+ 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 -2.78307740e-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 -1.20512349e-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 2.54535414e-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 9.70490851e-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 -1.80200616e-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 -7.70390498e-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 1.33927157e-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 -1.47321241e-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 -7.03890492e-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 -7.03890492e-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 -7.04405909e-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 -6.53369804e-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 -7.49610848e-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 -7.49492793e-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 -9.02968484e-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 -8.25209484e-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 5.00267126e-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 -8.90721980e-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 -3.34836830e-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 -9.34763163e-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 -6.80852487e-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 -9.31268512e-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] [ 9.79678189e-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 8.16216081e-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 -9.27502926e-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 -8.54284264e-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 -6.39178359e-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] [ 9.75550425e-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] [ 8.26230413e-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 -2.66842682e-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 5.71391787e-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 -8.13748659e-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] [ 7.17166832e-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 -2.48810456e-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 2.95449925e-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 1.74218562e+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 -8.52529575e-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] [ 7.44229876e-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 -8.71584240e-02 -1.11581887e-01 2.30266743e+01] [ 8.66714533e-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] [ 7.66400153e-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 6.91679437e-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 -8.99776908e-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] [ 8.25692641e-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] [ 1.30407025e-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 -1.26910989e-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 -1.20774021e-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 -9.63857753e-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 3.52895007e-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 -4.83667790e-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 -1.30258749e-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] [ 9.51952880e-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] [ 9.41350333e-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] [ 1.11172756e-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 3.33233112e-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 -1.40367210e-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 3.97736682e-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] [ 1.52115655e-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 -8.44111573e-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 -3.97243923e-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 5.74872335e-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 -3.02722378e-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 3.39997198e+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 7.57140067e-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 3.19053123e-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 9.64156617e-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 6.11500789e-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 3.70168344e+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 8.30321751e-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 7.99350651e-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 -1.65611145e-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 4.39832179e-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 2.18115884e-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 -3.93886897e-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 -1.81429052e-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 -1.50018058e-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 -1.76378861e-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 -1.76223759e-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 5.76363759e-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 [[ 9.80218549e-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] [ 1.52606076e-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 -1.64054902e-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 -7.44377732e-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 9.36120706e-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 -1.70081910e-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 -8.19422508e-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 [[ 9.76175723e-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 9.65084891e-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] [ 1.36970315e-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 5.27798741e+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 -1.74073174e-01 -1.10214100e-01 5.08038551e+01] [ 1.72974626e-01 9.84732719e-01 -1.95256310e-02 5.59745667e+00] [ 1.11930319e-01 4.24764181e-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 [[ 9.67699705e-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 5.67647541e+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 [[ 9.65791691e-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 6.22478214e+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 -5.90503945e-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 -2.09392083e-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 -5.11555674e-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 6.74428812e+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 5.16467617e-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 -1.53750970e-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] [ 1.70402411e-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 -7.55846594e-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 6.69615858e+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 2.51280510e-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 -1.59731795e-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 2.75457449e-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 6.59071296e-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 6.20737484e-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 -5.02088660e-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 -3.64996014e-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 -1.10891354e-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 -1.94423950e-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 -2.17901572e-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] [ 1.47294926e-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 6.96563054e+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 -5.00484742e-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 -2.32991494e-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 [[ 9.66368037e-01 -2.32719907e-01 -1.09426966e-01 6.14417817e+01] [ 2.31549405e-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 -1.82558231e-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] [ 2.25309436e-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 9.05815104e-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 9.19961763e-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 9.71313290e-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 9.06330727e-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 7.67444240e+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 -2.50135192e-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 -2.53323535e-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 -1.20140576e-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 -2.67239091e-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 7.90459208e+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] [ 2.87634969e-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 8.34643165e+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 8.44149472e+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 -6.52719173e-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 -5.72223801e-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 8.99328830e+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 -2.12948291e-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 -1.87923323e-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 -2.83532330e-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 5.16091303e-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 -1.96567831e-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 -8.22918826e-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 4.57037119e-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 -2.37216106e-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 -6.80126730e-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 -6.43479971e-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 3.59061849e-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 9.55945009e+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 -8.84108319e-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] [ 2.89386168e-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 5.47416202e-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 -4.80673166e-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 9.82661372e+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 -9.09393563e-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 -3.22856565e-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 -5.95500411e-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 9.92408562e+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 9.95342979e+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 -1.06880266e-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 -2.98750739e-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 -3.19818086e-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 -3.18402760e-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 -3.33023941e-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 2.93439671e-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 -2.66107714e-01 -1.06781909e-01 7.23367464e+01] [ 2.64022438e-01 9.63935510e-01 -3.34736467e-02 1.03838973e+01] [ 1.11838470e-01 3.87528819e-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] [ 3.46018101e-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 -3.41266938e-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 9.21266492e-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 6.39337872e-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 -3.92938400e-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 7.19350791e-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] [ 2.74334600e-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 3.56900626e-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 -6.23497842e-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 -2.08376361e-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 -1.93801921e-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 1.03919701e-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 2.19561306e-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 2.53602795e-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 7.55931479e-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 -8.08661609e-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 -3.77109792e-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 8.45341422e-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 1.55886074e-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 -3.64892227e-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 -3.72121309e-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 -1.79571958e-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 1.91424208e-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 3.04256331e-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 8.39796433e-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 -4.11896457e-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 -4.50309289e-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 -7.67372589e-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 4.41655316e-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 -3.82295275e-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 6.81675456e-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 2.08435570e-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 -9.09603943e-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 1.52908462e-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] [ 3.11760268e-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] [ 3.20878977e-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 -3.45002784e-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 8.73967928e-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 -3.43999778e-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 -4.82371032e-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 -8.19142713e-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 -6.08250103e-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 -4.11184371e-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 [[ 9.22413038e-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 4.82807306e-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 7.33296920e-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 8.77537757e-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 -7.63374028e-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 -5.44788265e-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] [ 3.71463560e-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 -4.20848535e-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 5.55019812e-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 -9.16108634e-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 7.68805632e-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 4.48665689e-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 3.94087626e-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 5.89690569e-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 8.33233597e-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 6.15292371e-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 2.65104443e-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 -3.60100931e-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 -4.41140181e-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 -3.80886749e-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] [ 3.81683411e-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 2.16053011e-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 -4.45828972e-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 -9.03893239e-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 4.18230083e-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 -4.49782907e-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 -3.08514051e-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 1.48553421e-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 -6.98346011e-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 1.55374273e+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 [[ 8.94973833e-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] [ 4.49152578e-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 [[ 8.80599002e-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 8.96330145e-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 -4.22348199e-01 -1.01798224e-01 8.71965673e+01] [ 4.19794967e-01 9.06433162e-01 -4.63800356e-02 1.61124603e+01] [ 1.11861810e-01 -9.59919141e-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 6.09832581e-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 1.79385476e-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 -4.65853887e-02 1.62216477e+01] [ 1.11864239e-01 -5.33189122e-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 -4.11083951e-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 1.62592058e+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 -4.74410891e-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 2.93012281e-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] [ 3.90633012e-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 [[ 8.93141875e-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 -4.82484635e-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 -9.47356987e-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 -1.64738789e-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 [[ 9.08970655e-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 -4.26752084e-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 1.69579423e+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 4.36645861e-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 5.32537407e-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] [ 4.29333986e-01 9.01804330e-01 -4.92065040e-02 1.72569910e+01] [ 1.11853825e-01 9.70327006e-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 -4.93354793e-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 -4.96168846e-02 1.76214191e+01] [ 1.11852959e-01 -1.07714194e-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 -1.21447315e-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 5.29930646e-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] [ 4.54011393e-01 8.89578399e-01 -5.02387027e-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 5.61391006e-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 [[ 8.96760206e-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 1.36399968e-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 1.01070359e-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 [[ 8.83303966e-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 -7.28073332e-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 -4.88435264e-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 1.96577389e-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 3.10048325e-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 8.56056733e-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 4.83560674e-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 3.20309116e-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 5.54318942e-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 1.52837108e-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 [[ 8.92780978e-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 5.37979916e-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 -5.16740625e-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] [ 4.21597548e-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 9.57995563e-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] [ 4.58350667e-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 2.75823719e-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 -2.80763997e-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 -3.11981901e-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 -5.25217779e-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 3.67756996e-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 -5.27697180e-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 2.52312311e-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 6.44051087e-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 1.92860087e+01] [ 1.11854832e-01 2.43586604e-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 -4.68665703e-01 -9.83440635e-02 9.38869247e+01] [ 4.65627033e-01 8.83375048e-01 -5.32915691e-02 1.94054134e+01] [ 1.11850622e-01 9.92179138e-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 -9.83261154e-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 -6.47882181e-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 -9.80645408e-02 9.43574643e+01] [ 4.79769077e-01 8.75743553e-01 -5.38039185e-02 1.97145554e+01] [ 1.11854659e-01 -2.26243820e-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 1.58514500e-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 -5.38695149e-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 2.98909383e-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] [ 4.72532865e-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 -7.17251076e-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 6.15572543e-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 -4.72165287e-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 -4.66000899e-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 7.66693885e-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 -8.99175798e-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 -8.23811310e-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 [[ 8.26361945e-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 -9.64275430e-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 -9.63256319e-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 -5.76500643e-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 9.70369775e+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 2.15243209e+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] [ 5.34027436e-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 -5.71477915e-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 -5.26513421e-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 -5.73518657e-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 -4.20613046e-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 -5.74394688e-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 2.55851626e-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 -6.44096951e-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 -5.64479652e-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 -6.47843925e-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 8.23958186e-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 4.42827902e-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 2.51014437e-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 -8.52955641e-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 -4.97959222e-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 1.99516914e-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 2.26056792e+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 -8.17021118e-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 -9.50039189e-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 -5.92749641e-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 -6.25515533e-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 -1.85124974e-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 -5.53802645e-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 -9.47853631e-02 9.98424895e+01] [ 5.73043126e-01 8.17371913e-01 -5.93694479e-02 2.29565030e+01] [ 1.11676321e-01 -6.11520266e-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 2.29742558e+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 [[ 7.96493227e-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 -9.04001964e-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 [[ 8.16928659e-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 -7.27723339e-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 -4.53541947e-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 7.30991523e-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 1.08900562e-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 -2.04454245e-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] [ 5.17267945e-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] [ 5.22835023e-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 1.11800171e-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 6.73987505e-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 5.59972691e-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 4.52347806e-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 1.88997656e-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 1.09019170e-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 -6.08944211e-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 -5.45115438e-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 [[ 8.46417098e-01 -5.24190054e-01 -9.38236771e-02 1.01388330e+02] [ 5.20650207e-01 8.51597103e-01 -6.08747646e-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 [[ 8.29187995e-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 8.33039559e-01 -6.15552766e-02 2.41568780e+01] [ 1.11839370e-01 -3.81436929e-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 2.90844851e-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 7.95240518e-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 -8.81577576e-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 [[ 8.09263083e-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 -5.04341268e-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 -5.35833780e-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 -9.26817694e-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 3.15197997e-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 4.34844931e-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 -9.22043404e-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 -5.23236552e-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 -5.84631255e-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] [ 5.81193696e-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 -5.84620335e-01 -9.12513422e-02 1.04201647e+02] [ 5.81035554e-01 8.11306507e-01 -6.46485584e-02 2.57497843e+01] [ 1.11827670e-01 -9.03260105e-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 -1.58115384e-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 -5.92831434e-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 -6.10239563e-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 8.01533267e-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 -4.49954154e-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 -5.92568053e-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 -3.46060533e-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 -6.04248167e-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] [ 5.98046279e-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 -3.61834994e-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] [ 5.62838629e-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 8.29294261e-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 4.65373132e-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 -6.56060863e-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 8.16153900e-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 8.80919496e-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 8.62349729e-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 -5.81568737e-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 8.27180109e-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 -9.06772735e-02 1.05683924e+02] [ 5.90204323e-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 -9.03693392e-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 -8.96568560e-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 -3.24766049e-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 -3.08940996e-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 1.02411206e-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 -6.15920973e-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 -3.65371097e-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 -3.27127932e-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 4.16218118e-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 2.41154042e-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 [[ 7.99020104e-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 6.57723855e-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 1.70813638e-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 6.16420192e-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 7.90765242e-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 -5.96117890e-01 -8.93625331e-02 1.07055797e+02] [ 5.92315812e-01 8.02896607e-01 -6.72236345e-02 2.81537855e+01] [ 1.11822086e-01 7.07460624e-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 4.99304066e-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 -1.95230767e-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 [[ 7.90026070e-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] [ 5.72980802e-01 8.16758568e-01 -6.78118167e-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 9.06050841e-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 [[ 7.94678530e-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 2.32673962e-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 6.11708906e-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] [ 5.99770004e-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 5.99420415e-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 3.00803802e-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 3.47849048e-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 2.82098751e-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 2.93760511e+01] [ 1.11766491e-01 3.68403882e-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 -2.94707837e-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 -2.82980266e-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 -3.42765493e-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 7.81724409e-01 -6.94788052e-02 2.96843908e+01] [ 1.11818575e-01 -3.26901970e-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 -6.94889989e-02 2.97085030e+01] [ 1.11819041e-01 -4.99727304e-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 1.36521699e-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 3.64824101e-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 -6.21174631e-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 [[ 7.72005884e-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 -4.65481861e-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 [[ 7.77790356e-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 1.96343282e-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 3.18241163e-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 1.66423818e-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 -6.99461218e-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 2.52998803e-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 -5.92906048e-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 -7.58241381e-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 -2.78717179e-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 9.57656900e-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 2.93183575e-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 3.04293059e+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 -6.62681662e-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 -7.07594774e-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 [[ 7.50110453e-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 -8.64557232e-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 -6.29855888e-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 -2.41748083e-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 -3.32127894e-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 -2.02719406e-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 -3.34090262e-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 3.79661867e-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 4.86729938e-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 [[ 7.71199805e-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 6.04079669e-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 3.19291733e+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 6.04040518e-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 -6.48660373e-01 -8.53516257e-02 1.12548525e+02] [ 6.44627203e-01 7.61077895e-01 -7.22233118e-02 3.22447827e+01] [ 1.11807636e-01 -3.99154004e-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 -1.78115778e-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] [ 6.65850174e-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 3.24036431e+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 -6.75009400e-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 -2.84893464e-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 -9.43221386e-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 [[ 7.61792501e-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 1.17152799e-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] [ 6.26219279e-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 -7.32623808e-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 4.63188845e-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 -8.43477955e-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 [[ 7.52056697e-01 -6.53690031e-01 -8.42618974e-02 1.13618720e+02] [ 6.49546704e-01 7.56762221e-01 -7.34848238e-02 3.32326594e+01] [ 1.11802517e-01 5.32716139e-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 6.21596488e-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 9.20179372e-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] [ 6.43404674e-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] [ 6.38696482e-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 6.70077937e-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 6.26090104e-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 [[ 7.54557831e-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 2.00934990e-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 2.16371153e-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] [ 6.45210428e-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 -7.42622964e-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 -6.33926316e-01 -8.34489327e-02 1.14453459e+02] [ 6.29561827e-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 -8.33577500e-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 7.89360614e-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 7.49196690e-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 -7.47118558e-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 -8.31505777e-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 -6.36801150e-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 -6.36164722e-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 -7.50446269e-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 [[ 7.73925215e-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 3.05857361e-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 2.93187262e-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 -6.76812009e-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] [ 6.87159134e-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 -7.55553892e-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 -4.87839185e-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 7.54003855e-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 8.25118293e-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 9.21409895e-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 7.71252444e-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 1.80954711e-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 7.39276036e-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 2.49008507e-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 [[ 6.93876507e-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 3.57222509e+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 -7.67276078e-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 -8.62182033e-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 9.64566391e-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 3.38524643e-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 -1.97640475e-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 -6.68303448e-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 -6.98743198e-01 -8.06105747e-02 1.16782858e+02] [ 6.94437383e-01 7.15371998e-01 -7.74572518e-02 3.64974503e+01] [ 1.11789276e-01 -9.21115748e-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 -2.46678090e-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 7.19165180e-01 -7.75015383e-02 3.65366993e+01] [ 1.11792788e-01 -2.46925747e-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 -6.78624245e-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 1.12097118e-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 2.23188827e-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 -6.68424283e-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 -8.06639152e-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 -7.91920253e-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 8.15035986e-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 6.28433800e-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 [[ 6.97023815e-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 -3.74469207e-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 6.93861431e-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 -3.31133151e-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 5.79179946e-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 7.15983137e-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] [ 6.95296451e-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 8.06360392e-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 3.66975456e-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 1.98408403e-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 2.62013840e-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 -7.87685892e-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 -6.97730119e-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 [[ 7.15766337e-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 1.34040929e-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 6.75943595e-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] [ 7.00864763e-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 6.80871879e-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 1.10092998e-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 1.59321241e-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 3.58666911e-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 -8.08424394e-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 -7.30152072e-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] [ 7.05141192e-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 -7.01813025e-01 -7.75377791e-02 1.19810320e+02] [ 6.97184032e-01 7.12355025e-01 -8.05279068e-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 3.91716097e+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 -7.74698933e-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 -8.06544178e-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 -7.05121166e-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 7.07385475e-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 2.23721510e-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 [[ 6.93639967e-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 3.94038260e+01] [ 1.11785666e-01 8.89646936e-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 -7.71784699e-02 1.20111532e+02] [ 7.12209707e-01 6.97292640e-01 -8.08721741e-02 3.94478225e+01] [ 1.11784001e-01 1.07790058e-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 -7.03705413e-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 3.90811642e-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 3.96317103e+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 7.18685034e-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 -7.69729587e-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 9.31284729e-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 -1.14576524e-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 -9.19961991e-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 6.89511718e-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 2.45620847e-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 -7.63264367e-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 -7.61444070e-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 3.49011431e-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 -6.56606597e-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 -8.19831970e-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 8.20621792e-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 [[ 6.69070884e-01 -7.39347937e-01 -7.55564672e-02 1.21591291e+02] [ 7.34744099e-01 6.73323452e-01 -8.23810533e-02 4.09695558e+01] [ 1.11782203e-01 -3.95904237e-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 -7.81869067e-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 -4.81506168e-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 -4.29867903e-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 [[ 6.46036696e-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 4.76409442e-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 6.81883354e-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 -7.08670758e-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 -1.42120281e-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 -4.46153494e-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] [ 7.74228918e-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 -7.80394061e-01 -7.43642187e-02 1.22189981e+02] [ 7.75941323e-01 6.25260284e-01 -8.34544229e-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 [[ 6.19140537e-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 [[ 6.27477452e-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 -5.06762165e-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 -8.12191321e-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 -3.11608136e-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 -8.36210609e-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 -7.36876719e-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 6.71744004e-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 -8.29923495e-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 1.27341783e-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 -1.13873895e-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 9.05695580e-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 1.81934238e-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 9.09149709e-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 2.14353153e-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 6.25531604e-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 -7.35221444e-02 1.22951536e+02] [ 7.44802224e-01 6.61952960e-01 -8.41898225e-02 4.29066595e+01] [ 1.11772272e-01 6.25456914e-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 -1.53716871e-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 -7.56753541e-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] [ 7.52575251e-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 -8.42934413e-02 4.29796915e+01] [ 1.11769997e-01 -9.52748141e-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 -7.36593870e-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 [[ 6.30905930e-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 -7.89939615e-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 6.12496083e-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 -8.45198510e-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 4.34864073e+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 -7.25359133e-02 1.23378787e+02] [ 7.53135739e-01 6.52345418e-01 -8.50412479e-02 4.35293628e+01] [ 1.11773072e-01 5.02881762e-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 8.37939875e-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 4.37368504e+01] [ 1.11769485e-01 6.81127254e-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 3.71626465e-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 6.50868579e-01 -8.49157292e-02 4.37725636e+01] [ 1.11771510e-01 9.25636875e-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] [ 7.43976423e-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 4.38915058e+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 -5.67998251e-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] [ 7.60846817e-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 -9.75454396e-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 [[ 6.30968443e-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 -1.68314528e-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 -7.24255914e-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 [[ 6.05419957e-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 5.96301507e-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 -6.62545303e-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] [ 8.01869980e-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] [ 7.81249355e-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 [[ 6.37173643e-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 5.56099011e-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 -4.19951430e-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 -7.12004545e-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 -8.62481183e-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 4.55820352e+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 -1.12439317e-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 -5.06003214e-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 -7.08475955e-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 -7.95755402e-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 4.60145478e+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 -8.66541768e-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 -8.91325662e-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 3.17924362e-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 9.26979503e-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 [[ 6.24400118e-01 -7.77941124e-01 -7.02289140e-02 1.25677919e+02] [ 7.73066928e-01 6.28337177e-01 -8.69477849e-02 4.64675122e+01] [ 1.11767695e-01 -1.44354065e-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 -2.35838744e-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 -4.86194290e-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 -3.41382250e-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 4.13781725e-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 -7.00951709e-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 3.18318612e-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 5.35189146e-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 7.99903474e-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 8.23132150e-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 9.21823732e-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 -7.03420316e-02 1.26341770e+02] [ 7.49602916e-01 6.56164716e-01 -8.68523668e-02 4.70140377e+01] [ 1.11695402e-01 3.93348231e-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 3.17183430e-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 [[ 5.74145489e-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 -3.32692883e-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 -7.85355173e-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 6.24684500e-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 -6.89071638e-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 -2.38263961e-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 -6.64214340e-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 -2.34013113e-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 -7.95012052e-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 -5.44523649e-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 -2.37885202e-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 6.20745931e-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 -6.52426286e-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 -3.80801616e-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 -3.80822461e-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 -8.41513166e-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 -9.71200935e-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 -8.02364182e-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 -2.32584452e-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 -2.41919389e-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 3.29416080e-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 3.25197096e-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 -4.14415291e-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 3.47818057e-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 [[ 6.03086806e-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 7.79924666e-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 -8.91062306e-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 6.25151325e-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 2.71356676e-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 2.32305520e-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 -2.36613659e-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 8.86910436e-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 [[ 6.02341377e-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 6.16538176e-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 -1.23525132e-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 2.89185134e-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 7.24271100e-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 -9.32177344e-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 4.95196809e+01] [ 1.11750504e-01 -1.23980203e-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 5.75705121e-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 -8.11831975e-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 4.03513480e-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 5.05530520e+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 5.93636095e-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 -8.01679518e-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 -7.99178393e-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 5.10859610e+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 -3.85294040e-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 -4.56355831e-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 -9.16980238e-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 -8.19763318e-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 7.84201759e-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 5.84602528e-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 -9.12967428e-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 7.68072742e-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 8.01457007e-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 1.05754360e-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 -8.10108913e-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 -7.59673681e-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 -6.47772819e-02 1.29964192e+02] [ 8.15515784e-01 5.71525815e-01 -9.10617824e-02 5.16252833e+01] [ 1.11745669e-01 -1.11800085e-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 [[ 5.63658069e-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 [[ 5.54596114e-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] [ 8.42667840e-01 5.30948672e-01 -8.94674235e-02 5.19736056e+01] [ 1.11407369e-01 -9.36603226e-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 -6.26947521e-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 -6.26594870e-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 3.12488003e-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 8.33971010e-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 -6.24721400e-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 [[ 5.63297808e-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 1.33859910e-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 [[ 5.59310508e-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 -2.43175777e-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 5.37639814e-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 -6.20213910e-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 -9.61476499e-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 2.05120416e-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 -6.16772995e-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 -8.18104656e-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 6.15575004e-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 3.36716510e-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 4.41549495e-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 -3.39244783e-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 -5.16252085e-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 -8.83854097e-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 -8.81114369e-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 -8.16577720e-01 -6.11771926e-02 1.30753473e+02] [ 8.11225007e-01 5.77221653e-01 -9.34299235e-02 5.35981487e+01] [ 1.11605594e-01 3.99885724e-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 4.18205077e-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 -6.10762389e-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 5.64408929e-01 -9.35362234e-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 1.59519516e-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 -8.40693305e-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 -4.15101655e-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 3.52615077e-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 7.90861074e-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 5.50825226e-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 [[ 5.64085496e-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 3.26843190e-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 [[ 5.63351930e-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 5.69044678e-01 -9.38530482e-02 5.41740494e+01] [ 1.11617008e-01 3.65933159e-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 -8.19636254e-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] [ 8.13954666e-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 4.38476260e-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 5.43956396e+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 3.74490674e-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 3.97869034e-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 5.11496956e-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 6.44620260e-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 6.16254929e-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 -8.14629158e-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 5.55529438e-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 [[ 5.55550816e-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 -9.43180330e-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 5.50244420e+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 -5.97229571e-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 -9.45351490e-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 -2.25992455e-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 -1.63822546e-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 -8.33773793e-01 -5.95158417e-02 1.31635481e+02] [ 8.28405785e-01 5.52100254e-01 -9.44942523e-02 5.55095971e+01] [ 1.11645542e-01 2.56358746e-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 -6.04174049e-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 [[ 5.86231389e-01 -8.07965999e-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 7.43890149e-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 7.78781303e-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 -8.14835971e-01 -5.91561538e-02 1.31898867e+02] [ 8.09341803e-01 5.79652465e-01 -9.47040896e-02 5.59748348e+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 5.63496514e-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 -8.20811943e-01 -5.90022069e-02 1.31996810e+02] [ 8.15339374e-01 5.71169551e-01 -9.48000476e-02 5.61411706e+01] [ 1.11513275e-01 5.75316319e-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 -5.89308804e-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 8.14456300e-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 -5.86093295e-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 -8.12330401e-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 7.61886277e-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 [[ 6.03719833e-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 -9.51962508e-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 -5.83310104e-02 1.32460537e+02] [ 8.03151489e-01 5.88117054e-01 -9.52156308e-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 2.86221412e-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 2.00626063e-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 -4.61903514e-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 -5.79587465e-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 -1.35773064e-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 -8.51248901e-01 -5.89803129e-02 1.32632846e+02] [ 8.45951594e-01 5.24761951e-01 -9.48198045e-02 5.74651656e+01] [ 1.11665878e-01 -4.51927387e-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 -8.60257667e-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 5.02501441e-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 9.46571765e-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 -9.44823998e-02 5.77048663e+01] [ 1.11673456e-01 4.55037103e-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 7.77170459e-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 4.17612979e-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 6.82883619e-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 5.33369331e-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 4.57387622e-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 [[ 5.50939231e-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 [[ 5.43660427e-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 2.86210965e-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] [ 8.45554861e-01 5.25313632e-01 -9.53024948e-02 5.85241407e+01] [ 1.11658196e-01 5.58508187e-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 -8.27047869e-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 -6.51768493e-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 -3.13919703e-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 7.08001550e-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 5.87186404e+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 2.51214164e-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 4.00529954e-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] [ 8.33840127e-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 -5.82885086e-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 5.62010065e-01 -9.52417050e-02 5.94020852e+01] [ 1.11517452e-01 5.37412116e-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 1.95696301e-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 8.87676284e-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 5.08863289e-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 5.69438479e-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 -3.71766899e-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 -9.41739285e-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 -9.47761681e-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 -5.86305709e-02 1.34041158e+02] [ 8.47879103e-01 5.21606448e-01 -9.50144241e-02 5.97415034e+01] [ 1.11647068e-01 -4.65561851e-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 -2.83411628e-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 [[ 5.52249157e-01 -8.31684364e-01 -5.76366760e-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 [[ 5.69054702e-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 [[ 5.71391853e-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 7.53328536e-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 -5.72101394e-02 1.34200151e+02] [ 8.13626760e-01 5.73426733e-01 -9.58815783e-02 5.99775548e+01] [ 1.11353562e-01 8.16464028e-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 4.11557830e-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 -5.84411154e-02 1.34316445e+02] [ 8.37814818e-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 5.30045234e-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 [[ 5.28988428e-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] [ 8.40153266e-01 5.34084474e-01 -9.43200144e-02 6.02406822e+01] [ 1.11655430e-01 -1.45006257e-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 -5.82346404e-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] [ 8.18858149e-01 5.66021677e-01 -9.53456540e-02 6.05164289e+01] [ 1.11475987e-01 6.12442481e-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 [[ 5.65015358e-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 5.54436298e-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 1.64847150e-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 1.09917919e-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 [[ 5.33948859e-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 9.62385291e-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 5.39309820e-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 2.59088393e-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 -9.47830473e-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 9.44879676e-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 8.52108545e-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 -9.42910591e-02 6.13429372e+01] [ 1.11638387e-01 -7.46153317e-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 4.19748244e-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 6.04817283e-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 5.71746341e-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 -8.20330733e-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 2.97997367e-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 2.64162572e-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 3.74473270e-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 [[ 5.54656788e-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 4.38316885e-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 5.17163712e-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 [[ 5.59898085e-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] [ 8.25605976e-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 5.41135033e-01 -9.51892386e-02 6.22866715e+01] [ 1.11614060e-01 2.47105210e-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 -5.82557921e-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 -5.79756886e-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 -8.21975733e-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 2.60867834e-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 [[ 5.46665431e-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 [[ 5.39860909e-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 -9.38715541e-02 6.28255632e+01] [ 1.11618521e-01 -2.21137712e-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 7.64466954e-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 -4.14365112e-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 -6.37057647e-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 -8.40971113e-01 -6.06346306e-02 1.36075387e+02] [ 8.35733522e-01 5.41079943e-01 -9.37121900e-02 6.29401065e+01] [ 1.11617427e-01 -2.87985866e-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 7.73657487e-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 8.15811003e-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 2.30199222e-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 4.11184368e-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 -1.64585239e-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 -2.90307190e-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 -7.67841585e-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 -5.79653627e-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 -7.60549333e-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 -8.45361832e-01 -5.99079444e-02 1.36277787e+02] [ 8.40098952e-01 5.34194031e-01 -9.41832713e-02 6.32283850e+01] [ 1.11621409e-01 -3.33834470e-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 -2.48077601e-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 -9.74203490e-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 -5.94547745e-02 1.36381442e+02] [ 8.26834396e-01 5.54453516e-01 -9.44784705e-02 6.33883376e+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 -9.39708221e-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 [[ 5.79752675e-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 -9.37773963e-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 8.05192970e-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 7.17459539e-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 7.80570713e-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 8.08723409e-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 [[ 5.57713292e-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 -9.32187544e-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 1.73227260e-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 7.87817161e-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 [[ 6.04051375e-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 -3.36762877e-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 -5.27493513e-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 -9.70566607e-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 -3.61984862e-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 