1.73701169e+02] [ 6.44805744e-02 -1.96221053e-03 9.97917033e-01 3.23106773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99710568099994 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:216.33, Y:173.88, Z:32.32 [[-3.60141435e-01 -9.32691974e-01 1.95915185e-02 2.16328766e+02] [ 9.30672570e-01 -3.60652804e-01 -6.14664388e-02 1.73880522e+02] [ 6.43949902e-02 -3.90332257e-03 9.97916855e-01 3.23249532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0271056809999 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:216.40, Y:173.70, Z:32.31 [[-3.39452848e-01 -9.40399210e-01 2.05204887e-02 2.16397330e+02] [ 9.38409461e-01 -3.40069203e-01 -6.11606197e-02 1.73698842e+02] [ 6.44937846e-02 -1.50452580e-03 9.97916975e-01 3.23061140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05710568099994 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:216.31, Y:173.96, Z:32.33 [[-3.55082700e-01 -9.34629237e-01 1.96077998e-02 2.16305619e+02] [ 9.32613081e-01 -3.55606079e-01 -6.14585823e-02 1.73963045e+02] [ 6.44136407e-02 -3.53638872e-03 9.97917019e-01 3.23313164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0871056809999 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:216.39, Y:173.72, Z:32.31 [[-3.30306965e-01 -9.43655516e-01 2.02873499e-02 2.16388396e+02] [ 9.41667174e-01 -3.30927494e-01 -6.12366527e-02 1.73719862e+02] [ 6.44999470e-02 -1.12296144e-03 9.97917079e-01 3.23105867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11710568099994 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:216.38, Y:173.73, Z:32.31 [[-3.28951741e-01 -9.44164947e-01 1.85285047e-02 2.16384251e+02] [ 9.42144698e-01 -3.29460626e-01 -6.17985732e-02 1.73729315e+02] [ 6.44524594e-02 -2.87221577e-03 9.97916645e-01 3.23103935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1471056809999 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:216.38, Y:173.74, Z:32.31 [[-3.27336901e-01 -9.44727419e-01 1.84569042e-02 2.16381910e+02] [ 9.42706773e-01 -3.27844561e-01 -6.18213892e-02 1.73737263e+02] [ 6.44553571e-02 -2.83697340e-03 9.97916559e-01 3.23088387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17710568099994 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:216.38, Y:173.74, Z:32.30 [[-3.26407897e-01 -9.45046332e-01 1.85826795e-02 2.16382952e+02] [ 9.43028425e-01 -3.26925758e-01 -6.17813774e-02 1.73736907e+02] [ 6.44614206e-02 -2.64193443e-03 9.97916703e-01 3.23039799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2071056809999 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:216.39, Y:173.73, Z:32.30 [[-3.20338602e-01 -9.47116775e-01 1.87881564e-02 2.16386448e+02] [ 9.45105999e-01 -3.20882785e-01 -6.17162007e-02 1.73729640e+02] [ 6.44812449e-02 -2.01328210e-03 9.97916888e-01 3.23025938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23710568099995 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:216.38, Y:173.75, Z:32.29 [[-3.23071081e-01 -9.46206245e-01 1.78554625e-02 2.16382625e+02] [ 9.44177423e-01 -3.23548543e-01 -6.20107626e-02 1.73754386e+02] [ 6.44520797e-02 -3.17515956e-03 9.97915752e-01 3.22878363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2671056809999 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:216.38, Y:173.76, Z:32.30 [[-3.25389543e-01 -9.45393373e-01 1.87886915e-02 2.16377616e+02] [ 9.43379740e-01 -3.25923020e-01 -6.17158928e-02 1.73757764e+02] [ 6.44694632e-02 -2.35683524e-03 9.97916897e-01 3.22981817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2971056809999 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:216.38, Y:173.76, Z:32.30 [[-3.17964968e-01 -9.47914126e-01 1.88968256e-02 2.16377666e+02] [ 9.45906743e-01 -3.18521255e-01 -6.16817913e-02 1.73757385e+02] [ 6.44880819e-02 -1.73801399e-03 9.97916964e-01 3.23027832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3271056809999 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:216.38, Y:173.76, Z:32.30 [[-3.18171761e-01 -9.47867147e-01 1.77370313e-02 2.16377814e+02] [ 9.45838936e-01 -3.18651977e-01 -6.20453401e-02 1.73760248e+02] [ 6.44626796e-02 -2.96470029e-03 9.97915715e-01 3.23009141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3571056809999 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:216.37, Y:173.79, Z:32.30 [[-3.16339748e-01 -9.48474428e-01 1.80394759e-02 2.16368051e+02] [ 9.46452442e-01 -3.16843634e-01 -6.19506703e-02 1.73788568e+02] [ 6.44743197e-02 -2.52395342e-03 9.97916175e-01 3.23047324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3871056809999 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:216.36, Y:173.80, Z:32.31 [[-3.13133303e-01 -9.49538324e-01 1.80140321e-02 2.16364373e+02] [ 9.47517598e-01 -3.13642359e-01 -6.19586289e-02 1.73801528e+02] [ 6.44820562e-02 -2.33269765e-03 9.97916140e-01 3.23120540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4171056809999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:216.37, Y:173.80, Z:32.31 [[-3.09236708e-01 -9.50813894e-01 1.80443198e-02 2.16365297e+02] [ 9.48795820e-01 -3.09756019e-01 -6.19491795e-02 1.73795949e+02] [ 6.44914772e-02 -2.03658510e-03 9.97916180e-01 3.23134298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4471056809999 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:216.37, Y:173.80, Z:32.32 [[-3.02315750e-01 -9.53040638e-01 1.78529899e-02 2.16365138e+02] [ 9.51022876e-01 -3.02837279e-01 -6.20086459e-02 1.73802837e+02] [ 6.45033103e-02 -1.76758853e-03 9.97915928e-01 3.23200069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4771056809999 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:217.52, Y:174.20, Z:32.64 [[-3.66149146e-01 9.30384906e-01 -1.78529899e-02 2.17515770e+02] [ 9.28336463e-01 3.66532863e-01 6.20086459e-02 1.74195815e+02] [ 6.42356157e-02 6.13083131e-03 -9.97915928e-01 3.26419586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.5071056809999 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:216.38, Y:173.82, Z:32.33 [[-3.37690780e-01 -9.40919354e-01 2.52132106e-02 2.16383530e+02] [ 9.39063953e-01 -3.38610581e-01 -5.91757342e-02 1.73823402e+02] [ 6.42170535e-02 3.69371730e-03 9.97929119e-01 3.23330767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.5371056809999 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:216.38, Y:173.83, Z:32.33 [[-3.41632604e-01 -9.39648914e-01 1.86301281e-02 2.16382523e+02] [ 9.37630336e-01 -3.42121282e-01 -6.16634491e-02 1.73833346e+02] [ 6.43157563e-02 -3.59807141e-03 9.97923112e-01 3.23325674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.56710568099993 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:216.37, Y:173.86, Z:32.33 [[-3.36851105e-01 -9.41338543e-01 2.03243755e-02 2.16371978e+02] [ 9.39359774e-01 -3.37460525e-01 -6.10213768e-02 1.73856537e+02] [ 6.43004484e-02 -1.46321741e-03 9.97929512e-01 3.23328729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.5971056809999 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:216.37, Y:173.86, Z:32.33 [[-3.36432018e-01 -9.41497861e-01 1.98815372e-02 2.16370377e+02] [ 9.39509309e-01 -3.37013563e-01 -6.11891844e-02 1.73860710e+02] [ 6.43098339e-02 -1.90711150e-03 9.97928158e-01 3.23328780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.62710568099993 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:216.36, Y:173.88, Z:32.33 [[-3.35793570e-01 -9.41724968e-01 1.99189020e-02 2.16364738e+02] [ 9.39737653e-01 -3.36378892e-01 -6.11750285e-02 1.73878372e+02] [ 6.43103500e-02 -1.82363899e-03 9.97928281e-01 3.23307237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.6571056809999 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:216.36, Y:173.90, Z:32.33 [[-3.31102021e-01 -9.43379883e-01 2.01456810e-02 2.16361963e+02] [ 9.41400726e-01 -3.31711931e-01 -6.10890093e-02 1.73895065e+02] [ 6.43127052e-02 -1.26153569e-03 9.97928998e-01 3.23267105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68710568099993 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:216.35, Y:173.92, Z:32.33 [[-3.29782465e-01 -9.43838360e-01 2.03144120e-02 2.16352715e+02] [ 9.41864001e-01 -3.30406063e-01 -6.10248879e-02 1.73924850e+02] [ 6.43096350e-02 -9.91524595e-04 9.97929500e-01 3.23267304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7171056809999 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:216.34, Y:173.95, Z:32.33 [[-3.31359198e-01 -9.43282076e-01 2.04940861e-02 2.16341298e+02] [ 9.41310900e-01 -3.31991118e-01 -6.09564429e-02 1.73950187e+02] [ 6.43029745e-02 -9.07171366e-04 9.97930010e-01 3.23318079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74710568099994 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:216.35, Y:173.95, Z:32.32 [[-3.25084806e-01 -9.45460539e-01 2.05970351e-02 2.16346333e+02] [ 9.43496084e-01 -3.25736446e-01 -6.09172141e-02 1.73951516e+02] [ 6.43040271e-02 -3.70038744e-04 9.97930286e-01 3.23248453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7771056809999 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:216.35, Y:173.95, Z:32.32 [[-3.22286345e-01 -9.46423222e-01 2.03616448e-02 2.16348077e+02] [ 9.44455025e-01 -3.22928629e-01 -6.10066102e-02 1.73949309e+02] [ 6.43134307e-02 -4.30939708e-04 9.97929655e-01 3.23224159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.80710568099994 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:216.35, Y:173.95, Z:32.32 [[-3.15739381e-01 -9.48629785e-01 2.02527688e-02 2.16346613e+02] [ 9.46663424e-01 -3.16388244e-01 -6.10478567e-02 1.73951543e+02] [ 6.43195531e-02 -1.02657047e-04 9.97929349e-01 3.23246758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8371056809999 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:216.34, Y:173.96, Z:32.33 [[-3.18889817e-01 -9.47577165e-01 2.01693139e-02 2.16340068e+02] [ 9.45606659e-01 -3.19526763e-01 -6.10794170e-02 1.73964567e+02] [ 6.43220964e-02 -4.05366516e-04 9.97929108e-01 3.23291287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.86710568099994 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:216.34, Y:173.96, Z:32.33 [[-3.15668616e-01 -9.48650070e-01 2.04051346e-02 2.16340286e+02] [ 9.46687457e-01 -3.16327426e-01 -6.09903116e-02 1.73964873e+02] [ 6.43131671e-02 6.45577839e-05 9.97929763e-01 3.23325340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8971056809999 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:216.34, Y:173.98, Z:32.33 [[-3.14709576e-01 -9.48973156e-01 2.01948229e-02 2.16336164e+02] [ 9.47006103e-01 -3.15356845e-01 -6.10696393e-02 1.73976186e+02] [ 6.43220240e-02 -9.45797731e-05 9.97929190e-01 3.23283648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.92710568099994 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:216.33, Y:173.97, Z:32.32 [[-3.13883334e-01 -9.49248086e-01 2.01326830e-02 2.16334220e+02] [ 9.47280095e-01 -3.14528315e-01 -6.10930478e-02 1.73974433e+02] [ 6.43247576e-02 -1.04799636e-04 9.97929013e-01 3.23247064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9571056809999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:216.32, Y:174.00, Z:32.33 [[-3.28914819e-01 -9.44144846e-01 2.01383050e-02 2.16319375e+02] [ 9.42166993e-01 -3.29528838e-01 -6.10909304e-02 1.73995967e+02] [ 6.43148393e-02 -1.12006597e-03 9.97929029e-01 3.23329595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.98710568099995 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:216.32, Y:173.99, Z:32.34 [[-3.26094648e-01 -9.45112449e-01 2.06092098e-02 2.16321439e+02] [ 9.43147526e-01 -3.26744973e-01 -6.09135959e-02 1.73992199e+02] [ 6.43041535e-02 -4.26072329e-04 9.97930255e-01 3.23354860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0171056809999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:216.32, Y:174.00, Z:32.33 [[-3.23544641e-01 -9.45994023e-01 2.03512687e-02 2.16317805e+02] [ 9.44024729e-01 -3.24183637e-01 -6.10105040e-02 1.74003263e+02] [ 6.43131205e-02 -5.27520644e-04 9.97929629e-01 3.23260360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0471056809999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:216.32, Y:174.00, Z:32.33 [[-3.24095532e-01 -9.45808380e-01 2.02137061e-02 2.16316708e+02] [ 9.43835487e-01 -3.24724501e-01 -6.10620341e-02 1.73995279e+02] [ 6.43168692e-02 -7.11519238e-04 9.97929273e-01 3.23281277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0771056809999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:216.30, Y:174.02, Z:32.33 [[-3.25317522e-01 -9.45388413e-01 2.02301482e-02 2.16304083e+02] [ 9.43415091e-01 -3.25945003e-01 -6.10558835e-02 1.74017699e+02] [ 6.43154406e-02 -7.77121582e-04 9.97929316e-01 3.23251821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1071056809999 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:216.30, Y:174.03, Z:32.33 [[-3.26916189e-01 -9.44840448e-01 2.00582675e-02 2.16296164e+02] [ 9.42862098e-01 -3.27529214e-01 -6.11201969e-02 1.74026492e+02] [ 6.43185027e-02 -1.06900162e-03 9.97928849e-01 3.23261197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1371056809999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:217.44, Y:174.49, Z:32.69 [[-4.50007965e-01 8.92799248e-01 -2.00582675e-02 2.17435168e+02] [ 8.90756814e-01 4.50351663e-01 6.11201969e-02 1.74490721e+02] [ 6.36013399e-02 9.63753695e-03 -9.97928849e-01 3.26919047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1671056809999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:216.25, Y:174.13, Z:32.34 [[-3.91540452e-01 -9.19700520e-01 2.91037296e-02 2.16253744e+02] [ 9.17937728e-01 -3.92596354e-01 -5.70826685e-02 1.74127562e+02] [ 6.39249781e-02 4.36523761e-03 9.97945160e-01 3.23375622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1971056809999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:216.26, Y:174.11, Z:32.33 [[-3.82524902e-01 -9.23632025e-01 2.40537201e-02 2.16259697e+02] [ 9.21725681e-01 -3.83280072e-01 -5.93140437e-02 1.74110351e+02] [ 6.40036619e-02 -5.18167219e-04 9.97949529e-01 3.23336449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.2271056809999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:216.27, Y:174.09, Z:32.33 [[-3.81748549e-01 -9.23968107e-01 2.34730320e-02 2.16267815e+02] [ 9.22046546e-01 -3.82467952e-01 -5.95687281e-02 1.74086492e+02] [ 6.40172874e-02 -1.09704740e-03 9.97948187e-01 3.23266764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.2571056809999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:216.27, Y:174.09, Z:32.33 [[-3.87460053e-01 -9.21596364e-01 2.31268045e-02 2.16265988e+02] [ 9.19661288e-01 -3.88145133e-01 -5.97199447e-02 1.74086230e+02] [ 6.40142405e-02 -1.87026611e-03 9.97947233e-01 3.23299389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.2871056809999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:216.28, Y:174.05, Z:32.33 [[-3.87068301e-01 -9.21759742e-01 2.31756272e-02 2.16281253e+02] [ 9.19826228e-01 -3.87757366e-01 -5.96987033e-02 1.74046556e+02] [ 6.40143815e-02 -1.78992593e-03 9.97947371e-01 3.23338508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31710568099993 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:216.26, Y:174.08, Z:32.32 [[-3.79791486e-01 -9.24788307e-01 2.29132096e-02 2.16264971e+02] [ 9.22853370e-01 -3.80478804e-01 -5.98125230e-02 1.74081352e+02] [ 6.40319125e-02 -1.57075425e-03 9.97946615e-01 3.23189646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.3471056809999 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:216.27, Y:174.06, Z:32.33 [[-3.76872865e-01 -9.25980343e-01 2.29618757e-02 2.16271311e+02] [ 9.24048869e-01 -3.77569427e-01 -5.97914313e-02 1.74055334e+02] [ 6.40353924e-02 -1.31587271e-03 9.97946761e-01 3.23326302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37710568099993 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:216.26, Y:174.07, Z:32.34 [[-3.67581669e-01 -9.29708593e-01 2.29270173e-02 2.16261843e+02] [ 9.27783250e-01 -3.68295294e-01 -5.98065007e-02 1.74067334e+02] [ 6.40465302e-02 -7.12470686e-04 9.97946659e-01 3.23403273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.4071056809999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:216.17, Y:174.26, Z:32.36 [[-3.82478571e-01 -9.23664218e-01 2.35489801e-02 2.16168342e+02] [ 9.21744227e-01 -3.83201355e-01 -5.95340279e-02 1.74264748e+02] [ 6.40134525e-02 -1.06435346e-03 9.97948468e-01 3.23634082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43710568099993 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:217.38, Y:174.75, Z:32.66 [[-5.00553260e-01 8.65385393e-01 -2.35489801e-02 2.17382150e+02] [ 8.63387064e-01 5.01017442e-01 5.95340279e-02 1.74749038e+02] [ 6.33183279e-02 9.46806700e-03 -9.97948468e-01 3.26582346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.4671056809999 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:216.24, Y:174.18, Z:32.37 [[-4.19721666e-01 -9.07112829e-01 3.13055807e-02 2.16236057e+02] [ 9.05430527e-01 -4.20856990e-01 -5.54522821e-02 1.74178395e+02] [ 6.34766490e-02 5.07050416e-03 9.97970443e-01 3.23688702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49710568099994 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:216.21, Y:174.24, Z:32.37 [[-4.19150717e-01 -9.07503583e-01 2.73847286e-02 2.16208451e+02] [ 9.05680575e-01 -4.20043753e-01 -5.74973244e-02 1.74244954e+02] [ 6.36818121e-02 7.01771952e-04 9.97970007e-01 3.23687646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5271056809999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:216.21, Y:174.25, Z:32.37 [[-4.17504363e-01 -9.08244473e-01 2.79657669e-02 2.16210216e+02] [ 9.06443095e-01 -4.18437348e-01 -5.71935360e-02 1.74249097e+02] [ 6.36476343e-02 1.47082546e-03 9.97971350e-01 3.23710483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55710568099994 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:216.22, Y:174.25, Z:32.37 [[-4.13455374e-01 -9.10088443e-01 2.81723349e-02 2.16217080e+02] [ 9.08298489e-01 -4.14409315e-01 -5.70856792e-02 1.74248789e+02] [ 6.36278949e-02 1.98650838e-03 9.97971715e-01 3.23693389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5871056809999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:216.21, Y:174.25, Z:32.37 [[-4.04951426e-01 -9.13882914e-01 2.88506776e-02 2.16213326e+02] [ 9.12126452e-01 -4.05964101e-01 -5.67316827e-02 1.74254006e+02] [ 6.35584549e-02 3.34189035e-03 9.97972522e-01 3.23740583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61710568099994 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:216.22, Y:174.25, Z:32.37 [[-4.05467662e-01 -9.13679046e-01 2.80459621e-02 2.16217549e+02] [ 9.11893095e-01 -4.06429366e-01 -5.71502716e-02 1.74248384e+02] [ 6.36157082e-02 2.40233214e-03 9.97971578e-01 3.23700203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6471056809999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:216.21, Y:174.26, Z:32.37 [[-4.01367946e-01 -9.15469636e-01 2.86202143e-02 2.16210367e+02] [ 9.13708721e-01 -4.02373262e-01 -5.68518372e-02 1.74261203e+02] [ 6.35621397e-02 3.33203429e-03 9.97972320e-01 3.23709933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67710568099994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:216.21, Y:174.27, Z:32.37 [[-4.09200252e-01 -9.12004856e-01 2.83248442e-02 2.16208528e+02] [ 9.10224866e-01 -4.10172054e-01 -5.70050872e-02 1.74267081e+02] [ 6.36069759e-02 2.45548146e-03 9.97972005e-01 3.23712896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7071056809999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:216.21, Y:174.27, Z:32.37 [[-4.12062111e-01 -9.10711444e-01 2.84514167e-02 2.16205792e+02] [ 9.08932878e-01 -4.13036217e-01 -5.69395001e-02 1.74267894e+02] [ 6.36069199e-02 2.39781746e-03 9.97972149e-01 3.23710654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73710568099995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:216.20, Y:174.27, Z:32.36 [[-4.22053217e-01 -9.06124093e-01 2.84641832e-02 2.16204537e+02] [ 9.04335363e-01 -4.23008505e-01 -5.69328981e-02 1.74272871e+02] [ 6.36288623e-02 1.71245460e-03 9.97972162e-01 3.23634660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7671056809999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:216.20, Y:174.28, Z:32.36 [[-4.35359120e-01 -8.99806823e-01 2.84625714e-02 2.16203920e+02] [ 8.98004157e-01 -4.36287845e-01 -5.69337303e-02 1.74277741e+02] [ 6.36472330e-02 7.72888691e-04 9.97972160e-01 3.23609056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7971056809999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:216.20, Y:174.29, Z:32.37 [[-4.42148299e-01 -8.96475011e-01 2.89384846e-02 2.16199780e+02] [ 8.94681275e-01 -4.43093525e-01 -5.66881379e-02 1.74287257e+02] [ 6.36419542e-02 8.26156556e-04 9.97972454e-01 3.23684597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8271056809999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:216.21, Y:174.26, Z:32.36 [[-4.41587644e-01 -8.96755223e-01 2.88170680e-02 2.16209041e+02] [ 8.94957999e-01 -4.42526314e-01 -5.67506913e-02 1.74262102e+02] [ 6.36437897e-02 7.29661425e-04 9.97972412e-01 3.23629327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8571056809999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:216.20, Y:174.28, Z:32.37 [[-4.44777872e-01 -8.95191227e-01 2.83780261e-02 2.16197573e+02] [ 8.93376199e-01 -4.45682250e-01 -5.69763021e-02 1.74281228e+02] [ 6.36522683e-02 1.04546454e-05 9.97972138e-01 3.23680578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8871056809999 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:216.19, Y:174.29, Z:32.37 [[-4.44355431e-01 -8.95395248e-01 2.85587191e-02 2.16193553e+02] [ 8.93586578e-01 -4.45272153e-01 -5.68835444e-02 1.74289765e+02] [ 6.36496577e-02 2.43176162e-04 9.97972275e-01 3.23710737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9171056809999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:216.20, Y:174.27, Z:32.36 [[-4.46992247e-01 -8.94085862e-01 2.84324155e-02 2.16204218e+02] [ 8.92270380e-01 -4.47895595e-01 -5.69482711e-02 1.74267230e+02] [ 6.36513977e-02 -8.60334552e-05 9.97972190e-01 3.23639451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9471056809999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:216.20, Y:174.28, Z:32.35 [[-4.54615696e-01 -8.90235200e-01 2.83876304e-02 2.16197939e+02] [ 8.88410636e-01 -4.55500633e-01 -5.69711769e-02 1.74282643e+02] [ 6.36483307e-02 -6.80118438e-04 9.97972158e-01 3.23517579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9771056809999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:216.20, Y:174.26, Z:32.35 [[-4.51440024e-01 -8.91831249e-01 2.89642732e-02 2.16203526e+02] [ 8.90028532e-01 -4.52368198e-01 -5.66765012e-02 1.74264949e+02] [ 6.36483909e-02 1.92988474e-04 9.97972367e-01 3.23535257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.0071056809999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:216.20, Y:174.27, Z:32.36 [[-4.56244604e-01 -8.89409611e-01 2.81319376e-02 2.16199989e+02] [ 8.87575437e-01 -4.57109804e-01 -5.71005276e-02 1.74273077e+02] [ 6.36451424e-02 -1.08259079e-03 9.97972006e-01 3.23604695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.0371056809999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:216.18, Y:174.31, Z:32.36 [[-4.61134335e-01 -8.86876452e-01 2.83775175e-02 2.16181925e+02] [ 8.85045180e-01 -4.62005214e-01 -5.69755389e-02 1.74311167e+02] [ 6.36408248e-02 -1.15799217e-03 9.97972196e-01 3.23637853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.06710568099993 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:216.17, Y:174.33, Z:32.36 [[-4.59509671e-01 -8.87710525e-01 2.86511001e-02 2.16173581e+02] [ 8.85889468e-01 -4.60401437e-01 -5.68363238e-02 1.74326069e+02] [ 6.36452105e-02 -7.35132627e-04 9.97972318e-01 3.23563077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.0971056809999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:216.19, Y:174.29, Z:32.36 [[-4.59584248e-01 -8.87678058e-01 2.84602312e-02 2.16187321e+02] [ 8.85850920e-01 -4.60463631e-01 -5.69332268e-02 1.74294075e+02] [ 6.36432776e-02 -9.54092223e-04 9.97972256e-01 3.23607120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.12710568099993 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:216.18, Y:174.29, Z:32.36 [[-4.57204675e-01 -8.88905163e-01 2.84867595e-02 2.16183144e+02] [ 8.87081222e-01 -4.58090648e-01 -5.69197925e-02 1.74292264e+02] [ 6.36458156e-02 -7.53925810e-04 9.97972265e-01 3.23611607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.1571056809999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:216.19, Y:174.29, Z:32.37 [[-4.57666718e-01 -8.88668172e-01 2.84614765e-02 2.16186612e+02] [ 8.86842977e-01 -4.58550124e-01 -5.69325729e-02 1.74287525e+02] [ 6.36451791e-02 -8.15283192e-04 9.97972257e-01 3.23656449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18710568099993 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:216.18, Y:174.29, Z:32.37 [[-4.56961572e-01 -8.89032470e-01 2.84145981e-02 2.16183365e+02] [ 8.87206508e-01 -4.57843422e-01 -5.69562299e-02 1.74291355e+02] [ 6.36453746e-02 -8.17191995e-04 9.97972243e-01 3.23740805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2171056809999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:216.19, Y:174.29, Z:32.37 [[-4.56599979e-01 -8.89217899e-01 2.84251148e-02 2.16185529e+02] [ 8.87392625e-01 -4.57483245e-01 -5.69509327e-02 1.74288564e+02] [ 6.36458025e-02 -7.79557361e-04 9.97972246e-01 3.23731150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24710568099994 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:216.18, Y:174.29, Z:32.37 [[-4.54101355e-01 -8.90494009e-01 2.85022665e-02 2.16184588e+02] [ 8.88673650e-01 -4.54994675e-01 -5.69121213e-02 1.74294951e+02] [ 6.36482826e-02 -5.14658139e-04 9.97972260e-01 3.23721806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2771056809999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:216.16, Y:174.35, Z:32.38 [[-4.54924387e-01 -8.90081358e-01 2.82662157e-02 2.16161003e+02] [ 8.88252792e-01 -4.55800917e-01 -5.70307038e-02 1.74347461e+02] [ 6.36457334e-02 -8.37112938e-04 9.97972204e-01 3.23771422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.30710568099994 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:216.17, Y:174.34, Z:32.38 [[-4.50105143e-01 -8.92513689e-01 2.87171560e-02 2.16168527e+02] [ 8.90704192e-01 -4.51020304e-01 -5.68042873e-02 1.74336587e+02] [ 6.36506245e-02 1.05893555e-05 9.97972243e-01 3.23784577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3371056809999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:216.15, Y:174.36, Z:32.39 [[-4.46043265e-01 -8.94553440e-01 2.86277749e-02 2.16153914e+02] [ 8.92745248e-01 -4.46960964e-01 -5.68490855e-02 1.74364748e+02] [ 6.36500429e-02 2.00158314e-04 9.97972260e-01 3.23865010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.36710568099994 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:216.16, Y:174.36, Z:32.39 [[-4.31165049e-01 -9.01819280e-01 2.86126907e-02 2.16157268e+02] [ 9.00026038e-01 -4.32111622e-01 -5.68566307e-02 1.74355098e+02] [ 6.36382820e-02 1.23757473e-03 9.97972263e-01 3.23918970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3971056809999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:216.15, Y:174.37, Z:32.40 [[-4.18076279e-01 -9.07962498e-01 2.85714369e-02 2.16152574e+02] [ 9.06181737e-01 -4.19046109e-01 -5.68772188e-02 1.74365597e+02] [ 6.36151311e-02 2.11189831e-03 9.97972272e-01 3.23956509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.42710568099994 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:216.15, Y:174.38, Z:32.40 [[-4.18741407e-01 -9.07659681e-01 2.84523864e-02 2.16148312e+02] [ 9.05874199e-01 -4.19702477e-01 -5.69365120e-02 1.74376232e+02] [ 6.36205134e-02 1.93260761e-03 9.97972292e-01 3.23980422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4571056809999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:216.16, Y:174.36, Z:32.40 [[-4.08868214e-01 -9.12143079e-01 2.86668424e-02 2.16159201e+02] [ 9.10375498e-01 -4.09861947e-01 -5.68298945e-02 1.74358967e+02] [ 6.35864427e-02 2.86165347e-03 9.97972232e-01 3.23971812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.48710568099995 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:216.15, Y:174.37, Z:32.40 [[-4.06196472e-01 -9.13352195e-01 2.81459418e-02 2.16154767e+02] [ 9.11569686e-01 -4.07162960e-01 -5.70879316e-02 1.74369117e+02] [ 6.36013726e-02 2.46807098e-03 9.97972331e-01 3.24007688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5171056809999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:216.15, Y:174.37, Z:32.40 [[-4.05500556e-01 -9.13664460e-01 2.80455737e-02 2.16152304e+02] [ 9.11879283e-01 -4.06462140e-01 -5.71375658e-02 1.74374035e+02] [ 6.36040271e-02 2.40486294e-03 9.97972316e-01 3.24010496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5471056809999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:216.15, Y:174.38, Z:32.40 [[-4.04344451e-01 -9.14178003e-01 2.80025705e-02 2.16146699e+02] [ 9.12392588e-01 -4.05305610e-01 -5.71587911e-02 1.74377156e+02] [ 6.36029084e-02 2.43749781e-03 9.97972309e-01 3.24022631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5771056809999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:216.15, Y:174.38, Z:32.40 [[-4.12349838e-01 -9.10592225e-01 2.80964656e-02 2.16146881e+02] [ 9.08801571e-01 -4.13301180e-01 -5.71125105e-02 1.74382491e+02] [ 6.36185104e-02 1.98377759e-03 9.97972319e-01 3.23983145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6071056809999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:216.15, Y:174.38, Z:32.40 [[-4.07832269e-01 -9.12618481e-01 2.82904338e-02 2.16145708e+02] [ 9.10839101e-01 -4.08804580e-01 -5.70170786e-02 1.74384024e+02] [ 6.36000986e-02 2.51462875e-03 9.97972296e-01 3.23980688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6371056809999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:216.15, Y:174.38, Z:32.39 [[-4.17183746e-01 -9.08395384e-01 2.78486570e-02 2.16147714e+02] [ 9.06591605e-01 -4.18109971e-01 -5.72338551e-02 1.74383192e+02] [ 6.36347710e-02 1.37032454e-03 9.97972313e-01 3.23932680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6671056809999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:216.15, Y:174.38, Z:32.39 [[-4.20555500e-01 -9.06844277e-01 2.76862737e-02 2.16145440e+02] [ 9.05031840e-01 -4.21464766e-01 -5.73133429e-02 1.74380346e+02] [ 6.36430659e-02 9.53517701e-04 9.97972270e-01 3.23899783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6971056809999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:216.14, Y:174.39, Z:32.39 [[-4.28965101e-01 -9.02899418e-01 2.75967832e-02 2.16138754e+02] [ 9.01075799e-01 -4.29851802e-01 -5.73570751e-02 1.74392240e+02] [ 6.36501968e-02 2.62609920e-04 9.97972236e-01 3.23871314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.7271056809999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:216.14, Y:174.40, Z:32.39 [[-4.32255002e-01 -9.01330522e-01 2.75482064e-02 2.16138374e+02] [ 8.99502172e-01 -4.33131954e-01 -5.73807766e-02 1.74395155e+02] [ 6.36510538e-02 -2.34561771e-05 9.97972215e-01 3.23852426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.7571056809999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:216.13, Y:174.41, Z:32.38 [[-4.33286653e-01 -9.00834647e-01 2.75611347e-02 2.16132737e+02] [ 8.99005693e-01 -4.34162335e-01 -5.73744805e-02 1.74408083e+02] [ 6.36509264e-02 -8.19795792e-05 9.97972221e-01 3.23842567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.7871056809999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:216.13, Y:174.41, Z:32.38 [[-4.36627103e-01 -8.99225654e-01 2.73860695e-02 2.16132888e+02] [ 8.97388120e-01 -4.37484812e-01 -5.74595674e-02 1.74409847e+02] [ 6.36501066e-02 -5.12471021e-04 9.97972145e-01 3.23807959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81710568099993 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:216.14, Y:174.40, Z:32.38 [[-4.35345396e-01 -8.99845820e-01 2.74205569e-02 2.16135362e+02] [ 8.98010560e-01 -4.36207925e-01 -5.74428399e-02 1.74404893e+02] [ 6.36507636e-02 -3.83526208e-04 9.97972161e-01 3.23790912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.8471056809999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:216.13, Y:174.41, Z:32.38 [[-4.31389081e-01 -9.01748196e-01 2.74527227e-02 2.16134156e+02] [ 8.99917731e-01 -4.32261711e-01 -5.74272714e-02 1.74409771e+02] [ 6.36516993e-02 -6.83059004e-05 9.97972172e-01 3.23785270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87710568099993 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:216.12, Y:174.44, Z:32.38 [[-4.31858548e-01 -9.01529391e-01 2.72571570e-02 2.16121244e+02] [ 8.99692498e-01 -4.32717757e-01 -5.75217570e-02 1.74439081e+02] [ 6.36522103e-02 -3.18202813e-04 9.97972091e-01 3.23825342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.9071056809999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:216.12, Y:174.45, Z:32.39 [[-4.30887107e-01 -9.01988270e-01 2.74492617e-02 2.16117265e+02] [ 9.00158177e-01 -4.31760535e-01 -5.74290673e-02 1.74448974e+02] [ 6.36518530e-02 -3.67672247e-05 9.97972164e-01 3.23876845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93710568099993 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:216.12, Y:174.45, Z:32.39 [[-4.29653459e-01 -9.02579289e-01 2.73593276e-02 2.16115581e+02] [ 9.00747634e-01 -4.30523663e-01 -5.74723861e-02 1.74453473e+02] [ 6.36522233e-02 -4.93598375e-05 9.97972140e-01 3.23902330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.9671056809999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:216.12, Y:174.44, Z:32.40 [[-4.23300532e-01 -9.05576803e-01 2.73370402e-02 2.16121725e+02] [ 9.03750618e-01 -4.24182171e-01 -5.74830975e-02 1.74443955e+02] [ 6.36512448e-02 3.73241266e-04 9.97972134e-01 3.23963737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99710568099994 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:216.13, Y:174.44, Z:32.40 [[-4.19986156e-01 -9.07128499e-01 2.70095340e-02 2.16125101e+02] [ 9.05295423e-01 -4.20853688e-01 -5.76400133e-02 1.74436811e+02] [ 6.36539608e-02 2.43599886e-04 9.97972001e-01 3.23961931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0271056809999 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:216.12, Y:174.45, Z:32.40 [[-4.13916314e-01 -9.09918708e-01 2.68557200e-02 2.16121668e+02] [ 9.08086699e-01 -4.14786326e-01 -5.77135222e-02 1.74451036e+02] [ 6.36539990e-02 4.98753692e-04 9.97971903e-01 3.23999711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05710568099994 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:216.13, Y:174.45, Z:32.40 [[-4.12643833e-01 -9.10506601e-01 2.65103075e-02 2.16126814e+02] [ 9.08665192e-01 -4.13494483e-01 -5.78781625e-02 1.74448214e+02] [ 6.36603149e-02 2.05926802e-04 9.97971604e-01 3.23978232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0871056809999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:216.12, Y:174.45, Z:32.40 [[-4.12648505e-01 -9.10510198e-01 2.63133022e-02 2.16124746e+02] [ 9.08662802e-01 -4.13486612e-01 -5.79718314e-02 1.74454226e+02] [ 6.36641419e-02 -1.20706719e-05 9.97971381e-01 3.23977849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11710568099994 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:216.14, Y:174.43, Z:32.39 [[-4.15280342e-01 -9.09321731e-01 2.60043709e-02 2.16139184e+02] [ 9.07462707e-01 -4.16093380e-01 -5.81182866e-02 1.74431157e+02] [ 6.36684676e-02 -5.37385151e-04 9.97970960e-01 3.23895892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1471056809999 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:216.13, Y:174.45, Z:32.39 [[-4.21454496e-01 -9.06482407e-01 2.58021904e-02 2.16132524e+02] [ 9.04612030e-01 -4.22241898e-01 -5.82138701e-02 1.74445356e+02] [ 6.36646150e-02 -1.19352543e-03 9.97970637e-01 3.23919637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17710568099994 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:216.13, Y:174.46, Z:32.39 [[-4.19187038e-01 -9.07531384e-01 2.58653227e-02 2.16131411e+02] [ 9.05664817e-01 -4.19983163e-01 -5.81840461e-02 1.74462197e+02] [ 6.36668479e-02 -9.64685138e-04 9.97970742e-01 3.23898997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2071056809999 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:216.13, Y:174.47, Z:32.38 [[-4.23030884e-01 -9.05761166e-01 2.53294771e-02 2.16132431e+02] [ 9.03875972e-01 -4.23784588e-01 -5.84367228e-02 1.74466513e+02] [ 6.36639561e-02 -1.82583278e-03 9.97969723e-01 3.23830271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23710568099995 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:216.13, Y:174.46, Z:32.39 [[-4.18598534e-01 -9.07808776e-01 2.56611191e-02 2.16134017e+02] [ 9.05936795e-01 -4.19382768e-01 -5.82805098e-02 1.74461541e+02] [ 6.36693894e-02 -1.14878393e-03 9.97970385e-01 3.23882457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2671056809999 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:216.13, Y:174.46, Z:32.39 [[-4.13532705e-01 -9.10136675e-01 2.53364394e-02 2.16133746e+02] [ 9.08259689e-01 -4.14306537e-01 -5.84331252e-02 1.74463947e+02] [ 6.36791827e-02 -1.15194174e-03 9.97969756e-01 3.23914242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2971056809999 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:216.14, Y:174.46, Z:32.39 [[-4.10101027e-01 -9.11692663e-01 2.51721184e-02 2.16137445e+02] [ 9.09813864e-01 -4.10871382e-01 -5.85101739e-02 1.74457883e+02] [ 6.36857993e-02 -1.09314014e-03 9.97969400e-01 3.23903064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3271056809999 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:216.14, Y:174.47, Z:32.39 [[-4.03850568e-01 -9.14478936e-01 2.51593930e-02 2.16135443e+02] [ 9.12605083e-01 -4.04632952e-01 -5.85161316e-02 1.74466812e+02] [ 6.36920892e-02 -6.71183091e-04 9.97969372e-01 3.23949615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3571056809999 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:216.13, Y:174.48, Z:32.40 [[-4.03354204e-01 -9.14698979e-01 2.51229609e-02 2.16130197e+02] [ 9.12824489e-01 -4.04135273e-01 -5.85331801e-02 1.74480274e+02] [ 6.36933148e-02 -6.76750333e-04 9.97969290e-01 3.23996676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3871056809999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:216.13, Y:174.49, Z:32.40 [[-3.98263226e-01 -9.16926249e-01 2.51526631e-02 2.16130037e+02] [ 9.15057005e-01 -3.99056600e-01 -5.85192932e-02 1.74486371e+02] [ 6.36952122e-02 -2.89961972e-04 9.97969356e-01 3.23985708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.4171056809999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:216.13, Y:174.50, Z:32.40 [[-3.92322554e-01 -9.19490140e-01 2.49177808e-02 2.16126564e+02] [ 9.17619082e-01 -3.93113041e-01 -5.86289781e-02 1.74497764e+02] [ 6.37042719e-02 -1.36439241e-04 9.97968811e-01 3.23993400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.4471056809999 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:216.12, Y:174.50, Z:32.40 [[-3.89475097e-01 -9.20704897e-01 2.47313999e-02 2.16123216e+02] [ 9.18830763e-01 -3.90259493e-01 -5.87158957e-02 1.74497614e+02] [ 6.37116763e-02 -1.44408136e-04 9.97968337e-01 3.23974577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.4771056809999 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:216.12, Y:174.50, Z:32.40 [[-3.83230942e-01 -9.23312005e-01 2.50795813e-02 2.16118860e+02] [ 9.21453734e-01 -3.84050116e-01 -5.85536049e-02 1.74504334e+02] [ 6.36950625e-02 6.70120616e-04 9.97969183e-01 3.23994150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.5071056809999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:216.14, Y:174.46, Z:32.40 [[-3.80989326e-01 -9.24252420e-01 2.45885761e-02 2.16136647e+02] [ 9.22381354e-01 -3.81781853e-01 -5.87814161e-02 1.74464613e+02] [ 6.37163382e-02 2.84952025e-04 9.97968009e-01 3.24026844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.5371056809999 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:216.11, Y:174.51, Z:32.41 [[-3.82321665e-01 -9.23697460e-01 2.47618102e-02 2.16112246e+02] [ 9.21830419e-01 -3.83122508e-01 -5.87011220e-02 1.74513127e+02] [ 6.37088840e-02 3.83479150e-04 9.97968452e-01 3.24062780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.56710568099993 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:216.11, Y:174.52, Z:32.41 [[-3.79153524e-01 -9.24998747e-01 2.48982759e-02 2.16106727e+02] [ 9.23138593e-01 -3.79969411e-01 -5.86377439e-02 1.74517506e+02] [ 6.37004229e-02 7.51852116e-04 9.97968783e-01 3.24060137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.5971056809999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:216.10, Y:174.52, Z:32.40 [[-3.78511678e-01 -9.25273487e-01 2.44516479e-02 2.16102968e+02] [ 9.23400462e-01 -3.79300515e-01 -5.88447683e-02 1.74520566e+02] [ 6.37220266e-02 3.05230983e-04 9.97967640e-01 3.24030860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.62710568099993 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:216.10, Y:174.52, Z:32.40 [[-3.75432970e-01 -9.26522956e-01 2.46027990e-02 2.16095858e+02] [ 9.24657114e-01 -3.76237619e-01 -5.87747832e-02 1.74521184e+02] [ 6.37126844e-02 6.83161746e-04 9.97968049e-01 3.23963815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.6571056809999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:216.09, Y:174.53, Z:32.39 [[-3.78395516e-01 -9.25324131e-01 2.43328038e-02 2.16088599e+02] [ 9.23447679e-01 -3.79177028e-01 -5.88996170e-02 1.74530726e+02] [ 6.37276772e-02 1.82720210e-04 9.97967309e-01 3.23930037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68710568099993 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:216.08, Y:174.52, Z:32.39 [[-3.83817669e-01 -9.23086621e-01 2.43943936e-02 2.16082339e+02] [ 9.21207420e-01 -3.84592088e-01 -5.88711690e-02 1.74524882e+02] [ 6.37250793e-02 -1.23498502e-04 9.97967484e-01 3.23906548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7171056809999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:216.07, Y:174.53, Z:32.39 [[-3.84706205e-01 -9.22703737e-01 2.48786871e-02 2.16068653e+02] [ 9.20838076e-01 -3.85509653e-01 -5.86476402e-02 1.74528599e+02] [ 6.37053708e-02 3.47131225e-04 9.97968690e-01 3.23892388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74710568099994 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:216.04, Y:174.55, Z:32.39 [[-4.23189976e-01 -9.05716152e-01 2.42589377e-02 2.16043365e+02] [ 9.03801753e-01 -4.23873992e-01 -5.89341097e-02 1.74553967e+02] [ 6.36603078e-02 -3.01505402e-03 9.97967071e-01 3.23879669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7771056809999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:216.08, Y:174.49, Z:32.38 [[-4.10603474e-01 -9.11420342e-01 2.67908138e-02 2.16081673e+02] [ 9.09588503e-01 -4.11476045e-01 -5.77600237e-02 1.74487011e+02] [ 6.36674386e-02 6.52149764e-04 9.97970958e-01 3.23848102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.80710568099994 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:216.04, Y:174.55, Z:32.37 [[-4.09404530e-01 -9.12015539e-01 2.48110407e-02 2.16041644e+02] [ 9.10127667e-01 -4.10153128e-01 -5.86689067e-02 1.74552838e+02] [ 6.36832805e-02 -1.43810157e-03 9.97969124e-01 3.23728807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8371056809999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:216.05, Y:174.56, Z:32.41 [[-4.18937750e-01 -9.07707072e-01 2.36439004e-02 2.16053290e+02] [ 9.05780458e-01 -4.19590750e-01 -5.92061153e-02 1.74555826e+02] [ 6.36625714e-02 -3.38749374e-03 9.97965732e-01 3.24080299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.86710568099994 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:216.06, Y:174.52, Z:32.41 [[-4.17814661e-01 -9.08188081e-01 2.50063763e-02 2.16061719e+02] [ 9.06298708e-01 -4.18558391e-01 -5.85792173e-02 1.74522848e+02] [ 6.36675756e-02 -1.81200926e-03 9.97969517e-01 3.24078084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8971056809999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:216.04, Y:174.57, Z:32.42 [[-4.24806045e-01 -9.04960713e-01 2.42060286e-02 2.16040693e+02] [ 9.03044487e-01 -4.25483237e-01 -5.89463273e-02 1.74565851e+02] [ 6.36433698e-02 -3.18163553e-03 9.97967634e-01 3.24183820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.92710568099994 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:216.06, Y:174.53, Z:32.41 [[-4.21477358e-01 -9.06510358e-01 2.44091640e-02 2.16056720e+02] [ 9.04601986e-01 -4.22174782e-01 -5.88532106e-02 1.74532282e+02] [ 6.36559785e-02 -2.72471755e-03 9.97968182e-01 3.24102173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9571056809999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:216.03, Y:174.59, Z:32.41 [[-4.25969724e-01 -9.04412794e-01 2.42341137e-02 2.16032801e+02] [ 9.02496434e-01 -4.26646280e-01 -5.89333430e-02 1.74587682e+02] [ 6.36394638e-02 -3.23261870e-03 9.97967719e-01 3.24144538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.98710568099995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:216.06, Y:174.53, Z:32.40 [[-4.14253063e-01 -9.09833127e-01 2.44556837e-02 2.16060042e+02] [ 9.07931613e-01 -4.14968654e-01 -5.88319829e-02 1.74530088e+02] [ 6.36756291e-02 -2.16724076e-03 9.97968295e-01 3.24004423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0171056809999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:216.03, Y:174.60, Z:32.41 [[-4.15387856e-01 -9.09324626e-01 2.41174970e-02 2.16031190e+02] [ 9.07413219e-01 -4.16079166e-01 -5.89862420e-02 1.74597118e+02] [ 6.36724305e-02 -2.61763294e-03 9.97967419e-01 3.24084462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0471056809999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:216.02, Y:174.61, Z:32.41 [[-4.35982962e-01 -8.99619019e-01 2.45861098e-02 2.16017531e+02] [ 8.97704258e-01 -4.36661198e-01 -5.87712790e-02 1.74606206e+02] [ 6.36075606e-02 -3.55222086e-03 9.97968667e-01 3.24058269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0771056809999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:216.05, Y:174.53, Z:32.40 [[-4.07455324e-01 -9.12837744e-01 2.65972243e-02 2.16053625e+02] [ 9.11003257e-01 -4.08321953e-01 -5.78467652e-02 1.74532281e+02] [ 6.36649412e-02 6.60185489e-04 9.97971112e-01 3.24025960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1071056809999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:216.04, Y:174.56, Z:32.41 [[-4.01720588e-01 -9.15421165e-01 2.49931850e-02 2.16038475e+02] [ 9.13545342e-01 -4.02496709e-01 -5.85773657e-02 1.74562158e+02] [ 6.36826351e-02 -6.99326052e-04 9.97969956e-01 3.24080589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1371056809999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:216.03, Y:174.58, Z:32.41 [[-4.03939732e-01 -9.14461876e-01 2.43345488e-02 2.16032728e+02] [ 9.12565866e-01 -4.04668992e-01 -5.88773894e-02 1.74582426e+02] [ 6.36885653e-02 -1.57603832e-03 9.97968578e-01 3.24107777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1671056809999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:216.05, Y:174.55, Z:32.40 [[-4.00288058e-01 -9.16036341e-01 2.54340630e-02 2.16047668e+02] [ 9.14174371e-01 -4.01095260e-01 -5.83764732e-02 1.74547030e+02] [ 6.36764531e-02 -1.16236610e-04 9.97970589e-01 3.24014848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1971056809999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:216.05, Y:174.54, Z:32.40 [[-3.93931301e-01 -9.18796224e-01 2.51322477e-02 2.16052540e+02] [ 9.16931121e-01 -3.94732187e-01 -5.85134233e-02 1.74539327e+02] [ 6.36824194e-02 -5.72893114e-06 9.97970215e-01 3.23984630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.2271056809999 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:216.05, Y:174.55, Z:32.40 [[-3.92667935e-01 -9.19337840e-01 2.50964039e-02 2.16050530e+02] [ 9.17472803e-01 -3.93469103e-01 -5.85296536e-02 1.74548178e+02] [ 6.36831848e-02 4.25497970e-05 9.97970165e-01 3.24006191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.2571056809999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:216.02, Y:174.61, Z:32.42 [[-3.93789917e-01 -9.18858067e-01 2.50869139e-02 2.16022019e+02] [ 9.16991781e-01 -3.94588203e-01 -5.85339519e-02 1.74609112e+02] [ 6.36833942e-02 -4.55862378e-05 9.97970151e-01 3.24236267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.2871056809999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:216.02, Y:174.62, Z:32.43 [[-3.94289476e-01 -9.18656500e-01 2.46179564e-02 2.16018601e+02] [ 9.16776403e-01 -3.95056808e-01 -5.87464479e-02 1.74615705e+02] [ 6.36932976e-02 -5.93944614e-04 9.97969344e-01 3.24260096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31710568099993 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:216.03, Y:174.59, Z:32.42 [[-3.96076518e-01 -9.17884857e-01 2.47139729e-02 2.16030492e+02] [ 9.16005973e-01 -3.96846334e-01 -5.87030142e-02 1.74589954e+02] [ 6.36902574e-02 -6.12738690e-04 9.97969526e-01 3.24181677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.3471056809999 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:216.02, Y:174.61, Z:32.43 [[-3.90333580e-01 -9.20318389e-01 2.55687066e-02 2.16018745e+02] [ 9.18469178e-01 -3.91169455e-01 -5.83166102e-02 1.74612237e+02] [ 6.36715458e-02 7.21137714e-04 9.97970648e-01 3.24251116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37710568099993 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:216.03, Y:174.59, Z:32.42 [[-3.89946617e-01 -9.20519905e-01 2.41814195e-02 2.16031284e+02] [ 9.18631308e-01 -3.90694910e-01 -5.89407200e-02 1.74590135e+02] [ 6.37036634e-02 -7.69925313e-04 9.97968562e-01 3.24212721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.4071056809999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:216.03, Y:174.59, Z:32.42 [[-3.89427185e-01 -9.20732149e-01 2.44699530e-02 2.16029003e+02] [ 9.18852057e-01 -3.90194997e-01 -5.88112376e-02 1.74594995e+02] [ 6.36974504e-02 -4.18427987e-04 9.97969168e-01 3.24218171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43710568099993 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:216.00, Y:174.65, Z:32.42 [[-3.93903652e-01 -9.18824248e-01 2.45339391e-02 2.16001822e+02] [ 9.16942229e-01 -3.94666400e-01 -5.87824980e-02 1.74653690e+02] [ 6.36935060e-02 -6.58435844e-04 9.97969290e-01 3.24236846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.4671056809999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:216.01, Y:174.63, Z:32.42 [[-3.91257380e-01 -9.19955295e-01 2.44932191e-02 2.16012311e+02] [ 9.18074333e-01 -3.92022940e-01 -5.88007924e-02 1.74630707e+02] [ 6.36960041e-02 -5.19648237e-04 9.97969212e-01 3.24192015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49710568099994 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:216.01, Y:174.63, Z:32.42 [[-3.90802898e-01 -9.20154846e-01 2.42518891e-02 2.16010947e+02] [ 9.18267532e-01 -3.91553947e-01 -5.89087982e-02 1.74634180e+02] [ 6.37011390e-02 -7.52006737e-04 9.97968737e-01 3.24197674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5271056809999 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:216.00, Y:174.65, Z:32.42 [[-3.90283170e-01 -9.20372627e-01 2.43572276e-02 2.16002262e+02] [ 9.18488668e-01 -3.91042026e-01 -5.88617081e-02 1.74653264e+02] [ 6.36994045e-02 -6.00896470e-04 9.97968950e-01 3.24208606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55710568099994 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:215.98, Y:174.70, Z:32.42 [[-3.93995766e-01 -9.18785865e-01 2.44922765e-02 2.15983534e+02] [ 9.16902602e-01 -3.94755659e-01 -5.88012594e-02 1.74698562e+02] [ 6.36942307e-02 -7.10415108e-04 9.97969208e-01 3.24234945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5871056809999 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:215.98, Y:174.69, Z:32.42 [[-3.81311161e-01 -9.24104207e-01 2.51637220e-02 2.15983848e+02] [ 9.22251090e-01 -3.82139509e-01 -5.85006268e-02 1.74686119e+02] [ 6.36767277e-02 9.00328092e-04 9.97970172e-01 3.24174590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61710568099994 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:215.99, Y:174.67, Z:32.41 [[-3.75698650e-01 -9.26419500e-01 2.44424889e-02 2.15989236e+02] [ 9.24550338e-01 -3.76492579e-01 -5.88218623e-02 1.74665982e+02] [ 6.36961359e-02 4.99017120e-04 9.97969215e-01 3.24124023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6471056809999 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:215.98, Y:174.68, Z:32.41 [[-3.74947216e-01 -9.26721558e-01 2.45303855e-02 2.15981612e+02] [ 9.24855579e-01 -3.75748236e-01 -5.87828260e-02 1.74684044e+02] [ 6.36925612e-02 6.46606902e-04 9.97969358e-01 3.24142863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67710568099994 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:215.99, Y:174.67, Z:32.41 [[-3.73499941e-01 -9.27306422e-01 2.45070263e-02 2.15989570e+02] [ 9.25441020e-01 -3.74302392e-01 -5.87931774e-02 1.74668616e+02] [ 6.36923295e-02 7.20559144e-04 9.97969322e-01 3.24136315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7071056809999 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:215.98, Y:174.69, Z:32.42 [[-3.76882938e-01 -9.25939858e-01 2.43850464e-02 2.15982625e+02] [ 9.24068054e-01 -3.77670827e-01 -5.88470735e-02 1.74693028e+02] [ 6.36983715e-02 3.54984442e-04 9.97969134e-01 3.24201527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73710568099995 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:215.98, Y:174.71, Z:32.42 [[-3.77344420e-01 -9.25744551e-01 2.46620208e-02 2.15977372e+02] [ 9.23880276e-01 -3.78148960e-01 -5.87247853e-02 1.74705001e+02] [ 6.36900675e-02 6.25284536e-04 9.97969531e-01 3.24240438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7671056809999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:215.98, Y:174.71, Z:32.43 [[-3.81167663e-01 -9.24173806e-01 2.47788167e-02 2.15976156e+02] [ 9.22309552e-01 -3.81971906e-01 -5.86732728e-02 1.74710686e+02] [ 6.36891136e-02 4.89385093e-04 9.97969668e-01 3.24290284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7971056809999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:215.99, Y:174.68, Z:32.43 [[-3.76751236e-01 -9.25965359e-01 2.54295009e-02 2.15987747e+02] [ 9.24123957e-01 -3.77605475e-01 -5.83867954e-02 1.74683988e+02] [ 6.36664688e-02 1.50271368e-03 9.97970101e-01 3.24277245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8271056809999 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:215.98, Y:174.72, Z:32.41 [[-3.74963186e-01 -9.26696842e-01 2.52105372e-02 2.15977458e+02] [ 9.24850642e-01 -3.75807182e-01 -5.84829181e-02 1.74721886e+02] [ 6.36702365e-02 1.38704022e-03 9.97970028e-01 3.24138160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8571056809999 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:215.97, Y:174.73, Z:32.43 [[-3.74681006e-01 -9.26800964e-01 2.55757072e-02 2.15969631e+02] [ 9.24965802e-01 -3.75548556e-01 -5.83227893e-02 1.74733329e+02] [ 6.36585372e-02 1.80421317e-03 9.97970108e-01 3.24343122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8871056809999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:217.13, Y:175.29, Z:32.67 [[-4.85679327e-01 8.73762825e-01 -2.55757072e-02 2.17133856e+02] [ 8.71835001e-01 4.86314902e-01 5.83227893e-02 1.75291937e+02] [ 6.33981327e-02 6.02837635e-03 -9.97970108e-01 3.26681308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.9171056809999 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:215.96, Y:174.80, Z:32.44 [[-4.35021795e-01 -8.99931150e-01 2.96641794e-02 2.15956978e+02] [ 8.98177424e-01 -4.36026492e-01 -5.61979881e-02 1.74803413e+02] [ 6.35086881e-02 2.19634658e-03 9.97978869e-01 3.24390644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.9471056809999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:215.95, Y:174.81, Z:32.44 [[-4.40222648e-01 -8.97435178e-01 2.85328255e-02 2.15954737e+02] [ 8.95637084e-01 -4.41145998e-01 -5.67840068e-02 1.74811228e+02] [ 6.35471071e-02 5.57450797e-04 9.97978684e-01 3.24365550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.9771056809999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:215.94, Y:174.83, Z:32.44 [[-4.38341027e-01 -8.98330623e-01 2.93127269e-02 2.15941108e+02] [ 8.96560984e-01 -4.39317240e-01 -5.63805322e-02 1.74833119e+02] [ 6.35259449e-02 1.56674690e-03 9.97978958e-01 3.24383944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.0071056809999 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:215.94, Y:174.84, Z:32.44 [[-4.38263263e-01 -8.98373630e-01 2.91570603e-02 2.15936186e+02] [ 8.96598740e-01 -4.39229859e-01 -5.64608721e-02 1.74835953e+02] [ 6.35296101e-02 1.39745751e-03 9.97978976e-01 3.24365214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.0371056809999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:215.93, Y:174.84, Z:32.44 [[-4.35118417e-01 -8.99893329e-01 2.93931810e-02 2.15929742e+02] [ 8.98129968e-01 -4.36106001e-01 -5.63392895e-02 1.74843884e+02] [ 6.35178934e-02 1.88463426e-03 9.97978920e-01 3.24395906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.06710568099993 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:215.93, Y:174.84, Z:32.44 [[-4.38636526e-01 -8.98202202e-01 2.88236306e-02 2.15928760e+02] [ 8.96415666e-01 -4.39581403e-01 -5.66316618e-02 1.74844185e+02] [ 6.35370153e-02 9.97238549e-04 9.97978984e-01 3.24358565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.0971056809999 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:215.94, Y:174.83, Z:32.43 [[-4.42776645e-01 -8.96154250e-01 2.92643611e-02 2.15937880e+02] [ 8.94378139e-01 -4.43741056e-01 -5.64058440e-02 1.74830867e+02] [ 6.35341353e-02 1.19821444e-03 9.97978947e-01 3.24294567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.12710568099993 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:215.92, Y:174.87, Z:32.44 [[-4.36688650e-01 -8.99130116e-01 2.94628161e-02 2.15919240e+02] [ 8.97367377e-01 -4.37677514e-01 -5.63043954e-02 1.74865328e+02] [ 6.35201897e-02 1.85147960e-03 9.97978836e-01 3.24397567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.1571056809999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:215.93, Y:174.84, Z:32.44 [[-4.36624419e-01 -8.99174167e-01 2.90677403e-02 2.15932854e+02] [ 8.97398059e-01 -4.37588641e-01 -5.65058058e-02 1.74842710e+02] [ 6.35282738e-02 1.41351907e-03 9.97979038e-01 3.24419014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18710568099993 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:215.97, Y:174.77, Z:32.44 [[-4.25559014e-01 -9.04446394e-01 2.96014552e-02 2.15969475e+02] [ 9.02700855e-01 -4.26578168e-01 -5.62337376e-02 1.74774548e+02] [ 6.34877358e-02 2.79048500e-03 9.97978718e-01 3.24372305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2171056809999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:215.96, Y:174.80, Z:32.44 [[-4.27496448e-01 -9.03569649e-01 2.84372410e-02 2.15957660e+02] [ 9.01782116e-01 -4.28439098e-01 -5.68238862e-02 1.74801164e+02] [ 6.35279648e-02 1.35218588e-03 9.97979143e-01 3.24382695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24710568099994 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:215.97, Y:174.79, Z:32.44 [[-4.22247708e-01 -9.06026589e-01 2.86826244e-02 2.15966121e+02] [ 9.04252902e-01 -4.23216067e-01 -5.66996499e-02 1.74794492e+02] [ 6.35103379e-02 1.99504915e-03 9.97979187e-01 3.24360373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2771056809999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:215.92, Y:174.90, Z:32.45 [[-4.33412155e-01 -9.00744599e-01 2.85144114e-02 2.15917402e+02] [ 8.98953490e-01 -4.34347929e-01 -5.67846681e-02 1.74896246e+02] [ 6.35336586e-02 1.02196429e-03 9.97979173e-01 3.24517612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.30710568099994 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:215.91, Y:174.91, Z:32.45 [[-4.28852199e-01 -9.02894468e-01 2.94511716e-02 2.15912431e+02] [ 9.01139848e-01 -4.29855637e-01 -5.63125689e-02 1.74910008e+02] [ 6.35040590e-02 2.38985531e-03 9.97978719e-01 3.24531933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3371056809999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:215.91, Y:174.92, Z:32.46 [[-4.30104745e-01 -9.02317956e-01 2.88481348e-02 2.15911669e+02] [ 9.00541519e-01 -4.31068040e-01 -5.66155282e-02 1.74915224e+02] [ 6.35207166e-02 1.62833582e-03 9.97979192e-01 3.24586901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.36710568099994 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:215.91, Y:174.92, Z:32.46 [[-4.35754058e-01 -8.99595560e-01 2.90900279e-02 2.15910061e+02] [ 8.97821147e-01 -4.36721397e-01 -5.64943322e-02 1.74916508e+02] [ 6.35262880e-02 1.50000765e-03 9.97979038e-01 3.24568252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3971056809999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:215.90, Y:174.94, Z:32.46 [[-4.23705691e-01 -9.05320143e-01 2.94775350e-02 2.15898222e+02] [ 9.03572092e-01 -4.24720742e-01 -5.63006783e-02 1.74935298e+02] [ 6.34898587e-02 2.78016018e-03 9.97978611e-01 3.24604389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.42710568099994 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:215.90, Y:174.93, Z:32.46 [[-4.17505025e-01 -9.08205085e-01 2.92074769e-02 2.15897744e+02] [ 9.06454646e-01 -4.18515275e-01 -5.64352658e-02 1.74929113e+02] [ 6.34785707e-02 2.91324609e-03 9.97978950e-01 3.24613874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4571056809999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:215.89, Y:174.93, Z:32.46 [[-4.09110098e-01 -9.12018431e-01 2.91772022e-02 2.15890118e+02] [ 9.10276324e-01 -4.10134583e-01 -5.64503162e-02 1.74930307e+02] [ 6.34503085e-02 3.46492198e-03 9.97978984e-01 3.24601341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.48710568099995 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:215.89, Y:174.94, Z:32.46 [[-4.09067034e-01 -9.12043866e-01 2.89853175e-02 2.15885278e+02] [ 9.10295129e-01 -4.10079744e-01 -5.65453966e-02 1.74941475e+02] [ 6.34581736e-02 3.25433562e-03 9.97979193e-01 3.24606888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5171056809999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:215.88, Y:174.95, Z:32.46 [[-4.10340278e-01 -9.11473947e-01 2.89153916e-02 2.15876909e+02] [ 9.09721387e-01 -4.11346215e-01 -5.65799409e-02 1.74953375e+02] [ 6.34653789e-02 3.08792151e-03 9.97979264e-01 3.24608052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5471056809999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:215.89, Y:174.93, Z:32.46 [[-4.11751007e-01 -9.10837062e-01 2.89301824e-02 2.15887096e+02] [ 9.09083453e-01 -4.12755146e-01 -5.65726511e-02 1.74934217e+02] [ 6.34695489e-02 3.00610409e-03 9.97979248e-01 3.24584401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5771056809999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:215.88, Y:174.94, Z:32.46 [[-4.18910119e-01 -9.07569929e-01 2.88294363e-02 2.15883951e+02] [ 9.05805079e-01 -4.19894144e-01 -5.66221502e-02 1.74943537e+02] [ 6.34938723e-02 2.39425814e-03 9.97979356e-01 3.24631675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6071056809999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:215.89, Y:174.94, Z:32.46 [[-4.20563399e-01 -9.06804228e-01 2.88533974e-02 2.15886395e+02] [ 9.05038388e-01 -4.21545700e-01 -5.66104102e-02 1.74938820e+02] [ 6.34975849e-02 2.30516577e-03 9.97979330e-01 3.24580912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6371056809999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:215.91, Y:174.88, Z:32.45 [[-4.17943430e-01 -9.08010292e-01 2.89930791e-02 2.15914637e+02] [ 9.06251996e-01 -4.18939518e-01 -5.65420212e-02 1.74882869e+02] [ 6.34870838e-02 2.64366953e-03 9.97979159e-01 3.24495121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6671056809999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:215.90, Y:174.92, Z:32.45 [[-4.28792416e-01 -9.02960643e-01 2.82690722e-02 2.15895008e+02] [ 9.01167036e-01 -4.29721901e-01 -5.68951776e-02 1.74920433e+02] [ 6.35219456e-02 1.07893538e-03 9.97979859e-01 3.24518239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6971056809999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:215.88, Y:174.95, Z:32.45 [[-4.29660581e-01 -9.02533190e-01 2.87337258e-02 2.15880296e+02] [ 9.00753636e-01 -4.30617568e-01 -5.66691952e-02 1.74947861e+02] [ 6.35190767e-02 1.53348868e-03 9.97979446e-01 3.24543623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.7271056809999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:215.90, Y:174.90, Z:32.45 [[-4.29373520e-01 -9.02675546e-01 2.85523993e-02 2.15900628e+02] [ 9.00890440e-01 -4.30319684e-01 -5.67572394e-02 1.74900525e+02] [ 6.35200315e-02 1.35252788e-03 9.97979647e-01 3.24480145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.7571056809999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:215.90, Y:174.89, Z:32.45 [[-4.27639009e-01 -9.03503289e-01 2.84021988e-02 2.15902747e+02] [ 9.01715171e-01 -4.28579159e-01 -5.68300452e-02 1.74891995e+02] [ 6.35187232e-02 1.30794934e-03 9.97979790e-01 3.24458212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.7871056809999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:215.89, Y:174.92, Z:32.45 [[-4.35874674e-01 -8.99567671e-01 2.81295812e-02 2.15892255e+02] [ 8.97762509e-01 -4.36781208e-01 -5.69618580e-02 1.74919897e+02] [ 6.35275184e-02 4.25452173e-04 9.97979997e-01 3.24507623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81710568099993 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:215.90, Y:174.91, Z:32.46 [[-4.35357344e-01 -8.99808013e-01 2.84521271e-02 2.15896405e+02] [ 8.98013470e-01 -4.36285307e-01 -5.68061440e-02 1.74910898e+02] [ 6.35278685e-02 8.19421389e-04 9.97979729e-01 3.24558493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.8471056809999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:215.89, Y:174.93, Z:32.46 [[-4.39713232e-01 -8.97697386e-01 2.81367668e-02 2.15889299e+02] [ 8.95888618e-01 -4.40612503e-01 -5.69579391e-02 1.74928414e+02] [ 6.35284043e-02 1.62249633e-04 9.97980018e-01 3.24582543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87710568099993 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:215.89, Y:174.93, Z:32.46 [[-4.43678906e-01 -8.95740319e-01 2.82543573e-02 2.15888547e+02] [ 8.93931174e-01 -4.44577643e-01 -5.69014536e-02 1.74932834e+02] [ 6.35301818e-02 1.14761347e-05 9.97979918e-01 3.24555093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.9071056809999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:215.89, Y:174.93, Z:32.45 [[-4.45571525e-01 -8.94800798e-01 2.82409058e-02 2.15891374e+02] [ 8.92989349e-01 -4.46465579e-01 -5.69079024e-02 1.74929758e+02] [ 6.35298288e-02 -1.37712802e-04 9.97979931e-01 3.24537520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93710568099993 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:215.88, Y:174.95, Z:32.45 [[-4.48894101e-01 -8.93140022e-01 2.81955213e-02 2.15882549e+02] [ 8.91323902e-01 -4.49778525e-01 -5.69296111e-02 1.74950025e+02] [ 6.35278541e-02 -4.24024540e-04 9.97979976e-01 3.24511027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.9671056809999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:215.88, Y:174.96, Z:32.45 [[-4.48675402e-01 -8.93250439e-01 2.81786561e-02 2.15879390e+02] [ 8.91434032e-01 -4.49559196e-01 -5.69376585e-02 1.74959031e+02] [ 6.35275624e-02 -4.27113739e-04 9.97979993e-01 3.24547263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99710568099994 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:215.88, Y:174.95, Z:32.46 [[-4.50041066e-01 -8.92563280e-01 2.81749961e-02 2.15880692e+02] [ 8.90745414e-01 -4.50921847e-01 -5.69394011e-02 1.74953054e+02] [ 6.35267399e-02 -5.28320248e-04 9.97979997e-01 3.24550880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0271056809999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:215.88, Y:174.96, Z:32.46 [[-4.49836802e-01 -8.92666201e-01 2.81763127e-02 2.15879795e+02] [ 8.90848576e-01 -4.50718084e-01 -5.69387755e-02 1.74960652e+02] [ 6.35268941e-02 -5.12328627e-04 9.97979995e-01 3.24564885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05710568099994 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:215.87, Y:174.98, Z:32.45 [[-4.48950173e-01 -8.93115965e-01 2.80644882e-02 2.15868803e+02] [ 8.91295905e-01 -4.49826128e-01 -5.69917946e-02 1.74979924e+02] [ 6.35244217e-02 -5.72712652e-04 9.97980120e-01 3.24540233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0871056809999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:215.88, Y:174.97, Z:32.46 [[-4.36520431e-01 -8.99259357e-01 2.79736083e-02 2.15875832e+02] [ 8.97448864e-01 -4.37415782e-01 -5.70348147e-02 1.74966714e+02] [ 6.35251885e-02 2.08021097e-04 9.97980214e-01 3.24573603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11710568099994 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:215.87, Y:174.96, Z:32.46 [[-4.35965516e-01 -8.99539006e-01 2.76341517e-02 2.15872651e+02] [ 8.97718866e-01 -4.36840429e-01 -5.71950756e-02 1.74961229e+02] [ 6.35209162e-02 -1.27381257e-04 9.97980499e-01 3.24625740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1471056809999 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:215.87, Y:174.97, Z:32.46 [[-4.30622917e-01 -9.02104946e-01 2.77591588e-02 2.15868337e+02] [ 9.00293809e-01 -4.31516532e-01 -5.71361510e-02 1.74965746e+02] [ 6.35213403e-02 3.87262838e-04 9.97980405e-01 3.24589735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17710568099994 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:215.84, Y:175.03, Z:32.46 [[-4.26117354e-01 -9.04249185e-01 2.75211291e-02 2.15835929e+02] [ 9.02435289e-01 -4.27004937e-01 -5.72479936e-02 1.75034101e+02] [ 6.35181096e-02 4.41674592e-04 9.97980588e-01 