3.65725999e-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 -6.04629267e-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 -6.04579660e-02 1.37352226e+02] [ 7.99875763e-01 5.92787892e-01 -9.38151326e-02 6.47642637e+01] [ 1.11390749e-01 6.96748347e-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 -8.02785302e-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 4.96037039e-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 1.63306923e-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 -9.36629584e-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 1.23909612e-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 5.52536303e-01 -9.35313015e-02 6.51095185e+01] [ 1.11593802e-01 9.45372759e-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 1.30488051e-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 [[ 5.48437840e-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 9.85002606e-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 8.54664056e-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 7.97784000e-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 -8.39259294e-01 -6.05370417e-02 1.37678476e+02] [ 8.34005266e-01 5.43731374e-01 -9.37625145e-02 6.52588814e+01] [ 1.11606950e-01 1.76448354e-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 5.40472561e-01 -9.33814504e-02 6.52828424e+01] [ 1.11589123e-01 -9.40949703e-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 1.42699716e-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 -4.47644076e-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 -1.00665610e-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 [[ 5.28205006e-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 -7.76800729e-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] [ 8.40763379e-01 5.33175574e-01 -9.40252551e-02 6.55412497e+01] [ 1.11606357e-01 -7.44092513e-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 -8.51658285e-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 [[ 5.35565812e-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 [[ 5.36047842e-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 -6.22599121e-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 5.40830643e-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 [[ 5.38207336e-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 -2.82384449e-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 -2.89457370e-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 -6.23384063e-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 3.37934638e-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 6.61113815e+01] [ 1.11537598e-01 -7.95190177e-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 6.51614232e-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 1.66030163e-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 [[ 5.67354697e-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 -3.48249287e-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 -7.63454830e-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 -4.30508377e-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 -3.43375023e-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 -6.86864526e-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 4.56909151e-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 3.95997608e-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 -9.26745761e-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 -8.08445392e-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 3.63642206e-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 6.19433510e-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 6.68953530e+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 6.95158278e-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 [[ 6.22744892e-01 -7.79783179e-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 7.18188287e-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 9.17986369e-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 6.10741799e-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 [[ 5.95141610e-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 2.63716249e-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 -6.28737580e-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 1.11174435e-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] [ 8.17999395e-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 -7.05837062e-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 2.86743950e-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 6.79584581e+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 6.79849044e+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 5.82834445e-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 6.01353883e-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] [ 7.98539797e-01 5.95008092e-01 -9.11019418e-02 6.82348327e+01] [ 1.11485892e-01 2.53407957e-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 8.86420624e-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 3.28121729e-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 4.01535560e-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 6.51977242e-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 -8.09891837e-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 6.01289496e-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 [[ 6.02298697e-01 -7.95696832e-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 6.84486243e+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 6.34608853e-01 -9.13979957e-02 6.85744043e+01] [ 1.11176041e-01 8.68303236e-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 6.20114218e-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 [[ 6.10060167e-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 6.20010208e-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 7.42085896e-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 6.50754158e-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 3.12922651e-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 3.42825602e-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 [[ 5.93866563e-01 -8.02093662e-01 -6.29941455e-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 [[ 5.99539195e-01 -7.97985712e-01 -6.14130026e-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 -9.21325266e-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 -5.47826804e-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 -6.25418303e-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] [ 8.34654852e-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 -8.39934225e-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] [ 8.35723129e-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 -8.41501686e-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] [ 8.35731592e-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 2.49022580e-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] [ 8.11959557e-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 -8.14562695e-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 -6.19624679e-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 3.94302935e-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 3.21083748e-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 -6.73929321e-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 -1.89521395e-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 -6.16834699e-02 1.41670978e+02] [ 8.28187847e-01 5.52697546e-01 -9.28994757e-02 7.04870427e+01] [ 1.11513046e-01 -6.09563090e-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 5.20079713e-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 -8.15944943e-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 [[ 5.78937411e-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 -8.09988705e-01 -6.14444257e-02 1.41767846e+02] [ 8.04639935e-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 4.08980817e-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 -8.18660104e-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 5.72155716e-01 -9.31155343e-02 7.07472084e+01] [ 1.11472818e-01 2.97480493e-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 1.66451631e-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 4.72040603e-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 4.67241022e-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 8.49286075e-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 3.56446184e-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 -5.01297852e-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 5.33119727e-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 -5.52102847e-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 5.42929712e-01 -9.36250887e-02 7.13350763e+01] [ 1.11511443e-01 -3.66680617e-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] [ 8.29203990e-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 5.54455344e-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 2.67970868e-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 5.09339074e-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 5.72685317e-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 4.22516214e-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 5.74277009e-01 -9.39490344e-02 7.17724181e+01] [ 1.11407700e-01 4.80692715e-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 -8.28458976e-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 6.88191287e-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 3.83402262e-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 2.42775016e-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 7.70496988e-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 2.54416128e-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 -5.84207947e-02 1.42764725e+02] [ 8.25429181e-01 5.56455574e-01 -9.49940060e-02 7.20563439e+01] [ 1.11435866e-01 4.34720995e-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] [ 8.17783241e-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 5.68962710e-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 [[ 5.80483982e-01 -8.12098530e-01 -5.94501745e-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 6.76346960e-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 -8.22234270e-01 -5.93370732e-02 1.42998437e+02] [ 8.16810949e-01 5.69127450e-01 -9.44130222e-02 7.23727905e+01] [ 1.11399979e-01 4.97509624e-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 -8.32738287e-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 -9.49269445e-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 -5.81750487e-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 -8.23216365e-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 5.58944137e-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 -5.87831942e-02 1.43289232e+02] [ 8.32366288e-01 5.46065101e-01 -9.47589970e-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 7.28580624e+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 9.76841390e-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 1.71846171e-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 -1.09168637e-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 -1.76177226e-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 -1.92792665e-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 [[ 5.06726417e-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 -7.08660890e-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 -9.54468066e-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 6.14166831e-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 1.85008188e-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 5.41784693e-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 5.78795273e-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 2.83006149e-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 7.88306285e-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 -5.65903143e-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 -5.76369852e-02 1.43866046e+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 5.48456316e-01 -9.54918678e-02 7.38142822e+01] [ 1.11428591e-01 4.25123433e-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 5.36985677e-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 [[ 5.24916550e-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 -7.03215263e-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 6.20275862e-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 5.15451367e-01 -9.57859213e-02 7.41632748e+01] [ 1.11507106e-01 4.55601030e-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 4.78493438e-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 -5.70168150e-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 5.26686336e-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 3.24278617e-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 3.53734386e-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 4.32675083e-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 5.53557903e-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 [[ 5.49954670e-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 5.79579781e-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 5.53007350e-01 -9.59994835e-02 7.44796117e+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 [[ 5.45970488e-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 [[ 5.43397325e-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 7.46130078e+01] [ 1.11457089e-01 3.37145738e-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 -8.46463856e-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 7.76762155e-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 5.67951817e-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] [ 8.56482407e-01 5.07124694e-01 -9.62415280e-02 7.47972588e+01] [ 1.11508060e-01 2.69412484e-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 8.78658712e-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 -8.55034965e-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 4.00478257e-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 6.10604090e-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 -5.52006925e-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 3.71679381e-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 5.56415146e-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 4.97212163e-01 -9.65361935e-02 7.53042272e+01] [ 1.11507892e-01 -4.27621135e-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 4.96827941e-01 -9.65435915e-02 7.53255804e+01] [ 1.11507752e-01 -4.62427111e-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 -4.17889550e-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 [[ 4.60207634e-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 [[ 4.57328828e-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 4.58885930e-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 -2.82594162e-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 8.30902978e-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 7.57934207e+01] [ 1.11493160e-01 1.83406655e-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 5.09273184e-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 1.49620477e-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 1.69772177e-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 -5.50812759e-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 5.20925299e-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 -8.52055972e-01 -5.49768950e-02 1.45170565e+02] [ 8.46524345e-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 -8.71270892e-01 -5.47328636e-02 1.45301777e+02] [ 8.65837512e-01 4.90802438e-01 -9.71512707e-02 7.64548543e+01] [ 1.11508097e-01 -5.10214306e-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 -6.34289858e-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 -5.46850840e-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 -2.09407902e-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 -1.79393419e-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 3.21093249e-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 7.66968892e+01] [ 1.11447805e-01 3.66453397e-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 -9.73458301e-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 -5.43094839e-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 5.43177500e-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 -8.48279395e-01 -5.42813408e-02 1.45507080e+02] [ 8.42686978e-01 5.29519673e-01 -9.74041699e-02 7.68172395e+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 5.27365201e-01 -9.74218219e-02 7.68393960e+01] [ 1.11381103e-01 5.31835393e-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 -8.63227189e-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 6.84407256e-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 3.46616448e-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 -9.75715288e-02 7.70385376e+01] [ 1.11506481e-01 -5.73106218e-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 -1.60440080e-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 3.91889282e-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 [[ 5.09860814e-01 -8.58581652e-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 3.59390098e-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 -8.63235843e-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 [[ 4.99396325e-01 -8.64720926e-01 -5.34886017e-02 1.45896031e+02] [ 8.59172721e-01 5.02244240e-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] [ 8.67546230e-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 [[ 4.76839713e-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] [ 8.76921739e-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 9.66094399e-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 -3.22573037e-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 7.49816811e-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 7.49496258e-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 3.03482308e-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 3.66826869e-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 4.38757219e-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 [[ 5.11433860e-01 -8.57675916e-01 -5.31735823e-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 3.80071881e-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 [[ 4.77638446e-01 -8.76959245e-01 -5.29527790e-02 1.46232539e+02] [ 8.71451733e-01 4.80564205e-01 -9.81321687e-02 7.80344407e+01] [ 1.11505123e-01 7.25905631e-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 -8.83475409e-01 -5.29205926e-02 1.46250481e+02] [ 8.78006876e-01 4.68476891e-01 -9.81495232e-02 7.80552326e+01] [ 1.11504765e-01 -7.78111301e-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 -3.02562643e-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 -9.81465980e-02 7.81755243e+01] [ 1.11479366e-01 -2.45832856e-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 [[ 4.65006932e-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 3.67123490e-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 3.04326666e-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 1.99502656e-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 7.44164860e-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 8.73727457e-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 -5.16291804e-02 1.46574568e+02] [ 8.84566905e-01 4.55820729e-01 -9.88375080e-02 7.86375251e+01] [ 1.11506064e-01 -9.07116137e-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 -9.04637611e-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 -9.14307920e-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 -5.24121515e-02 1.46624511e+02] [ 8.77014912e-01 4.70274866e-01 -9.84194834e-02 7.87330869e+01] [ 1.11505280e-01 2.96221451e-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 1.96594065e-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 4.38528276e-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 3.37568173e-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 -8.76823989e-01 -5.19379107e-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 -5.18257275e-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 -5.50096652e-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 [[ 4.47196383e-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 -7.91124907e-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 4.21407249e-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 1.62758323e-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 7.95400774e+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] [ 8.69463044e-01 4.83830513e-01 -9.97098346e-02 7.95956682e+01] [ 1.11421725e-01 4.56945850e-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 3.40132817e-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 -8.74380499e-01 -5.10243015e-02 1.47185871e+02] [ 8.68748712e-01 4.85228188e-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 -8.82152549e-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 4.74793237e-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 -5.31757092e-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 -7.01241310e-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 -9.01756083e-01 -5.04071911e-02 1.47315965e+02] [ 8.96257691e-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 -3.50162912e-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 4.50920759e-01 -9.91822461e-02 8.01234714e+01] [ 1.11498900e-01 -7.53560435e-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 6.48446735e-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 -5.06722751e-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] [ 8.85713539e-01 4.53426535e-01 -9.95786361e-02 8.03689516e+01] [ 1.11502407e-01 4.37731452e-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 4.46424119e-01 -9.92944604e-02 8.03942273e+01] [ 1.11496398e-01 -1.07058710e-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] [ 8.89885912e-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 [[ 4.42088988e-01 -8.95538450e-01 -5.06775144e-02 1.47492648e+02] [ 8.90014689e-01 4.44982533e-01 -9.93196829e-02 8.04727138e+01] [ 1.11495204e-01 -1.19559410e-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 -9.68710593e-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 -1.81618995e-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 3.32369633e-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 1.99900311e-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 [[ 4.67662021e-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 8.09582516e+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 -9.96359402e-02 8.09796629e+01] [ 1.11494588e-01 1.22482118e-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 [[ 4.52859247e-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 8.82793176e-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 7.70098877e-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 1.30478266e-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 [[ 4.49805715e-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 5.77087063e-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 2.32792871e-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 -4.98860733e-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 -4.97303312e-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 -8.74270193e-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 -4.90430819e-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 [[ 4.52871851e-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 4.15511526e-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 1.69714475e-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 2.86533424e-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 6.75610164e-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 [[ 4.56031175e-01 -8.88593813e-01 -4.93619612e-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 [[ 4.55980309e-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 2.03853956e-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 [[ 4.53826767e-01 -8.89725662e-01 -4.92900697e-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 [[ 4.75622622e-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 -8.89366327e-01 -4.89104505e-02 1.48500658e+02] [ 8.83707231e-01 4.57189387e-01 -1.00196773e-01 8.22911462e+01] [ 1.11472975e-01 2.32408487e-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] [ 8.87777240e-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 3.25985480e-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 -4.88084571e-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 -5.66477792e-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 -9.01006704e-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] [ 8.98340529e-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 4.00899525e-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 -4.84557484e-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 -9.11578811e-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 -4.83177711e-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 4.16590739e-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 -4.81977081e-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 -1.56368939e-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] [ 8.97393101e-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 -9.29791324e-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 8.63067491e-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 3.21736848e-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 4.39727666e-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 4.43413387e-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 -1.00733096e-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 1.95552072e-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 -4.28509216e-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 -4.62039787e-02 1.49038896e+02] [ 9.02239561e-01 4.19124941e-01 -1.01479356e-01 8.35631119e+01] [ 1.11501227e-01 5.86281393e-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 -3.30137529e-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 -1.38824430e-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 [[ 4.27709673e-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 -4.72036068e-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 4.34613325e-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] [ 9.11249764e-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 -3.34572077e-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 -5.35725632e-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 -4.97360363e-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 -3.72205413e-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 [[ 4.09565977e-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 -6.18332940e-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 -4.56539325e-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 -8.99242719e-01 -4.62602382e-02 1.49365504e+02] [ 8.93506555e-01 4.37441106e-01 -1.01446115e-01 8.45741661e+01] [ 1.11460810e-01 2.79494543e-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 6.83025250e-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 4.05800229e-01 -1.01586703e-01 8.48034887e+01] [ 1.11492943e-01 -7.77673308e-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 -2.31494648e-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 -4.60415321e-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 5.06931603e-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 1.01943128e-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 [[ 4.34175782e-01 -8.99673696e-01 -4.55920061e-02 1.49650495e+02] [ 8.93908186e-01 4.36549579e-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 3.75891734e-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 [[ 4.30743696e-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 2.64578317e-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 1.62033332e-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 -5.82834107e-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 [[ 3.96483283e-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 -5.25405872e-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 -2.47659420e-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 5.63127018e-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 -7.47679984e-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 -1.35082484e-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 3.84188675e-01 -1.02448016e-01 8.56002263e+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 [[ 3.54843452e-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 -5.17964460e-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 [[ 3.49677205e-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 3.38327183e-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 [[ 3.32190081e-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 -4.48688539e-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 5.19751563e-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 6.56050516e-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 -4.48019191e-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 -4.46966324e-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 6.43621870e-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 8.66068872e+01] [ 1.11494509e-01 3.87734450e-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 -9.80058430e-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 -1.19307927e-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 -9.19223596e-01 -4.44545882e-02 1.50177869e+02] [ 9.13519580e-01 3.93735457e-01 -1.02246601e-01 8.67460292e+01] [ 1.11490836e-01 -6.09393609e-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 1.98341197e-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 -4.42017092e-02 1.50308483e+02] [ 8.97071585e-01 4.29867521e-01 -1.02354704e-01 8.69632120e+01] [ 1.11415160e-01 4.11566857e-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 -9.02733247e-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 -9.04011425e-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 4.64417574e-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 [[ 4.28090269e-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 4.32080551e-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 5.14394318e-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 4.04029541e-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 -9.17692964e-01 -4.34340893e-02 1.50729487e+02] [ 9.11930665e-01 3.97289238e-01 -1.02682638e-01 8.74995961e+01] [ 1.11487031e-01 9.41418272e-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 3.95923268e-01 -1.02713659e-01 8.75469438e+01] [ 1.11487715e-01 8.54706730e-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 -4.31346339e-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 1.50988000e+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 4.12431370e-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 -4.28458922e-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 1.92463963e-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 2.10256762e-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 2.84378835e-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 -9.13217456e-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 [[ 4.28270599e-01 -9.02672216e-01 -4.20376463e-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] [ 8.96399933e-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] [ 9.09901421e-01 4.01775187e-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 2.44776530e-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] [ 9.19610351e-01 3.79015202e-01 -1.03268001e-01 8.86973372e+01] [ 1.11490427e-01 2.54407116e-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 -8.75467210e-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 -2.02168182e-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 -4.18451808e-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 -8.25225746e-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 -2.76844195e-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 -6.30886384e-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 2.54867989e-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 -4.12334905e-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 -9.10254235e-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 [[ 4.01081437e-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 [[ 3.87659639e-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 7.44087869e-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 8.95998917e+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 -4.05928151e-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 3.95021393e-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 -4.07762763e-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 3.06446607e-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 2.92176738e-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 [[ 3.74964655e-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 -4.96318844e-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 3.54013151e-01 -1.04576548e-01 9.02882365e+01] [ 1.11492522e-01 8.64677255e-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 3.58125492e-01 -1.04415844e-01 9.03194281e+01] [ 1.11487939e-01 9.06108438e-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 -9.24085447e-01 -3.94769421e-02 1.52000699e+02] [ 9.18190605e-01 3.82170911e-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] [ 9.15944945e-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 3.87246656e-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 [[ 3.93102301e-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 4.59884444e-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 3.89408477e-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 -3.95679120e-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 -3.95265584e-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 3.72666550e-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 [[ 3.72634648e-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 -3.91279903e-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 3.83957449e-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 3.86358183e-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 1.73297516e-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 3.64788153e-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 -9.20897181e-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 5.41223751e-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 [[ 3.85705703e-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 4.26562795e-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 3.19112205e-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 3.77425393e-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 3.84376174e-01 -1.04939723e-01 9.20668140e+01] [ 1.11344958e-01 5.62138794e-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 3.80488877e-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 3.73248075e-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 3.60137359e-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] [ 9.33424909e-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 3.44641619e-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 9.25699802e+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 3.59910903e-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 4.84640535e-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 1.52984506e+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 3.01546749e-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 9.26793879e-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 [[ 3.23587188e-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 6.40386706e-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 3.21154070e-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 9.32915624e+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 5.83631985e-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 6.83745608e-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 5.34317559e-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 4.66201186e-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 3.23839120e-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 -3.55921642e-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 -3.06462337e-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 9.40188230e+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 9.41575370e+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 4.50172733e-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 7.67938650e-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 9.46031910e+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 2.93282277e-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 [[ 3.49787158e-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 5.41102486e-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 9.47560397e+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 9.48330739e+01] [ 1.11470696e-01 6.60593877e-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 2.47041941e-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 -1.05946686e-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 7.51987404e-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 3.38998740e-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 3.33312589e-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 9.51802425e+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 3.28014357e-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 3.33940725e-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 1.53712891e+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 2.68926423e-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 3.12238635e-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 9.96379311e-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 -3.37564561e-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 -9.41866189e-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] [ 9.33532082e-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 9.57518526e+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 3.40681734e-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 -3.23870099e-02 1.53923381e+02] [ 9.38526187e-01 3.28314652e-01 -1.06668107e-01 9.58201325e+01] [ 1.11387333e-01 4.45707698e-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 -9.45973208e-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 -3.14392396e-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 -5.74932263e-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 [[ 2.94853871e-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 -3.27592061e-02 1.53998555e+02] [ 9.48332778e-01 2.98851708e-01 -1.06548572e-01 9.60558669e+01] [ 1.11469381e-01 5.83770655e-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 9.61422678e+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] [ 9.36735145e-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 [[ 3.34207526e-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 -3.26784956e-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 [[ 3.10079654e-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 1.21837407e-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 5.17728051e-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 2.99840301e-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 3.19924913e-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 -3.24939934e-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 5.55646334e-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] [ 9.56811301e-01 2.70387514e-01 -1.06783555e-01 9.71656672e+01] [ 1.11451437e-01 -1.92284336e-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 [[ 2.65028050e-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] [ 9.63708400e-01 2.44585596e-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 -2.64454550e-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 9.75062828e+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 2.82015612e-01 -1.06934113e-01 9.75357684e+01] [ 1.11467938e-01 -3.32580525e-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 4.71983400e-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 -9.56247719e-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 [[ 2.93367066e-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 -3.11988554e-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 3.15692333e-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 -9.44624350e-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 -3.09767562e-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 -3.08527237e-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 -3.07410394e-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 -3.96492730e-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 -7.57452785e-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 -7.31287908e-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 4.85230512e-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] [ 9.54193197e-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 2.89771979e-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 2.92965333e-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 1.77451153e-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 -3.00853622e-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 2.43393698e-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 [[ 2.46325345e-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 [[ 2.54718079e-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 -9.16063594e-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 1.62396331e-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 -9.60488579e-01 -2.99102170e-02 1.54626386e+02] [ 9.54468049e-01 2.78316968e-01 -1.07379740e-01 9.86161403e+01] [ 1.11461534e-01 1.16443847e-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 [[ 2.79487565e-01 -9.59684623e-01 -2.98684558e-02 1.54631243e+02] [ 9.53658227e-01 2.81074869e-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 2.86558586e-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 2.77408338e-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 2.91430451e-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 2.78314025e-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 [[ 2.84965228e-01 -9.58081204e-01 -2.95842046e-02 1.54677588e+02] [ 9.52037738e-01 2.86486222e-01 -1.07469950e-01 9.88287145e+01] [ 1.11440406e-01 2.45991966e-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 2.30617981e-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 2.04213508e-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 -2.93675913e-02 1.54737214e+02] [ 9.56309271e-01 2.71863973e-01 -1.07529333e-01 9.89838644e+01] [ 1.11463251e-01 9.77979691e-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 6.71036938e-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 7.30688941e-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 -9.58958071e-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 -2.84378343e-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 2.92225986e-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 [[ 2.89237930e-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 4.18493354e-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 [[ 2.93463544e-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 4.20073760e-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 9.94456888e+01] [ 1.11372630e-01 4.61654540e-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 3.07884017e-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 6.64602724e-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 -2.85235920e-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 [[ 3.21616755e-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 [[ 3.19156299e-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 -2.88921172e-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 [[ 3.22480562e-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 9.99149131e+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] [ 9.37120714e-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] [ 9.35191177e-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 [[ 3.35618352e-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 9.97064724e-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 -2.78278339e-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 -2.84955654e-02 1.55417393e+02] [ 9.43782916e-01 3.12506605e-01 -1.07765620e-01 1.00399391e+02] [ 1.11270785e-01 6.65120092e-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 -9.46564858e-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] [ 9.41097500e-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] [ 9.40618878e-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 [[ 3.16515621e-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 6.04897888e-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 -2.66318289e-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 [[ 3.03690554e-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 3.06998605e-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 7.86961329e-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 -2.41045548e-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 2.94966851e-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 -2.60318928e-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 [[ 2.87564755e-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 6.57368391e-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 [[ 2.87840765e-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 6.58896999e-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 [[ 2.77757307e-01 -9.60307962e-01 -2.56806490e-02 1.55708026e+02] [ 9.54180195e-01 2.78885320e-01 -1.08457983e-01 1.01475887e+02] [ 1.11315021e-01 5.62103063e-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 -2.55989776e-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 -9.69031529e-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 [[ 2.38496574e-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 -2.54220898e-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 -2.53767152e-02 1.55734323e+02] [ 9.65874329e-01 2.35176831e-01 -1.08529435e-01 1.01661242e+02] [ 1.11453441e-01 8.64037612e-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 9.11443195e-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 1.39867784e-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 -2.52419312e-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 [[ 2.52237949e-01 -9.67375692e-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 6.96732361e-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 2.68469044e-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 -2.51289673e-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 5.65527889e-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 -2.32070031e-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 [[ 2.37760525e-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 1.98684224e-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 -2.42135801e-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 [[ 2.27763367e-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 7.91048796e-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 9.93510767e-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] [ 9.60022378e-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] [ 9.58727945e-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 -2.40330678e-02 1.55886525e+02] [ 9.58445940e-01 2.63695431e-01 -1.08839787e-01 1.02680113e+02] [ 1.11323181e-01 5.55310021e-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 5.22761949e-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 4.25263791e-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 2.38989397e-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 7.85798940e-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 8.96146370e-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 [[ 2.39120714e-01 -9.70705080e-01 -2.35144960e-02 1.55992144e+02] [ 9.64577762e-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 -2.44447683e-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 2.49163417e-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 -2.25818071e-02 1.56027277e+02] [ 9.63001408e-01 2.46406071e-01 -1.09143654e-01 1.03405430e+02] [ 1.11341257e-01 5.03982069e-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 2.71294397e-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 2.29943311e-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 2.41375917e-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 2.20241328e-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 2.20862093e-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 2.24741063e-01 -1.09124564e-01 1.03696259e+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 -2.24839077e-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 -2.24324376e-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 6.00916107e-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 6.15192620e-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 -9.68098973e-01 -2.35262503e-02 1.56157541e+02] [ 9.61959418e-01 2.50526838e-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 4.56541135e-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 -2.23430058e-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 4.17176794e-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 -1.99146826e-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 -4.96533531e-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 -2.13706569e-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 -6.00145348e-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 -2.15249614e-02 1.56192701e+02] [ 9.76470246e-01 1.85872321e-01 -1.09349619e-01 1.04400825e+02] [ 1.11444938e-01 -8.29960901e-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 1.82207146e-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 [[ 1.75748779e-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 1.84359688e-01 -1.09490225e-01 1.04538155e+02] [ 1.11448745e-01 -2.62881008e-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 5.94045707e-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 -2.12349587e-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 2.21627588e-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 -2.11017927e-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 7.54313015e-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 3.64043710e-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 -9.82879266e-01 -2.04376026e-02 1.56245920e+02] [ 9.76754198e-01 1.84250752e-01 -1.09557732e-01 1.05104816e+02] [ 1.11447666e-01 9.90154561e-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 1.36211980e-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 -9.70957359e-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 -9.83470708e-01 -2.02956741e-02 1.56255802e+02] [ 9.77346395e-01 1.81067262e-01 -1.09584081e-01 1.05184699e+02] [ 1.11447616e-01 -1.18851797e-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 -1.62538339e-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 3.27034774e-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 8.00235510e-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 9.04100056e-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 7.85105644e-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 1.64596554e-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 1.76737009e-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 1.98422422e-01 -1.09666317e-01 1.05455684e+02] [ 1.11423261e-01 2.32391865e-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 -1.97156077e-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 2.20329198e-01 -1.09713045e-01 1.05615161e+02] [ 1.11330636e-01 5.10113024e-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 2.11124015e-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 2.67207036e-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 -1.90295652e-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 [[ 2.09394352e-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 6.16307354e-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 4.94310367e-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 -1.76562119e-02 1.56454265e+02] [ 9.70575790e-01 2.14180155e-01 -1.10043163e-01 1.06192728e+02] [ 1.11268851e-01 6.36258169e-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 [[ 1.95458076e-01 -9.80550184e-01 -1.78178899e-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 2.42727309e-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] [ 9.78200156e-01 1.76256735e-01 -1.09809013e-01 1.06378322e+02] [ 1.11444334e-01 6.24604034e-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 5.06630501e-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 [[ 1.65572084e-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 7.92455026e-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 -1.74661908e-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 -3.89150495e-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 1.61922320e-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 [[ 1.28642931e-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 -3.10113703e-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 1.29819713e-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 1.39997585e-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 [[ 1.46208818e-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 -1.00733471e-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 -1.74194382e-02 1.56439631e+02] [ 9.80782061e-01 1.61097464e-01 -1.10064325e-01 1.06965226e+02] [ 1.11432931e-01 5.42551090e-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 9.21000924e-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 [[ 1.76768125e-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 3.00458322e-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 [[ 1.89667784e-01 -9.81710203e-01 -1.64684224e-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 1.99606083e-01 -1.10212724e-01 1.07403812e+02] [ 1.11276888e-01 5.91480498e-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 [[ 2.01044767e-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 6.87077949e-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 5.08204880e-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 -1.66748164e-02 1.56533620e+02] [ 9.75973245e-01 1.87981098e-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 -1.51475550e-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 1.25092052e-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 -9.90925954e-01 -1.45079634e-02 1.56596898e+02] [ 9.84745762e-01 1.34408056e-01 -1.10500035e-01 1.07853105e+02] [ 1.11447340e-01 4.78760066e-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 -9.41929071e-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 -1.51947206e-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 1.03020722e-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 [[ 9.89152287e-02 -9.94983464e-01 -1.49560368e-02 1.56597138e+02] [ 9.88843643e-01 9.99648013e-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 [[ 9.31583072e-02 -9.95532181e-01 -1.54014914e-02 1.56591164e+02] [ 9.89407928e-01 9.42926646e-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 [[ 8.48898979e-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 [[ 8.42628652e-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 [[ 8.35768703e-02 -9.96380041e-01 -1.55473964e-02 1.56568648e+02] [ 9.90270285e-01 8.47861943e-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 [[ 8.35054394e-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 [[ 8.60643075e-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 -6.41329177e-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 [[ 8.99909223e-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 [[ 9.34223817e-02 -9.95498130e-01 -1.59916183e-02 1.56537766e+02] [ 9.89386302e-01 9.46203530e-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 [[ 1.03790741e-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 -4.31702951e-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 [[ 1.08348957e-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 -2.68736739e-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 1.29143504e-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 3.24023966e-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 -3.83036099e-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 9.78484473e-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 3.19862818e-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 2.11279092e-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 8.66453001e-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 2.93039235e-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 1.59816813e-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 -5.27368854e-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 [[ 1.30534726e-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 -7.73145292e-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 -7.73117366e-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 -1.07092272e-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 -1.93293580e-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 [[ 9.62166954e-02 -9.95245102e-01 -1.51504103e-02 1.56553714e+02] [ 9.89112783e-01 9.73044134e-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 [[ 9.33541763e-02 -9.95536171e-01 -1.38827334e-02 1.56558899e+02] [ 9.89382596e-01 9.43190522e-02 -1.10571226e-01 1.09051833e+02] [ 1.11387061e-01 -3.41304910e-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 9.29433862e-02 -1.10444017e-01 1.09081393e+02] [ 1.11341617e-01 -4.51207939e-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 [[ 9.16555417e-02 -9.95667463e-01 -1.56705091e-02 1.56562839e+02] [ 9.89550854e-01 9.28288744e-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 [[ 9.23805526e-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 [[ 9.20840284e-02 -9.95640536e-01 -1.48476971e-02 1.56566839e+02] [ 9.89506879e-01 9.31636808e-02 -1.10438516e-01 1.09161173e+02] [ 1.11340329e-01 -4.52227500e-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 [[ 8.98458186e-02 -9.95848245e-01 -1.46287819e-02 1.56566200e+02] [ 9.89712695e-01 9.09150205e-02 -1.10468281e-01 1.09190085e+02] [ 1.11339620e-01 -4.55317805e-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 -1.50002495e-02 1.56564386e+02] [ 9.89271377e-01 9.56558735e-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 [[ 1.18498324e-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 2.26645734e-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 9.87293197e-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 2.32268771e-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 1.58138092e-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 3.06267683e-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 [[ 1.53195372e-01 -9.88089795e-01 -1.44822062e-02 1.56600309e+02] [ 9.81896847e-01 1.53854586e-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 [[ 1.40362690e-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 6.59820261e-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 3.92307283e-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 3.58093180e-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 [[ 1.32712987e-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 7.75202752e-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 -1.40066790e-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 [[ 1.56777369e-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] [ 9.81777159e-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 1.39134511e-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 1.32214445e-01 -1.10732400e-01 1.10154207e+02] [ 1.11414413e-01 2.25131804e-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 6.80156319e-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 [[ 1.27963126e-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 2.80957227e-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 2.58832838e-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 [[ 1.20722226e-01 -9.92607455e-01 -1.25133636e-02 1.57004560e+02] [ 9.86412674e-01 1.21364705e-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 1.62711997e-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 -3.18702222e-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 [[ 9.92090424e-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 [[ 8.90382548e-02 -9.95952333e-01 -1.22939153e-02 1.57020772e+02] [ 9.89777900e-01 8.98533733e-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 8.44758685e-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 [[ 7.76643451e-02 -9.96904235e-01 -1.22554377e-02 1.57018994e+02] [ 9.90738890e-01 7.85456172e-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 [[ 7.65281192e-02 -9.96992732e-01 -1.22040353e-02 1.57017536e+02] [ 9.90827577e-01 7.74107130e-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 7.77496551e-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 -1.21238456e-02 1.57015424e+02] [ 9.90689818e-01 7.91419196e-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 [[ 7.67760216e-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 [[ 7.89618300e-02 -9.96804853e-01 -1.20463390e-02 1.57002597e+02] [ 9.90635119e-01 7.98118615e-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 8.12936817e-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 8.22545321e-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 [[ 7.96163728e-02 -9.96753407e-01 -1.19949879e-02 1.56997875e+02] [ 9.90582335e-01 8.04566499e-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 7.74100465e-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 [[ 7.56785784e-02 -9.97062011e-01 -1.18363366e-02 1.56993072e+02] [ 9.90891871e-01 7.65256119e-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 [[ 7.64706506e-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 [[ 7.94956941e-02 -9.96769144e-01 -1.14764593e-02 1.56984299e+02] [ 9.90590570e-01 8.02791102e-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 [[ 8.19167937e-02 -9.96570455e-01 -1.17032708e-02 1.56980881e+02] [ 9.90393209e-01 8.27104098e-02 -1.10816419e-01 1.11572348e+02] [ 1.11404352e-01 -2.51311416e-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 9.71435787e-02 -1.10821100e-01 1.11600089e+02] [ 1.11429494e-01 -8.43325205e-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 9.77864916e-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 1.64553592e-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 1.28204006e-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 3.24009812e-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 1.33290305e-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 1.30648112e-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 3.08836359e-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 -1.09085724e-02 1.57020276e+02] [ 9.88722141e-01 1.00649447e-01 -1.10897323e-01 1.12057929e+02] [ 1.11432118e-01 3.10510518e-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 [[ 9.19611093e-02 -9.95703330e-01 -1.08643189e-02 1.57027291e+02] [ 9.89508084e-01 9.25989994e-02 -1.10901659e-01 1.12084341e+02] [ 1.11431176e-01 -5.51691796e-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 [[ 8.79085523e-02 -9.96072743e-01 -1.05440162e-02 1.57031348e+02] [ 9.89876394e-01 8.85359824e-02 -1.10932884e-01 1.12111964e+02] [ 1.11430747e-01 -6.85323547e-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 8.15473656e-02 -1.10908445e-01 1.12139122e+02] [ 1.11419210e-01 -1.72562320e-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 [[ 7.85988026e-02 -9.96852493e-01 -1.03602768e-02 1.57036356e+02] [ 9.90660000e-01 7.92636517e-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 [[ 7.45659300e-02 -9.97158289e-01 -1.07363757e-02 1.57038979e+02] [ 9.90973411e-01 7.52976449e-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 [[ 7.03897160e-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 -9.80056200e-03 1.57038554e+02] [ 9.91829300e-01 6.28706930e-02 -1.11004127e-01 1.12248923e+02] [ 1.11400252e-01 -2.81979065e-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 [[ 5.79633148e-02 -9.98271954e-01 -9.66227177e-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 [[ 5.75553917e-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 [[ 4.95557287e-02 -9.98715353e-01 -1.05770449e-02 1.57037269e+02] [ 9.92548208e-01 5.04245370e-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 [[ 4.41100772e-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 [[ 4.02406047e-02 -9.99135075e-01 -1.04783231e-02 1.57029649e+02] [ 9.92974669e-01 4.11559542e-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 [[ 3.89883662e-02 -9.99185224e-01 -1.04305057e-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 3.94907091e-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 4.05639517e-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 -9.79912318e-03 1.57011185e+02] [ 9.93026843e-01 3.97014820e-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 [[ 3.80753738e-02 -9.99222365e-01 -1.02435624e-02 1.57009281e+02] [ 9.93060085e-01 3.89780821e-02 -1.10961148e-01 1.12523117e+02] [ 1.11274135e-01 -5.94758573e-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 3.78597923e-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 [[ 3.81395899e-02 -9.99220848e-01 -1.01522827e-02 1.56990322e+02] [ 9.93057040e-01 3.90317939e-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 [[ 4.05360314e-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 4.82079062e-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 [[ 5.97512941e-02 -9.98163440e-01 -9.97651401e-03 1.56961166e+02] [ 9.91979409e-01 6.04903953e-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 -9.92942533e-03 1.56951357e+02] [ 9.91286515e-01 7.09390302e-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 [[ 7.67427936e-02 -9.97001918e-01 -9.88526373e-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 -9.05406190e-03 1.56941654e+02] [ 9.90251087e-01 8.40646743e-02 -1.11067162e-01 1.12771029e+02] [ 1.11435139e-01 3.16785053e-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 [[ 8.68405681e-02 -9.96173752e-01 -9.82711647e-03 1.56940772e+02] [ 9.89970418e-01 8.73947854e-02 -1.10998754e-01 1.12799531e+02] [ 1.11432884e-01 -8.93597117e-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 -9.78482461e-03 1.56938779e+02] [ 9.89508253e-01 9.24763014e-02 -1.11002482e-01 1.12827685e+02] [ 1.11431673e-01 5.25477551e-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 [[ 9.51597753e-02 -9.95414339e-01 -9.74218819e-03 1.56937685e+02] [ 9.89205835e-01 9.56526792e-02 -1.11006224e-01 1.12856017e+02] [ 1.11429054e-01 9.26297980e-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 [[ 9.65273564e-02 -9.95283071e-01 -9.69936569e-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 [[ 9.73264961e-02 -9.95208696e-01 -9.33832715e-03 1.56939887e+02] [ 9.88995771e-01 9.77608355e-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 [[ 9.57643664e-02 -9.95359835e-01 -9.38004681e-03 1.56942121e+02] [ 9.89147945e-01 9.62131102e-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 [[ 9.23975892e-02 -9.95675849e-01 -9.60677184e-03 1.56946440e+02] [ 9.89467502e-01 9.28926193e-02 -1.11018125e-01 1.12966061e+02] [ 1.11430464e-01 7.52218606e-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 [[ 8.88801226e-02 -9.95996438e-01 -9.56131267e-03 1.56952538e+02] [ 9.89789460e-01 8.93920114e-02 -1.11022040e-01 1.12993647e+02] [ 1.11432262e-01 4.03966063e-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 [[ 8.69398643e-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 2.29238075e-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 [[ 8.25728746e-02 -9.96539861e-01 -9.48822220e-03 1.56960951e+02] [ 9.90335531e-01 8.31159053e-02 -1.11028299e-01 1.13048432e+02] [ 1.11432747e-01 -2.28597802e-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 -9.17728973e-03 1.56965067e+02] [ 9.90664139e-01 7.90658208e-02 -1.11054762e-01 1.13076411e+02] [ 1.11432696e-01 -3.70228549e-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 [[ 7.13603327e-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 -9.38779970e-03 1.56980803e+02] [ 9.91795202e-01 6.33489008e-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 [[ 5.80181276e-02 -9.98271785e-01 -9.34559756e-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 [[ 5.06872474e-02 -9.98671242e-01 -9.30336623e-03 1.56989370e+02] [ 9.92485001e-01 5.14077242e-02 -1.11043997e-01 1.13182788e+02] [ 1.11374711e-01 -3.60493690e-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 -9.27276429e-03 1.56993103e+02] [ 9.92680439e-01 4.74785094e-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 3.91208994e-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 -9.19949197e-03 1.56999267e+02] [ 9.93210138e-01 3.46544872e-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 [[ 2.97316162e-02 -9.99515960e-01 -9.15844195e-03 1.57000405e+02] [ 9.93344001e-01 3.05656177e-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 [[ 3.09913271e-02 -9.99478070e-01 -9.11734500e-03 1.57001094e+02] [ 9.93304457e-01 3.18129943e-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 [[ 3.89031377e-02 -9.99201771e-01 -9.07555896e-03 1.56996765e+02] [ 9.93021270e-01 3.96712671e-02 -1.11062808e-01 1.13347815e+02] [ 1.11334193e-01 -4.69153138e-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 [[ 5.18374835e-02 -9.98614675e-01 -9.03357418e-03 1.56991869e+02] [ 9.92424231e-01 5.25208581e-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 [[ 5.86110419e-02 -9.98238600e-01 -9.18933867e-03 1.56990070e+02] [ 9.92045463e-01 5.92697249e-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 [[ 7.30208554e-02 -9.97290022e-01 -8.97586694e-03 1.56986124e+02] [ 9.91085906e-01 7.35662607e-02 -1.11070844e-01 1.13431845e+02] [ 1.11430166e-01 -7.85367149e-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 -8.93475069e-03 1.56985186e+02] [ 9.90643282e-01 7.92995660e-02 -1.11074152e-01 1.13459707e+02] [ 1.11432882e-01 -9.90987628e-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 [[ 8.66631992e-02 -9.96197987e-01 -8.89160061e-03 1.56981982e+02] [ 9.89986300e-01 8.71142471e-02 -1.11077606e-01 1.13488248e+02] [ 1.11429873e-01 8.23777914e-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 [[ 9.14488974e-02 -9.95770454e-01 -8.84887912e-03 1.56982618e+02] [ 9.89556351e-01 9.18653283e-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 [[ 9.25963790e-02 -9.95664800e-01 -8.80434950e-03 1.56985633e+02] [ 9.89449897e-01 9.30006813e-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 [[ 9.48036280e-02 -9.95457441e-01 -8.76097013e-03 1.56991401e+02] [ 9.89241356e-01 9.51893109e-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 [[ 9.51790910e-02 -9.95421953e-01 -8.72211781e-03 1.56994690e+02] [ 9.89205458e-01 9.55580946e-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 [[ 9.61383872e-02 -9.95330141e-01 -8.67878686e-03 1.56999981e+02] [ 9.89112996e-01 9.65065648e-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 [[ 9.54358846e-02 -9.95398140e-01 -8.63336567e-03 1.57009622e+02] [ 9.89180956e-01 9.58033823e-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 -8.59017730e-03 1.57016845e+02] [ 9.89295757e-01 9.46066277e-02 -1.11101265e-01 1.13676114e+02] [ 1.11415417e-01 1.97156368e-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 [[ 9.15356773e-02 -9.95765136e-01 -8.54478891e-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 -8.50216268e-03 1.57032762e+02] [ 9.89723316e-01 9.00153639e-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 [[ 8.47882985e-02 -9.96363085e-01 -8.45851677e-03 1.57039753e+02] [ 9.90148858e-01 8.52027492e-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 [[ 8.06744133e-02 -9.96705001e-01 -8.41311478e-03 1.57049563e+02] [ 9.90492182e-01 8.11094527e-02 -1.11114778e-01 1.13779582e+02] [ 1.11431038e-01 6.30995123e-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 [[ 7.51818565e-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 [[ 6.21777121e-02 -9.98039090e-01 -7.20471050e-03 1.57067105e+02] [ 9.91824386e-01 6.25933080e-02 -1.11204613e-01 1.13836616e+02] [ 1.11437517e-01 -2.31359161e-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 [[ 5.67782121e-02 -9.98352591e-01 -8.26669041e-03 1.57073085e+02] [ 9.92150473e-01 5.73456433e-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 [[ 5.22361525e-02 -9.98600914e-01 -8.22181450e-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 [[ 5.08481706e-02 -9.98683448e-01 -6.77003566e-03 1.57086280e+02] [ 9.92469900e-01 5.12858652e-02 -1.11235145e-01 1.13914045e+02] [ 1.11435905e-01 -1.06295298e-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 -7.39377528e-03 1.57094795e+02] [ 9.92493540e-01 5.09279228e-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 [[ 5.17636971e-02 -9.98622274e-01 -8.60655054e-03 1.57099095e+02] [ 9.92427041e-01 5.24000576e-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 [[ 5.91084804e-02 -9.98217414e-01 -8.25728026e-03 1.57102655e+02] [ 9.92014147e-01 5.96603816e-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 [[ 7.09904639e-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 -2.52831509e-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 [[ 7.06002295e-02 -9.97471231e-01 -8.17013650e-03 1.57105115e+02] [ 9.91261279e-01 7.10709475e-02 -1.11130545e-01 1.14052219e+02] [ 1.11430181e-01 -2.52897937e-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 [[ 7.71737306e-02 -9.96984542e-01 -8.12638535e-03 1.57105885e+02] [ 9.90771287e-01 7.75986274e-02 -1.11133745e-01 1.14078714e+02] [ 1.11429222e-01 5.25216399e-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 [[ 8.51492620e-02 -9.96339102e-01 -7.61555694e-03 1.57103877e+02] [ 9.90119374e-01 8.54674489e-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 [[ 8.96761068e-02 -9.95938582e-01 -8.03345992e-03 1.57106172e+02] [ 9.89719907e-01 9.00126505e-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 -7.98810278e-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 -8.07051300e-03 1.57111689e+02] [ 9.89584172e-01 9.14960333e-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 [[ 9.10900628e-02 -9.95810012e-01 -8.06357462e-03 1.57114168e+02] [ 9.89591038e-01 9.14211364e-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 [[ 9.25890459e-02 -9.95673344e-01 -7.86518680e-03 1.57118492e+02] [ 9.89452793e-01 9.28886223e-02 -1.11152480e-01 1.14243325e+02] [ 1.11402148e-01 2.50927102e-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 [[ 9.19966533e-02 -9.95727654e-01 -7.94066686e-03 1.57121806e+02] [ 9.89507695e-01 9.23083521e-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 [[ 8.83247479e-02 -9.96062184e-01 -7.67226403e-03 1.57126930e+02] [ 9.89841883e-01 8.86294357e-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 [[ 8.20151714e-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 [[ 7.61053915e-02 -9.97072294e-01 -7.40343521e-03 1.57139408e+02] [ 9.90854386e-01 7.64563506e-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 -7.67327951e-03 1.57146611e+02] [ 9.91476408e-01 6.79460148e-02 -1.11165962e-01 1.14376944e+02] [ 1.11430426e-01 -1.02903242e-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 [[ 6.26694571e-02 -9.98007754e-01 -7.28436000e-03 1.57149123e+02] [ 9.91794201e-01 6.30908640e-02 -1.11192648e-01 1.14405416e+02] [ 1.11430702e-01 -2.56203114e-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 [[ 5.78672043e-02 -9.98295250e-01 -7.61446440e-03 1.57153302e+02] [ 9.92086632e-01 5.83552613e-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 [[ 5.69283827e-02 -9.98349558e-01 -7.57094170e-03 1.57156795e+02] [ 9.92141019e-01 5.74174321e-02 -1.11173008e-01 1.14459397e+02] [ 1.11424228e-01 -1.18254226e-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 [[ 5.42908153e-02 -9.98499151e-01 -7.20785287e-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 [[ 5.08227551e-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 [[ 4.85563171e-02 -9.98798726e-01 -6.58696895e-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 -7.07143223e-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 [[ 3.93312399e-02 -9.99195665e-01 -7.81515979e-03 1.57159813e+02] [ 9.92999276e-01 3.99567417e-02 -1.11157080e-01 1.14596905e+02] [ 1.11379941e-01 -3.38850221e-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 [[ 3.63852212e-02 -9.99310242e-01 -7.42672642e-03 1.57158273e+02] [ 9.93111482e-01 3.69858171e-02 -1.11182881e-01 1.14623535e+02] [ 1.11380875e-01 -3.33015358e-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 [[ 3.31254094e-02 -9.99424269e-01 -7.33739982e-03 1.57153896e+02] [ 9.93226519e-01 3.37362946e-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 [[ 3.12862874e-02 -9.99483871e-01 -7.29112493e-03 1.57153655e+02] [ 9.93286742e-01 3.19034342e-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 [[ 3.04886450e-02 -9.99504303e-01 -7.84798875e-03 1.57149076e+02] [ 9.93314031e-01 3.11725967e-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 [[ 3.19178144e-02 -9.99460459e-01 -7.74887351e-03 1.57146874e+02] [ 9.93268079e-01 3.25819041e-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 -7.18246609e-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 [[ 3.92934464e-02 -9.99202210e-01 -7.13929712e-03 1.57138407e+02] [ 9.92998870e-01 3.98440332e-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 [[ 5.05831540e-02 -9.98694659e-01 -7.09378514e-03 1.57130082e+02] [ 9.92485104e-01 5.10585334e-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 [[ 5.36325745e-02 -9.98534435e-01 -7.24768917e-03 1.57127186e+02] [ 9.92324724e-01 5.41061274e-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 [[ 5.94177062e-02 -9.98202874e-01 -7.78194475e-03 1.57124353e+02] [ 9.91994770e-01 5.99147709e-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 [[ 7.05099560e-02 -9.97486336e-01 -7.02538271e-03 1.57119379e+02] [ 9.91268142e-01 7.08536545e-02 -1.11208053e-01 1.14900389e+02] [ 1.11426288e-01 8.77236890e-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 [[ 7.91450870e-02 -9.96838650e-01 -6.98293539e-03 1.57118291e+02] [ 9.90617495e-01 7.94301917e-02 -1.11210719e-01 1.14927570e+02] [ 1.11413799e-01 1.88436405e-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 -6.95186199e-03 1.57117823e+02] [ 9.90541690e-01 8.03673096e-02 -1.11212661e-01 1.14955547e+02] [ 1.11411398e-01 2.02108840e-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 [[ 8.38451402e-02 -9.96449178e-01 -7.68297536e-03 1.57117677e+02] [ 9.90230159e-01 8.41789854e-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 8.28328363e-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 [[ 7.95874292e-02 -9.96802459e-01 -7.12025040e-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 [[ 7.54208510e-02 -9.97128764e-01 -6.77673448e-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 [[ 7.37738013e-02 -9.97252205e-01 -6.74288442e-03 1.57131359e+02] [ 9.91031429e-01 7.40656499e-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 [[ 7.24012740e-02 -9.97353099e-01 -6.69709272e-03 1.57136777e+02] [ 9.91132488e-01 7.26965776e-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 [[ 7.17442664e-02 -9.97400863e-01 -6.65418527e-03 1.57141307e+02] [ 9.91180220e-01 7.20388834e-02 -1.11230256e-01 1.15142112e+02] [ 1.11420514e-01 1.38463631e-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 [[ 6.86411603e-02 -9.97619509e-01 -6.61113363e-03 1.57148599e+02] [ 9.91399573e-01 6.89503277e-02 -1.11232815e-01 1.15169012e+02] [ 1.11423866e-01 1.08087444e-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 [[ 6.69222986e-02 -9.97736582e-01 -6.56649562e-03 1.57152176e+02] [ 9.91516935e-01 6.72372054e-02 -1.11235450e-01 1.15197057e+02] [ 1.11425191e-01 9.33340417e-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 [[ 6.39177855e-02 -9.97932471e-01 -6.73055575e-03 1.57158292e+02] [ 9.91714789e-01 6.42697042e-02 -1.11225821e-01 1.15222636e+02] [ 1.11428429e-01 4.34516508e-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 [[ 6.08197331e-02 -9.98128850e-01 -6.30548990e-03 1.57165860e+02] [ 9.91909658e-01 6.11435790e-02 -1.11250589e-01 1.15250163e+02] [ 1.11427963e-01 5.11754818e-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 5.89715106e-02 -1.11242246e-01 1.15276482e+02] [ 1.11428978e-01 1.22690794e-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 [[ 5.72331270e-02 -9.98340327e-01 -6.40009945e-03 1.57174361e+02] [ 9.92122946e-01 5.75898585e-02 -1.11245083e-01 1.15303221e+02] [ 1.11429034e-01 1.72184759e-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 [[ 5.66160677e-02 -9.98375807e-01 -6.35358848e-03 1.57176930e+02] [ 9.92158351e-01 5.69714594e-02 -1.11247740e-01 1.15330246e+02] [ 1.11429025e-01 -5.35629395e-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 -6.30748295e-03 1.57181129e+02] [ 9.92006328e-01 5.95550563e-02 -1.11250354e-01 1.15355723e+02] [ 1.11428524e-01 3.31297326e-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 [[ 6.33531234e-02 -9.97971512e-01 -6.26434636e-03 1.57183948e+02] [ 9.91751308e-01 6.36565956e-02 -1.11252783e-01 1.15382633e+02] [ 1.11425875e-01 8.35537603e-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 -6.22359266e-03 1.57185821e+02] [ 9.91662900e-01 6.50154070e-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 [[ 6.83599060e-02 -9.97641600e-01 -6.17753296e-03 1.57189227e+02] [ 9.91419536e-01 6.86224832e-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 [[ 6.99433776e-02 -9.97532133e-01 -6.12926570e-03 1.57192230e+02] [ 9.91309445e-01 7.01906960e-02 -1.11260280e-01 1.15463963e+02] [ 1.11415921e-01 1.70592077e-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 [[ 7.50364669e-02 -9.97162220e-01 -6.08572336e-03 1.57197149e+02] [ 9.90938185e-01 7.52471490e-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 [[ 7.64767175e-02 -9.97059746e-01 -4.81405388e-03 1.57203367e+02] [ 9.90831725e-01 7.65365495e-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 [[ 7.75726467e-02 -9.96968572e-01 -6.01259967e-03 1.57207985e+02] [ 9.90743778e-01 7.77593403e-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 [[ 8.04247753e-02 -9.96742810e-01 -5.96878035e-03 1.57216965e+02] [ 9.90517378e-01 8.05887703e-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 -5.92477352e-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 [[ 8.42226494e-02 -9.96429653e-01 -5.87305724e-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 [[ 8.31966647e-02 -9.96516061e-01 -5.83570536e-03 1.57240381e+02] [ 9.90289868e-01 8.33284992e-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 -5.79189733e-03 1.57245185e+02] [ 9.90469485e-01 8.11625084e-02 -1.11278240e-01 1.15679806e+02] [ 1.11380605e-01 3.27928522e-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 [[ 6.86022542e-02 -9.97627826e-01 -5.69668863e-03 1.57260123e+02] [ 9.91403696e-01 6.88097024e-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 [[ 6.81692827e-02 -9.97657781e-01 -5.64810567e-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 [[ 5.88632198e-02 -9.98250353e-01 -5.59950405e-03 1.57267926e+02] [ 9.92028089e-01 5.91205655e-02 -1.11288046e-01 1.15783018e+02] [ 1.11424377e-01 9.95907424e-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 5.34322467e-02 -1.11338353e-01 1.15810775e+02] [ 1.11424447e-01 1.37428520e-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 [[ 4.43927413e-02 -9.99002665e-01 -4.79172175e-03 1.57278764e+02] [ 9.92780120e-01 4.46502165e-02 -1.11328304e-01 1.15837888e+02] [ 1.11431224e-01 1.85042516e-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 [[ 4.02386277e-02 -9.99178933e-01 -4.72369090e-03 1.57285485e+02] [ 9.92957121e-01 4.05143933e-02 -1.11331667e-01 1.15864397e+02] [ 1.11431633e-01 -2.10589032e-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 [[ 4.05648554e-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 -1.24599397e-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 [[ 4.59473474e-02 -9.98932130e-01 -4.84164108e-03 1.57292175e+02] [ 9.92709440e-01 4.62007021e-02 -1.11325930e-01 1.15919278e+02] [ 1.11430736e-01 3.08788385e-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 [[ 5.78583077e-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 [[ 6.11579569e-02 -9.98120738e-01 -3.83354295e-03 1.57298320e+02] [ 9.91892069e-01 6.12040682e-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 [[ 6.93877220e-02 -9.97578565e-01 -4.72774951e-03 1.57304558e+02] [ 9.91351375e-01 6.94822071e-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 -4.79098786e-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 -4.90187409e-03 1.57313078e+02] [ 9.90905115e-01 7.55925396e-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 [[ 7.60688315e-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 3.70875882e-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 -4.89357604e-03 1.57327907e+02] [ 9.90824032e-01 7.66474166e-02 -1.11323454e-01 1.16107166e+02] [ 1.11370294e-01 3.67640387e-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 [[ 7.83338037e-02 -9.96915407e-01 -4.84622282e-03 1.57338439e+02] [ 9.90687783e-01 7.83856392e-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 [[ 8.06966009e-02 -9.96726275e-01 -4.97908495e-03 1.57343670e+02] [ 9.90498692e-01 8.07484950e-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 -4.02115558e-03 1.57352180e+02] [ 9.89986144e-01 8.67497828e-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 [[ 8.71346991e-02 -9.96188941e-01 -3.89082550e-03 1.57356143e+02] [ 9.89961319e-01 8.70249596e-02 -1.11369848e-01 1.16215209e+02] [ 1.11284010e-01 5.85241144e-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 [[ 8.85580468e-02 -9.96057757e-01 -5.13968089e-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 [[ 8.72661701e-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 [[ 8.19690271e-02 -9.96621944e-01 -5.07734856e-03 1.57381316e+02] [ 9.90394379e-01 8.20239307e-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 [[ 6.48621970e-02 -9.97888254e-01 -3.45365830e-03 1.57390690e+02] [ 9.91659292e-01 6.48428275e-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 [[ 5.40135940e-02 -9.98530815e-01 -4.32944410e-03 1.57395909e+02] [ 9.92304539e-01 5.41595812e-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 -5.02409157e-03 1.57404574e+02] [ 9.93068548e-01 3.77278658e-02 -1.11316967e-01 1.16374745e+02] [ 1.11427225e-01 -8.25904901e-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 -4.33551273e-03 1.57410962e+02] [ 9.93400994e-01 2.74984720e-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 [[ 2.32987510e-02 -9.99718412e-01 -4.50169259e-03 1.57413225e+02] [ 9.93500772e-01 2.36552076e-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 -5.01376742e-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 -4.89510088e-03 1.57411784e+02] [ 9.93560410e-01 2.10940793e-02 -1.11322735e-01 1.16483008e+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 [[ 2.35277387e-02 -9.99711437e-01 -4.84655500e-03 1.57408954e+02] [ 9.93496128e-01 2.39211621e-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 [[ 2.00744952e-02 -9.99790166e-01 -4.07902078e-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 [[ 1.70207447e-02 -9.99843740e-01 -4.77397113e-03 1.57405714e+02] [ 9.93630550e-01 1.74465353e-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 [[ 1.35357423e-02 -9.99897231e-01 -4.72349199e-03 1.57403329e+02] [ 9.93685163e-01 1.39775703e-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 [[ 5.61702010e-03 -9.99973296e-01 -4.67499602e-03 1.57397215e+02] [ 9.93764499e-01 6.10263614e-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 [[ 4.84287933e-04 -9.99989171e-01 -4.62854826e-03 1.57391177e+02] [ 9.93782521e-01 9.96603491e-04 -1.11334221e-01 1.16644772e+02] [ 1.11337628e-01 -4.54585254e-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 [[-1.36545549e-03 -9.99988578e-01 -4.58023108e-03 1.57383955e+02] [ 9.93782437e-01 -8.47029794e-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 [[-1.32893964e-03 -9.99987657e-01 -4.78746477e-03 1.57379289e+02] [ 9.93783436e-01 -7.87710366e-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 [[-9.85187668e-04 -9.99990186e-01 -4.31935785e-03 1.57369353e+02] [ 9.93781504e-01 -4.98120185e-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 [[-8.31644840e-04 -9.99989683e-01 -4.46561830e-03 1.57364475e+02] [ 9.93782231e-01 -3.29271859e-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 [[-2.44825568e-03 -9.99986289e-01 -4.62911394e-03 1.57352844e+02] [ 9.93781165e-01 -1.91767766e-03 -1.11334267e-01 1.16783991e+02] [ 1.11323863e-01 -4.87290099e-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 [[-6.12185527e-03 -9.99970722e-01 -4.59108406e-03 1.57347516e+02] [ 9.93767222e-01 -5.57271040e-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 [[-1.58555353e-02 -9.99864897e-01 -4.33479161e-03 1.57338837e+02] [ 9.93664337e-01 -1.52744830e-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 [[-2.61623245e-02 -9.99648527e-01 -4.28439108e-03 1.57325168e+02] [ 9.93453708e-01 -2.55229719e-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 [[-2.97970719e-02 -9.99546988e-01 -4.23712021e-03 1.57319060e+02] [ 9.93353978e-01 -2.91404397e-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 [[-3.01999951e-02 -9.99535105e-01 -4.18738146e-03 1.57309041e+02] [ 9.93341777e-01 -2.95463821e-02 -1.11351358e-01 1.16914834e+02] [ 1.11175870e-01 -7.52231142e-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 -3.24968771e-03 1.57301370e+02] [ 9.93282769e-01 -3.13451338e-02 -1.11385918e-01 1.16944230e+02] [ 1.11226761e-01 -6.78165938e-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 [[-2.93328797e-02 -9.99561297e-01 -4.09828427e-03 1.57285523e+02] [ 9.93366372e-01 -2.86945213e-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 -4.05300544e-03 1.57279067e+02] [ 9.93381580e-01 -2.81565929e-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 [[-2.86729224e-02 -9.99580819e-01 -4.00631743e-03 1.57265889e+02] [ 9.93384440e-01 -2.80488568e-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 [[-2.98678466e-02 -9.99545971e-01 -3.97031385e-03 1.57259688e+02] [ 9.93349938e-01 -2.92403680e-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 [[-3.37003450e-02 -9.99424275e-01 -3.92486191e-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 -3.87942472e-03 1.57232564e+02] [ 9.93032420e-01 -3.85357188e-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 [[-4.20374443e-02 -9.99108687e-01 -3.83200007e-03 1.57226544e+02] [ 9.92919036e-01 -4.13498869e-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 [[-4.08657829e-02 -9.99157630e-01 -3.74410611e-03 1.57201583e+02] [ 9.92966116e-01 -4.01952266e-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 [[-3.68489237e-02 -9.99313987e-01 -3.70309701e-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 [[-2.54556021e-02 -9.99669245e-01 -3.66232718e-03 1.57181367e+02] [ 9.93467294e-01 -2.48896678e-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 -3.62086922e-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 -2.94335463e-03 1.57164954e+02] [ 9.93722989e-01 -1.03074960e-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 [[-4.03026244e-03 -9.99985531e-01 -3.56295736e-03 1.57155636e+02] [ 9.93772114e-01 -3.60839706e-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 [[-1.87612618e-05 -9.99993808e-01 -3.51908991e-03 1.57152575e+02] [ 9.93778440e-01 3.73294568e-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 [[ 9.79851883e-03 -9.99945464e-01 -3.61365127e-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 [[ 1.76558538e-02 -9.99840103e-01 -2.83520041e-03 1.57136918e+02] [ 9.93615608e-01 1.78618168e-02 -1.11395593e-01 1.17415536e+02] [ 1.11428423e-01 -8.50315074e-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 [[ 2.04157852e-02 -9.99785688e-01 -3.43137308e-03 1.57134337e+02] [ 9.93563203e-01 2.06709796e-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 [[ 2.30987629e-02 -9.99727334e-01 -3.42116044e-03 1.57130195e+02] [ 9.93504144e-01 2.33361198e-02 -1.11377476e-01 1.17470744e+02] [ 1.11426944e-01 -8.26255164e-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 [[ 2.27307047e-02 -9.99735911e-01 -3.37985892e-03 1.57130830e+02] [ 9.93512634e-01 2.29657517e-02 -1.11378730e-01 1.17498961e+02] [ 1.11426937e-01 -8.26215517e-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 [[ 2.27846163e-02 -9.99734822e-01 -3.33859675e-03 1.57129671e+02] [ 9.93511361e-01 2.30147309e-02 -1.11379966e-01 1.17525505e+02] [ 1.11427268e-01 -7.79184005e-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 -3.30858284e-03 1.57129820e+02] [ 9.93538924e-01 2.17878627e-02 -1.11380858e-01 1.17553223e+02] [ 1.11426461e-01 -8.86566578e-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 [[ 2.01348387e-02 -9.99791935e-01 -3.26737909e-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 [[ 1.76727493e-02 -9.99838621e-01 -3.22593001e-03 1.57133851e+02] [ 9.93615904e-01 1.79221317e-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 [[ 1.49363002e-02 -9.99884439e-01 -2.83117185e-03 1.57134440e+02] [ 9.93660636e-01 1.51587426e-02 -1.11394580e-01 1.17636778e+02] [ 1.11424624e-01 -1.14940112e-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 [[ 1.12805186e-02 -9.99931325e-01 -3.17727771e-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 [[ 6.39977017e-03 -9.99974607e-01 -3.13511029e-03 1.57140852e+02] [ 9.93754581e-01 6.70917838e-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 [[ 5.34261737e-03 -9.99980951e-01 -3.09099027e-03 1.57143208e+02] [ 9.93761010e-01 5.65368905e-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 [[-1.12710751e-03 -9.99996637e-01 -2.33561388e-03 1.57144698e+02] [ 9.93774403e-01 -8.59887893e-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 [[-2.74840711e-03 -9.99991612e-01 -3.03697457e-03 1.57146175e+02] [ 9.93774034e-01 -2.39303104e-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 [[-2.04203530e-03 -9.99993432e-01 -2.99447234e-03 1.57146302e+02] [ 9.93775341e-01 -1.69578166e-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 [[ 2.45978715e-03 -9.99992584e-01 -2.96350568e-03 1.57146442e+02] [ 9.93772822e-01 2.77459707e-03 -1.11390666e-01 1.17830300e+02] [ 1.11398063e-01 -2.67105407e-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 [[ 5.37851610e-03 -9.99981266e-01 -2.92209356e-03 1.57147158e+02] [ 9.93760395e-01 5.67055964e-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 [[ 9.12185257e-03 -9.99954246e-01 -2.88053440e-03 1.57147896e+02] [ 9.93732128e-01 9.38597828e-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 [[ 1.39866728e-02 -9.99899634e-01 -2.25731842e-03 1.57148261e+02] [ 9.93673919e-01 1.41510971e-02 -1.11408661e-01 1.17913555e+02] [ 1.11429423e-01 -6.84801953e-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 [[ 1.95182281e-02 -9.99805497e-01 -2.82971020e-03 1.57150230e+02] [ 9.93580789e-01 1.97119836e-02 -1.11394139e-01 1.17939973e+02] [ 1.11428252e-01 -6.37329485e-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 [[ 2.67585881e-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 2.13297800e-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 [[ 3.07856010e-02 -9.99522240e-01 -2.74554499e-03 1.57151251e+02] [ 9.93295566e-01 3.08998070e-02 -1.11396229e-01 1.17994486e+02] [ 1.11427846e-01 7.02262206e-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 [[ 3.90398420e-02 -9.99233993e-01 -2.70535516e-03 1.57157071e+02] [ 9.93006545e-01 3.90981371e-02 -1.11397205e-01 1.18022190e+02] [ 1.11417649e-01 1.66249393e-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 [[ 4.17843916e-02 -9.99123097e-01 -2.66471614e-03 1.57160960e+02] [ 9.92895486e-01 4.18210513e-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 -2.62390966e-03 1.57168169e+02] [ 9.92812264e-01 4.37497408e-02 -1.11399139e-01 1.18077554e+02] [ 1.11406986e-01 2.26640743e-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 [[ 4.37645794e-02 -9.99038540e-01 -2.58021687e-03 1.57172615e+02] [ 9.92810840e-01 4.37794776e-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 [[ 4.46479482e-02 -9.98999569e-01 -2.53430449e-03 1.57181190e+02] [ 9.92771853e-01 4.46522223e-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 [[ 4.30903615e-02 -9.99068070e-01 -2.49229564e-03 1.57189574e+02] [ 9.92840361e-01 4.30996630e-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 [[ 4.17832516e-02 -9.99123696e-01 -2.44942867e-03 1.57195178e+02] [ 9.92895994e-01 4.17959230e-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 [[ 3.94850659e-02 -9.99217268e-01 -2.40445712e-03 1.57206880e+02] [ 9.92989593e-01 3.95070492e-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 [[ 3.21927962e-02 -9.99480237e-01 -1.69715563e-03 1.57214604e+02] [ 9.93252329e-01 3.21813917e-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 [[ 2.74327844e-02 -9.99620929e-01 -2.33235626e-03 1.57219694e+02] [ 9.93393848e-01 2.75218296e-02 -1.11405617e-01 1.18267013e+02] [ 1.11427577e-01 7.39217926e-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 [[ 1.80939321e-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 -2.59303117e-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 [[ 1.24747170e-02 -9.99919650e-01 -2.25292833e-03 1.57237449e+02] [ 9.93694346e-01 1.26480645e-02 -1.11407238e-01 1.18319065e+02] [ 1.11426781e-01 -8.48948383e-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 [[ 2.37112104e-03 -9.99994756e-01 -2.20563386e-03 1.57245757e+02] [ 9.93771326e-01 2.60209139e-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 [[-3.27202907e-03 -9.99992294e-01 -2.16916670e-03 1.57254461e+02] [ 9.93770094e-01 -3.01000339e-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 [[-6.90312538e-03 -9.99975279e-01 -1.33695952e-03 1.57257290e+02] [ 9.93750242e-01 -6.71117839e-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 [[-6.24518494e-03 -9.99978350e-01 -2.07280307e-03 1.57262850e+02] [ 9.93756471e-01 -5.97538961e-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 [[-3.94073869e-03 -9.99990188e-01 -2.02366902e-03 1.57267572e+02] [ 9.93767482e-01 -3.69075374e-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 [[-9.48061335e-04 -9.99997575e-01 -1.98789915e-03 1.57269822e+02] [ 9.93774002e-01 -7.20683923e-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 [[-7.67818286e-05 -9.99999277e-01 -1.20016951e-03 1.57270040e+02] [ 9.93772745e-01 5.74263032e-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 [[-2.17387786e-03 -9.99996859e-01 -1.24761351e-03 1.57269374e+02] [ 9.93770781e-01 -2.02132720e-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 [[-3.78367534e-03 -9.99991077e-01 -1.87875281e-03 1.57271176e+02] [ 9.93767684e-01 -3.55080573e-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 [[-5.64979152e-03 -9.99982362e-01 -1.83202457e-03 1.57271889e+02] [ 9.93759213e-01 -5.41051236e-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 [[-1.04343220e-02 -9.99943966e-01 -1.78578679e-03 1.57271664e+02] [ 9.93721814e-01 -1.01704181e-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 [[-1.42334770e-02 -9.99897186e-01 -1.73917283e-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 [[-2.26536359e-02 -9.99742207e-01 -1.52734568e-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 [[-3.26826980e-02 -9.99464482e-01 -1.60921562e-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 [[-3.47833577e-02 -9.99394197e-01 -1.16479795e-03 1.57277350e+02] [ 9.93176004e-01 -3.44370708e-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 [[-3.62059072e-02 -9.99343154e-01 -1.54707496e-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 [[-3.64633948e-02 -9.99334549e-01 -9.38423249e-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 [[-3.59457715e-02 -9.99353277e-01 -9.63892422e-04 1.57273780e+02] [ 9.93134196e-01 -3.56146036e-02 -1.11427414e-01 1.18831245e+02] [ 1.11321023e-01 -4.96261888e-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 -1.44351526e-03 1.57268868e+02] [ 9.93179500e-01 -3.43481439e-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 [[-3.27910003e-02 -9.99461255e-01 -1.39638378e-03 1.57266735e+02] [ 9.93243872e-01 -3.24313447e-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 -1.20711629e-03 1.57259877e+02] [ 9.93327046e-01 -2.97665975e-02 -1.11424099e-01 1.18912517e+02] [ 1.11337638e-01 -4.55163176e-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 -1.32192091e-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 -1.28551370e-03 1.57249688e+02] [ 9.93586348e-01 -1.92626537e-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 -1.23909289e-03 1.57245345e+02] [ 9.93639621e-01 -1.62809326e-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 [[-1.22358659e-02 -9.99924428e-01 -1.19259016e-03 1.57236837e+02] [ 9.93700161e-01 -1.20268074e-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 [[-1.22224690e-02 -9.99924646e-01 -1.14577515e-03 1.57234037e+02] [ 9.93700205e-01 -1.20187080e-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 [[-1.56846919e-02 -9.99876383e-01 -1.09943517e-03 1.57232549e+02] [ 9.93652501e-01 -1.54645403e-02 -1.11425111e-01 1.19073964e+02] [ 1.11394334e-01 -2.84012504e-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 -1.05814286e-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 [[-1.96157207e-02 -9.99807081e-01 -1.01198175e-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 [[-2.02156793e-02 -9.99795165e-01 -9.76516178e-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 -9.29914245e-04 1.57223907e+02] [ 9.93485692e-01 -2.38806892e-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 [[-2.45277320e-02 -9.99698750e-01 -8.94139709e-04 1.57223844e+02] [ 9.93476094e-01 -2.42753971e-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 [[-2.75831338e-02 -9.99619152e-01 -8.50042141e-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 -8.04781429e-04 1.57224453e+02] [ 9.93175002e-01 -3.44573730e-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 [[-3.91226805e-02 -9.99234127e-01 -7.59129524e-04 1.57223132e+02] [ 9.93015010e-01 -3.87945325e-02 -1.11427884e-01 1.19288871e+02] [ 1.11313094e-01 -5.11318451e-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 [[-3.96572154e-02 -9.99213126e-01 -6.59024957e-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 -7.02425885e-04 1.57216275e+02] [ 9.93052825e-01 -3.78131064e-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 -2.56511371e-04 1.57213893e+02] [ 9.93271523e-01 -3.15419892e-02 -1.11430629e-01 1.19370361e+02] [ 1.11366291e-01 -3.79475866e-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 [[-2.77838426e-02 -9.99613938e-01 -1.82624762e-04 1.57211251e+02] [ 9.93389095e-01 -2.75904678e-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 [[-1.41995178e-02 -9.99899025e-01 -5.60571788e-04 1.57204493e+02] [ 9.93673087e-01 -1.40486332e-02 -1.11429046e-01 1.19424072e+02] [ 1.11409919e-01 -2.13926382e-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 [[-8.69114051e-03 -9.99962231e-01 -3.22333051e-05 1.57200480e+02] [ 9.93734599e-01 -8.63342129e-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 [[ 5.22495291e-03 -9.99986240e-01 -4.68976146e-04 1.57195715e+02] [ 9.93758494e-01 5.24467131e-03 -1.11429569e-01 1.19481316e+02] [ 1.11430495e-01 1.16165221e-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 -5.12974061e-04 1.57194075e+02] [ 9.93695327e-01 1.23730687e-02 -1.11429366e-01 1.19508756e+02] [ 1.11427141e-01 8.71214335e-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 [[ 2.50604506e-02 -9.99685827e-01 -4.70519487e-04 1.57193286e+02] [ 9.93458914e-01 2.49567986e-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 -4.28092899e-04 1.57195068e+02] [ 9.93254419e-01 3.20792759e-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 [[ 3.32284296e-02 -9.99447765e-01 1.90903938e-04 1.57196713e+02] [ 9.93224013e-01 3.30002253e-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 -4.29296686e-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 [[ 3.03079364e-02 -9.99540562e-01 -3.07160775e-04 1.57208356e+02] [ 9.93314679e-01 3.01533987e-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 [[ 2.93966080e-02 -9.99567824e-01 6.53055300e-05 1.57213153e+02] [ 9.93342886e-01 2.92062566e-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 2.17383164e-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 [[ 2.98035428e-02 -9.99555753e-01 -2.14098285e-04 1.57227049e+02] [ 9.93330041e-01 2.96417798e-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 -1.78508414e-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 -1.31084616e-04 1.57249679e+02] [ 9.93085307e-01 3.69425818e-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 [[ 3.33054422e-02 -9.99444700e-01 1.01975867e-03 1.57255598e+02] [ 9.93224589e-01 3.29844673e-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 [[ 3.09636933e-02 -9.99520508e-01 -5.49921989e-05 1.57269781e+02] [ 9.93295495e-01 3.07769822e-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 -7.90645647e-06 1.57277200e+02] [ 9.93205185e-01 3.35652058e-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 [[ 4.05344957e-02 -9.99178085e-01 -3.31580092e-04 1.57288143e+02] [ 9.92954215e-01 4.03189847e-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 [[ 4.15895151e-02 -9.99134369e-01 -9.08599771e-04 1.57294411e+02] [ 9.92908935e-01 4.14317054e-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 [[ 4.43558166e-02 -9.99015416e-01 -8.71668758e-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 [[ 4.54563139e-02 -9.98965987e-01 -8.24636602e-04 1.57313022e+02] [ 9.92741493e-01 4.52650582e-02 -1.11424428e-01 1.19834825e+02] [ 1.11346541e-01 4.24629279e-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 [[ 5.00902400e-02 -9.98744394e-01 -7.77335099e-04 1.57324268e+02] [ 9.92521043e-01 4.98648422e-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 [[ 5.01486731e-02 -9.98741758e-01 1.11172810e-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 -7.15567508e-04 1.57339385e+02] [ 9.92463786e-01 5.09907776e-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 -6.68315630e-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 [[ 5.57417316e-02 -9.98445156e-01 3.59502112e-04 1.57358330e+02] [ 9.92229268e-01 5.53545855e-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 [[ 5.85125198e-02 -9.98286612e-01 -3.52936384e-04 1.57369811e+02] [ 9.92067617e-01 5.81874005e-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 [[ 5.99309444e-02 -9.98202481e-01 -2.97228924e-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 [[ 5.71140776e-02 -9.98367658e-01 4.45058145e-05 1.57386002e+02] [ 9.92150459e-01 5.67534400e-02 -1.11429416e-01 1.20051581e+02] [ 1.11244999e-01 6.40834476e-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 [[ 5.09926303e-02 -9.98698878e-01 -5.49795420e-04 1.57397213e+02] [ 9.92476682e-01 5.07362724e-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 [[ 4.75703990e-02 -9.98867763e-01 -4.99448564e-04 1.57401930e+02] [ 9.92644941e-01 4.73297564e-02 -1.11426729e-01 1.20103445e+02] [ 1.11324206e-01 4.80483887e-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 [[ 3.61736928e-02 -9.99345518e-01 2.26803008e-05 1.57410373e+02] [ 9.93122093e-01 3.59458922e-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 -4.40191453e-04 1.57416728e+02] [ 9.93280674e-01 3.12650742e-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 -3.81541566e-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 [[ 1.21405677e-02 -9.99926240e-01 -3.48173781e-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 [[ 4.96337130e-03 -9.99987073e-01 -1.10413561e-03 1.57435503e+02] [ 9.93759975e-01 5.05549353e-03 -1.11425108e-01 1.20238675e+02] [ 1.11429250e-01 -5.44201590e-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 [[ 6.52895312e-04 -9.99999682e-01 4.58202957e-04 1.57435752e+02] [ 9.93772281e-01 5.97772618e-04 -1.11428435e-01 1.20268659e+02] [ 1.11428126e-01 5.28100501e-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 [[ 1.32781147e-03 -9.99998711e-01 -9.02409008e-04 1.57439268e+02] [ 9.93771751e-01 1.42009493e-03 -1.11425719e-01 1.20293545e+02] [ 1.11426857e-01 -7.48836231e-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 [[ 3.72743505e-03 -9.99993040e-01 -1.61622344e-04 1.57440105e+02] [ 9.93765668e-01 3.72223195e-03 -1.11426850e-01 1.20320472e+02] [ 1.11426676e-01 2.54721608e-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 [[ 5.08259820e-03 -9.99987076e-01 -1.19678067e-04 1.57439092e+02] [ 9.93759730e-01 5.06428222e-03 -1.11426895e-01 1.20346745e+02] [ 1.11426061e-01 4.47406892e-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 [[ 5.42997635e-03 -9.99985249e-01 1.33166341e-04 1.57437963e+02] [ 9.93758047e-01 5.38132375e-03 -1.11427042e-01 1.20373133e+02] [ 1.11424682e-01 7.37381326e-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 [[ 4.53765782e-03 -9.99989697e-01 1.27114540e-04 1.57437364e+02] [ 9.93762450e-01 4.49523628e-03 -1.11427041e-01 1.20399002e+02] [ 1.11425322e-01 6.31939443e-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 [[ 4.56297817e-03 -9.99989589e-01 2.37546615e-05 1.57436186e+02] [ 9.93762281e-01 4.53191587e-03 -1.11427064e-01 1.20471207e+02] [ 1.11425796e-01 5.32045748e-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 [[ 3.14098125e-03 -9.99995062e-01 1.00167612e-04 1.57434074e+02] [ 9.93767757e-01 3.11025987e-03 -1.11426983e-01 1.20404677e+02] [ 1.11426121e-01 4.49533407e-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 [[ 2.66561862e-03 -9.99996412e-01 2.67167332e-04 1.57429537e+02] [ 9.93769207e-01 2.61924954e-03 -1.11426667e-01 1.20402580e+02] [ 1.11425568e-01 5.62523668e-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 [[ 6.89450294e-03 -9.99976117e-01 4.79912211e-04 1.57427617e+02] [ 9.93749473e-01 6.79809628e-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 [[ 1.15605012e-02 -9.99933115e-01 3.46409326e-04 1.57423916e+02] [ 9.93706715e-01 1.14499143e-02 -1.11426498e-01 1.20379379e+02] [ 1.11415078e-01 1.63237544e-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 4.45279366e-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 [[ 1.92836172e-02 -9.99813906e-01 5.43212254e-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 [[ 2.59280209e-02 -9.99663607e-01 6.40188558e-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 [[ 2.95347135e-02 -9.99563403e-01 8.38657043e-04 1.57416226e+02] [ 9.93342208e-01 2.92574048e-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 [[ 3.52563250e-02 -9.99377890e-01 9.07897437e-04 1.57417309e+02] [ 9.93158773e-01 3.49357014e-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 [[ 3.40398115e-02 -9.99420113e-01 8.54173480e-04 1.57422050e+02] [ 9.93200313e-01 3.37327374e-02 -1.11423700e-01 1.20351741e+02] [ 1.11330274e-01 4.64120713e-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 [[ 3.38417670e-02 -9.99426578e-01 1.11842057e-03 1.57425321e+02] [ 9.93208213e-01 3.35065182e-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 1.02129154e-03 1.57431404e+02] [ 9.93390384e-01 2.75790174e-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 [[ 2.40587701e-02 -9.99709970e-01 1.07336867e-03 1.57436635e+02] [ 9.93488414e-01 2.37894123e-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 [[ 2.32040515e-02 -9.99730189e-01 1.05902954e-03 1.57436728e+02] [ 9.93508338e-01 2.29416093e-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 [[ 1.44920437e-02 -9.99894318e-01 1.15488684e-03 1.57445595e+02] [ 9.93670788e-01 1.42731502e-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 [[ 1.00045915e-02 -9.99949171e-01 1.25042425e-03 1.57449335e+02] [ 9.93725061e-01 9.80298938e-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 [[ 3.52416323e-03 -9.99992884e-01 1.34588995e-03 1.57454571e+02] [ 9.93767888e-01 3.35226667e-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 [[ 2.07392068e-04 -9.99998940e-01 1.44114305e-03 1.57456787e+02] [ 9.93773679e-01 4.55321839e-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 [[-6.47181709e-03 -9.99977877e-01 1.53678300e-03 1.57463130e+02] [ 9.93751893e-01 -6.60274914e-03 -1.11416244e-01 1.20350314e+02] [ 1.11423926e-01 8.06115464e-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 [[-1.04461130e-02 -9.99944102e-01 1.63429972e-03 1.57468494e+02] [ 9.93717847e-01 -1.05631646e-02 -1.11414814e-01 1.20335388e+02] [ 1.11425849e-01 4.60181064e-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 [[-1.43945721e-02 -9.99895212e-01 1.53652298e-03 1.57469056e+02] [ 9.93668382e-01 -1.44761418e-02 -1.11416278e-01 1.20347265e+02] [ 1.11426846e-01 -7.69953446e-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 [[-1.47735135e-02 -9.99889324e-01 1.75579663e-03 1.57472472e+02] [ 9.93662847e-01 -1.48771563e-02 -1.11412825e-01 1.20340479e+02] [ 1.11426616e-01 9.87109969e-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 1.85431415e-03 1.57474215e+02] [ 9.93662313e-01 -1.49249705e-02 -1.11411186e-01 1.20337592e+02] [ 1.11426450e-01 1.92497646e-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 [[-1.23056462e-02 -9.99922377e-01 1.95241852e-03 1.57477374e+02] [ 9.93696641e-01 -1.24465633e-02 -1.11409468e-01 1.20324722e+02] [ 1.11425120e-01 5.69146236e-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 [[-1.04590381e-02 -9.99943202e-01 2.04963499e-03 1.57478926e+02] [ 9.93718016e-01 -1.06222830e-02 -1.11407680e-01 1.20323242e+02] [ 1.11423124e-01 8.71542055e-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 [[-2.60406747e-03 -9.99994306e-01 2.14612355e-03 1.57483173e+02] [ 9.93770975e-01 -2.82695341e-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 [[ 1.38998878e-03 -9.99996521e-01 2.24175289e-03 1.57485332e+02] [ 9.93774568e-01 1.13159943e-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 2.33530252e-03 1.57488785e+02] [ 9.93723109e-01 1.01975947e-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 2.42781179e-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 [[ 1.88488284e-02 -9.99819169e-01 2.52012057e-03 1.57492032e+02] [ 9.93604593e-01 1.84508830e-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 [[ 1.93005412e-02 -9.99810316e-01 2.61164233e-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 [[ 1.86593841e-02 -9.99822249e-01 2.70153773e-03 1.57504378e+02] [ 9.93608927e-01 1.82424395e-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 [[ 1.83695818e-02 -9.99827370e-01 2.79096412e-03 1.57507517e+02] [ 9.93614604e-01 1.79444935e-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 [[ 2.13454813e-02 -9.99768007e-01 2.88142239e-03 1.57507087e+02] [ 9.93557264e-01 2.08918462e-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 2.51589946e-03 1.57516388e+02] [ 9.93671204e-01 1.44186613e-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 [[ 1.18207860e-02 -9.99925626e-01 3.00184034e-03 1.57524233e+02] [ 9.93711738e-01 1.14129412e-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 [[-2.60827040e-04 -9.99996450e-01 2.65188112e-03 1.57535462e+02] [ 9.93776043e-01 -5.54612189e-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 [[-5.22289938e-03 -9.99981489e-01 3.12136048e-03 1.57540067e+02] [ 9.93762240e-01 -5.53808593e-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 [[-1.22445315e-02 -9.99919872e-01 3.21251343e-03 1.57547624e+02] [ 9.93699019e-01 -1.25261902e-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 3.30480461e-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 [[-1.67640227e-02 -9.99853701e-01 3.39759115e-03 1.57553640e+02] [ 9.93632521e-01 -1.70381733e-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 3.48994371e-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 [[-1.14552650e-02 -9.99927969e-01 3.58236005e-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 [[-3.45651405e-03 -9.99987730e-01 3.54866348e-03 1.57562996e+02] [ 9.93771744e-01 -3.83024404e-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 [[ 6.86302353e-04 -9.99992901e-01 3.70507825e-03 1.57563615e+02] [ 9.93779671e-01 2.69423711e-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 [[ 8.71258532e-03 -9.99954848e-01 3.79386532e-03 1.57567048e+02] [ 9.93745918e-01 8.23598025e-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 [[ 1.08418907e-02 -9.99933692e-01 3.88126711e-03 1.57569025e+02] [ 9.93726570e-01 1.03423516e-02 -1.11357713e-01 1.20201825e+02] [ 1.11310188e-01 5.06424641e-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 [[ 1.32986537e-02 -9.99903698e-01 3.96744124e-03 1.57573103e+02] [ 9.93698627e-01 1.27742911e-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 [[ 1.33746186e-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 [[ 1.55222624e-02 -9.99870960e-01 4.13801765e-03 1.57581218e+02] [ 9.93668750e-01 1.49651567e-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 [[ 1.67225512e-02 -9.99851254e-01 4.22207998e-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 4.30519241e-03 1.57586064e+02] [ 9.93576777e-01 2.02028352e-02 -1.11341970e-01 1.20165618e+02] [ 1.11229846e-01 6.59470996e-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 [[ 2.21051922e-02 -9.99746019e-01 4.38830239e-03 1.57588516e+02] [ 9.93550364e-01 2.14794893e-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 [[ 1.77161843e-02 -9.99833569e-01 4.35552978e-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 4.90033158e-03 1.57595630e+02] [ 9.93675796e-01 1.47219278e-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 [[ 1.72107080e-02 -9.99839710e-01 4.93405523e-03 1.57601137e+02] [ 9.93647106e-01 1.65547819e-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 [[ 1.24426266e-02 -9.99911786e-01 4.64763250e-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 -4.49100862e-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] [ 8.13117959e-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 [[-6.23022073e-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 5.54186838e-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] [ 2.30639984e-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 8.23572161e-02 -1.04707426e-01 1.57503640e+02] [ 8.16072964e-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 3.50334671e-03 -1.04959220e-01 1.57522797e+02] [ 3.19124525e-03 9.99989974e-01 3.14134182e-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 9.94040811e-02 1.04556987e-01 1.57464683e+02] [-9.94139654e-02 -9.95032937e-01 5.13000116e-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:157.41, Y:120.20, Z:25.09 [[-9.91750031e-01 -7.41670236e-02 -1.04552039e-01 1.57405094e+02] [-7.40265317e-02 9.97242564e-01 -5.22895250e-03 1.20204830e+02] [ 1.04651559e-01 2.55381103e-03 -9.94505671e-01 2.50891391e+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:157.50, Y:120.24, Z:25.08 [[-9.83632320e-01 -1.46752613e-01 -1.04552039e-01 1.57499990e+02] [-1.47015603e-01 9.89120352e-01 -5.22895250e-03 1.20237949e+02] [ 1.04181912e-01 1.02274144e-02 -9.94505671e-01 2.50772899e+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:157.51, Y:120.27, Z:25.07 [[-9.69250353e-01 -2.24146719e-01 -1.01548024e-01 1.57507376e+02] [-2.23244557e-01 9.74550842e-01 -2.03106732e-02 1.20272052e+02] [ 1.03516283e-01 2.98391648e-03 -9.94623283e-01 2.50716271e+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:157.50, Y:120.30, Z:25.07 [[-9.48919780e-01 -2.99476361e-01 -9.93235153e-02 1.57504530e+02] [-2.98162743e-01 9.54099355e-01 -2.81673399e-02 1.20296665e+02] [ 1.03199954e-01 2.88602575e-03 -9.94656443e-01 2.50708154e+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:157.51, Y:120.33, Z:25.07 [[-9.23796907e-01 -3.70520309e-01 -9.65089369e-02 1.57508233e+02] [-3.68798375e-01 9.28820872e-01 -3.57707608e-02 1.20332914e+02] [ 1.02893308e-01 2.54742092e-03 -9.94689136e-01 2.50689812e+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:157.37, Y:120.60, Z:24.75 [[-8.78554943e-01 4.68477892e-01 9.31111029e-02 1.57368070e+02] [-4.66522668e-01 -8.83457736e-01 4.31164673e-02 1.20597591e+02] [ 1.02458836e-01 -5.55825470e-03 9.94721716e-01 2.47518357e+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:157.37, Y:120.58, Z:24.75 [[-8.77629395e-01 4.70201528e-01 9.31513154e-02 1.57372357e+02] [-4.68265133e-01 -8.82539651e-01 4.30294153e-02 1.20582121e+02] [ 1.02442226e-01 -5.85563336e-03 9.94721721e-01 2.47507844e+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:157.38, Y:120.58, Z:24.75 [[-8.77806086e-01 4.69863758e-01 9.31907949e-02 1.57381365e+02] [-4.67934531e-01 -8.82719157e-01 4.29437433e-02 1.20576578e+02] [ 1.02439008e-01 -5.91091162e-03 9.94721725e-01 2.47490602e+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:157.40, Y:120.56, Z:24.75 [[-8.78593294e-01 4.68382335e-01 9.32298858e-02 1.57400364e+02] [-4.66453809e-01 -8.83506636e-01 4.28587105e-02 1.20563867e+02] [ 1.02443486e-01 -5.83205965e-03 9.94721730e-01 2.47484656e+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:157.42, Y:120.55, Z:24.75 [[-8.79456484e-01 4.66751912e-01 9.32681325e-02 1.57415127e+02] [-4.64823085e-01 -8.84369703e-01 4.27753177e-02 1.20550151e+02] [ 1.02448972e-01 -5.73415054e-03 9.94721734e-01 2.47481934e+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:157.43, Y:120.54, Z:24.75 [[-8.79378735e-01 4.66890905e-01 9.33055407e-02 1.57429977e+02] [-4.64971493e-01 -8.84295635e-01 4.26935642e-02 1.20538803e+02] [ 1.02442919e-01 -5.84060411e-03 9.94721738e-01 2.47460890e+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:157.44, Y:120.53, Z:24.75 [[-8.79135778e-01 4.67350052e-01 9.32963664e-02 1.57437851e+02] [-4.65431090e-01 -8.84052854e-01 4.27136029e-02 1.20533926e+02] [ 1.02441124e-01 -5.87197301e-03 9.94721738e-01 2.47450396e+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:157.45, Y:120.52, Z:24.75 [[-8.78752797e-01 4.68071585e-01 9.32872622e-02 1.57446660e+02] [-4.66154559e-01 -8.83670627e-01 4.27334775e-02 1.20521314e+02] [ 1.02437540e-01 -5.93411974e-03 9.94721738e-01 2.47461684e+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:157.45, Y:120.51, Z:24.75 [[-8.78517487e-01 4.68514892e-01 9.32781905e-02 1.57448285e+02] [-4.66598254e-01 -8.83435469e-01 4.27532700e-02 1.20513899e+02] [ 1.02435806e-01 -5.96394553e-03 9.94721739e-01 2.47454464e+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:157.46, Y:120.50, Z:24.74 [[-8.79853125e-01 4.66009122e-01 9.32414985e-02 1.57456004e+02] [-4.64070040e-01 -8.84762296e-01 4.28331441e-02 1.20500614e+02] [ 1.02457198e-01 -5.58371022e-03 9.94721742e-01 2.47428410e+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:157.46, Y:120.50, Z:24.74 [[-8.80648631e-01 4.64511457e-01 9.32045876e-02 1.57464040e+02] [-4.62555566e-01 -8.85551126e-01 4.29133128e-02 1.20495043e+02] [ 1.02471153e-01 -5.32075063e-03 9.94721746e-01 2.47413290e+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:157.47, Y:120.48, Z:24.74 [[-8.81767748e-01 4.62390987e-01 9.31676629e-02 1.57474200e+02] [-4.60414873e-01 -8.86662122e-01 4.29933306e-02 1.20483294e+02] [ 1.02487966e-01 -4.98564534e-03 9.94721750e-01 2.47401797e+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:157.49, Y:120.48, Z:24.74 [[-8.80523311e-01 4.64763763e-01 9.31307927e-02 1.57492614e+02] [-4.62792428e-01 -8.85419607e-01 4.30730508e-02 1.20477742e+02] [ 1.02478623e-01 -5.17340035e-03 9.94721754e-01 2.47396142e+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:157.50, Y:120.47, Z:24.74 [[-8.78911107e-01 4.67812700e-01 9.30942734e-02 1.57498482e+02] [-4.65850029e-01 -8.83810879e-01 4.31518372e-02 1.20472512e+02] [ 1.02464709e-01 -5.44134088e-03 9.94721758e-01 2.47413780e+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:157.53, Y:120.47, Z:24.74 [[-8.77897331e-01 4.69719575e-01 9.30580324e-02 1.57534546e+02] [-4.67759304e-01 -8.82798060e-01 4.32298516e-02 1.20473865e+02] [ 1.02457358e-01 -5.57738915e-03 9.94721761e-01 2.47403304e+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:157.53, Y:120.47, Z:24.74 [[-8.76082691e-01 4.73088469e-01 9.30936029e-02 1.57533786e+02] [-4.71155133e-01 -8.80994115e-01 4.31533352e-02 1.20466136e+02] [ 1.02430261e-01 -6.05563885e-03 9.94721755e-01 2.47445740e+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:157.54, Y:120.46, Z:24.74 [[-8.74806376e-01 4.75458786e-01 9.30201394e-02 1.57543900e+02] [-4.73522047e-01 -8.79716442e-01 4.33111177e-02 1.20457592e+02] [ 1.02423998e-01 -6.15824483e-03 9.94721771e-01 2.47444306e+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:157.54, Y:120.45, Z:24.74 [[-8.74373051e-01 4.76262011e-01 9.29852939e-02 1.57541766e+02] [-4.74321873e-01 -8.79281771e-01 4.33858001e-02 1.20449514e+02] [ 1.02423282e-01 -6.16958436e-03 9.94721774e-01 2.47443197e+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:157.54, Y:120.44, Z:24.74 [[-8.74441781e-01 4.76142648e-01 9.29502546e-02 1.57542210e+02] [-4.74193907e-01 -8.79347089e-01 4.34607403e-02 1.20436266e+02] [ 1.02429048e-01 -6.07255725e-03 9.94721777e-01 2.47379944e+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:157.55, Y:120.44, Z:24.74 [[-8.73127245e-01 4.78553055e-01 9.29289416e-02 1.57550849e+02] [-4.76613032e-01 -8.78036004e-01 4.35062363e-02 1.20435043e+02] [ 1.02414999e-01 -6.30466440e-03 9.94721780e-01 2.47352876e+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:157.56, Y:120.43, Z:24.74 [[-8.74909224e-01 4.75327096e-01 9.27254111e-02 1.57560440e+02] [-4.73323096e-01 -8.79792305e-01 4.39402636e-02 1.20429354e+02] [ 1.02465101e-01 -5.44533674e-03 9.94721695e-01 2.47366006e+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:157.55, Y:120.41, Z:24.74 [[-8.76190119e-01 4.72935863e-01 9.28576586e-02 1.57550043e+02] [-4.70948258e-01 -8.81079827e-01 4.36586294e-02 1.20413303e+02] [ 1.02462741e-01 -5.47789285e-03 9.94721760e-01 2.47389261e+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:157.55, Y:120.41, Z:24.74 [[-8.78024953e-01 4.69531104e-01 9.28047621e-02 1.57550552e+02] [-4.67512681e-01 -8.82902026e-01 4.37710605e-02 1.20408687e+02] [ 1.02489387e-01 -4.95531977e-03 9.94721755e-01 2.47369913e+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:157.56, Y:120.41, Z:24.74 [[-8.84168384e-01 4.57864430e-01 9.27708553e-02 1.57561284e+02] [-4.55774074e-01 -8.89015066e-01 4.38429711e-02 1.20405922e+02] [ 1.02548825e-01 -3.51798171e-03 9.94721751e-01 2.47359362e+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:157.56, Y:120.40, Z:24.74 [[-8.87484378e-01 4.51397990e-01 9.27972742e-02 1.57559206e+02] [-4.49278157e-01 -8.92318238e-01 4.37869823e-02 1.20401115e+02] [ 1.02570056e-01 -2.83152561e-03 9.94721753e-01 2.47369904e+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:157.55, Y:120.39, Z:24.74 [[-8.94030934e-01 4.38296839e-01 9.27608184e-02 1.57554815e+02] [-4.36098145e-01 -8.98829434e-01 4.38640777e-02 1.20390004e+02] [ 1.02601640e-01 -1.23697845e-03 9.94721757e-01 2.47400681e+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:157.55, Y:120.38, Z:24.74 [[-8.96212677e-01 4.33826161e-01 9.27237790e-02 1.57546844e+02] [-4.31595440e-01 -9.00996368e-01 4.39422363e-02 1.20381696e+02] [ 1.02607080e-01 -6.37570947e-04 9.94721760e-01 2.47415145e+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:157.47, Y:120.34, Z:24.75 [[-8.97093167e-01 4.32010615e-01 9.26859146e-02 1.57470731e+02] [-4.29761975e-01 -9.01868456e-01 4.40219589e-02 1.20340649e+02] [ 1.02608456e-01 -3.41083224e-04 9.94721764e-01 2.47507099e+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:157.54, Y:120.37, Z:24.74 [[-9.02245966e-01 4.21214925e-01 9.23590967e-02 1.57537549e+02] [-4.18838751e-01 -9.06959343e-01 4.47085169e-02 1.20371614e+02] [ 1.02597840e-01 1.65451035e-03 9.94721542e-01 2.47386523e+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:157.54, Y:120.37, Z:24.74 [[-9.02658088e-01 4.20267844e-01 9.26461797e-02 1.57540572e+02] [-4.17948505e-01 -9.07399443e-01 4.41055360e-02 1.20371918e+02] [ 1.02603230e-01 1.09088649e-03 9.94721764e-01 2.47374475e+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:157.54, Y:120.37, Z:24.73 [[-9.03551747e-01 4.18351794e-01 9.26067825e-02 1.57541106e+02] [-4.16013938e-01 -9.08283995e-01 4.41881033e-02 1.20369965e+02] [ 1.02599431e-01 1.40052564e-03 9.94721768e-01 2.47335398e+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:157.54, Y:120.37, Z:24.73 [[-9.03744207e-01 4.17943507e-01 9.25723136e-02 1.57538660e+02] [-4.15596128e-01 -9.08471735e-01 4.42601974e-02 1.20369732e+02] [ 1.02597592e-01 1.52720192e-03 9.94721771e-01 2.47318879e+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:157.53, Y:120.37, Z:24.73 [[-9.03728201e-01 4.17986932e-01 9.25325022e-02 1.57534511e+02] [-4.15631275e-01 -9.08451604e-01 4.43432741e-02 1.20373246e+02] [ 1.02596209e-01 1.61486536e-03 9.94721775e-01 2.47297896e+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:157.53, Y:120.38, Z:24.73 [[-9.03224552e-01 4.19083023e-01 9.24923197e-02 1.57533347e+02] [-4.16724532e-01 -9.07946536e-01 4.44269310e-02 1.20375762e+02] [ 1.02596654e-01 1.58367620e-03 9.94721780e-01 2.47310000e+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:157.53, Y:120.38, Z:24.73 [[-9.02097755e-01 4.21511932e-01 9.24517761e-02 1.57531970e+02] [-4.19157526e-01 -9.06821772e-01 4.45111431e-02 1.20380897e+02] [ 1.02599261e-01 1.40154454e-03 9.94721784e-01 2.47339793e+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:157.54, Y:120.39, Z:24.73 [[-9.01257268e-01 4.23313806e-01 9.24162270e-02 1.57537546e+02] [-4.20961288e-01 -9.05982222e-01 4.45848307e-02 1.20387038e+02] [ 1.02600833e-01 1.27874878e-03 9.94721787e-01 2.47344119e+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:157.47, Y:120.36, Z:24.75 [[-8.98927829e-01 4.28247023e-01 9.23755716e-02 1.57474641e+02] [-4.25911796e-01 -9.03661347e-01 4.46689072e-02 1.20364806e+02] [ 1.02605560e-01 8.10278137e-04 9.94721792e-01 2.47456187e+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:157.55, Y:120.41, Z:24.74 [[-8.97391424e-01 4.31482419e-01 9.22580839e-02 1.57550213e+02] [-4.29139319e-01 -9.02121065e-01 4.49113469e-02 1.20412099e+02] [ 1.02606418e-01 7.11486308e-04 9.94721779e-01 2.47378381e+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:157.54, Y:120.41, Z:24.74 [[-8.95662029e-01 4.35047729e-01 9.23201157e-02 1.57544021e+02] [-4.32736632e-01 -9.00407379e-01 4.47834722e-02 1.20414067e+02] [ 1.02608661e-01 1.60559605e-04 9.94721789e-01 2.47381577e+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:157.41, Y:120.36, Z:24.75 [[-8.94321116e-01 4.37805975e-01 9.22803900e-02 1.57408415e+02] [-4.35501081e-01 -8.99069477e-01 4.48651825e-02 1.20358023e+02] [ 1.02608727e-01 -6.43295339e-05 9.94721793e-01 2.47518217e+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:157.51, Y:120.41, Z:24.74 [[-8.92629498e-01 4.41230238e-01 9.23496459e-02 1.57505405e+02] [-4.38958268e-01 -8.97393725e-01 4.47229456e-02 1.20409379e+02] [ 1.02607109e-01 -6.16620203e-04 9.94721771e-01 2.47397576e+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:157.41, Y:120.37, Z:24.75 [[-8.91923675e-01 4.42669956e-01 9.22792940e-02 1.57409237e+02] [-4.40390760e-01 -8.96684406e-01 4.48670695e-02 1.20369168e+02] [ 1.02606708e-01 -6.20946972e-04 9.94721809e-01 2.47507475e+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:157.54, Y:120.44, Z:24.73 [[-8.92102813e-01 4.42311227e-01 9.22678077e-02 1.57543516e+02] [-4.40027689e-01 -8.96861456e-01 4.48905484e-02 1.20437115e+02] [ 1.02607034e-01 -5.53405661e-04 9.94721816e-01 2.47338624e+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:157.43, Y:120.39, Z:24.75 [[-8.96938846e-01 4.32436561e-01 9.21918002e-02 1.57433398e+02] [-4.30084637e-01 -9.01664047e-01 4.50461095e-02 1.20391302e+02] [ 1.02605616e-01 7.53328541e-04 9.94721830e-01 2.47452726e+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:157.52, Y:120.43, Z:24.74 [[-8.96823178e-01 4.32649456e-01 9.23181235e-02 1.57515180e+02] [-4.30325222e-01 -9.01562119e-01 4.47878131e-02 1.20434258e+02] [ 1.02607946e-01 4.39931838e-04 9.94721778e-01 2.47408705e+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:157.53, Y:120.45, Z:24.75 [[-9.00376621e-01 4.25240446e-01 9.21547823e-02 1.57529776e+02] [-4.22843076e-01 -9.05078898e-01 4.51211944e-02 1.20446379e+02] [ 1.02594706e-01 1.65905691e-03 9.94721858e-01 2.47459596e+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:157.49, Y:120.43, Z:24.75 [[-9.04506795e-01 4.16393801e-01 9.21067881e-02 1.57494934e+02] [-4.13940502e-01 -9.09180129e-01 4.52189554e-02 1.20433454e+02] [ 1.02570554e-01 2.77412234e-03 9.94721863e-01 2.47516434e+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:157.55, Y:120.46, Z:24.74 [[-9.02538078e-01 4.20596890e-01 9.23215764e-02 1.57548103e+02] [-4.18209969e-01 -9.07245826e-01 4.47820593e-02 1.20462704e+02] [ 1.02593560e-01 1.80771010e-03 9.94721717e-01 2.47436606e+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:157.50, Y:120.45, Z:24.74 [[-9.05021052e-01 4.15273732e-01 9.21120095e-02 1.57501149e+02] [-4.12815776e-01 -9.09691916e-01 4.52078897e-02 1.20450112e+02] [ 1.02567199e-01 2.88880132e-03 9.94721883e-01 2.47443188e+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:157.45, Y:120.43, Z:24.75 [[-9.04617425e-01 4.16141063e-01 9.21625200e-02 1.57452298e+02] [-4.13698013e-01 -9.09296132e-01 4.51054038e-02 1.20429376e+02] [ 1.02573234e-01 2.67568283e-03 9.94721857e-01 2.47454742e+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:157.46, Y:120.44, Z:24.74 [[-9.03597386e-01 4.18363897e-01 9.21054518e-02 1.57458466e+02] [-4.15920594e-01 -9.08275912e-01 4.52208721e-02 1.20440766e+02] [ 1.02575944e-01 2.55290755e-03 