3.24638153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2071056809999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:215.83, Y:175.06, Z:32.46 [[-4.17561049e-01 -9.08226130e-01 2.77140199e-02 2.15829075e+02] [ 9.06426655e-01 -4.18477866e-01 -5.71576372e-02 1.75056775e+02] [ 6.35097635e-02 1.25392338e-03 9.97980430e-01 3.24628974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23710568099995 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:215.86, Y:174.99, Z:32.46 [[-4.08518339e-01 -9.12332918e-01 2.75937156e-02 2.15858998e+02] [ 9.10538849e-01 -4.09445450e-01 -5.72138901e-02 1.74992668e+02] [ 6.34962366e-02 1.75222668e-03 9.97980540e-01 3.24575625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2671056809999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:215.85, Y:175.03, Z:32.46 [[-4.09405177e-01 -9.11948983e-01 2.71376732e-02 2.15846445e+02] [ 9.10139870e-01 -4.10301889e-01 -5.74262705e-02 1.75025031e+02] [ 6.35044676e-02 1.18846593e-03 9.97980847e-01 3.24597452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2971056809999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:215.85, Y:175.01, Z:32.46 [[-4.07456302e-01 -9.12821275e-01 2.71418870e-02 2.15852633e+02] [ 9.11014212e-01 -4.08357140e-01 -5.74243126e-02 1.75014609e+02] [ 6.35017176e-02 1.32874673e-03 9.97980845e-01 3.24610022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3271056809999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:215.85, Y:175.02, Z:32.46 [[-4.06672886e-01 -9.13175350e-01 2.69804335e-02 2.15849932e+02] [ 9.11364100e-01 -4.07565119e-01 -5.74991362e-02 1.75020421e+02] [ 6.35030774e-02 1.20565878e-03 9.97980914e-01 3.24612968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3571056809999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:215.84, Y:175.05, Z:32.47 [[-4.11567566e-01 -9.10981570e-01 2.69205896e-02 2.15836896e+02] [ 9.09163751e-01 -4.12446289e-01 -5.75268018e-02 1.75053764e+02] [ 6.35091535e-02 7.99058415e-04 9.97980936e-01 3.24701318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3871056809999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:215.86, Y:175.02, Z:32.46 [[-4.11218996e-01 -9.11136370e-01 2.70083806e-02 2.15855430e+02] [ 9.09321539e-01 -4.12103954e-01 -5.74862628e-02 1.75018878e+02] [ 6.35080853e-02 9.19858963e-04 9.97980900e-01 3.24623950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.4171056809999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:215.85, Y:175.03, Z:32.47 [[-4.19034308e-01 -9.07578260e-01 2.66824158e-02 2.15850032e+02] [ 9.05746297e-01 -4.19882963e-01 -5.76363054e-02 1.75031018e+02] [ 6.35129496e-02 1.59098930e-05 9.97981014e-01 3.24681028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.4471056809999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:215.85, Y:175.03, Z:32.47 [[-4.21903975e-01 -9.06248950e-01 2.66435142e-02 2.15851320e+02] [ 9.04413184e-01 -4.22744354e-01 -5.76541752e-02 1.75029280e+02] [ 6.35124310e-02 -2.27780146e-04 9.97981022e-01 3.24675514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.4771056809999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:215.85, Y:175.04, Z:32.46 [[-4.33238233e-01 -9.00889446e-01 2.65111055e-02 2.15848617e+02] [ 8.99039576e-01 -4.34047045e-01 -5.77148440e-02 1.75037001e+02] [ 6.35017609e-02 -1.16974395e-03 9.97981041e-01 3.24629299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.5071056809999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:215.85, Y:175.04, Z:32.46 [[-4.39037263e-01 -8.98080431e-01 2.64163099e-02 2.15846127e+02] [ 8.96222786e-01 -4.39828042e-01 -5.77582115e-02 1.75041313e+02] [ 6.34901534e-02 -1.68310822e-03 9.97981046e-01 3.24612359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.5371056809999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:215.84, Y:175.05, Z:32.45 [[-4.49464702e-01 -8.92907604e-01 2.64100843e-02 2.15844811e+02] [ 8.91040712e-01 -4.50233396e-01 -5.77610541e-02 1.75046217e+02] [ 6.34659864e-02 -2.42909464e-03 9.97981046e-01 3.24534870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.56710568099993 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:215.84, Y:175.05, Z:32.45 [[-4.53945910e-01 -8.90639694e-01 2.63447606e-02 2.15843040e+02] [ 8.88767255e-01 -4.54700985e-01 -5.77908330e-02 1.75052156e+02] [ 6.34497984e-02 -2.81955168e-03 9.97981049e-01 3.24527764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.5971056809999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:215.84, Y:175.05, Z:32.45 [[-4.52016514e-01 -8.91623047e-01 2.62566913e-02 2.15842238e+02] [ 8.89749944e-01 -4.52769943e-01 -5.78309173e-02 1.75050435e+02] [ 6.34516193e-02 -2.77864000e-03 9.97981048e-01 3.24492520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.62710568099993 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:215.84, Y:175.05, Z:32.45 [[-4.51755933e-01 -8.91761163e-01 2.60500320e-02 2.15839200e+02] [ 8.89882921e-01 -4.52496529e-01 -5.79247657e-02 1.75053720e+02] [ 6.34426055e-02 -2.98637801e-03 9.97981021e-01 3.24477483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.6571056809999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:215.84, Y:175.06, Z:32.44 [[-4.45091153e-01 -8.95104428e-01 2.61137735e-02 2.15836835e+02] [ 8.93233439e-01 -4.45849856e-01 -5.78958542e-02 1.75055177e+02] [ 6.34656576e-02 -2.44323679e-03 9.97981032e-01 3.24434949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68710568099993 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:215.84, Y:175.05, Z:32.44 [[-4.39355962e-01 -8.97938649e-01 2.59330126e-02 2.15839895e+02] [ 8.96067746e-01 -4.40114970e-01 -5.79776452e-02 1.75051066e+02] [ 6.34738755e-02 -2.23508791e-03 9.97980998e-01 3.24417050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7171056809999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:215.85, Y:175.04, Z:32.44 [[-4.39162256e-01 -8.98039185e-01 2.57319742e-02 2.15845881e+02] [ 8.96163154e-01 -4.39908696e-01 -5.80684090e-02 1.75040935e+02] [ 6.34674260e-02 -2.44140632e-03 9.97980924e-01 3.24384762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74710568099994 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:215.80, Y:175.13, Z:32.45 [[-4.40604266e-01 -8.97321856e-01 2.61030105e-02 2.15804550e+02] [ 8.95454376e-01 -4.41371633e-01 -5.79011441e-02 1.75131692e+02] [ 6.34770905e-02 -2.13743618e-03 9.97981007e-01 3.24470737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7771056809999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:215.84, Y:175.06, Z:32.44 [[-4.32439615e-01 -9.01283594e-01 2.61507768e-02 2.15836956e+02] [ 8.99424451e-01 -4.33226969e-01 -5.78796238e-02 1.75058182e+02] [ 6.34951771e-02 -1.50879419e-03 9.97981005e-01 3.24417978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.80710568099994 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:215.80, Y:175.14, Z:32.45 [[-4.43602062e-01 -8.95864435e-01 2.53796190e-02 2.15801833e+02] [ 8.93975802e-01 -4.44316389e-01 -5.82255202e-02 1.75142124e+02] [ 6.34387535e-02 -3.14019556e-03 9.97980793e-01 3.24481899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8371056809999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:215.83, Y:175.08, Z:32.44 [[-4.43792638e-01 -8.95752285e-01 2.59988064e-02 2.15831535e+02] [ 8.93879384e-01 -4.44546632e-01 -5.79477319e-02 1.75079339e+02] [ 6.34644951e-02 -2.47697977e-03 9.97981023e-01 3.24440166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.86710568099994 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:215.82, Y:175.11, Z:32.46 [[-4.46080755e-01 -8.94616559e-01 2.59455553e-02 2.15818723e+02] [ 8.92740366e-01 -4.46826517e-01 -5.79715649e-02 1.75108990e+02] [ 6.34554840e-02 -2.69735494e-03 9.97981025e-01 3.24566987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8971056809999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:215.80, Y:175.16, Z:32.46 [[-4.44664341e-01 -8.95322447e-01 2.59102379e-02 2.15797777e+02] [ 8.93446527e-01 -4.45410789e-01 -5.79873457e-02 1.75157725e+02] [ 6.34580717e-02 -2.63549284e-03 9.97981026e-01 3.24631129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.92710568099994 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:215.78, Y:175.18, Z:32.47 [[-4.49338923e-01 -8.92998354e-01 2.54651067e-02 2.15781011e+02] [ 8.91107384e-01 -4.50046682e-01 -5.81860372e-02 1.75184063e+02] [ 6.34205222e-02 -3.45310672e-03 9.97980918e-01 3.24660276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9571056809999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:215.83, Y:175.08, Z:32.46 [[-4.27063390e-01 -9.03851845e-01 2.58592823e-02 2.15828075e+02] [ 9.01989501e-01 -4.27843127e-01 -5.80103319e-02 1.75084069e+02] [ 6.34964617e-02 -1.44928786e-03 9.97981011e-01 3.24579697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.98710568099995 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:215.81, Y:175.14, Z:32.46 [[-4.29621141e-01 -9.02683189e-01 2.42638858e-02 2.15808811e+02] [ 9.00777900e-01 -4.30292589e-01 -5.87151060e-02 1.75136681e+02] [ 6.34417094e-02 -3.36887874e-03 9.97979860e-01 3.24632066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0171056809999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:215.80, Y:175.15, Z:32.46 [[-4.23623810e-01 -9.05500838e-01 2.47204354e-02 2.15802801e+02] [ 9.03611630e-01 -4.24337401e-01 -5.85131825e-02 1.75153779e+02] [ 6.34735411e-02 -2.44990437e-03 9.97980515e-01 3.24617317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0471056809999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:215.80, Y:175.17, Z:32.46 [[-4.19822893e-01 -9.07271469e-01 2.46418145e-02 2.15795158e+02] [ 9.05383239e-01 -4.20539333e-01 -5.85479371e-02 1.75173519e+02] [ 6.34817251e-02 -2.26947854e-03 9.97980421e-01 3.24559210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0771056809999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:215.79, Y:175.18, Z:32.46 [[-4.16227822e-01 -9.08926045e-01 2.46545342e-02 2.15794558e+02] [ 9.07040996e-01 -4.16952549e-01 -5.85423215e-02 1.75178402e+02] [ 6.34904116e-02 -2.00426968e-03 9.97980436e-01 3.24574443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1071056809999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:215.77, Y:175.20, Z:32.46 [[-4.27143429e-01 -9.03852792e-01 2.44667576e-02 2.15774847e+02] [ 9.01954434e-01 -4.27833250e-01 -5.86251573e-02 1.75202015e+02] [ 6.34562045e-02 -2.97345013e-03 9.97980195e-01 3.24632562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1371056809999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:215.77, Y:175.21, Z:32.46 [[-4.24762288e-01 -9.04941960e-01 2.56329431e-02 2.15773006e+02] [ 9.03075546e-01 -4.25532247e-01 -5.81108039e-02 1.75206981e+02] [ 6.34945486e-02 -1.53479389e-03 9.97981005e-01 3.24639100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1671056809999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:215.77, Y:175.21, Z:32.46 [[-4.21669097e-01 -9.06388876e-01 2.55808266e-02 2.15772285e+02] [ 9.04523716e-01 -4.22442086e-01 -5.81337370e-02 1.75212396e+02] [ 6.34981903e-02 -1.37473611e-03 9.97981007e-01 3.24622664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1971056809999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:215.77, Y:175.22, Z:32.46 [[-4.20993240e-01 -9.06704458e-01 2.55287732e-02 2.15771377e+02] [ 9.04838494e-01 -4.21764283e-01 -5.81565868e-02 1.75217887e+02] [ 6.34979613e-02 -1.38411318e-03 9.97981008e-01 3.24610987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.2271056809999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:215.77, Y:175.22, Z:32.46 [[-4.21083118e-01 -9.06664056e-01 2.54813140e-02 2.15768968e+02] [ 9.04796764e-01 -4.21850933e-01 -5.81773737e-02 1.75223296e+02] [ 6.34966497e-02 -1.44209948e-03 9.97981010e-01 3.24633280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.2571056809999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:215.76, Y:175.23, Z:32.47 [[-4.24412137e-01 -9.05111848e-01 2.54338378e-02 2.15764377e+02] [ 9.03240510e-01 -4.25170036e-01 -5.81981219e-02 1.75231137e+02] [ 6.34895155e-02 -1.72711667e-03 9.97981011e-01 3.24672407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.2871056809999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:215.76, Y:175.24, Z:32.46 [[-4.25314746e-01 -9.04689397e-01 2.53862387e-02 2.15761098e+02] [ 9.02816073e-01 -4.26067719e-01 -5.82188775e-02 1.75237678e+02] [ 6.34862581e-02 -1.84224278e-03 9.97981012e-01 3.24645232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31710568099993 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:215.76, Y:175.25, Z:32.46 [[-4.30664759e-01 -9.02156210e-01 2.53384874e-02 2.15758929e+02] [ 9.00277248e-01 -4.31403547e-01 -5.82396529e-02 1.75245139e+02] [ 6.34723779e-02 -2.27010238e-03 9.97981014e-01 3.24579922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.3471056809999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:215.76, Y:175.25, Z:32.46 [[-4.33345307e-01 -9.00873038e-01 2.52906119e-02 2.15756372e+02] [ 8.98990688e-01 -4.34075414e-01 -5.82604356e-02 1.75250986e+02] [ 6.34632884e-02 -2.51086180e-03 9.97981015e-01 3.24584523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37710568099993 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:215.75, Y:175.26, Z:32.46 [[-4.36170173e-01 -8.99510082e-01 2.52426614e-02 2.15751618e+02] [ 8.97624264e-01 -4.36891271e-01 -5.82812039e-02 1.75258813e+02] [ 6.34528290e-02 -2.76209744e-03 9.97981017e-01 3.24561254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.4071056809999 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:215.74, Y:175.26, Z:32.45 [[-4.39756034e-01 -8.97763872e-01 2.51924991e-02 2.15744986e+02] [ 8.95873968e-01 -4.40466353e-01 -5.83028790e-02 1.75264248e+02] [ 6.34386666e-02 -3.06973867e-03 9.97981018e-01 3.24549065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43710568099993 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:215.71, Y:175.33, Z:32.47 [[-4.33194678e-01 -9.00949574e-01 2.51442972e-02 2.15711414e+02] [ 8.99063712e-01 -4.33915652e-01 -5.83236598e-02 1.75334229e+02] [ 6.34571805e-02 -2.65917383e-03 9.97981019e-01 3.24664860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.4671056809999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:216.90, Y:175.82, Z:32.71 [[-4.31549623e-01 9.01738702e-01 -2.51442972e-02 2.16903665e+02] [ 8.99854158e-01 4.32274039e-01 5.83236597e-02 1.75823256e+02] [ 6.34619281e-02 2.54335300e-03 -9.97981019e-01 3.27124718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49710568099994 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:215.74, Y:175.30, Z:32.47 [[-4.75342989e-01 -8.79266895e-01 3.06393637e-02 2.15739418e+02] [ 8.77513180e-01 -4.76329168e-01 -5.55080380e-02 1.75300629e+02] [ 6.34008028e-02 5.01088826e-04 9.97988020e-01 3.24719429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5271056809999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:215.72, Y:175.35, Z:32.46 [[-4.78500434e-01 -8.77674521e-01 2.69215358e-02 2.15715920e+02] [ 8.75804251e-01 -4.79241405e-01 -5.73985178e-02 1.75346865e+02] [ 6.32791313e-02 -3.88722017e-03 9.97988297e-01 3.24636989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55710568099994 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:215.74, Y:175.29, Z:32.47 [[-4.76913984e-01 -8.78532124e-01 2.70990717e-02 2.15744374e+02] [ 8.76668247e-01 -4.77669899e-01 -5.73083995e-02 1.75286175e+02] [ 6.32916808e-02 -3.57428142e-03 9.97988671e-01 3.24674807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5871056809999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:215.74, Y:175.29, Z:32.47 [[-4.78008148e-01 -8.77949139e-01 2.67117847e-02 2.15740061e+02] [ 8.76073450e-01 -4.78736477e-01 -5.75038836e-02 1.75290580e+02] [ 6.32733908e-02 -4.08583948e-03 9.97987868e-01 3.24692043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61710568099994 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:215.74, Y:175.29, Z:32.47 [[-4.78196024e-01 -8.77853770e-01 2.64824843e-02 2.15739027e+02] [ 8.75971581e-01 -4.78908957e-01 -5.76194467e-02 1.75291356e+02] [ 6.32641475e-02 -4.35548664e-03 9.97987313e-01 3.24682060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6471056809999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:215.74, Y:175.29, Z:32.47 [[-4.77782981e-01 -8.78080082e-01 2.64346992e-02 2.15742362e+02] [ 8.76196916e-01 -4.78493672e-01 -5.76434872e-02 1.75285539e+02] [ 6.32644342e-02 -4.37907526e-03 9.97987192e-01 3.24701971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67710568099994 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:215.74, Y:175.28, Z:32.47 [[-4.75126947e-01 -8.79516821e-01 2.65432671e-02 2.15742153e+02] [ 8.77638817e-01 -4.75850421e-01 -5.75889188e-02 1.75284199e+02] [ 6.32810476e-02 -4.06664566e-03 9.97987461e-01 3.24666246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7071056809999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:215.74, Y:175.28, Z:32.47 [[-4.68063137e-01 -8.83279804e-01 2.70866869e-02 2.15743472e+02] [ 8.81423180e-01 -4.68836934e-01 -5.73158559e-02 1.75277141e+02] [ 6.33251772e-02 -2.95260561e-03 9.97988579e-01 3.24688275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73710568099995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:215.74, Y:175.28, Z:32.48 [[-4.65736058e-01 -8.84508790e-01 2.70947300e-02 2.15741431e+02] [ 8.82654443e-01 -4.66515262e-01 -5.73118214e-02 1.75282219e+02] [ 6.33329149e-02 -2.77689804e-03 9.97988593e-01 3.24751883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7671056809999 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:215.74, Y:175.28, Z:32.48 [[-4.60612360e-01 -8.87188829e-01 2.70598532e-02 2.15739272e+02] [ 8.85337998e-01 -4.61400024e-01 -5.73292946e-02 1.75284921e+02] [ 6.33473267e-02 -2.44946546e-03 9.97988535e-01 3.24819635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7971056809999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:215.74, Y:175.28, Z:32.49 [[-4.53025897e-01 -8.91082096e-01 2.72072603e-02 2.15741062e+02] [ 8.89242458e-01 -4.53838799e-01 -5.72555355e-02 1.75283948e+02] [ 6.33670929e-02 -1.74438925e-03 9.97988762e-01 3.24850800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8271056809999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:215.74, Y:175.29, Z:32.48 [[-4.50646691e-01 -8.92299647e-01 2.68122978e-02 2.15738657e+02] [ 8.90450395e-01 -4.51439117e-01 -5.74527421e-02 1.75291279e+02] [ 6.33691816e-02 -2.01586695e-03 9.97988118e-01 3.24822441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8571056809999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:215.74, Y:175.29, Z:32.48 [[-4.41552402e-01 -8.96833246e-01 2.68627143e-02 2.15741012e+02] [ 8.94993671e-01 -4.42366815e-01 -5.74276032e-02 1.75294195e+02] [ 6.33861572e-02 -1.31533687e-03 9.97988209e-01 3.24776921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8871056809999 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:215.74, Y:175.30, Z:32.47 [[-4.36500967e-01 -8.99310327e-01 2.66053099e-02 2.15739717e+02] [ 8.97467522e-01 -4.37309255e-01 -5.75557341e-02 1.75295347e+02] [ 6.33952143e-02 -1.24573207e-03 9.97987723e-01 3.24743599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.9171056809999 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:215.74, Y:175.29, Z:32.47 [[-4.32812183e-01 -9.01088410e-01 2.67075371e-02 2.15741599e+02] [ 8.99252061e-01 -4.33634544e-01 -5.75049005e-02 1.75294504e+02] [ 6.33983100e-02 -8.72013700e-04 9.97987923e-01 3.24726563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.9471056809999 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:215.74, Y:175.30, Z:32.48 [[-4.27818335e-01 -9.03462137e-01 2.69747804e-02 2.15739054e+02] [ 9.01638689e-01 -4.28667840e-01 -5.73721058e-02 1.75300372e+02] [ 6.33967462e-02 -2.23333221e-04 9.97988378e-01 3.24761483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.9771056809999 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:215.74, Y:175.31, Z:32.48 [[-4.23946205e-01 -9.05296398e-01 2.66091540e-02 2.15736971e+02] [ 9.03465162e-01 -4.24780300e-01 -5.75534324e-02 1.75305727e+02] [ 6.34059595e-02 -3.59115610e-04 9.97987753e-01 3.24750274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.0071056809999 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:215.73, Y:175.32, Z:32.47 [[-4.18263880e-01 -9.07939454e-01 2.64815771e-02 2.15732881e+02] [ 9.06109480e-01 -4.19101344e-01 -5.76166058e-02 1.75318489e+02] [ 6.34108542e-02 -1.03737030e-04 9.97987501e-01 3.24735818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.0371056809999 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:215.73, Y:175.31, Z:32.47 [[-4.22267494e-01 -9.06090204e-01 2.62812643e-02 2.15733940e+02] [ 9.04250370e-01 -4.23084121e-01 -5.77156380e-02 1.75314411e+02] [ 6.34147598e-02 -6.06594852e-04 9.97987074e-01 3.24725673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.06710568099993 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:215.73, Y:175.32, Z:32.47 [[-4.27693211e-01 -9.03540656e-01 2.63211170e-02 2.15732312e+02] [ 9.01697167e-01 -4.28501336e-01 -5.76959642e-02 1.75318722e+02] [ 6.34092831e-02 -9.42495564e-04 9.97987162e-01 3.24703817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.0971056809999 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:215.72, Y:175.35, Z:32.48 [[-4.27388773e-01 -9.03664940e-01 2.69909761e-02 2.15717962e+02] [ 9.01842339e-01 -4.28240173e-01 -5.73650622e-02 1.75345784e+02] [ 6.33974158e-02 -1.75578591e-04 9.97988345e-01 3.24784440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.12710568099993 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:215.71, Y:175.36, Z:32.48 [[-4.29631660e-01 -9.02614813e-01 2.65167001e-02 2.15712590e+02] [ 9.00775544e-01 -4.30448322e-01 -5.75991553e-02 1.75357051e+02] [ 6.34039198e-02 -8.60825768e-04 9.97987576e-01 3.24796691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.1571056809999 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:216.88, Y:175.92, Z:32.72 [[-5.24704944e-01 8.50871075e-01 -2.65167001e-02 2.16878619e+02] [ 8.48954289e-01 5.25317954e-01 5.75991553e-02 1.75918914e+02] [ 6.29391538e-02 7.71109527e-03 -9.97987576e-01 3.27181857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18710568099993 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:215.74, Y:175.36, Z:32.48 [[-4.77553033e-01 -8.77932125e-01 3.43261492e-02 2.15741984e+02] [ 8.76338589e-01 -4.78761738e-01 -5.30836759e-02 1.75358745e+02] [ 6.30379112e-02 4.73105872e-03 9.97999919e-01 3.24775514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2171056809999 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:215.74, Y:175.36, Z:32.47 [[-4.77237619e-01 -8.78325912e-01 2.80686162e-02 2.15741147e+02] [ 8.76500302e-01 -4.78056131e-01 -5.66529410e-02 1.75361756e+02] [ 6.31781202e-02 -2.43476409e-03 9.97999297e-01 3.24731926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24710568099994 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:215.74, Y:175.36, Z:32.47 [[-4.78176098e-01 -8.77807260e-01 2.83202131e-02 2.15743095e+02] [ 8.75989232e-01 -4.79008889e-01 -5.65097325e-02 1.75356115e+02] [ 6.31702873e-02 -2.21340169e-03 9.98000308e-01 3.24691504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2771056809999 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:215.76, Y:175.34, Z:32.47 [[-4.67771062e-01 -8.83404629e-01 2.80445352e-02 2.15761680e+02] [ 8.81587135e-01 -4.68607600e-01 -5.66660369e-02 1.75335112e+02] [ 6.32009216e-02 -1.78303078e-03 9.97999231e-01 3.24688591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.30710568099994 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:215.67, Y:175.48, Z:32.49 [[-4.91296525e-01 -8.70537804e-01 2.81364068e-02 2.15671950e+02] [ 8.68701536e-01 -4.92089995e-01 -5.66134135e-02 1.75482095e+02] [ 6.31297609e-02 -3.37183352e-03 9.97999631e-01 3.24910705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3371056809999 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:215.67, Y:175.49, Z:32.49 [[-4.89284441e-01 -8.71606740e-01 3.00404344e-02 2.15666709e+02] [ 8.69837829e-01 -4.90204681e-01 -5.55114536e-02 1.75490708e+02] [ 6.31101187e-02 -1.03058429e-03 9.98006037e-01 3.24940486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.36710568099994 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:215.73, Y:175.40, Z:32.48 [[-4.70033893e-01 -8.82162354e-01 2.92868663e-02 2.15728766e+02] [ 8.80386797e-01 -4.70945134e-01 -5.59443384e-02 1.75397904e+02] [ 6.31444964e-02 -5.11964836e-04 9.98004264e-01 3.24791338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3971056809999 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:215.73, Y:175.41, Z:32.48 [[-4.71294458e-01 -8.81522786e-01 2.82685700e-02 2.15725160e+02] [ 8.79710586e-01 -4.72138161e-01 -5.65229292e-02 1.75406829e+02] [ 6.31729207e-02 -1.77078297e-03 9.98001025e-01 3.24781087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.42710568099994 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:215.72, Y:175.41, Z:32.48 [[-4.77666126e-01 -8.78098673e-01 2.78889500e-02 2.15721665e+02] [ 8.76267726e-01 -4.78472178e-01 -5.67384144e-02 1.75410971e+02] [ 6.31660131e-02 -2.66383178e-03 9.97999478e-01 3.24791227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4571056809999 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:215.73, Y:175.40, Z:32.47 [[-4.76739127e-01 -8.78596457e-01 2.80725869e-02 2.15732176e+02] [ 8.76772481e-01 -4.77558970e-01 -5.66343303e-02 1.75395584e+02] [ 6.31650377e-02 -2.38652948e-03 9.98000242e-01 3.24730386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.48710568099995 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:215.72, Y:175.43, Z:32.47 [[-4.88668832e-01 -8.72020772e-01 2.79740025e-02 2.15716619e+02] [ 8.70182591e-01 -4.89457333e-01 -5.66901877e-02 1.75426656e+02] [ 6.31271020e-02 -3.36023781e-03 9.97999839e-01 3.24729451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5171056809999 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:215.70, Y:175.45, Z:32.48 [[-4.93270631e-01 -8.69401869e-01 2.87136589e-02 2.15701005e+02] [ 8.67583701e-01 -4.94097459e-01 -5.62692021e-02 1.75451312e+02] [ 6.31078954e-02 -2.84444236e-03 9.98002657e-01 3.24783914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5471056809999 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:215.71, Y:175.43, Z:32.48 [[-4.87517873e-01 -8.72638821e-01 2.87717258e-02 2.15714140e+02] [ 8.70828100e-01 -4.88360436e-01 -5.62361578e-02 1.75432797e+02] [ 6.31248270e-02 -2.36090471e-03 9.98002847e-01 3.24785303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5771056809999 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:215.71, Y:175.44, Z:32.49 [[-4.85452781e-01 -8.73796769e-01 2.85447932e-02 2.15711238e+02] [ 8.71980444e-01 -4.86284995e-01 -5.63649629e-02 1.75438866e+02] [ 6.31324270e-02 -2.47202647e-03 9.98002097e-01 3.24871103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6071056809999 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:215.32, Y:176.08, Z:32.53 [[-5.22110785e-01 -8.52329525e-01 3.05730144e-02 2.15321369e+02] [ 8.50547121e-01 -5.22997661e-01 -5.51637774e-02 1.76075416e+02] [ 6.30073312e-02 -2.79781376e-03 9.98009142e-01 3.25336992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6371056809999 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:216.46, Y:176.66, Z:32.76 [[-5.85009141e-01 8.10450243e-01 -3.05730144e-02 2.16461679e+02] [ 8.08605932e-01 5.85758828e-01 5.51637774e-02 1.76660904e+02] [ 6.26159099e-02 7.54979324e-03 -9.98009142e-01 3.27558117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6671056809999 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:215.74, Y:175.50, Z:32.50 [[-5.27318157e-01 -8.48836273e-01 3.75838199e-02 2.15739157e+02] [ 8.47372776e-01 -5.28628045e-01 -5.01175507e-02 1.75498662e+02] [ 6.24094562e-02 5.41961134e-03 9.98035915e-01 3.25025414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6971056809999 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:215.74, Y:175.49, Z:32.50 [[-5.16503852e-01 -8.55656054e-01 3.28098766e-02 2.15736953e+02] [ 8.53987987e-01 -5.17544710e-01 -5.34040397e-02 1.75489411e+02] [ 6.26760680e-02 4.35848257e-04 9.98033827e-01 3.25014271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.7271056809999 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:215.72, Y:175.51, Z:32.51 [[-5.17021460e-01 -8.55334438e-01 3.30425364e-02 2.15719811e+02] [ 8.53675904e-01 -5.18075803e-01 -5.32439080e-02 1.75509961e+02] [ 6.26598867e-02 6.79374122e-04 9.98034707e-01 3.25090070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.7571056809999 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:215.72, Y:175.51, Z:32.50 [[-5.03068760e-01 -8.63608002e-01 3.32120631e-02 2.15715549e+02] [ 8.61974421e-01 -5.04160296e-01 -5.31271541e-02 1.75512249e+02] [ 6.26252389e-02 1.90133732e-03 9.98035302e-01 3.25048009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.7871056809999 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:215.72, Y:175.51, Z:32.50 [[-5.09181969e-01 -8.60039764e-01 3.26393426e-02 2.15715094e+02] [ 8.58373170e-01 -5.10226440e-01 -5.35208553e-02 1.75514181e+02] [ 6.26835193e-02 7.64881466e-04 9.98033161e-01 3.25033005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81710568099993 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:215.70, Y:175.55, Z:32.51 [[-5.21593549e-01 -8.52554878e-01 3.30204483e-02 2.15697192e+02] [ 8.50889814e-01 -5.22637618e-01 -5.32582768e-02 1.75546959e+02] [ 6.26633321e-02 3.17589470e-04 9.98034672e-01 3.25095257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.8471056809999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:215.72, Y:175.51, Z:32.50 [[-5.18363919e-01 -8.54512926e-01 3.32642038e-02 2.15721267e+02] [ 8.52862519e-01 -5.19429435e-01 -5.30903532e-02 1.75510850e+02] [ 6.26447996e-02 8.49669098e-04 9.98035524e-01 3.25013114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87710568099993 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:215.69, Y:175.56, Z:32.51 [[-5.29105331e-01 -8.47917346e-01 3.29199558e-02 2.15690265e+02] [ 8.46238838e-01 -5.30128330e-01 -5.33271255e-02 1.75555312e+02] [ 6.26687959e-02 -3.57521228e-04 9.98034315e-01 3.25084033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.9071056809999 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:215.69, Y:175.56, Z:32.51 [[-5.34138672e-01 -8.44747536e-01 3.31282173e-02 2.15686170e+02] [ 8.43071855e-01 -5.35164808e-01 -5.31834158e-02 1.75561044e+02] [ 6.26556155e-02 -4.77851489e-04 9.98035092e-01 3.25102784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93710568099993 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:215.71, Y:175.53, Z:32.51 [[-5.33810513e-01 -8.44952913e-01 3.31799905e-02 2.15711049e+02] [ 8.43279841e-01 -5.34840558e-01 -5.31477923e-02 1.75525389e+02] [ 6.26533865e-02 -3.90833143e-04 9.98035270e-01 3.25067481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.9671056809999 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:215.70, Y:175.54, Z:32.51 [[-5.41157973e-01 -8.40285737e-01 3.26791829e-02 2.15700973e+02] [ 8.38582853e-01 -5.42141587e-01 -5.34911084e-02 1.75535710e+02] [ 6.26645595e-02 -1.54293734e-03 9.98033453e-01 3.25050437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99710568099994 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:215.71, Y:175.53, Z:32.50 [[-5.32703326e-01 -8.45659099e-01 3.29826419e-02 2.15707204e+02] [ 8.43978976e-01 -5.33723138e-01 -5.32832059e-02 1.75529523e+02] [ 6.26630271e-02 -5.47484666e-04 9.98034591e-01 3.24979946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0271056809999 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:215.70, Y:175.53, Z:32.50 [[-5.43941721e-01 -8.38498357e-01 3.23714249e-02 2.15703944e+02] [ 8.36779670e-01 -5.44899991e-01 -5.37008719e-02 1.75526674e+02] [ 6.26672820e-02 -2.12239445e-03 9.98032218e-01 3.24983750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05710568099994 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:215.66, Y:175.58, Z:32.51 [[-5.55450992e-01 -8.30887923e-01 3.31580374e-02 2.15662496e+02] [ 8.29188024e-01 -5.56436090e-01 -5.31610645e-02 1.75578102e+02] [ 6.26212151e-02 -2.03411855e-03 9.98035293e-01 3.25126177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0871056809999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:215.63, Y:175.61, Z:32.50 [[-5.86311244e-01 -8.09390386e-01 3.35608177e-02 2.15626307e+02] [ 8.07670379e-01 -5.87258032e-01 -5.28825354e-02 1.75608657e+02] [ 6.25114755e-02 -3.89954670e-03 9.98036627e-01 3.25035107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11710568099994 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:215.64, Y:175.60, Z:32.52 [[-5.65866248e-01 -8.23725229e-01 3.56670162e-02 2.15644006e+02] [ 8.22118661e-01 -5.66989150e-01 -5.14218940e-02 1.75599722e+02] [ 6.25803226e-02 2.24605371e-04 9.98039905e-01 3.25174998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1471056809999 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:215.62, Y:175.62, Z:32.51 [[-5.91910170e-01 -8.05300769e-01 3.36603928e-02 2.15617473e+02] [ 8.03578461e-01 -5.92851546e-01 -5.28081501e-02 1.75618339e+02] [ 6.24820598e-02 -4.20891444e-03 9.98037212e-01 3.25101668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17710568099994 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:215.67, Y:175.56, Z:32.51 [[-5.67202274e-01 -8.22807381e-01 3.56313668e-02 2.15665574e+02] [ 8.21197655e-01 -5.68320339e-01 -5.14432031e-02 1.75562571e+02] [ 6.25778777e-02 8.16930730e-05 9.98040081e-01 3.25100859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2071056809999 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:215.65, Y:175.58, Z:32.51 [[-5.70664574e-01 -8.20513229e-01 3.31660185e-02 2.15650889e+02] [ 8.18797115e-01 -5.71618771e-01 -5.31344056e-02 1.75578539e+02] [ 6.25558014e-02 -3.16568266e-03 9.98036447e-01 3.25057922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23710568099995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:215.61, Y:175.62, Z:32.51 [[-5.85542873e-01 -8.09918970e-01 3.42170541e-02 2.15610647e+02] [ 8.08227115e-01 -5.86533938e-01 -5.24105888e-02 1.75616821e+02] [ 6.25177936e-02 -3.03349580e-03 9.98039239e-01 3.25117807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2671056809999 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:215.65, Y:175.55, Z:32.51 [[-5.55797070e-01 -8.30558154e-01 3.55354841e-02 2.15645601e+02] [ 8.28960307e-01 -5.56931288e-01 -5.15009745e-02 1.75553615e+02] [ 6.25653772e-02 8.33415049e-04 9.98040520e-01 3.25091950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2971056809999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:215.63, Y:175.57, Z:32.52 [[-5.55467300e-01 -8.30838386e-01 3.41123903e-02 2.15629300e+02] [ 8.29179941e-01 -5.56513100e-01 -5.24766162e-02 1.75571482e+02] [ 6.25835792e-02 -8.63734569e-04 9.98039353e-01 3.25171925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3271056809999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:215.63, Y:175.56, Z:32.52 [[-5.57389412e-01 -8.29548714e-01 3.41463744e-02 2.15634430e+02] [ 8.27889275e-01 -5.58433519e-01 -5.24533389e-02 1.75557087e+02] [ 6.25810798e-02 -9.67518552e-04 9.98039414e-01 3.25178986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3571056809999 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:215.63, Y:175.56, Z:32.52 [[-5.58518373e-01 -8.28782413e-01 3.43065416e-02 2.15631026e+02] [ 8.27128258e-01 -5.59570348e-01 -5.23437733e-02 1.75560973e+02] [ 6.25785221e-02 -8.59049159e-04 9.98039674e-01 3.25206918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3871056809999 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:215.63, Y:175.56, Z:32.52 [[-5.58079266e-01 -8.29075822e-01 3.43629934e-02 2.15632573e+02] [ 8.27424595e-01 -5.59135680e-01 -5.23051745e-02 1.75558780e+02] [ 6.25785312e-02 -7.57647495e-04 9.98039755e-01 3.25203871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.4171056809999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:215.63, Y:175.56, Z:32.52 [[-5.57837724e-01 -8.29239725e-01 3.43300556e-02 2.15632217e+02] [ 8.27587423e-01 -5.58892541e-01 -5.23276677e-02 1.75563099e+02] [ 6.25789928e-02 -7.79224817e-04 9.98039710e-01 3.25226208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.4471056809999 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:215.61, Y:175.60, Z:32.53 [[-5.56174748e-01 -8.30349727e-01 3.44815997e-02 2.15607152e+02] [ 8.28705935e-01 -5.57242415e-01 -5.22241639e-02 1.75597760e+02] [ 6.25789302e-02 -4.70654876e-04 9.98039907e-01 3.25295455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.4771056809999 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:215.69, Y:175.49, Z:32.52 [[-5.35762361e-01 -8.43652329e-01 3.47770062e-02 2.15688477e+02] [ 8.42048035e-01 -5.36888027e-01 -5.20226170e-02 1.75486197e+02] [ 6.25603602e-02 1.41214960e-03 9.98040183e-01 3.25192545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.5071056809999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:215.63, Y:175.57, Z:32.52 [[-5.36349483e-01 -8.43324796e-01 3.36529481e-02 2.15633564e+02] [ 8.41671225e-01 -5.37404213e-01 -5.27850416e-02 1.75569599e+02] [ 6.26001706e-02 1.34883108e-05 9.98038686e-01 3.25230888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.5371056809999 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:215.63, Y:175.58, Z:32.53 [[-5.27205636e-01 -8.49035027e-01 3.45505523e-02 2.15631494e+02] [ 8.47432254e-01 -5.28333589e-01 -5.21746554e-02 1.75579675e+02] [ 6.25523273e-02 1.77248002e-03 9.98040112e-01 3.25282894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.56710568099993 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:215.61, Y:175.61, Z:32.52 [[-5.41710090e-01 -8.39872124e-01 3.41319981e-02 2.15610191e+02] [ 8.38232223e-01 -5.42784283e-01 -5.24591416e-02 1.75607498e+02] [ 6.25852828e-02 1.92894343e-04 9.98039601e-01 3.25245359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.5971056809999 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:215.62, Y:175.60, Z:32.53 [[-5.17790051e-01 -8.54768477e-01 3.55571984e-02 2.15618714e+02] [ 8.53224170e-01 -5.18996462e-01 -5.14896852e-02 1.75598840e+02] [ 6.24658199e-02 3.67741444e-03 9.98040329e-01 3.25275231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.62710568099993 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:215.62, Y:175.59, Z:32.53 [[-5.13603635e-01 -8.57336625e-01 3.44269931e-02 2.15622726e+02] [ 8.55746649e-01 -5.14749489e-01 -5.22554998e-02 1.75592826e+02] [ 6.25218309e-02 2.62216937e-03 9.98040152e-01 3.25283471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.6571056809999 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:215.62, Y:175.60, Z:32.53 [[-5.12719509e-01 -8.57877336e-01 3.41347470e-02 2.15616240e+02] [ 8.56275451e-01 -5.13849222e-01 -5.24531022e-02 1.75602232e+02] [ 6.25384408e-02 2.33501704e-03 9.98039824e-01 3.25327312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68710568099993 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:215.60, Y:175.62, Z:32.54 [[-5.12415499e-01 -8.58050745e-01 3.43405845e-02 2.15598761e+02] [ 8.56458469e-01 -5.13558307e-01 -5.23140214e-02 1.75620930e+02] [ 6.25239774e-02 2.60476903e-03 9.98040063e-01 3.25361733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7171056809999 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:215.62, Y:175.59, Z:32.53 [[-5.11381650e-01 -8.58690577e-01 3.37535313e-02 2.15622383e+02] [ 8.57073572e-01 -5.12490579e-01 -5.27095698e-02 1.75586126e+02] [ 6.25595778e-02 1.97455287e-03 9.98039278e-01 3.25274389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74710568099994 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:215.63, Y:175.57, Z:32.52 [[-5.08240210e-01 -8.60556939e-01 3.36696146e-02 2.15633053e+02] [ 8.58940291e-01 -5.09349913e-01 -5.27659246e-02 1.75570523e+02] [ 6.25576978e-02 2.10242398e-03 9.98039135e-01 3.25211875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7771056809999 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:215.63, Y:175.57, Z:32.52 [[-5.12457726e-01 -8.58063077e-01 3.33891559e-02 2.15628686e+02] [ 8.56428785e-01 -5.13542236e-01 -5.29538253e-02 1.75568557e+02] [ 6.25844640e-02 1.45883737e-03 9.98038605e-01 3.25160337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.80710568099994 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:215.58, Y:175.63, Z:32.53 [[-5.23567837e-01 -8.51326402e-01 3.34675631e-02 2.15581606e+02] [ 8.49681500e-01 -5.24635884e-01 -5.29012064e-02 1.75630286e+02] [ 6.25944782e-02 7.39399062e-04 9.98038769e-01 3.25274956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8371056809999 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:215.61, Y:175.58, Z:32.53 [[-5.30328616e-01 -8.47106370e-01 3.40933596e-02 2.15610844e+02] [ 8.45479702e-01 -5.31422442e-01 -5.24810612e-02 1.75581674e+02] [ 6.25750177e-02 9.93034904e-04 9.98039769e-01 3.25253646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.86710568099994 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:215.61, Y:175.58, Z:32.53 [[-5.35121955e-01 -8.44108495e-01 3.35461294e-02 2.15608893e+02] [ 8.42452578e-01 -5.36172406e-01 -5.28469904e-02 1.75583680e+02] [ 6.25951024e-02 -1.85616343e-05 9.98039004e-01 3.25302030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8971056809999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:215.61, Y:175.58, Z:32.54 [[-5.33354993e-01 -8.45226515e-01 3.35348996e-02 2.15609927e+02] [ 8.43572329e-01 -5.34408204e-01 -5.28544895e-02 1.75580360e+02] [ 6.25953414e-02 9.89074489e-05 9.98038984e-01 3.25381442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.92710568099994 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:215.60, Y:175.59, Z:32.54 [[-5.30574063e-01 -8.46972669e-01 3.35925810e-02 2.15604231e+02] [ 8.45324384e-01 -5.31636302e-01 -5.28159863e-02 1.75594106e+02] [ 6.25927324e-02 3.73835394e-04 9.98039082e-01 3.25403146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9571056809999 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:215.61, Y:175.59, Z:32.54 [[-5.29198977e-01 -8.47835516e-01 3.35168551e-02 2.15607817e+02] [ 8.46185763e-01 -5.30259172e-01 -5.28664871e-02 1.75587632e+02] [ 6.25947052e-02 3.84594750e-04 9.98038955e-01 3.25389693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.98710568099995 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:215.60, Y:175.61, Z:32.54 [[-5.29782690e-01 -8.47470953e-01 3.35154478e-02 2.15596645e+02] [ 8.45820411e-01 -5.30841661e-01 -5.28674251e-02 1.75611916e+02] [ 6.25950031e-02 3.39803089e-04 9.98038952e-01 3.25356930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0171056809999 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:215.61, Y:175.59, Z:32.53 [[-5.20439001e-01 -8.53222582e-01 3.39775199e-02 2.15609168e+02] [ 8.51603647e-01 -5.21544557e-01 -5.25595245e-02 1.75593546e+02] [ 6.25657637e-02 1.58135343e-03 9.98039591e-01 3.25301348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0471056809999 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:215.58, Y:175.64, Z:32.53 [[-5.20895943e-01 -8.52968207e-01 3.33564781e-02 2.15579699e+02] [ 8.51322086e-01 -5.21962251e-01 -5.29727606e-02 1.75643159e+02] [ 6.25949031e-02 8.03810394e-04 9.98038693e-01 3.25349124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0771056809999 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:215.58, Y:175.63, Z:32.53 [[-5.40741308e-01 -8.40502429e-01 3.39780181e-02 2.15581299e+02] [ 8.38857518e-01 -5.41807771e-01 -5.25585716e-02 1.75632566e+02] [ 6.25851614e-02 8.21251776e-05 9.98039624e-01 3.25285340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1071056809999 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:215.55, Y:175.69, Z:32.55 [[-5.25712953e-01 -8.49935191e-01 3.51576672e-02 2.15553081e+02] [ 8.48360930e-01 -5.26880787e-01 -5.17722806e-02 1.75685672e+02] [ 6.25269826e-02 2.60903266e-03 9.98039864e-01 3.25458360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1371056809999 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:215.55, Y:175.69, Z:32.55 [[-5.25124742e-01 -8.50332806e-01 3.43238073e-02 2.15550501e+02] [ 8.48722870e-01 -5.26242706e-01 -5.23269060e-02 1.75689592e+02] [ 6.25579381e-02 1.65324722e-03 9.98039965e-01 3.25454539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1671056809999 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:215.61, Y:175.62, Z:32.53 [[-5.11364903e-01 -8.58680816e-01 3.42518861e-02 2.15605617e+02] [ 8.57085917e-01 -5.12504272e-01 -5.23746265e-02 1.75616569e+02] [ 6.25273250e-02 2.57426345e-03 9.98039932e-01 3.25273571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1971056809999 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:215.58, Y:175.66, Z:32.54 [[-5.15785164e-01 -8.56069425e-01 3.33287403e-02 2.15579316e+02] [ 8.54428960e-01 -5.16859576e-01 -5.29842527e-02 1.75661348e+02] [ 6.25844773e-02 1.14854943e-03 9.98039009e-01 3.25363865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.2271056809999 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:215.58, Y:175.65, Z:32.53 [[-5.33530638e-01 -8.45105619e-01 3.37868572e-02 2.15578666e+02] [ 8.43462107e-01 -5.34599234e-01 -5.26814403e-02 1.75650274e+02] [ 6.25838092e-02 3.90771347e-04 9.98039636e-01 3.25258727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.2571056809999 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:215.57, Y:175.68, Z:32.55 [[-5.09574920e-01 -8.59725814e-01 3.47120414e-02 2.15570113e+02] [ 8.58153715e-01 -5.10745466e-01 -5.20698627e-02 1.75676497e+02] [ 6.24948229e-02 3.25477110e-03 9.98039981e-01 3.25528949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.2871056809999 meters Centerline goodness : 0.997999 Centerline is valid? [True, True] Translation: X:215.59, Y:175.65, Z:32.54 [[-5.19094328e-01 -8.54047125e-01 3.38317377e-02 2.15586176e+02] [ 8.52424029e-01 -5.20193456e-01 -5.26501910e-02 1.75651260e+02] [ 6.25647929e-02 1.50857070e-03 9.98039764e-01 3.25380701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31710568099993 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:215.58, Y:175.67, Z:32.55 [[-4.96803220e-01 -8.67177957e-01 3.44811688e-02 2.15580555e+02] [ 8.65612884e-01 -4.97983088e-01 -5.22223971e-02 1.75674333e+02] [ 6.24571506e-02 3.90308890e-03 9.98040014e-01 3.25496197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.3471056809999 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:215.58, Y:175.68, Z:32.55 [[-4.92725608e-01 -8.69547075e-01 3.33070487e-02 2.15583327e+02] [ 8.67935267e-01 -4.93842141e-01 -5.29935032e-02 1.75678253e+02] [ 6.25287700e-02 2.79710613e-03 9.98039242e-01 3.25504540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37710568099993 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:215.59, Y:175.67, Z:32.54 [[-5.01979899e-01 -8.64240367e-01 3.32380637e-02 2.15589025e+02] [ 8.62613758e-01 -5.03074941e-01 -5.30387453e-02 1.75670237e+02] [ 6.25594617e-02 2.04722699e-03 9.98039139e-01 3.25428645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.4071056809999 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:215.59, Y:175.68, Z:32.55 [[-4.85871831e-01 -8.73374259e-01 3.38521488e-02 2.15587400e+02] [ 8.71795585e-01 -4.87033776e-01 -5.26361046e-02 1.75684713e+02] [ 6.24581587e-02 3.93775332e-03 9.98039815e-01 3.25465308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43710568099993 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:215.58, Y:175.70, Z:32.55 [[-4.83354562e-01 -8.74802031e-01 3.30117259e-02 2.15580270e+02] [ 8.73189317e-01 -4.84470521e-01 -5.31858166e-02 1.75697832e+02] [ 6.25202685e-02 3.11787931e-03 9.98038824e-01 3.25461349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.4671056809999 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:215.58, Y:175.70, Z:32.54 [[-4.79316956e-01 -8.77027201e-01 3.28412078e-02 2.15579473e+02] [ 8.75412120e-01 -4.80430044e-01 -5.32972147e-02 1.75697712e+02] [ 6.25210100e-02 3.20333261e-03 9.98038507e-01 3.25419706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49710568099994 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:215.56, Y:175.71, Z:32.54 [[-4.88511520e-01 -8.71945117e-01 3.26834379e-02 2.15563398e+02] [ 8.70311594e-01 -4.89597949e-01 -5.34001744e-02 1.75705137e+02] [ 6.25637655e-02 2.35817451e-03 9.98038183e-01 3.25443032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5271056809999 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:215.57, Y:175.70, Z:32.54 [[-4.79740223e-01 -8.76784862e-01 3.31304147e-02 2.15571868e+02] [ 8.75182002e-01 -4.80869981e-01 -5.31086207e-02 1.75695029e+02] [ 6.24962565e-02 3.51680113e-03 9.98039002e-01 3.25407861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55710568099994 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:215.55, Y:175.69, Z:32.54 [[-4.82163404e-01 -8.75470893e-01 3.26981284e-02 2.15553643e+02] [ 8.73845984e-01 -4.83262562e-01 -5.33899965e-02 1.75694434e+02] [ 6.25431692e-02 2.83042575e-03 9.98038246e-01 3.25411381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5871056809999 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:215.57, Y:175.66, Z:32.53 [[-4.86990410e-01 -8.72793329e-01 3.27436257e-02 2.15573276e+02] [ 8.71164339e-01 -4.88083351e-01 -5.33604453e-02 1.75662510e+02] [ 6.25542593e-02 2.53905387e-03 9.98038335e-01 3.25348766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61710568099994 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:215.58, Y:175.65, Z:32.53 [[-4.89020992e-01 -8.71685775e-01 3.19746749e-02 2.15579035e+02] [ 8.70021664e-01 -4.90062971e-01 -5.38571217e-02 1.75652343e+02] [ 6.26160911e-02 1.48139679e-03 9.98036588e-01 3.25336023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6471056809999 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:215.58, Y:175.65, Z:32.53 [[-4.91609742e-01 -8.70238763e-01 3.16916032e-02 2.15576919e+02] [ 8.68559817e-01 -4.92629247e-01 -5.40395237e-02 1.75652817e+02] [ 6.26394989e-02 9.59696825e-04 9.98035757e-01 3.25338682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67710568099994 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:215.60, Y:175.62, Z:32.53 [[-5.04665156e-01 -8.62751038e-01 3.12045991e-02 2.15597228e+02] [ 8.61037469e-01 -5.05628650e-01 -5.43520471e-02 1.75616848e+02] [ 6.26702244e-02 -5.61255245e-04 9.98034132e-01 3.25320506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7071056809999 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:215.51, Y:175.74, Z:32.55 [[-5.29923323e-01 -8.47453780e-01 3.16759151e-02 2.15512520e+02] [ 8.45730540e-01 -5.30865954e-01 -5.40480621e-02 1.75736466e+02] [ 6.26188994e-02 -1.85203986e-03 9.98035793e-01 3.25514939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73710568099995 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:215.51, Y:175.74, Z:32.56 [[-5.41684733e-01 -8.39944218e-01 3.27316405e-02 2.15507530e+02] [ 8.38248712e-01 -5.42670761e-01 -5.33623657e-02 1.75744676e+02] [ 6.25839147e-02 -1.46832332e-03 9.98038625e-01 3.25583739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7671056809999 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:215.51, Y:175.75, Z:32.56 [[-5.43588753e-01 -8.38711357e-01 3.27799738e-02 2.15508346e+02] [ 8.37015507e-01 -5.44574006e-01 -5.33309770e-02 1.75747261e+02] [ 6.25804177e-02 -1.55277294e-03 9.98038717e-01 3.25613954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7971056809999 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:215.50, Y:175.75, Z:32.56 [[-5.44871240e-01 -8.37882210e-01 3.26914997e-02 2.15504655e+02] [ 8.36181412e-01 -5.45848263e-01 -5.33883836e-02 1.75753432e+02] [ 6.25777752e-02 -1.75377039e-03 9.98038550e-01 3.25614056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8271056809999 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:215.50, Y:175.76, Z:32.56 [[-5.44353320e-01 -8.38217798e-01 3.27167540e-02 2.15502663e+02] [ 8.36518586e-01 -5.45333003e-01 -5.33720154e-02 1.75761289e+02] [ 6.25788990e-02 -1.68506099e-03 9.98038597e-01 3.25571507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8571056809999 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:215.50, Y:175.76, Z:32.55 [[-5.45109187e-01 -8.37727144e-01 3.26987354e-02 2.15504704e+02] [ 8.36026350e-01 -5.46086188e-01 -5.33836796e-02 1.75762763e+02] [ 6.25772852e-02 -1.76292975e-03 9.98038564e-01 3.25540321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8871056809999 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:215.51, Y:175.76, Z:32.56 [[-5.40681893e-01 -8.40586422e-01 3.28261623e-02 2.15508072e+02] [ 8.38895791e-01 -5.41675941e-01 -5.33012897e-02 1.75758782e+02] [ 6.25854828e-02 -1.28131287e-03 9.98038785e-01 3.25571781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.9171056809999 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:215.50, Y:175.77, Z:32.56 [[-5.40511587e-01 -8.40702070e-01 3.26688518e-02 2.15499822e+02] [ 8.39005498e-01 -5.41495993e-01 -5.34028424e-02 1.75768558e+02] [ 6.25859325e-02 -1.45550883e-03 9.98038518e-01 3.25621266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.9471056809999 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:215.55, Y:175.69, Z:32.55 [[-5.24948820e-01 -8.50514427e-01 3.24645362e-02 2.15553631e+02] [ 8.48828121e-01 -5.25951434e-01 -5.35341936e-02 1.75688986e+02] [ 6.26063733e-02 -5.45900471e-04 9.98038148e-01 3.25467837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.9771056809999 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:215.50, Y:175.78, Z:32.56 [[-5.36899821e-01 -8.43049718e-01 3.17136420e-02 2.15496655e+02] [ 8.41320713e-01 -5.37830635e-01 -5.40154136e-02 1.75776991e+02] [ 6.25942475e-02 -2.31952196e-03 9.98036362e-01 3.25570850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.0071056809999 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:215.50, Y:175.78, Z:32.55 [[-5.22493797e-01 -8.52021942e-01 3.25398504e-02 2.15498743e+02] [ 8.50341669e-01 -5.23506002e-01 -5.34837611e-02 1.75776354e+02] [ 6.26041450e-02 -2.74942734e-04 9.98038399e-01 3.25491565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.0371056809999 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:215.49, Y:175.78, Z:32.55 [[-5.32141265e-01 -8.46054755e-01 3.18908396e-02 2.15490150e+02] [ 8.44337884e-01 -5.33093114e-01 -5.39005624e-02 1.75781456e+02] [ 6.26036141e-02 -1.75606944e-03 9.98036925e-01 3.25513067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.06710568099993 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:215.50, Y:175.76, Z:32.55 [[-5.22684923e-01 -8.51906827e-01 3.24842876e-02 2.15501313e+02] [ 8.50224104e-01 -5.23693261e-01 -5.35195523e-02 1.75760854e+02] [ 6.26054745e-02 -3.54938793e-04 9.98038290e-01 3.25464471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.0971056809999 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:215.48, Y:175.79, Z:32.55 [[-5.25113442e-01 -8.50427806e-01 3.20689920e-02 2.15484329e+02] [ 8.48725870e-01 -5.26090767e-01 -5.37857070e-02 1.75791724e+02] [ 6.26120614e-02 -1.02581457e-03 9.98037413e-01 3.25479728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.12710568099993 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:215.49, Y:175.78, Z:32.55 [[-5.26404729e-01 -8.49626426e-01 3.21402818e-02 2.15489459e+02] [ 8.47925793e-01 -5.27383980e-01 -5.37400033e-02 1.75781878e+02] [ 6.26091966e-02 -1.03641795e-03 9.98037582e-01 3.25522910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.1571056809999 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:215.48, Y:175.79, Z:32.56 [[-5.37844986e-01 -8.42432376e-01 3.21008193e-02 2.15477506e+02] [ 8.40717150e-01 -5.38798634e-01 -5.37652815e-02 1.75792638e+02] [ 6.25894915e-02 -1.92967775e-03 9.98037490e-01 3.25574462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18710568099993 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:215.48, Y:175.79, Z:32.56 [[-5.37788231e-01 -8.42447818e-01 3.26418762e-02 2.15480114e+02] [ 8.40753482e-01 -5.38776414e-01 -5.34187021e-02 1.75786148e+02] [ 6.25891421e-02 -1.28417819e-03 9.98038551e-01 3.25584950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2171056809999 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:215.40, Y:175.91, Z:32.56 [[-5.28081350e-01 -8.48561269e-01 3.27697959e-02 2.15395838e+02] [ 8.46883467e-01 -5.29096967e-01 -5.33365936e-02 1.75906787e+02] [ 6.25977672e-02 -4.13861995e-04 9.98038751e-01 3.25646181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24710568099994 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:216.56, Y:176.69, Z:32.70 [[-5.89035929e-01 8.07442143e-01 -3.27697959e-02 2.16556203e+02] [ 8.05694216e-01 5.89925451e-01 5.33365936e-02 1.76685704e+02] [ 6.23979500e-02 5.01473497e-03 -9.98038751e-01 3.27021159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2771056809999 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:215.47, Y:175.83, Z:32.58 [[-5.84784248e-01 -8.10332545e-01 3.72632523e-02 2.15465624e+02] [ 8.08789734e-01 -5.85969577e-01 -4.99882086e-02 1.75834692e+02] [ 6.23422046e-02 9.05818978e-04 9.98054422e-01 3.25788277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.30710568099994 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:215.45, Y:175.85, Z:32.58 [[-5.81321316e-01 -8.12883227e-01 3.58662356e-02 2.15447583e+02] [ 8.11280633e-01 -5.82426427e-01 -5.10214831e-02 1.75846809e+02] [ 6.23639513e-02 -5.62293352e-04 9.98053316e-01 3.25768336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3371056809999 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:215.45, Y:175.85, Z:32.58 [[-5.84315972e-01 -8.10719104e-01 3.61853603e-02 2.15445993e+02] [ 8.09126977e-01 -5.85435204e-01 -5.07854100e-02 1.75852301e+02] [ 6.23568859e-02 -3.96175064e-04 9.98053837e-01 3.25767736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.36710568099994 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:215.44, Y:175.86, Z:32.57 [[-5.83121096e-01 -8.11579018e-01 3.61840456e-02 2.15439694e+02] [ 8.09988481e-01 -5.84242590e-01 -5.07863817e-02 1.75863194e+02] [ 6.23574224e-02 -3.05950393e-04 9.98053835e-01 3.25727028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3971056809999 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:215.30, Y:176.05, Z:32.59 [[-5.81831112e-01 -8.12490252e-01 3.64986101e-02 2.15303657e+02] [ 8.10916048e-01 -5.82974748e-01 -5.05530038e-02 1.76047648e+02] [ 6.23515908e-02 1.83998281e-04 9.98054230e-01 3.25855169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.42710568099994 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:216.38, Y:176.95, Z:32.72 [[-6.62888319e-01 7.47828141e-01 -3.64986101e-02 2.16381598e+02] [ 7.46143909e-01 6.63862682e-01 5.05530038e-02 1.76945363e+02] [ 6.20350241e-02 6.27778007e-03 -9.98054230e-01 3.27195942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4571056809999 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:215.31, Y:176.06, Z:32.60 [[-6.22660436e-01 -7.81428594e-01 4.07839811e-02 2.15313755e+02] [ 7.80025051e-01 -6.23989183e-01 -4.68873033e-02 1.76055523e+02] [ 6.20878425e-02 2.61765821e-03 9.98067256e-01 3.26025505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.48710568099995 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:215.31, Y:176.06, Z:32.60 [[-6.17456424e-01 -7.85595510e-01 3.98404194e-02 2.15308528e+02] [ 7.84148723e-01 -6.18737808e-01 -4.76896793e-02 1.76060391e+02] [ 6.21155717e-02 1.79451516e-03 9.98067350e-01 3.26048851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5171056809999 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:216.41, Y:176.95, Z:32.70 [[-7.25129662e-01 6.87458882e-01 -3.98404194e-02 2.16408580e+02] [ 6.85841143e-01 7.26187043e-01 4.76896793e-02 1.76947100e+02] [ 6.17162900e-02 7.25700227e-03 -9.98067350e-01 3.26994164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5471056809999 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:215.48, Y:175.92, Z:32.60 [[-6.48913387e-01 -7.59613552e-01 4.35737054e-02 2.15478857e+02] [ 7.58348100e-01 -6.50359431e-01 -4.40541649e-02 1.75915990e+02] [ 6.18027110e-02 4.45669937e-03 9.98078435e-01 3.25954226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5771056809999 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:215.48, Y:175.92, Z:32.59 [[-6.45548418e-01 -7.62580929e-01 4.16841416e-02 2.15483474e+02] [ 7.61202748e-01 -6.46889366e-01 -4.58750993e-02 1.75917533e+02] [ 6.19485037e-02 2.11548536e-03 9.98077105e-01 3.25919559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6071056809999 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:215.41, Y:176.00, Z:32.60 [[-6.58005609e-01 -7.51854980e-01 4.17457545e-02 2.15408167e+02] [ 7.50458689e-01 -6.59327455e-01 -4.58155396e-02 1.75996815e+02] [ 6.19707637e-02 1.18158212e-03 9.98077266e-01 3.26026696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6371056809999 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:215.26, Y:176.15, Z:32.62 [[-6.55532473e-01 -7.53954149e-01 4.27822059e-02 2.15261567e+02] [ 7.52626761e-01 -6.56920967e-01 -4.48085052e-02 1.76151307e+02] [ 6.18880864e-02 2.82560279e-03 9.98079095e-01 3.26152169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6671056809999 meters Centerline goodness : 0.996479 Centerline is valid? [True, True] Translation: X:215.04, Y:176.37, Z:32.63 [[-6.59248007e-01 -7.50695612e-01 4.29902702e-02 2.15041065e+02] [ 7.49374529e-01 -6.60642264e-01 -4.46050798e-02 1.76368455e+02] [ 6.18860271e-02 2.81000350e-03 9.98079267e-01 3.26294675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6971056809999 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:216.38, Y:177.02, Z:32.71 [[-7.92453070e-01 6.08415951e-01 -4.29902702e-02 2.16384316e+02] [ 6.06849307e-01 7.93564304e-01 4.46050798e-02 1.77021334e+02] [ 6.12539859e-02 9.25881676e-03 -9.98079267e-01 3.27144305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.7271056809999 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:215.41, Y:176.04, Z:32.60 [[-7.06389713e-01 -7.06257624e-01 4.70504201e-02 2.15406742e+02] [ 7.05140393e-01 -7.07937874e-01 -4.00124098e-02 1.76038030e+02] [ 6.15678438e-02 4.91279703e-03 9.98090810e-01 3.25980938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.7571056809999 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:215.39, Y:176.05, Z:32.61 [[-7.19932456e-01 -6.92538089e-01 4.56974320e-02 2.15392577e+02] [ 6.91293315e-01 -7.21379341e-01 -4.15379196e-02 1.76051621e+02] [ 6.17317748e-02 1.68583278e-03 9.98091352e-01 3.26051701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.7871056809999 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:215.45, Y:176.00, Z:32.59 [[-7.11094937e-01 -7.01585999e-01 4.60551382e-02 2.15448041e+02] [ 7.00385515e-01 -7.12578453e-01 -4.11348725e-02 1.76002924e+02] [ 6.16775498e-02 3.00555217e-03 9.98091602e-01 3.25904158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81710568099993 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:215.45, Y:176.00, Z:32.59 [[-7.18087275e-01 -6.94493727e-01 4.50458479e-02 2.15445912e+02] [ 6.93206936e-01 -7.19498226e-01 -4.22663777e-02 1.76003615e+02] [ 6.17641418e-02 8.75146232e-04 9.98090389e-01 3.25872192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.8471056809999 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:215.44, Y:176.01, Z:32.59 [[-7.23633715e-01 -6.88699132e-01 4.52520943e-02 2.15440970e+02] [ 6.87415459e-01 -7.25046917e-01 -4.20351727e-02 1.76010322e+02] [ 6.17594784e-02 6.88920969e-04 9.98090824e-01 3.25881005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87710568099993 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:215.38, Y:176.06, Z:32.60 [[-7.33501284e-01 -6.78178218e-01 4.52788231e-02 2.15383011e+02] [ 6.76876124e-01 -7.34897461e-01 -4.20051721e-02 1.76057894e+02] [ 6.17622849e-02 -1.62693379e-04 9.98090874e-01 3.26000528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.9071056809999 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:215.43, Y:176.01, Z:32.59 [[-7.28608621e-01 -6.83399420e-01 4.57680063e-02 2.15428543e+02] [ 6.82141620e-01 -7.30043973e-01 -4.14560945e-02 1.76014362e+02] [ 6.17437281e-02 1.01499415e-03 9.98091520e-01 3.25893742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93710568099993 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:215.42, Y:176.02, Z:32.59 [[-7.30076370e-01 -6.81863449e-01 4.52849966e-02 2.15422842e+02] [ 6.80568930e-01 -7.31479468e-01 -4.19966666e-02 1.76018380e+02] [ 6.17610371e-02 1.58787821e-04 9.98090952e-01 3.25936828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.9671056809999 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:215.42, Y:176.01, Z:32.60 [[-7.31391192e-01 -6.80451437e-01 4.53074689e-02 2.15419319e+02] [ 6.79155766e-01 -7.32793175e-01 -4.19715211e-02 1.76014325e+02] [ 6.17605858e-02 7.32279618e-05 9.98090990e-01 3.26011253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99710568099994 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:215.36, Y:176.07, Z:32.62 [[-7.39633301e-01 -6.71476590e-01 4.54066983e-02 2.15362561e+02] [ 6.70170727e-01 -7.41025578e-01 -4.18603621e-02 1.76065269e+02] [ 6.17557780e-02 -5.31077769e-04 9.98091149e-01 3.26152504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0271056809999 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:215.36, Y:176.07, Z:32.62 [[-7.39268812e-01 -6.71847393e-01 4.58552498e-02 2.15360354e+02] [ 6.70573268e-01 -7.40689578e-01 -4.13574845e-02 1.76067100e+02] [ 6.17504238e-02 1.75006285e-04 9.98091606e-01 3.26159018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05710568099994 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:215.42, Y:176.01, Z:32.61 [[-7.28131328e-01 -6.83905468e-01 4.58047998e-02 2.15423039e+02] [ 6.82651313e-01 -7.29569784e-01 -4.14139482e-02 1.76011253e+02] [ 6.17410235e-02 1.11391362e-03 9.98091582e-01 3.26088316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0871056809999 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:215.48, Y:175.97, Z:32.59 [[-7.27724287e-01 -6.84387805e-01 4.50632312e-02 2.15480271e+02] [ 6.83083085e-01 -7.29118187e-01 -4.22394218e-02 1.75966057e+02] [ 6.17645666e-02 4.32778572e-05 9.98090746e-01 3.25942375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11710568099994 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:215.47, Y:175.98, Z:32.60 [[-7.14968764e-01 -6.97685473e-01 4.53282060e-02 2.15473103e+02] [ 6.96425262e-01 -7.16402463e-01 -4.19448027e-02 1.75976842e+02] [ 6.17375179e-02 1.57848394e-03 9.98091172e-01 3.25950970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1471056809999 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:215.38, Y:176.07, Z:32.60 [[-7.20926735e-01 -6.91566170e-01 4.47311419e-02 2.15382643e+02] [ 6.90252232e-01 -7.22313096e-01 -4.26104199e-02 1.76066773e+02] [ 6.17778145e-02 1.56779657e-04 9.98089914e-01 3.26014254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17710568099994 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:215.49, Y:175.97, Z:32.59 [[-7.10848534e-01 -7.01869871e-01 4.55307192e-02 2.15492453e+02] [ 7.00632536e-01 -7.12301653e-01 -4.17181674e-02 1.75972929e+02] [ 6.17123313e-02 2.24500516e-03 9.98091453e-01 3.25855670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2071056809999 meters Centerline goodness : 0.997772 Centerline is valid? [True, True] Translation: X:215.49, Y:175.98, Z:32.59 [[-6.98181458e-01 -7.14509355e-01 4.49336613e-02 2.15494271e+02] [ 7.13255590e-01 -6.99621563e-01 -4.23807976e-02 1.75975459e+02] [ 6.17180347e-02 2.45969799e-03 9.98090594e-01 3.25899450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2371056809999 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:215.39, Y:176.06, Z:32.61 [[-7.05676189e-01 -7.07135783e-01 4.44983095e-02 2.15393518e+02] [ 7.05836317e-01 -7.07076827e-01 -4.28655273e-02 1.76058293e+02] [ 6.17754718e-02 1.15934095e-03 9.98089398e-01 3.26081083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2671056809999 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:215.39, Y:176.05, Z:32.61 [[-6.91643347e-01 -7.20802273e-01 4.55364061e-02 2.15392273e+02] [ 7.19605392e-01 -6.93129639e-01 -4.17059190e-02 1.76051500e+02] [ 6.16243539e-02 3.92262198e-03 9.98091705e-01 3.26092476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2971056809999 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:215.43, Y:176.01, Z:32.60 [[-6.77809536e-01 -7.33841436e-01 4.52877408e-02 2.15431340e+02] [ 7.32654754e-01 -6.79304375e-01 -4.19830685e-02 1.76011172e+02] [ 6.15730757e-02 4.72375439e-03 9.98091400e-01 3.25973320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3271056809999 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:215.39, Y:176.05, Z:32.61 [[-6.86849103e-01 -7.25417046e-01 4.48153929e-02 2.15394203e+02] [ 7.24177827e-01 -6.88301895e-01 -4.25085379e-02 1.76046398e+02] [ 6.16829379e-02 3.25736270e-03 9.98090479e-01 3.26067867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3571056809999 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:215.39, Y:176.05, Z:32.61 [[-6.88663557e-01 -7.23670859e-01 4.51994834e-02 2.15392751e+02] [ 7.22455703e-01 -6.90135480e-01 -4.20806036e-02 1.76047524e+02] [ 6.16462737e-02 3.67524647e-03 9.98091293e-01 3.26111803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3871056809999 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:215.40, Y:176.04, Z:32.60 [[-7.09815306e-01 -7.02946696e-01 4.50352522e-02 2.15395311e+02] [ 7.01676866e-01 -7.11240733e-01 -4.22634140e-02 1.76042604e+02] [ 6.17398330e-02 1.60097651e-03 9.98090993e-01 