9.94721900e-01 2.47390728e+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:157.43, Y:120.43, Z:24.74 [[-9.03019216e-01 4.19628789e-01 9.20216034e-02 1.57434411e+02] [-4.17174801e-01 -9.07692087e-01 4.53900960e-02 1.20433579e+02] [ 1.02574272e-01 2.59903487e-03 9.94721953e-01 2.47419070e+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:157.45, Y:120.45, Z:24.74 [[-9.01150296e-01 4.23632313e-01 9.19989527e-02 1.57454863e+02] [-4.21194434e-01 -9.05831577e-01 4.54356990e-02 1.20450022e+02] [ 1.02583587e-01 2.19494678e-03 9.94721966e-01 2.47394254e+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:157.49, Y:120.47, Z:24.73 [[-8.97299609e-01 4.31731441e-01 9.19857256e-02 1.57486400e+02] [-4.29333097e-01 -9.02001259e-01 4.54623090e-02 1.20471738e+02] [ 1.02598748e-01 1.30079573e-03 9.94721974e-01 2.47348306e+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:157.43, Y:120.45, Z:24.74 [[-8.94853984e-01 4.36794082e-01 9.19090645e-02 1.57434233e+02] [-4.34406533e-01 -8.99561077e-01 4.56161542e-02 1.20450279e+02] [ 1.02602683e-01 8.93899299e-04 9.94722017e-01 2.47414174e+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:157.51, Y:120.49, Z:24.73 [[-8.87311621e-01 4.51928210e-01 9.18639287e-02 1.57512022e+02] [-4.49611588e-01 -8.92053998e-01 4.57065110e-02 1.20493662e+02] [ 1.02603647e-01 -7.47168493e-04 9.94722038e-01 2.47294514e+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:157.51, Y:120.50, Z:24.73 [[-8.84604472e-01 4.57236131e-01 9.17063172e-02 1.57510384e+02] [-4.54915201e-01 -8.89344762e-01 4.60223161e-02 1.20495075e+02] [ 1.02601599e-01 -1.00705108e-03 9.94722020e-01 2.47287564e+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:157.51, Y:120.50, Z:24.73 [[-8.84179522e-01 4.58064873e-01 9.16686713e-02 1.57512605e+02] [-4.55740584e-01 -8.88918182e-01 4.60975683e-02 1.20496243e+02] [ 1.02601625e-01 -1.01860791e-03 9.94722006e-01 2.47284984e+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:157.53, Y:120.51, Z:24.73 [[-8.81289119e-01 4.63610846e-01 9.16213546e-02 1.57534169e+02] [-4.61306566e-01 -8.86037560e-01 4.61919204e-02 1.20512108e+02] [ 1.02595037e-01 -1.55709572e-03 9.94721988e-01 2.47292640e+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:157.54, Y:120.51, Z:24.73 [[-8.80077442e-01 4.65891184e-01 9.17011477e-02 1.57535479e+02] [-4.63615754e-01 -8.84839759e-01 4.60329702e-02 1.20513046e+02] [ 1.02587176e-01 -2.00151805e-03 9.94722004e-01 2.47311690e+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:157.51, Y:120.50, Z:24.73 [[-8.76404175e-01 4.72758694e-01 9.17329827e-02 1.57510013e+02] [-4.70527197e-01 -8.81187240e-01 4.59696052e-02 1.20497284e+02] [ 1.02566464e-01 -2.87490931e-03 9.94721999e-01 2.47301034e+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:157.57, Y:120.53, Z:24.72 [[-8.75183092e-01 4.75051693e-01 9.15447647e-02 1.57573649e+02] [-4.72793609e-01 -8.79953678e-01 4.63435832e-02 1.20528061e+02] [ 1.02570750e-01 -2.72265921e-03 9.94721985e-01 2.47199174e+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:157.44, Y:120.46, Z:24.73 [[-8.77828630e-01 4.70155872e-01 9.14896349e-02 1.57443972e+02] [-4.67859744e-01 -8.82581073e-01 4.64533045e-02 1.20464105e+02] [ 1.02587314e-01 -2.02627650e-03 9.94721940e-01 2.47312759e+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:157.55, Y:120.51, Z:24.72 [[-8.78502908e-01 4.68866386e-01 9.16348829e-02 1.57547865e+02] [-4.66593356e-01 -8.83266364e-01 4.61646061e-02 1.20514546e+02] [ 1.02583042e-01 -2.20048672e-03 9.94722010e-01 2.47230793e+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:157.47, Y:120.47, Z:24.74 [[-8.78209214e-01 4.69403046e-01 9.17025482e-02 1.57468407e+02] [-4.67146988e-01 -8.82980718e-01 4.60298029e-02 1.20473336e+02] [ 1.02578112e-01 -2.41477213e-03 9.94722021e-01 2.47369553e+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:157.54, Y:120.50, Z:24.73 [[-8.80150078e-01 4.65767771e-01 9.16309050e-02 1.57540893e+02] [-4.63477171e-01 -8.84905098e-01 4.61722732e-02 1.20503851e+02] [ 1.02590212e-01 -1.83030272e-03 9.94722021e-01 2.47322936e+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:157.56, Y:120.51, Z:24.73 [[-8.78531812e-01 4.68798862e-01 9.17032264e-02 1.57558618e+02] [-4.66539691e-01 -8.83301830e-01 4.60281883e-02 1.20508933e+02] [ 1.02579590e-01 -2.34596715e-03 9.94722034e-01 2.47282994e+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:157.48, Y:120.47, Z:24.74 [[-8.85883705e-01 4.54800464e-01 9.14691121e-02 1.57479138e+02] [-4.52417750e-01 -8.90593342e-01 4.64938637e-02 1.20466546e+02] [ 1.02607213e-01 -1.94093630e-04 9.94721932e-01 2.47432941e+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:157.45, Y:120.45, Z:24.75 [[-8.87874353e-01 4.50853397e-01 9.17079518e-02 1.57453386e+02] [-4.48498727e-01 -8.92597973e-01 4.60190309e-02 1.20450404e+02] [ 1.02606168e-01 -2.71782326e-04 9.94722022e-01 2.47496500e+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:157.44, Y:120.44, Z:24.75 [[-8.89173368e-01 4.48329281e-01 9.14963195e-02 1.57439674e+02] [-4.45917917e-01 -8.93868342e-01 4.64391889e-02 1.20440265e+02] [ 1.02605712e-01 4.92641751e-04 9.94721984e-01 2.47522622e+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:157.54, Y:120.49, Z:24.74 [[-8.90673940e-01 4.45376599e-01 9.13215047e-02 1.57540439e+02] [-4.42914190e-01 -8.95342499e-01 4.67849238e-02 1.20487148e+02] [ 1.02600935e-01 1.22252213e-03 9.94721847e-01 2.47361268e+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:157.56, Y:120.50, Z:24.73 [[-8.95570684e-01 4.35469383e-01 9.12116573e-02 1.57562261e+02] [-4.32933249e-01 -9.00199773e-01 4.70018131e-02 1.20498089e+02] [ 1.02576564e-01 2.60488675e-03 9.94721701e-01 2.47282171e+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:157.44, Y:120.44, Z:24.74 [[-8.97550632e-01 4.31353944e-01 9.13051923e-02 1.57443537e+02] [-4.28815362e-01 -9.02178226e-01 4.68170250e-02 1.20441295e+02] [ 1.02568265e-01 2.86758127e-03 9.94721835e-01 2.47418105e+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:157.53, Y:120.49, Z:24.73 [[-8.99735972e-01 4.26772288e-01 9.13268633e-02 1.57532221e+02] [-4.24214485e-01 -9.04352942e-01 4.67742096e-02 1.20490519e+02] [ 1.02553654e-01 3.34226064e-03 9.94721859e-01 2.47309973e+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:157.49, Y:120.47, Z:24.74 [[-8.97547419e-01 4.31303059e-01 9.15767553e-02 1.57493576e+02] [-4.28818910e-01 -9.02204259e-01 4.62797672e-02 1.20474542e+02] [ 1.02581544e-01 2.26844122e-03 9.94722012e-01 2.47350471e+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:157.46, Y:120.46, Z:24.74 [[-8.96421772e-01 4.33686725e-01 9.13445714e-02 1.57460975e+02] [-4.31168203e-01 -9.01060216e-01 4.67382938e-02 1.20461396e+02] [ 1.02576737e-01 2.51234943e-03 9.94721922e-01 2.47373044e+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:157.48, Y:120.48, Z:24.73 [[-8.97410278e-01 4.31662041e-01 9.12286949e-02 1.57480999e+02] [-4.29109835e-01 -9.02030418e-01 4.69667364e-02 1.20478992e+02] [ 1.02564815e-01 3.00130174e-03 9.94721796e-01 2.47331959e+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:157.53, Y:120.51, Z:24.73 [[-8.97262332e-01 4.31962682e-01 9.12608804e-02 1.57526518e+02] [-4.29418460e-01 -9.01886832e-01 4.69034080e-02 1.20512184e+02] [ 1.02567508e-01 2.89555456e-03 9.94721831e-01 2.47262702e+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:157.54, Y:120.52, Z:24.72 [[-8.98498273e-01 4.29384949e-01 9.12656504e-02 1.57536898e+02] [-4.26828413e-01 -9.03115971e-01 4.68940248e-02 1.20522222e+02] [ 1.02559055e-01 3.17942763e-03 9.94721836e-01 2.47219262e+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:157.54, Y:120.53, Z:24.72 [[-8.97064695e-01 4.32334957e-01 9.14407927e-02 1.57539911e+02] [-4.29828614e-01 -9.01709743e-01 4.65499998e-02 1.20532527e+02] [ 1.02578246e-01 2.45449221e-03 9.94721910e-01 2.47176154e+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:157.58, Y:120.56, Z:24.71 [[-8.94380605e-01 4.37869292e-01 9.13992170e-02 1.57576359e+02] [-4.35383370e-01 -8.99036609e-01 4.66314905e-02 1.20562917e+02] [ 1.02589740e-01 1.91260151e-03 9.94721915e-01 2.47093708e+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:157.49, Y:120.52, Z:24.72 [[-8.90840660e-01 4.45058107e-01 9.12480084e-02 1.57492086e+02] [-4.42579331e-01 -8.95500565e-01 4.69284006e-02 1.20523794e+02] [ 1.02598508e-01 1.42124493e-03 9.94721834e-01 2.47226590e+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:157.52, Y:120.54, Z:24.72 [[-8.91101483e-01 4.44560314e-01 9.11277928e-02 1.57520495e+02] [-4.42054795e-01 -8.95747220e-01 4.71643434e-02 1.20542713e+02] [ 1.02594862e-01 1.74473857e-03 9.94721695e-01 2.47196739e+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:157.45, Y:120.52, Z:24.73 [[-8.83749275e-01 4.58943628e-01 9.14219091e-02 1.57453619e+02] [-4.56573333e-01 -8.88465206e-01 4.65872224e-02 1.20516128e+02] [ 1.02606094e-01 -5.69381718e-04 9.94721903e-01 2.47275834e+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:157.50, Y:120.54, Z:24.72 [[-8.82167142e-01 4.62008956e-01 9.12625741e-02 1.57502420e+02] [-4.59622717e-01 -8.86875073e-01 4.68994925e-02 1.20544416e+02] [ 1.02606488e-01 -5.73161042e-04 9.94721861e-01 2.47205836e+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:157.52, Y:120.56, Z:24.72 [[-8.77854888e-01 4.70118191e-01 9.14312958e-02 1.57515303e+02] [-4.67809890e-01 -8.82601442e-01 4.65682428e-02 1.20557768e+02] [ 1.02589972e-01 -1.89230490e-03 9.94721929e-01 2.47220433e+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:157.51, Y:120.56, Z:24.72 [[-8.76546113e-01 4.72556005e-01 9.14206402e-02 1.57512930e+02] [-4.70258724e-01 -8.81298010e-01 4.65891520e-02 1.20558247e+02] [ 1.02584812e-01 -2.15381352e-03 9.94721930e-01 2.47236555e+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:157.51, Y:120.56, Z:24.72 [[-8.76714420e-01 4.72251913e-01 9.13780944e-02 1.57511438e+02] [-4.69944305e-01 -8.81461305e-01 4.66724517e-02 1.20556384e+02] [ 1.02587409e-01 -2.02420360e-03 9.94721934e-01 2.47221293e+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:157.51, Y:120.55, Z:24.72 [[-8.79721125e-01 4.66635441e-01 9.13351340e-02 1.57509144e+02] [-4.64288809e-01 -8.84448836e-01 4.67563728e-02 1.20552999e+02] [ 1.02599434e-01 -1.27331167e-03 9.94721939e-01 2.47215237e+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:157.52, Y:120.56, Z:24.72 [[-8.82075381e-01 4.62178376e-01 9.12916820e-02 1.57524774e+02] [-4.59799086e-01 -8.86786736e-01 4.68410603e-02 1.20560130e+02] [ 1.02605178e-01 -6.58485841e-04 9.94721943e-01 2.47187867e+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:157.51, Y:120.54, Z:24.72 [[-8.79131504e-01 4.67756949e-01 9.12755992e-02 1.57508914e+02] [-4.65404302e-01 -8.83856219e-01 4.68723789e-02 1.20542122e+02] [ 1.02599387e-01 -1.27307151e-03 9.94721944e-01 2.47152343e+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:157.60, Y:120.60, Z:24.71 [[-8.93777184e-01 4.39248772e-01 9.06799951e-02 1.57596667e+02] [-4.36628025e-01 -8.98359292e-01 4.80265679e-02 1.20597429e+02] [ 1.02558827e-01 3.33162346e-03 9.94721362e-01 2.47110109e+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:157.49, Y:120.54, Z:24.73 [[-8.93591664e-01 4.39468258e-01 9.14417193e-02 1.57493977e+02] [-4.36999352e-01 -8.98256634e-01 4.65465967e-02 1.20542813e+02] [ 1.02593883e-01 1.63367877e-03 9.94721984e-01 2.47266550e+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:157.51, Y:120.55, Z:24.73 [[-8.97919023e-01 4.30660160e-01 9.09574294e-02 1.57507335e+02] [-4.28050155e-01 -9.02506566e-01 4.74864493e-02 1.20552918e+02] [ 1.02540199e-01 3.70464441e-03 9.94721963e-01 2.47250023e+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:157.52, Y:120.57, Z:24.72 [[-9.00379289e-01 4.25475391e-01 9.10375133e-02 1.57523724e+02] [-4.22854630e-01 -9.04960615e-01 4.73312624e-02 1.20565325e+02] [ 1.02523651e-01 4.12045444e-03 9.94722033e-01 2.47213287e+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:157.61, Y:120.61, Z:24.71 [[-9.01703007e-01 4.22642411e-01 9.11322130e-02 1.57607280e+02] [-4.20025759e-01 -9.06286629e-01 4.71477215e-02 1.20611496e+02] [ 1.02518533e-01 4.23536525e-03 9.94722078e-01 2.47128817e+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:157.62, Y:120.62, Z:24.71 [[-9.02409824e-01 4.21118229e-01 9.11918190e-02 1.57618898e+02] [-4.18505498e-01 -9.06995666e-01 4.70320158e-02 1.20623428e+02] [ 1.02516624e-01 4.27787542e-03 9.94722093e-01 2.47088975e+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:157.61, Y:120.62, Z:24.71 [[-9.02644962e-01 4.20613362e-01 9.11947017e-02 1.57609033e+02] [-4.17998630e-01 -9.07229663e-01 4.70264229e-02 1.20621991e+02] [ 1.02514480e-01 4.32890333e-03 9.94722093e-01 2.47088497e+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:157.57, Y:120.61, Z:24.72 [[-9.01349588e-01 4.23379750e-01 9.12058573e-02 1.57568553e+02] [-4.20781276e-01 -9.05943523e-01 4.70047921e-02 1.20607386e+02] [ 1.02528233e-01 3.99003299e-03 9.94722092e-01 2.47159187e+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:157.62, Y:120.65, Z:24.71 [[-9.03849885e-01 4.18025246e-01 9.11607299e-02 1.57620012e+02] [-4.15390776e-01 -9.08423267e-01 4.70921506e-02 1.20648730e+02] [ 1.02498236e-01 4.69690855e-03 9.94722097e-01 2.47096046e+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:157.57, Y:120.62, Z:24.72 [[-9.02380193e-01 4.21172966e-01 9.12322335e-02 1.57567362e+02] [-4.18568431e-01 -9.06970691e-01 4.69535260e-02 1.20624433e+02] [ 1.02520518e-01 4.18299902e-03 9.94722095e-01 2.47181261e+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:157.54, Y:120.62, Z:24.72 [[-9.01713798e-01 4.22613185e-01 9.11609746e-02 1.57540048e+02] [-4.20002059e-01 -9.06300537e-01 4.70914736e-02 1.20617309e+02] [ 1.02520718e-01 4.17523453e-03 9.94722107e-01 2.47202924e+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:157.58, Y:120.64, Z:24.72 [[-9.03890502e-01 4.17983108e-01 9.09509799e-02 1.57575038e+02] [-4.15307712e-01 -9.08440145e-01 4.74974436e-02 1.20639239e+02] [ 1.02476650e-01 5.15984483e-03 9.94722028e-01 2.47152440e+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:157.48, Y:120.60, Z:24.72 [[-9.02901899e-01 4.20069397e-01 9.11584510e-02 1.57481592e+02] [-4.17444907e-01 -9.07480979e-01 4.70958868e-02 1.20603257e+02] [ 1.02508101e-01 4.46933450e-03 9.94722129e-01 2.47244681e+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:157.58, Y:120.67, Z:24.71 [[-9.05913248e-01 4.13605831e-01 9.08372411e-02 1.57582360e+02] [-4.10886607e-01 -9.10436914e-01 4.77160655e-02 1.20667771e+02] [ 1.02437220e-01 5.90281014e-03 9.94721958e-01 2.47125662e+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:157.61, Y:120.44, Z:25.07 [[-8.18648853e-01 -5.67014451e-01 -9.11518975e-02 1.57609460e+02] [-5.65202729e-01 8.23605962e-01 -4.71072621e-02 1.20437939e+02] [ 1.01783745e-01 1.29549951e-02 -9.94722191e-01 2.50732184e+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:157.62, Y:120.45, Z:25.08 [[-7.73856720e-01 -6.27330587e-01 -8.71900899e-02 1.57621760e+02] [-6.25183416e-01 7.78642623e-01 -5.34916970e-02 1.20447199e+02] [ 1.01446898e-01 1.31148891e-02 -9.94754506e-01 2.50762465e+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:157.67, Y:120.49, Z:25.07 [[-7.28158817e-01 -6.79840147e-01 -8.71900899e-02 1.57667244e+02] [-6.78032434e-01 7.33082981e-01 -5.34916970e-02 1.20493351e+02] [ 1.00283374e-01 2.01672581e-02 -9.94754506e-01 2.50700949e+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:157.67, Y:120.51, Z:25.07 [[-6.74467842e-01 -7.34264534e-01 -7.71279705e-02 1.57671948e+02] [-7.31451645e-01 6.78751689e-01 -6.53806955e-02 1.20507159e+02] [ 1.00357466e-01 1.23182043e-02 -9.94875189e-01 2.50691024e+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:157.44, Y:120.72, Z:24.72 [[-7.40354060e-01 6.68392702e-01 7.16035079e-02 1.57444338e+02] [-6.64633719e-01 -7.43792136e-01 7.09596954e-02 1.20719546e+02] [ 1.00687069e-01 4.94519282e-03 9.94905854e-01 2.47176198e+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:157.44, Y:120.72, Z:24.72 [[-7.41991204e-01 6.66568972e-01 7.16579239e-02 1.57438059e+02] [-6.62806823e-01 -7.45425810e-01 7.09047018e-02 1.20720164e+02] [ 1.00678540e-01 5.11530420e-03 9.94905857e-01 2.47155203e+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:157.23, Y:120.53, Z:24.75 [[-7.50389425e-01 6.57100725e-01 7.16543588e-02 1.57232763e+02] [-6.53294958e-01 -7.53775636e-01 7.09083072e-02 1.20530046e+02] [ 1.00605210e-01 6.39741257e-03 9.94905857e-01 2.47492019e+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:157.65, Y:120.48, Z:25.07 [[-6.10251632e-01 -7.88960454e-01 -7.16543588e-02 1.57654179e+02] [-7.85875715e-01 6.14305602e-01 -7.09083072e-02 1.20477935e+02] [ 9.99615243e-02 1.30395103e-02 -9.94905857e-01 2.50704750e+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:157.37, Y:120.72, Z:24.72 [[-7.02339550e-01 7.08731962e-01 6.64692662e-02 1.57371839e+02] [-7.04728423e-01 -7.05450891e-01 7.54777452e-02 1.20717536e+02] [ 1.00384293e-01 6.16822440e-03 9.94929619e-01 2.47180515e+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:157.33, Y:120.68, Z:24.73 [[-7.02695056e-01 7.08379363e-01 6.64705673e-02 1.57332676e+02] [-7.04374371e-01 -7.05804526e-01 7.54765988e-02 1.20680139e+02] [ 1.00381292e-01 6.21686876e-03 9.94929619e-01 2.47280368e+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:157.64, Y:120.45, Z:25.08 [[-5.57694017e-01 -8.27380835e-01 -6.64705673e-02 1.57637782e+02] [-8.24028599e-01 5.61498130e-01 -7.54765988e-02 1.20452245e+02] [ 9.97709906e-02 1.26808008e-02 -9.94929619e-01 2.50762488e+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:157.29, Y:120.68, Z:24.73 [[-6.51841276e-01 7.55889379e-01 6.11080839e-02 1.57292179e+02] [-7.51710418e-01 -6.54672331e-01 7.95963998e-02 1.20677216e+02] [ 1.00171845e-01 5.94863551e-03 9.94952368e-01 2.47286269e+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:157.28, Y:120.67, Z:24.73 [[-6.51615056e-01 7.56079729e-01 6.11658589e-02 1.57275082e+02] [-7.51905724e-01 -6.54453409e-01 7.95519781e-02 1.20673929e+02] [ 1.00177843e-01 5.84630725e-03 9.94952371e-01 2.47309603e+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:157.27, Y:120.69, Z:24.73 [[-6.52479071e-01 7.55329533e-01 6.12238380e-02 1.57274511e+02] [-7.51156414e-01 -6.55318721e-01 7.95073323e-02 1.20685944e+02] [ 1.00175363e-01 5.88819172e-03 9.94952374e-01 2.47285365e+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:157.30, Y:120.72, Z:24.72 [[-6.51830846e-01 7.55884314e-01 6.12817479e-02 1.57297666e+02] [-7.51717772e-01 -6.54680132e-01 7.94626723e-02 1.20716484e+02] [ 1.00184530e-01 5.72964188e-03 9.94952376e-01 2.47206538e+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:157.64, Y:120.44, Z:25.08 [[-5.04771154e-01 -8.61067461e-01 -6.13914509e-02 1.57637429e+02] [-8.57493118e-01 5.08335220e-01 -7.93779312e-02 1.20439850e+02] [ 9.95571903e-02 1.25750567e-02 -9.94952378e-01 2.50822235e+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:157.21, Y:120.63, Z:24.73 [[-6.02128713e-01 7.96465983e-01 5.55243366e-02 1.57206626e+02] [-7.92122088e-01 -6.04651808e-01 8.32993908e-02 1.20630519e+02] [ 9.99180217e-02 6.17490152e-03 9.94976512e-01 2.47324631e+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:157.20, Y:120.63, Z:24.73 [[-6.02573645e-01 7.96120536e-01 5.56515371e-02 1.57203133e+02] [-7.91782948e-01 -6.05107544e-01 8.32143239e-02 1.20633287e+02] [ 9.99237971e-02 6.07882044e-03 9.94976524e-01 2.47318862e+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:157.20, Y:120.65, Z:24.73 [[-5.96300289e-01 8.00825932e-01 5.57116958e-02 1.57204549e+02] [-7.96512096e-01 -5.98874412e-01 8.31740287e-02 1.20647824e+02] [ 9.99722281e-02 5.22165776e-03 9.94976526e-01 2.47288512e+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:157.19, Y:120.64, Z:24.74 [[-5.97310240e-01 8.00081825e-01 5.55837354e-02 1.57189752e+02] [-7.95756864e-01 -5.99865664e-01 8.32598221e-02 1.20637512e+02] [ 9.99574447e-02 5.50080531e-03 9.94976507e-01 2.47355868e+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:157.17, Y:120.62, Z:24.74 [[-5.89725524e-01 8.05674377e-01 5.57907155e-02 1.57172375e+02] [-8.01386724e-01 -5.92343004e-01 8.31209009e-02 1.20624606e+02] [ 1.00015620e-01 4.30857812e-03 9.94976538e-01 2.47416473e+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:157.17, Y:120.63, Z:24.74 [[-5.85321307e-01 8.08875504e-01 5.58514705e-02 1.57169503e+02] [-8.04606054e-01 -5.87968369e-01 8.30800580e-02 1.20626810e+02] [ 1.00040322e-01 3.69009684e-03 9.94976541e-01 2.47439738e+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:157.15, Y:120.60, Z:24.75 [[-5.74805595e-01 8.16377531e-01 5.59129134e-02 1.57147515e+02] [-8.12146686e-01 -5.77513928e-01 8.30386866e-02 1.20603728e+02] [ 1.00081404e-01 2.32161432e-03 9.94976544e-01 2.47518738e+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:157.14, Y:120.60, Z:24.75 [[-5.64786453e-01 8.23336507e-01 5.59755254e-02 1.57138749e+02] [-8.19143234e-01 -5.67552596e-01 8.29964594e-02 1.20595519e+02] [ 1.00103070e-01 1.02330295e-03 9.94976547e-01 2.47525804e+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:157.13, Y:120.59, Z:24.75 [[-5.60740732e-01 8.26092829e-01 5.60398872e-02 1.57132510e+02] [-8.21917497e-01 -5.63533877e-01 8.29529794e-02 1.20588950e+02] [ 1.00107236e-01 4.54950569e-04 9.94976550e-01 2.47549578e+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:157.12, Y:120.57, Z:24.76 [[-5.54381877e-01 8.30369139e-01 5.61055098e-02 1.57121719e+02] [-8.26219843e-01 -5.57213549e-01 8.29085719e-02 1.20573041e+02] [ 1.00107470e-01 -3.92475791e-04 9.94976553e-01 2.47614485e+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:157.13, Y:120.57, Z:24.76 [[-5.50431005e-01 8.32988824e-01 5.61723068e-02 1.57129439e+02] [-8.28857621e-01 -5.53289002e-01 8.28632912e-02 1.20572442e+02] [ 1.00103715e-01 -9.48319978e-04 9.94976556e-01 2.47607206e+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:157.12, Y:120.55, Z:24.76 [[-5.49169259e-01 8.33816111e-01 5.62478333e-02 1.57118513e+02] [-8.29694461e-01 -5.52041009e-01 8.28119924e-02 1.20550159e+02] [ 1.00101084e-01 -1.19071519e-03 9.94976560e-01 2.47630239e+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:157.12, Y:120.55, Z:24.76 [[-5.47292848e-01 8.35044379e-01 5.63154007e-02 1.57124569e+02] [-8.30933898e-01 -5.50180556e-01 8.27660188e-02 1.20548870e+02] [ 1.00096937e-01 -1.49712530e-03 9.94976563e-01 2.47634970e+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:157.12, Y:120.54, Z:24.76 [[-5.43859800e-01 8.37279752e-01 5.63838226e-02 1.57123569e+02] [-8.33185963e-01 -5.46771118e-01 8.27193809e-02 1.20537516e+02] [ 1.00088308e-01 -1.99046364e-03 9.94976567e-01 2.47625062e+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:157.13, Y:120.53, Z:24.76 [[-5.49382712e-01 8.33676631e-01 5.62308672e-02 1.57130007e+02] [-8.29553050e-01 -5.52251722e-01 8.28237455e-02 1.20533127e+02] [ 1.00101814e-01 -1.14455354e-03 9.94976541e-01 2.47637513e+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:157.14, Y:120.53, Z:24.76 [[-5.52165512e-01 8.31819827e-01 5.64714380e-02 1.57135602e+02] [-8.27703364e-01 -5.55044652e-01 8.26593969e-02 1.20531765e+02] [ 1.00101895e-01 -1.09993098e-03 9.94976583e-01 2.47627319e+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:157.14, Y:120.52, Z:24.76 [[-5.58463385e-01 8.27600074e-01 5.65399428e-02 1.57143262e+02] [-8.23466596e-01 -5.61318037e-01 8.26125127e-02 1.20524417e+02] [ 1.00107011e-01 -4.22690760e-04 9.94976586e-01 2.47619515e+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:157.16, Y:120.53, Z:24.76 [[-5.66430331e-01 8.22163121e-01 5.66081402e-02 1.57156348e+02] [-8.18006912e-01 -5.69251779e-01 8.25657561e-02 1.20525470e+02] [ 1.00106804e-01 4.61898647e-04 9.94976590e-01 2.47590641e+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:157.16, Y:120.51, Z:24.76 [[-5.71871227e-01 8.18383261e-01 5.66757207e-02 1.57155681e+02] [-8.14213001e-01 -5.74671860e-01 8.25193411e-02 1.20514489e+02] [ 1.00102389e-01 1.04432822e-03 9.94976593e-01 2.47584206e+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:157.17, Y:120.52, Z:24.75 [[-5.82854031e-01 8.10593242e-01 5.67430489e-02 1.57174765e+02] [-8.06390076e-01 -5.85605026e-01 8.24730184e-02 1.20523198e+02] [ 1.00081086e-01 2.31269970e-03 9.94976597e-01 2.47549140e+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:157.19, Y:120.54, Z:24.75 [[-5.88053411e-01 8.06824549e-01 5.68096122e-02 1.57188595e+02] [-8.02608179e-01 -5.90784120e-01 8.24271427e-02 1.20535282e+02] [ 1.00066459e-01 2.87570302e-03 9.94976600e-01 2.47530492e+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:157.36, Y:120.10, Z:25.12 [[-4.65248081e-01 -8.83351322e-01 -5.68741149e-02 1.57358237e+02] [-8.79579150e-01 4.68565496e-01 -8.23826126e-02 1.20096532e+02] [ 9.94220376e-02 1.16969332e-02 -9.94976603e-01 2.51166559e+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:157.16, Y:120.51, Z:24.75 [[-5.32083074e-01 8.45226573e-01 4.97960193e-02 1.57160821e+02] [-8.40799953e-01 -5.34391995e-01 8.64906646e-02 1.20510691e+02] [ 9.97148021e-02 4.15172798e-03 9.95007398e-01 2.47541947e+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:157.16, Y:120.51, Z:24.75 [[-5.31094532e-01 8.45820157e-01 5.02678757e-02 1.57164622e+02] [-8.41421897e-01 -5.33456715e-01 8.62155666e-02 1.20513955e+02] [ 9.97385999e-02 3.49212463e-03 9.95007546e-01 2.47524515e+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:157.15, Y:120.49, Z:24.75 [[-5.26801463e-01 8.48496657e-01 5.03353009e-02 1.57153113e+02] [-8.44114153e-01 -5.29192745e-01 8.61761841e-02 1.20490496e+02] [ 9.97572801e-02 2.90899993e-03 9.95007549e-01 2.47549539e+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:157.16, Y:120.50, Z:24.75 [[-5.25071204e-01 8.49564426e-01 5.04035482e-02 1.57156280e+02] [-8.45190606e-01 -5.27478327e-01 8.61362488e-02 1.20495610e+02] [ 9.97650720e-02 2.62705843e-03 9.95007552e-01 2.47541720e+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:157.14, Y:120.48, Z:24.76 [[-5.23674744e-01 8.50421827e-01 5.04725425e-02 1.57144942e+02] [-8.46055837e-01 -5.26096031e-01 8.60958022e-02 1.20476881e+02] [ 9.97711537e-02 2.38360802e-03 9.95007555e-01 2.47567964e+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:157.15, Y:120.49, Z:24.76 [[-5.26403550e-01 8.48731286e-01 5.05421303e-02 1.57150311e+02] [-8.44361432e-01 -5.28817852e-01 8.60549319e-02 1.20487979e+02] [ 9.97650938e-02 2.62379617e-03 9.95007559e-01 2.47552979e+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:157.15, Y:120.48, Z:24.76 [[-5.28082358e-01 8.47683581e-01 5.06119531e-02 1.57147395e+02] [-8.43312862e-01 -5.30495085e-01 8.60138474e-02 1.20481411e+02] [ 9.97619186e-02 2.74068436e-03 9.95007562e-01 2.47561759e+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:157.15, Y:120.48, Z:24.76 [[-5.29569990e-01 8.46750873e-01 5.06812087e-02 1.57145788e+02] [-8.42379797e-01 -5.31982065e-01 8.59730216e-02 1.20475583e+02] [ 9.97592251e-02 2.83590594e-03 9.95007565e-01 2.47562744e+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:157.15, Y:120.48, Z:24.76 [[-5.30364842e-01 8.46249067e-01 5.07508672e-02 1.57147662e+02] [-8.41879631e-01 -5.32779878e-01 8.59318820e-02 1.20475202e+02] [ 9.97588159e-02 2.84912767e-03 9.95007568e-01 2.47573120e+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:157.14, Y:120.46, Z:24.76 [[-5.27782819e-01 8.47857638e-01 5.08204924e-02 1.57136632e+02] [-8.43499519e-01 -5.30218212e-01 8.58906860e-02 1.20459528e+02] [ 9.97690247e-02 2.46456748e-03 9.95007572e-01 2.47594352e+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:157.14, Y:120.47, Z:24.76 [[-5.26230554e-01 8.48817722e-01 5.08908473e-02 1.57142986e+02] [-8.44468070e-01 -5.28681030e-01 8.58489804e-02 1.20473622e+02] [ 9.97751615e-02 2.20066096e-03 9.95007575e-01 2.47592182e+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:157.13, Y:120.46, Z:24.76 [[-5.20256382e-01 8.52488274e-01 5.09611679e-02 1.57133555e+02] [-8.48160003e-01 -5.22744422e-01 8.58072171e-02 1.20456870e+02] [ 9.97893127e-02 1.41852795e-03 9.95007578e-01 2.47622656e+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:157.13, Y:120.45, Z:24.76 [[-5.23030763e-01 8.50794295e-01 5.08712946e-02 1.57131398e+02] [-8.46452773e-01 -5.25495627e-01 8.58606367e-02 1.20452784e+02] [ 9.97823827e-02 1.84760593e-03 9.95007569e-01 2.47641956e+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:157.14, Y:120.45, Z:24.77 [[-5.21326001e-01 8.51829383e-01 5.10480389e-02 1.57135986e+02] [-8.47503031e-01 -5.23817353e-01 8.57554277e-02 1.20448726e+02] [ 9.97888417e-02 1.44316650e-03 9.95007590e-01 2.47658179e+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:157.14, Y:120.45, Z:24.76 [[-5.28277189e-01 8.47552707e-01 5.07702639e-02 1.57135271e+02] [-8.43190274e-01 -5.30704952e-01 8.59209837e-02 1.20447486e+02] [ 9.97665929e-02 2.58110302e-03 9.95007520e-01 2.47645128e+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:157.12, Y:120.41, Z:24.78 [[-5.31693435e-01 8.45391912e-01 5.11332160e-02 1.57115878e+02] [-8.41040310e-01 -5.34140378e-01 8.57044487e-02 1.20407267e+02] [ 9.97661631e-02 2.56339692e-03 9.95007609e-01 2.47759058e+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:157.13, Y:120.42, Z:24.78 [[-5.33356268e-01 8.44358050e-01 5.08976917e-02 1.57126280e+02] [-8.39988287e-01 -5.35770741e-01 8.58451573e-02 1.20420806e+02] [ 9.97535436e-02 3.03258789e-03 9.95007555e-01 2.47752913e+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:157.13, Y:120.42, Z:24.78 [[-5.40117597e-01 8.40054062e-01 5.08149101e-02 1.57128907e+02] [-8.35660443e-01 -5.42488465e-01 8.58946399e-02 1.20419527e+02] [ 9.97226437e-02 3.92919621e-03 9.95007515e-01 2.47781165e+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:157.12, Y:120.40, Z:24.78 [[-5.42301521e-01 8.38639020e-01 5.09279424e-02 1.57122033e+02] [-8.34245532e-01 -5.44672498e-01 8.58269377e-02 1.20400692e+02] [ 9.97168685e-02 4.05767045e-03 9.95007579e-01 2.47796935e+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:157.12, Y:120.39, Z:24.78 [[-5.42936198e-01 8.38233432e-01 5.08428824e-02 1.57117580e+02] [-8.33833420e-01 -5.45295155e-01 8.58779454e-02 1.20392114e+02] [ 9.97101423e-02 4.23175067e-03 9.95007528e-01 2.47783229e+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:157.14, Y:120.43, Z:24.77 [[-5.43192525e-01 8.38062635e-01 5.09205354e-02 1.57139323e+02] [-8.33666224e-01 -5.45558075e-01 8.58313079e-02 1.20430693e+02] [ 9.97121213e-02 4.17219441e-03 9.95007581e-01 2.47729355e+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:157.13, Y:120.42, Z:24.77 [[-5.40547509e-01 8.39766288e-01 5.09997387e-02 1.57126765e+02] [-8.35381807e-01 -5.42934987e-01 8.57836633e-02 1.20418329e+02] [ 9.97277709e-02 3.76589165e-03 9.95007633e-01 2.47735976e+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 [[-5.48441489e-01 8.34619857e-01 5.12018366e-02 1.56969393e+02] [-8.30224310e-01 -5.50808226e-01 8.56615042e-02 1.20167077e+02] [ 9.96971852e-02 4.47131341e-03 9.95007778e-01 2.47982604e+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:157.14, Y:120.46, Z:24.76 [[-5.52527587e-01 8.31906722e-01 5.14244208e-02 1.57143553e+02] [-8.27511939e-01 -5.54895575e-01 8.55271465e-02 1.20457387e+02] [ 9.96857916e-02 4.70178579e-03 9.95007857e-01 2.47648628e+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:157.29, Y:120.01, Z:25.13 [[-4.07319132e-01 -9.11815779e-01 -5.17987396e-02 1.57291166e+02] [-9.07900239e-01 4.10415755e-01 -8.52998508e-02 1.20014122e+02] [ 9.90367688e-02 1.22838269e-02 -9.95007953e-01 2.51251137e+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:157.14, Y:120.53, Z:24.75 [[-4.81799011e-01 8.75139225e-01 4.47330898e-02 1.57144812e+02] [-8.70624351e-01 -4.83855730e-01 8.88643466e-02 1.20528544e+02] [ 9.94130372e-02 3.86903707e-03 9.95038732e-01 2.47526595e+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:157.15, Y:120.54, Z:24.75 [[-4.84829886e-01 8.73499998e-01 4.40197109e-02 1.57146997e+02] [-8.68945592e-01 -4.86798394e-01 8.92237700e-02 1.20538619e+02] [ 9.93656875e-02 5.00761645e-03 9.95038383e-01 2.47507601e+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:157.10, Y:120.47, Z:24.76 [[-4.94039060e-01 8.68308614e-01 4.43346024e-02 1.57104449e+02] [-8.63747575e-01 -4.95991505e-01 8.90648853e-02 1.20474048e+02] [ 9.93253933e-02 5.70762697e-03 9.95038637e-01 2.47576297e+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:157.41, Y:120.25, Z:25.11 [[-3.29338575e-01 -9.43142580e-01 -4.49241192e-02 1.57414376e+02] [-9.39045305e-01 3.32136019e-01 -8.87669993e-02 1.20247721e+02] [ 9.86408548e-02 1.29513862e-02 -9.95038815e-01 2.51111355e+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:157.06, Y:120.45, Z:24.75 [[-4.25978131e-01 9.03951461e-01 3.76083436e-02 1.57064771e+02] [-8.99296012e-01 -4.27602558e-01 9.17754598e-02 1.20454860e+02] [ 9.90419849e-02 5.27330540e-03 9.95069283e-01 2.47519457e+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:157.10, Y:120.56, Z:24.74 [[-4.25883174e-01 9.03989638e-01 3.77658103e-02 1.57104476e+02] [-8.99339966e-01 -4.27524021e-01 9.17106176e-02 1.20560050e+02] [ 9.90512391e-02 5.09370643e-03 9.95069297e-01 2.47415452e+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:157.46, Y:120.38, Z:25.09 [[-2.70063913e-01 -9.62096683e-01 -3.78874122e-02 1.57463940e+02] [-9.57789868e-01 2.72464566e-01 -9.16604002e-02 1.20375960e+02] [ 9.85091442e-02 1.15340132e-02 -9.95069302e-01 2.50948294e+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:157.04, Y:120.47, Z:24.76 [[-3.62876628e-01 9.31317209e-01 