3.26045912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.4171056809999 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:215.39, Y:176.06, Z:32.61 [[-7.03775090e-01 -7.08960131e-01 4.55648394e-02 2.15385900e+02] [ 7.07740286e-01 -7.05242519e-01 -4.16734647e-02 1.76061466e+02] [ 6.16790871e-02 2.91932606e-03 9.98091763e-01 3.26077395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.4471056809999 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:215.38, Y:176.06, Z:32.60 [[-7.16570372e-01 -6.96055929e-01 4.50892970e-02 2.15384259e+02] [ 6.94776198e-01 -7.17986744e-01 -4.22027291e-02 1.76059140e+02] [ 6.17489774e-02 1.08574500e-03 9.98091121e-01 3.26012509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.4771056809999 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:215.42, Y:176.04, Z:32.60 [[-7.10936485e-01 -7.01791925e-01 4.53586763e-02 2.15417125e+02] [ 7.00542630e-01 -7.12379220e-01 -4.19031066e-02 1.76036034e+02] [ 6.17198403e-02 1.98523908e-03 9.98091539e-01 3.25981262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.5071056809999 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:215.37, Y:176.07, Z:32.61 [[-7.22023367e-01 -6.90440324e-01 4.44344119e-02 2.15370848e+02] [ 6.89104574e-01 -7.23389258e-01 -4.29286328e-02 1.76073603e+02] [ 6.17830354e-02 -3.75519456e-04 9.98089533e-01 3.26120305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.5371056809999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:215.26, Y:176.16, Z:32.62 [[-7.40508983e-01 -6.70543978e-01 4.49134698e-02 2.15255874e+02] [ 6.69203888e-01 -7.41868579e-01 -4.23930151e-02 1.76164978e+02] [ 6.17462730e-02 -1.33613992e-03 9.98090984e-01 3.26201570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.56710568099993 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:215.24, Y:176.17, Z:32.62 [[-7.45458558e-01 -6.64982936e-01 4.57081257e-02 2.15242682e+02] [ 6.63686891e-01 -7.46858308e-01 -4.15015465e-02 1.76172602e+02] [ 6.17353137e-02 -6.01799195e-04 9.98092375e-01 3.26187172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.5971056809999 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:215.41, Y:176.04, Z:32.60 [[-7.27692960e-01 -6.84376973e-01 4.57286981e-02 2.15412284e+02] [ 6.83119671e-01 -7.29127593e-01 -4.14785279e-02 1.76039210e+02] [ 6.17290050e-02 1.05454047e-03 9.98092389e-01 3.26010306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.62710568099993 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:215.19, Y:176.24, Z:32.62 [[-7.34272862e-01 -6.77364566e-01 4.49511887e-02 2.15193966e+02] [ 6.76039924e-01 -7.35647162e-01 -4.23470571e-02 1.76244925e+02] [ 6.17526103e-02 -7.05496600e-04 9.98091237e-01 3.26247395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.6571056809999 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:215.26, Y:176.15, Z:32.60 [[-7.52904598e-01 -6.56566794e-01 4.53289139e-02 2.15255743e+02] [ 6.55229678e-01 -7.54265586e-01 -4.19224857e-02 1.76154099e+02] [ 6.17149518e-02 -1.86278261e-03 9.98092077e-01 3.26003040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68710568099993 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:215.21, Y:176.23, Z:32.62 [[-7.30178797e-01 -6.81711773e-01 4.59127706e-02 2.15210250e+02] [ 6.80462532e-01 -7.31620001e-01 -4.12664079e-02 1.76226278e+02] [ 6.17224974e-02 1.11006401e-03 9.98092732e-01 3.26225286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7171056809999 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:215.19, Y:176.24, Z:32.63 [[-7.16593795e-01 -6.96011965e-01 4.53946799e-02 2.15189145e+02] [ 6.94754419e-01 -7.18028512e-01 -4.18491709e-02 1.76241772e+02] [ 6.17221981e-02 1.54929823e-03 9.98092165e-01 3.26276776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74710568099994 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:215.03, Y:176.37, Z:32.64 [[-7.17795840e-01 -6.94765992e-01 4.54900942e-02 2.15033291e+02] [ 6.93512775e-01 -7.19234107e-01 -4.17412353e-02 1.76371354e+02] [ 6.17184180e-02 1.58627637e-03 9.98092341e-01 3.26421709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7771056809999 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:216.04, Y:177.37, Z:32.73 [[-8.27756601e-01 5.59240253e-01 -4.54900942e-02 2.16038836e+02] [ 5.57755850e-01 8.28954813e-01 4.17412353e-02 1.77367166e+02] [ 6.10526115e-02 9.17921693e-03 -9.98092341e-01 3.27272469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.80710568099994 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:215.00, Y:176.40, Z:32.66 [[-7.53668250e-01 -6.55403418e-01 4.93003897e-02 2.14997920e+02] [ 6.54386063e-01 -7.55265361e-01 -3.67847007e-02 1.76402379e+02] [ 6.13436952e-02 4.53802695e-03 9.98106386e-01 3.26551931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8371056809999 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:216.09, Y:177.35, Z:32.71 [[-8.69514981e-01 4.91439895e-01 -4.93003897e-02 2.16094137e+02] [ 4.90123691e-01 8.70876371e-01 3.67847007e-02 1.77350770e+02] [ 6.10120139e-02 7.82155930e-03 -9.98106386e-01 3.27124982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.86710568099994 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:215.12, Y:176.33, Z:32.65 [[-7.86429822e-01 -6.15487018e-01 5.19987021e-02 2.15124422e+02] [ 6.14647068e-01 -7.88122529e-01 -3.27392992e-02 1.76333250e+02] [ 6.11319622e-02 6.21368851e-03 9.98110351e-01 3.26493192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8971056809999 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:214.91, Y:176.47, Z:32.66 [[-7.95205427e-01 -6.04230255e-01 5.05383870e-02 2.14912389e+02] [ 6.03223832e-01 -7.96805246e-01 -3.49629632e-02 1.76473774e+02] [ 6.13949320e-02 2.68322143e-03 9.98109945e-01 3.26633836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.92710568099994 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:214.91, Y:176.48, Z:32.66 [[-7.94908108e-01 -6.04577704e-01 5.10578130e-02 2.14913822e+02] [ 6.03622796e-01 -7.96537747e-01 -3.41633935e-02 1.76476809e+02] [ 6.13239014e-02 3.66290130e-03 9.98111197e-01 3.26646269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9571056809999 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:214.87, Y:176.51, Z:32.67 [[-7.90416427e-01 -6.10431714e-01 5.11370230e-02 2.14868201e+02] [ 6.09496696e-01 -7.92057426e-01 -3.40413122e-02 1.76512776e+02] [ 6.12833554e-02 4.26103421e-03 9.98111313e-01 3.26710265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9871056809999 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:214.87, Y:176.52, Z:32.67 [[-7.88273597e-01 -6.13190786e-01 5.12034859e-02 2.14866584e+02] [ 6.12268108e-01 -7.89921468e-01 -3.39387460e-02 1.76517508e+02] [ 6.12576590e-02 4.59724407e-03 9.98111399e-01 3.26711714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0171056809999 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:214.87, Y:176.52, Z:32.67 [[-7.82670691e-01 -6.20326047e-01 5.12072730e-02 2.14870087e+02] [ 6.19418754e-01 -7.84327078e-01 -3.39329091e-02 1.76520167e+02] [ 6.12127181e-02 5.16045185e-03 9.98111403e-01 3.26703718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0471056809999 meters Centerline goodness : 0.997197 Centerline is valid? [True, True] Translation: X:214.85, Y:176.53, Z:32.67 [[-7.79192648e-01 -6.24691403e-01 5.11807427e-02 2.14853605e+02] [ 6.23790735e-01 -7.80852678e-01 -3.39737220e-02 1.76533534e+02] [ 6.11877121e-02 5.45399872e-03 9.98111375e-01 3.26723231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0771056809999 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:214.86, Y:176.53, Z:32.67 [[-7.75525129e-01 -6.29242346e-01 5.11355432e-02 2.14856638e+02] [ 6.28346898e-01 -7.77188035e-01 -3.40431208e-02 1.76533165e+02] [ 6.11633056e-02 5.72956431e-03 9.98111328e-01 3.26716890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1071056809999 meters Centerline goodness : 0.997139 Centerline is valid? [True, True] Translation: X:214.85, Y:176.54, Z:32.67 [[-7.71474796e-01 -6.34198346e-01 5.11771177e-02 2.14849886e+02] [ 6.33317734e-01 -7.73145557e-01 -3.39793328e-02 1.76536397e+02] [ 6.11169979e-02 6.19717735e-03 9.98111370e-01 3.26721348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1371056809999 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:214.84, Y:176.54, Z:32.67 [[-7.67932964e-01 -6.38488479e-01 5.11021035e-02 2.14842771e+02] [ 6.37609677e-01 -7.69604761e-01 -3.40941709e-02 1.76535751e+02] [ 6.10971575e-02 6.40115796e-03 9.98111298e-01 3.26717530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1671056809999 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:214.84, Y:176.53, Z:32.67 [[-7.65547290e-01 -6.41344931e-01 5.11275467e-02 2.14841549e+02] [ 6.40474914e-01 -7.67223647e-01 -3.40552517e-02 1.76527972e+02] [ 6.10674259e-02 6.67500545e-03 9.98111323e-01 3.26706883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1971056809999 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:214.83, Y:176.53, Z:32.67 [[-7.64228515e-01 -6.42913708e-01 5.11540878e-02 2.14830187e+02] [ 6.42049795e-01 -7.65907999e-01 -3.40146874e-02 1.76531290e+02] [ 6.10478338e-02 6.84847755e-03 9.98111347e-01 3.26685953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.2271056809999 meters Centerline goodness : 0.996231 Centerline is valid? [True, True] Translation: X:214.82, Y:176.54, Z:32.67 [[-7.65695023e-01 -6.41167067e-01 5.11461102e-02 2.14818560e+02] [ 6.40298523e-01 -7.67372123e-01 -3.40268517e-02 1.76535317e+02] [ 6.10649959e-02 6.69458784e-03 9.98111341e-01 3.26668502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.2571056809999 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:214.82, Y:176.54, Z:32.67 [[-7.71433195e-01 -6.34248831e-01 5.11785630e-02 2.14816787e+02] [ 6.33368455e-01 -7.73104091e-01 -3.39774040e-02 1.76535521e+02] [ 6.11164852e-02 6.20359011e-03 9.98111362e-01 3.26708193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.2871056809999 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:214.82, Y:176.54, Z:32.67 [[-7.80348063e-01 -6.23251537e-01 5.11314189e-02 2.14815280e+02] [ 6.22342924e-01 -7.82003802e-01 -3.40490593e-02 1.76535793e+02] [ 6.12060925e-02 5.25115920e-03 9.98111336e-01 3.26690755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31710568099993 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:216.05, Y:177.41, Z:32.72 [[-9.13548969e-01 4.03501995e-01 -5.11314189e-02 2.16053132e+02] [ 4.02200971e-01 9.14918051e-01 3.40490593e-02 1.77412357e+02] [ 6.05199215e-02 1.05403767e-02 -9.98111336e-01 3.27214208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.3471056809999 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:215.37, Y:176.24, Z:32.63 [[-8.27126143e-01 -5.59390402e-01 5.42653016e-02 2.15371084e+02] [ 5.58708326e-01 -8.28876469e-01 -2.84395038e-02 1.76235461e+02] [ 6.08880170e-02 6.79541878e-03 9.98121471e-01 3.26322652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37710568099993 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:215.38, Y:176.23, Z:32.63 [[-8.28909349e-01 -5.56920042e-01 5.24343287e-02 2.15376488e+02] [ 5.56025063e-01 -8.30561102e-01 -3.16920289e-02 1.76234798e+02] [ 6.11998399e-02 2.88498190e-03 9.98121364e-01 3.26310344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.4071056809999 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:214.78, Y:176.56, Z:32.68 [[-8.48221825e-01 -5.26976984e-01 5.30565163e-02 2.14782066e+02] [ 5.26093866e-01 -8.49877224e-01 -3.05605565e-02 1.76564151e+02] [ 6.11962347e-02 1.99057682e-03 9.98123769e-01 3.26835540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43710568099993 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:215.91, Y:177.52, Z:32.72 [[-9.35419307e-01 3.49536446e-01 -5.30565163e-02 2.15910963e+02] [ 3.48344499e-01 9.36868274e-01 3.05605565e-02 1.77523979e+02] [ 6.03889952e-02 1.01049889e-02 -9.98123769e-01 3.27222308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.4671056809999 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:215.34, Y:176.32, Z:32.62 [[-8.81690320e-01 -4.68483043e-01 5.60875933e-02 2.15340912e+02] [ 4.67903279e-01 -8.83457210e-01 -2.38721347e-02 1.76318381e+02] [ 6.07346790e-02 5.19573871e-03 9.98140423e-01 3.26192016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49710568099994 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:215.23, Y:176.36, Z:32.65 [[-8.83564364e-01 -4.65055190e-01 5.51152061e-02 2.15231086e+02] [ 4.64334439e-01 -8.85277848e-01 -2.60126985e-02 1.76363704e+02] [ 6.08896115e-02 2.60799488e-03 9.98141099e-01 3.26497701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5271056809999 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:215.34, Y:176.32, Z:32.64 [[-8.74643522e-01 -4.81604378e-01 5.52804915e-02 2.15341959e+02] [ 4.80938843e-01 -8.76378899e-01 -2.56486648e-02 1.76317147e+02] [ 6.07991655e-02 4.15309716e-03 9.98141379e-01 3.26413897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55710568099994 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:215.23, Y:176.37, Z:32.64 [[-8.79462819e-01 -4.72798006e-01 5.48379040e-02 2.15229486e+02] [ 4.72054436e-01 -8.81167364e-01 -2.66211617e-02 1.76368724e+02] [ 6.09078035e-02 2.47415396e-03 9.98140330e-01 3.26448403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5871056809999 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:215.22, Y:176.37, Z:32.65 [[-8.76829393e-01 -4.77619530e-01 5.52249914e-02 2.15219382e+02] [ 4.76938695e-01 -8.78558793e-01 -2.57667933e-02 1.76374318e+02] [ 6.08251255e-02 3.74585363e-03 9.98141409e-01 3.26473045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61710568099994 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:215.22, Y:176.37, Z:32.64 [[-8.76155624e-01 -4.78876439e-01 5.50334347e-02 2.15220350e+02] [ 4.78171635e-01 -8.77875847e-01 -2.61894067e-02 1.76374525e+02] [ 6.08540130e-02 3.36943144e-03 9.98140990e-01 3.26375725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6471056809999 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:215.21, Y:176.37, Z:32.65 [[-8.72030864e-01 -4.86307061e-01 5.53860585e-02 2.15212004e+02] [ 4.85665838e-01 -8.73775129e-01 -2.54109879e-02 1.76374899e+02] [ 6.07525033e-02 4.73995077e-03 9.98141606e-01 3.26467134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67710568099994 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:215.21, Y:176.37, Z:32.65 [[-8.66552443e-01 -4.96031627e-01 5.51315532e-02 2.15213913e+02] [ 4.95374519e-01 -8.68291161e-01 -2.59720112e-02 1.76365754e+02] [ 6.07531793e-02 4.80465690e-03 9.98141256e-01 3.26495451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7071056809999 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:215.21, Y:176.36, Z:32.65 [[-8.62505415e-01 -5.03028987e-01 5.51928170e-02 2.15212968e+02] [ 5.02394509e-01 -8.64252395e-01 -2.58370966e-02 1.76360887e+02] [ 6.06973328e-02 5.44393250e-03 9.98141371e-01 3.26501712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7371056809999 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:215.19, Y:176.37, Z:32.65 [[-8.61639224e-01 -5.04524434e-01 5.50721686e-02 2.15194131e+02] [ 5.03876194e-01 -8.63381400e-01 -2.61024681e-02 1.76368462e+02] [ 6.07176190e-02 5.25864440e-03 9.98141131e-01 3.26541491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7671056809999 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:215.23, Y:176.35, Z:32.66 [[-8.64652964e-01 -4.99358475e-01 5.49214454e-02 2.15229122e+02] [ 4.98678966e-01 -8.66383616e-01 -2.64332933e-02 1.76350479e+02] [ 6.07827295e-02 4.53254420e-03 9.98140730e-01 3.26551694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7971056809999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:215.21, Y:176.36, Z:32.66 [[-8.67707572e-01 -4.94026635e-01 5.49659235e-02 2.15209302e+02] [ 4.93342617e-01 -8.69436306e-01 -2.63357336e-02 1.76360549e+02] [ 6.07999233e-02 4.26531713e-03 9.98140860e-01 3.26565124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8271056809999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:215.21, Y:176.36, Z:32.65 [[-8.66119366e-01 -4.96788406e-01 5.51228002e-02 2.15214014e+02] [ 4.96131596e-01 -8.67858219e-01 -2.59913797e-02 1.76359373e+02] [ 6.07509913e-02 4.83652547e-03 9.98141235e-01 3.26548935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8571056809999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:215.21, Y:176.36, Z:32.65 [[-8.65620236e-01 -4.97655554e-01 5.51412461e-02 2.15208254e+02] [ 4.97003040e-01 -8.67360669e-01 -2.59509041e-02 1.76360718e+02] [ 6.07419596e-02 4.94173912e-03 9.98141269e-01 3.26537458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8871056809999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:215.22, Y:176.36, Z:32.65 [[-8.62256962e-01 -5.03462889e-01 5.51185143e-02 2.15215140e+02] [ 5.02818937e-01 -8.64000624e-01 -2.60007383e-02 1.76357890e+02] [ 6.07128376e-02 5.29531518e-03 9.98141228e-01 3.26497804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.9171056809999 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:215.32, Y:176.32, Z:32.65 [[-8.54163592e-01 -5.17029105e-01 5.55469430e-02 2.15322966e+02] [ 5.16472789e-01 -8.55936831e-01 -2.50599112e-02 1.76315185e+02] [ 6.05013778e-02 7.28322083e-03 9.98141542e-01 3.26450112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.9471056809999 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:215.32, Y:176.32, Z:32.64 [[-8.53917935e-01 -5.17478108e-01 5.51413473e-02 2.15320347e+02] [ 5.16866109e-01 -8.55672930e-01 -2.59472886e-02 1.76316339e+02] [ 6.06101120e-02 6.34383854e-03 9.98141358e-01 3.26445268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.9771056809999 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:215.30, Y:176.33, Z:32.64 [[-8.53395483e-01 -5.18339295e-01 5.51409564e-02 2.15298132e+02] [ 5.17729013e-01 -8.55151076e-01 -2.59481430e-02 1.76326772e+02] [ 6.06037904e-02 6.40404490e-03 9.98141357e-01 3.26449756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.0071056809999 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:215.21, Y:176.37, Z:32.65 [[-8.54071118e-01 -5.17217331e-01 5.52155533e-02 2.15213498e+02] [ 5.16615128e-01 -8.55829389e-01 -2.57849894e-02 1.76365869e+02] [ 6.05915366e-02 6.50297544e-03 9.98141461e-01 3.26472578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.0371056809999 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:215.22, Y:176.36, Z:32.64 [[-8.55175790e-01 -5.15404078e-01 5.50727124e-02 2.15223697e+02] [ 5.14778251e-01 -8.56926048e-01 -2.60979073e-02 1.76363967e+02] [ 6.06442096e-02 6.03193606e-03 9.98141220e-01 3.26420194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.06710568099993 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:215.28, Y:176.34, Z:32.64 [[-8.50404439e-01 -5.23196247e-01 5.54795302e-02 2.15277374e+02] [ 5.22643431e-01 -8.52178689e-01 -2.52056649e-02 1.76341234e+02] [ 6.04659826e-02 7.56100264e-03 9.98141621e-01 3.26363458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.0971056809999 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:215.27, Y:176.34, Z:32.63 [[-8.49592467e-01 -5.24529905e-01 5.53264792e-02 2.15274430e+02] [ 5.23958410e-01 -8.51360819e-01 -2.55409505e-02 1.76343249e+02] [ 6.04997890e-02 7.28937498e-03 9.98141593e-01 3.26332997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.12710568099993 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:215.21, Y:176.37, Z:32.64 [[-8.55279198e-01 -5.15209721e-01 5.52850577e-02 2.15214955e+02] [ 5.14613147e-01 -8.57039279e-01 -2.56316656e-02 1.76371663e+02] [ 6.05871493e-02 6.52818711e-03 9.98141563e-01 3.26383068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.1571056809999 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:214.64, Y:176.63, Z:32.68 [[-8.56494512e-01 -5.13181209e-01 5.53371215e-02 2.14644992e+02] [ 5.12587814e-01 -8.58255590e-01 -2.55161708e-02 1.76633819e+02] [ 6.05878132e-02 6.51067388e-03 9.98141637e-01 3.26785253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18710568099993 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:215.66, Y:177.68, Z:32.75 [[-9.67857729e-01 2.45334912e-01 -5.53371215e-02 2.15657294e+02] [ 2.44260357e-01 9.69373923e-01 2.55161708e-02 1.77676428e+02] [ 5.99023701e-02 1.11793581e-02 -9.98141637e-01 3.27519178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2171056809999 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:215.19, Y:176.42, Z:32.63 [[-9.04485387e-01 -4.22637774e-01 5.73017979e-02 2.15188487e+02] [ 4.22200602e-01 -9.06278916e-01 -2.01290276e-02 1.76423632e+02] [ 6.04386988e-02 5.98644222e-03 9.98153959e-01 3.26329503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24710568099994 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:215.18, Y:176.43, Z:32.64 [[-9.08059123e-01 -4.14940091e-01 5.70381486e-02 2.15176506e+02] [ 4.14442622e-01 -9.09836566e-01 -2.08503191e-02 1.76434402e+02] [ 6.05470266e-02 4.70571743e-03 9.98154254e-01 3.26382304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2771056809999 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:215.18, Y:176.43, Z:32.64 [[-9.16591637e-01 -3.95755538e-01 5.68974945e-02 2.15180077e+02] [ 3.95196971e-01 -9.18350926e-01 -2.12351409e-02 1.76433777e+02] [ 6.06557913e-02 3.02176490e-03 9.98154168e-01 3.26354597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.30710568099994 meters Centerline goodness : 0.998347 Centerline is valid? [True, True] Translation: X:215.17, Y:176.44, Z:32.64 [[-9.16391885e-01 -3.96182779e-01 5.71412194e-02 2.15173934e+02] [ 3.95666458e-01 -9.18163959e-01 -2.05668983e-02 1.76436461e+02] [ 6.06132592e-02 3.76152522e-03 9.98154238e-01 3.26403487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3371056809999 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:215.17, Y:176.44, Z:32.65 [[-9.18685909e-01 -3.90850590e-01 5.70264520e-02 2.15171213e+02] [ 3.90304474e-01 -9.20449003e-01 -2.08818092e-02 1.76436155e+02] [ 6.06516084e-02 3.07385548e-03 9.98154264e-01 3.26481935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.36710568099994 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:215.30, Y:176.39, Z:32.64 [[-9.11549434e-01 -4.07221871e-01 5.69910320e-02 2.15301971e+02] [ 4.06701336e-01 -9.13320265e-01 -2.09789861e-02 1.76390704e+02] [ 6.05941664e-02 4.05494596e-03 9.98154249e-01 3.26405572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3971056809999 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:215.02, Y:176.49, Z:32.66 [[-9.20327638e-01 -3.87019265e-01 5.66844579e-02 2.15020883e+02] [ 3.86407805e-01 -9.22069834e-01 -2.18226933e-02 1.76487116e+02] [ 6.07128314e-02 1.81928918e-03 9.98153617e-01 3.26560898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.42710568099994 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:215.30, Y:176.39, Z:32.63 [[-9.09170582e-01 -4.12491517e-01 5.70929090e-02 2.15296185e+02] [ 4.11998922e-01 -9.10949282e-01 -2.06952526e-02 1.76386809e+02] [ 6.05453606e-02 4.70670207e-03 9.98154350e-01 3.26327078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4571056809999 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:215.30, Y:176.38, Z:32.63 [[-9.09816426e-01 -4.11139767e-01 5.65522965e-02 2.15300152e+02] [ 4.10553124e-01 -9.11567215e-01 -2.21663138e-02 1.76382487e+02] [ 6.06646725e-02 3.05044564e-03 9.98153541e-01 3.26302191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4871056809999 meters Centerline goodness : 0.997608 Centerline is valid? [True, True] Translation: X:215.29, Y:176.39, Z:32.64 [[-9.13572568e-01 -4.02720288e-01 5.65820973e-02 2.15289299e+02] [ 4.02122517e-01 -9.15319469e-01 -2.20850825e-02 1.76385749e+02] [ 6.06848061e-02 2.57660986e-03 9.98153653e-01 3.26377626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5171056809999 meters Centerline goodness : 0.997674 Centerline is valid? [True, True] Translation: X:215.30, Y:176.38, Z:32.63 [[-9.15841963e-01 -3.97491620e-01 5.68674771e-02 2.15297041e+02] [ 3.96932007e-01 -9.17600702e-01 -2.13056936e-02 1.76382476e+02] [ 6.06504716e-02 3.05987355e-03 9.98154376e-01 3.26273718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5471056809999 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:215.04, Y:176.47, Z:32.64 [[-9.27419787e-01 -3.69680727e-01 5.68216469e-02 2.15039858e+02] [ 3.69060600e-01 -9.29158201e-01 -2.14315653e-02 1.76471739e+02] [ 6.07191359e-02 1.09457341e-03 9.98154291e-01 3.26399632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5771056809999 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:215.04, Y:176.47, Z:32.64 [[-9.29222802e-01 -3.65071539e-01 5.71642906e-02 2.15041113e+02] [ 3.64500446e-01 -9.30977737e-01 -2.04909399e-02 1.76473023e+02] [ 6.06993409e-02 1.79576082e-03 9.98154480e-01 3.26369274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6071056809999 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:215.06, Y:176.47, Z:32.63 [[-9.31231961e-01 -3.59907065e-01 5.72183447e-02 2.15063716e+02] [ 3.59335362e-01 -9.32986757e-01 -2.03422750e-02 1.76467446e+02] [ 6.07052864e-02 1.61719800e-03 9.98154423e-01 3.26345161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6371056809999 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:215.03, Y:176.48, Z:32.64 [[-9.31403741e-01 -3.59460407e-01 5.72301279e-02 2.15034272e+02] [ 3.58889856e-01 -9.33158927e-01 -2.03098135e-02 1.76478452e+02] [ 6.07053786e-02 1.62267608e-03 9.98154409e-01 3.26352695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6671056809999 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:215.01, Y:176.49, Z:32.64 [[-9.30372907e-01 -3.62119727e-01 5.72324890e-02 2.15010960e+02] [ 3.61554593e-01 -9.32129847e-01 -2.03033033e-02 1.76488395e+02] [ 6.07003378e-02 1.80302596e-03 9.98154406e-01 3.26385844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6971056809999 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:215.31, Y:176.38, Z:32.61 [[-9.20161076e-01 -3.87328356e-01 5.72742459e-02 2.15313493e+02] [ 3.86818466e-01 -9.21934887e-01 -2.01875794e-02 1.76384747e+02] [ 6.06223474e-02 3.57891116e-03 9.98154358e-01 3.26146174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.7271056809999 meters Centerline goodness : 0.998171 Centerline is valid? [True, True] Translation: X:215.05, Y:176.47, Z:32.64 [[-9.27943898e-01 -3.68359221e-01 5.68472177e-02 2.15053751e+02] [ 3.67740730e-01 -9.29682912e-01 -2.13644011e-02 1.76473023e+02] [ 6.07196610e-02 1.08007174e-03 9.98154275e-01 3.26396624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.7571056809999 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:215.31, Y:176.39, Z:32.62 [[-9.17239232e-01 -3.94194944e-01 5.72934266e-02 2.15311815e+02] [ 3.93701837e-01 -9.19017739e-01 -2.01310323e-02 1.76387721e+02] [ 6.05892266e-02 4.09155466e-03 9.98154399e-01 3.26197077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.7871056809999 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:215.07, Y:176.47, Z:32.64 [[-9.26738170e-01 -3.71388974e-01 5.68031178e-02 2.15069838e+02] [ 3.70769037e-01 -9.28476655e-01 -2.14807558e-02 1.76470119e+02] [ 6.07180846e-02 1.15380098e-03 9.98154288e-01 3.26383788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81710568099993 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:215.32, Y:176.39, Z:32.62 [[-9.14559919e-01 -4.00362623e-01 5.73578645e-02 2.15324178e+02] [ 3.99892913e-01 -9.16344772e-01 -1.99478566e-02 1.76388243e+02] [ 6.05459555e-02 4.69349339e-03 9.98154376e-01 3.26216046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.8471056809999 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:215.06, Y:176.48, Z:32.63 [[-9.24015714e-01 -3.78112282e-01 5.67984407e-02 2.15055746e+02] [ 3.77504570e-01 -9.25758383e-01 -2.14875635e-02 1.76481253e+02] [ 6.07063443e-02 1.58682464e-03 9.98154408e-01 3.26342232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87710568099993 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:215.32, Y:176.39, Z:32.62 [[-9.11604239e-01 -4.07060703e-01 5.72651390e-02 2.15323362e+02] [ 4.06588408e-01 -9.13388126e-01 -2.01989713e-02 1.76392451e+02] [ 6.05275054e-02 4.86987383e-03 9.98154650e-01 3.26157392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.9071056809999 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:215.03, Y:176.49, Z:32.63 [[-9.21517763e-01 -3.84173672e-01 5.67062791e-02 2.15025911e+02] [ 3.83562097e-01 -9.23259244e-01 -2.17367241e-02 1.76494594e+02] [ 6.07052735e-02 1.71960200e-03 9.98154253e-01 3.26287185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93710568099993 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:215.31, Y:176.39, Z:32.61 [[-9.06788160e-01 -4.17664642e-01 5.73714236e-02 2.15311378e+02] [ 4.17231962e-01 -9.08582148e-01 -1.98990047e-02 1.76390562e+02] [ 6.04377620e-02 5.89300981e-03 9.98154572e-01 3.26138541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.9671056809999 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:215.26, Y:176.41, Z:32.62 [[-9.10611455e-01 -4.09360277e-01 5.66651719e-02 2.15258639e+02] [ 4.08791180e-01 -9.12366895e-01 -2.18270482e-02 1.76407115e+02] [ 6.06345534e-02 3.28826232e-03 9.98154616e-01 3.26162935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99710568099994 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:215.18, Y:176.43, Z:32.62 [[-9.13824612e-01 -4.02087986e-01 5.70072869e-02 2.15183822e+02] [ 4.01562929e-01 -9.15593141e-01 -2.08905567e-02 1.76434729e+02] [ 6.05953227e-02 3.80170822e-03 9.98155175e-01 3.26228738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0271056809999 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:215.19, Y:176.43, Z:32.62 [[-9.13281165e-01 -4.03291284e-01 5.72158562e-02 2.15185344e+02] [ 4.02804099e-01 -9.15060645e-01 -2.03192943e-02 1.76434725e+02] [ 6.05505726e-02 4.48955262e-03 9.98155034e-01 3.26193005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05710568099994 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:215.07, Y:176.48, Z:32.62 [[-9.16057721e-01 -3.96942569e-01 5.72262868e-02 2.15067995e+02] [ 3.96444820e-01 -9.17834294e-01 -2.02907559e-02 1.76475160e+02] [ 6.05785133e-02 4.09956135e-03 9.98155017e-01 3.26237015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0871056809999 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:215.18, Y:176.44, Z:32.62 [[-9.12742842e-01 -4.04487265e-01 5.73633769e-02 2.15181256e+02] [ 4.04027614e-01 -9.14529969e-01 -1.99153808e-02 1.76443297e+02] [ 6.05160453e-02 4.99876708e-03 9.98154708e-01 3.26204658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11710568099994 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:215.30, Y:176.40, Z:32.62 [[-9.05011324e-01 -4.21510993e-01 5.72973497e-02 2.15298507e+02] [ 4.21073505e-01 -9.06803847e-01 -2.00969150e-02 1.76404474e+02] [ 6.04285277e-02 5.93846021e-03 9.98154862e-01 3.26150084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1471056809999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:215.08, Y:176.48, Z:32.63 [[-9.12227220e-01 -4.05723514e-01 5.68324660e-02 2.15078318e+02] [ 4.05175505e-01 -9.13989045e-01 -2.13737302e-02 1.76477236e+02] [ 6.06160762e-02 3.52942459e-03 9.98154915e-01 3.26271131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17710568099994 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:215.16, Y:176.45, Z:32.62 [[-9.11796436e-01 -4.06618344e-01 5.73478906e-02 2.15160380e+02] [ 4.06160080e-01 -9.13583923e-01 -1.99600816e-02 1.76446828e+02] [ 6.05082462e-02 5.09289258e-03 9.98154705e-01 3.26220492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2071056809999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:215.11, Y:176.47, Z:32.63 [[-9.08676826e-01 -4.13531554e-01 5.74289125e-02 2.15108466e+02] [ 4.13100799e-01 -9.10471387e-01 -1.97378646e-02 1.76470566e+02] [ 6.04496115e-02 5.78858956e-03 9.98154465e-01 3.26287735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2371056809999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:215.18, Y:176.45, Z:32.63 [[-9.05622376e-01 -4.20186513e-01 5.73707853e-02 2.15177449e+02] [ 4.19758924e-01 -9.07417512e-01 -1.98973356e-02 1.76449510e+02] [ 6.04198473e-02 6.06242681e-03 9.98154642e-01 3.26261118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2671056809999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:215.18, Y:176.45, Z:32.62 [[-9.06444983e-01 -4.18419075e-01 5.72972144e-02 2.15182009e+02] [ 4.17975331e-01 -9.08236007e-01 -2.00992076e-02 1.76447969e+02] [ 6.04492851e-02 5.72999622e-03 9.98154823e-01 3.26189713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2971056809999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:215.18, Y:176.45, Z:32.61 [[-9.08335563e-01 -4.14293384e-01 5.73367029e-02 2.15180433e+02] [ 4.13848289e-01 -9.10126344e-01 -1.99907798e-02 1.76448375e+02] [ 6.04656917e-02 5.57036021e-03 9.98154733e-01 3.26122557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3271056809999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:215.13, Y:176.47, Z:32.61 [[-9.09091120e-01 -4.12629042e-01 5.73638285e-02 2.15127813e+02] [ 4.12185325e-01 -9.10882317e-01 -1.99163719e-02 1.76468295e+02] [ 6.04697705e-02 5.53873144e-03 9.98154662e-01 3.26130545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3571056809999 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:215.06, Y:176.50, Z:32.61 [[-9.07809690e-01 -4.15444002e-01 5.73397629e-02 2.15055920e+02] [ 4.15001712e-01 -9.09601171e-01 -1.99822123e-02 1.76497748e+02] [ 6.04578058e-02 5.65605379e-03 9.98154729e-01 3.26145741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3871056809999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:215.18, Y:176.45, Z:32.61 [[-9.09692892e-01 -4.11315743e-01 5.72555791e-02 2.15175839e+02] [ 4.10850895e-01 -9.11478459e-01 -2.02128805e-02 1.76454039e+02] [ 6.05011029e-02 5.13599226e-03 9.98154917e-01 3.26069394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.4171056809999 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:215.04, Y:176.50, Z:32.62 [[-9.12737185e-01 -4.04515102e-01 5.72569980e-02 2.15040678e+02] [ 4.04037184e-01 -9.14519300e-01 -2.02089953e-02 1.76500765e+02] [ 6.05374735e-02 4.68845469e-03 9.98154914e-01 3.26185432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.4471056809999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:215.17, Y:176.45, Z:32.61 [[-9.16081386e-01 -3.96881662e-01 5.72698891e-02 2.15174721e+02] [ 3.96391083e-01 -9.17860084e-01 -2.01736418e-02 1.76450689e+02] [ 6.05722937e-02 4.22057564e-03 9.98154890e-01 3.26077152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.4771056809999 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:215.32, Y:176.40, Z:32.60 [[-9.10123680e-01 -4.10341618e-01 5.73989828e-02 2.15321144e+02] [ 4.09899609e-01 -9.11915345e-01 -1.98170313e-02 1.76402791e+02] [ 6.04747658e-02 5.49187113e-03 9.98154618e-01 3.25981971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.5071056809999 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:215.02, Y:176.50, Z:32.61 [[-9.23015599e-01 -3.80533035e-01 5.68930015e-02 2.15019508e+02] [ 3.79946719e-01 -9.24765087e-01 -2.12138028e-02 1.76504365e+02] [ 6.06852142e-02 2.03563832e-03 9.98154878e-01 3.26119686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.5371056809999 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:215.16, Y:176.45, Z:32.60 [[-9.26296178e-01 -3.72404331e-01 5.73620490e-02 2.15164906e+02] [ 3.71882263e-01 -9.28066122e-01 -1.99212609e-02 1.76450518e+02] [ 6.06545382e-02 2.87894073e-03 9.98154667e-01 3.26022101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.56710568099993 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:215.16, Y:176.45, Z:32.61 [[-9.29128628e-01 -3.65282420e-01 5.73475872e-02 2.15158762e+02] [ 3.64744316e-01 -9.30893728e-01 -1.99612174e-02 1.76450399e+02] [ 6.06759911e-02 2.37066793e-03 9.98154699e-01 3.26080462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.5971056809999 meters Centerline goodness : 0.998003 Centerline is valid? [True, True] Translation: X:215.19, Y:176.44, Z:32.61 [[-9.28324446e-01 -3.67317861e-01 5.73699647e-02 2.15191311e+02] [ 3.66787450e-01 -9.30091923e-01 -1.98992571e-02 1.76440612e+02] [ 6.06686934e-02 2.56961623e-03 9.98154651e-01 3.26122793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.62710568099993 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:215.17, Y:176.45, Z:32.61 [[-9.29409780e-01 -3.64569217e-01 5.73301620e-02 2.15166206e+02] [ 3.64026781e-01 -9.31173518e-01 -2.00095435e-02 1.76450183e+02] [ 6.06791922e-02 2.27264888e-03 9.98154733e-01 3.26123184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.6571056809999 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:215.24, Y:176.43, Z:32.61 [[-9.26778203e-01 -3.71194813e-01 5.74157989e-02 2.15240359e+02] [ 3.70679674e-01 -9.28550298e-01 -1.97717751e-02 1.76428259e+02] [ 6.06526375e-02 2.95881941e-03 9.98154549e-01 3.26065765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68710568099993 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:215.27, Y:176.42, Z:32.60 [[-9.24365040e-01 -3.77180323e-01 5.73086164e-02 2.15274414e+02] [ 3.76658214e-01 -9.26134871e-01 -2.00696644e-02 1.76422988e+02] [ 6.06453905e-02 3.03406496e-03 9.98154763e-01 3.25950534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7171056809999 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:215.24, Y:176.44, Z:32.58 [[-9.26980453e-01 -3.70720603e-01 5.72142822e-02 2.15239192e+02] [ 3.70169990e-01 -9.28741513e-01 -2.03317802e-02 1.76435504e+02] [ 6.06746888e-02 2.33184745e-03 9.98154870e-01 3.25821225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74710568099994 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:215.17, Y:176.46, Z:32.59 [[-9.30319750e-01 -3.62239069e-01 5.73412549e-02 2.15172959e+02] [ 3.61694080e-01 -9.32082734e-01 -1.99792521e-02 1.76458981e+02] [ 6.06840593e-02 2.15289957e-03 9.98154702e-01 3.25941683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7771056809999 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:215.17, Y:176.46, Z:32.59 [[-9.31385318e-01 -3.59477399e-01 5.74228934e-02 2.15170914e+02] [ 3.58941116e-01 -9.33151166e-01 -1.97528876e-02 1.76460472e+02] [ 6.06849566e-02 2.21388794e-03 9.98154514e-01 3.25919293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.80710568099994 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:215.21, Y:176.45, Z:32.58 [[-9.30170489e-01 -3.62602159e-01 5.74677026e-02 2.15206153e+02] [ 3.62079491e-01 -9.31940541e-01 -1.96283192e-02 1.76447728e+02] [ 6.06737527e-02 2.55019323e-03 9.98154393e-01 3.25821095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8371056809999 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:215.21, Y:176.45, Z:32.58 [[-9.30379520e-01 -3.62091344e-01 5.73045096e-02 2.15208885e+02] [ 3.61539732e-01 -9.32140398e-01 -2.00823281e-02 1.76446879e+02] [ 6.06874856e-02 2.03367026e-03 9.98154744e-01 3.25816250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.86710568099994 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:215.18, Y:176.46, Z:32.59 [[-9.32246234e-01 -3.57257396e-01 5.73071712e-02 2.15176221e+02] [ 3.56697107e-01 -9.34004375e-01 -2.00749157e-02 1.76461298e+02] [ 6.06970607e-02 1.72653762e-03 9.98154740e-01 3.25908510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8971056809999 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:215.18, Y:176.46, Z:32.58 [[-9.31560131e-01 -3.59015033e-01 5.74797995e-02 2.15179117e+02] [ 3.58487655e-01 -9.33328812e-01 -1.95941491e-02 1.76464022e+02] [ 6.06821471e-02 2.35267044e-03 9.98154368e-01 3.25814324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.92710568099994 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:215.18, Y:176.47, Z:32.58 [[-9.31696122e-01 -3.58666703e-01 5.74502656e-02 2.15177329e+02] [ 3.58133591e-01 -9.33462998e-01 -1.96764479e-02 1.76465630e+02] [ 6.06849838e-02 2.24239975e-03 9.98154449e-01 3.25802858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9571056809999 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:215.18, Y:176.47, Z:32.57 [[-9.32901042e-01 -3.55518107e-01 5.74675741e-02 2.15181275e+02] [ 3.54982004e-01 -9.34667060e-01 -1.96281592e-02 1.76465012e+02] [ 6.06912145e-02 2.08882442e-03 9.98154404e-01 3.25733897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9871056809999 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:215.19, Y:176.46, Z:32.58 [[-9.31253494e-01 -3.59791971e-01 5.75905095e-02 2.15186098e+02] [ 3.59285169e-01 -9.33028548e-01 -1.92846206e-02 1.76464324e+02] [ 6.06720411e-02 2.73254561e-03 9.98154015e-01 3.25846359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0171056809999 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:215.21, Y:176.46, Z:32.57 [[-9.31547668e-01 -3.59046866e-01 5.74829660e-02 2.15208172e+02] [ 3.58520072e-01 -9.33316538e-01 -1.95856406e-02 1.76458001e+02] [ 6.06819657e-02 2.36383928e-03 9.98154352e-01 3.25707623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0471056809999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:215.21, Y:176.46, Z:32.58 [[-9.30970228e-01 -3.60531420e-01 5.75458897e-02 2.15209663e+02] [ 3.60018328e-01 -9.32743310e-01 -1.94092971e-02 1.76461370e+02] [ 6.06732051e-02 2.64809723e-03 9.98154171e-01 3.25807996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0771056809999 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:215.25, Y:176.45, Z:32.57 [[-9.29912925e-01 -3.63252308e-01 5.75301005e-02 2.15246477e+02] [ 3.62741664e-01 -9.31686665e-01 -1.94536413e-02 1.76450557e+02] [ 6.06666076e-02 2.77837184e-03 9.98154218e-01 3.25745520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1071056809999 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:215.08, Y:176.51, Z:32.58 [[-9.27857106e-01 -3.68493560e-01 5.73906580e-02 2.15083386e+02] [ 3.67968772e-01 -9.29626365e-01 -1.98444964e-02 1.76514321e+02] [ 6.06644379e-02 2.70511297e-03 9.98154551e-01 3.25785228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1371056809999 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:215.20, Y:176.47, Z:32.57 [[-9.27669650e-01 -3.68988845e-01 5.72385627e-02 2.15203951e+02] [ 3.68438723e-01 -9.29431016e-01 -2.02705300e-02 1.76472929e+02] [ 6.06788949e-02 2.28454753e-03 9.98154724e-01 3.25701860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1671056809999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:215.20, Y:176.47, Z:32.56 [[-9.31606218e-01 -3.58943284e-01 5.71801798e-02 2.15203102e+02] [ 3.58364135e-01 -9.33358239e-01 -2.04339055e-02 1.76467873e+02] [ 6.07042051e-02 1.45497227e-03 9.98154739e-01 3.25643792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1971056809999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:215.20, Y:176.47, Z:32.56 [[-9.30729225e-01 -3.61154632e-01 5.75364373e-02 2.15204842e+02] [ 3.60641131e-01 -9.32502145e-01 -1.94351420e-02 1.76468194e+02] [ 6.06719427e-02 2.66115118e-03 9.98154213e-01 3.25610962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.2271056809999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:215.20, Y:176.47, Z:32.56 [[-9.30533428e-01 -3.61660065e-01 5.75285792e-02 2.15201035e+02] [ 3.61146165e-01 -9.32306208e-01 -1.94571892e-02 1.76468672e+02] [ 6.06711399e-02 2.67066081e-03 9.98154237e-01 3.25608799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.2571056809999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:215.26, Y:176.44, Z:32.56 [[-9.26806749e-01 -3.71097450e-01 5.75841373e-02 2.15259907e+02] [ 3.70611274e-01 -9.28587507e-01 -1.93008989e-02 1.76444601e+02] [ 6.06344249e-02 3.45312710e-03 9.98154068e-01 3.25575382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.2871056809999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:215.08, Y:176.51, Z:32.57 [[-9.30331180e-01 -3.62214775e-01 5.73092727e-02 2.15081973e+02] [ 3.61664053e-01 -9.32092399e-01 -2.00716669e-02 1.76505569e+02] [ 6.06877918e-02 2.05340633e-03 9.98154685e-01 3.25663095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31710568099993 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:215.21, Y:176.47, Z:32.55 [[-9.28850020e-01 -3.65948314e-01 5.76148556e-02 2.15207181e+02] [ 3.65457578e-01 -9.30629648e-01 -1.92150265e-02 1.76465248e+02] [ 6.06497993e-02 3.20790789e-03 9.98153952e-01 3.25519097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.3471056809999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:215.23, Y:176.46, Z:32.55 [[-9.33028860e-01 -3.55191036e-01 5.74149345e-02 2.15232095e+02] [ 3.54645220e-01 -9.34791783e-01 -1.97759969e-02 1.76455707e+02] [ 6.06952658e-02 1.91035625e-03 9.98154515e-01 3.25455512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37710568099993 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:215.20, Y:176.47, Z:32.55 [[-9.34979769e-01 -3.49998296e-01 5.75675583e-02 2.15203469e+02] [ 3.49469047e-01 -9.36748139e-01 -1.93470681e-02 1.76465752e+02] [ 6.06977440e-02 2.02896249e-03 9.98154130e-01 3.25468701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.4071056809999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:215.25, Y:176.45, Z:32.54 [[-9.37512660e-01 -3.43157088e-01 5.75606163e-02 2.15246028e+02] [ 3.42613733e-01 -9.39276724e-01 -1.93666004e-02 1.76451411e+02] [ 6.07111334e-02 1.56462455e-03 9.98154152e-01 3.25445876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43710568099993 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:215.33, Y:176.43, Z:32.53 [[-9.35446282e-01 -3.48738583e-01 5.76337935e-02 2.15332118e+02] [ 3.48218489e-01 -9.37217581e-01 -1.91596004e-02 1.76426290e+02] [ 6.06970965e-02 2.14637553e-03 9.98153924e-01 3.25331868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.4671056809999 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:215.29, Y:176.44, Z:32.53 [[-9.38484290e-01 -3.40536235e-01 5.72914453e-02 2.15289720e+02] [ 3.39941491e-01 -9.40231210e-01 -2.01259910e-02 1.76440710e+02] [ 6.07208341e-02 5.87812931e-04 9.98154615e-01 3.25345814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49710568099994 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:215.25, Y:176.46, Z:32.54 [[-9.41444505e-01 -3.32249302e-01 5.73815843e-02 2.15249809e+02] [ 3.31654671e-01 -9.43191548e-01 -1.98716329e-02 1.76456286e+02] [ 6.07241615e-02 3.22830846e-04 9.98154533e-01 3.25430801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5271056809999 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:215.31, Y:176.44, Z:32.55 [[-9.39982613e-01 -3.36346294e-01 5.74791898e-02 2.15309004e+02] [ 3.35776135e-01 -9.41737965e-01 -1.95957089e-02 1.76437119e+02] [ 6.07212793e-02 8.80514516e-04 9.98154372e-01 3.25460823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55710568099994 meters Centerline goodness : 0.997602 Centerline is valid? [True, True] Translation: X:215.33, Y:176.44, Z:32.54 [[-9.37791162e-01 -3.42424589e-01 5.73858718e-02 2.15325395e+02] [ 3.41849632e-01 -9.39544791e-01 -1.98598646e-02 1.76436207e+02] [ 6.07171029e-02 9.92933634e-04 9.98154521e-01 3.25373993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5871056809999 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:215.26, Y:176.46, Z:32.54 [[-9.42282338e-01 -3.29901501e-01 5.71751184e-02 2.15264836e+02] [ 3.29266973e-01 -9.44015253e-01 -2.04563809e-02 1.76459739e+02] [ 6.07227746e-02 -4.49808262e-04 9.98154568e-01 3.25373872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61710568099994 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:215.30, Y:176.45, Z:32.55 [[-9.41662135e-01 -3.31622946e-01 5.74338341e-02 2.15304892e+02] [ 3.31036236e-01 -9.43411908e-01 -1.97226529e-02 1.76446374e+02] [ 6.07242473e-02 4.40604876e-04 9.98154483e-01 3.25470490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6471056809999 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:215.32, Y:176.45, Z:32.52 [[-9.42654901e-01 -3.28809399e-01 5.73246605e-02 2.15318153e+02] [ 3.28198623e-01 -9.44396301e-01 -2.00322171e-02 1.76446867e+02] [ 6.07239786e-02 -6.95929923e-05 9.98154594e-01 3.25204495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67710568099994 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:215.30, Y:176.45, Z:32.53 [[-9.46469519e-01 -3.17670200e-01 5.72808280e-02 2.15298222e+02] [ 3.17031409e-01 -9.48200824e-01 -2.01564928e-02 1.76449869e+02] [ 6.07168454e-02 -9.17684443e-04 9.98154609e-01 3.25315065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7071056809999 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:215.29, Y:176.45, Z:32.53 [[-9.49211455e-01 -3.09383130e-01 5.72685968e-02 2.15294891e+02] [ 3.08727134e-01 -9.50936314e-01 -2.01911846e-02 1.76454623e+02] [ 6.07056002e-02 -1.48533391e-03 9.98154609e-01 3.25258968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7371056809999 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:215.29, Y:176.46, Z:32.52 [[-9.49869501e-01 -3.07356368e-01 5.72712234e-02 2.15289639e+02] [ 3.06697142e-01 -9.51593128e-01 -2.01837316e-02 1.76460699e+02] [ 6.07025010e-02 -1.60699058e-03 9.98154609e-01 3.25156905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7671056809999 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:215.28, Y:176.46, Z:32.53 [[-9.51537446e-01 -3.02147873e-01 5.72987945e-02 2.15282890e+02] [ 3.01483922e-01 -9.53259260e-01 -2.01054205e-02 1.76460111e+02] [ 6.06954165e-02 -1.85639518e-03 9.98154607e-01 3.25278038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7971056809999 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:215.29, Y:176.46, Z:32.52 [[-9.51575603e-01 -3.02018551e-01 5.73469017e-02 2.15288030e+02] [ 3.01362597e-01 -9.53300497e-01 -1.99686475e-02 1.76457854e+02] [ 6.06997319e-02 -1.71946652e-03 9.98154590e-01 3.25230741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8271056809999 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:215.29, Y:176.46, Z:32.53 [[-9.50429606e-01 -3.05617511e-01 5.72843920e-02 2.15292549e+02] [ 3.04957379e-01 -9.52152887e-01 -2.01463911e-02 1.76456520e+02] [ 6.07005891e-02 -1.67842849e-03 9.98154608e-01 3.25313709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8571056809999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:215.29, Y:176.45, Z:32.54 [[-9.48209755e-01 -3.12436200e-01 5.72877094e-02 2.15290686e+02] [ 3.11789033e-01 -9.49937946e-01 -2.01369535e-02 1.76453105e+02] [ 6.07112822e-02 -1.23237621e-03 9.98154608e-01 3.25355622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8871056809999 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:215.29, Y:176.45, Z:32.53 [[-9.47224897e-01 -3.15408834e-01 5.72910252e-02 2.15290502e+02] [ 3.14767661e-01 -9.48955322e-01 -2.01275154e-02 1.76453506e+02] [ 6.07150194e-02 -1.03192164e-03 9.98154608e-01 3.25322722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.9171056809999 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:215.30, Y:176.45, Z:32.53 [[-9.44601627e-01 -3.23178648e-01 5.73003352e-02 2.15304485e+02] [ 3.22553320e-01 -9.46337840e-01 -2.01009762e-02 1.76448683e+02] [ 6.07216817e-02 -5.05001449e-04 9.98154608e-01 3.25306195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.9471056809999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:215.06, Y:176.53, Z:32.55 [[-9.47187271e-01 -3.15518439e-01 5.73095786e-02 2.15059202e+02] [ 3.14880668e-01 -9.48918951e-01 -2.00745879e-02 1.76529925e+02] [ 6.07160478e-02 -9.68715735e-04 9.98154609e-01 3.25513111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.9771056809999 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:215.02, Y:176.54, Z:32.55 [[-9.44766615e-01 -3.22670449e-01 5.74440966e-02 2.15024589e+02] [ 3.22069014e-01 -9.46511369e-01 -1.96921147e-02 1.76544717e+02] [ 6.07255539e-02 -1.03488962e-04 9.98154495e-01 3.25518268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.0071056809999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:215.05, Y:176.54, Z:32.55 [[-9.44514184e-01 -3.23419324e-01 5.73837681e-02 2.15052144e+02] [ 3.22808831e-01 -9.46255718e-01 -1.98639070e-02 1.76535454e+02] [ 6.07240901e-02 -2.37754785e-04 9.98154561e-01 3.25510728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.0371056809999 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:215.32, Y:176.45, Z:32.52 [[-9.40506080e-01 -3.34885300e-01 5.74469349e-02 2.15319861e+02] [ 3.34307079e-01 -9.42258646e-01 -1.96830191e-02 1.76448219e+02] [ 6.07214249e-02 6.92917841e-04 9.98154511e-01 3.25227067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.06710568099993 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:215.05, Y:176.54, Z:32.55 [[-9.43780155e-01 -3.25566365e-01 5.73198071e-02 2.15047589e+02] [ 3.24948736e-01 -9.45519146e-01 -2.00465340e-02 1.76536099e+02] [ 6.07234523e-02 -2.93522156e-04 9.98154585e-01 3.25465888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.0971056809999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:215.12, Y:176.52, Z:32.53 [[-9.39340523e-01 -3.38151828e-01 5.73822585e-02 2.15116551e+02] [ 3.37568395e-01 -9.41091303e-01 -1.98680124e-02 1.76517020e+02] [ 6.07203492e-02 7.07607735e-04 9.98154566e-01 3.25335012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.12710568099993 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] Translation: X:215.12, Y:176.52, Z:32.53 [[-9.37920784e-01 -3.42107164e-01 5.71602220e-02 2.15116382e+02] [ 3.41492436e-01 -9.39660898e-01 -2.05015238e-02 1.76520326e+02] [ 6.07249437e-02 2.90978199e-04 9.98154495e-01 3.25329919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.1571056809999 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:215.11, Y:176.52, Z:32.53 [[-9.38529769e-01 -3.40448594e-01 5.70668667e-02 2.15111830e+02] [ 3.39814576e-01 -9.40263125e-01 -2.07679926e-02 1.76521148e+02] [ 6.07283044e-02 -9.92262343e-05 9.98154328e-01 3.25344098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18710568099993 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:215.11, Y:176.52, Z:32.54 [[-9.38168434e-01 -3.41445557e-01 5.70519214e-02 2.15113870e+02] [ 3.40810784e-01 -9.39901551e-01 -2.08106857e-02 1.76520161e+02] [ 6.07289056e-02 -8.00183075e-05 9.98154294e-01 3.25354420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2171056809999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:215.13, Y:176.52, Z:32.53 [[-9.41097927e-01 -3.33295661e-01 5.69973177e-02 2.15130813e+02] [ 3.32636425e-01 -9.42822044e-01 -2.09667084e-02 1.76515737e+02] [ 6.07264405e-02 -7.72341861e-04 9.98154148e-01 3.25336377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24710568099994 meters Centerline goodness : 0.997999 Centerline is valid? [True, True] Translation: X:215.12, Y:176.52, Z:32.53 [[-9.42200016e-01 -3.30181313e-01 5.69159948e-02 2.15117858e+02] [ 3.29502338e-01 -9.43916740e-01 -2.11989737e-02 1.76523058e+02] [ 6.07234652e-02 -1.21972002e-03 9.98153882e-01 3.25325833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2771056809999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:215.14, Y:176.51, Z:32.53 [[-9.47779304e-01 -3.13817951e-01 5.68567115e-02 2.15143304e+02] [ 3.13099189e-01 -9.49480009e-01 -2.13684443e-02 1.76512980e+02] [ 6.06901123e-02 -2.45077900e-03 9.98153647e-01 3.25275613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.30710568099994 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:214.55, Y:176.71, Z:32.57 [[-9.60061736e-01 -2.73867880e-01 5.72524940e-02 2.14551225e+02] [ 2.73147244e-01 -9.61759964e-01 -2.02077776e-02 1.76705617e+02] [ 6.05974178e-02 -3.76235302e-03 9.98155197e-01 3.25679118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3371056809999 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:214.75, Y:176.64, Z:32.55 [[-9.55420068e-01 -2.89598457e-01 5.74911030e-02 2.14754989e+02] [ 2.88947708e-01 -9.57146083e-01 -1.95089205e-02 1.76641360e+02] [ 6.06771373e-02 -2.02729168e-03 9.98155386e-01 3.25493655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.36710568099994 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:215.58, Y:177.66, Z:32.88 [[-9.65342960e-01 2.54573648e-01 -5.74911030e-02 2.15584812e+02] [ 2.53860406e-01 9.67044103e-01 1.95089205e-02 1.77655763e+02] [ 6.05628892e-02 4.23808430e-03 -9.98155386e-01 3.28766663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3971056809999 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:215.25, Y:176.53, Z:32.51 [[-9.60307574e-01 -2.72602718e-01 5.91364709e-02 2.15247798e+02] [ 2.72305055e-01 -9.62120551e-01 -1.31910360e-02 1.76528521e+02] [ 6.04923262e-02 3.43570811e-03 9.98162749e-01 3.25115697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.42710568099994 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:215.25, Y:176.53, Z:32.51 [[-9.59586043e-01 -2.75499178e-01 5.74006036e-02 2.15246416e+02] [ 2.74812401e-01 -9.61296246e-01 -1.96893640e-02 1.76530194e+02] [ 6.06033884e-02 -3.11924119e-03 9.98157052e-01 3.25061126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4571056809999 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:215.25, Y:176.53, Z:32.52 [[-9.63531724e-01 -2.61366401e-01 5.73953113e-02 2.15250013e+02] [ 2.60653382e-01 -9.65231248e-01 -1.97091950e-02 1.76531296e+02] [ 6.05510694e-02 -4.03015260e-03 9.98156965e-01 3.25167218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4871056809999 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:215.25, Y:176.53, Z:32.51 [[-9.63201137e-01 -2.62503112e-01 5.77554067e-02 2.15251448e+02] [ 2.61873252e-01 -9.64927771e-01 -1.83520210e-02 1.76534638e+02] [ 6.05472585e-02 -2.55209134e-03 9.98162069e-01 3.25095187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5171056809999 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:215.20, Y:176.54, Z:32.52 [[-9.70879093e-01 -2.32482614e-01 5.78413408e-02 2.15195880e+02] [ 2.31818913e-01 -9.72591947e-01 -1.80248622e-02 1.76538977e+02] [ 6.04464893e-02 -4.09124512e-03 9.98163055e-01 3.25151353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5471056809999 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:215.24, Y:176.54, Z:32.51 [[-9.62517151e-01 -2.64883593e-01 5.82873674e-02 2.15240469e+02] [ 2.64380730e-01 -9.64280351e-01 -1.63166960e-02 1.76539525e+02] [ 6.05273881e-02 -2.95043039e-04 9.98166493e-01 3.25106303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5771056809999 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:215.24, Y:176.54, Z:32.51 [[-9.61759692e-01 -2.67728085e-01 5.77924601e-02 2.15240732e+02] [ 2.67117307e-01 -9.63492313e-01 -1.81908307e-02 1.76539324e+02] [ 6.05527873e-02 -2.05784140e-03 9.98162875e-01 3.25096921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6071056809999 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:215.24, Y:176.53, Z:32.51 [[-9.58161462e-01 -2.80333812e-01 5.77889949e-02 2.15239264e+02] [ 2.79745045e-01 -9.59901727e-01 -1.82039649e-02 1.76531169e+02] [ 6.05749429e-02 -1.27615261e-03 9.98162836e-01 3.25070978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6371056809999 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:215.24, Y:176.53, Z:32.51 [[-9.57542322e-01 -2.82434381e-01 5.78231922e-02 2.15242360e+02] [ 2.81857268e-01 -9.59286090e-01 -1.80742333e-02 1.76529515e+02] [ 6.05737689e-02 -1.00895632e-03 9.98163213e-01 3.25116544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6671056809999 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:215.25, Y:176.53, Z:32.51 [[-9.54294448e-01 -2.93221876e-01 5.78190040e-02 2.15251436e+02] [ 2.92663515e-01 -9.56044358e-01 -1.80901250e-02 1.76525544e+02] [ 6.05819530e-02 -3.41792976e-04 9.98163168e-01 3.25138401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6971056809999 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:215.25, Y:176.52, Z:32.52 [[-9.54555189e-01 -2.92377149e-01 5.77926916e-02 2.15246092e+02] [ 2.91811190e-01 -9.56302962e-01 -1.81899794e-02 1.76523691e+02] [ 6.05856564e-02 -4.98785181e-04 9.98162877e-01 3.25164808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.7271056809999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:215.25, Y:176.53, Z:32.52 [[-9.54772508e-01 -2.91672476e-01 5.77635337e-02 2.15247101e+02] [ 2.91098515e-01 -9.56518026e-01 -1.83008457e-02 1.76526489e+02] [ 6.05897142e-02 -6.58265455e-04 9.98162539e-01 3.25211331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.7571056809999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:215.25, Y:176.53, Z:32.52 [[-9.54887459e-01 -2.91282939e-01 5.78289757e-02 2.15248975e+02] [ 2.90723375e-01 -9.56636853e-01 -1.80513217e-02 1.76526049e+02] [ 6.05793714e-02 -4.24745698e-04 9.98163293e-01 3.25211696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.7871056809999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:215.28, Y:176.52, Z:32.52 [[-9.53731157e-01 -2.95051799e-01 5.78041152e-02 2.15281635e+02] [ 2.94493413e-01 -9.55481217e-01 -1.81459068e-02 1.76518027e+02] [ 6.05847288e-02 -2.83385516e-04 9.98163018e-01 3.25187770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81710568099993 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:215.26, Y:176.53, Z:32.52 [[-9.52704860e-01 -2.98351629e-01 5.77906170e-02 2.15260993e+02] [ 2.97796192e-01 -9.54456017e-01 -1.81972188e-02 1.76525315e+02] [ 6.05877721e-02 -1.26753044e-04 9.98162865e-01 3.25170939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.8471056809999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:215.27, Y:176.52, Z:32.52 [[-9.51259836e-01 -3.02926671e-01 5.77940952e-02 2.15267784e+02] [ 3.02380460e-01 -9.53013851e-01 -1.81839655e-02 1.76520966e+02] [ 6.05869814e-02 1.78129052e-04 9.98162906e-01 3.25174012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87710568099993 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:215.25, Y:176.53, Z:32.52 [[-9.51817275e-01 -3.01152326e-01 5.78891347e-02 2.15249830e+02] [ 3.00624913e-01 -9.53575945e-01 -1.78207537e-02 1.76525125e+02] [ 6.05684477e-02 4.40814903e-04 9.98163949e-01 3.25155180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.9071056809999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:215.26, Y:176.52, Z:32.52 [[-9.50966240e-01 -3.03828985e-01 5.78891865e-02 2.15263285e+02] [ 3.03306534e-01 -9.52726390e-01 -1.78205552e-02 1.76518084e+02] [ 6.05669569e-02 6.11422150e-04 9.98163949e-01 3.25200897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93710568099993 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:215.25, Y:176.52, Z:32.52 [[-9.49924770e-01 -3.07074005e-01 5.78661179e-02 2.15250890e+02] [ 3.06552192e-01 -9.51685361e-01 -1.79088384e-02 1.76520284e+02] [ 6.05696760e-02 7.26936081e-04 9.98163707e-01 3.25187701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.9671056809999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:215.28, Y:176.51, Z:32.50 [[-9.49270260e-01 -3.09095794e-01 5.78425857e-02 2.15277480e+02] [ 3.08572255e-01 -9.51030603e-01 -1.79987483e-02 1.76512864e+02] [ 6.05734066e-02 7.62940695e-04 9.98163454e-01 3.25039386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99710568099994 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:215.25, Y:176.52, Z:32.50 [[-9.51907392e-01 -3.00880537e-01 5.78205853e-02 2.15250925e+02] [ 3.00336689e-01 -9.53661827e-01 -1.80829656e-02 1.76518440e+02] [ 6.05820974e-02 1.52334555e-04 9.98163206e-01 3.24980924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0271056809999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:215.24, Y:176.52, Z:32.50 [[-9.53715868e-01 -2.95077773e-01 5.79236712e-02 2.15241535e+02] [ 2.94547352e-01 -9.55473218e-01 -1.76857966e-02 1.76523151e+02] [ 6.05632020e-02 1.94039096e-04 9.98164346e-01 3.25017632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05710568099994 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:215.26, Y:176.51, Z:32.50 [[-9.55456726e-01 -2.89391399e-01 5.79229071e-02 2.15263581e+02] [ 2.88850340e-01 -9.57210839e-01 -1.76887413e-02 1.76513645e+02] [ 6.05634041e-02 -1.69775381e-04 9.98164338e-01 3.25027259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0871056809999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:215.24, Y:176.52, Z:32.50 [[-9.57417461e-01 -2.82852723e-01 5.78458439e-02 2.15239823e+02] [ 2.82281712e-01 -9.59162939e-01 -1.79858836e-02 1.76518075e+02] [ 6.05709458e-02 -8.91175139e-04 9.98163497e-01 3.25011411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11710568099994 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:215.24, Y:176.52, Z:32.51 [[-9.59963654e-01 -2.74085541e-01 5.78523982e-02 2.15242823e+02] [ 2.73500121e-01 -9.61704270e-01 -1.79605265e-02 1.76517421e+02] [ 6.05596190e-02 -1.41881473e-03 9.98163574e-01 3.25059053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1471056809999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:215.24, Y:176.51, Z:32.51 [[-9.60940540e-01 -2.70622629e-01 5.79367874e-02 2.15243446e+02] [ 2.70050659e-01 -9.62684635e-01 -1.76333614e-02 1.76513905e+02] [ 6.05468416e-02 -1.29874422e-03 9.98164512e-01 3.25053502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17710568099994 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:215.24, Y:176.51, Z:32.51 [[-9.63280726e-01 -2.62166414e-01 5.79570031e-02 2.15239248e+02] [ 2.61583867e-01 -9.65021093e-01 -1.75547729e-02 1.76511044e+02] [ 6.05320024e-02 -1.74955743e-03 9.98164724e-01 3.25141769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2071056809999 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:215.23, Y:176.51, Z:32.52 [[-9.64442055e-01 -2.57857021e-01 5.79765503e-02 2.15232161e+02] [ 2.57271281e-01 -9.66181136e-01 -1.74785578e-02 1.76512411e+02] [ 6.05228181e-02 -1.94135483e-03 9.98164926e-01 3.25177280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2371056809999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:215.23, Y:176.51, Z:32.52 [[-9.66566360e-01 -2.49772261e-01 5.79938792e-02 2.15230162e+02] [ 2.49176045e-01 -9.68301690e-01 -1.74107850e-02 1.76512586e+02] [ 6.05043023e-02 -2.37799364e-03 9.98165104e-01 3.25174781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2671056809999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:215.24, Y:176.51, Z:32.52 [[-9.66809021e-01 -2.48823901e-01 5.80257094e-02 2.15236013e+02] [ 2.48233472e-01 -9.68545992e-01 -1.72859887e-02 1.76512237e+02] [ 6.05017354e-02 -2.30832646e-03 9.98165423e-01 3.25160628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2971056809999 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:215.24, Y:176.51, Z:32.52 [[-9.65927957e-01 -2.52211508e-01 5.80735454e-02 2.15235456e+02] [ 2.51638454e-01 -9.67670262e-01 -1.70982949e-02 1.76511842e+02] [ 6.05084297e-02 -1.90218388e-03 9.98165874e-01 3.25178258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3271056809999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:215.25, Y:176.51, Z:32.52 [[-9.64220965e-01 -2.58664192e-01 5.80583002e-02 2.15248358e+02] [ 2.58099200e-01 -9.65966047e-01 -1.71580498e-02 1.76508705e+02] [ 6.05205198e-02 -1.55935052e-03 9.98165735e-01 3.25172891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3571056809999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:215.24, Y:176.51, Z:32.52 [[-9.62878632e-01 -2.63611385e-01 5.80842349e-02 2.15243417e+02] [ 2.63061499e-01 -9.64628286e-01 -1.70563165e-02 1.76509643e+02] [ 6.05259352e-02 -1.14343682e-03 9.98165970e-01 3.25159688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3871056809999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:215.26, Y:176.51, Z:32.51 [[-9.62067804e-01 -2.66575864e-01 5.79900766e-02 2.15263280e+02] [ 2.66009099e-01 -9.63813009e-01 -1.74253232e-02 1.76505558e+02] [ 6.05367608e-02 -1.33845436e-03 9.98165071e-01 3.25125681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.4171056809999 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:215.25, Y:176.51, Z:32.50 [[-9.61216423e-01 -2.69609387e-01 5.80841298e-02 2.15250828e+02] [ 2.69070435e-01 -9.62969466e-01 -1.70560532e-02 1.76512139e+02] [ 6.05317155e-02 -7.65836398e-04 9.98165981e-01 3.25012494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.4471056809999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:215.27, Y:176.51, Z:32.50 [[-9.59823345e-01 -2.74526130e-01 5.80908776e-02 2.15272224e+02] [ 2.73997763e-01 -9.61579545e-01 -1.70295467e-02 1.76511610e+02] [ 6.05340552e-02 -4.28585932e-04 9.98166041e-01 3.24956765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.4771056809999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:215.27, Y:176.51, Z:32.50 [[-9.59344946e-01 -2.76199941e-01 5.80591748e-02 2.15266698e+02] [ 2.75667101e-01 -9.61100093e-01 -1.71540307e-02 1.76514507e+02] [ 6.05386206e-02 -4.51628209e-04 9.98165754e-01 3.24953408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.5071056809999 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:215.27, Y:176.52, Z:32.50 [[-9.56458371e-01 -2.86022327e-01 5.81258396e-02 2.15272409e+02] [ 2.85523454e-01 -9.58222852e-01 -1.68915088e-02 1.76515348e+02] [ 6.05288565e-02 4.40265508e-04 9.98166351e-01 3.25024207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.5371056809999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:215.27, Y:176.51, Z:32.51 [[-9.58272488e-01 -2.79882991e-01 5.81321741e-02 2.15272891e+02] [ 2.79374330e-01 -9.60034117e-01 -1.68664888e-02 1.76511085e+02] [ 6.05295138e-02 7.79449912e-05 9.98166405e-01 3.25051754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.56710568099993 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:215.28, Y:176.51, Z:32.51 [[-9.56141873e-01 -2.86969150e-01 5.86636647e-02 2.15279450e+02] [ 2.86602414e-01 -9.57936001e-01 -1.47537752e-02 1.76509072e+02] [ 6.04299147e-02 2.70644569e-03 9.98168774e-01 3.25091780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.5971056809999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:215.29, Y:176.51, Z:32.51 [[-9.53793257e-01 -2.94679737e-01 5.86709047e-02 2.15285002e+02] [ 2.94329268e-01 -9.55590633e-01 -1.47249277e-02 1.76506811e+02] [ 6.04045048e-02 3.22402769e-03 9.98168774e-01 3.25117478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.62710568099993 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:214.71, Y:176.65, Z:32.56 [[-9.45077386e-01 -3.21536336e-01 5.86781018e-02 2.14707738e+02] [ 3.21238611e-01 -9.46884247e-01 -1.46961919e-02 1.76651608e+02] [ 6.02867299e-02 4.96063331e-03 9.98168774e-01 3.25617206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.6571056809999 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:215.51, Y:177.73, Z:32.88 [[-9.94650000e-01 8.50191660e-02 -5.86781018e-02 2.15507764e+02] [ 8.42959868e-02 9.96332379e-01 1.46961919e-02 1.77728107e+02] [ 5.97123507e-02 9.67123873e-03 -9.98168774e-01 3.28829423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68710568099993 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:214.88, Y:177.84, Z:32.92 [[-9.97983309e-01 2.19005884e-02 -5.95791839e-02 2.14879706e+02] [ 2.13655486e-02 9.99725614e-01 9.60265391e-03 1.77837883e+02] [ 5.97731399e-02 8.31034638e-03 -9.98177394e-01 3.29169509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7171056809999 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:215.29, Y:176.57, Z:32.52 [[-9.84048353e-01 -1.67493472e-01 5.99564572e-02 2.15287208e+02] [ 1.67450417e-01 -9.85863569e-01 -5.77761348e-03 1.76571230e+02] [ 6.00765994e-02 4.35428270e-03 9.98184273e-01 3.25198279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74710568099994 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:215.31, Y:176.57, Z:32.52 [[-9.81815357e-01 -1.80132283e-01 5.99246708e-02 2.15312539e+02] [ 1.80093602e-01 -9.83630623e-01 -6.09039537e-03 1.76574930e+02] [ 6.00408181e-02 4.81240614e-03 9.98184322e-01 3.25221978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7771056809999 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:215.34, Y:176.57, Z:32.51 [[-9.84456108e-01 -1.65148921e-01 5.97662569e-02 2.15338910e+02] [ 1.64989616e-01 -9.86265831e-01 -7.62475019e-03 1.76567789e+02] [ 6.02046363e-02 2.35457985e-03 9.98183279e-01 3.25109809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.80710568099994 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:215.31, Y:176.56, Z:32.51 [[-9.87012540e-01 -1.49082492e-01 5.98385882e-02 2.15313717e+02] [ 1.48936435e-01 -9.88822568e-01 -6.91866703e-03 1.76562964e+02] [ 6.02011986e-02 2.08333488e-03 9.98184089e-01 3.25124508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8371056809999 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:215.31, Y:176.56, Z:32.51 [[-9.88232394e-01 -1.40755076e-01 5.98727395e-02 2.15307678e+02] [ 1.40614055e-01 -9.90042599e-01 -6.58324313e-03 1.76562671e+02] [ 6.02031876e-02 1.91317458e-03 9.98184310e-01 3.25124367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.86710568099994 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:215.30, Y:176.56, Z:32.52 [[-9.90750009e-01 -1.21770310e-01 5.98866559e-02 2.15297018e+02] [ 1.21602888e-01 -9.92557902e-01 -6.44586037e-03 1.76558891e+02] [ 6.02258880e-02 8.96154081e-04 9.98184371e-01 3.25156814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8971056809999 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:215.30, Y:176.56, Z:32.52 [[-9.91691620e-01 -1.13841338e-01 5.98989145e-02 2.15298678e+02] [ 1.13666801e-01 -9.93498798e-01 -6.32429387e-03 1.76556971e+02] [ 6.02294656e-02 5.36768767e-04 9.98184414e-01 3.25167049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.92710568099994 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:215.30, Y:176.55, Z:32.52 [[-9.92438688e-01 -1.07126635e-01 5.99110617e-02 2.15301585e+02] [ 1.06947170e-01 -9.94245353e-01 -6.20335797e-03 1.76552514e+02] [ 6.02308396e-02 2.50866084e-04 9.98184443e-01 3.25187663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9571056809999 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:215.30, Y:176.55, Z:32.52 [[-9.93088035e-01 -1.00970114e-01 5.98430516e-02 2.15295140e+02] [ 1.00738678e-01 -9.94889135e-01 -6.87955373e-03 1.76552350e+02] [ 6.02318311e-02 -8.03492611e-04 9.98184092e-01 3.25173038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9871056809999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:215.32, Y:176.55, Z:32.52 [[-9.93659710e-01 -9.51742309e-02 5.98518724e-02 2.15316690e+02] [ 9.49375963e-02 -9.95460059e-01 -6.79145238e-03 1.76549368e+02] [ 6.02265197e-02 -1.06619971e-03 9.98184166e-01 3.25195076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0171056809999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:215.34, Y:176.55, Z:32.53 [[-9.93285388e-01 -9.89606201e-02 5.99243940e-02 2.15335009e+02] [ 9.87747818e-02 -9.95091345e-01 -6.06279195e-03 1.76548070e+02] [ 6.02302235e-02 -1.03063714e-04 9.98184507e-01 3.25262969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0471056809999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:215.34, Y:176.55, Z:32.53 [[-9.93141455e-01 -1.00392757e-01 5.99278320e-02 2.15335277e+02] [ 1.00211616e-01 -9.94947885e-01 -6.02809731e-03 1.76547436e+02] [ 6.02302470e-02 1.87115723e-05 9.98184511e-01 3.25293562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0771056809999 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:215.34, Y:176.55, Z:32.53 [[-9.92918268e-01 -1.02582048e-01 5.99185836e-02 2.15344441e+02] [ 1.02399242e-01 -9.94724545e-01 -6.12169348e-03 1.76546794e+02] [ 6.02304617e-02 5.72762386e-05 9.98184496e-01 3.25337618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1071056809999 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:215.34, Y:176.55, Z:32.53 [[-9.92554685e-01 -1.06033947e-01 5.99332852e-02 2.15339189e+02] [ 1.05866437e-01 -9.94362423e-01 -5.97238152e-03 1.76548528e+02] [ 6.02286818e-02 4.17008105e-04 9.98184518e-01 3.25273115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1371056809999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:215.35, Y:176.55, Z:32.52 [[-9.92189058e-01 -1.09418391e-01 5.99039994e-02 2.15353277e+02] [ 1.09239063e-01 -9.93995730e-01 -6.27020398e-03 1.76548974e+02] [ 6.02303953e-02 3.22628980e-04 9.98184450e-01 3.25235502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1671056809999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:215.35, Y:176.55, Z:32.52 [[-9.91975001e-01 -1.11350307e-01 5.98891235e-02 2.15352762e+02] [ 1.11165339e-01 -9.93781176e-01 -6.42190531e-03 1.76548177e+02] [ 6.02317647e-02 2.87225175e-04 9.98184378e-01 3.25235774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1971056809999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:215.36, Y:176.55, Z:32.52 [[-9.91992708e-01 -1.11205756e-01 5.98644139e-02 2.15357042e+02] [ 1.11005284e-01 -9.93797404e-01 -6.67440081e-03 1.76548014e+02] [ 6.02353309e-02 2.43093510e-05 9.98184204e-01 3.25225206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.2271056809999 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:215.42, Y:176.54, Z:32.52 [[-9.90473079e-01 -1.23999495e-01 5.98932809e-02 2.15419488e+02] [ 1.23840179e-01 -9.92281673e-01 -6.37906645e-03 1.76544667e+02] [ 6.02220060e-02 1.09890101e-03 9.98184403e-01 3.25235521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.2571056809999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:215.36, Y:176.55, Z:32.52 [[-9.91178199e-01 -1.18277678e-01 5.98010802e-02 2.15359431e+02] [ 1.18051284e-01 -9.92980540e-01 -7.31715319e-03 1.76552040e+02] [ 6.02467648e-02 -1.93008399e-04 9.98183495e-01 3.25219602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.2871056809999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:215.33, Y:176.56, Z:32.52 [[-9.90723170e-01 -1.21989538e-01 5.98844980e-02 2.15334635e+02] [ 1.21821889e-01 -9.92530979e-01 -6.45622918e-03 1.76557132e+02] [ 6.02248119e-02 8.98906832e-04 9.98184434e-01 3.25231588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31710568099993 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:215.37, Y:176.56, Z:32.51 [[-9.90588906e-01 -1.23066396e-01 5.99022724e-02 2.15372797e+02] [ 1.22911826e-01 -9.92397774e-01 -6.27231957e-03 1.76555974e+02] [ 6.02187935e-02 1.14940750e-03 9.98184540e-01 3.25148580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.3471056809999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:215.33, Y:176.56, Z:32.51 [[-9.90875960e-01 -1.20706645e-01 5.99561262e-02 2.15334729e+02] [ 1.20581641e-01 -9.92686981e-01 -5.71193179e-03 1.76560799e+02] [ 6.02071340e-02 1.56979220e-03 9.98184671e-01 3.25138283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37710568099993 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:215.36, Y:176.56, Z:32.52 [[-9.90099716e-01 -1.26910926e-01 5.99680768e-02 2.15355772e+02] [ 1.26804814e-01 -9.91911953e-01 -5.58719705e-03 1.76559361e+02] [ 6.01921285e-02 2.07235864e-03 9.98184659e-01 3.25152116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.4071056809999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:215.35, Y:176.56, Z:32.51 [[-9.89898793e-01 -1.28512310e-01 5.98745905e-02 2.15352032e+02] [ 1.28350517e-01 -9.91707194e-01 -6.55637285e-03 1.76558927e+02] [ 6.02206368e-02 1.19478910e-03 9.98184375e-01 3.25134785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43710568099993 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:215.34, Y:176.56, Z:32.52 [[-9.89837618e-01 -1.28978982e-01 5.98824853e-02 2.15336311e+02] [ 1.28823018e-01 -9.91646468e-01 -6.47406261e-03 1.76562961e+02] [ 6.02172730e-02 1.30597174e-03 9.98184439e-01 3.25187639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.4671056809999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:215.34, Y:176.56, Z:32.52 [[-9.90093997e-01 -1.26999864e-01 5.98741340e-02 2.15337341e+02] [ 1.26834997e-01 -9.91902127e-01 -6.56153740e-03 1.76563450e+02] [ 6.02225952e-02 1.09759683e-03 9.98184369e-01 3.25199075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49710568099994 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:215.42, Y:176.56, Z:32.52 [[-9.89152000e-01 -1.34137271e-01 5.98791605e-02 2.15416353e+02] [ 1.33988626e-01 -9.90961493e-01 -6.50900669e-03 1.76557677e+02] [ 6.02110427e-02 1.58472944e-03 9.98184411e-01 3.25186581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5271056809999 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:215.39, Y:176.56, Z:32.52 [[-9.89800665e-01 -1.29300695e-01 5.97994543e-02 2.15390951e+02] [ 1.29093516e-01 -9.91605323e-01 -7.33132476e-03 1.76560039e+02] [ 6.02454025e-02 4.63171677e-04 9.98183489e-01 3.25200882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55710568099994 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:215.37, Y:176.57, Z:32.52 [[-9.90248168e-01 -1.25812567e-01 5.98311231e-02 2.15369120e+02] [ 1.25618942e-01 -9.92053859e-01 -7.00163113e-03 1.76566050e+02] [ 6.02365897e-02 5.82569990e-04 9.98183958e-01 3.25180618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5871056809999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:215.36, Y:176.57, Z:32.51 [[-9.90923243e-01 -1.20375199e-01 5.98409338e-02 2.15357179e+02] [ 1.20177895e-01 -9.92728404e-01 -6.89844943e-03 1.76569051e+02] [ 6.02361969e-02 3.55723561e-04 9.98184088e-01 3.25114386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61710568099994 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:215.38, Y:176.57, Z:32.51 [[-9.90277866e-01 -1.25543141e-01 5.99054885e-02 2.15377446e+02] [ 1.25396569e-01 -9.92087232e-01 -6.21480095e-03 1.76570712e+02] [ 6.02116959e-02 1.35756287e-03 9.98184707e-01 3.25078263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6471056809999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:215.38, Y:176.57, Z:32.51 [[-9.90300796e-01 -1.25384195e-01 5.98593078e-02 2.15380038e+02] [ 1.25207834e-01 -9.92107892e-01 -6.70290772e-03 1.76570543e+02] [ 6.02273303e-02 8.56959419e-04 9.98184319e-01 3.25073731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67710568099994 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:215.37, Y:176.57, Z:32.51 [[-9.90218764e-01 -1.26029100e-01 5.98620494e-02 2.15372454e+02] [ 1.25855672e-01 -9.92026113e-01 -6.67384649e-03 1.76571652e+02] [ 6.02258150e-02 9.25410455e-04 9.98184349e-01 3.25148129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7071056809999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:215.38, Y:176.57, Z:32.51 [[-9.90014224e-01 -1.27640633e-01 5.98306374e-02 2.15376240e+02] [ 1.27449987e-01 -9.91820244e-01 -7.00751526e-03 1.76574287e+02] [ 6.02356810e-02 6.87874170e-04 9.98183946e-01 3.25086848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7371056809999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:215.38, Y:176.58, Z:32.51 [[-9.89608470e-01 -1.30755810e-01 5.98163451e-02 2.15383277e+02] [ 1.30561661e-01 -9.91414340e-01 -7.15955868e-03 1.76576309e+02] [ 6.02389362e-02 7.24561486e-04 9.98183723e-01 3.25057759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7671056809999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:215.39, Y:176.58, Z:32.50 [[-9.88875631e-01 -1.36193167e-01 5.98030812e-02 2.15392996e+02] [ 1.36000414e-01 -9.90681880e-01 -7.30075056e-03 1.76576888e+02] [ 6.02401412e-02 9.13709460e-04 9.98183495e-01 3.25009486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7971056809999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:215.40, Y:176.57, Z:32.50 [[-9.88501209e-01 -1.38892565e-01 5.97847412e-02 2.15399566e+02] [ 1.38692948e-01 -9.90307062e-01 -7.49591494e-03 1.76574983e+02] [ 6.02463783e-02 8.82001017e-04 9.98183148e-01 3.24994001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8271056809999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:215.40, Y:176.57, Z:32.50 [[-9.87184619e-01 -1.47959852e-01 5.97863697e-02 2.15400947e+02] [ 1.47777869e-01 -9.88992302e-01 -7.47854001e-03 1.76572631e+02] [ 6.02347831e-02 1.45240267e-03 9.98183180e-01 3.24990504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8571056809999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:215.41, Y:176.57, Z:32.50 [[-9.87361376e-01 -1.46791105e-01 5.97485116e-02 2.15413629e+02] [ 1.46582590e-01 -9.89167033e-01 -7.88193149e-03 1.76574010e+02] [ 6.02582554e-02 9.75776869e-04 9.98182343e-01 3.25020128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8871056809999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:215.40, Y:176.57, Z:32.51 [[-9.87971967e-01 -1.42623802e-01 5.97481672e-02 2.15404945e+02] [ 1.42407449e-01 -9.89776710e-01 -7.88560395e-03 1.76574351e+02] [ 6.02620192e-02 7.17828414e-04 9.98182335e-01 3.25070232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.9171056809999 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:215.45, Y:176.57, Z:32.51 [[-9.87647847e-01 -1.44852417e-01 5.97453622e-02 2.15451646e+02] [ 1.44638334e-01 -9.89452929e-01 -7.91541233e-03 1.76571705e+02] [ 6.02617902e-02 8.23829682e-04 9.98182267e-01 3.25064538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.9471056809999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:215.45, Y:176.57, Z:32.50 [[-9.87663374e-01 -1.44762218e-01 5.97072871e-02 2.15453474e+02] [ 1.44523824e-01 -9.89466385e-01 -8.31491683e-03 1.76570260e+02] [ 6.02820393e-02 4.16786619e-04 9.98181297e-01 3.25049954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.9771056809999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:215.43, Y:176.57, Z:32.51 [[-9.88452793e-01 -1.39276199e-01 5.96926893e-02 2.15433558e+02] [ 1.39018495e-01 -9.90253571e-01 -8.46894944e-03 1.76574305e+02] [ 6.02904219e-02 -7.27689136e-05 9.98180875e-01 3.25054394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.0071056809999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:215.44, Y:176.58, Z:32.50 [[-9.88669977e-01 -1.37713433e-01 5.97217412e-02 2.15436851e+02] [ 1.37471603e-01 -9.90472105e-01 -8.15896027e-03 1.76575197e+02] [ 6.02763171e-02 1.43524425e-04 9.98181719e-01 3.25042516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.0371056809999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:215.42, Y:176.58, Z:32.51 [[-9.89369041e-01 -1.32587809e-01 5.97442412e-02 2.15417218e+02] [ 1.32351305e-01 -9.91171260e-01 -7.91612069e-03 1.76578235e+02] [ 6.02663559e-02 7.52635312e-05 9.98182328e-01 3.25056150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.06710568099993 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:215.41, Y:176.58, Z:32.50 [[-9.89807691e-01 -1.29262311e-01 5.97661221e-02 2.15411536e+02] [ 1.29034160e-01 -9.91610429e-01 -7.67745691e-03 1.76577752e+02] [ 6.02571157e-02 1.12665437e-04 9.98182883e-01 3.25028016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.0971056809999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:215.42, Y:176.58, Z:32.50 [[-9.89604110e-01 -1.30821313e-01 5.97452137e-02 2.15416903e+02] [ 1.30582222e-01 -9.91405963e-01 -7.90568331e-03 1.76581142e+02] [ 6.02659930e-02 -2.18339470e-05 9.98182353e-01 3.25037133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.12710568099993 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:215.40, Y:176.59, Z:32.50 [[-9.89316952e-01 -1.32966954e-01 5.97641767e-02 2.15404159e+02] [ 1.32744348e-01 -9.91120421e-01 -7.69741172e-03 1.76586073e+02] [ 6.02569973e-02 3.18176767e-04 9.98182846e-01 3.25019694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.1571056809999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:215.40, Y:176.59, Z:32.50 [[-9.89357221e-01 -1.32671179e-01 5.97548960e-02 2.15403666e+02] [ 1.32441832e-01 -9.91160088e-01 -7.80009338e-03 1.76586069e+02] [ 6.02615155e-02 1.96969208e-04 9.98182604e-01 3.25007130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18710568099993 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:215.38, Y:176.58, Z:32.50 [[-9.91096608e-01 -1.18969463e-01 5.97810975e-02 2.15376074e+02] [ 1.18732924e-01 -9.92897855e-01 -7.50615201e-03 1.76580445e+02] [ 6.02495263e-02 -3.41337274e-04 9.98183289e-01 3.24988008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2171056809999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:215.42, Y:176.59, Z:32.50 [[-9.87469456e-01 -1.46018485e-01 5.98554526e-02 2.15416095e+02] [ 1.45882079e-01 -9.89279527e-01 -6.66606227e-03 1.76588123e+02] [ 6.01871421e-02 2.14930497e-03 9.98184797e-01 3.25036507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24710568099994 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:215.40, Y:176.59, Z:32.50 [[-9.88132698e-01 -1.41512632e-01 5.97322887e-02 2.15402846e+02] [ 1.41285290e-01 -9.89936323e-01 -8.03384819e-03 1.76585097e+02] [ 6.02680533e-02 5.00785629e-04 9.98182103e-01 3.25013348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2771056809999 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:215.42, Y:176.59, Z:32.50 [[-9.86963253e-01 -1.49425665e-01 5.97955564e-02 2.15418197e+02] [ 1.49255616e-01 -9.88771510e-01 -7.32549218e-03 1.76588564e+02] [ 6.02187591e-02 1.69483103e-03 9.98183765e-01 3.25020761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.30710568099994 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:215.41, Y:176.59, Z:32.50 [[-9.87087798e-01 -1.48613111e-01 5.97647230e-02 2.15414370e+02] [ 1.48420769e-01 -9.88894561e-01 -7.66951814e-03 1.76589349e+02] [ 6.02408005e-02 1.29983839e-03 9.98183028e-01 3.25033249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3371056809999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:215.38, Y:176.58, Z:32.51 [[-9.90521479e-01 -1.23684858e-01 5.97432445e-02 2.15375926e+02] [ 1.23432367e-01 -9.92321441e-01 -7.91262462e-03 1.76582390e+02] [ 6.02631742e-02 -4.63374592e-04 9.98182416e-01 3.25050055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.36710568099994 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:215.41, Y:176.59, Z:32.50 [[-9.89506517e-01 -1.31510723e-01 5.98479906e-02 2.15405645e+02] [ 1.31345193e-01 -9.91313994e-01 -6.70858320e-03 1.76586618e+02] [ 6.02104012e-02 1.22255910e-03 9.98184959e-01 3.25027747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3971056809999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:215.40, Y:176.58, Z:32.50 [[-9.91187218e-01 -1.18215190e-01 5.97751402e-02 2.15395425e+02] [ 1.17975252e-01 -9.92987911e-01 -7.53980992e-03 1.76584506e+02] [ 6.02473116e-02 -4.21376012e-04 9.98183392e-01 3.24972952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.42710568099994 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:215.39, Y:176.58, Z:32.50 [[-9.91960199e-01 -1.11524987e-01 5.98091994e-02 2.15385331e+02] [ 1.11296572e-01 -9.93761536e-01 -7.14726537e-03 1.76580171e+02] [ 6.02331805e-02 -4.33243887e-04 9.98184240e-01 3.24981869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4571056809999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:215.39, Y:176.57, Z:32.50 [[-9.92324233e-01 -1.08237982e-01 5.98093339e-02 2.15386988e+02] [ 1.08003695e-01 -9.94124811e-01 -7.14570764e-03 1.76574302e+02] [ 6.02313798e-02 -6.31229796e-04 9.98184243e-01 3.25020379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4871056809999 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:214.77, Y:176.62, Z:32.54 [[-9.94879251e-01 -8.13967521e-02 5.99153208e-02 2.14772893e+02] [ 8.11998066e-02 -9.96681438e-01 -5.71855751e-03 1.76615050e+02] [ 6.01819602e-02 -8.24161740e-04 9.98187083e-01 3.25377482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5171056809999 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:214.98, Y:176.60, Z:32.92 [[ 9.97325296e-01 4.17005417e-02 -6.00276440e-02 2.14984682e+02] [ 4.20002787e-02 -9.99110600e-01 3.73972856e-03 1.76601666e+02] [-5.98183067e-02 -6.25090367e-03 -9.98189710e-01 3.29206243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5471056809999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:214.93, Y:177.86, Z:32.53 [[ 9.94237547e-01 -8.92894375e-02 5.93219774e-02 2.14932126e+02] [ 8.90519457e-02 9.96004847e-01 6.64044860e-03 1.77855461e+02] [-5.96778990e-02 -1.31944581e-03 9.98216814e-01 3.25259135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5771056809999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:214.97, Y:177.86, Z:32.53 [[ 9.93519998e-01 -9.65897381e-02 5.99035492e-02 2.14965939e+02] [ 9.68043103e-02 9.95303199e-01 -6.83479855e-04 1.77859208e+02] [-5.95561770e-02 6.47797267e-03 9.98203936e-01 3.25261675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6071056809999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:215.00, Y:177.87, Z:32.52 [[ 9.92768843e-01 -1.04018442e-01 5.99181730e-02 2.14999000e+02] [ 1.04257375e-01 9.94549973e-01 -8.66756769e-04 1.77865316e+02] [-5.95014586e-02 7.10740054e-03 9.98202916e-01 3.25238875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6371056809999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:215.03, Y:177.87, Z:32.52 [[ 9.92438454e-01 -1.07116311e-01 5.99333841e-02 2.15029016e+02] [ 1.07372029e-01 9.94218355e-01 -1.05331499e-03 1.77870698e+02] [-5.94740433e-02 7.48051938e-03 9.98201823e-01 3.25242179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6671056809999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:215.06, Y:177.88, Z:32.52 [[ 9.92036825e-01 -1.10781954e-01 5.99190912e-02 2.15059940e+02] [ 1.11033775e-01 9.93816244e-01 -8.79320289e-04 1.77875595e+02] [-5.94511533e-02 7.52536099e-03 9.98202850e-01 3.25210181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6971056809999 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:215.08, Y:177.88, Z:32.53 [[ 9.91236047e-01 -1.17730319e-01 5.99222138e-02 2.15083757e+02] [ 1.17996860e-01 9.93013545e-01 -9.16860205e-04 1.77883623e+02] [-5.93956277e-02 7.97945798e-03 9.98202629e-01 3.25271883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.7271056809999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:215.11, Y:177.89, Z:32.53 [[ 9.91093831e-01 -1.18966307e-01 5.98334022e-02 2.15110937e+02] [ 1.19171336e-01 9.92873694e-01 1.42736351e-04 1.77886957e+02] [-5.94239919e-02 6.98896136e-03 9.98208367e-01 3.25313525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.7571056809999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:215.14, Y:177.89, Z:32.53 [[ 9.90852119e-01 -1.21034092e-01 5.96894130e-02 2.15141879e+02] [ 1.21148886e-01 9.92632882e-01 1.70531730e-03 1.77890099e+02] [-5.94560756e-02 5.54158863e-03 9.98215541e-01 3.25286550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.7871056809999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:215.17, Y:177.89, Z:32.53 [[ 9.90924092e-01 -1.20400056e-01 5.97768397e-02 2.15173184e+02] [ 1.20570514e-01 9.92704474e-01 7.60283161e-04 1.77894223e+02] [-5.94322743e-02 6.45394139e-03 9.98211476e-01 3.25291068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81710568099993 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:215.21, Y:177.90, Z:32.52 [[ 9.90571748e-01 -1.23278411e-01 5.97498553e-02 2.15205421e+02] [ 1.23436350e-01 9.92351931e-01 1.05451920e-03 1.77898314e+02] [-5.94228837e-02 6.33072715e-03 9.98212824e-01 3.25240239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.8471056809999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:215.23, Y:177.90, Z:32.52 [[ 9.90566157e-01 -1.23289196e-01 5.98202589e-02 2.15234035e+02] [ 1.23492547e-01 9.92345454e-01 2.99816161e-04 1.77900931e+02] [-5.93993261e-02 7.09036841e-03 9.98209120e-01 3.25192177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87710568099993 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:215.26, Y:177.91, Z:32.52 [[ 9.90873378e-01 -1.20827591e-01 5.97548488e-02 2.15256883e+02] [ 1.20985450e-01 9.92653794e-01 9.82421375e-04 1.77909611e+02] [-5.94345810e-02 6.25601210e-03 9.98212599e-01 3.25227610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.9071056809999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:215.29, Y:177.91, Z:32.51 [[ 9.91100474e-01 -1.19007212e-01 5.96417113e-02 2.15291264e+02] [ 1.19091499e-01 9.92880951e-01 2.15206284e-03 1.77913247e+02] [-5.94732300e-02 4.96991028e-03 9.98217529e-01 3.25136433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93710568099993 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:215.32, Y:177.92, Z:32.51 [[ 9.91155640e-01 -1.18504126e-01 5.97266288e-02 2.15320652e+02] [ 1.18639498e-01 9.92936560e-01 1.28706091e-03 1.77916635e+02] [-5.94572754e-02 5.81025959e-03 9.98213942e-01 3.25142781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.9671056809999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:215.35, Y:177.92, Z:32.51 [[ 9.91083084e-01 -1.19131896e-01 5.96817504e-02 2.15351450e+02] [ 1.19241380e-01 9.92863776e-01 1.73637677e-03 1.77920235e+02] [-5.94627059e-02 5.39564062e-03 9.98215945e-01 3.25131868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99710568099994 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:215.38, Y:177.92, Z:32.51 [[ 9.91101246e-01 -1.18978612e-01 5.96859352e-02 2.15382667e+02] [ 1.19090328e-01 9.92881978e-01 1.69465297e-03 1.77924688e+02] [-5.94627169e-02 5.42844495e-03 9.98215767e-01 3.25133799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0271056809999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:215.41, Y:177.93, Z:32.51 [[ 9.91018918e-01 -1.19670948e-01 5.96688214e-02 2.15411798e+02] [ 1.19773845e-01 9.92799456e-01 1.86202855e-03 1.77930537e+02] [-5.94620042e-02 5.30145867e-03 9.98216492e-01 3.25119129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05710568099994 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:215.44, Y:177.93, Z:32.51 [[ 9.90891540e-01 -1.20745106e-01 5.96202627e-02 2.15440838e+02] [ 1.20822151e-01 9.92671449e-01 2.32424400e-03 1.77932977e+02] [-5.94639737e-02 4.90037467e-03 9.98218424e-01 3.25104282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0871056809999 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:215.47, Y:177.94, Z:32.51 [[ 9.90635157e-01 -1.22832476e-01 5.96168517e-02 2.15469256e+02] [ 1.22911330e-01 9.92414859e-01 2.35653763e-03 1.77938809e+02] [-5.94541088e-02 4.99311753e-03 9.98218552e-01 3.25095788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11710568099994 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:215.48, Y:177.94, Z:32.50 [[ 9.91786817e-01 -1.13180739e-01 5.95737411e-02 2.15475819e+02] [ 1.13218003e-01 9.93566336e-01 2.76044247e-03 1.77939873e+02] [-5.95028926e-02 4.00704953e-03 9.98220091e-01 3.25018323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1471056809999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:215.53, Y:177.94, Z:32.50 [[ 9.90112074e-01 -1.27190090e-01 5.91672411e-02 2.15530141e+02] [ 1.27029831e-01 9.91877747e-01 6.47740264e-03 1.77941974e+02] [-5.95105313e-02 1.10265009e-03 9.98227069e-01 3.25038023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17710568099994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:215.54, Y:177.94, Z:32.50 [[ 9.91589918e-01 -1.14877646e-01 5.96033599e-02 2.15540522e+02] [ 1.14938522e-01 9.93369665e-01 2.41746267e-03 1.77943855e+02] [-5.94858821e-02 4.45359050e-03 9.98219212e-01 3.24990798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2071056809999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:215.57, Y:177.95, Z:32.50 [[ 9.91637461e-01 -1.14657004e-01 5.92361134e-02 2.15566790e+02] [ 1.14516570e-01 9.93404574e-01 5.77132500e-03 1.77954726e+02] [-5.95071488e-02 1.06045447e-03 9.98227316e-01 3.24960083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2371056809999 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:215.60, Y:177.96, Z:32.49 [[ 9.92052909e-01 -1.11048023e-01 5.91554148e-02 2.15599679e+02] [ 1.10857365e-01 9.93815036e-01 6.50529982e-03 1.77961253e+02] [-5.95119414e-02 1.04211813e-04 9.98227588e-01 3.24924416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2671056809999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:215.63, Y:177.96, Z:32.50 [[ 9.91708028e-01 -1.14085817e-01 5.91575329e-02 2.15630744e+02] [ 1.13901709e-01 9.93470851e-01 6.48598154e-03 1.77964737e+02] [-5.95112430e-02 3.05944146e-04 9.98227588e-01 3.24967177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2971056809999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:215.68, Y:177.97, Z:32.50 [[ 9.90442204e-01 -1.24597388e-01 5.91585230e-02 2.15682302e+02] [ 1.24432527e-01 9.92206932e-01 6.47693833e-03 1.77969180e+02] [-5.95045061e-02 9.46211425e-04 9.98227589e-01 3.24999882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3271056809999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:215.69, Y:177.97, Z:32.50 [[ 9.91360385e-01 -1.16858716e-01 5.95703559e-02 2.15690227e+02] [ 1.16908816e-01 9.93139102e-01 2.65554284e-03 1.77974056e+02] [-5.94719731e-02 4.33169980e-03 9.98220577e-01 3.24968273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3571056809999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:215.72, Y:177.98, Z:32.49 [[ 9.91294496e-01 -1.17631391e-01 5.91445534e-02 2.15721574e+02] [ 1.17451471e-01 9.93057211e-01 6.52138785e-03 1.77978160e+02] [-5.95010451e-02 4.81998931e-04 9.98228127e-01 3.24931898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3871056809999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:215.75, Y:177.98, Z:32.49 [[ 9.91320561e-01 -1.17410568e-01 5.91464646e-02 2.15754075e+02] [ 1.17231292e-01 9.93083341e-01 6.50400751e-03 1.77981630e+02] [-5.95010079e-02 4.86260062e-04 9.98228127e-01 3.24915234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.4171056809999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:215.79, Y:177.98, Z:32.49 [[ 9.91538677e-01 -1.15553062e-01 5.91484715e-02 2.15787026e+02] [ 1.15371576e-01 9.93301231e-01 6.48570494e-03 1.77983348e+02] [-5.95016926e-02 3.93225055e-04 9.98228127e-01 3.24888988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.4471056809999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:215.82, Y:177.99, Z:32.49 [[ 9.91884994e-01 -1.12540576e-01 5.91504627e-02 2.15820095e+02] [ 1.12354822e-01 9.93647103e-01 6.46749443e-03 1.77985804e+02] [-5.95025414e-02 2.30829010e-04 9.98228127e-01 3.24879137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.4771056809999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:215.85, Y:177.99, Z:32.49 [[ 9.92303348e-01 -1.08789037e-01 5.91524408e-02 2.15852737e+02] [ 1.08597703e-01 9.94064860e-01 6.44935118e-03 1.77988539e+02] [-5.95029815e-02 2.41064052e-05 9.98228128e-01 3.24861865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.5071056809999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:215.89, Y:177.99, Z:32.48 [[ 9.92678466e-01 -1.05310068e-01 5.91544818e-02 2.15886149e+02] [ 1.05113679e-01 9.94439421e-01 6.43057599e-03 1.77990880e+02] [-5.95027531e-02 -1.65549069e-04 9.98228128e-01 3.24832136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.5371056809999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:215.92, Y:177.99, Z:32.48 [[ 9.93646878e-01 -9.57412605e-02 5.91565186e-02 2.15918287e+02] [ 9.55290334e-02 9.95405994e-01 6.41178453e-03 1.77992301e+02] [-5.94986255e-02 -7.19884638e-04 9.98228128e-01 3.24817468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.56710568099993 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:215.95, Y:178.00, Z:32.48 [[ 9.93676759e-01 -9.54294596e-02 5.91584042e-02 2.15951762e+02] [ 9.52177189e-02 9.95435934e-01 6.39433945e-03 1.77995750e+02] [-5.94986097e-02 -7.20978203e-04 9.98228128e-01 3.24797517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.5971056809999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:215.98, Y:178.00, Z:32.48 [[ 9.94098604e-01 -9.09286106e-02 5.91604018e-02 2.15984180e+02] [ 9.07100084e-02 9.95856939e-01 6.37580448e-03 1.77997876e+02] [-5.94950397e-02 -9.71737789e-04 9.98228128e-01 3.24781608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.62710568099993 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:216.03, Y:177.99, Z:32.47 [[ 9.95146478e-01 -7.86340587e-02 5.91622537e-02 2.16026139e+02] [ 7.83947627e-02 9.96902116e-01 6.35857396e-03 1.77990583e+02] [-5.94789764e-02 -1.68970164e-03 9.98228128e-01 3.24730457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.6571056809999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:216.05, Y:178.00, Z:32.48 [[ 9.94965540e-01 -8.07694307e-02 5.93285146e-02 2.16047967e+02] [ 8.06265079e-02 9.96732812e-01 4.80282971e-03 1.78001449e+02] [-5.95225990e-02 4.80089276e-06 9.98226958e-01 3.24763311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68710568099993 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:216.09, Y:178.00, Z:32.47 [[ 9.95826881e-01 -6.94904506e-02 5.91599495e-02 2.16090061e+02] [ 6.92344103e-02 9.97580087e-01 6.36922162e-03 1.77995382e+02] [-5.94593876e-02 -2.24673788e-03 9.98228197e-01 3.24740688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7171056809999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:216.12, Y:178.00, Z:32.48 [[ 9.95771391e-01 -7.01272732e-02 5.93422461e-02 2.16123161e+02] [ 6.99729050e-02 9.97537924e-01 4.67790753e-03 1.77999317e+02] [-5.95241899e-02 -5.05777141e-04 9.98226735e-01 3.24770861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74710568099994 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:216.15, Y:178.00, Z:32.47 [[ 9.95760656e-01 -7.02553587e-02 5.93708694e-02 2.16152344e+02] [ 7.01170586e-02 9.97529013e-01 4.41210242e-03 1.78002055e+02] [-5.95341386e-02 -2.30487276e-04 9.98226244e-01 3.24694622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7771056809999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:216.18, Y:178.01, Z:32.46 [[ 9.95216071e-01 -7.76064639e-02 5.93482080e-02 2.16182983e+02] [ 7.74687409e-02 9.96984070e-01 4.62140880e-03 1.78007602e+02] [-5.95278691e-02 -1.66935783e-06 9.98226644e-01 3.24639179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.80710568099994 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:216.22, Y:178.01, Z:32.46 [[ 9.94711967e-01 -8.38262665e-02 5.93402004e-02 2.16215323e+02] [ 8.36952243e-02 9.96480341e-01 4.69471560e-03 1.78011235e+02] [-5.95248836e-02 2.96601596e-04 9.98226778e-01 3.24608490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8371056809999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:216.25, Y:178.02, Z:32.46 [[ 9.93659661e-01 -9.54918622e-02 5.93446148e-02 2.16248909e+02] [ 9.53839797e-02 9.95429672e-01 4.65451160e-03 1.78015240e+02] [-5.95178585e-02 1.03552512e-03 9.98226704e-01 3.24586248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.86710568099994 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:216.28, Y:178.02, Z:32.45 [[ 9.93489552e-01 -9.72238037e-02 5.93804880e-02 2.16277939e+02] [ 9.71384619e-02 9.95261463e-01 4.32899909e-03 1.78018515e+02] [-5.95199931e-02 1.46731390e-03 9.98226035e-01 3.24540155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8971056809999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:216.30, Y:178.03, Z:32.45 [[ 9.92475837e-01 -1.07102780e-01 5.93355564e-02 2.16296280e+02] [ 1.07010740e-01 9.94246586e-01 4.73577433e-03 1.78031036e+02] [-5.95013889e-02 1.64940021e-03 9.98226860e-01 3.24521782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.92710568099994 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:216.34, Y:178.03, Z:32.44 [[ 9.93007683e-01 -1.02174788e-01 5.91274448e-02 2.16339876e+02] [ 1.01962700e-01 9.94766322e-01 6.60087992e-03 1.78025232e+02] [-5.94924343e-02 -5.25930554e-04 9.98228618e-01 3.24426397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9571056809999 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:216.37, Y:178.03, Z:32.44 [[ 9.92807322e-01 -1.03979021e-01 5.93463174e-02 2.16371136e+02] [ 1.03884376e-01 9.94578340e-01 4.68628316e-03 1.78029356e+02] [-5.95118370e-02 1.51257890e-03 9.98226454e-01 3.24430656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9871056809999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:216.40, Y:178.03, Z:32.44 [[ 9.93441975e-01 -9.77292507e-02 5.93467445e-02 2.16401583e+02] [ 9.76236858e-02 9.95212384e-01 4.68253788e-03 1.78030154e+02] [-5.95202360e-02 1.14181826e-03 9.98226446e-01 3.24381738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0171056809999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:216.43, Y:178.03, Z:32.44 [[ 9.93840995e-01 -9.35943323e-02 5.93310844e-02 2.16433721e+02] [ 9.34731449e-02 9.95610130e-01 4.82077964e-03 1.78033498e+02] [-5.95218264e-02 7.54774620e-04 9.98226719e-01 3.24362978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0471056809999 meters Centerline goodness : 0.997273 Centerline is valid? [True, True] Translation: X:216.46, Y:178.04, Z:32.44 [[ 9.94542555e-01 -8.58054935e-02 5.93508500e-02 2.16457460e+02] [ 8.56813693e-02 9.96311795e-01 4.63780112e-03 1.78037750e+02] [-5.95299007e-02 4.72771516e-04 9.98226411e-01 3.24368599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0771056809999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:216.50, Y:178.03, Z:32.43 [[ 9.95237207e-01 -7.75222540e-02 5.91033101e-02 2.16496877e+02] [ 7.72488207e-02 9.96987964e-01 6.90068930e-03 1.78034985e+02] [-5.94602458e-02 -2.30216174e-03 9.98228020e-01 3.24316570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1071056809999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:216.53, Y:178.04, Z:32.43 [[ 9.96069313e-01 -6.57684728e-02 5.93332325e-02 2.16530013e+02] [ 6.55948638e-02 9.97834448e-01 4.87107957e-03 1.78037427e+02] [-5.95251068e-02 -9.59977578e-04 9.98226347e-01 3.24304711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1371056809999 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:216.56, Y:178.04, Z:32.43 [[ 9.96483836e-01 -5.91488338e-02 5.93412261e-02 2.16562662e+02] [ 5.89676850e-02 9.98248348e-01 4.80072153e-03 1.78040803e+02] [-5.95212380e-02 -1.28462668e-03 9.98226213e-01 3.24307126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1671056809999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:216.58, Y:178.05, Z:32.43 [[ 9.96585239e-01 -5.73966785e-02 5.93589367e-02 2.16579254e+02] [ 5.72217014e-02 9.98350691e-01 4.64480639e-03 1.78054637e+02] [-5.95276320e-02 -1.23232613e-03 9.98225898e-01 3.24341425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1971056809999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:216.61, Y:178.06, Z:32.43 [[ 9.96939860e-01 -5.11537517e-02 5.91118388e-02 2.16612135e+02] [ 5.08403029e-02 9.98683676e-01 6.79546309e-03 1.78057497e+02] [-5.93816419e-02 -3.76940423e-03 9.98228237e-01 3.24320532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.2271056809999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:216.66, Y:178.05, Z:32.43 [[ 9.97441646e-01 -4.01957926e-02 5.91139646e-02 2.16658240e+02] [ 3.98642937e-02 9.99182121e-01 6.77692005e-03 1.78048961e+02] [-5.93380202e-02 -4.40304584e-03 9.98228237e-01 3.24273588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.2571056809999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:216.69, Y:178.05, Z:32.43 [[ 9.97619646e-01 -3.51422576e-02 5.93301273e-02 2.16689378e+02] [ 3.49092279e-02 9.99378179e-01 4.95994033e-03 1.78052797e+02] [-5.94675381e-02 -2.87696498e-03 9.98226094e-01 3.24296714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.2871056809999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:216.72, Y:178.06, Z:32.43 [[ 9.97733951e-01 -3.16475946e-02 5.93750200e-02 2.16720532e+02] [ 3.14307024e-02 9.99495424e-01 4.58352816e-03 1.78056567e+02] [-5.94901184e-02 -2.70694308e-03 9.98225224e-01 3.24291660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31710568099993 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:216.76, Y:178.06, Z:32.43 [[ 9.97739432e-01 -3.14912777e-02 5.93660289e-02 2.16755091e+02] [ 3.12696482e-02 9.99500127e-01 4.65880942e-03 1.78059791e+02] [-5.94830653e-02 -2.79192303e-03 9.98225411e-01 3.24263505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.3471056809999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:216.77, Y:178.08, Z:32.43 [[ 9.97497105e-01 -3.82627848e-02 5.94599449e-02 2.16765118e+02] [ 3.81002207e-02 9.99266446e-01 3.86574755e-03 1.78075760e+02] [-5.95642420e-02 -1.59063497e-03 9.98223207e-01 3.24254997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37710568099993 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:216.81, Y:178.07, Z:32.42 [[ 9.97719516e-01 -3.26641188e-02 5.90662504e-02 2.16811358e+02] [ 3.22987656e-02 9.99452827e-01 7.12991063e-03 1.78069422e+02] [-5.92668232e-02 -5.20588401e-03 9.98228602e-01 3.24203626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.4071056809999 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:216.83, Y:178.08, Z:32.42 [[ 9.97460361e-01 -3.93749693e-02 5.93501456e-02 2.16827541e+02] [ 3.91608070e-02 9.99221547e-01 4.76772404e-03 1.78082098e+02] [-5.94916733e-02 -2.43141615e-03 9.98225841e-01 3.24205960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43710568099993 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:216.87, Y:178.08, Z:32.42 [[ 9.97755920e-01 -3.15510491e-02 5.90563794e-02 2.16870919e+02] [ 3.11805996e-02 9.99487949e-01 7.18407579e-03 1.78075339e+02] [-5.92528046e-02 -5.32654083e-03 9.98228798e-01 3.24175909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.4671056809999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:216.90, Y:178.08, Z:32.42 [[ 9.97783842e-01 -3.01674706e-02 5.93070667e-02 2.16900781e+02] [ 2.99170436e-02 9.99539343e-01 5.10615403e-03 1.78081877e+02] [-5.94337862e-02 -3.32054589e-03 9.98226727e-01 3.24167249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49710568099994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:216.93, Y:178.09, Z:32.42 [[ 9.97866472e-01 -2.73777033e-02 5.92702680e-02 2.16931386e+02] [ 2.71043608e-02 9.99617964e-01 5.41099454e-03 1.78088299e+02] [-5.93957652e-02 -3.79296731e-03 9.98227307e-01 3.24150623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5271056809999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:216.97, Y:178.10, Z:32.42 [[ 9.97941165e-01 -2.45340655e-02 5.92579960e-02 2.16966862e+02] [ 2.42497393e-02 9.99690733e-01 5.51258697e-03 1.78102655e+02] [-5.93749156e-02 -4.06424651e-03 9.98227480e-01 3.24173738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55710568099994 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:217.00, Y:178.11, Z:32.42 [[ 9.97872576e-01 -2.68801402e-02 5.93951192e-02 2.17000523e+02] [ 2.66674522e-02 9.99634805e-01 4.37080493e-03 1.78109405e+02] [-5.94909162e-02 -2.77758987e-03 9.98224983e-01 3.24179479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5871056809999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:217.02, Y:178.11, Z:32.41 [[ 9.97930147e-01 -2.44909618e-02 5.94610304e-02 2.17020686e+02] [ 2.43069702e-02 9.99697260e-01 3.81576039e-03 1.78113579e+02] [-5.95364808e-02 -2.36254483e-03 9.98223335e-01 3.24149189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61710568099994 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:217.06, Y:178.12, Z:32.42 [[ 9.97182910e-01 -4.59879584e-02 5.92566542e-02 2.17061141e+02] [ 4.57406022e-02 9.98938074e-01 5.52470819e-03 1.78122832e+02] [-5.94477981e-02 -2.79870954e-03 9.98227492e-01 3.24225993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6471056809999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:217.08, Y:178.13, Z:32.42 [[ 9.97028146e-01 -4.90115051e-02 5.94369338e-02 2.17082905e+02] [ 4.88572872e-02 9.98797575e-01 4.04600375e-03 1.78127379e+02] [-5.95637661e-02 -1.13005227e-03 9.98223863e-01 3.24193424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67710568099994 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:217.12, Y:178.13, Z:32.42 [[ 9.95838353e-01 -6.92474823e-02 5.92516805e-02 2.17123310e+02] [ 6.90396805e-02 9.97598479e-01 5.54956832e-03 1.78134393e+02] [-5.94936799e-02 -1.43575589e-03 9.98227650e-01 3.24150074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7071056809999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:217.15, Y:178.14, Z:32.41 [[ 9.95564776e-01 -7.29026852e-02 5.94640710e-02 2.17153139e+02] [ 7.28051342e-02 9.97338914e-01 3.80831126e-03 1.78141126e+02] [-5.95834681e-02 5.37869127e-04 9.98223182e-01 3.24114820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7371056809999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:217.18, Y:178.15, Z:32.41 [[ 9.95326405e-01 -7.60996188e-02 5.94491068e-02 2.17183757e+02] [ 7.60002739e-02 9.97100037e-01 3.93367514e-03 1.78147360e+02] [-5.95760578e-02 6.02857660e-04 9.98223587e-01 3.24097258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7671056809999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:217.21, Y:178.15, Z:32.41 [[ 9.95023570e-01 -7.99795622e-02 5.94252846e-02 2.17213772e+02] [ 7.98752321e-02 9.96796302e-01 4.13280743e-03 1.78154084e+02] [-5.95654441e-02 6.34367598e-04 9.98224201e-01 3.24073097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7971056809999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:217.25, Y:178.16, Z:32.41 [[ 9.94729476e-01 -8.35718637e-02 5.94055007e-02 2.17245197e+02] [ 8.34641437e-02 9.96501518e-01 4.29665780e-03 1.78158485e+02] [-5.95567513e-02 6.84217089e-04 9.98224687e-01 3.24070960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8271056809999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:217.28, Y:178.16, Z:32.41 [[ 9.94799443e-01 -8.27409356e-02 5.93970169e-02 2.17276605e+02] [ 8.26275828e-02 9.96570930e-01 4.36617522e-03 1.78162538e+02] [-5.95546018e-02 5.64363250e-04 9.98224890e-01 3.24053574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8571056809999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:217.31, Y:178.17, Z:32.40 [[ 9.95003764e-01 -8.02482664e-02 5.93946579e-02 2.17306024e+02] [ 8.01293244e-02 9.96774829e-01 4.38545496e-03 1.78166196e+02] [-5.95550251e-02 3.95709614e-04 9.98224946e-01 3.24027392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8871056809999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:217.34, Y:178.17, Z:32.40 [[ 9.95482755e-01 -7.41057260e-02 5.93500360e-02 2.17335181e+02] [ 7.39544923e-02 9.97250335e-01 4.74369361e-03 1.78169814e+02] [-5.95383781e-02 -3.33063404e-04 9.98225962e-01 3.23992063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.9171056809999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:217.37, Y:178.18, Z:32.40 [[ 9.95657619e-01 -7.17270713e-02 5.93391359e-02 2.17366593e+02] [ 7.15664092e-02 9.97424137e-01 4.83107254e-03 1.78175022e+02] [-5.95328051e-02 -5.63405303e-04 9.98226191e-01 3.23969046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.9471056809999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:217.40, Y:178.18, Z:32.39 [[ 9.96439229e-01 -5.98839924e-02 5.93529397e-02 2.17397083e+02] [ 5.97089147e-02 9.98204670e-01 4.72050648e-03 1.78178681e+02] [-5.95290643e-02 -1.15979822e-03 9.98225899e-01 3.23933989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.9771056809999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:217.43, Y:178.18, Z:32.39 [[ 9.96918757e-01 -5.12975940e-02 5.93426424e-02 2.17425523e+02] [ 5.11024506e-02 9.98681870e-01 4.80237320e-03 1.78183120e+02] [-5.95107712e-02 -1.75502147e-03 9.98226121e-01 3.23917120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.0071056809999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:217.46, Y:178.19, Z:32.39 [[ 9.97168306e-01 -4.63115015e-02 5.92504301e-02 2.17457188e+02] [ 4.60648034e-02 9.98923183e-01 5.52351261e-03 1.78188223e+02] [-5.94424303e-02 -2.77851230e-03 9.98227868e-01 3.23896566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.0371056809999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:217.49, Y:178.19, Z:32.40 [[ 9.97525663e-01 -3.78021508e-02 5.92752066e-02 2.17486435e+02] [ 3.75519288e-02 9.99280463e-01 5.33002085e-03 1.78191815e+02] [-5.94340422e-02 -3.09093424e-03 9.98227449e-01 3.23952009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.06710568099993 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:217.52, Y:178.20, Z:32.39 [[ 9.97604251e-01 -3.57819229e-02 5.92065279e-02 2.17517917e+02] [ 3.54967778e-02 9.99352603e-01 5.86120111e-03 1.78196121e+02] [-5.93779228e-02 -3.74551817e-03 9.98228548e-01 3.23940929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.0971056809999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:217.55, Y:178.20, Z:32.39 [[ 9.97712375e-01 -3.25697967e-02 5.92387158e-02 2.17549734e+02] [ 3.22936863e-02 9.99462664e-01 5.61263507e-03 1.78200552e+02] [-5.93896870e-02 -3.68675896e-03 9.98228067e-01 3.23941903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.12710568099993 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:217.58, Y:178.20, Z:32.39 [[ 9.97874555e-01 -2.71951771e-02 5.92181910e-02 2.17581737e+02] [ 2.69003338e-02 9.99621465e-01 5.77059295e-03 1.78203649e+02] [-5.93527072e-02 -4.16533877e-03 9.98228384e-01 3.23886165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.1571056809999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:217.61, Y:178.21, Z:32.38 [[ 9.97957061e-01 -2.39130492e-02 5.92441532e-02 2.17610801e+02] [ 2.36242160e-02 9.99705387e-01 5.57102929e-03 1.78207559e+02] [-5.93599194e-02 -4.16005135e-03 9.98227977e-01 3.23840262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18710568099993 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:217.64, Y:178.21, Z:32.38 [[ 9.97949378e-01 -2.43125127e-02 5.92109841e-02 2.17640117e+02] [ 2.40093782e-02 9.99694759e-01 5.82573414e-03 1.78211767e+02] [-5.93345487e-02 -4.39216885e-03 9.98228491e-01 3.23821555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2171056809999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:217.67, Y:178.22, Z:32.38 [[ 9.97885972e-01 -2.68976298e-02 5.91616777e-02 2.17670278e+02] [ 2.65770772e-02 9.99627549e-01 6.19859508e-03 1.78215423e+02] [-5.93063704e-02 -4.61314660e-03 9.98229169e-01 3.23834666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24710568099994 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:217.70, Y:178.22, Z:32.38 [[ 9.97746823e-01 -3.17279076e-02 5.91152824e-02 2.17704540e+02] [ 3.13952434e-02 9.99485599e-01 6.54792409e-03 1.78220154e+02] [-5.92926254e-02 -4.67723178e-03 9.98229687e-01 3.23793666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2771056809999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:217.74, Y:178.22, Z:32.37 [[ 9.97404145e-01 -4.10116364e-02 5.91862957e-02 2.17735235e+02] [ 4.07267263e-02 9.99152232e-01 6.01258131e-03 1.78224647e+02] [-5.93827053e-02 -3.58650945e-03 9.98228847e-01 3.23727646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.30710568099994 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:217.77, Y:178.23, Z:32.37 [[ 9.97112354e-01 -4.75809674e-02 5.91861864e-02 2.17766847e+02] [ 4.73075298e-02 9.98862271e-01 6.01340877e-03 1.78227400e+02] [-5.94049723e-02 -3.19609190e-03 9.98228849e-01 3.23688383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3371056809999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:217.80, Y:178.23, Z:32.37 [[ 9.96459895e-01 -5.97158684e-02 5.91751045e-02 2.17796774e+02] [ 5.94588192e-02 9.98212141e-01 6.09675608e-03 1.78229460e+02] [-5.94333809e-02 -2.55669108e-03 9.98229000e-01 3.23676889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.36710568099994 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:217.83, Y:178.24, Z:32.37 [[ 9.95979507e-01 -6.72985425e-02 5.91246805e-02 2.17829831e+02] [ 6.70324214e-02 9.97729786e-01 6.47517095e-03 1.78236338e+02] [-5.94262244e-02 -2.48586708e-03 9.98229605e-01 3.23677330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3971056809999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:217.86, Y:178.24, Z:32.37 [[ 9.95196714e-01 -7.79769124e-02 5.91870101e-02 2.17857034e+02] [ 7.77575113e-02 9.96954219e-01 6.00456196e-03 1.78242603e+02] [-5.94749567e-02 -1.37348572e-03 9.98228853e-01 3.23718610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.42710568099994 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:217.88, Y:178.25, Z:32.37 [[ 9.94627327e-01 -8.49991663e-02 5.90899552e-02 2.17881998e+02] [ 8.47487554e-02 9.96379586e-01 6.73559776e-03 1.78248519e+02] [-5.94485453e-02 -1.69160944e-03 9.98229938e-01 3.23703008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4571056809999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:217.92, Y:178.25, Z:32.37 [[ 9.94650009e-01 -8.48186823e-02 5.89673720e-02 2.17915307e+02] [ 8.45134752e-02 9.96392930e-01 7.65519193e-03 1.78252688e+02] [-5.94039758e-02 -2.63069919e-03 9.98230558e-01 3.23677295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4871056809999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:217.95, Y:178.26, Z:32.37 [[ 9.93850642e-01 -9.37207357e-02 5.89688540e-02 2.17953256e+02] [ 9.34318053e-02 9.95596337e-01 7.64406021e-03 1.78260509e+02] [-5.94255820e-02 -2.08748765e-03 9.98230556e-01 3.23671128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5171056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:217.98, Y:178.27, Z:32.35 [[ 9.92857735e-01 -1.03628391e-01 5.91157702e-02 2.17981624e+02] [ 1.03422787e-01 9.94616014e-01 6.53535614e-03 1.78266266e+02] [-5.94747402e-02 -3.74761161e-04 9.98229741e-01 3.23510277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5471056809999 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:218.01, Y:178.27, Z:32.36 [[ 9.92927503e-01 -1.02984872e-01 5.90685242e-02 2.18012534e+02] [ 1.02756956e-01 9.94682622e-01 6.89122571e-03 1.78266336e+02] [-5.94641266e-02 -7.72785795e-04 9.98230144e-01 3.23616750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5771056809999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:218.04, Y:178.27, Z:32.36 [[ 9.92813793e-01 -1.04087951e-01 5.90463475e-02 2.18040367e+02] [ 1.03852053e-01 9.94567711e-01 7.05827400e-03 1.78269789e+02] [-5.94602719e-02 -8.75467392e-04 9.98230289e-01 3.23629366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6071056809999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:218.07, Y:178.28, Z:32.36 [[ 9.92916124e-01 -1.03146228e-01 5.89781855e-02 2.18073079e+02] [ 1.02878237e-01 9.94665147e-01 7.57056294e-03 1.78276061e+02] [-5.94444205e-02 -1.44936228e-03 9.98230565e-01 3.23604244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6371056809999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:218.11, Y:178.28, Z:32.36 [[ 9.93281184e-01 -9.95673990e-02 5.89815490e-02 2.18106146e+02] [ 9.92946074e-02 9.95029472e-01 7.54526219e-03 1.78279847e+02] [-5.94396417e-02 -1.63801720e-03 9.98230558e-01 3.23594475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6671056809999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:218.13, Y:178.28, Z:32.36 [[ 9.94584456e-01 -8.55600429e-02 5.90020273e-02 2.18134203e+02] [ 8.52717714e-02 9.96330316e-01 7.39103824e-03 1.78281044e+02] [-5.94178860e-02 -2.31980436e-03 9.98230501e-01 3.23597511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6971056809999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:218.17, Y:178.29, Z:32.36 [[ 9.94947211e-01 -8.13073074e-02 5.88996618e-02 2.18168738e+02] [ 8.09661018e-02 9.96683449e-01 8.16049527e-03 1.78285790e+02] [-5.93678259e-02 -3.35038599e-03 9.98230553e-01 3.23590264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.7271056809999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:218.20, Y:178.29, Z:32.36 [[ 9.96450302e-01 -6.00688425e-02 5.89790561e-02 2.18198875e+02] [ 5.97259026e-02 9.98186172e-01 7.56190907e-03 1.78288114e+02] [-5.93263133e-02 -4.01248922e-03 9.98230579e-01 3.23558899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.7571056809999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:218.23, Y:178.29, Z:32.36 [[ 9.96702852e-01 -5.57695200e-02 5.89337429e-02 2.18234267e+02] [ 5.53989658e-02 9.98433012e-01 7.90417474e-03 1.78291722e+02] [-5.92822064e-02 -4.61324510e-03 9.98230604e-01 3.23569049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.7871056809999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:218.26, Y:178.29, Z:32.35 [[ 9.97281115e-01 -4.41712446e-02 5.89854105e-02 2.18263583e+02] [ 4.38035665e-02 9.99011917e-01 7.51253713e-03 1.78294964e+02] [-5.92589661e-02 -4.90834005e-03 9.98230576e-01 3.23543309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81710568099993 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:218.30, Y:178.30, Z:32.35 [[ 9.97419444e-01 -4.10212154e-02 5.89212361e-02 2.18298245e+02] [ 4.06195878e-02 9.99142669e-01 7.99847370e-03 1.78299553e+02] [-5.91988282e-02 -5.58447687e-03 9.98230591e-01 3.23534462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.8471056809999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:218.33, Y:178.31, Z:32.35 [[ 9.97705123e-01 -3.32538546e-02 5.89802375e-02 2.18331960e+02] [ 3.28650434e-02 9.99431279e-01 7.55032932e-03 1.78305010e+02] [-5.91977717e-02 -5.59461418e-03 9.98230597e-01 3.23492369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87710568099993 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:218.36, Y:178.31, Z:32.34 [[ 9.97926656e-01 -2.56779013e-02 5.90172345e-02 2.18360850e+02] [ 2.52924752e-02 9.99653669e-01 7.26860563e-03 1.78309318e+02] [-5.91834376e-02 -5.76084336e-03 9.98230501e-01 3.23448411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.9071056809999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:218.39, Y:178.31, Z:32.34 [[ 9.97893871e-01 -2.70605199e-02 5.89537983e-02 2.18392601e+02] [ 2.66492634e-02 9.99614794e-01 7.75114393e-03 1.78311652e+02] [-5.91408390e-02 -6.16374373e-03 9.98230619e-01 3.23423399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93710568099993 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:218.42, Y:178.32, Z:32.34 [[ 9.97846638e-01 -2.87448440e-02 5.89560908e-02 2.18424242e+02] [ 2.83375146e-02 9.99568495e-01 7.73366749e-03 1.78316732e+02] [-5.91529541e-02 -6.04634502e-03 9.98230620e-01 3.23389962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.9671056809999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:218.46, Y:178.32, Z:32.33 [[ 9.97792649e-01 -3.05731451e-02 5.89500924e-02 2.18455451e+02] [ 3.01662931e-02 9.99514620e-01 7.77946206e-03 1.78322197e+02] [-5.91593218e-02 -5.98398429e-03 9.98230618e-01 3.23345869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99710568099994 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:218.49, Y:178.33, Z:32.34 [[ 9.97628825e-01 -3.55043763e-02 5.89590240e-02 2.18488004e+02] [ 3.51100387e-02 9.99353703e-01 7.71117245e-03 1.78326476e+02] [-5.91946993e-02 -5.62283429e-03 9.98230620e-01 3.23362927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0271056809999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:218.52, Y:178.33, Z:32.34 [[ 9.97398751e-01 -4.14830173e-02 5.89481979e-02 2.18518843e+02] [ 4.10941622e-02 9.99124878e-01 7.79410649e-03 1.78332545e+02] [-5.92199340e-02 -5.35140528e-03 9.98230616e-01 3.23355211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05710568099994 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:218.55, Y:178.34, Z:32.33 [[ 9.97123640e-01 -4.76519381e-02 5.89384417e-02 2.18551286e+02] [ 4.72693740e-02 9.98851183e-01 7.86896482e-03 1.78339302e+02] [-5.92457037e-02 -5.06034760e-03 9.98230604e-01 3.23341175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0871056809999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:218.58, Y:178.34, Z:32.34 [[ 9.96861582e-01 -5.28222573e-02 5.89643541e-02 2.18583850e+02] [ 5.24603656e-02 9.98593553e-01 7.66976221e-03 1.78344023e+02] [-5.92865581e-02 -4.55239971e-03 9.98230625e-01 3.23373840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11710568099994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:218.61, Y:178.35, Z:32.34 [[ 9.96196930e-01 -6.41604121e-02 5.89501369e-02 2.18614332e+02] [ 6.38117936e-02 9.97931630e-01 7.77931604e-03 1.78348785e+02] [-5.93273303e-02 -3.98801679e-03 9.98230616e-01 3.23359192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1471056809999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:218.64, Y:178.35, Z:32.33 [[ 9.95717345e-01 -7.12477753e-02 5.89128415e-02 2.18644501e+02] [ 7.08945537e-02 9.97451196e-01 8.06686328e-03 1.78351920e+02] [-5.93374302e-02 -3.85571608e-03 9.98230536e-01 3.23309351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17710568099994 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:218.68, Y:178.36, Z:32.33 [[ 9.94957786e-01 -8.11749868e-02 5.89035367e-02 2.18676834e+02] [ 8.08348477e-02 9.96694283e-01 8.13846230e-03 1.78355190e+02] [-5.93694578e-02 -3.33596802e-03 9.98230504e-01 3.23300705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2071056809999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:218.71, Y:178.36, Z:32.33 [[ 9.94798098e-01 -8.30952314e-02 5.89230509e-02 2.18707784e+02] [ 8.27673525e-02 9.96536885e-01 7.98767327e-03 1.78360153e+02] [-5.93827312e-02 -3.06921725e-03 9.98230570e-01 3.23295724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2371056809999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:218.74, Y:178.37, Z:32.33 [[ 9.94127815e-01 -9.07726126e-02 5.89085815e-02 2.18744179e+02] [ 9.04515478e-02 9.95867920e-01 8.09955706e-03 1.78367543e+02] [-5.94003845e-02 -2.72362258e-03 9.98230523e-01 3.23258980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2671056809999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:218.77, Y:178.37, Z:32.33 [[ 9.93646613e-01 -9.58293577e-02 5.90181571e-02 2.18773105e+02] [ 9.55673328e-02 9.95396544e-01 7.25293630e-03 1.78371098e+02] [-5.94415138e-02 -1.56664772e-03 9.98230561e-01 3.23295567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2971056809999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:218.80, Y:178.37, Z:32.32 [[ 9.93734729e-01 -9.49630496e-02 5.89347716e-02 2.18802556e+02] [ 9.46613673e-02 9.95478215e-01 7.89616953e-03 1.78372125e+02] [-5.94181256e-02 -2.26785183e-03 9.98230606e-01 3.23247504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3271056809999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:218.84, Y:178.38, Z:32.32 [[ 9.93336198e-01 -9.90750770e-02 5.88840176e-02 2.18835822e+02] [ 9.87574112e-02 9.95077025e-01 8.28784256e-03 1.78376465e+02] [-5.94152517e-02 -2.41738087e-03 9.98230426e-01 3.23244491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3571056809999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:218.87, Y:178.38, Z:32.32 [[ 9.93469538e-01 -9.77148614e-02 5.89074083e-02 2.18865671e+02] [ 9.74055321e-02 9.95211758e-01 8.10678976e-03 1.78381308e+02] [-5.94174992e-02 -2.31594123e-03 9.98230533e-01 3.23165743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3871056809999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:218.90, Y:178.39, Z:32.32 [[ 9.93823098e-01 -9.40430378e-02 5.89199274e-02 2.18897028e+02] [ 9.37330215e-02 9.95565149e-01 8.00967070e-03 1.78386515e+02] [-5.94118800e-02 -2.43745293e-03 9.98230578e-01 3.23219003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.4171056809999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:218.93, Y:178.39, Z:32.32 [[ 9.94095017e-01 -9.11291063e-02 5.89116628e-02 2.18929339e+02] [ 9.08101843e-02 9.95835490e-01 8.07389407e-03 1.78392614e+02] [-5.94020914e-02 -2.67643890e-03 9.98230549e-01 3.23247129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.4471056809999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:218.96, Y:178.40, Z:32.32 [[ 9.94756300e-01 -8.36046295e-02 5.89081380e-02 2.18960706e+02] [ 8.32709267e-02 9.96494015e-01 8.10132392e-03 1.78395791e+02] [-5.93789151e-02 -3.15350777e-03 9.98230534e-01 3.23245618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.4771056809999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:218.99, Y:178.40, Z:32.32 [[ 9.94828814e-01 -8.27388338e-02 5.89060007e-02 2.18993083e+02] [ 8.24026288e-02 9.96566056e-01 8.11808367e-03 1.78399108e+02] [-5.93754016e-02 -3.22209424e-03 9.98230524e-01 3.23235738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.5071056809999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:219.03, Y:178.40, Z:32.32 [[ 9.95198797e-01 -7.81644437e-02 5.89039366e-02 2.19026451e+02] [ 7.78192954e-02 9.96934296e-01 8.13435303e-03 1.78402467e+02] [-5.93591717e-02 -3.51143551e-03 9.98230514e-01 3.23212559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.5371056809999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:219.06, Y:178.40, Z:32.32 [[ 9.95546471e-01 -7.35930890e-02 5.89175881e-02 2.19057681e+02] [ 7.32463388e-02 9.97281580e-01 8.02643251e-03 1.78404615e+02] [-5.93481153e-02 -3.67518893e-03 9.98230582e-01 3.23175204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.56710568099993 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:219.09, Y:178.41, Z:32.32 [[ 9.95954792e-01 -6.78560664e-02 5.89033590e-02 2.19090296e+02] [ 6.74926687e-02 9.97686569e-01 8.13942013e-03 1.78407062e+02] [-5.93193991e-02 -4.13094959e-03 9.98230507e-01 3.23187996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.5971056809999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:219.12, Y:178.41, Z:32.32 [[ 9.96248531e-01 -6.34059741e-02 5.88943773e-02 2.19123582e+02] [ 6.30306223e-02 9.97977814e-01 8.21114964e-03 1.78411091e+02] [-5.92959179e-02 -4.46819651e-03 9.98230449e-01 3.23171785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.62710568099993 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:219.15, Y:178.41, Z:32.31 [[ 9.96663927e-01 -5.64970690e-02 5.88990431e-02 2.19154701e+02] [ 5.61119347e-02 9.98391026e-01 8.17373982e-03 1.78412446e+02] [-5.92660684e-02 -4.84153238e-03 9.98230481e-01 3.23083652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.6571056809999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:219.19, Y:178.42, Z:32.30 [[ 9.96997949e-01 -5.02775262e-02 5.88834458e-02 2.19188223e+02] [ 4.98742666e-02 9.98721023e-01 8.29912143e-03 1.78415054e+02] [-5.92253945e-02 -5.33743837e-03 9.98230366e-01 3.23009288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68710568099993 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:219.22, Y:178.42, Z:32.30 [[ 9.97296521e-01 -4.39552690e-02 5.88861844e-02 2.19220753e+02] [ 4.35423882e-02 9.99017293e-01 8.27700928e-03 1.78419655e+02] [-5.91921347e-02 -5.69058746e-03 9.98230388e-01 3.23019284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7171056809999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:219.25, Y:178.42, Z:32.30 [[ 9.97507992e-01 -3.88152579e-02 5.89167351e-02 2.19254218e+02] [ 3.84080300e-02 9.99229882e-01 8.02910620e-03 1.78423821e+02] [-5.91830141e-02 -5.74622187e-03 9.98230611e-01 3.23010421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74710568099994 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:219.29, Y:178.43, Z:32.30 [[ 9.97739482e-01 -3.23126310e-02 5.89221583e-02 2.19286006e+02] [ 3.18967716e-02 9.99459272e-01 7.98494790e-03 1.78428280e+02] [-5.91483121e-02 -6.08747115e-03 9.98230645e-01 3.22996077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7771056809999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:219.32, Y:178.43, Z:32.30 [[ 9.97671372e-01 -3.43079586e-02 5.89474163e-02 2.19318600e+02] [ 3.39076308e-02 9.99394701e-01 7.77844957e-03 1.78431201e+02] [-5.91785982e-02 -5.76156923e-03 9.98230784e-01 3.22986182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.80710568099994 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:219.35, Y:178.43, Z:32.29 [[ 9.97325857e-01 -4.32048252e-02 5.89447043e-02 2.19351630e+02] [ 4.28185741e-02 9.99052410e-01 7.80076370e-03 1.78432931e+02] [-5.92258795e-02 -5.25597516e-03 9.98230770e-01 3.22942341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8371056809999 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:219.38, Y:178.44, Z:32.29 [[ 9.96971910e-01 -5.07089789e-02 5.89543034e-02 2.19383684e+02] [ 5.03403908e-02 9.98702270e-01 7.72151757e-03 1.78437321e+02] [-5.92693469e-02 -4.73035345e-03 9.98230819e-01 3.22921980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.86710568099994 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:219.42, Y:178.44, Z:32.29 [[ 9.96746684e-01 -5.49727991e-02 5.89409866e-02 2.19415339e+02] [ 5.46051260e-02 9.98477312e-01 7.83180680e-03 1.78439806e+02] [-5.92817742e-02 -4.58784746e-03 9.98230746e-01 3.22902266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8971056809999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:219.45, Y:178.44, Z:32.29 [[ 9.96175736e-01 -6.44858171e-02 5.89532303e-02 2.19448995e+02] [ 6.41407043e-02 9.97910929e-01 7.72966002e-03 1.78441927e+02] [-5.93285263e-02 -3.91879805e-03 9.98230820e-01 3.22877225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.92710568099994 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:219.48, Y:178.44, Z:32.29 [[ 9.95806392e-01 -6.99368111e-02 5.89785778e-02 2.19481862e+02] [ 6.96137230e-02 9.97545696e-01 7.51755293e-03 1.78444743e+02] [-5.93595801e-02 -3.38030888e-03 9.98230942e-01 3.22866386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9571056809999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:219.51, Y:178.45, Z:32.29 [[ 9.95206771e-01 -7.79623016e-02 5.90369578e-02 2.19510296e+02] [ 7.76822692e-02 9.96953401e-01 7.02714867e-03 1.78450380e+02] [-5.94049485e-02 -2.40734110e-03 9.98231064e-01 3.22904442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9871056809999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:219.54, Y:178.46, Z:32.29 [[ 9.95089749e-01 -7.94974793e-02 5.89622152e-02 2.19542754e+02] [ 7.91830248e-02 9.96830708e-01 7.65426401e-03 1.78455335e+02] [-5.93838414e-02 -2.94787311e-03 9.98230870e-01 3.22876911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0171056809999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:219.57, Y:178.46, Z:32.28 [[ 9.94775870e-01 -8.33330449e-02 5.89624673e-02 2.19574166e+02] [ 8.30254299e-02 9.96518049e-01 7.65214072e-03 1.78458109e+02] [-5.93948391e-02 -2.71678075e-03 9.98230871e-01 3.22813244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0471056809999 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:219.61, Y:178.46, Z:32.28 [[ 9.94714220e-01 -8.40593662e-02 5.89715422e-02 2.19607069e+02] [ 8.37575468e-02 9.96457366e-01 7.57571740e-03 1.78461912e+02] [-5.93994376e-02 -2.59636212e-03 9.98230918e-01 3.22819604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0771056809999 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:219.64, Y:178.47, Z:32.28 [[ 9.94681124e-01 -8.44312146e-02 5.89985795e-02 2.19639463e+02] [ 8.41435902e-02 9.96426554e-01 7.34701359e-03 1.78465593e+02] [-5.94080685e-02 -2.34358344e-03 9.98231030e-01 3.22804522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1071056809999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:219.67, Y:178.47, Z:32.28 [[ 9.94719140e-01 -8.39892478e-02 5.89884637e-02 2.19672238e+02] [ 8.36957567e-02 9.96463633e-01 7.43297508e-03 1.78469629e+02] [-5.94041488e-02 -2.45663847e-03 9.98230991e-01 3.22796203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1371056809999 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:219.70, Y:178.47, Z:32.28 [[ 9.94965947e-01 -8.09689081e-02 5.90491275e-02 2.19703680e+02] [ 8.07008015e-02 9.96714384e-01 6.91502088e-03 1.78473660e+02] [-5.94150164e-02 -2.11489838e-03 9.98231127e-01 3.22775616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1671056809999 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:219.74, Y:178.48, Z:32.28 [[ 9.95150840e-01 -7.86623815e-02 5.90511227e-02 2.19736958e+02] [ 7.83912348e-02 9.96898808e-01 6.89794039e-03 1.78476460e+02] [-5.94106023e-02 -2.23540075e-03 9.98231127e-01 3.22757763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1971056809999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:219.77, Y:178.48, Z:32.27 [[ 9.95797113e-01 -7.00058973e-02 5.90532377e-02 2.19768453e+02] [ 6.97206353e-02 9.97542832e-01 6.87978651e-03 1.78483137e+02] [-5.93897596e-02 -2.73364229e-03 9.98231127e-01 3.22704451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.2271056809999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:219.80, Y:178.49, Z:32.28 [[ 9.96152476e-01 -6.47137730e-02 5.90963007e-02 2.19797539e+02] [ 6.44411224e-02 9.97900277e-01 6.50985521e-03 1.78487846e+02] [-5.93934921e-02 -2.67657643e-03 9.98231060e-01 3.22758286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.2571056809999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:219.83, Y:178.49, Z:32.27 [[ 9.96474474e-01 -5.95934328e-02 5.90528995e-02 2.19830477e+02] [ 5.92897914e-02 9.98217088e-01 6.88229151e-03 1.78491751e+02] [-5.93577527e-02 -3.35679372e-03 9.98231130e-01 3.22685630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.2871056809999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:219.86, Y:178.49, Z:32.28 [[ 9.96641778e-01 -5.66615400e-02 5.91154570e-02 2.19859270e+02] [ 5.63845680e-02 9.98388968e-01 6.34420117e-03 1.78494318e+02] [-5.93796923e-02 -2.98969643e-03 9.98230992e-01 3.22765152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31710568099993 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:219.89, Y:178.50, Z:32.27 [[ 9.96686150e-01 -5.59413316e-02 5.90532463e-02 2.19891374e+02] [ 5.56315378e-02 9.98427674e-01 6.87837624e-03 1.78497885e+02] [-5.93451809e-02 -3.57035944e-03 9.98231137e-01 3.22671728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.3471056809999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:219.92, Y:178.50, Z:32.26 [[ 9.97043066e-01 -4.91439178e-02 5.90762232e-02 2.19922324e+02] [ 4.88338970e-02 9.98784569e-01 6.68100238e-03 1.78499727e+02] [-5.93327508e-02 -3.77632490e-03 9.98231118e-01 3.22563075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37710568099993 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:219.96, Y:178.50, Z:32.25 [[ 9.97060440e-01 -4.88161581e-02 5.90547373e-02 2.19955781e+02] [ 4.84946650e-02 9.98799844e-01 6.86581786e-03 1.78503437e+02] [-5.93190252e-02 -3.98179567e-03 9.98231135e-01 3.22541874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.4071056809999 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:219.99, Y:178.51, Z:32.26 [[ 9.97147620e-01 -4.69987970e-02 5.90570671e-02 2.19985361e+02] [ 4.66753188e-02 9.98886656e-01 6.84571906e-03 1.78505190e+02] [-5.93130568e-02 -4.06968504e-03 9.98231135e-01 3.22602828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43710568099993 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:220.01, Y:178.51, Z:32.26 [[ 9.97303331e-01 -4.36247227e-02 5.90165285e-02 2.20014255e+02] [ 4.32747797e-02 9.99037297e-01 7.19532574e-03 1.78509412e+02] [-5.92736072e-02 -4.62199506e-03 9.98231074e-01 3.22560073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.4671056809999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:220.05, Y:178.51, Z:32.26 [[ 9.97556232e-01 -3.74746529e-02 5.89679165e-02 2.20046975e+02] [ 3.70889901e-02 9.99282902e-01 7.62154634e-03 1.78510795e+02] [-5.92112456e-02 -5.41586057e-03 9.98230783e-01 3.22579368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49710568099994 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:220.08, Y:178.51, Z:32.26 [[ 9.97868695e-01 -2.79831457e-02 5.89492177e-02 2.20080184e+02] [ 2.75714606e-02 9.99589514e-01 7.78571126e-03 1.78514931e+02] [-5.91428886e-02 -6.14380150e-03 9.98230621e-01 3.22624222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5271056809999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:220.11, Y:178.52, Z:32.26 [[ 9.97992157e-01 -2.30558115e-02 5.89922437e-02 2.20110994e+02] [ 2.26577431e-02 9.99715834e-01 7.40792290e-03 1.78517144e+02] [-5.91462758e-02 -6.05641785e-03 9.98230954e-01 3.22618952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55710568099994 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:220.14, Y:178.52, Z:32.26 [[ 9.98144335e-01 -1.50587215e-02 5.90010352e-02 2.20143044e+02] [ 1.46514204e-02 9.99865796e-01 7.32984137e-03 1.78519484e+02] [-5.91034951e-02 -6.45179066e-03 9.98231011e-01 3.22577057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5871056809999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:220.17, Y:178.52, Z:32.25 [[ 9.98188418e-01 -1.19558061e-02 5.89655983e-02 2.20173588e+02] [ 1.15247227e-02 9.99904359e-01 7.64544038e-03 1.78521067e+02] [-5.90513662e-02 -6.95202787e-03 9.98230738e-01 3.22514356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61710568099994 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:220.21, Y:178.52, Z:32.25 [[ 9.98203188e-01 -1.05957077e-02 5.89756494e-02 2.20206867e+02] [ 1.01675372e-02 9.99919765e-01 7.55548246e-03 1.78522431e+02] [-5.90509732e-02 -6.94226957e-03 9.98230829e-01 3.22479984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6471056809999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:220.24, Y:178.53, Z:32.25 [[ 9.98184971e-01 -1.21919730e-02 5.89755892e-02 2.20241110e+02] [ 1.17665165e-02 9.99902223e-01 7.55602305e-03 1.78525487e+02] [-5.90619456e-02 -6.84837140e-03 9.98230828e-01 3.22477399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67710568099994 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:220.27, Y:178.53, Z:32.25 [[ 9.98103449e-01 -1.74594699e-02 5.90311163e-02 2.20272681e+02] [ 1.70722587e-02 9.99829351e-01 7.05746673e-03 1.78528619e+02] [-5.91442623e-02 -6.03628739e-03 9.98231195e-01 3.22473712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7071056809999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:220.31, Y:178.53, Z:32.24 [[ 9.97764052e-01 -3.13026490e-02 5.90511744e-02 2.20306021e+02] [ 3.09500285e-02 9.99497276e-01 6.87685880e-03 1.78528224e+02] [-5.92367519e-02 -5.03384697e-03 9.98231270e-01 3.22411778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7371056809999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:220.34, Y:178.53, Z:32.24 [[ 9.97563784e-01 -3.71050530e-02 5.90737863e-02 2.20336827e+02] [ 3.67745328e-02 9.99301310e-01 6.67277310e-03 1.78530065e+02] [-5.92801056e-02 -4.48410589e-03 9.98231317e-01 3.22386883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7671056809999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:220.37, Y:178.53, Z:32.24 [[ 9.97036674e-01 -4.92852840e-02 5.90663393e-02 2.20369352e+02] [ 4.89720287e-02 9.98777408e-01 6.74021132e-03 1.78531487e+02] [-5.93263185e-02 -3.82763941e-03 9.98231304e-01 3.22353787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7971056809999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:220.40, Y:178.53, Z:32.23 [[ 9.96740152e-01 -5.49639501e-02 5.90595817e-02 2.20400013e+02] [ 5.46569937e-02 9.98482024e-01 6.80153879e-03 1.78534163e+02] [-5.93437701e-02 -3.55134763e-03 9.98231288e-01 3.22315887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8271056809999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:220.43, Y:178.54, Z:32.23 [[ 9.96019189e-01 -6.67733041e-02 5.90516745e-02 2.20434023e+02] [ 6.64827643e-02 9.97763899e-01 6.87335889e-03 1.78540129e+02] [-5.93785859e-02 -2.92007879e-03 9.98231264e-01 3.22341872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8571056809999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:220.46, Y:178.54, Z:32.24 [[ 9.95933753e-01 -6.80093865e-02 5.90820090e-02 2.20464020e+02] [ 6.77374122e-02 9.97681378e-01 6.59631131e-03 1.78544476e+02] [-5.93936313e-02 -2.56742667e-03 9.98231338e-01 3.22383324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8871056809999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:220.50, Y:178.55, Z:32.24 [[ 9.95789306e-01 -7.01243241e-02 5.90443699e-02 2.20495297e+02] [ 6.98357080e-02 9.97534365e-01 6.94006781e-03 1.78552235e+02] [-5.93854556e-02 -2.78743994e-03 9.98231235e-01 3.22384258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.9171056809999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:220.53, Y:178.56, Z:32.23 [[ 9.95841686e-01 -6.93761474e-02 5.90447808e-02 2.20526395e+02] [ 6.90864426e-02 9.97586563e-01 6.93631143e-03 1.78558464e+02] [-5.93834945e-02 -2.82827422e-03 9.98231236e-01 3.22312833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.9471056809999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:220.56, Y:178.56, Z:32.23 [[ 9.95441329e-01 -7.48897487e-02 5.90600218e-02 2.20559449e+02] [ 7.46180457e-02 9.97189033e-01 6.79562059e-03 1.78560089e+02] [-5.94029283e-02 -2.35769819e-03 9.98231303e-01 3.22307997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.9771056809999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:220.59, Y:178.56, Z:32.23 [[ 9.95164488e-01 -7.84883283e-02 5.90527253e-02 2.20592427e+02] [ 7.82189429e-02 9.96912581e-01 6.86315053e-03 1.78561657e+02] [-5.94090820e-02 -2.21092193e-03 9.98231272e-01 3.22270186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.0071056809999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:220.63, Y:178.56, Z:32.22 [[ 9.95043458e-01 -7.99870594e-02 5.90811840e-02 2.20625620e+02] [ 7.97359206e-02 9.96794174e-01 6.59987730e-03 1.78564985e+02] [-5.94196848e-02 -1.85627213e-03 9.98231364e-01 3.22230574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.0371056809999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:220.66, Y:178.56, Z:32.22 [[ 9.95301593e-01 -7.67010242e-02 5.90905448e-02 2.20656329e+02] [ 7.64492479e-02 9.97052201e-01 6.51317077e-03 1.78562924e+02] [-5.94159246e-02 -1.96514154e-03 9.98231379e-01 3.22205367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.06710568099993 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:220.69, Y:178.56, Z:32.21 [[ 9.95540525e-01 -7.35438012e-02 5.90793696e-02 2.20693250e+02] [ 7.32803120e-02 9.97289431e-01 6.61712091e-03 1.78563338e+02] [-5.94058791e-02 -2.25825739e-03 9.98231357e-01 3.22098030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.0971056809999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:220.72, Y:178.57, Z:32.22 [[ 9.95702786e-01 -7.11936007e-02 5.92235790e-02 2.20716689e+02] [ 7.10059548e-02 9.97461972e-01 5.26956189e-03 1.78566455e+02] [-5.94484270e-02 -1.04169069e-03 9.98230835e-01 3.22212477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.12710568099993 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:220.75, Y:178.57, Z:32.22 [[ 9.95895040e-01 -6.85831112e-02 5.90713639e-02 2.20749889e+02] [ 6.83070040e-02 9.97641964e-01 6.68315846e-03 1.78569812e+02] [-5.93904233e-02 -2.62073647e-03 9.98231391e-01 3.22180063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.1571056809999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:220.78, Y:178.57, Z:32.22 [[ 9.96374295e-01 -6.12122637e-02 5.90874119e-02 2.20781034e+02] [ 6.09320790e-02 9.98120530e-01 6.53370747e-03 1.78570933e+02] [-5.93763019e-02 -2.90969933e-03 9.98231430e-01 3.22160942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18710568099993 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:220.81, Y:178.57, Z:32.22 [[ 9.96451835e-01 -5.99257784e-02 5.90985698e-02 2.20813626e+02] [ 5.96495078e-02 9.98198677e-01 6.42944807e-03 1.78574497e+02] [-5.93774038e-02 -2.88143473e-03 9.98231447e-01 3.22156298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2171056809999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:220.85, Y:178.58, Z:32.21 [[ 9.96493403e-01 -5.92158842e-02 5.91132559e-02 2.20845294e+02] [ 5.89465142e-02 9.98241314e-01 6.29181335e-03 1.78579792e+02] [-5.93818696e-02 -2.78523012e-03 9.98231454e-01 3.22103618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24710568099994 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:220.87, Y:178.59, Z:32.21 [[ 9.96074962e-01 -6.58485513e-02 5.91492901e-02 2.20873497e+02] [ 6.56108834e-02 9.97827525e-01 5.95339052e-03 1.78586616e+02] [-5.94128119e-02 -2.04918606e-03 9.98231395e-01 3.22094772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2771056809999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:220.91, Y:178.59, Z:32.21 [[ 9.95646028e-01 -7.20881298e-02 5.90955932e-02 2.20905963e+02] [ 7.18315469e-02 9.97395874e-01 6.45748593e-03 1.78587627e+02] [-5.94072090e-02 -2.18444234e-03 9.98231442e-01 3.22050705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.30710568099994 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:220.94, Y:178.59, Z:32.20 [[ 9.94690085e-01 -8.42500778e-02 5.91063459e-02 2.20936409e+02] [ 8.40209007e-02 9.96443719e-01 6.35640766e-03 1.78585572e+02] [-5.94316750e-02 -1.35648725e-03 9.98231454e-01 3.22028913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3371056809999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:220.97, Y:178.59, Z:32.20 [[ 9.94265197e-01 -8.91327987e-02 5.90936794e-02 2.20967443e+02] [ 8.89051590e-02 9.96019046e-01 6.47547860e-03 1.78587480e+02] [-5.94356077e-02 -1.18461004e-03 9.98231439e-01 3.22007182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.36710568099994 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:221.00, Y:178.59, Z:32.20 [[ 9.93599506e-01 -9.62820268e-02 5.90744667e-02 2.20996554e+02] [ 9.60562568e-02 9.95353650e-01 6.65630237e-03 1.78592003e+02] [-5.94408684e-02 -9.39226606e-04 9.98231387e-01 3.21980413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3971056809999 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:221.03, Y:178.59, Z:32.19 [[ 9.94003937e-01 -9.20284329e-02 5.90503172e-02 2.21029276e+02] [ 9.17814434e-02 9.95755358e-01 6.88716167e-03 1.78591500e+02] [-5.94334845e-02 -1.42614248e-03 9.98231249e-01 3.21949018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.42710568099994 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:221.06, Y:178.59, Z:32.19 [[ 9.94352803e-01 -8.81800201e-02 5.90490175e-02 2.21063624e+02] [ 8.79255110e-02 9.96103157e-01 6.89965837e-03 1.78593217e+02] [-5.94273248e-02 -1.66877961e-03 9.98231240e-01 3.21898976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4571056809999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:221.09, Y:178.60, Z:32.19 [[ 9.94631991e-01 -8.49200777e-02 5.91251459e-02 2.21090842e+02] [ 8.47034975e-02 9.96387133e-01 6.16428761e-03 1.78595302e+02] [-5.94350064e-02 -1.12309101e-03 9.98231546e-01 3.21910431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4871056809999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:221.12, Y:178.60, Z:32.19 [[ 9.94812128e-01 -8.28441568e-02 5.90396038e-02 2.21121597e+02] [ 8.25749961e-02 9.96560350e-01 6.98843194e-03 1.78596976e+02] [-5.94154790e-02 -2.07698180e-03 9.98231179e-01 3.21884370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5171056809999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:221.15, Y:178.60, Z:32.18 [[ 9.95393552e-01 -7.55449235e-02 5.90308480e-02 2.21153121e+02] [ 7.52579502e-02 9.97139016e-01 7.07278283e-03 1.78598314e+02] [-5.93962745e-02 -2.59766181e-03 9.98231103e-01 3.21844569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5471056809999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:221.19, Y:178.60, Z:32.18 [[ 9.95614927e-01 -7.25596335e-02 5.90424928e-02 2.21186116e+02] [ 7.22741293e-02 9.97360524e-01 6.95959842e-03 1.78599403e+02] [-5.93916374e-02 -2.66183532e-03 9.98231210e-01 3.21804496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5771056809999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:221.22, Y:178.60, Z:32.18 [[ 9.96041732e-01 -6.64468762e-02 5.90396596e-02 2.21220388e+02] [ 6.61490282e-02 9.97785290e-01 6.98722009e-03 1.78600248e+02] [-5.93731828e-02 -3.05414669e-03 9.98231184e-01 3.21776828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6071056809999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:221.25, Y:178.60, Z:32.18 [[ 9.96411026e-01 -6.06082834e-02 5.90906323e-02 2.21252742e+02] [ 6.03300449e-02 9.98157430e-01 6.48303215e-03 1.78603509e+02] [-5.93746791e-02 -2.89482422e-03 9.98231570e-01 3.21807885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6371056809999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:221.28, Y:178.61, Z:32.19 [[ 9.96846015e-01 -5.30023319e-02 5.90658496e-02 2.21284942e+02] [ 5.26962640e-02 9.98587918e-01 6.72854930e-03 1.78608945e+02] [-5.93390726e-02 -3.59477795e-03 9.98231412e-01 3.21860222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6671056809999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:221.32, Y:178.62, Z:32.18 [[ 9.97163929e-01 -4.66366376e-02 5.90687967e-02 2.21319808e+02] [ 4.63211694e-02 9.98904133e-01 6.69949037e-03 1.78615420e+02] [-5.93165069e-02 -3.94435440e-03 9.98231433e-01 3.21758571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6971056809999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:221.35, Y:178.62, Z:32.18 [[ 9.97334128e-01 -4.27610132e-02 5.91281111e-02 2.21349439e+02] [ 4.24735330e-02 9.99078904e-01 6.11083558e-03 1.78619409e+02] [-5.93349540e-02 -3.58316509e-03 9.98231699e-01 3.21827995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.7271056809999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:221.38, Y:178.63, Z:32.19 [[ 9.97707023e-01 -3.29798366e-02 5.91018336e-02 2.21380436e+02] [ 3.26598411e-02 9.99446210e-01 6.37238895e-03 1.78626591e+02] [-5.92792639e-02 -4.42752072e-03 9.98231619e-01 3.21850490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.7571056809999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:221.41, Y:178.63, Z:32.18 [[ 9.97789144e-01 -3.03870697e-02 5.91054080e-02 2.21410394e+02] [ 3.00646750e-02 9.99527871e-01 6.33641980e-03 1.78633666e+02] [-5.92700478e-02 -4.54542601e-03 9.98231637e-01 3.21807658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.7871056809999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:221.44, Y:178.64, Z:32.18 [[ 9.97812834e-01 -2.96849209e-02 5.90622858e-02 2.21438691e+02] [ 2.93359200e-02 9.99546699e-01 6.76755584e-03 1.78640782e+02] [-5.92364072e-02 -5.02010759e-03 9.98231359e-01 3.21829428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81710568099993 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:221.47, Y:178.64, Z:32.18 [[ 9.97954530e-01 -2.45129459e-02 5.90412647e-02 2.21474939e+02] [ 2.41426004e-02 9.99684172e-01 6.97794319e-03 1.78642606e+02] [-5.91936677e-02 -5.53826036e-03 9.98231154e-01 3.21772041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.8471056809999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:221.51, Y:178.64, Z:32.17 [[ 9.97921716e-01 -2.56586651e-02 5.91090729e-02 2.21508510e+02] [ 2.53306549e-02 9.99659326e-01 6.29198250e-03 1.78644719e+02] [-5.92503799e-02 -4.78163444e-03 9.98231701e-01 3.21733194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87710568099993 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:221.54, Y:178.66, Z:32.14 [[ 9.97502632e-01 -3.86538856e-02 5.91132494e-02 2.21538721e+02] [ 3.83510389e-02 9.99244785e-01 6.24955282e-03 1.78659690e+02] [-5.93101757e-02 -3.96689086e-03 9.98231720e-01 3.21407500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.9071056809999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:221.57, Y:178.65, Z:32.16 [[ 9.97728291e-01 -3.22275170e-02 5.91577880e-02 2.21568386e+02] [ 3.19402754e-02 9.99472980e-01 5.79494299e-03 1.78648899e+02] [-5.93133673e-02 -3.89226253e-03 9.98231824e-01 3.21599278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93710568099993 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:221.60, Y:178.65, Z:32.16 [[ 9.97628022e-01 -3.53036049e-02 5.90930262e-02 2.21602053e+02] [ 3.49826101e-02 9.99367055e-01 6.45808107e-03 1.78651116e+02] [-5.92836171e-02 -4.37553435e-03 9.98231590e-01 3.21550443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.9671056809999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:221.63, Y:178.65, Z:32.15 [[ 9.97346241e-01 -4.25135510e-02 5.91022271e-02 2.21628999e+02] [ 4.22107233e-02 9.99088465e-01 6.36341819e-03 1.78654014e+02] [-5.93188849e-02 -3.85178346e-03 9.98231653e-01 3.21498906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99710568099994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:221.66, Y:178.66, Z:32.15 [[ 9.97155432e-01 -4.68614141e-02 5.90343396e-02 2.21664518e+02] [ 4.65253409e-02 9.98892194e-01 7.05528924e-03 1.78657003e+02] [-5.92995619e-02 -4.28862721e-03 9.98231020e-01 3.21484322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0271056809999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:221.70, Y:178.66, Z:32.15 [[ 9.97031504e-01 -4.93685007e-02 5.90841074e-02 2.21695573e+02] [ 4.90671599e-02 9.98774063e-01 6.54107842e-03 1.78660692e+02] [-5.93345972e-02 -3.62257190e-03 9.98231578e-01 3.21547469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05710568099994 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:221.73, Y:178.66, Z:32.15 [[ 9.96944476e-01 -5.11367897e-02 5.90486334e-02 2.21728234e+02] [ 5.08167410e-02 9.98684089e-01 6.91004909e-03 1.78663329e+02] [-5.93242884e-02 -3.88827616e-03 9.98231191e-01 3.21513848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0871056809999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:221.76, Y:178.67, Z:32.15 [[ 9.96585482e-01 -5.77029051e-02 5.90571973e-02 2.21759611e+02] [ 5.73996431e-02 9.98327986e-01 6.82006764e-03 1.78669153e+02] [-5.93519906e-02 -3.40691835e-03 9.98231303e-01 3.21531606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11710568099994 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:221.79, Y:178.67, Z:32.14 [[ 9.96618556e-01 -5.71298026e-02 5.90562432e-02 2.21792560e+02] [ 5.68249437e-02 9.98360794e-01 6.83012979e-03 1.78665147e+02] [-5.93496418e-02 -3.45116639e-03 9.98231291e-01 3.21431949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1471056809999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:221.83, Y:178.67, Z:32.15 [[ 9.96660511e-01 -5.63427142e-02 5.91043495e-02 2.21833511e+02] [ 5.60672507e-02 9.98407055e-01 6.31000343e-03 1.78666639e+02] [-5.93657222e-02 -2.97511287e-03 9.98231867e-01 3.21452566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1771056809999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:221.85, Y:178.67, Z:32.14 [[ 9.96340812e-01 -6.15959699e-02 5.92530381e-02 2.21854670e+02] [ 6.14261742e-02 9.98100636e-01 4.68452839e-03 1.78671646e+02] [-5.94290431e-02 -1.02769939e-03 9.98232003e-01 3.21449669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2071056809999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:221.89, Y:178.68, Z:32.15 [[ 9.96284324e-01 -6.26429177e-02 5.91050893e-02 2.21885709e+02] [ 6.23792224e-02 9.98032650e-01 6.29786197e-03 1.78676092e+02] [-5.93833254e-02 -2.58753164e-03 9.98231900e-01 3.21481996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2371056809999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:221.92, Y:178.68, Z:32.14 [[ 9.96250677e-01 -6.32023944e-02 5.90766054e-02 2.21917334e+02] [ 6.29211987e-02 9.97996609e-01 6.60986764e-03 1.78678917e+02] [-5.93760114e-02 -2.86791428e-03 9.98231569e-01 3.21437919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2671056809999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:221.95, Y:178.68, Z:32.14 [[ 9.96300735e-01 -6.24094470e-02 5.90754373e-02 2.21950178e+02] [ 6.21260998e-02 9.98046335e-01 6.62273668e-03 1.78681420e+02] [-5.93733450e-02 -2.92811091e-03 9.98231552e-01 3.21418237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2971056809999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:221.98, Y:178.68, Z:32.14 [[ 9.95947513e-01 -6.78116881e-02 5.90772935e-02 2.21982983e+02] [ 6.75390308e-02 9.97694788e-01 6.60216544e-03 1.78681154e+02] [-5.93888118e-02 -2.58538710e-03 9.98231579e-01 3.21386890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3271056809999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:222.01, Y:178.68, Z:32.14 [[ 9.95816309e-01 -6.96708404e-02 5.91257435e-02 2.22012861e+02] [ 6.94338882e-02 9.97568178e-01 6.05514891e-03 1.78682113e+02] [-5.94038275e-02 -1.92448577e-03 9.98232178e-01 3.21360311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3571056809999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:222.05, Y:178.68, Z:32.13 [[ 9.95992414e-01 -6.71533750e-02 5.90722830e-02 2.22046539e+02] [ 6.68761519e-02 9.97739058e-01 6.65972385e-03 1.78683667e+02] [-5.93859469e-02 -2.68250746e-03 9.98231493e-01 3.21320918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3871056809999 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:222.08, Y:178.68, Z:32.13 [[ 9.96376350e-01 -6.11714255e-02 5.90950601e-02 2.22078450e+02] [ 6.08991136e-02 9.98123410e-01 6.39977830e-03 1.78684462e+02] [-5.93756465e-02 -2.77775097e-03 9.98231845e-01 3.21301555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.4171056809999 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:222.11, Y:178.69, Z:32.13 [[ 9.96629062e-01 -5.68940770e-02 5.91064793e-02 2.22111885e+02] [ 5.66220408e-02 9.98376006e-01 6.26851738e-03 1.78685021e+02] [-5.93671323e-02 -2.90065712e-03 9.98232002e-01 3.21275039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.4471056809999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:222.14, Y:178.68, Z:32.12 [[ 9.96872088e-01 -5.24425815e-02 5.91254178e-02 2.22144438e+02] [ 5.21757135e-02 9.98619597e-01 6.04946346e-03 1.78683478e+02] [-5.93610504e-02 -2.94563041e-03 9.98232232e-01 3.21249435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.4771056809999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:222.18, Y:178.69, Z:32.13 [[ 9.96954141e-01 -5.08608465e-02 5.91237317e-02 2.22177692e+02] [ 5.05900439e-02 9.98701063e-01 6.06909934e-03 1.78685529e+02] [-5.93556132e-02 -3.05954154e-03 9.98232213e-01 3.21260000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.5071056809999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:222.21, Y:178.69, Z:32.12 [[ 9.97392480e-01 -4.13520917e-02 5.91459669e-02 2.22209084e+02] [ 4.10800642e-02 9.99138975e-01 5.80833223e-03 1.78687137e+02] [-5.93352275e-02 -3.36346677e-03 9.98232447e-01 3.21234310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.5371056809999 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:222.24, Y:178.69, Z:32.12 [[ 9.97467811e-01 -3.95029510e-02 5.91395150e-02 2.22237740e+02] [ 3.92231731e-02 9.99213147e-01 5.88465093e-03 1.78690028e+02] [-5.93254420e-02 -3.55011045e-03 9.98232382e-01 3.21174287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.56710568099993 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:222.27, Y:178.69, Z:32.11 [[ 9.97892647e-01 -2.68469669e-02 5.90720326e-02 2.22271646e+02] [ 2.64977444e-02 9.99626505e-01 6.68735193e-03 1.78691431e+02] [-5.92295046e-02 -5.10798370e-03 9.98231323e-01 3.21133770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.5971056809999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:222.31, Y:178.70, Z:32.11 [[ 9.98190300e-01 -1.12266382e-02 5.90769665e-02 2.22306371e+02] [ 1.08537946e-02 9.99919127e-01 6.62826495e-03 1.78695405e+02] [-5.91466019e-02 -5.97506052e-03 9.98231425e-01 3.21149932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.62710568099993 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:222.34, Y:178.70, Z:32.11 [[ 9.98248799e-01 -1.77139489e-03 5.91286557e-02 2.22340629e+02] [ 1.41886032e-03 9.99980972e-01 6.00361333e-03 1.78697103e+02] [-5.91381654e-02 -5.90920449e-03 9.98232317e-01 3.21133757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.6571056809999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:222.37, Y:178.70, Z:32.12 [[ 9.98218572e-01 7.59944988e-03 5.91771130e-02 2.22373386e+02] [-7.93358512e-03 9.99953875e-01 5.41345531e-03 1.78701695e+02] [-5.91332442e-02 -5.87329829e-03 9.98232820e-01 3.21168637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68710568099993 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:222.41, Y:178.70, Z:32.12 [[ 9.98192968e-01 1.04253775e-02 5.91786346e-02 2.22405281e+02] [-1.07633328e-02 9.99927520e-01 5.39487385e-03 1.78703075e+02] [-5.91181017e-02 -6.02208448e-03 9.98232831e-01 3.21155267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7171056809999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:222.43, Y:178.71, Z:32.11 [[ 9.98217916e-01 7.53684394e-03 5.91961772e-02 2.22434011e+02] [-7.85712387e-03 9.99955718e-01 5.17958502e-03 1.78705970e+02] [-5.91545181e-02 -5.63546626e-03 9.98232931e-01 3.21149322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74710568099994 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:222.46, Y:178.71, Z:32.11 [[ 9.98241117e-01 4.17173525e-03 5.91377071e-02 2.22461008e+02] [-4.52711112e-03 9.99972485e-01 5.87658902e-03 1.78708627e+02] [-5.91115643e-02 -6.13397576e-03 9.98232537e-01 3.21139194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7771056809999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:222.50, Y:178.71, Z:32.11 [[ 9.98252702e-01 -3.56502484e-04 5.90882052e-02 2.22495303e+02] [-2.57682309e-05 9.99979078e-01 6.46860462e-03 1.78706926e+02] [-5.90892750e-02 -6.45882464e-03 9.98231807e-01 3.21113913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.80710568099994 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:222.53, Y:178.70, Z:32.11 [[ 9.98245711e-01 -3.54325350e-03 5.91011549e-02 2.22527752e+02] [ 3.17568869e-03 9.99975036e-01 6.31201614e-03 1.78703448e+02] [-5.91220446e-02 -6.11325617e-03 9.98232043e-01 3.21059325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8371056809999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:222.56, Y:178.70, Z:32.10 [[ 9.98251238e-01 -1.39595583e-03 5.90975194e-02 2.22564862e+02] [ 1.02206954e-03 9.99979276e-01 6.35635360e-03 1.78700352e+02] [-5.91051679e-02 -6.28483607e-03 9.98231977e-01 3.21017417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.86710568099994 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:222.60, Y:178.70, Z:32.09 [[ 9.98238666e-01 -4.36107346e-03 5.91654127e-02 2.22603219e+02] [ 4.04256993e-03 9.99976693e-01 5.50190050e-03 1.78697869e+02] [-5.91880280e-02 -5.25302950e-03 9.98233030e-01 3.20907276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8971056809999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:222.63, Y:178.70, Z:32.09 [[ 9.98233329e-01 -4.26384703e-03 5.92624756e-02 2.22634792e+02] [ 4.01800231e-03 9.99982824e-01 4.26694923e-03 1.78698450e+02] [-5.92796513e-02 -4.02129417e-03 9.98233316e-01 3.20896399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9271056809999 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:222.66, Y:178.69, Z:32.09 [[ 9.98233771e-01 -4.34995893e-03 5.92487652e-02 2.22664672e+02] [ 4.09395681e-03 9.99981756e-01 4.44150397e-03 1.78694600e+02] [-5.92670046e-02 -4.19109738e-03 9.98233368e-01 3.20891928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9571056809999 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:222.70, Y:178.70, Z:32.08 [[ 9.98198830e-01 -9.60415148e-03 5.92187165e-02 2.22700339e+02] [ 9.33478436e-03 9.99944796e-01 4.82365177e-03 1.78695771e+02] [-5.92617745e-02 -4.26216960e-03 9.98233378e-01 3.20793263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9871056809999 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:222.73, Y:178.69, Z:32.08 [[ 9.98146025e-01 -1.37794619e-02 5.92843868e-02 2.22729001e+02] [ 1.35669421e-02 9.99900021e-01 3.98578667e-03 1.78694407e+02] [-5.93333816e-02 -3.17408928e-03 9.98233177e-01 3.20839961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0171056809999 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:222.76, Y:178.70, Z:32.08 [[ 9.98097892e-01 -1.70559884e-02 5.92426404e-02 2.22762454e+02] [ 1.68178118e-02 9.99848369e-01 4.51667362e-03 1.78695292e+02] [-5.93106937e-02 -3.51175084e-03 9.98233394e-01 3.20814076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0471056809999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:222.79, Y:178.70, Z:32.08 [[ 9.97937523e-01 -2.46556398e-02 5.92688779e-02 2.22794622e+02] [ 2.44506070e-02 9.99692291e-01 4.18221081e-03 1.78696635e+02] [-5.93537554e-02 -2.72442505e-03 9.98233294e-01 3.20832459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0771056809999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:222.83, Y:178.70, Z:32.08 [[ 9.97723077e-01 -3.21816277e-02 5.92706019e-02 2.22825627e+02] [ 3.19911424e-02 9.99479494e-01 4.16017199e-03 1.78697849e+02] [-5.93736323e-02 -2.25456534e-03 9.98233284e-01 3.20829110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1071056809999 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:222.85, Y:178.70, Z:32.08 [[ 9.97661257e-01 -3.40646919e-02 5.92588669e-02 2.22853450e+02] [ 3.38686121e-02 9.99416999e-01 4.31041008e-03 1.78699005e+02] [-5.93711517e-02 -2.29331356e-03 9.98233343e-01 3.20770576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1371056809999 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:222.89, Y:178.70, Z:32.08 [[ 9.97291497e-01 -4.36204037e-02 5.92193418e-02 2.22888275e+02] [ 4.34111213e-02 9.99045682e-01 4.81656614e-03 1.78703864e+02] [-5.93729283e-02 -2.23274243e-03 9.98233375e-01 3.20821242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1671056809999 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:222.92, Y:178.71, Z:32.08 [[ 9.97063732e-01 -4.84972698e-02 5.92615343e-02 2.22919251e+02] [ 4.83288175e-02 9.98822339e-01 4.27334953e-03 1.78707974e+02] [-5.93989900e-02 -1.39676195e-03 9.98233344e-01 3.20839756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1971056809999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:222.95, Y:178.71, Z:32.09 [[ 9.96641468e-01 -5.65327916e-02 5.92438070e-02 2.22950885e+02] [ 5.63649229e-02 9.98400083e-01 4.50214793e-03 1.78712518e+02] [-5.94035408e-02 -1.14775471e-03 9.98233391e-01 3.20852393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.2271056809999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:222.97, Y:178.72, Z:32.08 [[ 9.96387849e-01 -6.08421188e-02 5.92409610e-02 2.22970572e+02] [ 6.06796680e-02 9.98146971e-01 4.53896655e-03 1.78720039e+02] [-5.94073462e-02 -9.27849268e-04 9.98233393e-01 3.20815131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.2571056809999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:223.01, Y:178.72, Z:32.07 [[ 9.96226290e-01 -6.35677192e-02 5.90958980e-02 2.23013095e+02] [ 6.32983287e-02 9.97973992e-01 6.42128114e-03 1.78719835e+02] [-5.93843555e-02 -2.65637751e-03 9.98231658e-01 3.20749722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.2871056809999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:223.04, Y:178.73, Z:32.08 [[ 9.95826103e-01 -6.94309615e-02 5.92428443e-02 2.23037035e+02] [ 6.92870781e-02 9.97586695e-01 4.48193314e-03 1.78731649e+02] [-5.94110581e-02 -3.58462430e-04 9.98233539e-01 3.20753367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31710568099993 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:223.07, Y:178.74, Z:32.07 [[ 9.95878093e-01 -6.87659904e-02 5.91444220e-02 2.23068894e+02] [ 6.85443733e-02 9.97631382e-01 5.77011708e-03 1.78738646e+02] [-5.94011193e-02 -1.69231585e-03 9.98232760e-01 3.20679375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.3471056809999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:223.11, Y:178.74, Z:32.06 [[ 9.96124052e-01 -6.50801785e-02 5.91729913e-02 2.23106558e+02] [ 6.48746086e-02 9.97878864e-01 5.39057667e-03 1.78743899e+02] [-5.93982970e-02 -1.53085842e-03 9.98233189e-01 3.20592971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37710568099993 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:223.13, Y:178.75, Z:32.06 [[ 9.96037006e-01 -6.63349946e-02 5.92448413e-02 2.23133820e+02] [ 6.61889405e-02 9.97797289e-01 4.42643941e-03 1.78754402e+02] [-5.94079699e-02 -4.87544190e-04 9.98233668e-01 3.20583961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.4071056809999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:223.17, Y:178.76, Z:32.05 [[ 9.96430457e-01 -6.01963706e-02 5.91839670e-02 2.23170102e+02] [ 5.99910424e-02 9.98185153e-01 5.24164998e-03 1.78756664e+02] [-5.93920855e-02 -1.67243181e-03 9.98233331e-01 3.20529627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43710568099993 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:223.20, Y:178.77, Z:32.05 [[ 9.96603391e-01 -5.71942587e-02 5.92494541e-02 2.23203869e+02] [ 5.70362963e-02 9.98362606e-01 4.35519430e-03 1.78767360e+02] [-5.94015315e-02 -9.61031991e-04 9.98233707e-01 3.20461959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.4671056809999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:223.23, Y:178.77, Z:32.05 [[ 9.96898149e-01 -5.17656068e-02 5.92823995e-02 2.23232593e+02] [ 5.16246271e-02 9.98658913e-01 3.90823273e-03 1.78768636e+02] [-5.94052086e-02 -8.35678208e-04 9.98233601e-01 3.20474459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49710568099994 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:223.26, Y:178.77, Z:32.05 [[ 9.97144715e-01 -4.68339263e-02 5.92368204e-02 2.23264609e+02] [ 4.66475311e-02 9.98901156e-01 4.52630596e-03 1.78771633e+02] [-5.93837131e-02 -1.75013064e-03 9.98233696e-01 3.20510437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5271056809999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:223.30, Y:178.77, Z:32.04 [[ 9.97533962e-01 -3.76465878e-02 5.92345242e-02 2.23295801e+02] [ 3.74421710e-02 9.99288403e-01 4.55750243e-03 1.78769939e+02] [-5.93639476e-02 -2.32839427e-03 9.98233690e-01 3.20384326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55710568099994 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:223.32, Y:178.77, Z:32.04 [[ 9.97717785e-01 -3.23813648e-02 5.92508920e-02 2.23324806e+02] [ 3.21809122e-02 9.99472662e-01 4.33445574e-03 1.78769904e+02] [-5.93600023e-02 -2.41781583e-03 9.98233712e-01 3.20417774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5871056809999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:223.36, Y:178.77, Z:32.05 [[ 9.97857006e-01 -2.78460425e-02 5.92114387e-02 2.23357164e+02] [ 2.76057991e-02 9.99607016e-01 4.87168302e-03 1.78770029e+02] [-5.93238266e-02 -3.22666395e-03 9.98233576e-01 3.20459897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61710568099994 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:223.39, Y:178.77, Z:32.05 [[ 9.97984688e-01 -2.28439141e-02 5.92006690e-02 2.23390514e+02] [ 2.25862132e-02 9.99732303e-01 5.01859087e-03 1.78769550e+02] [-5.92994654e-02 -3.67135791e-03 9.98233487e-01 3.20508950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6471056809999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:223.42, Y:178.77, Z:32.05 [[ 9.98029184e-01 -2.07172323e-02 5.92329667e-02 2.23422816e+02] [ 2.04820324e-02 9.99779753e-01 4.57521113e-03 1.78771169e+02] [-5.93147065e-02 -3.35298268e-03 9.98233702e-01 3.20469544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6771056809999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:223.46, Y:178.77, Z:32.05 [[ 9.98102163e-01 -1.68325500e-02 5.92346031e-02 2.23456218e+02] [ 1.65918745e-02 9.99851981e-01 4.55262100e-03 1.78769148e+02] [-5.93024674e-02 -3.56116777e-03 9.98233708e-01 3.20484975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7071056809999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:223.49, Y:178.77, Z:32.05 [[ 9.98153069e-01 -1.33882734e-02 5.92554186e-02 2.23487527e+02] [ 1.31586471e-02 9.99904331e-01 4.26372244e-03 1.78768982e+02] [-5.93068336e-02 -3.47612650e-03 9.98233748e-01 3.20451511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7371056809999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:223.52, Y:178.77, Z:32.04 [[ 9.98217328e-01 -7.22212650e-03 5.92453185e-02 2.23519452e+02] [ 6.97339846e-03 9.99965988e-01 4.40395448e-03 1.78766503e+02] [-5.92751094e-02 -3.98296246e-03 9.98233739e-01 3.20358580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7671056809999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:223.55, Y:178.77, Z:32.04 [[ 9.98229255e-01 -5.28297892e-03 5.92489983e-02 2.23552256e+02] [ 5.03389084e-03 9.99977857e-01 4.35256034e-03 1.78766643e+02] [-5.92706809e-02 -4.04660007e-03 9.98233746e-01 3.20372918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7971056809999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:223.58, Y:178.77, Z:32.03 [[ 9.98237952e-01 -3.10925763e-03 5.92564254e-02 2.23584026e+02] [ 2.86250504e-03 9.99986878e-01 4.24858008e-03 1.78765866e+02] [-5.92688578e-02 -4.07147206e-03 9.98233753e-01 3.20266953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8271056809999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:223.62, Y:178.77, Z:32.02 [[ 9.98238063e-01 -2.68223723e-03 5.92754250e-02 2.23617351e+02] [ 2.45051522e-03 9.99989071e-01 3.98158858e-03 1.78766580e+02] [-5.92854567e-02 -3.82931794e-03 9.98233726e-01 3.20240646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8571056809999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:223.65, Y:178.77, Z:32.02 [[ 9.98239939e-01 -1.36300493e-03 5.92888466e-02 2.23647316e+02] [ 1.14015631e-03 9.99992159e-01 3.79236065e-03 1.78766061e+02] [-5.92935508e-02 -3.71808731e-03 9.98233665e-01 3.20174783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8871056809999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:223.68, Y:178.77, Z:32.02 [[ 9.98238210e-01 -2.71344262e-03 5.92715153e-02 2.23678577e+02] [ 2.47852159e-03 9.99988781e-01 4.03663082e-03 1.78766877e+02] [-5.92818035e-02 -3.88261340e-03 9.98233737e-01 3.20220395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.9171056809999 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:223.71, Y:178.77, Z:32.01 [[ 9.98232135e-01 -4.54202368e-03 5.92619230e-02 2.23711890e+02] [ 4.30231932e-03 9.99982043e-01 4.17179726e-03 1.78765455e+02] [-5.92798072e-02 -3.90945837e-03 9.98233751e-01 3.20117327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.9471056809999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:223.74, Y:178.76, Z:32.01 [[ 9.98195596e-01 -9.50433208e-03 5.92892858e-02 2.23744415e+02] [ 9.29619557e-03 9.99949625e-01 3.78536901e-03 1.78764463e+02] [-5.93222765e-02 -3.22737388e-03 9.98233666e-01 3.20113877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.9771056809999 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:223.77, Y:178.76, Z:32.01 [[ 9.98154184e-01 -1.31865543e-02 5.92818728e-02 2.23770159e+02] [ 1.29786719e-02 9.99908205e-01 3.89036611e-03 1.78763159e+02] [-5.93277316e-02 -3.11378524e-03 9.98233702e-01 3.20073758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.0071056809999 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:223.81, Y:178.76, Z:32.01 [[ 9.98057093e-01 -1.93675049e-02 5.92194189e-02 2.23806994e+02] [ 1.91184289e-02 9.99805849e-01 4.76973781e-03 1.78764863e+02] [-5.93002993e-02 -3.62828840e-03 9.98233595e-01 3.20117674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.0371056809999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:223.84, Y:178.77, Z:32.01 [[ 9.97990324e-01 -2.23932761e-02 5.92777703e-02 2.23839243e+02] [ 2.21986144e-02 9.99745815e-01 3.94045911e-03 1.78765063e+02] [-5.93509425e-02 -2.61665570e-03 9.98233750e-01 3.20120934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.06710568099993 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:223.87, Y:178.76, Z:32.02 [[ 9.97833725e-01 -2.85387301e-02 5.92739305e-02 2.23870434e+02] [ 2.83516383e-02 9.99590028e-01 3.99516432e-03 1.78763214e+02] [-5.93636467e-02 -2.30599665e-03 9.98233760e-01 3.20156757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.0971056809999 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:223.90, Y:178.76, Z:32.01 [[ 9.97683328e-01 -3.34020370e-02 5.92645092e-02 2.23904071e+02] [ 3.32155439e-02 9.99439681e-01 4.12939865e-03 1.78761699e+02] [-5.93692325e-02 -2.15132928e-03 9.98233773e-01 3.20132928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.12710568099993 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:223.94, Y:178.76, Z:32.01 [[ 9.97606090e-01 -3.56173904e-02 5.92747031e-02 2.23936209e+02] [ 3.54434587e-02 9.99363744e-01 3.98345847e-03 1.78761945e+02] [-5.93788696e-02 -1.87302193e-03 9.98233761e-01 3.20110852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.1571056809999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:223.97, Y:178.76, Z:32.01 [[ 9.97465614e-01 -3.93713182e-02 5.92642295e-02 2.23966145e+02] [ 3.91950871e-02 9.99223027e-01 4.13362509e-03 1.78760702e+02] [-5.93809291e-02 -1.80028225e-03 9.98233772e-01 3.20083640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18710568099993 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:224.00, Y:178.76, Z:32.01 [[ 9.97482797e-01 -3.89667961e-02 5.92423671e-02 2.23998764e+02] [ 3.87713047e-02 9.99238219e-01 4.44618426e-03 1.78762699e+02] [-5.93704909e-02 -2.13808845e-03 9.98233727e-01 3.20062502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2171056809999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:224.03, Y:178.76, Z:32.00 [[ 9.97445130e-01 -3.99172802e-02 5.92437631e-02 2.24032049e+02] [ 3.97246525e-02 9.99200861e-01 4.42611380e-03 1.78763318e+02] [-5.93730976e-02 -2.06136775e-03 9.98233733e-01 3.20034878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24710568099994 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:224.07, Y:178.76, Z:32.01 [[ 9.97353154e-01 -4.21437898e-02 5.92502034e-02 2.24065053e+02] [ 4.19606256e-02 9.99109871e-01 4.33271295e-03 1.78763521e+02] [-5.93800600e-02 -1.83506933e-03 9.98233761e-01 3.20087433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2771056809999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:224.10, Y:178.76, Z:32.01 [[ 9.97316365e-01 -4.30040772e-02 5.92513081e-02 2.24097329e+02] [ 4.28233846e-02 9.99073333e-01 4.31660494e-03 1.78762320e+02] [-5.93820335e-02 -1.76767919e-03 9.98233765e-01 3.20070832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.30710568099994 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:224.13, Y:178.76, Z:32.00 [[ 9.97296121e-01 -4.34731597e-02 5.92497416e-02 2.24131761e+02] [ 4.32919320e-02 9.99053040e-01 4.33953734e-03 1.78763097e+02] [-5.93822879e-02 -1.76276797e-03 9.98233758e-01 3.19999120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3371056809999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:224.16, Y:178.76, Z:32.00 [[ 9.97388556e-01 -4.12580425e-02 5.92776688e-02 2.24163407e+02] [ 4.10973501e-02 9.99147426e-01 3.92796050e-03 1.78761142e+02] [-5.93891901e-02 -1.48154775e-03 9.98233805e-01 3.19955752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.36710568099994 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:224.20, Y:178.76, Z:31.99 [[ 9.97379531e-01 -4.14932610e-02 5.92653472e-02 2.24197362e+02] [ 4.13221737e-02 9.99137421e-01 4.10998421e-03 1.78763896e+02] [-5.93847628e-02 -1.65024116e-03 9.98233804e-01 3.19880221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3971056809999 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:224.23, Y:178.77, Z:31.98 [[ 9.97730306e-01 -3.19158981e-02 5.92926016e-02 2.24227848e+02] [ 3.17519962e-02 9.99488913e-01 3.70463568e-03 1.78766610e+02] [-5.93805347e-02 -1.81356883e-03 9.98233772e-01 3.19844701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4271056809999 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:224.26, Y:178.77, Z:31.99 [[ 9.97981110e-01 -2.27674905e-02 5.92903540e-02 2.24257477e+02] [ 2.25854872e-02 9.99737927e-01 3.73811554e-03 1.78769462e+02] [-5.93599231e-02 -2.39146717e-03 9.98233780e-01 3.19856051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4571056809999 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:224.29, Y:178.77, Z:31.98 [[ 9.98205194e-01 -8.71274749e-03 5.92492993e-02 2.24291900e+02] [ 8.46988519e-03 9.99954673e-01 4.34889851e-03 1.78773442e+02] [-5.92845046e-02 -3.83925832e-03 9.98233744e-01 3.19824845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4871056809999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:224.32, Y:178.78, Z:31.99 [[ 9.98240042e-01 -1.73134454e-03 5.92774959e-02 2.24321167e+02] [ 1.50119423e-03 9.99991163e-01 3.92690429e-03 1.78777081e+02] [-5.92837709e-02 -3.83100607e-03 9.98233819e-01 3.19851223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5171056809999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:224.35, Y:178.78, Z:31.99 [[ 9.98220511e-01 6.81723635e-03 5.92396516e-02 2.24352916e+02] [-7.09580684e-03 9.99964729e-01 4.49334238e-03 1.78779243e+02] [-5.92069300e-02 -4.90569965e-03 9.98233677e-01 3.19886466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5471056809999 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:224.38, Y:178.78, Z:31.99 [[ 9.98202485e-01 9.05600548e-03 5.92434685e-02 2.24383251e+02] [-9.33510239e-03 9.99946588e-01 4.43594253e-03 1.78776662e+02] [-5.92001323e-02 -4.98101270e-03 9.98233707e-01 3.19900583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5771056809999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:224.41, Y:178.78, Z:31.99 [[ 9.98199856e-01 9.39334100e-03 5.92352307e-02 2.24413120e+02] [-9.68033619e-03 9.99942748e-01 4.55990440e-03 1.78775148e+02] [-5.91890066e-02 -5.12511286e-03 9.98233637e-01 3.19883009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6071056809999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:224.45, Y:178.77, Z:31.99 [[ 9.98219896e-01 7.02701246e-03 5.92254983e-02 2.24446895e+02] [-7.31858467e-03 9.99962138e-01 4.70760820e-03 1.78768394e+02] [-5.91901755e-02 -5.13267499e-03 9.98233529e-01 3.19869681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6371056809999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:224.48, Y:178.77, Z:31.99 [[ 9.98223422e-01 6.40350022e-03 5.92367696e-02 2.24479524e+02] [-6.68381860e-03 9.99967379e-01 4.53523964e-03 1.78766061e+02] [-5.92057958e-02 -4.92311026e-03 9.98233658e-01 3.19852721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6671056809999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:224.51, Y:178.76, Z:31.98 [[ 9.98231880e-01 4.94364880e-03 5.92340606e-02 2.24512711e+02] [-5.22390134e-03 9.99975879e-01 4.57735466e-03 1.78756794e+02] [-5.92100030e-02 -4.87869424e-03 9.98233627e-01 3.19821242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6971056809999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:224.54, Y:178.75, Z:31.98 [[ 9.98243876e-01 4.42536432e-04 5.92365454e-02 2.24541656e+02] [-7.12626634e-04 9.99989447e-01 4.53847223e-03 1.78748283e+02] [-5.92339119e-02 -4.57271565e-03 9.98233657e-01 3.19774156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.7271056809999 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:224.57, Y:178.74, Z:31.98 [[ 9.98245681e-01 -5.95659983e-04 5.92047737e-02 2.24574792e+02] [ 2.99014624e-04 9.99987359e-01 5.01923042e-03 1.78743931e+02] [-5.92070150e-02 -4.99272200e-03 9.98233240e-01 3.19760911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.7571056809999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:224.61, Y:178.73, Z:31.97 [[ 9.98242467e-01 -2.55088138e-03 5.92070196e-02 2.24611222e+02] [ 2.25966470e-03 9.99985022e-01 4.98504941e-03 1.78732890e+02] [-5.92188490e-02 -4.84250000e-03 9.98233278e-01 3.19680239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.7871056809999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:224.64, Y:178.73, Z:31.96 [[ 9.98237390e-01 -3.29352270e-03 5.92559386e-02 2.24644284e+02] [ 3.04811349e-03 9.99986402e-01 4.23142502e-03 1.78729381e+02] [-5.92690691e-02 -4.04334784e-03 9.98233855e-01 3.19638349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81710568099993 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:224.68, Y:178.72, Z:31.96 [[ 9.98229707e-01 -5.03829228e-03 5.92626993e-02 2.24677401e+02] [ 4.80213801e-03 9.99979955e-01 4.12661719e-03 1.78720704e+02] [-5.92823024e-02 -3.83472421e-03 9.98233892e-01 3.19576090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.8471056809999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:224.71, Y:178.71, Z:31.96 [[ 9.98224276e-01 -5.96039563e-03 5.92686153e-02 2.24710691e+02] [ 5.73132629e-03 9.99975438e-01 4.03417903e-03 1.78712772e+02] [-5.92912048e-02 -3.68732766e-03 9.98233919e-01 3.19554500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87710568099993 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:224.74, Y:178.71, Z:31.96 [[ 9.98212803e-01 -7.66156651e-03 5.92663558e-02 2.24744117e+02] [ 7.43338497e-03 9.99964091e-01 4.06961658e-03 1.78710889e+02] [-5.92954072e-02 -3.62179373e-03 9.98233909e-01 3.19556891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.9071056809999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:224.77, Y:178.71, Z:31.95 [[ 9.98187931e-01 -1.02939458e-02 5.92865017e-02 2.24774640e+02] [ 1.00892321e-02 9.99942066e-01 3.75127090e-03 1.78706434e+02] [-5.93216824e-02 -3.14631807e-03 9.98233960e-01 3.19537726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93710568099993 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:224.81, Y:178.70, Z:31.95 [[ 9.98183673e-01 -1.08638147e-02 5.92564959e-02 2.24808361e+02] [ 1.06319482e-02 9.99934546e-01 4.22681821e-03 1.78703210e+02] [-5.92985367e-02 -3.58912893e-03 9.98233841e-01 3.19533768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.9671056809999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:224.84, Y:178.70, Z:31.96 [[ 9.98073917e-01 -1.83167877e-02 5.92701583e-02 2.24840975e+02] [ 1.81108957e-02 9.99827946e-01 4.00915988e-03 1.78696942e+02] [-5.93333956e-02 -2.92800224e-03 9.98233928e-01 3.19555053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99710568099994 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:224.87, Y:178.70, Z:31.95 [[ 9.97944081e-01 -2.43561835e-02 5.92822716e-02 2.24873874e+02] [ 2.41724572e-02 9.99700526e-01 3.81444353e-03 1.78696207e+02] [-5.93574234e-02 -2.37360317e-03 9.98233972e-01 3.19546407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0271056809999 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:224.91, Y:178.69, Z:31.96 [[ 9.97655895e-01 -3.41843351e-02 5.92802434e-02 2.24906701e+02] [ 3.40159667e-02 9.99413884e-01 3.84731053e-03 1.78690641e+02] [-5.93770161e-02 -1.82181724e-03 9.98233966e-01 3.19573418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.05710568099994 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:224.94, Y:178.69, Z:31.96 [[ 9.97484429e-01 -3.88477015e-02 5.92930802e-02 2.24940414e+02] [ 3.86999796e-02 9.99244252e-01 3.63812113e-03 1.78688877e+02] [-5.93896022e-02 -1.33432818e-03 9.98233988e-01 3.19557809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0871056809999 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:224.97, Y:178.68, Z:31.95 [[ 9.97138767e-01 -4.68876080e-02 5.92944415e-02 2.24972714e+02] [ 4.67554048e-02 9.98899824e-01 3.61579853e-03 1.78682486e+02] [-5.93987433e-02 -8.33117282e-04 9.98233988e-01 3.19515982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.11710568099994 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:225.01, Y:178.68, Z:31.95 [[ 9.96915825e-01 -5.14087351e-02 5.92956919e-02 2.25006499e+02] [ 5.12857454e-02 9.98677549e-01 3.59517550e-03 1.78678461e+02] [-5.94020997e-02 -5.43063591e-04 9.98233988e-01 3.19487674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1471056809999 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:225.04, Y:178.68, Z:31.94 [[ 9.96915061e-01 -5.14220573e-02 5.92969902e-02 2.25036383e+02] [ 5.13003724e-02 9.98676875e-01 3.57363218e-03 1.78679594e+02] [-5.94022964e-02 -5.20650058e-04 9.98233989e-01 3.19448952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1771056809999 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:225.07, Y:178.68, Z:31.95 [[ 9.97230318e-01 -4.49267326e-02 5.92729502e-02 2.25070412e+02] [ 4.47698935e-02 9.98989429e-01 3.97206222e-03 1.78679661e+02] [-5.93915025e-02 -1.30741719e-03 9.98233911e-01 3.19472012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2071056809999 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:225.10, Y:178.68, Z:31.95 [[ 9.97479320e-01 -3.89706174e-02 5.92983680e-02 2.25103931e+02] [ 3.88285118e-02 9.99239593e-01 3.54725193e-03 1.78681773e+02] [-5.93915156e-02 -1.23584307e-03 9.98234001e-01 3.19476016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2371056809999 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:225.13, Y:178.69, Z:31.95 [[ 9.97883493e-01 -2.66849896e-02 5.92996209e-02 2.25133580e+02] [ 2.65224701e-02 9.99641998e-01 3.52618199e-03 1.78685613e+02] [-5.93724876e-02 -1.94594638e-03 9.98234001e-01 3.19503856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2671056809999 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:225.17, Y:178.69, Z:31.95 [[ 9.98033694e-01 -2.03562312e-02 5.92821253e-02 2.25167036e+02] [ 2.01650299e-02 9.99789361e-01 3.82179477e-03 1.78687923e+02] [-5.93474355e-02 -2.61885412e-03 9.98233952e-01 3.19466639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2971056809999 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:225.20, Y:178.69, Z:31.94 [[ 9.98173133e-01 -1.16482230e-02 5.92850332e-02 2.25197192e+02] [ 1.14446397e-02 9.99927392e-01 3.77237618e-03 1.78692977e+02] [-5.93246701e-02 -3.08698871e-03 9.98233968e-01 3.19372305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3271056809999 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:225.23, Y:178.70, Z:31.94 [[ 9.98204112e-01 -8.61081548e-03 5.92824122e-02 2.25231696e+02] [ 8.39925010e-03 9.99957441e-01 3.81703472e-03 1.78695815e+02] [-5.93127569e-02 -3.31225195e-03 9.98233953e-01 3.19351841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3571056809999 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:225.26, Y:178.70, Z:31.94 [[ 9.98228244e-01 -4.84654470e-03 5.93033167e-02 2.25260610e+02] [ 4.64959103e-03 9.99983209e-01 3.45866383e-03 1.78702248e+02] [-5.93190836e-02 -3.17679975e-03 9.98234018e-01 3.19375272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3871056809999 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:225.30, Y:178.70, Z:31.94 [[ 9.98237134e-01 -2.94623902e-03 5.92785312e-02 2.25295013e+02] [ 2.72081150e-03 9.99988759e-01 3.88320740e-03 1.78704452e+02] [-5.92893057e-02 -3.71507611e-03 9.98233929e-01 3.19371677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.4171056809999 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:225.32, Y:178.71, Z:31.93 [[ 9.98237401e-01 2.25112742e-03 5.93044967e-02 2.25324512e+02] [-2.45915428e-03 9.99991077e-01 3.43502534e-03 1.78707519e+02] [-5.92962349e-02 -3.57480968e-03 9.98234029e-01 3.19311317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.4471056809999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:225.36, Y:178.71, Z:31.92 [[ 9.98228577e-01 5.07654919e-03 5.92784675e-02 2.25356919e+02] [-5.31609065e-03 9.99978327e-01 3.88394720e-03 1.78708783e+02] [-5.92574657e-02 -4.19219679e-03 9.98233930e-01 3.19240866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.4771056809999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:225.39, Y:178.71, Z:31.92 [[ 9.98201676e-01 8.77183787e-03 5.92998297e-02 2.25388292e+02] [-8.99591176e-03 9.99953366e-01 3.51274847e-03 1.78709608e+02] [-5.92662510e-02 -4.03988745e-03 9.98234036e-01 3.19242306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.5071056809999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:225.42, Y:178.71, Z:31.92 [[ 9.98164999e-01 1.23271212e-02 5.92847087e-02 2.25421795e+02] [-1.25729718e-02 9.99913829e-01 3.77570231e-03 1.78710359e+02] [-5.92330565e-02 -4.51415886e-03 9.98233974e-01 3.19239441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.5371056809999 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:225.45, Y:178.71, Z:31.93 [[ 9.98131363e-01 1.47133560e-02 5.93068321e-02 2.25450917e+02] [-1.49405135e-02 9.99882642e-01 3.38857676e-03 1.78710258e+02] [-5.92500147e-02 -4.26831927e-03 9.98234049e-01 3.19270225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.56710568099993 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:225.48, Y:178.71, Z:31.92 [[ 9.98139049e-01 1.43073178e-02 5.92768031e-02 2.25483154e+02] [-1.45648153e-02 9.99886266e-01 3.91418348e-03 1.78706394e+02] [-5.92140599e-02 -4.77025507e-03 9.98233910e-01 3.19174496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.5971056809999 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:225.51, Y:178.70, Z:31.91 [[ 9.98153789e-01 1.32414860e-02 5.92762658e-02 2.25514771e+02] [-1.34976727e-02 9.99901204e-01 3.92358277e-03 1.78704704e+02] [-5.92184555e-02 -4.71643064e-03 9.98233905e-01 3.19141995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.62710568099993 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:225.55, Y:178.70, Z:31.91 [[ 9.98179854e-01 1.10942800e-02 5.92781226e-02 2.25547199e+02] [-1.13447809e-02 9.99928076e-01 3.89097528e-03 1.78701801e+02] [-5.92306915e-02 -4.55639045e-03 9.98233923e-01 3.19054619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.6571056809999 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:225.58, Y:178.70, Z:31.91 [[ 9.98194003e-01 9.65137898e-03 5.92923495e-02 2.25577705e+02] [-9.88453522e-03 9.99944521e-01 3.64027160e-03 1.78702489e+02] [-5.92539264e-02 -4.21977460e-03 9.98234024e-01 3.19072667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.68710568099993 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:225.61, Y:178.70, Z:31.90 [[ 9.98206801e-01 8.21268670e-03 5.92936330e-02 2.25609321e+02] [-8.44197777e-03 9.99957822e-01 3.61757752e-03 1.78700892e+02] [-5.92614221e-02 -4.11164601e-03 9.98234030e-01 3.19033637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7171056809999 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:225.64, Y:178.70, Z:31.91 [[ 9.98239807e-01 1.43562000e-03 5.92893492e-02 2.25642390e+02] [-1.65752351e-03 9.99991805e-01 3.69371105e-03 1.78699438e+02] [-5.92835605e-02 -3.78548290e-03 9.98234005e-01 3.19063784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.74710568099994 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:225.67, Y:178.70, Z:31.90 [[ 9.98239372e-01 -6.75490909e-04 5.93102045e-02 2.25673936e+02] [ 4.79340098e-04 9.99994369e-01 3.32136692e-03 1.78699273e+02] [-5.93121141e-02 -3.28708947e-03 9.98234075e-01 3.19041133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7771056809999 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:225.71, Y:178.70, Z:31.90 [[ 9.98223049e-01 -5.86065084e-03 5.92992199e-02 2.25705472e+02] [ 5.66196264e-03 9.99977782e-01 3.51807373e-03 1.78696275e+02] [-5.93185206e-02 -3.17607232e-03 9.98234054e-01 3.18983527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.80710568099994 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:225.74, Y:178.70, Z:31.90 [[ 9.98204437e-01 -8.48458715e-03 5.92951439e-02 2.25738188e+02] [ 8.28620601e-03 9.99959222e-01 3.59074192e-03 1.78696072e+02] [-5.93231919e-02 -3.09296274e-03 9.98234037e-01 3.18968026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8371056809999 meters Centerline goodness : 0.997144 Centerline is valid? [True, True] Translation: X:225.77, Y:178.70, Z:31.90 [[ 9.98199630e-01 -8.98158700e-03 5.93028621e-02 2.25769411e+02] [ 8.79226499e-03 9.99955387e-01 3.45262671e-03 1.78695257e+02] [-5.93312265e-02 -2.92500423e-03 9.98234066e-01 3.19011937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.86710568099994 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:225.80, Y:178.70, Z:31.89 [[ 9.98203682e-01 -8.58229100e-03 5.92937923e-02 2.25799205e+02] [ 8.38263964e-03 9.99958330e-01 3.61507709e-03 1.78696449e+02] [-5.93223472e-02 -3.11154477e-03 9.98234029e-01 3.18949136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8971056809999 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:225.83, Y:178.69, Z:31.90 [[ 9.98239432e-01 -1.35664447e-03 5.92975291e-02 2.25830977e+02] [ 1.14833595e-03 9.99993051e-01 3.54687326e-03 1.78692840e+02] [-5.93019289e-02 -3.47253526e-03 9.98234052e-01 3.19012862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9271056809999 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:225.87, Y:178.69, Z:31.89 [[ 9.98220256e-01 6.34822839e-03 5.92960349e-02 2.25865173e+02] [-6.57168883e-03 9.99972018e-01 3.57430572e-03 1.78691375e+02] [-5.92716852e-02 -3.95761946e-03 9.98234043e-01 3.18912749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9571056809999 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:225.90, Y:178.69, Z:31.89 [[ 9.98098837e-01 1.67365794e-02 5.93177763e-02 2.25897443e+02] [-1.69544909e-02 9.99851230e-01 3.17220589e-03 1.78691784e+02] [-5.92558597e-02 -4.17187771e-03 9.98234110e-01 3.18929161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9871056809999 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:225.93, Y:178.69, Z:31.89 [[ 9.98023812e-01 2.07318682e-02 5.93182948e-02 2.25929229e+02] [-2.09562250e-02 9.99775392e-01 3.16259754e-03 1.78693671e+02] [-5.92394049e-02 -4.39943518e-03 9.98234110e-01 3.18928591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0171056809999 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:225.96, Y:178.69, Z:31.89 [[ 9.97887945e-01 2.64798576e-02 5.93166667e-02 2.25960793e+02] [-2.67160856e-02 9.99637963e-01 3.19284512e-03 1.78690967e+02] [-5.92106458e-02 -4.77081080e-03 9.98234110e-01 3.18899412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0471056809999 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:225.99, Y:178.69, Z:31.88 [[ 9.97832495e-01 2.84926071e-02 5.93168118e-02 2.25991624e+02] [-2.87322052e-02 9.99582054e-01 3.19014649e-03 1.78688507e+02] [-5.92011250e-02 -4.88753464e-03 9.98234110e-01 3.18849927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0771056809999 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:226.02, Y:178.69, Z:31.88 [[ 9.97833617e-01 2.84456405e-02 5.93204750e-02 2.26021509e+02] [-2.86811245e-02 9.99583737e-01 3.12186662e-03 1.78690148e+02] [-5.92069786e-02 -4.81648140e-03 9.98234108e-01 3.18832357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1071056809999 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:226.05, Y:178.69, Z:31.88 [[ 9.97877246e-01 2.68717834e-02 5.93203882e-02 2.26051123e+02] [-2.71046023e-02 9.99627723e-01 3.12348380e-03 1.78687223e+02] [-5.92143710e-02 -4.72470894e-03 9.98234109e-01 3.18772127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1371056809999 meters Centerline goodness : 0.997076 Centerline is valid? [True, True] Translation: X:226.08, Y:178.69, Z:31.88 [[ 9.97952529e-01 2.39220608e-02 5.93168172e-02 2.26082028e+02] [-2.41536404e-02 9.99703168e-01 3.19009991e-03 1.78687305e+02] [-5.92228963e-02 -4.61628535e-03 9.98234110e-01 3.18777996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1671056809999 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:226.11, Y:178.68, Z:31.88 [[ 9.98098516e-01 1.67573080e-02 5.93173329e-02 2.26113492e+02] [-1.69757454e-02 9.99850843e-01 3.18048290e-03 1.78682845e+02] [-5.92551889e-02 -4.18139120e-03 9.98234110e-01 3.18756488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1971056809999 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:226.14, Y:178.68, Z:31.87 [[ 9.98159300e-01 1.26232006e-02 5.93183445e-02 2.26144897e+02] [-1.28332552e-02 9.99912652e-01 3.16150181e-03 1.78681307e+02] [-5.92732549e-02 -3.91692988e-03 9.98234110e-01 3.18717367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.2271056809999 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:226.18, Y:178.68, Z:31.87 [[ 9.98238105e-01 1.72447149e-03 5.93103099e-02 2.26177063e+02] [-1.92431194e-03 9.99992662e-01 3.31245399e-03 1.78679072e+02] [-5.93041624e-02 -3.42074933e-03 9.98234098e-01 3.18722308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.2571056809999 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:226.21, Y:178.68, Z:31.87 [[ 9.98224120e-01 -5.46076915e-03 5.93193642e-02 2.26209700e+02] [ 5.28369724e-03 9.99981107e-01 3.14150294e-03 1.78675582e+02] [-5.93353984e-02 -2.82249845e-03 9.98234113e-01 3.18685339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.2871056809999 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:226.24, Y:178.68, Z:31.87 [[ 9.98197026e-01 -9.14686089e-03 5.93214265e-02 2.26240962e+02] [ 8.97860116e-03 9.99954879e-01 3.10233949e-03 1.78676451e+02] [-5.93471265e-02 -2.56412262e-03 9.98234113e-01 3.18687274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31710568099993 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:226.27, Y:178.68, Z:31.86 [[ 9.98196569e-01 -9.20008523e-03 5.93209001e-02 2.26273527e+02] [ 9.03132411e-03 9.99954373e-01 3.11237242e-03 1.78675639e+02] [-5.93468275e-02 -2.57101320e-03 9.98234113e-01 3.18641281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.3471056809999 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:226.31, Y:178.68, Z:31.86 [[ 9.98208376e-01 -7.81181265e-03 5.93212696e-02 2.26305987e+02] [ 7.64102562e-03 9.99965985e-01 3.10531391e-03 1.78676626e+02] [-5.93435099e-02 -2.64647501e-03 9.98234113e-01 3.18613606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37710568099993 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:226.34, Y:178.68, Z:31.86 [[ 9.98233472e-01 -3.28527968e-03 5.93223607e-02 2.26338869e+02] [ 3.10776853e-03 9.99990414e-01 3.08432817e-03 1.78678112e+02] [-5.93319249e-02 -2.89451945e-03 9.98234113e-01 3.18612754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.4071056809999 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:226.37, Y:178.68, Z:31.86 [[ 9.98238471e-01 8.72468936e-04 5.93227924e-02 2.26370997e+02] [-1.05680295e-03 9.99994711e-01 3.07600224e-03 1.78679630e+02] [-5.93197949e-02 -3.13327627e-03 9.98234113e-01 3.18593778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43710568099993 meters Centerline goodness : 0.995650 Centerline is valid? [True, True] Translation: X:226.40, Y:178.68, Z:31.85 [[ 9.98176232e-01 1.11795443e-02 5.93230774e-02 2.26403417e+02] [-1.13816762e-02 9.99930512e-01 3.07049503e-03 1.78678651e+02] [-5.92846285e-02 -3.74009122e-03 9.98234113e-01 3.18515348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.4671056809999 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:226.43, Y:178.68, Z:31.86 [[ 9.98106795e-01 1.61933218e-02 5.93346632e-02 2.26434430e+02] [-1.63909577e-02 9.99861610e-01 2.84564623e-03 1.78677718e+02] [-5.92803714e-02 -3.81281079e-03 9.98234091e-01 3.18569305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49710568099994 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:226.46, Y:178.68, Z:31.85 [[ 9.98070583e-01 1.83273488e-02 5.93230185e-02 2.26464526e+02] [-1.85421340e-02 9.99823360e-01 3.07211416e-03 1.78678241e+02] [-5.92562360e-02 -4.16616212e-03 9.98234112e-01 3.18521753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5271056809999 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:226.50, Y:178.68, Z:31.85 [[ 9.97993978e-01 2.21039119e-02 5.93248430e-02 2.26496790e+02] [-2.23232207e-02 9.99746195e-01 3.03646796e-03 1.78675514e+02] [-5.92426682e-02 -4.35469831e-03 9.98234112e-01 3.18514505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.55710568099994 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:226.53, Y:178.67, Z:31.85 [[ 9.97928219e-01 2.48938726e-02 5.93259246e-02 2.26529345e+02] [-2.51168214e-02 9.99679976e-01 3.01518815e-03 1.78673235e+02] [-5.92318791e-02 -4.49901999e-03 9.98234113e-01 3.18451135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5871056809999 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:226.56, Y:178.67, Z:31.85 [[ 9.97861121e-01 2.74331265e-02 5.93346964e-02 2.26559626e+02] [-2.76503148e-02 9.99613616e-01 2.84230619e-03 1.78669459e+02] [-5.92337971e-02 -4.47684988e-03 9.98234098e-01 3.18515389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.61710568099994 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:226.59, Y:178.67, Z:31.85 [[ 9.97928364e-01 2.49094334e-02 5.93169526e-02 2.26589795e+02] [-2.51428691e-02 9.99678771e-01 3.19218057e-03 1.78671045e+02] [-5.92183829e-02 -4.67696591e-03 9.98234095e-01 3.18459646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6471056809999 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:226.62, Y:178.66, Z:31.85 [[ 9.97882897e-01 2.66461889e-02 5.93271012e-02 2.26620268e+02] [-2.68707777e-02 9.99634441e-01 2.99089768e-03 1.78664749e+02] [-5.92257176e-02 -4.57873098e-03 9.98234116e-01 3.18505800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6771056809999 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:226.65, Y:178.67, Z:31.84 [[ 9.97942465e-01 2.43482310e-02 5.93127365e-02 2.26652661e+02] [-2.45857253e-02 9.99692353e-01 3.27752505e-03 1.78665225e+02] [-5.92146872e-02 -4.72902807e-03 9.98234069e-01 3.18411202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7071056809999 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:226.69, Y:178.66, Z:31.84 [[ 9.97976757e-01 2.28372639e-02 5.93367651e-02 2.26685101e+02] [-2.30436933e-02 9.99730546e-01 2.79691641e-03 1.78662962e+02] [-5.92569027e-02 -4.15859579e-03 9.98234104e-01 3.18403189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7371056809999 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:226.72, Y:178.66, Z:31.84 [[ 9.97994742e-01 2.20462953e-02 5.93334245e-02 2.26715762e+02] [-2.22553067e-02 9.99748218e-01 2.86406222e-03 1.78662150e+02] [-5.92553434e-02 -4.17880260e-03 9.98234112e-01 3.18420340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7671056809999 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:226.75, Y:178.66, Z:31.84 [[ 9.98059146e-01 1.89387542e-02 5.93233927e-02 2.26749160e+02] [-1.91542211e-02 9.99811842e-01 3.06548184e-03 1.78657423e+02] [-5.92541741e-02 -4.19582557e-03 9.98234110e-01 3.18414158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7971056809999 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:226.78, Y:178.65, Z:31.84 [[ 9.98109608e-01 1.60380148e-02 5.93295257e-02 2.26780505e+02] [-1.62410678e-02 9.99863778e-01 2.94180218e-03 1.78653077e+02] [-5.92742630e-02 -3.89981586e-03 9.98234117e-01 3.18390492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8271056809999 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:226.81, Y:178.65, Z:31.83 [[ 9.98113388e-01 1.58431090e-02 5.93182953e-02 2.26812357e+02] [-1.60592860e-02 9.99866018e-01 3.16937731e-03 1.78649352e+02] [-5.92601350e-02 -4.11600739e-03 9.98234088e-01 3.18309997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8571056809999 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:226.84, Y:178.65, Z:31.83 [[ 9.98201063e-01 8.65351855e-03 5.93275162e-02 2.26843970e+02] [-8.84592026e-03 9.99956430e-01 2.98117142e-03 1.78645948e+02] [-5.92991337e-02 -3.50061496e-03 9.98234120e-01 3.18320288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8871056809999 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:226.88, Y:178.64, Z:31.82 [[ 9.98228904e-01 4.38564824e-03 5.93280788e-02 2.26875592e+02] [-4.56986141e-03 9.99985149e-01 2.96966704e-03 1.78639689e+02] [-5.93141737e-02 -3.23552857e-03 9.98234121e-01 3.18191284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.9171056809999 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:226.91, Y:178.64, Z:31.82 [[ 9.98237481e-01 1.06591525e-03 5.93362851e-02 2.26908999e+02] [-1.23430028e-03 9.99995315e-01 2.80122935e-03 1.78638858e+02] [-5.93330212e-02 -2.86953092e-03 9.98234120e-01 3.18185101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.9471056809999 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:226.94, Y:178.63, Z:31.82 [[ 9.98226297e-01 -4.76086975e-03 5.93430194e-02 2.26942553e+02] [ 4.61098923e-03 9.99985825e-01 2.66234468e-03 1.78634703e+02] [-5.93548533e-02 -2.38399245e-03 9.98234100e-01 3.18190076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.9771056809999 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:226.97, Y:178.63, Z:31.81 [[ 9.98214562e-01 -6.74810540e-03 5.93477084e-02 2.26972097e+02] [ 6.60749228e-03 9.99974880e-01 2.56523606e-03 1.78632794e+02] [-5.93635280e-02 -2.16851647e-03 9.98234075e-01 3.18149933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.0071056809999 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:227.00, Y:178.63, Z:31.81 [[ 9.98161705e-01 -1.23647312e-02 5.93323231e-02 2.27003054e+02] [ 1.22151292e-02 9.99921235e-01 2.88347176e-03 1.78628275e+02] [-5.93633032e-02 -2.15341909e-03 9.98234121e-01 3.18112727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.0371056809999 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:227.04, Y:178.63, Z:31.81 [[ 9.98117183e-01 -1.55598023e-02 5.93294380e-02 2.27036540e+02] [ 1.54122681e-02 9.99876891e-01 2.94351592e-03 1.78627943e+02] [-5.93679346e-02 -2.02357261e-03 9.98234118e-01 3.18095108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.06710568099993 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:227.07, Y:178.63, Z:31.81 [[ 9.98044975e-01 -1.96298273e-02 5.93371622e-02 2.27068957e+02] [ 1.94990860e-02 9.99806005e-01 2.78163579e-03 1.78627031e+02] [-5.93802541e-02 -1.61917719e-03 9.98234123e-01 3.18142865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.0971056809999 meters Centerline goodness : 0.996987 Centerline is valid? [True, True] Translation: X:227.10, Y:178.63, Z:31.81 [[ 9.98052193e-01 -1.92428464e-02 5.93425129e-02 2.27098227e+02] [ 1.91181218e-02 9.99813670e-01 2.66887114e-03 1.78628243e+02] [-5.93828123e-02 -1.52915531e-03 9.98234112e-01 3.18144521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12710568099993 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:227.13, Y:178.63, Z:31.81 [[ 9.98089374e-01 -1.72862775e-02 5.93193516e-02 2.27132446e+02] [ 1.71290312e-02 9.99848299e-01 3.15834821e-03 1.78627161e+02] [-5.93649489e-02 -2.13623076e-03 9.98234060e-01 3.18099728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.1571056809999 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:227.16, Y:178.63, Z:31.81 [[ 9.98090894e-01 -1.71262681e-02 5.93401991e-02 2.27164350e+02] [ 1.69949954e-02 9.99851885e-01 2.71622508e-03 1.78629349e+02] [-5.93779287e-02 -1.70255310e-03 9.98234122e-01 3.18074851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.18710568099993 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:227.20, Y:178.63, Z:31.81 [[ 9.98052751e-01 -1.92403310e-02 5.93339385e-02 2.27196066e+02] [ 1.91048882e-02 9.99813425e-01 2.84921251e-03 1.78631169e+02] [-5.93776881e-02 -1.71009612e-03 9.98234124e-01 3.18101868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2171056809999 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:227.23, Y:178.63, Z:31.81 [[ 9.97990127e-01 -2.22439339e-02 5.93372881e-02 2.27228101e+02] [ 2.21180421e-02 9.99751508e-01 2.77766018e-03 1.78630418e+02] [-5.93843294e-02 -1.45965280e-03 9.98234126e-01 3.18097845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.24710568099994 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:227.26, Y:178.63, Z:31.81 [[ 9.98016792e-01 -2.10128136e-02 5.93375467e-02 2.27257663e+02] [ 2.08850779e-02 9.99778040e-01 2.77212524e-03 1.78630327e+02] [-5.93826263e-02 -1.52735825e-03 9.98234126e-01 3.18098892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2771056809999 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:227.29, Y:178.63, Z:31.81 [[ 9.97893002e-01 -2.63226186e-02 5.93015794e-02 2.27290759e+02] [ 2.61586174e-02 9.99651536e-01 3.54029082e-03 1.78630887e+02] [-5.93741047e-02 -1.98158410e-03 9.98233835e-01 3.18074825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.30710568099994 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:227.33, Y:178.63, Z:31.80 [[ 9.97716144e-01 -3.23397462e-02 5.93012393e-02 2.27326223e+02] [ 3.21859159e-02 9.99475603e-01 3.54763987e-03 1.78632712e+02] [-5.93848716e-02 -1.63087287e-03 9.98233829e-01 3.18037067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3371056809999 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:227.36, Y:178.63, Z:31.80 [[ 9.97523822e-01 -3.77496249e-02 5.93396173e-02 2.27355112e+02] [ 3.76553381e-02 9.99287120e-01 2.70674473e-03 1.78634769e+02] [-5.93994939e-02 -4.65588996e-04 9.98234183e-01 3.18014701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.36710568099994 meters Centerline goodness : 0.996986 Centerline is valid? [True, True] Translation: X:227.39, Y:178.63, Z:31.80 [[ 9.97457355e-01 -3.95097388e-02 5.93110933e-02 2.27386254e+02] [ 3.93813468e-02 9.99218697e-01 3.33252466e-03 1.78634947e+02] [-5.93964205e-02 -9.88300495e-04 9.98233985e-01 3.18041358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3971056809999 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:227.42, Y:178.64, Z:31.81 [[ 9.97171527e-01 -4.61716425e-02 5.93053571e-02 2.27415962e+02] [ 4.60476082e-02 9.98933264e-01 3.45712039e-03 1.78637291e+02] [-5.94017149e-02 -7.16472167e-04 9.98233902e-01 3.18058964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4271056809999 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:227.45, Y:178.64, Z:31.80 [[ 9.97052440e-01 -4.86980619e-02 5.92868484e-02 2.27446933e+02] [ 4.85541956e-02 9.98813069e-01 3.86563744e-03 1.78638457e+02] [-5.94047281e-02 -9.75618004e-04 9.98233503e-01 3.18000587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4571056809999 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:227.49, Y:178.64, Z:31.81 [[ 9.96538341e-01 -5.82876526e-02 5.92780287e-02 2.27485459e+02] [ 5.81490206e-02 9.98299648e-01 4.06245842e-03 1.78642153e+02] [-5.94140264e-02 -6.01436264e-04 9.98233245e-01 3.18056516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4871056809999 meters Centerline goodness : 0.996930 Centerline is valid? [True, True] Translation: X:227.51, Y:178.65, Z:31.80 [[ 9.96425739e-01 -6.01185408e-02 5.93422856e-02 2.27509938e+02] [ 6.00705545e-02 9.98190764e-01 2.59385766e-03 1.78649807e+02] [-5.93908603e-02 9.80137468e-04 9.98234324e-01 3.18016489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5171056809999 meters Centerline goodness : 0.996592 Centerline is valid? [True, True] Translation: X:227.54, Y:178.65, Z:31.80 [[ 9.96543800e-01 -5.81935859e-02 5.92786698e-02 2.27540565e+02] [ 5.80554425e-02 9.98305139e-01 4.05145000e-03 1.78653258e+02] [-5.94139691e-02 -5.95997975e-04 9.98233252e-01 3.18012672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5471056809999 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:227.57, Y:178.66, Z:31.80 [[ 9.96805392e-01 -5.35408151e-02 5.92654378e-02 2.27573531e+02] [ 5.33770154e-02 9.98564980e-01 4.34462657e-03 1.78656669e+02] [-5.94130055e-02 -1.16733500e-03 9.98232805e-01 3.17972942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5771056809999 meters Centerline goodness : 0.996648 Centerline is valid? [True, True] Translation: X:227.60, Y:178.66, Z:31.79 [[ 9.96841679e-01 -5.28372804e-02 5.92864912e-02 2.27602955e+02] [ 5.27000241e-02 9.98602861e-01 3.87742342e-03 1.78662874e+02] [-5.94085322e-02 -7.40777757e-04 9.98233479e-01 3.17906703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6071056809999 meters Centerline goodness : 0.996895 Centerline is valid? [True, True] Translation: X:227.64, Y:178.67, Z:31.79 [[ 9.96899116e-01 -5.17675548e-02 5.92644333e-02 2.27643126e+02] [ 5.15989166e-02 9.98658313e-01 4.37335829e-03 1.78668968e+02] [-5.94113170e-02 -1.30181646e-03 9.98232739e-01 3.17919530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6371056809999 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:227.67, Y:178.68, Z:31.79 [[ 9.97046507e-01 -4.87514475e-02 5.93427352e-02 2.27667591e+02] [ 4.86852436e-02 9.98810885e-01 2.56180161e-03 1.78676379e+02] [-5.93970614e-02 3.34880177e-04 9.98234380e-01 3.17866555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6671056809999 meters Centerline goodness : 0.996910 Centerline is valid? [True, True] Translation: X:227.70, Y:178.68, Z:31.78 [[ 9.97492596e-01 -3.86484630e-02 5.92858941e-02 2.27695734e+02] [ 3.84860407e-02 9.99251607e-01 3.87947375e-03 1.78682832e+02] [-5.93914606e-02 -1.58806701e-03 9.98233506e-01 3.17791238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6971056809999 meters Centerline goodness : 0.996183 Centerline is valid? [True, True] Translation: X:227.73, Y:178.69, Z:31.77 [[ 9.97849041e-01 -2.80256666e-02 5.92608858e-02 2.27729235e+02] [ 2.78104837e-02 9.99603296e-01 4.45292415e-03 1.78686457e+02] [-5.93621729e-02 -2.79527220e-03 9.98232598e-01 3.17731469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.7271056809999 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:227.76, Y:178.69, Z:31.77 [[ 9.97938495e-01 -2.46279492e-02 5.92640223e-02 2.27758734e+02] [ 2.44111158e-02 9.99692409e-01 4.38009010e-03 1.78690758e+02] [-5.93536658e-02 -2.92435961e-03 9.98232734e-01 3.17749047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.7571056809999 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:227.79, Y:178.70, Z:31.77 [[ 9.98083686e-01 -1.78799202e-02 5.92390497e-02 2.27791143e+02] [ 1.76170391e-02 9.99832520e-01 4.95697288e-03 1.78695639e+02] [-5.93177586e-02 -3.90385711e-03 9.98231518e-01 3.17718292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.7871056809999 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:227.82, Y:178.70, Z:31.77 [[ 9.98191956e-01 -9.97197069e-03 5.92737662e-02 2.27823904e+02] [ 9.74850665e-03 9.99944248e-01 4.05801493e-03 1.78698663e+02] [-5.93109280e-02 -3.47284716e-03 9.98233516e-01 3.17693695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81710568099993 meters Centerline goodness : 0.996054 Centerline is valid? [True, True] Translation: X:227.86, Y:178.70, Z:31.77 [[ 9.98206961e-01 -8.40544420e-03 5.92639236e-02 2.27856126e+02] [ 8.16381610e-03 9.99957352e-01 4.31810215e-03 1.78699207e+02] [-5.92976916e-02 -3.82653985e-03 9.98233010e-01 3.17672974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.8471056809999 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:227.90, Y:178.69, Z:31.77 [[ 9.98235691e-01 -3.62943012e-03 5.92649340e-02 2.27896206e+02] [ 3.38100554e-03 9.99985076e-01 4.29150166e-03 1.78694434e+02] [-5.92796252e-02 -4.08355506e-03 9.98233064e-01 3.17695447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87710568099993 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:227.91, Y:178.69, Z:31.76 [[ 9.98234387e-01 2.56089833e-03 5.93426482e-02 2.27911444e+02] [-2.69423342e-03 9.99994023e-01 2.16696468e-03 1.78691561e+02] [-5.93367441e-02 -2.32302160e-03 9.98235320e-01 3.17632947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.9071056809999 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:227.95, Y:178.69, Z:31.76 [[ 9.98243201e-01 -2.86412104e-04 5.92488724e-02 2.27952329e+02] [-7.01189699e-06 9.99987738e-01 4.95213097e-03 1.78689917e+02] [-5.92495642e-02 -4.94384652e-03 9.98230959e-01 3.17643240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93710568099993 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:227.99, Y:178.69, Z:31.77 [[ 9.98230013e-01 -4.33252445e-03 5.93133292e-02 2.27989277e+02] [ 4.16382672e-03 9.99986928e-01 2.96747837e-03 1.78686200e+02] [-5.93254106e-02 -2.71525555e-03 9.98235004e-01 3.17681862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.9671056809999 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:228.01, Y:178.68, Z:31.77 [[ 9.98227545e-01 -4.42737199e-03 5.93478513e-02 2.28008026e+02] [ 4.32358167e-03 9.99988891e-01 1.87714464e-03 1.78682023e+02] [-5.93555029e-02 -1.61722221e-03 9.98235598e-01 3.17741242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99710568099994 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:228.04, Y:178.68, Z:31.77 [[ 9.98236259e-01 -3.42676727e-03 5.92674371e-02 2.28039941e+02] [ 3.16746853e-03 9.99985000e-01 4.46845604e-03 1.78681641e+02] [-5.92818604e-02 -4.27284709e-03 9.98232139e-01 3.17715304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0271056809999 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:228.07, Y:178.68, Z:31.76 [[ 9.98204426e-01 -8.70568436e-03 5.92632616e-02 2.28069747e+02] [ 8.44752703e-03 9.99953714e-01 4.60525681e-03 1.78678710e+02] [-5.93006104e-02 -4.09635973e-03 9.98231765e-01 3.17554759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.05710568099994 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:228.10, Y:178.67, Z:31.77 [[ 9.98114715e-01 -1.59443044e-02 5.92688345e-02 2.28100671e+02] [ 1.57101262e-02 9.99866841e-01 4.41502081e-03 1.78673478e+02] [-5.93313368e-02 -3.47557637e-03 9.98232294e-01 3.17698112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0871056809999 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:228.13, Y:178.67, Z:31.75 [[ 9.98139884e-01 -1.43365306e-02 5.92556776e-02 2.28132073e+02] [ 1.40726030e-02 9.99889121e-01 4.86897920e-03 1.78668213e+02] [-5.93189117e-02 -4.02604071e-03 9.98230964e-01 3.17539451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.11710568099994 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:228.17, Y:178.67, Z:31.77 [[ 9.98082102e-01 -1.79321938e-02 5.92499268e-02 2.28167254e+02] [ 1.76625049e-02 9.99831139e-01 5.07234043e-03 1.78668050e+02] [-5.93308800e-02 -4.01611008e-03 9.98230293e-01 3.17660128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1471056809999 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:228.20, Y:178.66, Z:31.75 [[ 9.98135271e-01 -1.46075783e-02 5.92671957e-02 2.28196038e+02] [ 1.43712346e-02 9.99886994e-01 4.41207698e-03 1.78663299e+02] [-5.93249479e-02 -3.55210687e-03 9.98232404e-01 3.17478664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1771056809999 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:228.23, Y:178.66, Z:31.76 [[ 9.98044649e-01 -1.99041506e-02 5.92511903e-02 2.28230525e+02] [ 1.96386481e-02 9.99794339e-01 5.05997199e-03 1.78663110e+02] [-5.93397191e-02 -3.88646469e-03 9.98230281e-01 3.17579102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2071056809999 meters Centerline goodness : 0.997836 Centerline is valid? [True, True] Translation: X:228.26, Y:178.66, Z:31.76 [[ 9.98014462e-01 -2.13279382e-02 5.92642553e-02 2.28262758e+02] [ 2.10955411e-02 9.99767136e-01 4.54433507e-03 1.78661425e+02] [-5.93473761e-02 -3.28510059e-03 9.98231986e-01 3.17565388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2371056809999 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:228.29, Y:178.66, Z:31.75 [[ 9.97886992e-01 -2.66271962e-02 5.92667218e-02 2.28294550e+02] [ 2.64100956e-02 9.99641317e-01 4.44354949e-03 1.78657082e+02] [-5.93637830e-02 -2.86892044e-03 9.98232293e-01 3.17538090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2671056809999 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:228.34, Y:178.66, Z:31.75 [[ 9.97463973e-01 -3.94106526e-02 5.92657053e-02 2.28338883e+02] [ 3.92135854e-02 9.99220786e-01 4.48496548e-03 1.78657645e+02] [-5.93962801e-02 -2.14957069e-03 9.98232168e-01 3.17474018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2971056809999 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:228.37, Y:178.66, Z:31.75 [[ 9.97289323e-01 -4.35101659e-02 5.93369264e-02 2.28371858e+02] [ 4.35075369e-02 9.99052204e-01 1.33685812e-03 1.78659989e+02] [-5.93388540e-02 1.24836918e-03 9.98237117e-01 3.17478191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3271056809999 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:228.39, Y:178.66, Z:31.75 [[ 9.97655194e-01 -3.41060151e-02 5.93371150e-02 2.28388189e+02] [ 3.40872672e-02 9.99417977e-01 1.32843416e-03 1.78659871e+02] [-5.93478870e-02 6.97320859e-04 9.98237117e-01 3.17500491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3571056809999 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:228.43, Y:178.66, Z:31.75 [[ 9.97546955e-01 -3.72409546e-02 5.92721176e-02 2.28433699e+02] [ 3.70620005e-02 9.99304491e-01 4.11605770e-03 1.78664148e+02] [-5.93841793e-02 -1.90921757e-03 9.98233377e-01 3.17470974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3871056809999 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:228.47, Y:178.67, Z:31.75 [[ 9.97726007e-01 -3.19745614e-02 5.93333103e-02 2.28466105e+02] [ 3.19554432e-02 9.99488486e-01 1.27127945e-03 1.78667051e+02] [-5.93436091e-02 6.27633652e-04 9.98237418e-01 3.17459706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.4171056809999 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:228.48, Y:178.67, Z:31.75 [[ 9.98119495e-01 -1.53941722e-02 5.93337461e-02 2.28484244e+02] [ 1.53470041e-02 9.99881446e-01 1.25060670e-03 1.78668044e+02] [-5.93459639e-02 -3.37659677e-04 9.98237418e-01 3.17500209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.4471056809999 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:228.53, Y:178.67, Z:31.74 [[ 9.98095581e-01 -1.70836059e-02 5.92736157e-02 2.28526382e+02] [ 1.68820438e-02 9.99849883e-01 3.89967796e-03 1.78674976e+02] [-5.93313383e-02 -2.89159156e-03 9.98234156e-01 3.17424186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.4771056809999 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:228.56, Y:178.68, Z:31.74 [[ 9.98176505e-01 -1.11212669e-02 5.93294332e-02 2.28558958e+02] [ 1.10671407e-02 9.99937987e-01 1.24082458e-03 1.78678082e+02] [-5.93395536e-02 -5.81954765e-04 9.98237687e-01 3.17420470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.5071056809999 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:228.59, Y:178.68, Z:31.74 [[ 9.98238284e-01 5.71111065e-04 5.93296061e-02 2.28592258e+02] [-6.45371340e-04 9.99999032e-01 1.23250223e-03 1.78683151e+02] [-5.93288448e-02 -1.26862054e-03 9.98237687e-01 3.17404906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.5371056809999 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:228.63, Y:178.68, Z:31.74 [[ 9.98219809e-01 6.09830766e-03 5.93297797e-02 2.28625100e+02] [-6.18181636e-03 9.99980143e-01 1.22408987e-03 1.78684152e+02] [-5.93211367e-02 -1.58867656e-03 9.98237687e-01 3.17359000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.56710568099993 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:228.66, Y:178.68, Z:31.73 [[ 9.98154726e-01 1.29266985e-02 5.93299557e-02 2.28656288e+02] [-1.30217373e-02 9.99914475e-01 1.21550117e-03 1.78683029e+02] [-5.93091690e-02 -1.98583733e-03 9.98237687e-01 3.17281422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.5971056809999 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:228.69, Y:178.68, Z:31.73 [[ 9.98137938e-01 1.41627082e-02 5.93302137e-02 2.28688725e+02] [-1.42591702e-02 9.99897609e-01 1.20277081e-03 1.78681867e+02] [-5.93071044e-02 -2.04653079e-03 9.98237687e-01 3.17255547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62710568099993 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:228.72, Y:178.68, Z:31.72 [[ 9.98140521e-01 1.39777294e-02 5.93306318e-02 2.28722076e+02] [-1.40726191e-02 9.99900277e-01 1.18178222e-03 1.78678322e+02] [-5.93081966e-02 -2.01452211e-03 9.98237687e-01 3.17224276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.6571056809999 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:228.75, Y:178.67, Z:31.72 [[ 9.98178110e-01 1.09674382e-02 5.93310651e-02 2.28754773e+02] [-1.10557038e-02 9.99938211e-01 1.15961233e-03 1.78673194e+02] [-5.93146812e-02 -1.81344633e-03 9.98237687e-01 3.17175394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.68710568099993 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:228.79, Y:178.67, Z:31.71 [[ 9.98180954e-01 1.07031378e-02 5.93314912e-02 2.28787879e+02] [-1.07896174e-02 9.99941144e-01 1.13738484e-03 1.78670975e+02] [-5.93158256e-02 -1.77547997e-03 9.98237687e-01 3.17141133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7171056809999 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:228.82, Y:178.67, Z:31.71 [[ 9.98216898e-01 6.53837007e-03 5.93319052e-02 2.28818402e+02] [-6.61619694e-03 9.99977491e-01 1.11536434e-03 1.78667692e+02] [-5.93232770e-02 -1.50592710e-03 9.98237688e-01 3.17083765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.74710568099994 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:228.85, Y:178.67, Z:31.71 [[ 9.98228945e-01 4.32025960e-03 5.93321894e-02 2.28850576e+02] [-4.39325980e-03 9.99989745e-01 1.09997293e-03 1.78665375e+02] [-5.93268288e-02 -1.35868654e-03 9.98237688e-01 3.17066676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7771056809999 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:228.88, Y:178.66, Z:31.70 [[ 9.98238120e-01 -5.44904303e-04 5.93326173e-02 2.28883771e+02] [ 4.81887971e-04 9.99999305e-01 1.07638918e-03 1.78657258e+02] [-5.93331626e-02 -1.04590103e-03 9.98237688e-01 3.17033252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.80710568099994 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:228.92, Y:178.65, Z:31.70 [[ 9.98234871e-01 -2.59574829e-03 5.93329981e-02 2.28916704e+02] [ 2.53762293e-03 9.99996224e-01 1.05497441e-03 1.78653856e+02] [-5.93355125e-02 -9.02547463e-04 9.98237688e-01 3.17012440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8371056809999 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:228.95, Y:178.65, Z:31.70 [[ 9.98207698e-01 -7.80657197e-03 5.93333799e-02 2.28950028e+02] [ 7.75894514e-03 9.99969365e-01 1.03304514e-03 1.78649583e+02] [-5.93396268e-02 -5.70829174e-04 9.98237689e-01 3.16998621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.86710568099994 meters Centerline goodness : 0.997819 Centerline is valid? [True, True] Translation: X:228.98, Y:178.65, Z:31.70 [[ 9.98186333e-01 -1.01759461e-02 5.93337599e-02 2.28982757e+02] [ 1.01338270e-02 9.99948141e-01 1.01073713e-03 1.78648768e+02] [-5.93409681e-02 -4.07625929e-04 9.98237689e-01 3.16985450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8971056809999 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:229.01, Y:178.65, Z:31.70 [[ 9.98132206e-01 -1.45460416e-02 5.93339001e-02 2.29014950e+02] [ 1.45121296e-02 9.99894191e-01 1.00243797e-03 1.78646654e+02] [-5.93422036e-02 -1.39504376e-04 9.98237689e-01 3.16976126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9271056809999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:229.05, Y:178.64, Z:31.70 [[ 9.98093794e-01 -1.69772482e-02 5.93342399e-02 2.29047953e+02] [ 1.69488484e-02 9.99855876e-01 9.81910497e-04 1.78644760e+02] [-5.93423585e-02 2.56082659e-05 9.98237689e-01 3.16950320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9571056809999 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:229.08, Y:178.64, Z:31.69 [[ 9.98020633e-01 -2.08386027e-02 5.93343748e-02 2.29078636e+02] [ 2.08175092e-02 9.99782818e-01 9.73688802e-04 1.78640062e+02] [-5.93417787e-02 2.63432378e-04 9.98237689e-01 3.16896048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9871056809999 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:229.11, Y:178.64, Z:31.69 [[ 9.97952379e-01 -2.38840326e-02 5.93346569e-02 2.29110617e+02] [ 2.38693575e-02 9.99714629e-01 9.56181478e-04 1.78639803e+02] [-5.93405620e-02 4.62056559e-04 9.98237689e-01 3.16872085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0171056809999 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:229.14, Y:178.64, Z:31.69 [[ 9.97840486e-01 -2.81736340e-02 5.93347446e-02 2.29142414e+02] [ 2.81668595e-02 9.99602783e-01 9.50711153e-04 1.78640134e+02] [-5.93379608e-02 7.22615336e-04 9.98237689e-01 3.16862587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0471056809999 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:229.18, Y:178.64, Z:31.69 [[ 9.97800262e-01 -2.95634758e-02 5.93349580e-02 2.29175143e+02] [ 2.95599594e-02 9.99562570e-01 9.37197159e-04 1.78640084e+02] [-5.93367099e-02 8.18803381e-04 9.98237689e-01 3.16875057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0771056809999 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:229.21, Y:178.64, Z:31.69 [[ 9.97831205e-01 -2.84993373e-02 5.93352777e-02 2.29207952e+02] [ 2.84951717e-02 9.99593510e-01 9.16504667e-04 1.78641179e+02] [-5.93372782e-02 7.76251970e-04 9.98237690e-01 3.16901687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1071056809999 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:229.24, Y:178.64, Z:31.69 [[ 9.97933292e-01 -2.46669875e-02 5.93353621e-02 2.29238747e+02] [ 2.46563810e-02 9.99695570e-01 9.11002308e-04 1.78643173e+02] [-5.93397704e-02 5.53875764e-04 9.98237690e-01 3.16919711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1371056809999 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:229.27, Y:178.64, Z:31.69 [[ 9.98002030e-01 -2.17084652e-02 5.93354040e-02 2.29271915e+02] [ 2.16927970e-02 9.99764271e-01 9.08267781e-04 1.78644203e+02] [-5.93411340e-02 3.80697782e-04 9.98237690e-01 3.16904880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1671056809999 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:229.30, Y:178.65, Z:31.69 [[ 9.98113485e-01 -1.57723555e-02 5.93355278e-02 2.29303893e+02] [ 1.57466917e-02 9.99875608e-01 9.00104684e-04 1.78647130e+02] [-5.93423437e-02 3.59316419e-05 9.98237690e-01 3.16910457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1971056809999 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:229.34, Y:178.65, Z:31.69 [[ 9.98151304e-01 -1.31626990e-02 5.93356292e-02 2.29335683e+02] [ 1.31328283e-02 9.99913362e-01 8.93373812e-04 1.78649059e+02] [-5.93422477e-02 -1.12477605e-04 9.98237690e-01 3.16908909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.2271056809999 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:229.37, Y:178.65, Z:31.69 [[ 9.98205307e-01 -8.08937023e-03 5.93357134e-02 2.29366711e+02] [ 8.05087856e-03 9.99967197e-01 8.87748214e-04 1.78652020e+02] [-5.93409483e-02 -4.08450357e-04 9.98237690e-01 3.16898024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.2571056809999 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:229.40, Y:178.66, Z:31.69 [[ 9.98237328e-01 -1.22574085e-03 5.93357755e-02 2.29399157e+02] [ 1.17538391e-03 9.99998919e-01 8.83572239e-04 1.78656606e+02] [-5.93367944e-02 -8.12272476e-04 9.98237690e-01 3.16860284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.2871056809999 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:229.43, Y:178.66, Z:31.68 [[ 9.98221561e-01 5.74156193e-03 5.93358989e-02 2.29426486e+02] [-5.80371589e-03 9.99982775e-01 8.75208809e-04 1.78657359e+02] [-5.93298518e-02 -1.21802100e-03 9.98237690e-01 3.16833164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31710568099993 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:229.46, Y:178.66, Z:31.68 [[ 9.98190217e-01 9.84569492e-03 5.93241349e-02 2.29462104e+02] [-9.96267324e-03 9.99948966e-01 1.67639216e-03 1.78659488e+02] [-5.93046021e-02 -2.26438523e-03 9.98237365e-01 3.16769150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.3471056809999 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:229.49, Y:178.66, Z:31.67 [[ 9.98133410e-01 1.44546224e-02 5.93359960e-02 2.29494699e+02] [-1.45301401e-02 9.99894078e-01 8.41426904e-04 1.78659480e+02] [-5.93175485e-02 -1.70201664e-03 9.98237713e-01 3.16724308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37710568099993 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:229.52, Y:178.66, Z:31.68 [[ 9.97965259e-01 2.33354861e-02 5.93363002e-02 2.29523342e+02] [-2.34253591e-02 9.99725253e-01 8.19394322e-04 1.78657106e+02] [-5.93008768e-02 -2.20770121e-03 9.98237713e-01 3.16755258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.4071056809999 meters Centerline goodness : 0.997819 Centerline is valid? [True, True] Translation: X:229.56, Y:178.66, Z:31.67 [[ 9.97920288e-01 2.52152610e-02 5.93236024e-02 2.29556410e+02] [-2.53624690e-02 9.99676825e-01 1.72967033e-03 1.78657205e+02] [-5.92608164e-02 -3.23066614e-03 9.98237306e-01 3.16708973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43710568099993 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:229.58, Y:178.66, Z:31.67 [[ 9.97812832e-01 2.91512036e-02 5.93275548e-02 2.29584980e+02] [-2.92879906e-02 9.99569982e-01 1.43718633e-03 1.78655145e+02] [-5.92601471e-02 -3.17162783e-03 9.98237535e-01 3.16675596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.4671056809999 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:229.62, Y:178.66, Z:31.66 [[ 9.97915954e-01 2.53915728e-02 5.93213091e-02 2.29618444e+02] [-2.55489785e-02 9.99671773e-01 1.89636093e-03 1.78655297e+02] [-5.92536867e-02 -3.40800768e-03 9.98237139e-01 3.16574809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49710568099994 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:229.65, Y:178.65, Z:31.65 [[ 9.98000943e-01 2.17568577e-02 5.93359678e-02 2.29650881e+02] [-2.18410549e-02 9.99761159e-01 7.70733003e-04 1.78650905e+02] [-5.93050272e-02 -2.06515240e-03 9.98237772e-01 3.16511409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5271056809999 meters Centerline goodness : 0.997949 Centerline is valid? [True, True] Translation: X:229.68, Y:178.65, Z:31.65 [[ 9.97995439e-01 2.20072521e-02 5.93362076e-02 2.29679017e+02] [-2.20907672e-02 9.99755687e-01 7.51809789e-04 1.78646610e+02] [-5.93051657e-02 -2.06108509e-03 9.98237772e-01 3.16536720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.55710568099994 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:229.71, Y:178.64, Z:31.65 [[ 9.98153809e-01 1.30140965e-02 5.93262787e-02 2.29713564e+02] [-1.31304336e-02 9.99912557e-01 1.57154360e-03 1.78641282e+02] [-5.93006388e-02 -2.34762199e-03 9.98237408e-01 3.16498544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5871056809999 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:229.75, Y:178.64, Z:31.65 [[ 9.98210136e-01 7.51581354e-03 5.93298940e-02 2.29746368e+02] [-7.60225091e-03 9.99970344e-01 1.23130626e-03 1.78640091e+02] [-5.93188802e-02 -1.68014313e-03 9.98237671e-01 3.16485987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.61710568099994 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:229.78, Y:178.63, Z:31.65 [[ 9.98235239e-01 2.51794893e-03 5.93301610e-02 2.29777629e+02] [-2.59404420e-03 9.99995909e-01 1.20558763e-03 1.78633141e+02] [-5.93268826e-02 -1.35736512e-03 9.98237686e-01 3.16473020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6471056809999 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:229.81, Y:178.63, Z:31.65 [[ 9.98238091e-01 7.74164209e-04 5.93305506e-02 2.29808983e+02] [-8.44834795e-04 9.99998963e-01 1.16605815e-03 1.78626526e+02] [-5.93295864e-02 -1.21412817e-03 9.98237710e-01 3.16515642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6771056809999 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:229.84, Y:178.63, Z:31.65 [[ 9.98238330e-01 9.41191241e-05 5.93315028e-02 2.29837355e+02] [-1.57836566e-04 9.99999416e-01 1.06923714e-03 1.78626377e+02] [-5.93313675e-02 -1.07671818e-03 9.98237762e-01 3.16472942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7071056809999 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:229.87, Y:178.62, Z:31.64 [[ 9.98232432e-01 3.52268268e-03 5.93262305e-02 2.29867620e+02] [-3.62143365e-03 9.99992230e-01 1.55710573e-03 1.78622240e+02] [-5.93202844e-02 -1.76919945e-03 9.98237434e-01 3.16447803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7371056809999 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:229.90, Y:178.62, Z:31.64 [[ 9.98225663e-01 5.08368450e-03 5.93269151e-02 2.29901370e+02] [-5.18084528e-03 9.99985478e-01 1.48401507e-03 1.78618564e+02] [-5.93185093e-02 -1.78874549e-03 9.98237504e-01 3.16406499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7671056809999 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:229.93, Y:178.61, Z:31.65 [[ 9.98234455e-01 2.80575208e-03 5.93304292e-02 2.29933576e+02] [-2.87372276e-03 9.99995309e-01 1.06033549e-03 1.78614829e+02] [-5.93271758e-02 -1.22896263e-03 9.98237835e-01 3.16451058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7971056809999 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:229.97, Y:178.61, Z:31.65 [[ 9.98238152e-01 4.91959049e-04 5.93325395e-02 2.29966317e+02] [-5.40049765e-04 9.99999539e-01 7.94495956e-04 1.78613379e+02] [-5.93321213e-02 -8.25138699e-04 9.98237957e-01 3.16492413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8271056809999 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:230.00, Y:178.61, Z:31.64 [[ 9.98213863e-01 -6.97896056e-03 5.93327745e-02 2.29997896e+02] [ 6.94585883e-03 9.99975585e-01 7.64124208e-04 1.78612131e+02] [-5.93366587e-02 -3.50642303e-04 9.98237967e-01 3.16364843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8571056809999 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:230.03, Y:178.61, Z:31.64 [[ 9.98227746e-01 -4.55016187e-03 5.93351760e-02 2.30027191e+02] [ 4.53188968e-03 9.99989633e-01 4.42514725e-04 1.78607362e+02] [-5.93365744e-02 -1.72830005e-04 9.98238018e-01 3.16374427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8871056809999 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:230.06, Y:178.61, Z:31.64 [[ 9.98229671e-01 -4.15919705e-03 5.93314797e-02 2.30059719e+02] [ 4.11114220e-03 9.99991115e-01 9.31983678e-04 1.78607147e+02] [-5.93348289e-02 -6.86413610e-04 9.98237901e-01 3.16354223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.9171056809999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:230.09, Y:178.61, Z:31.64 [[ 9.98223570e-01 -5.42260525e-03 5.93321138e-02 2.30092044e+02] [ 5.38260920e-03 9.99985166e-01 8.33906606e-04 1.78606990e+02] [-5.93357556e-02 -5.13063648e-04 9.98237950e-01 3.16371967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.9471056809999 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:230.12, Y:178.61, Z:31.63 [[ 9.98216685e-01 -6.56522717e-03 5.93325149e-02 2.30123909e+02] [ 6.53126629e-03 9.99978377e-01 7.66295367e-04 1.78608825e+02] [-5.93362628e-02 -3.77412367e-04 9.98237980e-01 3.16298436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.9771056809999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:230.15, Y:178.61, Z:31.62 [[ 9.98224347e-01 -5.24570945e-03 5.93349369e-02 2.30154715e+02] [ 5.23567569e-03 9.99986241e-01 3.24569870e-04 1.78608849e+02] [-5.93358232e-02 -1.33350601e-05 9.98238078e-01 3.16242233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.0071056809999 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:230.18, Y:178.61, Z:31.63 [[ 9.98238089e-01 2.85607645e-04 5.93349515e-02 2.30175151e+02] [-3.05245021e-04 9.99999902e-01 3.21894502e-04 1.78608922e+02] [-5.93348537e-02 -3.39439051e-04 9.98238078e-01 3.16268207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.0371056809999 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:230.21, Y:178.61, Z:31.64 [[ 9.98216007e-01 6.76298314e-03 5.93217107e-02 2.30214199e+02] [-6.94913073e-03 9.99971556e-01 2.93219391e-03 1.78605114e+02] [-5.93001929e-02 -3.33919722e-03 9.98234610e-01 3.16368184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.06710568099993 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:230.25, Y:178.60, Z:31.62 [[ 9.98029036e-01 2.04418260e-02 5.93310558e-02 2.30249390e+02] [-2.05547666e-02 9.99787891e-01 1.29382119e-03 1.78598601e+02] [-5.92920231e-02 -2.51080712e-03 9.98237523e-01 3.16180328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.0971056809999 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:230.28, Y:178.61, Z:31.64 [[ 9.98064557e-01 1.86112533e-02 5.93360086e-02 2.30278468e+02] [-1.86614205e-02 9.99825818e-01 2.91406275e-04 1.78606326e+02] [-5.93202499e-02 -1.39813648e-03 9.98238024e-01 3.16381427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12710568099993 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:230.31, Y:178.61, Z:31.64 [[ 9.97860727e-01 2.74534179e-02 5.93319424e-02 2.30309240e+02] [-2.75679429e-02 9.99619313e-01 1.11239930e-03 1.78607856e+02] [-5.92788163e-02 -2.74567917e-03 9.98237689e-01 3.16367466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.1571056809999 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:230.34, Y:178.61, Z:31.64 [[ 9.97716968e-01 3.22579136e-02 5.93319464e-02 2.30340901e+02] [-3.23808548e-02 9.99474985e-01 1.11155137e-03 1.78607672e+02] [-5.92649399e-02 -3.03023280e-03 9.98237689e-01 3.16351322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.18710568099993 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:230.37, Y:178.61, Z:31.63 [[ 9.97497500e-01 3.84516677e-02 5.93313395e-02 2.30372971e+02] [-3.85922270e-02 9.99254292e-01 1.22457891e-03 1.78607377e+02] [-5.92400085e-02 -3.51124292e-03 9.98237593e-01 3.16292850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2171056809999 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:230.40, Y:178.61, Z:31.62 [[ 9.97344496e-01 4.22338741e-02 5.93317522e-02 2.30403882e+02] [-4.23756038e-02 9.99101109e-01 1.13202100e-03 1.78605005e+02] [-5.92306098e-02 -3.64323374e-03 9.98237678e-01 3.16239789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.24710568099994 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:230.43, Y:178.60, Z:31.61 [[ 9.97177210e-01 4.60145616e-02 5.93318825e-02 2.30434825e+02] [-4.61610198e-02 9.98933407e-01 1.09947845e-03 1.78600139e+02] [-5.92180075e-02 -3.83519506e-03 9.98237707e-01 3.16146649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2771056809999 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:230.47, Y:178.60, Z:31.61 [[ 9.97248007e-01 4.44539400e-02 5.93317784e-02 2.30466484e+02] [-4.45994527e-02 9.99004310e-01 1.12987601e-03 1.78595084e+02] [-5.92224749e-02 -3.77293144e-03 9.98237679e-01 3.16145988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.30710568099994 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:230.50, Y:178.59, Z:31.61 [[ 9.97312198e-01 4.29898826e-02 5.93316999e-02 2.30498193e+02] [-4.31343051e-02 9.99068615e-01 1.15496683e-03 1.78591101e+02] [-5.92267873e-02 -3.71109415e-03 9.98237655e-01 3.16127315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3371056809999 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:230.53, Y:178.59, Z:31.61 [[ 9.97588628e-01 3.60085261e-02 5.93322524e-02 2.30527666e+02] [-3.61291849e-02 9.99346665e-01 9.61761426e-04 1.78586619e+02] [-5.92588569e-02 -3.10306818e-03 9.98237827e-01 3.16112630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.36710568099994 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:230.56, Y:178.58, Z:31.61 [[ 9.97633328e-01 3.47490712e-02 5.93316535e-02 2.30560764e+02] [-3.48807591e-02 9.99390779e-01 1.18497353e-03 1.78582294e+02] [-5.92543307e-02 -3.25170220e-03 9.98237622e-01 3.16096157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3971056809999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:230.59, Y:178.58, Z:31.61 [[ 9.97756122e-01 3.10236495e-02 5.93317306e-02 2.30594366e+02] [-3.11458835e-02 9.99514203e-01 1.13628249e-03 1.78576579e+02] [-5.92676558e-02 -2.98167198e-03 9.98237674e-01 3.16076613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4271056809999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:230.63, Y:178.57, Z:31.61 [[ 9.97855805e-01 2.76317577e-02 5.93319429e-02 2.30626004e+02] [-2.77353957e-02 9.99614873e-01 9.23779251e-04 1.78574320e+02] [-5.92835669e-02 -2.56739340e-03 9.98237881e-01 3.16095773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4571056809999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:230.66, Y:178.57, Z:31.61 [[ 9.97998245e-01 2.18915992e-02 5.93317800e-02 2.30657723e+02] [-2.19974559e-02 9.99757386e-01 1.13150784e-03 1.78567887e+02] [-5.92926147e-02 -2.43439105e-03 9.98237677e-01 3.16061870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4871056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:230.69, Y:178.56, Z:31.60 [[ 9.98034983e-01 2.01478910e-02 5.93315744e-02 2.30691541e+02] [-2.02385864e-02 9.99794748e-01 9.28032832e-04 1.78563961e+02] [-5.93006986e-02 -2.12699642e-03 9.98237899e-01 3.16006475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5171056809999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:230.73, Y:178.56, Z:31.60 [[ 9.98111032e-01 1.59461802e-02 5.93303183e-02 2.30725003e+02] [-1.60080164e-02 9.99871703e-01 5.67053952e-04 1.78560678e+02] [-5.93136641e-02 -1.51574352e-03 9.98238244e-01 3.15963393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5471056809999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:230.76, Y:178.56, Z:31.59 [[ 9.98140307e-01 1.39955797e-02 5.93300253e-02 2.30756514e+02] [-1.40476756e-02 9.99901220e-01 4.61048489e-04 1.78557999e+02] [-5.93177120e-02 -1.29364003e-03 9.98238316e-01 3.15922186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5771056809999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:230.79, Y:178.56, Z:31.59 [[ 9.98142937e-01 1.38049614e-02 5.93304408e-02 2.30788113e+02] [-1.38654019e-02 9.99903686e-01 6.07126816e-04 1.78556437e+02] [-5.93163451e-02 -1.42863975e-03 9.98238213e-01 3.15857405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6071056809999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:230.82, Y:178.55, Z:31.59 [[ 9.98112753e-01 1.58394388e-02 5.93299582e-02 2.30820098e+02] [-1.58938680e-02 9.99873585e-01 4.45575542e-04 1.78554310e+02] [-5.93154003e-02 -1.38771716e-03 9.98238327e-01 3.15875505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6371056809999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:230.85, Y:178.55, Z:31.59 [[ 9.98047452e-01 1.95251160e-02 5.93300329e-02 2.30851235e+02] [-1.95872083e-02 9.99808044e-01 4.65116355e-04 1.78552621e+02] [-5.93095627e-02 -1.62631791e-03 9.98238314e-01 3.15892945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6671056809999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:230.89, Y:178.55, Z:31.59 [[ 9.97948032e-01 2.40754506e-02 5.93304096e-02 2.30885165e+02] [-2.41499041e-02 9.99708204e-01 5.38067060e-04 1.78551853e+02] [-5.93001430e-02 -1.96978666e-03 9.98238255e-01 3.15931941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6971056809999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:230.92, Y:178.55, Z:31.59 [[ 9.97889681e-01 2.63862256e-02 5.93291752e-02 2.30916542e+02] [-2.64505918e-02 9.99650077e-01 2.99686914e-04 1.78550871e+02] [-5.93005070e-02 -1.86834628e-03 9.98238428e-01 3.15918478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.7271056809999 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:230.95, Y:178.55, Z:31.59 [[ 9.97831720e-01 2.84929123e-02 5.93297027e-02 2.30949320e+02] [-2.85669043e-02 9.99591803e-01 3.99153524e-04 1.78548960e+02] [-5.92941114e-02 -2.09315399e-03 9.98238362e-01 3.15871018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.7571056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:230.98, Y:178.55, Z:31.59 [[ 9.97925298e-01 2.50052501e-02 5.93282093e-02 2.30981859e+02] [-2.50579980e-02 9.99685989e-01 1.45157217e-04 1.78549544e+02] [-5.93059498e-02 -1.63150221e-03 9.98238520e-01 3.15889992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.7871056809999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:231.01, Y:178.55, Z:31.58 [[ 9.97925865e-01 2.49845842e-02 5.93273921e-02 2.31012005e+02] [-2.50292787e-02 9.99686719e-01 1.02408856e-05 1.78546873e+02] [-5.93085501e-02 -1.49514147e-03 9.98238579e-01 3.15842339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81710568099993 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:231.04, Y:178.54, Z:31.58 [[ 9.98012160e-01 2.12597051e-02 5.93275180e-02 2.31044781e+02] [-2.12988183e-02 9.99773154e-01 2.69229938e-05 1.78544411e+02] [-5.93134874e-02 -1.29047550e-03 9.98238571e-01 3.15839686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.8471056809999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:231.07, Y:178.54, Z:31.58 [[ 9.98030985e-01 2.03604323e-02 5.93262604e-02 2.31074608e+02] [-2.03880933e-02 9.99792132e-01 -1.39080294e-04 1.78543368e+02] [-5.93167601e-02 -1.07074289e-03 9.98238637e-01 3.15844289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87710568099993 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:231.11, Y:178.55, Z:31.59 [[ 9.98081751e-01 1.76906985e-02 5.93283922e-02 2.31109874e+02] [-1.77303473e-02 9.99842795e-01 1.41898770e-04 1.78545562e+02] [-5.93165552e-02 -1.19353957e-03 9.98238509e-01 3.15877535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.9071056809999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:231.14, Y:178.55, Z:31.59 [[ 9.98088581e-01 1.73180541e-02 5.93234374e-02 2.31142749e+02] [-1.73216900e-02 9.99849866e-01 -4.52993136e-04 1.78546066e+02] [-5.93223759e-02 -5.75454917e-04 9.98238711e-01 3.15879544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93710568099993 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:231.17, Y:178.54, Z:31.59 [[ 9.98078046e-01 1.79171975e-02 5.93227508e-02 2.31172593e+02] [-1.79171821e-02 9.99839333e-01 -5.32218181e-04 1.78544462e+02] [-5.93227555e-02 -5.31701250e-04 9.98238713e-01 3.15868367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.9671056809999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:231.21, Y:178.54, Z:31.58 [[ 9.98126307e-01 1.49738390e-02 5.93267168e-02 2.31206421e+02] [-1.49948727e-02 9.99887566e-01 -9.06595048e-05 1.78544026e+02] [-5.93214040e-02 -7.99106932e-04 9.98238615e-01 3.15840719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99710568099994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:231.24, Y:178.54, Z:31.58 [[ 9.98168812e-01 1.18193188e-02 5.93239173e-02 2.31239063e+02] [-1.18176031e-02 9.99930098e-01 -3.79773871e-04 1.78541758e+02] [-5.93242591e-02 -3.21988077e-04 9.98238713e-01 3.15802079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0271056809999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:231.27, Y:178.54, Z:31.58 [[ 9.98182859e-01 1.05762074e-02 5.93222085e-02 2.31272502e+02] [-1.05622386e-02 9.99944067e-01 -5.49040220e-04 1.78540687e+02] [-5.93246972e-02 -7.85327852e-05 9.98238736e-01 3.15773960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.05710568099994 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:231.31, Y:178.54, Z:31.57 [[ 9.98203525e-01 8.40952592e-03 5.93211804e-02 2.31306852e+02] [-8.38584497e-03 9.99964628e-01 -6.48140228e-04 1.78541575e+02] [-5.93245327e-02 1.49517638e-04 9.98238738e-01 3.15739531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0871056809999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:231.34, Y:178.54, Z:31.57 [[ 9.98179313e-01 1.09562488e-02 5.93129000e-02 2.31338319e+02] [-1.08924304e-02 9.99939697e-01 -1.39918063e-03 1.78540407e+02] [-5.93246530e-02 7.50571524e-04 9.98238460e-01 3.15678698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.11710568099994 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:231.37, Y:178.54, Z:31.57 [[ 9.98168750e-01 1.18704039e-02 5.93147494e-02 2.31370040e+02] [-1.18189565e-02 9.99929412e-01 -1.21812879e-03 1.78539931e+02] [-5.93250222e-02 5.14859655e-04 9.98238587e-01 3.15716973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1471056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:231.40, Y:178.54, Z:31.57 [[ 9.98153972e-01 1.30456687e-02 5.93166058e-02 2.31401122e+02] [-1.30069890e-02 9.99914867e-01 -1.03816355e-03 1.78538354e+02] [-5.93250995e-02 2.64716633e-04 9.98238680e-01 3.15650405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1771056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:231.43, Y:178.54, Z:31.56 [[ 9.98148091e-01 1.34837224e-02 5.93175996e-02 2.31431965e+02] [-1.34517237e-02 9.99909081e-01 -9.38746220e-04 1.78537316e+02] [-5.93248643e-02 1.39083786e-04 9.98238720e-01 3.15632492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2071056809999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:231.46, Y:178.54, Z:31.56 [[ 9.98154730e-01 1.29815402e-02 5.93179139e-02 2.31463795e+02] [-1.29505280e-02 9.99915727e-01 -9.07238530e-04 1.78537633e+02] [-5.93246924e-02 1.37366126e-04 9.98238730e-01 3.15594538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2371056809999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:231.50, Y:178.54, Z:31.56 [[ 9.98123401e-01 1.52062658e-02 5.93164905e-02 2.31495043e+02] [-1.51709961e-02 9.99884368e-01 -1.04492401e-03 1.78537540e+02] [-5.93255210e-02 1.43072861e-04 9.98238680e-01 3.15583560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2671056809999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:231.53, Y:178.54, Z:31.56 [[ 9.98092959e-01 1.70831733e-02 5.93178799e-02 2.31525417e+02] [-1.70592482e-02 9.99854067e-01 -9.09756245e-04 1.78538015e+02] [-5.93247649e-02 -1.03897133e-04 9.98238730e-01 3.15607536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2971056809999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:231.56, Y:178.54, Z:31.56 [[ 9.98023672e-01 2.07266808e-02 5.93224616e-02 2.31558919e+02] [-2.07357665e-02 9.99784884e-01 -4.62495482e-04 1.78541510e+02] [-5.93192863e-02 -7.68515269e-04 9.98238765e-01 3.15619238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3271056809999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:231.59, Y:178.54, Z:31.56 [[ 9.97810778e-01 2.92397688e-02 5.93185224e-02 2.31590299e+02] [-2.92420528e-02 9.99572015e-01 -8.29743360e-04 1.78544092e+02] [-5.93173965e-02 -9.06668497e-04 9.98238761e-01 3.15648385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3571056809999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:231.62, Y:178.54, Z:31.57 [[ 9.97723398e-01 3.20772215e-02 5.93217795e-02 2.31622342e+02] [-3.21025064e-02 9.99484443e-01 -5.26992276e-04 1.78544931e+02] [-5.93081002e-02 -1.37858528e-03 9.98238773e-01 3.15653221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3871056809999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:231.65, Y:178.54, Z:31.56 [[ 9.97465802e-01 3.92823741e-02 5.93200521e-02 2.31653122e+02] [-3.93111862e-02 9.99226784e-01 -6.81666157e-04 1.78544633e+02] [-5.93009624e-02 -1.65200293e-03 9.98238782e-01 3.15601658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.4171056809999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:231.68, Y:178.54, Z:31.55 [[ 9.97068429e-01 4.83302915e-02 5.93188849e-02 2.31684018e+02] [-4.83690054e-02 9.98829227e-01 -7.83887929e-04 1.78543646e+02] [-5.92873215e-02 -2.08760556e-03 9.98238777e-01 3.15533094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.4471056809999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:231.72, Y:178.54, Z:31.55 [[ 9.96847368e-01 5.26908171e-02 5.93211912e-02 2.31715288e+02] [-5.27490534e-02 9.98607628e-01 -5.84896799e-04 1.78542659e+02] [-5.92694127e-02 -2.54608385e-03 9.98238776e-01 3.15523571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.4771056809999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:231.75, Y:178.54, Z:31.55 [[ 9.96742131e-01 5.46447878e-02 5.93217647e-02 2.31745659e+02] [-5.47093635e-02 9.98502177e-01 -5.36263603e-04 1.78541656e+02] [-5.92622152e-02 -2.71093946e-03 9.98238769e-01 3.15475890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.5071056809999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:231.78, Y:178.54, Z:31.54 [[ 9.96646886e-01 5.63575061e-02 5.93196044e-02 2.31776556e+02] [-5.64144621e-02 9.98407180e-01 -7.15458665e-04 1.78538359e+02] [-5.92654404e-02 -2.63342392e-03 9.98238785e-01 3.15424645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.5371056809999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:231.81, Y:178.53, Z:31.54 [[ 9.96404822e-01 6.04874484e-02 5.93186309e-02 2.31808353e+02] [-6.05469941e-02 9.98165031e-01 -7.94674190e-04 1.78530531e+02] [-5.92578509e-02 -2.79974760e-03 9.98238783e-01 3.15353861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.56710568099993 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:231.84, Y:178.53, Z:31.54 [[ 9.97093521e-01 4.78186094e-02 5.93118195e-02 2.31838382e+02] [-4.78231094e-02 9.98854916e-01 -1.34443086e-03 1.78533118e+02] [-5.93081913e-02 -1.49595233e-03 9.98238599e-01 3.15448768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.5971056809999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:231.87, Y:178.53, Z:31.54 [[ 9.97280818e-01 4.37284763e-02 5.93193987e-02 2.31869625e+02] [-4.37624713e-02 9.99041700e-01 -7.26544288e-04 1.78530221e+02] [-5.92943236e-02 -1.87139480e-03 9.98238790e-01 3.15446493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62710568099993 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:231.90, Y:178.52, Z:31.54 [[ 9.97663126e-01 3.38960908e-02 5.93240407e-02 2.31900929e+02] [-3.39352578e-02 9.99423973e-01 -3.47420081e-04 1.78524198e+02] [-5.93016446e-02 -1.66656841e-03 9.98238718e-01 3.15407157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.6571056809999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:231.94, Y:178.52, Z:31.53 [[ 9.97979061e-01 2.27695911e-02 5.93240176e-02 2.31936370e+02] [-2.27890101e-02 9.99740236e-01 -3.49293578e-04 1.78521579e+02] [-5.93165606e-02 -1.00334796e-03 9.98238718e-01 3.15337402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.68710568099993 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:231.96, Y:178.52, Z:31.53 [[ 9.98010459e-01 2.13899913e-02 5.93092960e-02 2.31962370e+02] [-2.13327658e-02 9.99771154e-01 -1.59794442e-03 1.78521316e+02] [-5.93299033e-02 3.29533922e-04 9.98238375e-01 3.15328510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7171056809999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:231.99, Y:178.52, Z:31.53 [[ 9.98029238e-01 2.04645113e-02 5.93198478e-02 2.31994305e+02] [-2.04601437e-02 9.99790437e-01 -6.81070748e-04 1.78520667e+02] [-5.93213544e-02 -5.33964094e-04 9.98238795e-01 3.15309707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.74710568099994 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:232.03, Y:178.52, Z:31.53 [[ 9.98036059e-01 2.01304146e-02 5.93193995e-02 2.32029428e+02] [-2.01231815e-02 9.99797250e-01 -7.19365382e-04 1.78521144e+02] [-5.93218536e-02 -4.75742455e-04 9.98238795e-01 3.15270801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7771056809999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:232.06, Y:178.52, Z:31.53 [[ 9.97969810e-01 2.32044505e-02 5.93111503e-02 2.32059180e+02] [-2.31545900e-02 9.99730729e-01 -1.52788204e-03 1.78521667e+02] [-5.93306332e-02 1.51454779e-04 9.98238375e-01 3.15301622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.80710568099994 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:232.09, Y:178.52, Z:31.53 [[ 9.97970556e-01 2.31592092e-02 5.93162772e-02 2.32092619e+02] [-2.31397978e-02 9.99731725e-01 -1.01421202e-03 1.78521247e+02] [-5.93238524e-02 -3.60412929e-04 9.98238724e-01 3.15281150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8371056809999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:232.13, Y:178.52, Z:31.52 [[ 9.97937189e-01 2.45549468e-02 5.93162901e-02 2.32125190e+02] [-2.45380761e-02 9.99698383e-01 -1.01290774e-03 1.78522113e+02] [-5.93232712e-02 -4.44689334e-04 9.98238725e-01 3.15248928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.86710568099994 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:232.16, Y:178.53, Z:31.52 [[ 9.97973901e-01 2.30164502e-02 5.93155597e-02 2.32156278e+02] [-2.29927339e-02 9.99735046e-01 -1.08240573e-03 1.78525714e+02] [-5.93247570e-02 -2.83614213e-04 9.98238695e-01 3.15236692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8971056809999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:232.19, Y:178.53, Z:31.52 [[ 9.98020306e-01 2.08997585e-02 5.93183675e-02 2.32189608e+02] [-2.08879292e-02 9.99781488e-01 -8.19546763e-04 1.78525631e+02] [-5.93225340e-02 -4.21113546e-04 9.98238779e-01 3.15218607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9271056809999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:232.22, Y:178.52, Z:31.52 [[ 9.98120326e-01 1.54043371e-02 5.93171318e-02 2.32220466e+02] [-1.53759965e-02 9.99881346e-01 -9.34210502e-04 1.78522921e+02] [-5.93244845e-02 2.03944804e-05 9.98238752e-01 3.15195469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9571056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:232.25, Y:178.52, Z:31.52 [[ 9.98165414e-01 1.21376974e-02 5.93167933e-02 2.32254993e+02] [-1.21018022e-02 9.99926306e-01 -9.64355257e-04 1.78521852e+02] [-5.93241270e-02 2.44745963e-04 9.98238743e-01 3.15185900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9871056809999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:232.28, Y:178.52, Z:31.51 [[ 9.98176766e-01 1.11827882e-02 5.93134878e-02 2.32282846e+02] [-1.11285277e-02 9.99937301e-01 -1.24506643e-03 1.78516552e+02] [-5.93236922e-02 5.82724592e-04 9.98238629e-01 3.15069922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0171056809999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:232.32, Y:178.52, Z:31.52 [[ 9.98215207e-01 6.89511776e-03 5.93199667e-02 2.32319185e+02] [-6.86663477e-03 9.99976190e-01 -6.83991305e-04 1.78521684e+02] [-5.93232705e-02 2.75441975e-04 9.98238786e-01 3.15192421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0471056809999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:232.35, Y:178.52, Z:31.52 [[ 9.98236390e-01 2.45277032e-03 5.93135262e-02 2.32350853e+02] [-2.38457314e-03 9.99996412e-01 -1.22052818e-03 1.78523124e+02] [-5.93163070e-02 1.07693820e-03 9.98238657e-01 3.15193137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0771056809999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:232.38, Y:178.52, Z:31.52 [[ 9.98234281e-01 -3.23188984e-03 5.93116871e-02 2.32383868e+02] [ 3.31857027e-03 9.99993565e-01 -1.36299545e-03 1.78524428e+02] [-5.93069003e-02 1.55741878e-03 9.98238582e-01 3.15167601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1071056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:232.41, Y:178.52, Z:31.51 [[ 9.98229277e-01 -4.56565819e-03 5.93082307e-02 2.32413799e+02] [ 4.67026059e-03 9.99987774e-01 -1.62521251e-03 1.78524610e+02] [-5.93000854e-02 1.89931960e-03 9.98238395e-01 3.15127602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1371056809999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:232.44, Y:178.53, Z:31.51 [[ 9.98212474e-01 -7.35145434e-03 5.93111530e-02 2.32443175e+02] [ 7.44792917e-03 9.99971276e-01 -1.40568219e-03 1.78526195e+02] [-5.92991155e-02 1.84491476e-03 9.98238554e-01 3.15075042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1671056809999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:232.47, Y:178.53, Z:31.51 [[ 9.98202124e-01 -8.63214153e-03 5.93127771e-02 2.32474186e+02] [ 8.72364650e-03 9.99961124e-01 -1.28398165e-03 1.78531614e+02] [-5.92993878e-02 1.79909691e-03 9.98238622e-01 3.15103265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1971056809999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:232.51, Y:178.54, Z:31.51 [[ 9.98181034e-01 -1.07973691e-02 5.93130635e-02 2.32506011e+02] [ 1.08913427e-02 9.99939892e-01 -1.26130044e-03 1.78535569e+02] [-5.92958796e-02 1.90500508e-03 9.98238634e-01 3.15084689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.2271056809999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:232.54, Y:178.54, Z:31.51 [[ 9.98136198e-01 -1.43523243e-02 5.93139132e-02 2.32537707e+02] [ 1.44481796e-02 9.99894914e-01 -1.18749495e-03 1.78540768e+02] [-5.92906369e-02 2.04225977e-03 9.98238674e-01 3.15063780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.2571056809999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:232.57, Y:178.54, Z:31.50 [[ 9.98105415e-01 -1.63540370e-02 5.93137874e-02 2.32566463e+02] [ 1.64540720e-02 9.99863904e-01 -1.19849235e-03 1.78543945e+02] [-5.92861149e-02 2.17217503e-03 9.98238668e-01 3.15041064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.2871056809999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:232.60, Y:178.55, Z:31.50 [[ 9.98065983e-01 -1.85865943e-02 5.93197493e-02 2.32598502e+02] [ 1.86595521e-02 9.99825667e-01 -6.76168852e-04 1.78546699e+02] [-5.92968402e-02 1.78174108e-03 9.98238804e-01 3.15022744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31710568099993 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:232.63, Y:178.55, Z:31.50 [[ 9.97966046e-01 -2.33440989e-02 5.93196758e-02 2.32629345e+02] [ 2.34258238e-02 9.99725345e-01 -6.82562701e-04 1.78553703e+02] [-5.92874495e-02 2.07078667e-03 9.98238804e-01 3.15021774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.3471056809999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:232.66, Y:178.56, Z:31.50 [[ 9.97911094e-01 -2.55832190e-02 5.93207229e-02 2.32664082e+02] [ 2.56635296e-02 9.99670462e-01 -5.92247247e-04 1.78558149e+02] [-5.92860229e-02 2.11338923e-03 9.98238800e-01 3.14988052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37710568099993 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:232.69, Y:178.56, Z:31.50 [[ 9.97980024e-01 -2.27612109e-02 5.93110287e-02 2.32694811e+02] [ 2.28813558e-02 9.99737280e-01 -1.34721877e-03 1.78564826e+02] [-5.92647822e-02 2.70161417e-03 9.98238642e-01 3.15011470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.4071056809999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:232.73, Y:178.57, Z:31.49 [[ 9.98008906e-01 -2.14461622e-02 5.93151404e-02 2.32727611e+02] [ 2.15452301e-02 9.99767343e-01 -1.03108323e-03 1.78567815e+02] [-5.92792275e-02 2.30698859e-03 9.98238775e-01 3.14901028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43710568099993 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:232.76, Y:178.58, Z:31.49 [[ 9.98071541e-01 -1.83155349e-02 5.93105423e-02 2.32758494e+02] [ 1.84303004e-02 9.99829184e-01 -1.38848888e-03 1.78575584e+02] [-5.92749801e-02 2.47892234e-03 9.98238615e-01 3.14891696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.4671056809999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:232.79, Y:178.58, Z:31.49 [[ 9.98111995e-01 -1.59514066e-02 5.93127229e-02 2.32790672e+02] [ 1.60522452e-02 9.99870405e-01 -1.22400440e-03 1.78580317e+02] [-5.92855116e-02 2.17379584e-03 9.98238700e-01 3.14854076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49710568099994 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:232.82, Y:178.59, Z:31.48 [[ 9.98184099e-01 -1.05060407e-02 5.93138071e-02 2.32820745e+02] [ 1.05921099e-02 9.99943256e-01 -1.13685318e-03 1.78589203e+02] [-5.92984975e-02 1.76304713e-03 9.98238739e-01 3.14780830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5271056809999 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:232.85, Y:178.60, Z:31.48 [[ 9.98185214e-01 -1.03774640e-02 5.93176706e-02 2.32853127e+02] [ 1.04443448e-02 9.99945122e-01 -8.17564102e-04 1.78598110e+02] [-5.93059312e-02 1.43561460e-03 9.98238822e-01 3.14753161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.55710568099994 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:232.88, Y:178.60, Z:31.47 [[ 9.98175340e-01 -1.13033202e-02 5.93146354e-02 2.32882845e+02] [ 1.13862029e-02 9.99934614e-01 -1.05953327e-03 1.78603177e+02] [-5.92987808e-02 1.73296846e-03 9.98238775e-01 3.14733794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5871056809999 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:232.92, Y:178.61, Z:31.46 [[ 9.98187148e-01 -1.01843837e-02 5.93185894e-02 2.32915758e+02] [ 1.02466078e-02 9.99947225e-01 -7.44893597e-04 1.78605853e+02] [-5.93078726e-02 1.35135754e-03 9.98238824e-01 3.14647688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.61710568099994 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:232.95, Y:178.62, Z:31.47 [[ 9.98222120e-01 -5.86444675e-03 5.93144865e-02 2.32947766e+02] [ 5.93822907e-03 9.99981799e-01 -1.06772561e-03 1.78615534e+02] [-5.93071453e-02 1.41805033e-03 9.98238775e-01 3.14683504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6471056809999 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:232.98, Y:178.62, Z:31.47 [[ 9.98238826e-01 -8.62774650e-04 5.93169615e-02 2.32978778e+02] [ 9.15885134e-04 9.99999204e-01 -8.68185625e-04 1.78619759e+02] [-5.93161652e-02 9.20984122e-04 9.98238821e-01 3.14656110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6771056809999 meters Centerline goodness : 0.997571 Centerline is valid? [True, True] Translation: X:233.01, Y:178.63, Z:31.47 [[ 9.98214400e-01 7.00467090e-03 5.93207021e-02 2.33011534e+02] [-6.98332045e-03 9.99975455e-01 -5.67220761e-04 1.78626354e+02] [-5.93232193e-02 1.51952460e-04 9.98238815e-01 3.14675618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7071056809999 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:233.04, Y:178.63, Z:31.47 [[ 9.98082815e-01 1.76620467e-02 5.93190237e-02 2.33043235e+02] [-1.76515913e-02 9.99843953e-01 -7.00292190e-04 1.78632537e+02] [-5.93221357e-02 -3.48125560e-04 9.98238831e-01 3.14733372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7371056809999 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:233.07, Y:178.63, Z:31.48 [[ 9.97967971e-01 2.32645694e-02 5.93185347e-02 2.33074433e+02] [-2.32616924e-02 9.99729137e-01 -7.39126887e-04 1.78634885e+02] [-5.93196630e-02 -6.42224549e-04 9.98238832e-01 3.14757284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7671056809999 meters Centerline goodness : 0.996829 Centerline is valid? [True, True] Translation: X:233.11, Y:178.64, Z:31.48 [[ 9.97744682e-01 3.14161509e-02 5.93175722e-02 2.33107445e+02] [-3.14232167e-02 9.99505837e-01 -8.13903539e-04 1.78636984e+02] [-5.93138294e-02 -1.05188100e-03 9.98238831e-01 3.14773121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7971056809999 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:233.14, Y:178.64, Z:31.47 [[ 9.97642421e-01 3.45220070e-02 5.93113085e-02 2.33137762e+02] [-3.45037759e-02 9.99403680e-01 -1.33179311e-03 1.78637061e+02] [-5.93219161e-02 -7.17810788e-04 9.98238646e-01 3.14652740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8271056809999 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:233.17, Y:178.64, Z:31.46 [[ 9.97468779e-01 3.92211932e-02 5.93104866e-02 2.33167904e+02] [-3.92072532e-02 9.99230120e-01 -1.39919124e-03 1.78637193e+02] [-5.93197026e-02 -9.29751685e-04 9.98238603e-01 3.14642253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8571056809999 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:233.20, Y:178.64, Z:31.46 [[ 9.97346087e-01 4.22287188e-02 5.93086610e-02 2.33196106e+02] [-4.22112764e-02 9.99107508e-01 -1.54747485e-03 1.78636088e+02] [-5.93210764e-02 -9.60126299e-04 9.98238493e-01 3.14642096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8871056809999 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:233.23, Y:178.63, Z:31.46 [[ 9.97089293e-01 4.79068935e-02 5.93116390e-02 2.33225692e+02] [-4.79139335e-02 9.98850616e-01 -1.30429779e-03 1.78632801e+02] [-5.93059520e-02 -1.54135256e-03 9.98238663e-01 3.14573000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.9171056809999 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:233.25, Y:178.63, Z:31.46 [[ 9.96870774e-01 5.22581381e-02 5.93105952e-02 2.33254354e+02] [-5.22677136e-02 9.98632140e-01 -1.39098611e-03 1.78630396e+02] [-5.93021569e-02 -1.71339580e-03 9.98238608e-01 3.14569201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.9471056809999 meters Centerline goodness : 0.996408 Centerline is valid? [True, True] Translation: X:233.28, Y:178.63, Z:31.45 [[ 9.96664069e-01 5.60597231e-02 5.93130839e-02 2.33284077e+02] [-5.60896522e-02 9.98425061e-01 -1.16148834e-03 1.78625701e+02] [-5.92847821e-02 -2.16923655e-03 9.98238754e-01 3.14528600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.9771056809999 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:233.31, Y:178.62, Z:31.45 [[ 9.96597111e-01 5.72412047e-02 5.93097142e-02 2.33309659e+02] [-5.72544412e-02 9.98358526e-01 -1.47756486e-03 1.78623049e+02] [-5.92969364e-02 -1.92320767e-03 9.98238536e-01 3.14491430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.0071056809999 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:233.34, Y:178.62, Z:31.45 [[ 9.96883197e-01 5.20110818e-02 5.93189524e-02 2.33339124e+02] [-5.20690773e-02 9.98643324e-01 -5.68643734e-04 1.78618037e+02] [-5.92680515e-02 -2.52181173e-03 9.98238919e-01 3.14533493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.0371056809999 meters Centerline goodness : 0.996380 Centerline is valid? [True, True] Translation: X:233.37, Y:178.61, Z:31.45 [[ 9.96802924e-01 5.35277776e-02 5.93186973e-02 2.33365405e+02] [-5.35869383e-02 9.98563011e-01 -5.94112184e-04 1.78611153e+02] [-5.92652585e-02 -2.58649461e-03 9.98238919e-01 3.14504374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.06710568099993 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:233.39, Y:178.61, Z:31.45 [[ 9.96978194e-01 5.01522817e-02 5.93230913e-02 2.33394962e+02] [-5.02327391e-02 9.98737530e-01 -1.35200591e-04 1.78605778e+02] [-5.92549783e-02 -2.84516932e-03 9.98238825e-01 3.14484079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.0971056809999 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:233.42, Y:178.60, Z:31.45 [[ 9.97394151e-01 4.10589860e-02 5.93217314e-02 2.33424041e+02] [-4.11150419e-02 9.99154381e-01 -2.75842407e-04 1.78595036e+02] [-5.92828937e-02 -2.16389187e-03 9.98238877e-01 3.14471886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12710568099993 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:233.46, Y:178.59, Z:31.45 [[ 9.97745380e-01 3.13858186e-02 5.93218975e-02 2.33455467e+02] [-3.14257614e-02 9.99506055e-01 -2.59726182e-04 1.78585945e+02] [-5.93007474e-02 -1.60509520e-03 9.98238872e-01 3.14472130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.1571056809999 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:233.49, Y:178.58, Z:31.45 [[ 9.97825472e-01 2.87347316e-02 5.93181551e-02 2.33487925e+02] [-2.87491504e-02 9.99586471e-01 -6.10511153e-04 1.78582513e+02] [-5.93111682e-02 -1.09616298e-03 9.98238941e-01 3.14454932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.18710568099993 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:233.52, Y:178.58, Z:31.44 [[ 9.97866547e-01 2.72720648e-02 5.93176933e-02 2.33519787e+02] [-2.72814075e-02 9.99627580e-01 -6.52490567e-04 1.78577254e+02] [-5.93133970e-02 -9.67171653e-04 9.98238942e-01 3.14436969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2171056809999 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:233.55, Y:178.57, Z:31.44 [[ 9.97918746e-01 2.52919293e-02 5.93169080e-02 2.33551067e+02] [-2.52936487e-02 9.99679804e-01 -7.21964970e-04 1.78574798e+02] [-5.93161748e-02 -7.79878658e-04 9.98238941e-01 3.14414603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.24710568099994 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:233.58, Y:178.57, Z:31.43 [[ 9.97933502e-01 2.47016487e-02 5.93173987e-02 2.33583565e+02] [-2.47048733e-02 9.99694557e-01 -6.79110776e-04 1.78567838e+02] [-5.93160558e-02 -7.87721421e-04 9.98238942e-01 3.14340560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2771056809999 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:233.61, Y:178.56, Z:31.43 [[ 9.97916694e-01 2.53742354e-02 5.93162664e-02 2.33614554e+02] [-2.53729385e-02 9.99677755e-01 -7.75162203e-04 1.78563433e+02] [-5.93168212e-02 -7.31480677e-04 9.98238939e-01 3.14331565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.30710568099994 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:233.65, Y:178.56, Z:31.43 [[ 9.97973141e-01 2.30371669e-02 5.93203019e-02 2.33647690e+02] [-2.30519332e-02 9.99734174e-01 -4.35480818e-04 1.78559273e+02] [-5.93145653e-02 -9.32849478e-04 9.98238905e-01 3.14284285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3371056809999 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:233.68, Y:178.56, Z:31.42 [[ 9.97945445e-01 2.42163077e-02 5.93166069e-02 2.33678253e+02] [-2.42154008e-02 9.99706495e-01 -7.34214490e-04 1.78556910e+02] [-5.93169771e-02 -7.03669407e-04 9.98238950e-01 3.14240469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.36710568099994 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:233.71, Y:178.55, Z:31.42 [[ 9.97818413e-01 2.89822378e-02 5.93164730e-02 2.33710976e+02] [-2.89891079e-02 9.99579450e-01 -7.44879402e-04 1.78553348e+02] [-5.93131157e-02 -9.76277254e-04 9.98238950e-01 3.14210232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3971056809999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:233.74, Y:178.55, Z:31.42 [[ 9.97716458e-01 3.23026095e-02 5.93161882e-02 2.33743518e+02] [-3.23140310e-02 9.99477471e-01 -7.66904489e-04 1.78551246e+02] [-5.93099668e-02 -1.15159192e-03 9.98238950e-01 3.14208619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4271056809999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:233.78, Y:178.55, Z:31.42 [[ 9.97530240e-01 3.76170538e-02 5.93159146e-02 2.33776963e+02] [-3.76366313e-02 9.99291181e-01 -7.87517107e-04 1.78546234e+02] [-5.93034944e-02 -1.44687908e-03 9.98238950e-01 3.14205091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4571056809999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:233.81, Y:178.54, Z:31.42 [[ 9.97429195e-01 4.02077047e-02 5.93156031e-02 2.33809255e+02] [-4.02305007e-02 9.99190097e-01 -8.10316038e-04 1.78543483e+02] [-5.93001442e-02 -1.57806354e-03 9.98238951e-01 3.14184774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4871056809999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:233.84, Y:178.54, Z:31.42 [[ 9.97199765e-01 4.55447332e-02 5.93153061e-02 2.33841132e+02] [-4.55756928e-02 9.98960542e-01 -8.31507897e-04 1.78541013e+02] [-5.92915211e-02 -1.87415669e-03 9.98238951e-01 3.14179083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5171056809999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:233.87, Y:178.54, Z:31.42 [[ 9.97075175e-01 4.81956727e-02 5.93150227e-02 2.33872158e+02] [-4.82301401e-02 9.98835887e-01 -8.51253303e-04 1.78541139e+02] [-5.92870000e-02 -2.01200832e-03 9.98238951e-01 3.14159338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5471056809999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:233.90, Y:178.54, Z:31.41 [[ 9.96956418e-01 5.05928290e-02 5.93149812e-02 2.33902386e+02] [-5.06313583e-02 9.98717045e-01 -8.54135680e-04 1.78541588e+02] [-5.92820959e-02 -2.15166202e-03 9.98238951e-01 3.14143890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5771056809999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:233.93, Y:178.54, Z:31.41 [[ 9.96778359e-01 5.39874015e-02 5.93149606e-02 2.33932045e+02] [-5.40318410e-02 9.98538847e-01 -8.55564766e-04 1.78540892e+02] [-5.92744820e-02 -2.35208808e-03 9.98238951e-01 3.14132547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6071056809999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:233.96, Y:178.54, Z:31.41 [[ 9.96765156e-01 5.42305819e-02 5.93149806e-02 2.33962321e+02] [-5.42755336e-02 9.98525632e-01 -8.54173687e-04 1.78540185e+02] [-5.92738508e-02 -2.36794165e-03 9.98238951e-01 3.14126473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6371056809999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:233.99, Y:178.54, Z:31.41 [[ 9.96820504e-01 5.32035395e-02 5.93149806e-02 2.33993231e+02] [-5.32466772e-02 9.98581024e-01 -8.54173685e-04 1.78540950e+02] [-5.92762591e-02 -2.30686779e-03 9.98238951e-01 3.14128596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6671056809999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:234.02, Y:178.54, Z:31.41 [[ 9.97046520e-01 4.87849378e-02 5.93149806e-02 2.34023080e+02] [-4.88202722e-02 9.98807214e-01 -8.54173685e-04 1.78542750e+02] [-5.92859014e-02 -2.04412260e-03 9.98238951e-01 3.14110317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6971056809999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:234.05, Y:178.54, Z:31.41 [[ 9.97046507e-01 4.87853189e-02 5.93148873e-02 2.34054022e+02] [-4.88202720e-02 9.98807209e-01 -8.60602950e-04 1.78542302e+02] [-5.92861218e-02 -2.03770777e-03 9.98238951e-01 3.14091938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.7271056809999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:234.08, Y:178.54, Z:31.41 [[ 9.97217968e-01 4.51449787e-02 5.93148873e-02 2.34084034e+02] [-4.51735036e-02 9.98978786e-01 -8.60602948e-04 1.78542554e+02] [-5.92931660e-02 -1.82125255e-03 9.98238951e-01 3.14091459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.7571056809999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:234.11, Y:178.54, Z:31.41 [[ 9.97610330e-01 3.54312734e-02 5.93148677e-02 2.34114818e+02] [-3.54425686e-02 9.99371343e-01 -8.61954293e-04 1.78541463e+02] [-5.93081191e-02 -1.24237676e-03 9.98238951e-01 3.14080091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.7871056809999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:234.15, Y:178.54, Z:31.40 [[ 9.97837824e-01 2.83050591e-02 5.93169596e-02 2.34147589e+02] [-2.83123096e-02 9.99598868e-01 -7.18371643e-04 1.78540574e+02] [-5.93134992e-02 -9.62581729e-04 9.98238940e-01 3.14049035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81710568099993 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:234.18, Y:178.54, Z:31.40 [[ 9.97972908e-01 2.30782914e-02 5.93082381e-02 2.34178024e+02] [-2.30416961e-02 9.99733658e-01 -1.30093626e-03 1.78537989e+02] [-5.93224653e-02 -6.82632574e-05 9.98238869e-01 3.14032395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.8471056809999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:234.21, Y:178.53, Z:31.40 [[ 9.98147930e-01 1.35094496e-02 5.93144550e-02 2.34209468e+02] [-1.34807338e-02 9.99908740e-01 -8.84273034e-04 1.78533971e+02] [-5.93209880e-02 8.30329191e-05 9.98238956e-01 3.13970368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87710568099993 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:234.24, Y:178.53, Z:31.39 [[ 9.98218182e-01 6.50322510e-03 5.93141539e-02 2.34242072e+02] [-6.46097727e-03 9.99978719e-01 -9.04029031e-04 1.78532717e+02] [-5.93187707e-02 5.19190815e-04 9.98238956e-01 3.13942320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.9071056809999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:234.27, Y:178.53, Z:31.39 [[ 9.98229932e-01 4.34425283e-03 5.93138340e-02 2.34274770e+02] [-4.29697795e-03 9.99990341e-01 -9.24554102e-04 1.78532019e+02] [-5.93172775e-02 6.68047341e-04 9.98238957e-01 3.13925312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93710568099993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:234.31, Y:178.53, Z:31.39 [[ 9.98238608e-01 -1.26059655e-03 5.93135105e-02 2.34306834e+02] [ 1.31896105e-03 9.99998684e-01 -9.44859715e-04 1.78531220e+02] [-5.93122414e-02 1.02142766e-03 9.98238957e-01 3.13877423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.9671056809999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:234.34, Y:178.53, Z:31.38 [[ 9.98229032e-01 -4.55442187e-03 5.93132041e-02 2.34340207e+02] [ 4.61971391e-03 9.99988865e-01 -9.63721063e-04 1.78530414e+02] [-5.93081544e-02 1.23602438e-03 9.98238957e-01 3.13846258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99710568099994 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:234.37, Y:178.53, Z:31.38 [[ 9.98180056e-01 -1.08884347e-02 5.93128750e-02 2.34372436e+02] [ 1.09660706e-02 9.99939387e-01 -9.83567145e-04 1.78530182e+02] [-5.92985704e-02 1.63220628e-03 9.98238957e-01 3.13796137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0271056809999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:234.41, Y:178.53, Z:31.38 [[ 9.98097695e-01 -1.68229493e-02 5.93125633e-02 2.34405339e+02] [ 1.69121390e-02 9.99856477e-01 -1.00201592e-03 1.78533234e+02] [-5.92871938e-02 2.00321209e-03 9.98238957e-01 3.13769528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.05710568099994 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:234.44, Y:178.54, Z:31.38 [[ 9.98075652e-01 -1.80846647e-02 5.93122146e-02 2.34437990e+02] [ 1.81772786e-02 9.99834257e-01 -1.02224901e-03 1.78535478e+02] [-5.92838970e-02 2.09841650e-03 9.98238957e-01 3.13766524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0871056809999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:234.47, Y:178.54, Z:31.38 [[ 9.98101603e-01 -1.65911948e-02 5.93120836e-02 2.34470314e+02] [ 1.66816252e-02 9.99860322e-01 -1.02979769e-03 1.78542999e+02] [-5.92867134e-02 2.01726467e-03 9.98238958e-01 3.13777581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.11710568099994 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:234.50, Y:178.55, Z:31.38 [[ 9.98133980e-01 -1.45136928e-02 5.93119742e-02 2.34503100e+02] [ 1.46008339e-02 9.99892865e-01 -1.03605695e-03 1.78547351e+02] [-5.92905828e-02 1.90012793e-03 9.98238958e-01 3.13758849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1471056809999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:234.54, Y:178.56, Z:31.38 [[ 9.98192470e-01 -9.69011211e-03 5.93118423e-02 2.34535576e+02] [ 9.76919756e-03 9.99951736e-01 -1.04355236e-03 1.78556250e+02] [-5.92988676e-02 1.62109521e-03 9.98238958e-01 3.13756857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1771056809999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:234.57, Y:178.56, Z:31.38 [[ 9.98219331e-01 -6.34711371e-03 5.93117325e-02 2.34565547e+02] [ 6.42067543e-03 9.99978836e-01 -1.04975773e-03 1.78560190e+02] [-5.93038143e-02 1.42870985e-03 9.98238958e-01 3.13778538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2071056809999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:234.60, Y:178.57, Z:31.37 [[ 9.98222443e-01 -5.73498454e-03 5.93217043e-02 2.34599203e+02] [ 5.77386522e-03 9.99983214e-01 -4.84031496e-04 1.78566782e+02] [-5.93179326e-02 8.25686627e-04 9.98238800e-01 3.13731409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2371056809999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:234.63, Y:178.57, Z:31.37 [[ 9.98225709e-01 -5.25866561e-03 5.93108806e-02 2.34631091e+02] [ 5.33206670e-03 9.99985202e-01 -1.07936797e-03 1.78569057e+02] [-5.93043268e-02 1.39370243e-03 9.98238977e-01 3.13730398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2671056809999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:234.66, Y:178.58, Z:31.37 [[ 9.98216235e-01 -6.82727590e-03 5.93105021e-02 2.34663775e+02] [ 6.90465378e-03 9.99975558e-01 -1.09977950e-03 1.78576420e+02] [-5.93015439e-02 1.50733623e-03 9.98238977e-01 3.13743810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2971056809999 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:234.70, Y:178.58, Z:31.38 [[ 9.98203959e-01 -8.43402743e-03 5.93104061e-02 2.34698037e+02] [ 8.51454291e-03 9.99963140e-01 -1.10493066e-03 1.78581183e+02] [-5.92989009e-02 1.60794716e-03 9.98238977e-01 3.13760841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3271056809999 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:234.73, Y:178.58, Z:31.37 [[ 9.98195155e-01 -9.49376211e-03 5.92984145e-02 2.34729117e+02] [ 9.61324546e-03 9.99952295e-01 -1.72999256e-03 1.78582447e+02] [-5.92791615e-02 2.29692040e-03 9.98238802e-01 3.13737671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3571056809999 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:234.76, Y:178.58, Z:31.37 [[ 9.98186400e-01 -1.03660015e-02 5.92997193e-02 2.34760436e+02] [ 1.04829560e-02 9.99943672e-01 -1.66149893e-03 1.78584561e+02] [-5.92791560e-02 2.28012198e-03 9.98238841e-01 3.13683795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3871056809999 meters Centerline goodness : 0.998171 Centerline is valid? [True, True] Translation: X:234.79, Y:178.59, Z:31.36 [[ 9.98177381e-01 -1.12006050e-02 5.92997611e-02 2.34787689e+02] [ 1.13188978e-02 9.99934563e-01 -1.65929354e-03 1.78588375e+02] [-5.92772956e-02 2.32747721e-03 9.98238842e-01 3.13616837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.4171056809999 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:234.82, Y:178.59, Z:31.36 [[ 9.98226039e-01 -5.20457309e-03 5.93101004e-02 2.34822801e+02] [ 5.27938022e-03 9.99985454e-01 -1.10465869e-03 1.78591063e+02] [-5.93034884e-02 1.41581964e-03 9.98238995e-01 3.13564760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.4471056809999 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:234.85, Y:178.60, Z:31.36 [[ 9.98229809e-01 -4.61769039e-03 5.92952482e-02 2.34849831e+02] [ 4.73725961e-03 9.99987019e-01 -1.87609146e-03 1.78597371e+02] [-5.92858153e-02 2.15366740e-03 9.98238726e-01 3.13557501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.4771056809999 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:234.88, Y:178.60, Z:31.35 [[ 9.98239621e-01 2.02370657e-04 5.93095076e-02 2.34882853e+02] [-1.35846410e-04 9.99999357e-01 -1.12567540e-03 1.78600187e+02] [-5.93096972e-02 1.11563680e-03 9.98239007e-01 3.13510138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.5071056809999 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:234.92, Y:178.60, Z:31.35 [[ 9.98237916e-01 1.86101543e-03 5.93093519e-02 2.34915623e+02] [-1.79693166e-03 9.99997743e-01 -1.13381632e-03 1.78600744e+02] [-5.93113281e-02 1.02524359e-03 9.98239007e-01 3.13475149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.5371056809999 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:234.95, Y:178.60, Z:31.34 [[ 9.98229429e-01 4.51958605e-03 5.93091961e-02 2.34947590e+02] [-4.45970859e-03 9.99989403e-01 -1.14191056e-03 1.78604027e+02] [-5.93137286e-02 8.75386993e-04 9.98239007e-01 3.13433481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.56710568099993 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:234.98, Y:178.61, Z:31.34 [[ 9.98212315e-01 7.37663675e-03 5.93107007e-02 2.34979803e+02] [-7.32637802e-03 9.99972595e-01 -1.06479629e-03 1.78608432e+02] [-5.93169299e-02 6.28360153e-04 9.98239003e-01 3.13377090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.5971056809999 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:235.01, Y:178.61, Z:31.34 [[ 9.98179805e-01 1.09345201e-02 5.93086350e-02 2.35013369e+02] [-1.08843113e-02 9.99940080e-01 -1.16956349e-03 1.78611088e+02] [-5.93178699e-02 5.21901013e-04 9.98239008e-01 3.13360334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62710568099993 meters Centerline goodness : 0.997087 Centerline is valid? [True, True] Translation: X:235.05, Y:178.62, Z:31.33 [[ 9.97995842e-01 2.20643536e-02 5.93082083e-02 2.35046742e+02] [-2.20325134e-02 9.99756546e-01 -1.19081635e-03 1.78616774e+02] [-5.93200440e-02 -1.18279132e-04 9.98239009e-01 3.13344360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.6571056809999 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:235.08, Y:178.62, Z:31.33 [[ 9.97813000e-01 2.91851372e-02 5.93080436e-02 2.35079187e+02] [-2.91653775e-02 9.99573881e-01 -1.19896141e-03 1.78617365e+02] [-5.93177632e-02 -5.33402200e-04 9.98239009e-01 3.13301750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.68710568099993 meters Centerline goodness : 0.996991 Centerline is valid? [True, True] Translation: X:235.11, Y:178.62, Z:31.33 [[ 9.97510764e-01 3.81451800e-02 5.93061714e-02 2.35110112e+02] [-3.81357841e-02 9.99271733e-01 -1.29067463e-03 1.78619873e+02] [-5.93122137e-02 -9.74225517e-04 9.98239006e-01 3.13281959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7171056809999 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:235.14, Y:178.62, Z:31.33 [[ 9.97385015e-01 4.12995689e-02 5.93083187e-02 2.35140827e+02] [-4.13019174e-02 9.99146007e-01 -1.18677863e-03 1.78620033e+02] [-5.93066833e-02 -1.26587206e-03 9.98239007e-01 3.13263633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.74710568099994 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:235.17, Y:178.62, Z:31.32 [[ 9.97337321e-01 4.24395360e-02 5.93055966e-02 2.35169762e+02] [-4.24360992e-02 9.99098314e-01 -1.31797701e-03 1.78620911e+02] [-5.93080559e-02 -1.20223052e-03 9.98239004e-01 3.13247876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7771056809999 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:235.20, Y:178.62, Z:31.32 [[ 9.97320444e-01 4.28318898e-02 5.93073394e-02 2.35198940e+02] [-4.28341227e-02 9.99081435e-01 -1.23424276e-03 1.78619518e+02] [-5.93057268e-02 -1.30944232e-03 9.98239008e-01 3.13198902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.80710568099994 meters Centerline goodness : 0.997729 Centerline is valid? [True, True] Translation: X:235.23, Y:178.62, Z:31.32 [[ 9.97471664e-01 3.91505607e-02 5.93086340e-02 2.35228539e+02] [-3.91499495e-02 9.99232659e-01 -1.17274079e-03 1.78616177e+02] [-5.93090375e-02 -1.15215431e-03 9.98239005e-01 3.13198612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8371056809999 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:235.26, Y:178.61, Z:31.32 [[ 9.97484729e-01 3.88187471e-02 5.93070003e-02 2.35258127e+02] [-3.88129551e-02 9.99245711e-01 -1.25004773e-03 1.78611921e+02] [-5.93107910e-02 -1.05497642e-03 9.98239008e-01 3.13166717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.86710568099994 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:235.29, Y:178.61, Z:31.32 [[ 9.97759375e-01 3.09612076e-02 5.93096402e-02 2.35289849e+02] [-3.09489506e-02 9.99520333e-01 -1.12546395e-03 1.78609146e+02] [-5.93160370e-02 -7.12628923e-04 9.98238999e-01 3.13193071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8971056809999 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:235.32, Y:178.60, Z:31.32 [[ 9.97780972e-01 3.02628920e-02 5.93067388e-02 2.35322342e+02] [-3.02412964e-02 9.99541831e-01 -1.26185264e-03 1.78604226e+02] [-5.93177536e-02 -5.34460115e-04 9.98239009e-01 3.13156033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9271056809999 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:235.35, Y:178.60, Z:31.32 [[ 9.97965162e-01 2.34339909e-02 5.92990951e-02 2.35354227e+02] [-2.33795866e-02 9.99725362e-01 -1.61119068e-03 1.78601013e+02] [-5.93205660e-02 2.21523836e-04 9.98238960e-01 3.13161698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9571056809999 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:235.39, Y:178.60, Z:31.32 [[ 9.98032257e-01 2.03754994e-02 5.92996835e-02 2.35385242e+02] [-2.03172782e-02 9.99792327e-01 -1.58464468e-03 1.78599210e+02] [-5.93196565e-02 3.76718336e-04 9.98238968e-01 3.13197838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9871056809999 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:235.42, Y:178.60, Z:31.31 [[ 9.98176582e-01 1.12625166e-02 5.93014845e-02 2.35415378e+02] [-1.11930537e-02 9.99936226e-01 -1.50340664e-03 1.78595266e+02] [-5.93146347e-02 8.36900600e-04 9.98238986e-01 3.13115122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0171056809999 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:235.45, Y:178.59, Z:31.32 [[ 9.98234635e-01 3.23418126e-03 5.93055991e-02 2.35448295e+02] [-3.16155741e-03 9.99994133e-01 -1.31836071e-03 1.78588988e+02] [-5.93095150e-02 1.12853527e-03 9.98239003e-01 3.13164538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0471056809999 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:235.48, Y:178.59, Z:31.31 [[ 9.98236267e-01 -2.83954622e-03 5.92983294e-02 2.35479695e+02] [ 2.94205641e-03 9.99994325e-01 -1.64148467e-03 1.78588556e+02] [-5.92933318e-02 1.81304856e-03 9.98238956e-01 3.13091810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0771056809999 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:235.51, Y:178.59, Z:31.31 [[ 9.98115023e-01 -1.58180829e-02 5.92974722e-02 2.35509164e+02] [ 1.59457011e-02 9.99871449e-01 -1.67957089e-03 1.78589406e+02] [-5.92632819e-02 2.62194470e-03 9.98238944e-01 3.13098292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1071056809999 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:235.54, Y:178.59, Z:31.31 [[ 9.98045709e-01 -1.96885555e-02 5.93053378e-02 2.35541639e+02] [ 1.98021727e-02 9.99803035e-01 -1.32864896e-03 1.78588379e+02] [-5.92674975e-02 2.50042694e-03 9.98239005e-01 3.13084134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1371056809999 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:235.58, Y:178.59, Z:31.31 [[ 9.97976865e-01 -2.29151649e-02 5.93049010e-02 2.35575065e+02] [ 2.30356026e-02 9.99733737e-01 -1.34786572e-03 1.78588039e+02] [-5.92582238e-02 2.71126294e-03 9.98239005e-01 3.13069986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1671056809999 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:235.61, Y:178.59, Z:31.31 [[ 9.97928945e-01 -2.49152633e-02 5.93047179e-02 2.35607759e+02] [ 2.50396968e-02 9.99685538e-01 -1.35587478e-03 1.78589420e+02] [-5.92522869e-02 2.83803884e-03 9.98239005e-01 3.13055068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1971056809999 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:235.64, Y:178.59, Z:31.30 [[ 9.98002324e-01 -2.17792081e-02 5.93045314e-02 2.35640301e+02] [ 2.18986020e-02 9.99759266e-01 -1.36398674e-03 1.78592032e+02] [-5.92605482e-02 2.65994826e-03 9.98239006e-01 3.13049057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.2271056809999 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:235.67, Y:178.59, Z:31.30 [[ 9.98057567e-01 -1.90819298e-02 5.93040647e-02 2.35673656e+02] [ 1.91977610e-02 9.99814748e-01 -1.38398231e-03 1.78593686e+02] [-5.92666695e-02 2.51979928e-03 9.98239006e-01 3.13042614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.2571056809999 meters Centerline goodness : 0.997192 Centerline is valid? [True, True] Translation: X:235.71, Y:178.60, Z:31.30 [[ 9.98152329e-01 -1.32279139e-02 5.93038771e-02 2.35705982e+02] [ 1.33339114e-02 9.99910131e-01 -1.39197754e-03 1.78597650e+02] [-5.92801345e-02 2.18015827e-03 9.98239006e-01 3.13040934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.2871056809999 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:235.74, Y:178.60, Z:31.30 [[ 9.98179974e-01 -1.09474138e-02 5.93034084e-02 2.35739433e+02] [ 1.10505636e-02 9.99937944e-01 -1.41166909e-03 1.78599018e+02] [-5.92842741e-02 2.06443590e-03 9.98239006e-01 3.13016471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31710568099993 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:235.77, Y:178.60, Z:31.30 [[ 9.98203194e-01 -8.57389849e-03 5.93032221e-02 2.35773452e+02] [ 8.67332967e-03 9.99961379e-01 -1.41945089e-03 1.78602093e+02] [-5.92887615e-02 1.93125680e-03 9.98239006e-01 3.12996174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.3471056809999 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:235.80, Y:178.60, Z:31.30 [[ 9.98224685e-01 -5.60404285e-03 5.92964912e-02 2.35803051e+02] [ 5.71474256e-03 9.99982230e-01 -1.69746670e-03 1.78602043e+02] [-5.92859248e-02 2.03331734e-03 9.98238972e-01 3.12960705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37710568099993 meters Centerline goodness : 0.996951 Centerline is valid? [True, True] Translation: X:235.84, Y:178.60, Z:31.29 [[ 9.98239193e-01 -1.29684226e-03 5.93028841e-02 2.35836346e+02] [ 1.38425730e-03 9.99998015e-01 -1.43298582e-03 1.78600875e+02] [-5.93009081e-02 1.51255306e-03 9.98239007e-01 3.12868062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.4071056809999 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:235.87, Y:178.61, Z:31.29 [[ 9.98238767e-01 1.95852393e-03 5.92918922e-02 2.35865334e+02] [-1.85024797e-03 9.99996519e-01 -1.88099667e-03 1.78606892e+02] [-5.92953698e-02 1.76797909e-03 9.98238916e-01 3.12850812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43710568099993 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:235.90, Y:178.61, Z:31.28 [[ 9.98215657e-01 6.98062022e-03 5.93023955e-02 2.35899582e+02] [-6.90664244e-03 9.99975094e-01 -1.45234857e-03 1.78606881e+02] [-5.93110568e-02 1.04017663e-03 9.98239008e-01 3.12787820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.4671056809999 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:235.93, Y:178.61, Z:31.27 [[ 9.98080553e-01 1.78826252e-02 5.92909843e-02 2.35930865e+02] [-1.78005791e-02 9.99839730e-01 -1.91171216e-03 1.78612258e+02] [-5.93156682e-02 8.52628875e-04 9.98238912e-01 3.12728330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49710568099994 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:235.96, Y:178.62, Z:31.27 [[ 9.97946400e-01 2.42331023e-02 5.92936654e-02 2.35962560e+02] [-2.41687095e-02 9.99706268e-01 -1.80301834e-03 1.78615539e+02] [-5.93199417e-02 3.66264282e-04 9.98238955e-01 3.12700306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5271056809999 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:235.99, Y:178.62, Z:31.27 [[ 9.97476045e-01 3.90566707e-02 5.92968543e-02 2.35994751e+02] [-3.90260544e-02 9.99236790e-01 -1.67475804e-03 1.78622360e+02] [-5.93170088e-02 -6.43591241e-04 9.98238989e-01 3.12659585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.55710568099994 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:236.02, Y:178.63, Z:31.27 [[ 9.97153906e-01 4.65651752e-02 5.92939437e-02 2.36024306e+02] [-4.65409111e-02 9.98914779e-01 -1.79091598e-03 1.78625596e+02] [-5.93129910e-02 -9.73775292e-04 9.98238960e-01 3.12655657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5871056809999 meters Centerline goodness : 0.995212 Centerline is valid? [True, True] Translation: X:236.05, Y:178.63, Z:31.27 [[ 9.96506344e-01 5.88079203e-02 5.93020647e-02 2.36053502e+02] [-5.88246129e-02 9.98267257e-01 -1.46573938e-03 1.78628633e+02] [-5.92855065e-02 -2.02780241e-03 9.98239008e-01 3.12662467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.61710568099994 meters Centerline goodness : 0.995212 Centerline is valid? [True, True] Translation: X:236.08, Y:178.63, Z:31.26 [[ 9.96519289e-01 5.85996314e-02 5.92907207e-02 2.36081717e+02] [-5.85900070e-02 9.98280318e-01 -1.90226270e-03 1.78628231e+02] [-5.93002314e-02 -1.57820228e-03 9.98238945e-01 3.12647006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6471056809999 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:236.11, Y:178.63, Z:31.26 [[ 9.96281518e-01 6.25092687e-02 5.92935715e-02 2.36107141e+02] [-6.25133598e-02 9.98042526e-01 -1.78777242e-03 1.78628577e+02] [-5.92892582e-02 -1.92551575e-03 9.98238988e-01 3.12643621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6771056809999 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:236.14, Y:178.63, Z:31.26 [[ 9.96198828e-01 6.37973653e-02 5.93109709e-02 2.36137624e+02] [-6.38455348e-02 9.97959203e-01 -1.08446926e-03 1.78626096e+02] [-5.92591156e-02 -2.70639365e-03 9.98238966e-01 3.12648909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7071056809999 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:236.16, Y:178.62, Z:31.26 [[ 9.96204073e-01 6.37275560e-02 5.92979235e-02 2.36164596e+02] [-6.37445085e-02 9.97964956e-01 -1.60762146e-03 1.78618953e+02] [-5.92796994e-02 -2.17839794e-03 9.98239035e-01 3.12636166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7371056809999 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:236.19, Y:178.62, Z:31.26 [[ 9.96375963e-01 6.09726313e-02 5.93066491e-02 2.36193694e+02] [-6.10058106e-02 9.98136625e-01 -1.25269581e-03 1.78615466e+02] [-5.92725187e-02 -2.36989421e-03 9.98239026e-01 3.12626515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7671056809999 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:236.22, Y:178.61, Z:31.26 [[ 9.96493707e-01 5.90251784e-02 5.92985698e-02 2.36220589e+02] [-5.90353634e-02 9.98254639e-01 -1.58165759e-03 1.78606229e+02] [-5.92884301e-02 -1.92460079e-03 9.98239039e-01 3.12604198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7971056809999 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:236.25, Y:178.60, Z:31.26 [[ 9.96677712e-01 5.58268551e-02 5.93034690e-02 2.36250525e+02] [-5.58433037e-02 9.98438590e-01 -1.38120639e-03 1.78601492e+02] [-5.92879803e-02 -1.93508401e-03 9.98239045e-01 3.12602013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8271056809999 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:236.28, Y:178.59, Z:31.26 [[ 9.96866554e-01 5.23602187e-02 5.92914900e-02 2.36278212e+02] [-5.23426012e-02 9.98627471e-01 -1.85126613e-03 1.78592914e+02] [-5.93070433e-02 -1.25800552e-03 9.98238995e-01 3.12591015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8571056809999 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:236.31, Y:178.59, Z:31.25 [[ 9.96965240e-01 5.04425793e-02 5.92946588e-02 2.36305555e+02] [-5.04293932e-02 9.98726148e-01 -1.71972991e-03 1.78585317e+02] [-5.93058738e-02 -1.27568272e-03 9.98239043e-01 3.12530485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8871056809999 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:236.33, Y:178.58, Z:31.25 [[ 9.97039780e-01 4.89338203e-02 5.93056317e-02 2.36334970e+02] [-4.89452562e-02 9.98800667e-01 -1.26067012e-03 1.78582399e+02] [-5.92961939e-02 -1.64579108e-03 9.98239076e-01 3.12509034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.9171056809999 meters Centerline goodness : 0.996737 Centerline is valid? [True, True] Translation: X:236.36, Y:178.58, Z:31.25 [[ 9.97067778e-01 4.83647079e-02 5.93017774e-02 2.36362971e+02] [-4.83655791e-02 9.98828689e-01 -1.42149597e-03 1.78579828e+02] [-5.93010668e-02 -1.45083698e-03 9.98239089e-01 3.12471846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.9471056809999 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:236.39, Y:178.57, Z:31.24 [[ 9.97161976e-01 4.63819299e-02 5.93018659e-02 2.36392434e+02] [-4.63795195e-02 9.98922885e-01 -1.41779562e-03 1.78574246e+02] [-5.93037511e-02 -1.33662017e-03 9.98239089e-01 3.12428160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.9771056809999 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:236.42, Y:178.57, Z:31.24 [[ 9.97290110e-01 4.35349432e-02 5.93055178e-02 2.36423215e+02] [-4.35365896e-02 9.99051032e-01 -1.26497008e-03 1.78571026e+02] [-5.93043091e-02 -1.32041784e-03 9.98239077e-01 3.12402993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.0071056809999 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:236.45, Y:178.57, Z:31.24 [[ 9.97485289e-01 3.88211937e-02 5.92959814e-02 2.36453513e+02] [-3.87911743e-02 9.99245964e-01 -1.65770688e-03 1.78565974e+02] [-5.93156242e-02 -6.46622519e-04 9.98239069e-01 3.12376383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.0371056809999 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:236.48, Y:178.56, Z:31.24 [[ 9.97610894e-01 3.54405884e-02 5.92998186e-02 2.36483320e+02] [-3.54139840e-02 9.99371603e-01 -1.49985890e-03 1.78563266e+02] [-5.93157106e-02 -6.03767251e-04 9.98239091e-01 3.12361346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.06710568099993 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:236.51, Y:178.56, Z:31.24 [[ 9.97764119e-01 3.08241920e-02 5.93012041e-02 2.36514852e+02] [-3.07928248e-02 9.99524747e-01 -1.44292086e-03 1.78557968e+02] [-5.93174979e-02 -3.86356926e-04 9.98239092e-01 3.12355890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.0971056809999 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:236.55, Y:178.55, Z:31.23 [[ 9.97852370e-01 2.78143201e-02 5.93043896e-02 2.36546790e+02] [-2.77854100e-02 9.99613050e-01 -1.31221463e-03 1.78550881e+02] [-5.93179401e-02 -3.38400305e-04 9.98239083e-01 3.12308376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12710568099993 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:236.58, Y:178.55, Z:31.23 [[ 9.97902360e-01 2.59616538e-02 5.93032257e-02 2.36579857e+02] [-2.59266762e-02 9.99662923e-01 -1.35930745e-03 1.78548237e+02] [-5.93185258e-02 -1.81079419e-04 9.98239089e-01 3.12290306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.1571056809999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:236.61, Y:178.55, Z:31.23 [[ 9.97954558e-01 2.38784726e-02 5.93002424e-02 2.36613416e+02] [-2.38327107e-02 9.99714867e-01 -1.47894420e-03 1.78545919e+02] [-5.93186488e-02 6.26335895e-05 9.98239097e-01 3.12303066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.18710568099993 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:236.65, Y:178.54, Z:31.23 [[ 9.98002935e-01 2.17643966e-02 5.92996857e-02 2.36646672e+02] [-2.17135990e-02 9.99763105e-01 -1.50093848e-03 1.78544688e+02] [-5.93183049e-02 2.10331409e-04 9.98239097e-01 3.12292629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2171056809999 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:236.68, Y:178.54, Z:31.23 [[ 9.98094859e-01 1.70371770e-02 5.92991257e-02 2.36677253e+02] [-1.69767474e-02 9.99854725e-01 -1.52274682e-03 1.78541228e+02] [-5.93164543e-02 5.13139494e-04 9.98239097e-01 3.12262255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.24710568099994 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:236.71, Y:178.54, Z:31.22 [[ 9.98184956e-01 1.04949498e-02 5.93013489e-02 2.36708603e+02] [-1.04280942e-02 9.99944594e-01 -1.43675641e-03 1.78540360e+02] [-5.93131420e-02 8.15748576e-04 9.98239093e-01 3.12238823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2771056809999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:236.74, Y:178.53, Z:31.22 [[ 9.98237005e-01 2.56118309e-03 5.92985805e-02 2.36738616e+02] [-2.47402713e-03 9.99995749e-01 -1.54315272e-03 1.78534764e+02] [-5.93022807e-02 1.39372585e-03 9.98239098e-01 3.12192932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.30710568099994 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:236.77, Y:178.53, Z:31.22 [[ 9.98231697e-01 -4.06857111e-03 5.93036749e-02 2.36771333e+02] [ 4.15590405e-03 9.99990454e-01 -1.34937474e-03 1.78534266e+02] [-5.92976188e-02 1.59344902e-03 9.98239076e-01 3.12175224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3371056809999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:236.80, Y:178.53, Z:31.21 [[ 9.98179067e-01 -1.10603703e-02 5.92977154e-02 2.36801975e+02] [ 1.11733440e-02 9.99936338e-01 -1.57395331e-03 1.78534791e+02] [-5.92765318e-02 2.23364102e-03 9.98239101e-01 3.12146171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.36710568099994 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:236.83, Y:178.54, Z:31.21 [[ 9.98082040e-01 -1.77745894e-02 5.92984471e-02 2.36828734e+02] [ 1.78977521e-02 9.99838626e-01 -1.54648058e-03 1.78537356e+02] [-5.92613898e-02 2.60482340e-03 9.98239101e-01 3.12088205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3971056809999 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:236.86, Y:178.54, Z:31.21 [[ 9.98011605e-01 -2.13159073e-02 5.93166768e-02 2.36863058e+02] [ 2.14048367e-02 9.99770517e-01 -8.64171728e-04 1.78539043e+02] [-5.92846440e-02 2.13211719e-03 9.98238842e-01 3.12098581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4271056809999 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:236.89, Y:178.54, Z:31.21 [[ 9.97931074e-01 -2.48421410e-02 5.92995691e-02 2.36893867e+02] [ 2.49745343e-02 9.99686974e-01 -1.49240727e-03 1.78539343e+02] [-5.92439322e-02 2.97029871e-03 9.98239117e-01 3.12058479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4571056809999 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:236.93, Y:178.54, Z:31.21 [[ 9.97833270e-01 -2.85020192e-02 5.92992489e-02 2.36926417e+02] [ 2.86415419e-02 9.99588615e-01 -1.50405767e-03 1.78542033e+02] [-5.92319854e-02 3.19922070e-03 9.98239118e-01 3.12058116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4871056809999 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:236.96, Y:178.55, Z:31.21 [[ 9.97840250e-01 -2.82652840e-02 5.92951092e-02 2.36959594e+02] [ 2.84131908e-02 9.99594898e-01 -1.65261073e-03 1.78551311e+02] [-5.92243772e-02 3.33380476e-03 9.98239129e-01 3.12071736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5171056809999 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:236.99, Y:178.56, Z:31.21 [[ 9.97920599e-01 -2.52704228e-02 5.92948839e-02 2.36989468e+02] [ 2.54135395e-02 9.99675645e-01 -1.66065569e-03 1.78556205e+02] [-5.92336858e-02 3.16409540e-03 9.98239129e-01 3.12067316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5471056809999 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:237.02, Y:178.57, Z:31.21 [[ 9.98088274e-01 -1.74142294e-02 5.93004363e-02 2.37018983e+02] [ 1.75317845e-02 9.99845237e-01 -1.46262407e-03 1.78566462e+02] [-5.92657883e-02 2.49947040e-03 9.98239109e-01 3.12143770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5771056809999 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:237.05, Y:178.57, Z:31.20 [[ 9.98138747e-01 -1.41549677e-02 5.93184509e-02 2.37051849e+02] [ 1.42278857e-02 9.99898453e-01 -8.07063152e-04 1.78571122e+02] [-5.93010033e-02 1.64953714e-03 9.98238784e-01 3.12041005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6071056809999 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:237.08, Y:178.58, Z:31.21 [[ 9.98234602e-01 -3.36022880e-03 5.92991390e-02 2.37080436e+02] [ 3.45526695e-03 9.99992905e-01 -1.50022524e-03 1.78582790e+02] [-5.92936772e-02 1.70247110e-03 9.98239130e-01 3.12129039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6371056809999 meters Centerline goodness : 0.996454 Centerline is valid? [True, True] Translation: X:237.12, Y:178.59, Z:31.20 [[ 9.98237113e-01 1.81446314e-03 5.93243137e-02 2.37115606e+02] [-1.78236327e-03 9.99998235e-01 -5.94002227e-04 1.78593121e+02] [-5.93252868e-02 4.87217590e-04 9.98238585e-01 3.11970890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6671056809999 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:237.15, Y:178.60, Z:31.19 [[ 9.98228711e-01 4.87398808e-03 5.92932132e-02 2.37147493e+02] [-4.78232032e-03 9.99987140e-01 -1.68781468e-03 1.78596914e+02] [-5.93006771e-02 1.40126594e-03 9.98239183e-01 3.11932174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6971056809999 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:237.18, Y:178.60, Z:31.20 [[ 9.98184765e-01 1.05596866e-02 5.92930704e-02 2.37176235e+02] [-1.04777392e-02 9.99943674e-01 -1.69281465e-03 1.78603016e+02] [-5.93076063e-02 1.06848446e-03 9.98239183e-01 3.11963156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.7271056809999 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:237.21, Y:178.61, Z:31.19 [[ 9.98177786e-01 1.10714654e-02 5.93171937e-02 2.37207350e+02] [-1.10408900e-02 9.99938692e-01 -8.43187094e-04 1.78605578e+02] [-5.93228924e-02 1.86736018e-04 9.98238829e-01 3.11948485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.7571056809999 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:237.24, Y:178.61, Z:31.18 [[ 9.98210806e-01 7.52252862e-03 5.93177826e-02 2.37242214e+02] [-7.48691684e-03 9.99971634e-01 -8.22585499e-04 1.78610629e+02] [-5.93222879e-02 3.77006428e-04 9.98238811e-01 3.11826052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.7871056809999 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:237.28, Y:178.61, Z:31.18 [[ 9.98210154e-01 7.81863662e-03 5.92904420e-02 2.37275022e+02] [-7.72847501e-03 9.99968604e-01 -1.74984199e-03 1.78609917e+02] [-5.93022618e-02 1.28848534e-03 9.98239241e-01 3.11803205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81710568099993 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:237.31, Y:178.61, Z:31.18 [[ 9.98195395e-01 9.52236888e-03 5.92897733e-02 2.37307474e+02] [-9.43388046e-03 9.99953930e-01 -1.77221362e-03 1.78612232e+02] [-5.93039174e-02 1.20968284e-03 9.98239241e-01 3.11763679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.8471056809999 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:237.34, Y:178.61, Z:31.18 [[ 9.98148143e-01 1.36045325e-02 5.92891426e-02 2.37336275e+02] [-1.35219981e-02 9.99906966e-01 -1.79306842e-03 1.78613232e+02] [-5.93080205e-02 9.88040233e-04 9.98239241e-01 3.11813256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87710568099993 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:237.37, Y:178.62, Z:31.18 [[ 9.98102236e-01 1.65459080e-02 5.93140785e-02 2.37368603e+02] [-1.65190664e-02 9.99863106e-01 -9.42877507e-04 1.78618320e+02] [-5.93215596e-02 -3.87250525e-05 9.98238925e-01 3.11793227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.9071056809999 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:237.40, Y:178.62, Z:31.17 [[ 9.98059854e-01 1.89312882e-02 5.93138547e-02 2.37402809e+02] [-1.89082168e-02 9.99820772e-01 -9.50251386e-04 1.78618983e+02] [-5.93212135e-02 -1.73111462e-04 9.98238931e-01 3.11747912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93710568099993 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:237.43, Y:178.62, Z:31.17 [[ 9.98075021e-01 1.81395880e-02 5.93060604e-02 2.37432080e+02] [-1.81007232e-02 9.99835457e-01 -1.19251768e-03 1.78621387e+02] [-5.93179338e-02 1.16739521e-04 9.98239134e-01 3.11722694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.9671056809999 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:237.47, Y:178.62, Z:31.17 [[ 9.98069011e-01 1.84182513e-02 5.93213055e-02 2.37466521e+02] [-1.84083749e-02 9.99830297e-01 -7.13018169e-04 1.78618935e+02] [-5.93243710e-02 -3.80367490e-04 9.98238686e-01 3.11704604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99710568099994 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:237.50, Y:178.62, Z:31.17 [[ 9.98135955e-01 1.43853996e-02 5.93099944e-02 2.37498549e+02] [-1.43472974e-02 9.99896502e-01 -1.06824123e-03 1.78620924e+02] [-5.93192230e-02 2.15311855e-04 9.98239041e-01 3.11743275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0271056809999 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:237.53, Y:178.62, Z:31.18 [[ 9.98182718e-01 1.06571878e-02 5.93100829e-02 2.37531297e+02] [-1.06126729e-02 9.99943116e-01 -1.06549892e-03 1.78624033e+02] [-5.93180644e-02 4.34124097e-04 9.98239039e-01 3.11794346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.05710568099994 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:237.56, Y:178.62, Z:31.18 [[ 9.98184030e-01 1.05436750e-02 5.93082851e-02 2.37563093e+02] [-1.04957000e-02 9.99944291e-01 -1.12037508e-03 1.78623461e+02] [-5.93167939e-02 4.95858547e-04 9.98239086e-01 3.11798887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0871056809999 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:237.59, Y:178.62, Z:31.17 [[ 9.98178224e-01 1.10879288e-02 5.93067548e-02 2.37594650e+02] [-1.10382184e-02 9.99938398e-01 -1.16574534e-03 1.78621703e+02] [-5.93160270e-02 5.08980701e-04 9.98239125e-01 3.11724239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1171056809999 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:237.63, Y:178.62, Z:31.17 [[ 9.98157366e-01 1.28423225e-02 5.93038648e-02 2.37627753e+02] [-1.27906906e-02 9.99917414e-01 -1.25016962e-03 1.78619433e+02] [-5.93150223e-02 4.89328631e-04 9.98239194e-01 3.11692690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1471056809999 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:237.66, Y:178.62, Z:31.17 [[ 9.98130993e-01 1.47558772e-02 5.93024916e-02 2.37659512e+02] [-1.47052942e-02 9.99891040e-01 -1.28931377e-03 1.78617208e+02] [-5.93150549e-02 4.14843447e-04 9.98239226e-01 3.11680026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1771056809999 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:237.69, Y:178.62, Z:31.16 [[ 9.98100518e-01 1.66876785e-02 5.93032652e-02 2.37691782e+02] [-1.66418111e-02 9.99860712e-01 -1.26728008e-03 1.78615758e+02] [-5.93161530e-02 2.77959171e-04 9.98239208e-01 3.11640890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2071056809999 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:237.72, Y:178.62, Z:31.16 [[ 9.97986471e-01 2.25065106e-02 5.92997574e-02 2.37723433e+02] [-2.24653098e-02 9.99746696e-01 -1.36146168e-03 1.78618614e+02] [-5.93153783e-02 2.65329179e-05 9.98239293e-01 3.11638204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2371056809999 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:237.75, Y:178.62, Z:31.16 [[ 9.97833989e-01 2.84601567e-02 5.93072442e-02 2.37753998e+02] [-2.84419093e-02 9.99594783e-01 -1.15197215e-03 1.78616762e+02] [-5.93159973e-02 -5.37334299e-04 9.98239112e-01 3.11637243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2671056809999 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:237.78, Y:178.61, Z:31.16 [[ 9.97512946e-01 3.80970857e-02 5.93003694e-02 2.37784600e+02] [-3.80845734e-02 9.99273619e-01 -1.34160499e-03 1.78614807e+02] [-5.93084060e-02 -9.20160922e-04 9.98239283e-01 3.11587331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2971056809999 meters Centerline goodness : 0.995709 Centerline is valid? [True, True] Translation: X:237.81, Y:178.61, Z:31.15 [[ 9.97159375e-01 4.64450219e-02 5.92962187e-02 2.37812769e+02] [-4.64404924e-02 9.98919998e-01 -1.45521533e-03 1.78612825e+02] [-5.92997662e-02 -1.30266399e-03 9.98239371e-01 3.11549094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3271056809999 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:237.84, Y:178.61, Z:31.15 [[ 9.97059047e-01 4.85241214e-02 5.93183559e-02 2.37843972e+02] [-4.85566187e-02 9.98820031e-01 -8.94301061e-04 1.78611251e+02] [-5.92917572e-02 -1.98862783e-03 9.98238715e-01 3.11524446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3571056809999 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:237.89, Y:178.61, Z:31.13 [[ 9.97182500e-01 4.59341417e-02 5.93052840e-02 2.37887551e+02] [-4.59424572e-02 9.98943338e-01 -1.22401418e-03 1.78613575e+02] [-5.92988424e-02 -1.50406495e-03 9.98239142e-01 3.11347733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3871056809999 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:237.90, Y:178.61, Z:31.14 [[ 9.96990657e-01 5.00771806e-02 5.91769017e-02 2.37902820e+02] [-4.99020102e-02 9.98744271e-01 -4.43516462e-03 1.78610081e+02] [-5.93246920e-02 1.46877135e-03 9.98237659e-01 3.11397152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.4171056809999 meters Centerline goodness : 0.996360 Centerline is valid? [True, True] Translation: X:237.93, Y:178.61, Z:31.14 [[ 9.96853380e-01 5.26032041e-02 5.92979065e-02 2.37930821e+02] [-5.26200071e-02 9.98613789e-01 -1.27918462e-03 1.78605429e+02] [-5.92829963e-02 -1.84509676e-03 9.98239511e-01 3.11380554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.4471056809999 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:237.96, Y:178.60, Z:31.14 [[ 9.96715187e-01 5.51636457e-02 5.92942512e-02 2.37959064e+02] [-5.51792207e-02 9.98475518e-01 -1.37589178e-03 1.78602394e+02] [-5.92797574e-02 -1.90043834e-03 9.98239600e-01 3.11386432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.4771056809999 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:237.99, Y:178.60, Z:31.14 [[ 9.96489540e-01 5.91023686e-02 5.92917149e-02 2.37988449e+02] [-5.91209455e-02 9.98249785e-01 -1.44240975e-03 1.78597736e+02] [-5.92731915e-02 -2.06803602e-03 9.98239657e-01 3.11407823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.5071056809999 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:238.02, Y:178.60, Z:31.14 [[ 9.96482003e-01 5.92296029e-02 5.92914084e-02 2.38015913e+02] [-5.92479306e-02 9.98242245e-01 -1.45038128e-03 1.78596595e+02] [-5.92730942e-02 -2.06761441e-03 9.98239663e-01 3.11391521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.5371056809999 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:238.05, Y:178.59, Z:31.13 [[ 9.96511324e-01 5.87366685e-02 5.92889985e-02 2.38047840e+02] [-5.87504558e-02 9.98271555e-01 -1.51209983e-03 1.78592127e+02] [-5.92753364e-02 -1.97643108e-03 9.98239715e-01 3.11337035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.56710568099993 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:238.07, Y:178.59, Z:31.14 [[ 9.96480208e-01 5.92892488e-02 5.92619697e-02 2.38073331e+02] [-5.92631640e-02 9.98239972e-01 -2.19918595e-03 1.78588331e+02] [-5.92880550e-02 -1.32060656e-03 9.98240043e-01 3.11392865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.5971056809999 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:238.10, Y:178.58, Z:31.14 [[ 9.96676069e-01 5.58765091e-02 5.92843161e-02 2.38102269e+02] [-5.58788914e-02 9.98436242e-01 -1.61894308e-03 1.78580448e+02] [-5.92820707e-02 -1.69918004e-03 9.98239825e-01 3.11378852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62710568099993 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:238.13, Y:178.57, Z:31.14 [[ 9.96725657e-01 5.49906052e-02 5.92789888e-02 2.38129788e+02] [-5.49832242e-02 9.98485733e-01 -1.75685439e-03 1.78574869e+02] [-5.92858351e-02 -1.50824809e-03 9.98239909e-01 3.11350240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.6571056809999 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:238.16, Y:178.57, Z:31.12 [[ 9.96937390e-01 5.10140003e-02 5.92740405e-02 2.38160038e+02] [-5.09921712e-02 9.98697280e-01 -1.88178889e-03 1.78570285e+02] [-5.92928206e-02 -1.14648632e-03 9.98239975e-01 3.11239562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.68710568099993 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:238.19, Y:178.56, Z:31.12 [[ 9.97223834e-01 4.50905092e-02 5.92576744e-02 2.38188586e+02] [-4.50337590e-02 9.98982833e-01 -2.29349010e-03 1.78561505e+02] [-5.93008141e-02 -3.81472842e-04 9.98240085e-01 3.11233177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7171056809999 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:238.22, Y:178.55, Z:31.12 [[ 9.97195087e-01 4.57253375e-02 5.92549804e-02 2.38215837e+02] [-4.56656894e-02 9.98953988e-01 -2.36110300e-03 1.78554534e+02] [-5.93009613e-02 -3.51439225e-04 9.98240088e-01 3.11226504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.74710568099994 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:238.25, Y:178.55, Z:31.12 [[ 9.97222572e-01 4.51038501e-02 5.92687451e-02 2.38247788e+02] [-4.50631392e-02 9.98982090e-01 -2.02398247e-03 1.78550731e+02] [-5.92997043e-02 -6.52474710e-04 9.98240011e-01 3.11171755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7771056809999 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:238.28, Y:178.54, Z:31.12 [[ 9.97152407e-01 4.66613615e-02 5.92435131e-02 2.38275480e+02] [-4.65869953e-02 9.98910757e-01 -2.63660027e-03 1.78544162e+02] [-5.93020099e-02 -1.30884959e-04 9.98240079e-01 3.11184128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.80710568099994 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:238.31, Y:178.54, Z:31.12 [[ 9.97284036e-01 4.37282021e-02 5.92654702e-02 2.38305771e+02] [-4.36811838e-02 9.99043337e-01 -2.08927201e-03 1.78543007e+02] [-5.93001332e-02 -5.05188276e-04 9.98240071e-01 3.11191862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8371056809999 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:238.33, Y:178.54, Z:31.12 [[ 9.97302834e-01 4.33106661e-02 5.92557416e-02 2.38334351e+02] [-4.32485292e-02 9.99061625e-01 -2.33131299e-03 1.78536764e+02] [-5.93011082e-02 -2.37698621e-04 9.98240112e-01 3.11153606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8671056809999 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:238.36, Y:178.53, Z:31.11 [[ 9.97405396e-01 4.08730525e-02 5.92610350e-02 2.38363802e+02] [-4.08144020e-02 9.99164323e-01 -2.20028263e-03 1.78533023e+02] [-5.93014441e-02 -2.24129940e-04 9.98240096e-01 3.11136050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8971056809999 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:238.39, Y:178.53, Z:31.11 [[ 9.97552087e-01 3.71297629e-02 5.92555064e-02 2.38394320e+02] [-3.70563763e-02 9.99310443e-01 -2.33723954e-03 1.78528133e+02] [-5.93014276e-02 1.35723833e-04 9.98240113e-01 3.11107363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9271056809999 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:238.43, Y:178.53, Z:31.11 [[ 9.97651810e-01 3.43526273e-02 5.92516859e-02 2.38425467e+02] [-3.42687133e-02 9.99409696e-01 -2.43208182e-03 1.78528371e+02] [-5.93002578e-02 3.95891799e-04 9.98240113e-01 3.11089383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9571056809999 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:238.46, Y:178.53, Z:31.11 [[ 9.97677834e-01 3.35861073e-02 5.92529624e-02 2.38456209e+02] [-3.35027199e-02 9.99435744e-01 -2.40047222e-03 1.78527076e+02] [-5.93001510e-02 4.09762524e-04 9.98240114e-01 3.11060562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9871056809999 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:238.49, Y:178.52, Z:31.10 [[ 9.97582101e-01 3.63062183e-02 5.92605326e-02 2.38487368e+02] [-3.62387213e-02 9.99340710e-01 -2.21365280e-03 1.78521454e+02] [-5.93018321e-02 6.07744824e-05 9.98240096e-01 3.11038330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0171056809999 meters Centerline goodness : 0.996039 Centerline is valid? [True, True] Translation: X:238.52, Y:178.52, Z:31.10 [[ 9.97447080e-01 3.98549317e-02 5.92529127e-02 2.38518403e+02] [-3.97825901e-02 9.99205476e-01 -2.40051722e-03 1.78518806e+02] [-5.93015073e-02 3.71545501e-05 9.98240116e-01 3.11014041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0471056809999 meters Centerline goodness : 0.995990 Centerline is valid? [True, True] Translation: X:238.55, Y:178.52, Z:31.10 [[ 9.97103114e-01 4.76847886e-02 5.92582583e-02 2.38549726e+02] [-4.76340067e-02 9.98862277e-01 -2.27006444e-03 1.78517366e+02] [-5.92990863e-02 -5.59219953e-04 9.98240104e-01 3.11024254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0771056809999 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:238.58, Y:178.52, Z:31.10 [[ 9.96838911e-01 5.29346934e-02 5.92461343e-02 2.38578809e+02] [-5.28756765e-02 9.98597810e-01 -2.56450752e-03 1.78517363e+02] [-5.92988113e-02 -5.76278547e-04 9.98240111e-01 3.11012688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1071056809999 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:238.61, Y:178.52, Z:31.10 [[ 9.96187077e-01 6.40394563e-02 5.92474132e-02 2.38607496e+02] [-6.40018900e-02 9.97946562e-01 -2.53343632e-03 1.78516684e+02] [-5.92879922e-02 -1.26816990e-03 9.98240114e-01 3.11013764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1371056809999 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:238.64, Y:178.52, Z:31.10 [[ 9.95906339e-01 6.82734526e-02 5.92393387e-02 2.38637547e+02] [-6.82316695e-02 9.97665768e-01 -2.73018387e-03 1.78515617e+02] [-5.92874594e-02 -1.32299156e-03 9.98240075e-01 3.11035515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1671056809999 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:238.66, Y:178.51, Z:31.10 [[ 9.95309800e-01 7.64843684e-02 5.92329631e-02 2.38664810e+02] [-7.64477738e-02 9.97069407e-01 -2.88699674e-03 1.78514003e+02] [-5.92801855e-02 -1.65477201e-03 9.98240012e-01 3.11012175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1971056809999 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:238.69, Y:178.51, Z:31.09 [[ 9.94937892e-01 8.11708957e-02 5.92442123e-02 2.38693381e+02] [-8.11591410e-02 9.96697742e-01 -2.60859011e-03 1.78509835e+02] [-5.92603143e-02 -2.21282424e-03 9.98240111e-01 3.10945960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.2271056809999 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:238.72, Y:178.51, Z:31.09 [[ 9.94793469e-01 8.29232201e-02 5.92426756e-02 2.38721098e+02] [-8.29122908e-02 9.96553333e-01 -2.64684202e-03 1.78506584e+02] [-5.92579705e-02 -2.27888479e-03 9.98240101e-01 3.10931138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.2571056809999 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:238.75, Y:178.50, Z:31.09 [[ 9.94786069e-01 8.30103084e-02 5.92449666e-02 2.38750423e+02] [-8.30029294e-02 9.96545938e-01 -2.58971947e-03 1.78501933e+02] [-5.92553042e-02 -2.34128892e-03 9.98240115e-01 3.10893813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.2871056809999 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:238.78, Y:178.50, Z:31.09 [[ 9.94797516e-01 8.28802655e-02 5.92348129e-02 2.38776580e+02] [-8.28575104e-02 9.96557345e-01 -2.84447272e-03 1.78497788e+02] [-5.92666385e-02 -2.07837473e-03 9.98240024e-01 3.10882752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31710568099993 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:238.80, Y:178.49, Z:31.09 [[ 9.95361768e-01 7.57934690e-02 5.92477852e-02 2.38804555e+02] [-7.57776990e-02 9.97121562e-01 -2.51617347e-03 1.78491240e+02] [-5.92679536e-02 -1.98515796e-03 9.98240136e-01 3.10854827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.3471056809999 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:238.83, Y:178.49, Z:31.08 [[ 9.95737860e-01 7.06780091e-02 5.92514360e-02 2.38833793e+02] [-7.06587350e-02 9.97497605e-01 -2.42301582e-03 1.78487680e+02] [-5.92744195e-02 -1.77394293e-03 9.98240150e-01 3.10844883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37710568099993 meters Centerline goodness : 0.996358 Centerline is valid? [True, True] Translation: X:238.86, Y:178.48, Z:31.08 [[ 9.96299809e-01 6.22667172e-02 5.92414248e-02 2.38862011e+02] [-6.22173931e-02 9.98059027e-01 -2.67856983e-03 1.78480406e+02] [-5.92932245e-02 -1.01718840e-03 9.98240091e-01 3.10824939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.4071056809999 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:238.89, Y:178.48, Z:31.08 [[ 9.96473319e-01 5.94237253e-02 5.92430986e-02 2.38888524e+02] [-5.93719295e-02 9.98232451e-01 -2.63570555e-03 1.78476442e+02] [-5.92950070e-02 -8.90966813e-04 9.98240106e-01 3.10805242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43710568099993 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:238.92, Y:178.47, Z:31.09 [[ 9.96830803e-01 5.30789543e-02 5.92534869e-02 2.38919268e+02] [-5.30319673e-02 9.98590011e-01 -2.36635860e-03 1.78471685e+02] [-5.92955440e-02 -7.83469840e-04 9.98240164e-01 3.10857519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.4671056809999 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:238.95, Y:178.47, Z:31.08 [[ 9.97117144e-01 4.74101580e-02 5.92425410e-02 2.38948672e+02] [-4.73362531e-02 9.98875493e-01 -2.65106011e-03 1.78467359e+02] [-5.93016095e-02 -1.60902425e-04 9.98240098e-01 3.10834159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49710568099994 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:238.98, Y:178.46, Z:31.08 [[ 9.97310117e-01 4.31521283e-02 5.92488303e-02 2.38978886e+02] [-4.30804538e-02 9.99068511e-01 -2.48713956e-03 1.78464916e+02] [-5.93009660e-02 -7.20170501e-05 9.98240147e-01 3.10763441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5271056809999 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:239.01, Y:178.46, Z:31.07 [[ 9.97332098e-01 4.26687460e-02 5.92289155e-02 2.39006813e+02] [-4.25662567e-02 9.99089167e-01 -2.99157755e-03 1.78461921e+02] [-5.93026147e-02 4.62443095e-04 9.98239944e-01 3.10722277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.55710568099994 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:239.04, Y:178.46, Z:31.07 [[ 9.97477981e-01 3.90783424e-02 5.92499816e-02 2.39038489e+02] [-3.90014859e-02 9.99236141e-01 -2.45348083e-03 1.78459661e+02] [-5.93006009e-02 1.36455788e-04 9.98240162e-01 3.10712423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5871056809999 meters Centerline goodness : 0.997084 Centerline is valid? [True, True] Translation: X:239.07, Y:178.46, Z:31.07 [[ 9.97530201e-01 3.77262513e-02 5.92471826e-02 2.39069724e+02] [-3.76427800e-02 9.99288070e-01 -2.52472807e-03 1.78456758e+02] [-5.93002513e-02 2.88263844e-04 9.98240150e-01 3.10667190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6171056809999 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:239.10, Y:178.45, Z:31.07 [[ 9.97492377e-01 3.87100966e-02 5.92493523e-02 2.39102125e+02] [-3.86316265e-02 9.99250468e-01 -2.46971884e-03 1.78453831e+02] [-5.93005461e-02 1.74626866e-04 9.98240159e-01 3.10650016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6471056809999 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:239.13, Y:178.45, Z:31.07 [[ 9.97434265e-01 4.01810870e-02 5.92483574e-02 2.39134703e+02] [-4.01037132e-02 9.99192408e-01 -2.49491172e-03 1.78452571e+02] [-5.93007571e-02 1.12431308e-04 9.98240155e-01 3.10664788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6771056809999 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:239.17, Y:178.45, Z:31.07 [[ 9.97229889e-01 4.49665151e-02 5.92499801e-02 2.39165859e+02] [-4.49000191e-02 9.98988472e-01 -2.45382426e-03 1.78451601e+02] [-5.93003871e-02 -2.13298349e-04 9.98240161e-01 3.10706556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7071056809999 meters Centerline goodness : 0.996931 Centerline is valid? [True, True] Translation: X:239.20, Y:178.45, Z:31.07 [[ 9.96850078e-01 5.27231408e-02 5.92468807e-02 2.39195219e+02] [-5.26656832e-02 9.98608990e-01 -2.53198112e-03 1.78449567e+02] [-5.92979617e-02 -5.96271869e-04 9.98240150e-01 3.10712976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7371056809999 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:239.23, Y:178.45, Z:31.08 [[ 9.96687250e-01 5.57150201e-02 5.92483175e-02 2.39226054e+02] [-5.56649976e-02 9.98446383e-01 -2.49571410e-03 1.78448185e+02] [-5.92953170e-02 -8.10611025e-04 9.98240156e-01 3.10780376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7671056809999 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:239.25, Y:178.45, Z:31.08 [[ 9.96255724e-01 6.29761581e-02 5.92328900e-02 2.39253547e+02] [-6.29158861e-02 9.98014667e-01 -2.88383363e-03 1.78448066e+02] [-5.92969058e-02 -8.53654002e-04 9.98240025e-01 3.10783759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7971056809999 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:239.28, Y:178.45, Z:31.08 [[ 9.96073629e-01 6.57879487e-02 5.92390982e-02 2.39283330e+02] [-6.57420490e-02 9.97832929e-01 -2.72556752e-03 1.78446243e+02] [-5.92900323e-02 -1.17963377e-03 9.98240102e-01 3.10766527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8271056809999 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:239.31, Y:178.44, Z:31.07 [[ 9.95788373e-01 6.99781972e-02 5.92331662e-02 2.39311097e+02] [-6.99306821e-02 9.97547704e-01 -2.87726826e-03 1.78440928e+02] [-5.92892550e-02 -1.27706544e-03 9.98240028e-01 3.10749147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8571056809999 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:239.34, Y:178.44, Z:31.07 [[ 9.95678523e-01 7.15216586e-02 5.92362413e-02 2.39339180e+02] [-7.14815420e-02 9.97437996e-01 -2.79868624e-03 1.78435769e+02] [-5.92846445e-02 -1.44770609e-03 9.98240069e-01 3.10733950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8871056809999 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:239.37, Y:178.43, Z:31.07 [[ 9.95614742e-01 7.24042425e-02 5.92360597e-02 2.39368187e+02] [-7.23654067e-02 9.97374247e-01 -2.80338039e-03 1.78434473e+02] [-5.92834971e-02 -1.49555470e-03 9.98240066e-01 3.10722347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.9171056809999 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:239.40, Y:178.43, Z:31.07 [[ 9.95455174e-01 7.45621557e-02 5.92408844e-02 2.39395919e+02] [-7.45345891e-02 9.97214833e-01 -2.67797007e-03 1.78428870e+02] [-5.92755639e-02 -1.74969581e-03 9.98240124e-01 3.10672735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.9471056809999 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:239.42, Y:178.43, Z:31.06 [[ 9.95375757e-01 7.56155630e-02 5.92400920e-02 2.39421320e+02] [-7.55886300e-02 9.97135435e-01 -2.69863688e-03 1.78426203e+02] [-5.92744539e-02 -1.79171967e-03 9.98240116e-01 3.10618362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.9771056809999 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:239.45, Y:178.41, Z:31.06 [[ 9.95055769e-01 7.97032727e-02 5.92571017e-02 2.39451567e+02] [-7.97101773e-02 9.96815540e-01 -2.25102145e-03 1.78414425e+02] [-5.92478136e-02 -2.48350220e-03 9.98240216e-01 3.10604776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.0071056809999 meters Centerline goodness : 0.996941 Centerline is valid? [True, True] Translation: X:239.48, Y:178.41, Z:31.06 [[ 9.95105727e-01 7.90907712e-02 5.92388542e-02 2.39477489e+02] [-7.90681051e-02 9.96865478e-01 -2.73022138e-03 1.78412804e+02] [-5.92691040e-02 -1.96704503e-03 9.98240103e-01 3.10609146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.0371056809999 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:239.51, Y:178.41, Z:31.05 [[ 9.95783766e-01 7.00232264e-02 5.92573962e-02 2.39505558e+02] [-7.00136808e-02 9.97543517e-01 -2.23986814e-03 1.78411322e+02] [-5.92686742e-02 -1.91840409e-03 9.98240224e-01 3.10455608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.06710568099993 meters Centerline goodness : 0.996922 Centerline is valid? [True, True] Translation: X:239.54, Y:178.40, Z:31.06 [[ 9.94944417e-01 8.10811181e-02 5.92575645e-02 2.39535218e+02] [-8.10913874e-02 9.96704164e-01 -2.23540723e-03 1.78398250e+02] [-5.92435106e-02 -2.58117218e-03 9.98240224e-01 3.10577755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.0971056809999 meters Centerline goodness : 0.997725 Centerline is valid? [True, True] Translation: X:239.56, Y:178.39, Z:31.05 [[ 9.95358352e-01 7.58452022e-02 5.92389748e-02 2.39561433e+02] [-7.58173891e-02 9.97118009e-01 -2.72026239e-03 1.78388224e+02] [-5.92745674e-02 -1.78370850e-03 9.98240123e-01 3.10517144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12710568099993 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:239.59, Y:178.38, Z:31.05 [[ 9.95955102e-01 6.75408954e-02 5.92592820e-02 2.39591646e+02] [-6.75300816e-02 9.97714841e-01 -2.18741052e-03 1.78380248e+02] [-5.92716048e-02 -1.82322148e-03 9.98240228e-01 3.10475025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.1571056809999 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:239.62, Y:178.38, Z:31.04 [[ 9.96277382e-01 6.26285793e-02 5.92371395e-02 2.39619616e+02] [-6.25749144e-02 9.98036447e-01 -2.76233433e-03 1.78377310e+02] [-5.92938253e-02 -9.54707716e-04 9.98240117e-01 3.10398687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.18710568099993 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:239.65, Y:178.37, Z:31.05 [[ 9.96321404e-01 6.19063067e-02 5.92559650e-02 2.39650153e+02] [-6.18805463e-02 9.98080978e-01 -2.27140572e-03 1.78371956e+02] [-5.92828658e-02 -1.40374135e-03 9.98240237e-01 3.10468036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2171056809999 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:239.68, Y:178.37, Z:31.03 [[ 9.97004036e-01 4.97310786e-02 5.92433340e-02 2.39675901e+02] [-4.96643341e-02 9.98762583e-01 -2.59943101e-03 1.78372742e+02] [-5.92992978e-02 -3.50637534e-04 9.98240187e-01 3.10263300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.24710568099994 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:239.71, Y:178.37, Z:31.04 [[ 9.96728209e-01 5.49602659e-02 5.92642173e-02 2.39708236e+02] [-5.49351089e-02 9.98487812e-01 -2.05491470e-03 1.78365053e+02] [-5.92875373e-02 -1.20749478e-03 9.98240217e-01 3.10424238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2771056809999 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:239.74, Y:178.36, Z:31.04 [[ 9.96959051e-01 5.06064652e-02 5.92590667e-02 2.39739537e+02] [-5.05657506e-02 9.98718339e-01 -2.18738104e-03 1.78361523e+02] [-5.92938123e-02 -8.15749861e-04 9.98240241e-01 3.10429322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.30710568099994 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:239.77, Y:178.35, Z:31.04 [[ 9.97083615e-01 4.80872602e-02 5.92611215e-02 2.39770144e+02] [-4.80452282e-02 9.98842880e-01 -2.13474849e-03 1.78353295e+02] [-5.92952035e-02 -7.18691371e-04 9.98240233e-01 3.10387422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3371056809999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:239.80, Y:178.35, Z:31.03 [[ 9.97229283e-01 4.49757705e-02 5.92531563e-02 2.39801496e+02] [-4.49162462e-02 9.98988023e-01 -2.33675319e-03 1.78353857e+02] [-5.92982908e-02 -3.31150646e-04 9.98240253e-01 3.10343161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3671056809999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:239.83, Y:178.35, Z:31.03 [[ 9.97242979e-01 4.46600144e-02 5.92614818e-02 2.39833355e+02] [-4.46124251e-02 9.99002107e-01 -2.12651941e-03 1.78353986e+02] [-5.92973156e-02 -5.23141864e-04 9.98240229e-01 3.10291222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3971056809999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:239.87, Y:178.35, Z:31.03 [[ 9.97147980e-01 4.67411982e-02 5.92550927e-02 2.39865679e+02] [-4.66877851e-02 9.98906914e-01 -2.28631019e-03 1.78352868e+02] [-5.92971867e-02 -4.86699442e-04 9.98240255e-01 3.10288607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4271056809999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:239.90, Y:178.35, Z:31.03 [[ 9.97135287e-01 4.70206516e-02 5.92476026e-02 2.39898312e+02] [-4.69566588e-02 9.98893867e-01 -2.47265864e-03 1.78351413e+02] [-5.92983329e-02 -3.16494273e-04 9.98240255e-01 3.10269507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4571056809999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:239.93, Y:178.35, Z:31.03 [[ 9.97042435e-01 4.89508857e-02 5.92468884e-02 2.39929983e+02] [-4.88892492e-02 9.98801101e-01 -2.49029964e-03 1.78350502e+02] [-5.92977598e-02 -4.13601470e-04 9.98240254e-01 3.10274746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4871056809999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:239.97, Y:178.35, Z:31.03 [[ 9.97175057e-01 4.61663184e-02 5.92501282e-02 2.39968504e+02] [-4.61045017e-02 9.98933713e-01 -2.41067489e-03 1.78347020e+02] [-5.92982426e-02 -3.27832765e-04 9.98240257e-01 3.10327085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5171056809999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:239.99, Y:178.34, Z:31.03 [[ 9.97109507e-01 4.76466112e-02 5.91813506e-02 2.39991138e+02] [-4.74895276e-02 9.98863490e-01 -4.05872649e-03 1.78343587e+02] [-5.93074750e-02 1.23650038e-03 9.98238997e-01 3.10299026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5471056809999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:240.02, Y:178.34, Z:31.03 [[ 9.97170615e-01 4.62644782e-02 5.92483192e-02 2.40024069e+02] [-4.62020794e-02 9.98929174e-01 -2.42337886e-03 1.78342001e+02] [-5.92969910e-02 -3.20873364e-04 9.98240334e-01 3.10339858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5771056809999 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:240.06, Y:178.34, Z:31.03 [[ 9.97328163e-01 4.27470383e-02 5.92387227e-02 2.40056464e+02] [-4.26641165e-02 9.99085919e-01 -2.66445943e-03 1.78344476e+02] [-5.92984715e-02 1.29972658e-04 9.98240289e-01 3.10345860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6071056809999 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:240.09, Y:178.34, Z:31.03 [[ 9.97378487e-01 4.15703480e-02 5.92288794e-02 2.40087845e+02] [-4.14707656e-02 9.99135480e-01 -2.91006913e-03 1.78343882e+02] [-5.92986474e-02 4.46173369e-04 9.98240187e-01 3.10316542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6371056809999 meters Centerline goodness : 0.997328 Centerline is valid? [True, True] Translation: X:240.12, Y:178.34, Z:31.02 [[ 9.97477179e-01 3.91297635e-02 5.92295516e-02 2.40116056e+02] [-3.90268771e-02 9.99233972e-01 -2.89331649e-03 1.78342925e+02] [-5.92973949e-02 5.74472742e-04 9.98240196e-01 3.10161985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6671056809999 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:240.15, Y:178.34, Z:31.01 [[ 9.97592222e-01 3.60437830e-02 5.92503545e-02 2.40149969e+02] [-3.59662755e-02 9.99350184e-01 -2.37440565e-03 1.78343704e+02] [-5.92974352e-02 2.37674029e-04 9.98240331e-01 3.10130206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6971056809999 meters Centerline goodness : 0.996854 Centerline is valid? [True, True] Translation: X:240.18, Y:178.35, Z:31.02 [[ 9.97596347e-01 3.59560505e-02 5.92341970e-02 2.40183376e+02] [-3.58544597e-02 9.99353163e-01 -2.77736179e-03 1.78348422e+02] [-5.92957451e-02 6.46875851e-04 9.98240250e-01 3.10164171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.7271056809999 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:240.21, Y:178.35, Z:31.01 [[ 9.97377364e-01 4.15993637e-02 5.92274160e-02 2.40211695e+02] [-4.14977345e-02 9.99134257e-01 -2.94539772e-03 1.78349671e+02] [-5.92986670e-02 4.79869432e-04 9.98240170e-01 3.10055123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.7571056809999 meters Centerline goodness : 0.996750 Centerline is valid? [True, True] Translation: X:240.24, Y:178.35, Z:31.00 [[ 9.97262861e-01 4.42292275e-02 5.92499964e-02 2.40244575e+02] [-4.41655453e-02 9.99021380e-01 -2.38457155e-03 1.78350087e+02] [-5.92974809e-02 -2.38763753e-04 9.98240328e-01 3.10049749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.7871056809999 meters Centerline goodness : 0.996532 Centerline is valid? [True, True] Translation: X:240.28, Y:178.35, Z:31.00 [[ 9.97035678e-01 4.90856264e-02 5.92491228e-02 2.40276578e+02] [-4.90292311e-02 9.98794446e-01 -2.40608371e-03 1.78353381e+02] [-5.92957989e-02 -5.05987631e-04 9.98240328e-01 3.10044378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81710568099993 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:240.31, Y:178.35, Z:31.00 [[ 9.96882557e-01 5.21037438e-02 5.92483608e-02 2.40308118e+02] [-5.20515666e-02 9.98641455e-01 -2.42470398e-03 1.78354171e+02] [-5.92942053e-02 -6.66824887e-04 9.98240328e-01 3.10028072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.8471056809999 meters Centerline goodness : 0.996430 Centerline is valid? [True, True] Translation: X:240.34, Y:178.35, Z:31.00 [[ 9.96694951e-01 5.55771520e-02 5.92482480e-02 2.40339002e+02] [-5.55309405e-02 9.98454016e-01 -2.42745715e-03 1.78354202e+02] [-5.92915623e-02 -8.70676649e-04 9.98240328e-01 3.09996071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87710568099993 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:240.37, Y:178.35, Z:30.99 [[ 9.96305972e-01 6.21615314e-02 5.92482429e-02 2.40367990e+02] [-6.21269365e-02 9.98065304e-01 -2.42758093e-03 1.78353806e+02] [-5.92845177e-02 -1.26229844e-03 9.98240328e-01 3.09949317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.9071056809999 meters Centerline goodness : 0.996054 Centerline is valid? [True, True] Translation: X:240.40, Y:178.35, Z:31.00 [[ 9.96051486e-01 6.61141165e-02 5.92482991e-02 2.40398157e+02] [-6.60865839e-02 9.97810943e-01 -2.42620935e-03 1.78353334e+02] [-5.92790078e-02 -1.49888826e-03 9.98240328e-01 3.09953600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93710568099993 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:240.43, Y:178.35, Z:30.99 [[ 9.96018368e-01 6.66110776e-02 5.92484134e-02 2.40428703e+02] [-6.65845890e-02 9.97777841e-01 -2.42341372e-03 1.78352349e+02] [-5.92781802e-02 -1.53126668e-03 9.98240328e-01 3.09927052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.9671056809999 meters Centerline goodness : 0.996308 Centerline is valid? [True, True] Translation: X:240.46, Y:178.35, Z:30.99 [[ 9.96159998e-01 6.44675599e-02 5.92384430e-02 2.40456943e+02] [-6.44228223e-02 9.97919129e-01 -2.66672632e-03 1.78352924e+02] [-5.92870928e-02 -1.15982160e-03 9.98240299e-01 3.09941359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99710568099994 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:240.49, Y:178.35, Z:30.99 [[ 9.96689715e-01 5.56710621e-02 5.92481689e-02 2.40486036e+02] [-5.56248897e-02 9.98448781e-01 -2.42958825e-03 1.78348803e+02] [-5.92915198e-02 -8.74127243e-04 9.98240328e-01 3.09932549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0271056809999 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:240.52, Y:178.34, Z:30.99 [[ 9.97402038e-01 4.09733624e-02 5.92482848e-02 2.40516825e+02] [-4.09014336e-02 9.99160239e-01 -2.42676054e-03 1.78344008e+02] [-5.92979629e-02 -2.88387974e-06 9.98240328e-01 3.09914017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.05710568099994 meters Centerline goodness : 0.996762 Centerline is valid? [True, True] Translation: X:240.55, Y:178.34, Z:30.99 [[ 9.97681691e-01 3.34804147e-02 5.92478323e-02 2.40546996e+02] [-3.33946284e-02 9.99439271e-01 -2.43775800e-03 1.78341368e+02] [-5.92962274e-02 4.53547179e-04 9.98240328e-01 3.09911153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0871056809999 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:240.58, Y:178.34, Z:30.99 [[ 9.98060659e-01 1.90651370e-02 5.92574248e-02 2.40579672e+02] [-1.89677302e-02 9.99817663e-01 -2.20589035e-03 1.78340481e+02] [-5.92886756e-02 1.07763353e-03 9.98240298e-01 3.09879168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1171056809999 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:240.61, Y:178.34, Z:30.99 [[ 9.98132479e-01 1.48815954e-02 5.92460373e-02 2.40611899e+02] [-1.47606718e-02 9.99887984e-01 -2.47818386e-03 1.78340377e+02] [-5.92762802e-02 1.59904449e-03 9.98240335e-01 3.09894897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1471056809999 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:240.64, Y:178.34, Z:30.99 [[ 9.98189208e-01 1.03982573e-02 5.92467915e-02 2.40642576e+02] [-1.02705147e-02 9.99944230e-01 -2.46022513e-03 1.78341656e+02] [-5.92690694e-02 1.84727513e-03 9.98240334e-01 3.09853447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1771056809999 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:240.68, Y:178.35, Z:30.99 [[ 9.98208790e-01 8.32131445e-03 5.92449722e-02 2.40676112e+02] [-8.18736775e-03 9.99963350e-01 -2.50328433e-03 1.78345016e+02] [-5.92636314e-02 2.01374004e-03 9.98240335e-01 3.09859186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2071056809999 meters Centerline goodness : 0.996788 Centerline is valid? [True, True] Translation: X:240.71, Y:178.35, Z:30.98 [[ 9.98214817e-01 7.57135336e-03 5.92440214e-02 2.40708981e+02] [-7.43476639e-03 9.99969172e-01 -2.52558780e-03 1.78347459e+02] [-5.92613171e-02 2.08061370e-03 9.98240335e-01 3.09839615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2371056809999 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:240.74, Y:178.36, Z:30.98 [[ 9.98204000e-01 8.89006257e-03 5.92430686e-02 2.40739721e+02] [-8.75448000e-03 9.99958433e-01 -2.54774255e-03 1.78355227e+02] [-5.92632557e-02 2.02452454e-03 9.98240336e-01 3.09803757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2671056809999 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:240.77, Y:178.36, Z:30.98 [[ 9.98189492e-01 1.02777472e-02 5.92630264e-02 2.40773448e+02] [-1.01720671e-02 9.99946090e-01 -2.08464862e-03 1.78357799e+02] [-5.92812570e-02 1.47804686e-03 9.98240226e-01 3.09779152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2971056809999 meters Centerline goodness : 0.996183 Centerline is valid? [True, True] Translation: X:240.81, Y:178.37, Z:30.97 [[ 9.98131309e-01 1.49790598e-02 5.92411766e-02 2.40805112e+02] [-1.48519451e-02 9.99886361e-01 -2.58546748e-03 1.78365131e+02] [-5.92731723e-02 1.70078934e-03 9.98240351e-01 3.09748751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3271056809999 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:240.84, Y:178.37, Z:30.97 [[ 9.98094732e-01 1.72034696e-02 5.92532505e-02 2.40838280e+02] [-1.70966292e-02 9.99851174e-01 -2.30964091e-03 1.78368989e+02] [-5.92841659e-02 1.29220957e-03 9.98240311e-01 3.09733216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3571056809999 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:240.87, Y:178.38, Z:30.97 [[ 9.98058765e-01 1.91779659e-02 5.92529170e-02 2.40871689e+02] [-1.90741533e-02 9.99815387e-01 -2.31717647e-03 1.78379268e+02] [-5.92864169e-02 1.18247906e-03 9.98240313e-01 3.09677732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3871056809999 meters Centerline goodness : 0.996148 Centerline is valid? [True, True] Translation: X:240.90, Y:178.38, Z:30.96 [[ 9.98024405e-01 2.09316350e-02 5.92381137e-02 2.40904327e+02] [-2.08112586e-02 9.99779915e-01 -2.64836771e-03 1.78382066e+02] [-5.92805109e-02 1.41031590e-03 9.98240368e-01 3.09645459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.4171056809999 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:240.93, Y:178.39, Z:30.96 [[ 9.97993236e-01 2.23710235e-02 5.92371299e-02 2.40933479e+02] [-2.22518843e-02 9.99748830e-01 -2.67019148e-03 1.78390616e+02] [-5.92819863e-02 1.34669527e-03 9.98240368e-01 3.09583310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.4471056809999 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:240.97, Y:178.40, Z:30.96 [[ 9.97945445e-01 2.43327437e-02 5.92689329e-02 2.40968877e+02] [-2.42588843e-02 9.99703778e-01 -1.96549409e-03 1.78397647e+02] [-5.92992019e-02 5.23657690e-04 9.98240117e-01 3.09580669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.4771056809999 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:241.00, Y:178.40, Z:30.96 [[ 9.97918238e-01 2.55030334e-02 5.92350116e-02 2.41002270e+02] [-2.53871688e-02 9.99674026e-01 -2.70788181e-03 1.78400752e+02] [-5.92847617e-02 1.19843541e-03 9.98240392e-01 3.09575394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.5071056809999 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:241.03, Y:178.41, Z:30.96 [[ 9.97827417e-01 2.88405500e-02 5.92340157e-02 2.41034591e+02] [-2.87292758e-02 9.99583503e-01 -2.72949384e-03 1.78407580e+02] [-5.92880650e-02 1.02181341e-03 9.98240393e-01 3.09590299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.5371056809999 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:241.07, Y:178.41, Z:30.96 [[ 9.97753171e-01 3.13056905e-02 5.92331333e-02 2.41066605e+02] [-3.11976266e-02 9.99509457e-01 -2.74851081e-03 1.78410647e+02] [-5.92901209e-02 8.94402207e-04 9.98240393e-01 3.09583115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.56710568099993 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:241.09, Y:178.42, Z:30.96 [[ 9.97564306e-01 3.68375178e-02 5.92321912e-02 2.41094972e+02] [-3.67379970e-02 9.99321097e-01 -2.76866697e-03 1.78420899e+02] [-5.92939690e-02 5.85851286e-04 9.98240393e-01 3.09578166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.5971056809999 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:241.13, Y:178.42, Z:30.96 [[ 9.97432718e-01 4.01771338e-02 5.92770639e-02 2.41127912e+02] [-4.01406554e-02 9.99192406e-01 -1.80649889e-03 1.78420708e+02] [-5.93017721e-02 -5.77559101e-04 9.98239934e-01 3.09570977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62710568099993 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:241.16, Y:178.43, Z:30.96 [[ 9.97239662e-01 4.47747850e-02 5.92307037e-02 2.41158319e+02] [-4.46879225e-02 9.98997097e-01 -2.79097721e-03 1.78428369e+02] [-5.92962664e-02 1.36376076e-04 9.98240419e-01 3.09576169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.6571056809999 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:241.19, Y:178.44, Z:30.96 [[ 9.96989715e-01 5.00321526e-02 5.92308357e-02 2.41186041e+02] [-4.99547240e-02 9.98747592e-01 -2.78817233e-03 1.78438174e+02] [-5.92961528e-02 -1.79080921e-04 9.98240419e-01 3.09575031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.68710568099993 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:241.22, Y:178.44, Z:30.96 [[ 9.96850924e-01 5.26904005e-02 5.92617622e-02 2.41217137e+02] [-5.26569746e-02 9.98610395e-01 -2.12663013e-03 1.78439855e+02] [-5.92914647e-02 -1.00061190e-03 9.98240212e-01 3.09588960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7171056809999 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:241.24, Y:178.45, Z:30.96 [[ 9.96412578e-01 6.04456083e-02 5.92309261e-02 2.41242219e+02] [-6.03868477e-02 9.98171169e-01 -2.78315503e-03 1.78447781e+02] [-5.92908322e-02 -8.03598240e-04 9.98240428e-01 3.09581758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.74710568099994 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:241.27, Y:178.45, Z:30.96 [[ 9.96192149e-01 6.39428248e-02 5.92664879e-02 2.41272940e+02] [-6.39357125e-02 9.97951979e-01 -2.01823480e-03 1.78447139e+02] [-5.92741605e-02 -1.77869547e-03 9.98240157e-01 3.09574562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7771056809999 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:241.30, Y:178.45, Z:30.95 [[ 9.95914751e-01 6.81575180e-02 5.92314317e-02 2.41300374e+02] [-6.81132391e-02 9.97673755e-01 -2.76858822e-03 1.78449598e+02] [-5.92823450e-02 -1.27716682e-03 9.98240438e-01 3.09538674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.80710568099994 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:241.33, Y:178.45, Z:30.95 [[ 9.95818057e-01 6.95556553e-02 5.92318176e-02 2.41327950e+02] [-6.95143382e-02 9.97577134e-01 -2.76030706e-03 1.78450010e+02] [-5.92803018e-02 -1.36869699e-03 9.98240438e-01 3.09518975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8371056809999 meters Centerline goodness : 0.996141 Centerline is valid? [True, True] Translation: X:241.36, Y:178.45, Z:30.95 [[ 9.95580298e-01 7.28794742e-02 5.92321992e-02 2.41355946e+02] [-7.28445177e-02 9.97339512e-01 -2.75209432e-03 1.78450794e+02] [-5.92751838e-02 -1.57481010e-03 9.98240438e-01 3.09479369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8671056809999 meters Centerline goodness : 0.995719 Centerline is valid? [True, True] Translation: X:241.38, Y:178.45, Z:30.94 [[ 9.95511232e-01 7.38166456e-02 5.92325128e-02 2.41383324e+02] [-7.37837475e-02 9.97270486e-01 -2.74532894e-03 1.78448061e+02] [-5.92734878e-02 -1.63739097e-03 9.98240438e-01 3.09417175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8971056809999 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:241.41, Y:178.45, Z:30.94 [[ 9.95553568e-01 7.32431977e-02 5.92328229e-02 2.41411614e+02] [-7.32096850e-02 9.97312811e-01 -2.73862195e-03 1.78445250e+02] [-5.92742385e-02 -1.60997145e-03 9.98240438e-01 3.09400983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9271056809999 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:241.44, Y:178.44, Z:30.94 [[ 9.95925485e-01 6.79989344e-02 5.92332071e-02 2.41439367e+02] [-6.79566522e-02 9.97684539e-01 -2.73028701e-03 1.78439727e+02] [-5.92817115e-02 -1.30612803e-03 9.98240438e-01 3.09399567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9571056809999 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:241.47, Y:178.44, Z:30.94 [[ 9.96154918e-01 6.45505179e-02 5.92335221e-02 2.41466867e+02] [-6.45025533e-02 9.97913826e-01 -2.72343426e-03 1.78436903e+02] [-5.92857498e-02 -1.10775098e-03 9.98240438e-01 3.09392919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9871056809999 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:241.49, Y:178.43, Z:30.94 [[ 9.96780511e-01 5.40366552e-02 5.92338902e-02 2.41494750e+02] [-5.39706124e-02 9.98538832e-01 -2.71540524e-03 1.78432686e+02] [-5.92940710e-02 -4.90226304e-04 9.98240438e-01 3.09390673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0171056809999 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:241.52, Y:178.43, Z:30.94 [[ 9.97100544e-01 4.77683441e-02 5.92341941e-02 2.41522331e+02] [-4.76916420e-02 9.98858433e-01 -2.70875987e-03 1.78428902e+02] [-5.92959673e-02 -1.24070034e-04 9.98240438e-01 3.09364953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0471056809999 meters Centerline goodness : 0.997240 Centerline is valid? [True, True] Translation: X:241.55, Y:178.42, Z:30.94 [[ 9.97772010e-01 3.06771065e-02 5.92446802e-02 2.41551311e+02] [-3.05839893e-02 9.99529129e-01 -2.47808087e-03 1.78423665e+02] [-5.92928039e-02 6.60621071e-04 9.98240415e-01 3.09395149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0771056809999 meters Centerline goodness : 0.996681 Centerline is valid? [True, True] Translation: X:241.58, Y:178.42, Z:30.94 [[ 9.97994293e-01 2.23302801e-02 5.92346974e-02 2.41582446e+02] [-2.22094604e-02 9.99749701e-01 -2.69734003e-03 1.78420795e+02] [-5.92801033e-02 1.37635930e-03 9.98240439e-01 3.09380711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1071056809999 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:241.61, Y:178.42, Z:30.94 [[ 9.98192840e-01 1.01152951e-02 5.92345735e-02 2.41614116e+02] [-9.97284093e-03 9.99946625e-01 -2.70005737e-03 1.78416430e+02] [-5.92587237e-02 2.10444096e-03 9.98240440e-01 3.09362730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1371056809999 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:241.65, Y:178.42, Z:30.93 [[ 9.98242573e-01 1.77184264e-03 5.92336545e-02 2.41646028e+02] [-1.61354981e-03 9.99994999e-01 -2.72006948e-03 1.78416063e+02] [-5.92381778e-02 2.61971270e-03 9.98240440e-01 3.09331474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1671056809999 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:241.68, Y:178.42, Z:30.93 [[ 9.98243951e-01 -7.04005692e-04 5.92327446e-02 2.41678803e+02] [ 8.67809223e-04 9.99995870e-01 -2.73974334e-03 1.78416229e+02] [-5.92305711e-02 2.78633494e-03 9.98240440e-01 3.09310650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1971056809999 meters Centerline goodness : 0.997759 Centerline is valid? [True, True] Translation: X:241.71, Y:178.42, Z:30.93 [[ 9.98242461e-01 -1.89437103e-03 5.92317535e-02 2.41712017e+02] [ 2.06152217e-03 9.99994063e-01 -2.76100509e-03 1.78420275e+02] [-5.92261715e-02 2.87826009e-03 9.98240440e-01 3.09294192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.2271056809999 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:241.74, Y:178.42, Z:30.93 [[ 9.98243635e-01 -1.16752117e-03 5.92307591e-02 2.41744424e+02] [ 1.33465004e-03 9.99995239e-01 -2.78217415e-03 1.78422035e+02] [-5.92272289e-02 2.85633997e-03 9.98240440e-01 3.09271357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.2571056809999 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:241.78, Y:178.43, Z:30.93 [[ 9.98242322e-01 2.02334635e-03 5.92298335e-02 2.41776682e+02] [-1.86065862e-03 9.99994344e-01 -2.80174214e-03 1.78427083e+02] [-5.92351674e-02 2.68661107e-03 9.98240441e-01 3.09256676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.2871056809999 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:241.81, Y:178.43, Z:30.93 [[ 9.98239933e-01 2.99547631e-03 5.92289108e-02 2.41809803e+02] [-2.83334770e-03 9.99992007e-01 -2.82111458e-03 1.78428551e+02] [-5.92368880e-02 2.64833313e-03 9.98240441e-01 3.09250077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31710568099993 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:241.84, Y:178.43, Z:30.92 [[ 9.98238893e-01 3.34151233e-03 5.92279294e-02 2.41843328e+02] [-3.17877982e-03 9.99990910e-01 -2.84156998e-03 1.78426749e+02] [-5.92368862e-02 2.64829312e-03 9.98240441e-01 3.09230202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.3471056809999 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:241.88, Y:178.43, Z:30.92 [[ 9.98230169e-01 5.35711736e-03 5.92269391e-02 2.41876059e+02] [-5.19670902e-03 9.99982401e-01 -2.86206495e-03 1.78431872e+02] [-5.92412292e-02 2.54921441e-03 9.98240441e-01 3.09215346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37710568099993 meters Centerline goodness : 0.996636 Centerline is valid? [True, True] Translation: X:241.91, Y:178.43, Z:30.92 [[ 9.98225084e-01 6.24184379e-03 5.92260131e-02 2.41908778e+02] [-6.08186120e-03 9.99977355e-01 -2.88109932e-03 1.78434276e+02] [-5.92426553e-02 2.51578122e-03 9.98240441e-01 3.09184144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.4071056809999 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:241.94, Y:178.44, Z:30.91 [[ 9.98214065e-01 7.81410715e-03 5.92251624e-02 2.41940242e+02] [-7.65585510e-03 9.99966493e-01 -2.89848213e-03 1.78441542e+02] [-5.92458270e-02 2.43988636e-03 9.98240441e-01 3.09146354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43710568099993 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:241.97, Y:178.45, Z:30.92 [[ 9.98195292e-01 9.93144140e-03 5.92243742e-02 2.41973448e+02] [-9.77595794e-03 9.99947967e-01 -2.91450020e-03 1.78446215e+02] [-5.92502377e-02 2.33026539e-03 9.98240442e-01 3.09155412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.4671056809999 meters Centerline goodness : 0.996382 Centerline is valid? [True, True] Translation: X:242.01, Y:178.45, Z:30.91 [[ 9.98171816e-01 1.20677239e-02 5.92232733e-02 2.42005893e+02] [-1.19146764e-02 9.99924705e-01 -2.93670161e-03 1.78447559e+02] [-5.92542534e-02 2.22570664e-03 9.98240442e-01 3.09125199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49710568099994 meters Centerline goodness : 0.996028 Centerline is valid? [True, True] Translation: X:242.04, Y:178.45, Z:30.91 [[ 9.98138322e-01 1.45813721e-02 5.92222444e-02 2.42039017e+02] [-1.44315184e-02 9.99891487e-01 -2.95730533e-03 1.78449618e+02] [-5.92589396e-02 2.09713287e-03 9.98240442e-01 3.09130836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5271056809999 meters Centerline goodness : 0.996858 Centerline is valid? [True, True] Translation: X:242.07, Y:178.46, Z:30.91 [[ 9.98012386e-01 2.15437707e-02 5.92211469e-02 2.42072766e+02] [-2.14048567e-02 9.99766451e-01 -2.97912322e-03 1.78456119e+02] [-5.92714974e-02 1.70558171e-03 9.98240442e-01 3.09115847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.55710568099994 meters Centerline goodness : 0.996730 Centerline is valid? [True, True] Translation: X:242.10, Y:178.46, Z:30.91 [[ 9.97945451e-01 2.44714361e-02 5.92116993e-02 2.42104531e+02] [-2.43266248e-02 9.99699053e-01 -3.16536965e-03 1.78458361e+02] [-5.92713408e-02 1.71844545e-03 9.98240430e-01 3.09123923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5871056809999 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:242.14, Y:178.46, Z:30.92 [[ 9.97816641e-01 2.92400473e-02 5.92196821e-02 2.42135681e+02] [-2.91129382e-02 9.99571602e-01 -3.00823564e-03 1.78462495e+02] [-5.92822734e-02 1.27760863e-03 9.98240442e-01 3.09160577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6171056809999 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:242.17, Y:178.47, Z:30.92 [[ 9.97798610e-01 2.98819025e-02 5.92030835e-02 2.42165593e+02] [-2.97364637e-02 9.99552206e-01 -3.33630263e-03 1.78465979e+02] [-5.92762678e-02 1.56846778e-03 9.98240384e-01 3.09200449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6471056809999 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:242.19, Y:178.47, Z:30.92 [[ 9.97808237e-01 2.95852320e-02 5.91898338e-02 2.42193951e+02] [-2.94237483e-02 9.99560552e-01 -3.59812441e-03 1.78466285e+02] [-5.92702742e-02 1.84865141e-03 9.98240260e-01 3.09178486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6771056809999 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:242.22, Y:178.47, Z:30.92 [[ 9.97811231e-01 2.94798261e-02 5.91919541e-02 2.42223606e+02] [-2.93206470e-02 9.99563732e-01 -3.55612731e-03 1.78466228e+02] [-5.92709646e-02 1.81279737e-03 9.98240285e-01 3.09182416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7071056809999 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:242.25, Y:178.47, Z:30.92 [[ 9.97825866e-01 2.89899420e-02 5.91872025e-02 2.42253566e+02] [-2.88242354e-02 9.99577825e-01 -3.65172654e-03 1.78465740e+02] [-5.92680785e-02 1.93776134e-03 9.98240222e-01 3.09177404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7371056809999 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:242.28, Y:178.47, Z:30.92 [[ 9.97799208e-01 2.99126884e-02 5.91774644e-02 2.42281672e+02] [-2.97369917e-02 9.99550353e-01 -3.84760375e-03 1.78468356e+02] [-5.92659475e-02 2.07937621e-03 9.98240063e-01 3.09173980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7671056809999 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:242.31, Y:178.47, Z:30.92 [[ 9.97677429e-01 3.37237058e-02 5.91815828e-02 2.42309312e+02] [-3.35596061e-02 9.99429627e-01 -3.76483920e-03 1.78467134e+02] [-5.92747915e-02 1.76998449e-03 9.98240135e-01 3.09167304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7971056809999 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:242.34, Y:178.47, Z:30.91 [[ 9.97705075e-01 3.28392261e-02 5.92129076e-02 2.42340374e+02] [-3.27112346e-02 9.99459944e-01 -3.12983065e-03 1.78468618e+02] [-5.92837105e-02 1.18572061e-03 9.98240470e-01 3.09122974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8271056809999 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:242.37, Y:178.47, Z:30.91 [[ 9.97637645e-01 3.48861126e-02 5.91784445e-02 2.42369985e+02] [-3.47197209e-02 9.99389720e-01 -3.83791241e-03 1.78467315e+02] [-5.92762189e-02 1.77418683e-03 9.98240042e-01 3.09072794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8571056809999 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:242.40, Y:178.47, Z:30.90 [[ 9.97540715e-01 3.75755080e-02 5.91659014e-02 2.42398012e+02] [-3.73983828e-02 9.99292031e-01 -4.09857994e-03 1.78468418e+02] [-5.92780200e-02 1.87579133e-03 9.98239750e-01 3.09022314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8871056809999 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:242.43, Y:178.47, Z:30.90 [[ 9.97416732e-01 4.07196270e-02 5.91757971e-02 2.42426643e+02] [-4.05604498e-02 9.99169518e-01 -3.88906954e-03 1.78469230e+02] [-5.92850141e-02 1.47882609e-03 9.98240001e-01 3.08951349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.9171056809999 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:242.46, Y:178.47, Z:30.89 [[ 9.97375352e-01 4.17197904e-02 5.91765671e-02 2.42455366e+02] [-4.15633371e-02 9.99128365e-01 -3.87278473e-03 1.78469315e+02] [-5.92865586e-02 1.40304443e-03 9.98240019e-01 3.08921950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.9471056809999 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:242.48, Y:178.47, Z:30.88 [[ 9.97395768e-01 4.12313005e-02 5.91748351e-02 2.42483075e+02] [-4.10718224e-02 9.99148549e-01 -3.90930002e-03 1.78471216e+02] [-5.92856362e-02 1.46870098e-03 9.98239979e-01 3.08849200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.9771056809999 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:242.51, Y:178.47, Z:30.89 [[ 9.97485709e-01 3.89788003e-02 5.91854199e-02 2.42510393e+02] [-3.88285479e-02 9.99239085e-01 -3.68704247e-03 1.78472576e+02] [-5.92841014e-02 1.37968826e-03 9.98240197e-01 3.08877991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.0071056809999 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:242.54, Y:178.47, Z:30.89 [[ 9.97757265e-01 3.12520566e-02 5.91924729e-02 2.42538838e+02] [-3.10971849e-02 9.99510111e-01 -3.53599611e-03 1.78473335e+02] [-5.92739823e-02 1.68734653e-03 9.98240326e-01 3.08897844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.0371056809999 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:242.57, Y:178.47, Z:30.89 [[ 9.98032291e-01 2.06780781e-02 5.91942773e-02 2.42566106e+02] [-2.05069764e-02 9.99783595e-01 -3.49659865e-03 1.78474845e+02] [-5.92537703e-02 2.27582271e-03 9.98240358e-01 3.08937251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.06710568099993 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:242.60, Y:178.48, Z:30.89 [[ 9.98178336e-01 1.14760842e-02 5.92309815e-02 2.42598040e+02] [-1.13367240e-02 9.99932123e-01 -2.68833789e-03 1.78475054e+02] [-5.92578127e-02 2.01195535e-03 9.98240684e-01 3.08926928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.0971056809999 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:242.63, Y:178.47, Z:30.89 [[ 9.98243145e-01 2.67709267e-03 5.91899993e-02 2.42625308e+02] [-2.46952587e-03 9.99990544e-01 -3.57966011e-03 1.78474617e+02] [-5.91990226e-02 3.42719994e-03 9.98240317e-01 3.08882166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12710568099993 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:242.66, Y:178.48, Z:30.89 [[ 9.98236314e-01 -4.00877392e-03 5.92299944e-02 2.42662663e+02] [ 4.17625514e-03 9.99987623e-01 -2.70412366e-03 1.78475165e+02] [-5.92184211e-02 2.94671400e-03 9.98240700e-01 3.08880819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.1571056809999 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:242.69, Y:178.48, Z:30.89 [[ 9.98243303e-01 -2.67615300e-03 5.91873879e-02 2.42690272e+02] [ 2.89556639e-03 9.99989250e-01 -3.62164179e-03 1.78479184e+02] [-5.91770596e-02 3.78666067e-03 9.98240320e-01 3.08897756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.18710568099993 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:242.73, Y:178.48, Z:30.89 [[ 9.98239041e-01 -3.28798216e-03 5.92284177e-02 2.42725787e+02] [ 3.45590470e-03 9.99990294e-01 -2.73295754e-03 1.78480803e+02] [-5.92188569e-02 2.93283269e-03 9.98240715e-01 3.08895551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2171056809999 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:242.76, Y:178.48, Z:30.89 [[ 9.98246324e-01 4.89811715e-04 5.91949055e-02 2.42758473e+02] [-2.85825627e-04 9.99993993e-01 -3.45442540e-03 1.78483631e+02] [-5.91962419e-02 3.43144804e-03 9.98240467e-01 3.08860861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.24710568099994 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:242.79, Y:178.49, Z:30.89 [[ 9.98212646e-01 8.22814130e-03 5.91929958e-02 2.42791295e+02] [-8.03529113e-03 9.99961608e-01 -3.49528137e-03 1.78489785e+02] [-5.92194829e-02 3.01340112e-03 9.98240438e-01 3.08883457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2771056809999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:242.82, Y:178.50, Z:30.89 [[ 9.98098623e-01 1.71683877e-02 5.91978535e-02 2.42823240e+02] [-1.69973901e-02 9.99849784e-01 -3.39095171e-03 1.78498162e+02] [-5.92471782e-02 2.37829523e-03 9.98240510e-01 3.08854584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.30710568099994 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:242.85, Y:178.50, Z:30.88 [[ 9.98011964e-01 2.16034616e-02 5.92065094e-02 2.42854349e+02] [-2.14513241e-02 9.99764760e-01 -3.20406633e-03 1.78502048e+02] [-5.92618005e-02 1.92763851e-03 9.98240614e-01 3.08829973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3371056809999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:242.88, Y:178.51, Z:30.88 [[ 9.97603927e-01 3.57889139e-02 5.92077662e-02 2.42883410e+02] [-3.56633299e-02 9.99358812e-01 -3.17675439e-03 1.78511239e+02] [-5.92834955e-02 1.05759655e-03 9.98240627e-01 3.08761931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3671056809999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:242.91, Y:178.52, Z:30.87 [[ 9.97350563e-01 4.22345980e-02 5.92291576e-02 2.42913298e+02] [-4.21481148e-02 9.99107700e-01 -2.70924133e-03 1.78515632e+02] [-5.92907311e-02 2.05666040e-04 9.98240736e-01 3.08728488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3971056809999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:242.94, Y:178.53, Z:30.87 [[ 9.96752541e-01 5.45680284e-02 5.92174176e-02 2.42939454e+02] [-5.44880308e-02 9.98510019e-01 -2.96601817e-03 1.78525726e+02] [-5.92910345e-02 -2.70254333e-04 9.98240703e-01 3.08708563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4271056809999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:242.97, Y:178.53, Z:30.87 [[ 9.96625383e-01 5.68300400e-02 5.92299915e-02 2.42967139e+02] [-5.67704840e-02 9.98383634e-01 -2.68911827e-03 1.78528592e+02] [-5.92870769e-02 -6.82471757e-04 9.98240741e-01 3.08689277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4571056809999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:243.00, Y:178.53, Z:30.87 [[ 9.96812919e-01 5.34394401e-02 5.92303210e-02 2.42997739e+02] [-5.33743357e-02 9.98570973e-01 -2.68184110e-03 1.78533893e+02] [-5.92889954e-02 -4.88085183e-04 9.98240741e-01 3.08665169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4871056809999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:243.02, Y:178.54, Z:30.87 [[ 9.96943471e-01 5.09703633e-02 5.92092793e-02 2.43023820e+02] [-5.08733314e-02 9.98700159e-01 -3.14603334e-03 1.78535787e+02] [-5.92926711e-02 1.24244108e-04 9.98240634e-01 3.08678344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5171056809999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:243.05, Y:178.54, Z:30.87 [[ 9.97507870e-01 3.83457984e-02 5.92254144e-02 2.43053598e+02] [-3.82478595e-02 9.99264397e-01 -2.78681455e-03 1.78540196e+02] [-5.92887107e-02 5.14624111e-04 9.98240745e-01 3.08695024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5471056809999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:243.08, Y:178.54, Z:30.87 [[ 9.97742937e-01 3.16632730e-02 5.92154387e-02 2.43080046e+02] [-3.15404068e-02 9.99497949e-01 -3.00864637e-03 1.78540727e+02] [-5.92809732e-02 1.13417664e-03 9.98240692e-01 3.08683510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5771056809999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:243.11, Y:178.54, Z:30.87 [[ 9.98018371e-01 2.12769949e-02 5.92167302e-02 2.43108844e+02] [-2.11375825e-02 9.99772136e-01 -2.97974774e-03 1.78541730e+02] [-5.92666369e-02 1.72214446e-03 9.98240702e-01 3.08659830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6071056809999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:243.14, Y:178.54, Z:30.86 [[ 9.98029613e-01 2.07398408e-02 5.92178278e-02 2.43138357e+02] [-2.06009450e-02 9.99783411e-01 -2.95511731e-03 1.78539292e+02] [-5.92662906e-02 1.72935137e-03 9.98240711e-01 3.08628054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6371056809999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:243.17, Y:178.54, Z:30.86 [[ 9.98124440e-01 1.55398172e-02 5.92124662e-02 2.43168677e+02] [-1.53845622e-02 9.99876916e-01 -3.07700309e-03 1.78544192e+02] [-5.92529942e-02 2.16027412e-03 9.98240660e-01 3.08596507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6671056809999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:243.20, Y:178.55, Z:30.86 [[ 9.98138546e-01 1.46177752e-02 5.92094926e-02 2.43199302e+02] [-1.44568946e-02 9.99890549e-01 -3.14462343e-03 1.78546043e+02] [-5.92489795e-02 2.28278446e-03 9.98240626e-01 3.08633038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6971056809999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:243.23, Y:178.55, Z:30.86 [[ 9.98189744e-01 1.05176857e-02 5.92166688e-02 2.43231142e+02] [-1.03592285e-02 9.99941895e-01 -2.98225045e-03 1.78551107e+02] [-5.92445944e-02 2.36341281e-03 9.98240699e-01 3.08647953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.7271056809999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:243.26, Y:178.56, Z:30.86 [[ 9.98237609e-01 3.78241002e-03 5.92230489e-02 2.43262922e+02] [-3.62068060e-03 9.99989418e-01 -2.83792290e-03 1.78557807e+02] [-5.92331564e-02 2.61849363e-03 9.98240741e-01 3.08643076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.7571056809999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:243.29, Y:178.56, Z:30.86 [[ 9.98241624e-01 2.43448476e-03 5.92261212e-02 2.43294635e+02] [-2.27452120e-03 9.99993582e-01 -2.76816021e-03 1.78560343e+02] [-5.92324802e-02 2.62858167e-03 9.98240754e-01 3.08616506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.7871056809999 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:243.33, Y:178.57, Z:30.86 [[ 9.98230530e-01 5.22240556e-03 5.92329004e-02 2.43325486e+02] [-5.07643287e-03 9.99983697e-01 -2.61459670e-03 1.78568960e+02] [-5.92455892e-02 2.30927841e-03 9.98240766e-01 3.08609202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81710568099993 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:243.35, Y:178.57, Z:30.86 [[ 9.98184281e-01 1.09029278e-02 5.92390722e-02 2.43354834e+02] [-1.07752210e-02 9.99938883e-01 -2.47480573e-03 1.78572853e+02] [-5.92624344e-02 1.83199808e-03 9.98240756e-01 3.08584630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.8471056809999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:243.38, Y:178.58, Z:30.86 [[ 9.98145167e-01 1.39545392e-02 5.92578744e-02 2.43383340e+02] [-1.38577506e-02 9.99901888e-01 -2.04400340e-03 1.78580380e+02] [-5.92805836e-02 1.21903127e-03 9.98240615e-01 3.08589341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87710568099993 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:243.41, Y:178.60, Z:30.86 [[ 9.97852930e-01 2.78609187e-02 5.92730984e-02 2.43413918e+02] [-2.78092103e-02 9.99611808e-01 -1.69725072e-03 1.78595542e+02] [-5.92973760e-02 4.52685469e-05 9.98240361e-01 3.08598268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.9071056809999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:243.44, Y:178.61, Z:30.85 [[ 9.97342216e-01 4.23534125e-02 5.92848526e-02 2.43444461e+02] [-4.23431591e-02 9.99102103e-01 -1.42976389e-03 1.78608322e+02] [-5.92921763e-02 -1.08434406e-03 9.98240082e-01 3.08521167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93710568099993 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:243.48, Y:178.62, Z:30.85 [[ 9.97256238e-01 4.43569561e-02 5.92659753e-02 2.43477436e+02] [-4.43247823e-02 9.99015446e-01 -1.85804145e-03 1.78615614e+02] [-5.92900418e-02 -7.74008028e-04 9.98240498e-01 3.08518713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.9671056809999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:243.50, Y:178.63, Z:30.86 [[ 9.96853605e-01 5.26735216e-02 5.92316756e-02 2.43497680e+02] [-5.26101037e-02 9.98611664e-01 -2.63071347e-03 1.78628108e+02] [-5.92880111e-02 -4.93748391e-04 9.98240797e-01 3.08552826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99710568099994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:243.53, Y:178.63, Z:30.85 [[ 9.97173208e-01 4.61614727e-02 5.92850128e-02 2.43527643e+02] [-4.61566496e-02 9.98933159e-01 -1.45148730e-03 1.78626275e+02] [-5.92887680e-02 -1.28901332e-03 9.98240042e-01 3.08512995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0271056809999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:243.56, Y:178.62, Z:30.85 [[ 9.97350284e-01 4.21510088e-02 5.92933688e-02 2.43556491e+02] [-4.21501172e-02 9.99110486e-01 -1.26630675e-03 1.78622478e+02] [-5.92940027e-02 -1.23627105e-03 9.98239797e-01 3.08509776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.05710568099994 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:243.58, Y:178.62, Z:30.85 [[ 9.97321177e-01 4.28358301e-02 5.92921781e-02 2.43582525e+02] [-4.28345726e-02 9.99081342e-01 -1.29278819e-03 1.78620264e+02] [-5.92930865e-02 -1.25043008e-03 9.98239834e-01 3.08491601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0871056809999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:243.61, Y:178.62, Z:30.84 [[ 9.97323553e-01 4.27773547e-02 5.92944163e-02 2.43613043e+02] [-4.27789157e-02 9.99083789e-01 -1.24364825e-03 1.78616790e+02] [-5.92932901e-02 -1.29623114e-03 9.98239764e-01 3.08391506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1171056809999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:243.64, Y:178.62, Z:30.83 [[ 9.97255943e-01 4.43333415e-02 5.92886003e-02 2.43640220e+02] [-4.43301639e-02 9.99015996e-01 -1.36953507e-03 1.78615473e+02] [-5.92909762e-02 -1.26249639e-03 9.98239944e-01 3.08344830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1471056809999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:243.67, Y:178.61, Z:30.83 [[ 9.97344357e-01 4.22975784e-02 5.92886919e-02 2.43674147e+02] [-4.22909269e-02 9.99104403e-01 -1.36753839e-03 1.78613214e+02] [-5.92934367e-02 -1.14346704e-03 9.98239942e-01 3.08271514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1771056809999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:243.70, Y:178.61, Z:30.83 [[ 9.97326082e-01 4.28157448e-02 5.92241327e-02 2.43698528e+02] [-4.27275055e-02 9.99082962e-01 -2.75606284e-03 1.78611300e+02] [-5.92878247e-02 2.18193901e-04 9.98240906e-01 3.08296426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2071056809999 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:243.73, Y:178.61, Z:30.82 [[ 9.97328774e-01 4.26891367e-02 5.92701773e-02 2.43731451e+02] [-4.26600324e-02 9.99088102e-01 -1.75688185e-03 1.78608713e+02] [-5.92911287e-02 -7.76278857e-04 9.98240432e-01 3.08223104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2371056809999 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:243.76, Y:178.61, Z:30.82 [[ 9.97328900e-01 4.27305836e-02 5.92381777e-02 2.43759724e+02] [-4.26609296e-02 9.99086627e-01 -2.44059935e-03 1.78607526e+02] [-5.92883594e-02 -9.30754590e-05 9.98240894e-01 3.08210379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2671056809999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:243.79, Y:178.60, Z:30.82 [[ 9.97414271e-01 4.06901501e-02 5.92375140e-02 2.43787039e+02] [-4.06160594e-02 9.99171812e-01 -2.45475794e-03 1.78604237e+02] [-5.92883386e-02 4.24162160e-05 9.98240898e-01 3.08189497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2971056809999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:243.81, Y:178.60, Z:30.82 [[ 9.97534344e-01 3.76155709e-02 5.92477924e-02 2.43812609e+02] [-3.75491821e-02 9.99292284e-01 -2.23385577e-03 1.78603920e+02] [-5.92898895e-02 3.64170855e-06 9.98240807e-01 3.08168877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3271056809999 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:243.84, Y:178.60, Z:30.81 [[ 9.97625417e-01 3.50848899e-02 5.92670140e-02 2.43844947e+02] [-3.50382485e-02 9.99384303e-01 -1.82632817e-03 1.78596567e+02] [-5.92946001e-02 -2.54620960e-04 9.98240495e-01 3.08108973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3571056809999 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:243.87, Y:178.59, Z:30.81 [[ 9.97676390e-01 3.36463555e-02 5.92430844e-02 2.43872032e+02] [-3.35673250e-02 9.99433745e-01 -2.32897171e-03 1.78592487e+02] [-5.92878991e-02 3.34928222e-04 9.98240869e-01 3.08122386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3871056809999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:243.90, Y:178.59, Z:30.80 [[ 9.97888510e-01 2.66040221e-02 5.92515652e-02 2.43904636e+02] [-2.65233298e-02 9.99645887e-01 -2.14804837e-03 1.78588025e+02] [-5.92877301e-02 5.71963984e-04 9.98240772e-01 3.08030658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.4171056809999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:243.93, Y:178.59, Z:30.80 [[ 9.97915548e-01 2.56399609e-02 5.92212056e-02 2.43933677e+02] [-2.55193460e-02 9.99670429e-01 -2.79221805e-03 1.78585612e+02] [-5.92732803e-02 1.27511137e-03 9.98240979e-01 3.08005874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.4471056809999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:243.96, Y:178.58, Z:30.80 [[ 9.97869239e-01 2.73825413e-02 5.92214395e-02 2.43962999e+02] [-2.72652859e-02 9.99624347e-01 -2.78724877e-03 1.78583642e+02] [-5.92755147e-02 1.16662033e-03 9.98240979e-01 3.08031816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.4771056809999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:243.99, Y:178.58, Z:30.80 [[ 9.97833643e-01 2.86363775e-02 5.92282011e-02 2.43989072e+02] [-2.85298666e-02 9.99589445e-01 -2.64333423e-03 1.78582975e+02] [-5.92795802e-02 9.47835143e-04 9.98240969e-01 3.07982218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.5071056809999 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:244.02, Y:178.58, Z:30.80 [[ 9.97735366e-01 3.18328666e-02 5.92520653e-02 2.44019568e+02] [-3.17623642e-02 9.99493176e-01 -2.13155101e-03 1.78584026e+02] [-5.92898883e-02 2.44738150e-04 9.98240777e-01 3.07971740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.5371056809999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:244.05, Y:178.58, Z:30.80 [[ 9.97612906e-01 3.55139452e-02 5.92220402e-02 2.44048528e+02] [-3.54118407e-02 9.99368957e-01 -2.77303942e-03 1.78584496e+02] [-5.92831501e-02 6.69258460e-04 9.98240983e-01 3.07978111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.56710568099993 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:244.08, Y:178.59, Z:30.80 [[ 9.97291772e-01 4.36101313e-02 5.92222698e-02 2.44076750e+02] [-4.35225752e-02 9.99048609e-01 -2.76812750e-03 1.78586656e+02] [-5.92866446e-02 1.83125094e-04 9.98240983e-01 3.07986347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.5971056809999 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:244.10, Y:178.59, Z:30.79 [[ 9.96917824e-01 5.14541252e-02 5.92226813e-02 2.44104995e+02] [-5.13809171e-02 9.98675316e-01 -2.75929362e-03 1.78585584e+02] [-5.92862071e-02 -2.92126691e-04 9.98240983e-01 3.07926994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62710568099993 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:244.13, Y:178.58, Z:30.79 [[ 9.96746867e-01 5.46656297e-02 5.92229104e-02 2.44133099e+02] [-5.45983766e-02 9.98504597e-01 -2.75436905e-03 1.78583777e+02] [-5.92849176e-02 -4.88066043e-04 9.98240983e-01 3.07910334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.6571056809999 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:244.17, Y:178.58, Z:30.79 [[ 9.96592527e-01 5.74102001e-02 5.92233340e-02 2.44166360e+02] [-5.73483306e-02 9.98350456e-01 -2.74523044e-03 1.78580184e+02] [-5.92832467e-02 -6.60483191e-04 9.98240983e-01 3.07927674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.68710568099993 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:244.19, Y:178.58, Z:30.79 [[ 9.96431413e-01 6.01772868e-02 5.91872710e-02 2.44190676e+02] [-6.00744121e-02 9.98187704e-01 -3.51758692e-03 1.78580447e+02] [-5.92916850e-02 -5.06064059e-05 9.98240699e-01 3.07853302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7171056809999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:244.22, Y:178.58, Z:30.78 [[ 9.96012317e-01 6.67236386e-02 5.92234734e-02 2.44218487e+02] [-6.66788907e-02 9.97770741e-01 -2.73367953e-03 1.78578817e+02] [-5.92738501e-02 -1.22617703e-03 9.98241007e-01 3.07819698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.74710568099994 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:244.25, Y:178.58, Z:30.77 [[ 9.96011459e-01 6.67362123e-02 5.92237497e-02 2.44246594e+02] [-6.66918430e-02 9.97769892e-01 -2.72768192e-03 1.78575613e+02] [-5.92737095e-02 -1.23293857e-03 9.98241007e-01 3.07733872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7771056809999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:244.28, Y:178.58, Z:30.78 [[ 9.96145958e-01 6.46968458e-02 5.92245607e-02 2.44279261e+02] [-6.46499298e-02 9.97904325e-01 -2.70995729e-03 1.78575287e+02] [-5.92757710e-02 -1.12935069e-03 9.98241007e-01 3.07761628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.80710568099994 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:244.30, Y:178.57, Z:30.77 [[ 9.96316046e-01 6.20463105e-02 5.91995949e-02 2.44304980e+02] [-6.19624880e-02 9.98073180e-01 -3.25234241e-03 1.78571579e+02] [-5.92873238e-02 -4.27793261e-04 9.98240868e-01 3.07667415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8371056809999 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:244.33, Y:178.57, Z:30.76 [[ 9.96849131e-01 5.27661269e-02 5.92245384e-02 2.44333072e+02] [-5.26983521e-02 9.98606808e-01 -2.70676702e-03 1.78567178e+02] [-5.92848529e-02 -4.22797229e-04 9.98241017e-01 3.07594863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8671056809999 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:244.36, Y:178.57, Z:30.76 [[ 9.97477232e-01 3.91356400e-02 5.92247631e-02 2.44364070e+02] [-3.90441390e-02 9.99233834e-01 -2.70184230e-03 1.78566816e+02] [-5.92851254e-02 3.82646299e-04 9.98241017e-01 3.07609110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8971056809999 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:244.40, Y:178.56, Z:30.76 [[ 9.97670734e-01 3.38567183e-02 5.92184895e-02 2.44395923e+02] [-3.37477507e-02 9.99426349e-01 -2.83953800e-03 1.78564330e+02] [-5.92806562e-02 8.34433143e-04 9.98241007e-01 3.07587595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9271056809999 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:244.43, Y:178.55, Z:30.76 [[ 9.97841572e-01 2.84433768e-02 5.91875925e-02 2.44434104e+02] [-2.82845404e-02 9.99593715e-01 -3.51983406e-03 1.78554640e+02] [-5.92636615e-02 1.83814290e-03 9.98240672e-01 3.07603767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9571056809999 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:244.46, Y:178.56, Z:30.75 [[ 9.98089799e-01 1.80047903e-02 5.90980615e-02 2.44455489e+02] [-1.77115380e-02 9.99828108e-01 -5.48224418e-03 1.78560102e+02] [-5.91866097e-02 4.42505443e-03 9.98237128e-01 3.07536702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9871056809999 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:244.49, Y:178.55, Z:30.75 [[ 9.98123320e-01 1.57334697e-02 5.91801940e-02 2.44492479e+02] [-1.55454413e-02 9.99872550e-01 -3.63629994e-03 1.78554165e+02] [-5.92298631e-02 2.70949353e-03 9.98240693e-01 3.07514314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0171056809999 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:244.51, Y:178.56, Z:30.74 [[ 9.98208194e-01 9.39703284e-03 5.90939748e-02 2.44513738e+02] [-9.08249931e-03 9.99943134e-01 -5.58894942e-03 1.78558344e+02] [-5.91431339e-02 5.04221412e-03 9.98236778e-01 3.07440007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0471056809999 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:244.55, Y:178.55, Z:30.74 [[ 9.98152739e-01 1.37558507e-02 5.91767450e-02 2.44550277e+02] [-1.35643741e-02 9.99901388e-01 -3.63617449e-03 1.78554283e+02] [-5.92209282e-02 2.82676201e-03 9.98240898e-01 3.07426224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0771056809999 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:244.58, Y:178.55, Z:30.74 [[ 9.98069592e-01 1.90494624e-02 5.91118281e-02 2.44582857e+02] [-1.87740026e-02 9.99810168e-01 -5.21190356e-03 1.78551935e+02] [-5.91998908e-02 4.09207685e-03 9.98237761e-01 3.07387153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1071056809999 meters Centerline goodness : 0.997279 Centerline is valid? [True, True] Translation: X:244.61, Y:178.55, Z:30.74 [[ 9.98012308e-01 2.19084700e-02 5.90885118e-02 2.44607228e+02] [-2.16041547e-02 9.99749871e-01 -5.78416567e-03 1.78554673e+02] [-5.92004543e-02 4.49611118e-03 9.98235990e-01 3.07428539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1371056809999 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:244.63, Y:178.56, Z:30.73 [[ 9.98008965e-01 2.19150717e-02 5.91425092e-02 2.44628474e+02] [-2.16864318e-02 9.99754671e-01 -4.50508218e-03 1.78556905e+02] [-5.92267290e-02 3.21352241e-03 9.98239384e-01 3.07349550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1671056809999 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:244.66, Y:178.55, Z:30.73 [[ 9.97599552e-01 3.58994671e-02 5.92145417e-02 2.44659447e+02] [-3.58003196e-02 9.99355221e-01 -2.73475201e-03 1.78553972e+02] [-5.92745376e-02 6.08287864e-04 9.98241534e-01 3.07310515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1971056809999 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:244.70, Y:178.55, Z:30.74 [[ 9.97037589e-01 4.91112267e-02 5.91957315e-02 2.44698672e+02] [-4.90077279e-02 9.98793274e-01 -3.19982524e-03 1.78552223e+02] [-5.92814458e-02 2.89297741e-04 9.98241267e-01 3.07407078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.2271056809999 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:244.73, Y:178.55, Z:30.73 [[ 9.96415961e-01 6.04898166e-02 5.91287978e-02 2.44729632e+02] [-6.03035244e-02 9.98167904e-01 -4.93159454e-03 1.78553763e+02] [-5.93187794e-02 1.34824462e-03 9.98238180e-01 3.07337174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.2571056809999 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:244.74, Y:178.56, Z:30.72 [[ 9.96273377e-01 6.28217477e-02 5.90998053e-02 2.44743688e+02] [-6.25964818e-02 9.98022884e-01 -5.65710084e-03 1.78559273e+02] [-5.93383471e-02 1.93657906e-03 9.98236049e-01 3.07244175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.2871056809999 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:244.77, Y:178.56, Z:30.72 [[ 9.95986697e-01 6.71107164e-02 5.92169774e-02 2.44771114e+02] [-6.70770592e-02 9.97744518e-01 -2.55823152e-03 1.78556592e+02] [-5.92550994e-02 -1.42413614e-03 9.98241857e-01 3.07223315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31710568099993 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:244.81, Y:178.54, Z:30.71 [[ 9.95776610e-01 7.01482328e-02 5.92298021e-02 2.44812438e+02] [-7.01403032e-02 9.97534676e-01 -2.21546146e-03 1.78544808e+02] [-5.92391921e-02 -1.94829158e-03 9.98241916e-01 3.07120998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.3471056809999 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:244.84, Y:178.55, Z:30.72 [[ 9.96115331e-01 6.52686260e-02 5.91122066e-02 2.44841786e+02] [-6.50870807e-02 9.97867094e-01 -4.99347342e-03 1.78547576e+02] [-5.93120430e-02 1.12663448e-03 9.98238855e-01 3.07222017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37710568099993 meters Centerline goodness : 0.165777 Centerline is valid? [True, False] Translation: X:244.85, Y:178.55, Z:30.73 [[ 9.96605762e-01 6.27116569e-02 5.33310686e-02 2.44848864e+02] [-6.27861136e-02 9.98026966e-01 -2.79801973e-04 1.78551995e+02] [-5.32433915e-02 -3.06959827e-03 9.98576847e-01 3.07254386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.4071056809999 meters Centerline goodness : 0.156932 Centerline is valid? [False, False] Translation: X:244.85, Y:178.56, Z:30.73 [[ 9.96618266e-01 6.27377344e-02 5.30660806e-02 2.44849630e+02] [-6.27512254e-02 9.98028199e-01 -1.41353273e-03 1.78555247e+02] [-5.30501267e-02 -1.92120904e-03 9.98590002e-01 3.07260031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43710568099993 meters Centerline goodness : 0.152490 Centerline is valid? [False, False] Translation: X:244.87, Y:178.57, Z:30.73 [[ 9.96884597e-01 5.89314417e-02 5.24231304e-02 2.44866642e+02] [-5.87982082e-02 9.98261545e-01 -4.08147939e-03 1.78566363e+02] [-5.25725226e-02 9.86377800e-04 9.98616622e-01 3.07301925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.4671056809999 meters Centerline goodness : 0.142865 Centerline is valid? [False, False] Translation: X:244.87, Y:178.57, Z:30.73 [[ 9.96933790e-01 5.79306682e-02 5.26028128e-02 2.44865267e+02] [-5.77508480e-02 9.98318838e-01 -4.93330274e-03 1.78566296e+02] [-5.28001685e-02 1.88031915e-03 9.98603328e-01 3.07318458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49710568099994 meters Centerline goodness : 0.138032 Centerline is valid? [False, False] Translation: X:244.87, Y:178.57, Z:30.73 [[ 9.97380904e-01 4.33239332e-02 5.79169095e-02 2.44871210e+02] [-4.30272734e-02 9.99053654e-01 -6.36002450e-03 1.78565512e+02] [-5.81376413e-02 3.85136029e-03 9.98301148e-01 3.07302387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5271056809999 meters Centerline goodness : 0.145846 Centerline is valid? [False, False] Translation: X:244.87, Y:178.57, Z:30.73 [[ 9.97578428e-01 3.89633845e-02 5.76119278e-02 2.44871518e+02] [-3.84047527e-02 9.99204197e-01 -1.07724999e-02 1.78565060e+02] [-5.79858131e-02 8.53384169e-03 9.98280932e-01 3.07302080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.55710568099994 meters Centerline goodness : 0.137156 Centerline is valid? [False, False] Translation: X:244.87, Y:178.56, Z:30.73 [[ 9.97882980e-01 3.13718321e-02 5.69681258e-02 2.44872769e+02] [-3.03689583e-02 9.99369650e-01 -1.83855495e-02 1.78563922e+02] [-5.75090044e-02 1.66165643e-02 9.98206694e-01 3.07295412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5871056809999 meters Centerline goodness : 0.134095 Centerline is valid? [False, False] Translation: X:244.87, Y:178.56, Z:30.73 [[ 9.97889226e-01 3.09424753e-02 5.70934027e-02 2.44873026e+02] [-2.99412856e-02 9.99383959e-01 -1.83090706e-02 1.78562786e+02] [-5.76247587e-02 1.65609744e-02 9.98200942e-01 3.07286769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6171056809999 meters Centerline goodness : 0.152189 Centerline is valid? [False, False] Translation: X:244.87, Y:178.56, Z:30.73 [[ 9.97894729e-01 3.10752372e-02 5.69248524e-02 2.44874064e+02] [-3.00846823e-02 9.99382074e-01 -1.81764034e-02 1.78563189e+02] [-5.74545131e-02 1.64255710e-02 9.98212993e-01 3.07278758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11346.85 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%| | 0/13921 [00:00