3.11257073e-02 1.57044568e+02] [-9.26583381e-01 -3.64171334e-01 9.39280512e-02 1.20472378e+02] [ 9.88119008e-02 5.24373140e-03 9.95092313e-01 2.47592538e+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:157.43, Y:120.32, Z:25.10 [[-2.13793220e-01 -9.76382942e-01 -3.11257073e-02 1.57426800e+02] [-9.71907713e-01 2.15807597e-01 -9.39280512e-02 1.20316021e+02] [ 9.84269111e-02 1.01701345e-02 -9.95092313e-01 2.50981507e+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:156.99, Y:120.37, Z:24.77 [[-2.82959713e-01 9.58808456e-01 2.49027284e-02 1.56992084e+02] [-9.54040492e-01 -2.84034475e-01 9.55570900e-02 1.20372166e+02] [ 9.86941793e-02 3.28059555e-03 9.95112404e-01 2.47705895e+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:157.40, Y:120.23, Z:25.11 [[-1.62170814e-01 -9.86448418e-01 -2.49027284e-02 1.57396927e+02] [-9.81850040e-01 1.63827170e-01 -9.55570900e-02 1.20230443e+02] [ 9.83418838e-02 8.95417378e-03 -9.95112404e-01 2.51115007e+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:157.37, Y:120.16, Z:25.11 [[-9.84953943e-02 -9.94825870e-01 -2.49027284e-02 1.57372632e+02] [-9.90343338e-01 1.00443598e-01 -9.55570900e-02 1.20162969e+02] [ 9.75639848e-02 1.52503179e-02 -9.95112404e-01 2.51149077e+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:120.10, Z:25.13 [[-3.11930357e-02 -9.99203107e-01 -2.49027284e-02 1.57350143e+02] [-9.94862137e-01 3.34390498e-02 -9.55570900e-02 1.20098161e+02] [ 9.63136648e-02 2.17940658e-02 -9.95112404e-01 2.51263595e+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:120.05, Z:25.14 [[ 5.32855473e-02 -9.98268754e-01 -2.49027284e-02 1.57334665e+02] [-9.94132927e-01 -5.06810262e-02 -9.55570900e-02 1.20045126e+02] [ 9.41295613e-02 2.98484341e-02 -9.95112404e-01 2.51389439e+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:156.87, Y:119.97, Z:24.81 [[-8.38466859e-03 9.99959120e-01 -3.38470711e-03 1.56874402e+02] [-9.95460904e-01 -8.02595818e-03 9.48323397e-02 1.19969360e+02] [ 9.48012974e-02 4.16448134e-03 9.95487504e-01 2.48062119e+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:157.37, Y:120.00, Z:25.14 [[ 1.39870889e-01 -9.90166786e-01 2.42291573e-03 1.57374342e+02] [-9.85672690e-01 -1.39468168e-01 -9.48576722e-02 1.20004764e+02] [ 9.42628360e-02 1.08796251e-02 -9.95487896e-01 2.51387674e+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:156.92, Y:119.89, Z:24.81 [[ 6.68237698e-02 9.97709066e-01 -1.05452643e-02 1.56923341e+02] [-9.93278885e-01 6.75206927e-02 9.40107068e-02 1.19891587e+02] [ 9.45073580e-02 4.19223857e-03 9.95515336e-01 2.48100655e+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:157.40, Y:119.97, Z:25.14 [[ 2.17609239e-01 -9.75992551e-01 9.20643880e-03 1.57403305e+02] [-9.71509617e-01 -2.17497800e-01 -9.41476034e-02 1.19965609e+02] [ 9.38897399e-02 1.15432446e-02 -9.95515681e-01 2.51436014e+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:157.44, Y:119.96, Z:25.14 [[ 2.95570767e-01 -9.55198838e-01 1.52676654e-02 1.57436913e+02] [-9.50745287e-01 -2.95679849e-01 -9.30420686e-02 1.19960938e+02] [ 9.33880168e-02 1.29848546e-02 -9.95545113e-01 2.51395530e+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:157.00, Y:119.78, Z:24.82 [[ 2.21066522e-01 9.74953830e-01 -2.43848848e-02 1.56998487e+02] [-9.70741622e-01 2.22377528e-01 9.06031918e-02 1.19783826e+02] [ 9.37565793e-02 3.64209017e-03 9.95588489e-01 2.48236074e+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:157.00, Y:119.75, Z:24.82 [[ 2.22366284e-01 9.74649108e-01 -2.47457296e-02 1.57004457e+02] [-9.70445570e-01 2.23705146e-01 9.05063743e-02 1.19754837e+02] [ 9.37477040e-02 3.88881755e-03 9.95588391e-01 2.48234515e+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:157.01, Y:119.73, Z:24.82 [[ 2.22820622e-01 9.74543184e-01 -2.48304926e-02 1.57010139e+02] [-9.70341485e-01 2.24165383e-01 9.04836075e-02 1.19728294e+02] [ 9.37463198e-02 3.93244331e-03 9.95588350e-01 2.48229864e+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:157.02, Y:119.70, Z:24.83 [[ 2.21959266e-01 9.74731717e-01 -2.51428747e-02 1.57017272e+02] [-9.70540363e-01 2.23336673e-01 9.03998555e-02 1.19699708e+02] [ 9.37309324e-02 4.33708916e-03 9.95588119e-01 2.48260845e+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:157.03, Y:119.67, Z:24.83 [[ 2.20106866e-01 9.75161629e-01 -2.47540831e-02 1.57025768e+02] [-9.70961464e-01 2.21456240e-01 9.05039787e-02 1.19670685e+02] [ 9.37379535e-02 4.11471362e-03 9.95588402e-01 2.48308555e+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:157.51, Y:119.83, Z:25.17 [[ 3.78671109e-01 -9.25218161e-01 2.40737477e-02 1.57507626e+02] [-9.20843589e-01 -3.79240292e-01 -9.06856395e-02 1.19826607e+02] [ 9.30337357e-02 1.21718754e-02 -9.95588554e-01 2.51703051e+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:157.54, Y:119.83, Z:25.17 [[ 4.46669620e-01 -8.94239943e-01 2.86561357e-02 1.57539275e+02] [-8.89905714e-01 -4.47359627e-01 -8.90908826e-02 1.19827891e+02] [ 9.24882240e-02 1.42929319e-02 -9.95611189e-01 2.51696325e+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:157.12, Y:119.58, Z:24.83 [[ 3.64928893e-01 9.30270460e-01 -3.77329451e-02 1.57123663e+02] [-9.26380883e-01 3.66853621e-01 8.50698585e-02 1.19578286e+02] [ 9.29804439e-02 3.91062968e-03 9.95660255e-01 2.48296846e+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:157.57, Y:119.80, Z:25.18 [[ 5.07106032e-01 -8.61056910e-01 3.77421508e-02 1.57572251e+02] [-8.56912692e-01 -5.08393993e-01 -8.50657741e-02 1.19802464e+02] [ 9.24343553e-02 1.07956391e-02 -9.95660255e-01 2.51775580e+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:157.17, Y:119.53, Z:24.83 [[ 4.42342664e-01 8.95757228e-01 -4.41809518e-02 1.57174194e+02] [-8.92040637e-01 4.44531145e-01 8.15816360e-02 1.19527376e+02] [ 9.27171492e-02 3.32416620e-03 9.95686939e-01 2.48291259e+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:157.19, Y:119.50, Z:24.83 [[ 4.52668721e-01 8.90479124e-01 -4.62380649e-02 1.57193430e+02] [-8.86847731e-01 4.55001042e-01 8.04683468e-02 1.19498165e+02] [ 9.26937506e-02 4.58061926e-03 9.95684130e-01 2.48345346e+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:119.76, Z:25.19 [[ 5.53066657e-01 -8.31971700e-01 4.40495509e-02 1.57623774e+02] [-8.28000967e-01 -5.54750091e-01 -8.16500771e-02 1.19759143e+02] [ 9.23670458e-02 8.68486443e-03 -9.95687151e-01 2.51877005e+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:157.65, Y:119.77, Z:25.19 [[ 6.13221966e-01 -7.88313288e-01 5.02093733e-02 1.57649642e+02] [-7.84520825e-01 -6.15218883e-01 -7.76711095e-02 1.19765178e+02] [ 9.21189222e-02 8.23933141e-03 -9.95713924e-01 2.51898351e+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:157.67, Y:119.77, Z:25.19 [[ 6.67653598e-01 -7.42363880e-01 5.59869828e-02 1.57673285e+02] [-7.38778915e-01 -6.69954383e-01 -7.32587161e-02 1.19773579e+02] [ 9.18933493e-02 7.54944303e-03 -9.95740236e-01 2.51912907e+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:157.36, Y:119.41, Z:24.85 [[ 6.64569339e-01 7.44700873e-01 -6.13857044e-02 1.57357310e+02] [-7.41551312e-01 6.67398388e-01 6.84181558e-02 1.19409377e+02] [ 9.19197805e-02 5.20410974e-05 9.95766414e-01 2.48462122e+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:157.71, Y:119.76, Z:25.20 [[ 7.20281715e-01 -6.90958069e-01 6.14100803e-02 1.57712982e+02] [-6.87600575e-01 -7.22860567e-01 -6.83962699e-02 1.19761480e+02] [ 9.16498800e-02 7.03897605e-03 -9.95766415e-01 2.51981273e+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:157.74, Y:119.78, Z:25.20 [[ 7.72162211e-01 -6.31947391e-01 6.63928849e-02 1.57735817e+02] [-6.28822207e-01 -7.74979474e-01 -6.31620597e-02 1.19775175e+02] [ 9.13682220e-02 7.02203522e-03 -9.95792418e-01 2.51992529e+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:157.76, Y:119.79, Z:25.20 [[ 8.17515614e-01 -5.71635622e-01 7.00066885e-02 1.57760253e+02] [-5.68670126e-01 -8.20466630e-01 -5.87264598e-02 1.19790872e+02] [ 9.10082881e-02 8.19908549e-03 -9.95816382e-01 2.51973200e+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:157.78, Y:119.81, Z:25.20 [[ 8.55239832e-01 -5.12894782e-01 7.41874125e-02 1.57781839e+02] [-5.10233393e-01 -8.58421305e-01 -5.26758697e-02 1.19805293e+02] [ 9.07012341e-02 7.19760676e-03 -9.95852138e-01 2.51962652e+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:157.80, Y:119.83, Z:25.20 [[ 8.90428176e-01 -4.48414599e-01 7.78589162e-02 1.57804818e+02] [-4.46060844e-01 -8.93801756e-01 -4.63480853e-02 1.19827982e+02] [ 9.03735940e-02 6.53982722e-03 -9.95886461e-01 2.52016364e+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:157.83, Y:119.84, Z:25.20 [[ 9.18045226e-01 -3.88119565e-01 8.09701578e-02 1.57825158e+02] [-3.86104951e-01 -9.21593664e-01 -3.98507855e-02 1.19843195e+02] [ 9.00884539e-02 5.32184451e-03 -9.95919549e-01 2.51953409e+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:157.85, Y:119.86, Z:25.20 [[ 9.44586367e-01 -3.17356591e-01 8.39129938e-02 1.57847358e+02] [-3.15744308e-01 -9.48298222e-01 -3.21871738e-02 1.19864992e+02] [ 8.97893546e-02 3.90851536e-03 -9.95953109e-01 2.51969244e+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:157.87, Y:119.88, Z:25.20 [[ 9.65502525e-01 -2.45821765e-01 8.58867521e-02 1.57865851e+02] [-2.44519892e-01 -9.69308190e-01 -2.55275333e-02 1.19883459e+02] [ 8.95259555e-02 3.64587849e-03 -9.95977816e-01 2.51994337e+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:157.88, Y:119.91, Z:25.20 [[ 9.82099119e-01 -1.66874695e-01 8.73736568e-02 1.57880990e+02] [-1.65884443e-01 -9.85971168e-01 -1.85258670e-02 1.19907745e+02] [ 8.92394048e-02 3.70030729e-03 -9.96003332e-01 2.52010832e+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:157.90, Y:119.93, Z:25.21 [[ 9.92186305e-01 -8.82815400e-02 8.81629480e-02 1.57897049e+02] [-8.75106627e-02 -9.96084165e-01 -1.25785607e-02 1.19927867e+02] [ 8.89281712e-02 4.76507768e-03 -9.96026643e-01 2.52106056e+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:157.91, Y:119.94, Z:25.21 [[ 9.96061057e-01 -3.79654428e-03 8.85886985e-02 1.57912517e+02] [-3.41931341e-03 -9.99984432e-01 -4.40959456e-03 1.19940755e+02] [ 8.86040606e-02 4.08931289e-03 -9.96058531e-01 2.52099288e+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:157.93, Y:119.96, Z:25.21 [[ 9.93046719e-01 7.77375220e-02 8.84030083e-02 1.57925731e+02] [ 7.78174288e-02 -9.96964372e-01 2.54739658e-03 1.19960163e+02] [ 8.83326780e-02 4.34961099e-03 -9.96081532e-01 2.52133414e+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:157.94, Y:119.98, Z:25.22 [[ 9.82534152e-01 1.64123899e-01 8.76925619e-02 1.57937246e+02] [ 1.63945695e-01 -9.86425715e-01 9.28003217e-03 1.19983604e+02] [ 8.80252731e-02 5.25886943e-03 -9.96104360e-01 2.52191098e+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:157.95, Y:120.02, Z:25.22 [[ 9.66188255e-01 2.42868396e-01 8.65748092e-02 1.57947586e+02] [ 2.42463311e-01 -9.70039532e-01 1.53248002e-02 1.20017109e+02] [ 8.77028970e-02 6.18457301e-03 -9.96127478e-01 2.52197144e+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:157.96, Y:120.05, Z:25.22 [[ 9.40944938e-01 3.27824780e-01 8.45785916e-02 1.57956219e+02] [ 3.27093911e-01 -9.44717840e-01 2.27546723e-02 1.20047531e+02] [ 8.73624498e-02 6.25424860e-03 -9.96156959e-01 2.52206529e+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:157.97, Y:120.07, Z:25.22 [[ 9.08725278e-01 4.09165618e-01 8.24734331e-02 1.57965688e+02] [ 4.08229177e-01 -9.12428514e-01 2.86905131e-02 1.20073520e+02] [ 8.69902835e-02 7.59626722e-03 -9.96180198e-01 2.52217266e+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:157.97, Y:120.11, Z:25.23 [[ 8.71351051e-01 4.84109879e-01 7.99060139e-02 1.57968328e+02] [ 4.82957963e-01 -8.74965283e-01 3.44580957e-02 1.20106222e+02] [ 8.65964925e-02 8.56614780e-03 -9.96206640e-01 2.52268707e+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:157.98, Y:120.13, Z:25.23 [[ 8.26024390e-01 5.58382060e-01 7.67670636e-02 1.57975123e+02] [ 5.57011675e-01 -8.29529271e-01 4.02390684e-02 1.20133935e+02] [ 8.61493003e-02 9.52169878e-03 -9.96236737e-01 2.52326753e+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:157.97, Y:120.18, Z:25.24 [[ 7.76143043e-01 6.26410494e-01 7.21932834e-02 1.57969816e+02] [ 6.24682734e-01 -7.79447825e-01 4.72500895e-02 1.20175220e+02] [ 8.58688496e-02 8.42506934e-03 -9.96270826e-01 2.52356500e+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:157.97, Y:120.20, Z:25.24 [[ 7.17781406e-01 6.92928377e-01 6.81184128e-02 1.57973045e+02] [ 6.90997280e-01 -7.20945670e-01 5.25366568e-02 1.20204530e+02] [ 8.55138151e-02 9.35980255e-03 -9.96293020e-01 2.52430536e+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:157.97, Y:120.23, Z:25.25 [[ 6.55177660e-01 7.52794386e-01 6.35833816e-02 1.57971471e+02] [ 7.50658283e-01 -6.58179409e-01 5.75500444e-02 1.20234525e+02] [ 8.51726229e-02 1.00238886e-02 -9.96315786e-01 2.52474032e+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:157.97, Y:120.27, Z:25.25 [[ 5.94838206e-01 8.01635366e-01 5.95671875e-02 1.57965075e+02] [ 7.99361322e-01 -5.97709874e-01 6.13545697e-02 1.20268533e+02] [ 8.47878890e-02 1.11196636e-02 -9.96336975e-01 2.52501880e+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:157.96, Y:120.30, Z:25.25 [[ 5.25495402e-01 8.49119322e-01 5.33943717e-02 1.57957421e+02] [ 8.46588102e-01 -5.28099695e-01 6.63272104e-02 1.20299857e+02] [ 8.45172674e-02 1.03483957e-02 -9.96368276e-01 2.52536729e+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:157.95, Y:120.33, Z:25.26 [[ 4.57605666e-01 8.87833103e-01 4.84709808e-02 1.57946846e+02] [ 8.85161609e-01 -4.60033857e-01 6.96977570e-02 1.20331403e+02] [ 8.41782681e-02 1.10105628e-02 -9.96389877e-01 2.52558659e+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:157.93, Y:120.36, Z:25.26 [[ 3.86827974e-01 9.21162238e-01 4.27112495e-02 1.57930191e+02] [ 9.18330152e-01 -3.89023830e-01 7.30081651e-02 1.20364607e+02] [ 8.38680586e-02 1.09814277e-02 -9.96416357e-01 2.52584164e+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:157.91, Y:120.40, Z:25.26 [[ 3.14296754e-01 9.48641077e-01 3.60230058e-02 1.57908773e+02] [ 9.45632040e-01 -3.16192383e-01 7.61736309e-02 1.20396714e+02] [ 8.36516353e-02 1.01233836e-02 -9.96443637e-01 2.52591168e+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:157.88, Y:120.43, Z:25.26 [[ 2.44871940e-01 9.69096590e-01 2.98250282e-02 1.57881122e+02] [ 9.65957083e-01 -2.46495482e-01 7.85295588e-02 1.20428228e+02] [ 8.34544623e-02 9.58001176e-03 -9.96465542e-01 2.52578364e+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:157.86, Y:120.45, Z:25.26 [[ 1.70854348e-01 9.85016279e-01 2.34887505e-02 1.57859202e+02] [ 9.81775248e-01 -1.72208997e-01 8.03829867e-02 1.20452772e+02] [ 8.32235247e-02 9.32689102e-03 -9.96487257e-01 2.52600142e+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:157.83, Y:120.48, Z:25.26 [[ 1.03913592e-01 9.94429554e-01 1.76586465e-02 1.57834408e+02] [ 9.91116603e-01 -1.05016513e-01 8.16052202e-02 1.20477668e+02] [ 8.30050922e-02 9.02188612e-03 -9.96508284e-01 2.52649055e+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:157.80, Y:120.50, Z:25.27 [[ 3.38502180e-02 9.99371548e-01 1.05200447e-02 1.57804375e+02] [ 9.95988659e-01 -3.46042680e-02 8.25174827e-02 1.20499825e+02] [ 8.28296629e-02 7.68461040e-03 -9.96534091e-01 2.52701776e+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:158.00, Y:120.55, Z:24.91 [[ 5.51608379e-02 -9.98469532e-01 -3.98437057e-03 1.57998367e+02] [ 9.95027820e-01 5.53012449e-02 -8.28336318e-02 1.20547702e+02] [ 8.29271982e-02 6.04612968e-04 9.96555425e-01 2.49089067e+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:158.00, Y:120.58, Z:24.91 [[ 5.25042056e-02 -9.98612893e-01 -3.94947907e-03 1.58001804e+02] [ 9.95171442e-01 5.26508747e-02 -8.28352954e-02 1.20576053e+02] [ 8.29283375e-02 4.18792607e-04 9.96555425e-01 2.49111933e+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:158.01, Y:120.60, Z:24.92 [[ 5.49062177e-02 -9.98482146e-01 -4.32570228e-03 1.58006928e+02] [ 9.95041673e-01 5.50758153e-02 -8.28174122e-02 1.20600461e+02] [ 8.29299490e-02 2.42936833e-04 9.96555349e-01 2.49153475e+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:158.01, Y:120.63, Z:24.92 [[ 5.66902800e-02 -9.98385517e-01 -3.54566694e-03 1.58007962e+02] [ 9.94942326e-01 5.67890164e-02 -8.28539443e-02 1.20625063e+02] [ 8.29215329e-02 1.16927919e-03 9.96555393e-01 2.49187848e+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:158.01, Y:120.65, Z:24.92 [[ 5.99742293e-02 -9.98194586e-01 -3.26486925e-03 1.58006500e+02] [ 9.94750447e-01 6.00383355e-02 -8.28670389e-02 1.20654689e+02] [ 8.29134470e-02 1.72215665e-03 9.96555264e-01 2.49190352e+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:158.01, Y:120.68, Z:24.92 [[ 6.32226576e-02 -9.97991996e-01 -3.85629236e-03 1.58007239e+02] [ 9.94548945e-01 6.33246370e-02 -8.28395219e-02 1.20681669e+02] [ 8.29173782e-02 1.40206324e-03 9.96555439e-01 2.49219837e+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:158.01, Y:120.71, Z:24.93 [[ 7.12060501e-02 -9.97454307e-01 -3.82163224e-03 1.58007894e+02] [ 9.94010489e-01 7.12775999e-02 -8.28411209e-02 1.20708045e+02] [ 8.29026296e-02 2.10004647e-03 9.96555439e-01 2.49287727e+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:158.01, Y:120.73, Z:24.93 [[ 7.76199314e-02 -9.96975830e-01 -3.78678646e-03 1.58009193e+02] [ 9.93531584e-01 7.76664376e-02 -8.28427138e-02 1.20731968e+02] [ 8.28862896e-02 2.66795381e-03 9.96555440e-01 2.49319415e+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:158.01, Y:120.76, Z:24.93 [[ 7.97754461e-02 -9.96808979e-01 -2.78154452e-03 1.58007289e+02] [ 9.93364267e-01 7.97310572e-02 -8.28878263e-02 1.20761459e+02] [ 8.28451051e-02 3.84932638e-03 9.96555002e-01 2.49330275e+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:158.01, Y:120.79, Z:24.93 [[ 7.91841118e-02 -9.96854125e-01 -3.42477319e-03 1.58009873e+02] [ 9.93409537e-01 7.91951633e-02 -8.28590205e-02 1.20789207e+02] [ 8.28695819e-02 3.15891559e-03 9.96555394e-01 2.49328865e+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:158.01, Y:120.82, Z:24.93 [[ 7.97756315e-02 -9.96806443e-01 -3.57275592e-03 1.58012736e+02] [ 9.93361931e-01 7.97969229e-02 -8.28524363e-02 1.20816448e+02] [ 8.28729372e-02 3.06056571e-03 9.96555422e-01 2.49348640e+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:158.02, Y:120.84, Z:24.93 [[ 8.04253448e-02 -9.96753911e-01 -3.66124668e-03 1.58016249e+02] [ 9.93309438e-01 8.04517364e-02 -8.28485260e-02 1.20843720e+02] [ 8.28741460e-02 3.02637038e-03 9.96555426e-01 2.49333373e+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:158.02, Y:120.87, Z:24.93 [[ 8.07085944e-02 -9.96731140e-01 -3.62740941e-03 1.58018926e+02] [ 9.93286640e-01 8.07311985e-02 -8.28500075e-02 1.20870726e+02] [ 8.28720275e-02 3.08365035e-03 9.96555427e-01 2.49314086e+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:158.02, Y:120.90, Z:24.93 [[ 8.23487802e-02 -9.96597094e-01 -3.59304899e-03 1.58020684e+02] [ 9.93152550e-01 8.23628637e-02 -8.28514977e-02 1.20896401e+02] [ 8.28654957e-02 3.25427401e-03 9.96555427e-01 2.49322321e+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:158.02, Y:120.93, Z:24.93 [[ 8.47957549e-02 -9.96392885e-01 -3.30139056e-03 1.58024383e+02] [ 9.92948328e-01 8.47771707e-02 -8.28640384e-02 1.20926719e+02] [ 8.28450208e-02 3.74840845e-03 9.96555393e-01 2.49343391e+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:158.03, Y:120.95, Z:24.94 [[ 8.42736459e-02 -9.96434331e-01 -4.07143111e-03 1.58025311e+02] [ 9.92989947e-01 8.43207838e-02 -8.28309752e-02 1.20954306e+02] [ 8.28789336e-02 2.93757812e-03 9.96555294e-01 2.49367209e+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:158.03, Y:120.98, Z:24.94 [[ 8.68008816e-02 -9.96217644e-01 -4.00158014e-03 1.58029324e+02] [ 9.92773129e-01 8.68334846e-02 -8.28339304e-02 1.20980404e+02] [ 8.28680941e-02 3.21739694e-03 9.96555331e-01 2.49385456e+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:158.03, Y:121.01, Z:24.94 [[ 8.51386754e-02 -9.96363149e-01 -3.44679482e-03 1.58030551e+02] [ 9.92918643e-01 8.51309778e-02 -8.28570218e-02 1.21007022e+02] [ 8.28491123e-02 3.63195026e-03 9.96555484e-01 2.49397622e+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:158.03, Y:121.04, Z:24.94 [[ 7.87427593e-02 -9.96889134e-01 -3.41054680e-03 1.58032650e+02] [ 9.93444638e-01 7.87541585e-02 -8.28585139e-02 1.21036151e+02] [ 8.28693469e-02 3.13631859e-03 9.96555485e-01 2.49416881e+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:158.04, Y:121.06, Z:24.94 [[ 7.76582444e-02 -9.96971445e-01 -4.13942922e-03 1.58035768e+02] [ 9.93527491e-01 7.77338850e-02 -8.28285409e-02 1.21061398e+02] [ 8.28994640e-02 2.31968234e-03 9.96555216e-01 2.49437033e+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:158.04, Y:121.09, Z:24.95 [[ 7.12817772e-02 -9.97450592e-01 -3.35023631e-03 1.58041275e+02] [ 9.94006269e-01 7.13139439e-02 -8.28604757e-02 1.21086571e+02] [ 8.28881491e-02 2.57628608e-03 9.96555527e-01 2.49488481e+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:158.05, Y:121.11, Z:24.95 [[ 6.29662149e-02 -9.98010141e-01 -3.31873870e-03 1.58045405e+02] [ 9.94566161e-01 6.30244729e-02 -8.28617372e-02 1.21113310e+02] [ 8.29060158e-02 1.91678474e-03 9.96555527e-01 2.49537600e+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:158.05, Y:121.14, Z:24.96 [[ 5.71137151e-02 -9.98362274e-01 -3.28528922e-03 1.58045655e+02] [ 9.94918633e-01 5.71893891e-02 -8.28630635e-02 1.21141336e+02] [ 8.29152402e-02 1.46402194e-03 9.96555528e-01 2.49561595e+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:158.05, Y:121.17, Z:24.96 [[ 5.37608844e-02 -9.98546504e-01 -3.82704918e-03 1.58047049e+02] [ 9.95104390e-01 5.38930657e-02 -8.28419562e-02 1.21168039e+02] [ 8.29277972e-02 6.45343395e-04 9.96555349e-01 2.49570650e+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:158.05, Y:121.19, Z:24.96 [[ 5.36689090e-02 -9.98552633e-01 -3.50528452e-03 1.58048492e+02] [ 9.95109761e-01 5.37747150e-02 -8.28543554e-02 1.21193644e+02] [ 8.29229304e-02 9.58560015e-04 9.96555502e-01 2.49578662e+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:158.05, Y:121.22, Z:24.96 [[ 5.20630141e-02 -9.98638803e-01 -3.15978593e-03 1.58047003e+02] [ 9.95195357e-01 5.21456941e-02 -8.28675344e-02 1.21219643e+02] [ 8.29195045e-02 1.16972932e-03 9.96555562e-01 2.49613195e+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:158.04, Y:121.25, Z:24.96 [[ 5.41456220e-02 -9.98528163e-01 -3.12387365e-03 1.58044771e+02] [ 9.95084489e-01 5.42181408e-02 -8.28688882e-02 1.21246922e+02] [ 8.29162894e-02 1.37846928e-03 9.96555562e-01 2.49609322e+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:158.04, Y:121.27, Z:24.96 [[ 5.55674282e-02 -9.98450156e-01 -3.08984021e-03 1.58042828e+02] [ 9.95006328e-01 5.56322195e-02 -8.28701572e-02 1.21273818e+02] [ 8.29136160e-02 1.53047094e-03 9.96555563e-01 2.49618421e+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:158.04, Y:121.30, Z:24.96 [[ 5.76355355e-02 -9.98333015e-01 -3.05568760e-03 1.58037033e+02] [ 9.94889014e-01 5.76903593e-02 -8.28714165e-02 1.21303085e+02] [ 8.29095548e-02 1.73626845e-03 9.96555563e-01 2.49640530e+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:158.03, Y:121.33, Z:24.97 [[ 6.37622599e-02 -9.97958951e-01 -3.50791375e-03 1.58032601e+02] [ 9.94515143e-01 6.38334678e-02 -8.28548113e-02 1.21328703e+02] [ 8.29096229e-02 1.79433668e-03 9.96555455e-01 2.49728992e+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:158.03, Y:121.36, Z:24.98 [[ 6.63825489e-02 -9.97789781e-01 -2.98503929e-03 1.58030885e+02] [ 9.94345423e-01 6.64013263e-02 -8.28736562e-02 1.21355429e+02] [ 8.28886978e-02 2.53320438e-03 9.96555591e-01 2.49776896e+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:158.03, Y:121.38, Z:24.98 [[ 7.10837034e-02 -9.97465987e-01 -2.95144777e-03 1.58029090e+02] [ 9.94021579e-01 7.10834623e-02 -8.28748525e-02 1.21382904e+02] [ 8.28746457e-02 2.95724867e-03 9.96555592e-01 2.49819903e+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:158.03, Y:121.41, Z:24.98 [[ 7.19874149e-02 -9.97401272e-01 -2.91809574e-03 1.58029110e+02] [ 9.93956870e-01 7.19812856e-02 -8.28760269e-02 1.21410829e+02] [ 8.28707029e-02 3.06556963e-03 9.96555592e-01 2.49845498e+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:158.03, Y:121.44, Z:24.99 [[ 7.12193697e-02 -9.97456103e-01 -3.02043726e-03 1.58028342e+02] [ 9.94011692e-01 7.12243847e-02 -8.28724527e-02 1.21436386e+02] [ 8.28767625e-02 2.89977389e-03 9.96555585e-01 2.49893807e+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:158.03, Y:121.46, Z:24.99 [[ 7.00715121e-02 -9.97537864e-01 -2.86226355e-03 1.58032819e+02] [ 9.94093464e-01 7.00673660e-02 -8.28779164e-02 1.21463463e+02] [ 8.28744110e-02 2.96202343e-03 9.96555597e-01 2.49904808e+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:158.04, Y:121.49, Z:24.99 [[ 7.01409373e-02 -9.97533078e-01 -2.82984832e-03 1.58036145e+02] [ 9.94088683e-01 7.01338618e-02 -8.28790232e-02 1.21490690e+02] [ 8.28730353e-02 3.00009218e-03 9.96555598e-01 2.49920134e+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:158.04, Y:121.52, Z:24.99 [[ 7.19362318e-02 -9.97405312e-01 -2.79675323e-03 1.58039829e+02] [ 9.93960948e-01 7.19202109e-02 -8.28801400e-02 1.21516734e+02] [ 8.28662350e-02 3.18222147e-03 9.96555598e-01 2.49894002e+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:158.04, Y:121.54, Z:24.99 [[ 7.48476731e-02 -9.97191154e-01 -2.76208754e-03 1.58041580e+02] [ 9.93746874e-01 7.48187209e-02 -8.28812953e-02 1.21544076e+02] [ 8.28551504e-02 3.45865624e-03 9.96555599e-01 2.49907355e+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:158.04, Y:121.57, Z:24.99 [[ 8.36401646e-02 -9.96492284e-01 -2.72951998e-03 1.58043838e+02] [ 9.93048442e-01 8.35781326e-02 -8.28823679e-02 1.21569920e+02] [ 8.28197683e-02 4.22174933e-03 9.96555599e-01 2.49919388e+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:158.05, Y:121.60, Z:24.99 [[ 8.80380370e-02 -9.96113467e-01 -2.69551422e-03 1.58045670e+02] [ 9.92669997e-01 8.79579832e-02 -8.28834739e-02 1.21595206e+02] [ 8.27984365e-02 4.62114226e-03 9.96555600e-01 2.49916526e+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:158.05, Y:121.62, Z:25.00 [[ 9.40539695e-02 -9.95563525e-01 -2.66799837e-03 1.58052877e+02] [ 9.92120670e-01 9.39508331e-02 -8.28843596e-02 1.21621970e+02] [ 8.27673059e-02 5.14862671e-03 9.96555600e-01 2.49957819e+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:158.06, Y:121.65, Z:25.00 [[ 9.62347328e-02 -9.95355181e-01 -2.63450518e-03 1.58057593e+02] [ 9.91912651e-01 9.61212769e-02 -8.28854243e-02 1.21648553e+02] [ 8.27536684e-02 5.36325764e-03 9.96555601e-01 2.49991035e+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:158.06, Y:121.68, Z:25.00 [[ 9.54697439e-02 -9.95428934e-01 -2.60092027e-03 1.58058187e+02] [ 9.91986410e-01 9.53561488e-02 -8.28864782e-02 1.21675211e+02] [ 8.27556124e-02 5.33307328e-03 9.96555602e-01 2.50007523e+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:158.06, Y:121.70, Z:25.00 [[ 9.20568914e-02 -9.95750444e-01 -2.56567319e-03 1.58061964e+02] [ 9.92307638e-01 9.19521748e-02 -8.28875693e-02 1.21701613e+02] [ 8.27712531e-02 5.08443486e-03 9.96555602e-01 2.50011673e+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:158.07, Y:121.73, Z:25.00 [[ 8.59252091e-02 -9.96298376e-01 -2.53074657e-03 1.58071752e+02] [ 9.92855063e-01 8.58387920e-02 -8.28886357e-02 1.21727953e+02] [ 8.27990493e-02 4.60955881e-03 9.96555603e-01 2.50007228e+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:158.08, Y:121.76, Z:25.00 [[ 8.19402597e-02 -9.96634116e-01 -2.49649091e-03 1.58077302e+02] [ 9.93190547e-01 8.18647720e-02 -8.28896675e-02 1.21755383e+02] [ 8.28150451e-02 4.31250971e-03 9.96555603e-01 2.50031338e+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:158.09, Y:121.78, Z:25.01 [[ 7.28468551e-02 -9.97340090e-01 -2.46592433e-03 1.58085669e+02] [ 9.93896009e-01 7.28002426e-02 -8.28905768e-02 1.21782570e+02] [ 8.28496152e-02 3.58744549e-03 9.96555604e-01 2.50069739e+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:158.09, Y:121.81, Z:25.01 [[ 6.79295677e-02 -9.97687151e-01 -2.43384353e-03 1.58088525e+02] [ 9.94242906e-01 6.78972719e-02 -8.28915188e-02 1.21809161e+02] [ 8.28650546e-02 3.21095337e-03 9.96555604e-01 2.50095134e+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:158.09, Y:121.83, Z:25.01 [[ 5.96253869e-02 -9.98217943e-01 -2.39823498e-03 1.58093821e+02] [ 9.94773554e-01 5.96187979e-02 -8.28925491e-02 1.21834138e+02] [ 8.28878097e-02 2.55679957e-03 9.96555605e-01 2.50118349e+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:158.10, Y:121.86, Z:25.01 [[ 5.62989898e-02 -9.98411162e-01 -2.36113585e-03 1.58100320e+02] [ 9.94966768e-01 5.63007999e-02 -8.28936059e-02 1.21860816e+02] [ 8.28948352e-02 2.31757456e-03 9.96555606e-01 2.50134495e+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:158.11, Y:121.89, Z:25.02 [[ 5.84671092e-02 -9.98286621e-01 -2.32790483e-03 1.58105885e+02] [ 9.94842238e-01 5.84586822e-02 -8.28945391e-02 1.21885649e+02] [ 8.28885956e-02 2.53070602e-03 9.96555606e-01 2.50182824e+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:158.11, Y:121.91, Z:25.02 [[ 6.15535273e-02 -9.98101154e-01 -2.29143069e-03 1.58107204e+02] [ 9.94656831e-01 6.15314246e-02 -8.28955474e-02 1.21911019e+02] [ 8.28791365e-02 2.82332615e-03 9.96555607e-01 2.50219448e+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:158.11, Y:121.94, Z:25.03 [[ 7.13841089e-02 -9.97446350e-01 -2.25565313e-03 1.58107984e+02] [ 9.94002463e-01 7.13251052e-02 -8.28965210e-02 1.21936688e+02] [ 8.28457170e-02 3.67536952e-03 9.96555608e-01 2.50254723e+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:158.11, Y:121.96, Z:25.03 [[ 7.91718889e-02 -9.96858488e-01 -2.22860304e-03 1.58107415e+02] [ 9.93415224e-01 7.90837473e-02 -8.28972483e-02 1.21961450e+02] [ 8.28130718e-02 4.34920354e-03 9.96555608e-01 2.50275143e+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:158.11, Y:121.99, Z:25.03 [[ 8.27111545e-02 -9.96571811e-01 -1.86852496e-03 1.58109793e+02] [ 9.93129830e-01 8.25809313e-02 -8.29067533e-02 1.21989457e+02] [ 8.27768378e-02 5.00162541e-03 9.96555557e-01 2.50291027e+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:158.11, Y:122.01, Z:25.04 [[ 8.58730961e-02 -9.96303727e-01 -2.16700588e-03 1.58109895e+02] [ 9.92861296e-01 8.57566962e-02 -8.28989546e-02 1.22014684e+02] [ 8.27783727e-02 4.96725363e-03 9.96555602e-01 2.50354882e+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:158.11, Y:122.04, Z:25.03 [[ 8.85778311e-02 -9.96068160e-01 -1.47954011e-03 1.58114407e+02] [ 9.92628406e-01 8.83951051e-02 -8.29165421e-02 1.22043892e+02] [ 8.27213116e-02 5.87593392e-03 9.96555396e-01 2.50344043e+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:158.12, Y:122.07, Z:25.03 [[ 8.91282641e-02 -9.96017901e-01 -2.11990792e-03 1.58117128e+02] [ 9.92576015e-01 8.89967117e-02 -8.29001838e-02 1.22070496e+02] [ 8.27587318e-02 5.28457972e-03 9.96555601e-01 2.50333877e+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:158.12, Y:122.10, Z:25.04 [[ 8.91936415e-02 -9.96012122e-01 -2.08486972e-03 1.58118963e+02] [ 9.92570358e-01 8.90589588e-02 -8.29010650e-02 1.22095503e+02] [ 8.27561420e-02 5.32486798e-03 9.96555601e-01 2.50390617e+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:158.13, Y:122.13, Z:25.03 [[ 9.12553150e-02 -9.95826745e-01 -1.24987878e-03 1.58125277e+02] [ 9.92388524e-01 9.10443202e-02 -8.29213406e-02 1.22126486e+02] [ 8.26890830e-02 6.32664770e-03 9.96555312e-01 2.50319788e+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:158.13, Y:122.15, Z:25.04 [[ 9.31430102e-02 -9.95649529e-01 -2.52879622e-03 1.58128271e+02] [ 9.92206853e-01 9.30314750e-02 -8.28897212e-02 1.22151708e+02] [ 8.27643696e-02 5.21150922e-03 9.96555517e-01 2.50407432e+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:158.13, Y:122.18, Z:25.04 [[ 9.44214127e-02 -9.95530315e-01 -1.99698338e-03 1.58130230e+02] [ 9.92089693e-01 9.42613841e-02 -8.29025435e-02 1.22179018e+02] [ 8.27202336e-02 5.84658864e-03 9.96555658e-01 2.50429803e+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:158.13, Y:122.21, Z:25.04 [[ 9.55795341e-02 -9.95419858e-01 -1.96428821e-03 1.58134291e+02] [ 9.91979556e-01 9.54127939e-02 -8.29033182e-02 1.22205908e+02] [ 8.27110274e-02 5.97532678e-03 9.96555659e-01 2.50439881e+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:158.14, Y:122.23, Z:25.05 [[ 9.53124129e-02 -9.95445534e-01 -1.93187374e-03 1.58137699e+02] [ 9.92005318e-01 9.51439103e-02 -8.29040735e-02 1.22233062e+02] [ 8.27102958e-02 5.98535827e-03 9.96555660e-01 2.50451235e+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:158.14, Y:122.26, Z:25.05 [[ 9.26082178e-02 -9.95700813e-01 -1.89957631e-03 1.58140650e+02] [ 9.92260277e-01 9.24463842e-02 -8.29048136e-02 1.22259198e+02] [ 8.27239993e-02 5.79279292e-03 9.96555660e-01 2.50493058e+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:158.14, Y:122.29, Z:25.05 [[ 9.17000056e-02 -9.95785933e-01 -1.21837540e-03 1.58142307e+02] [ 9.92348099e-01 9.14848776e-02 -8.29202530e-02 1.22287864e+02] [ 8.26822844e-02 6.39473515e-03 9.96555441e-01 2.50493032e+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:158.15, Y:122.32, Z:25.05 [[ 9.21181036e-02 -9.95747315e-01 -1.24100029e-03 1.58149503e+02] [ 9.92309468e-01 9.19034061e-02 -8.29197425e-02 1.22316839e+02] [ 8.26811631e-02 6.40695310e-03 9.96555456e-01 2.50514440e+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:158.16, Y:122.34, Z:25.05 [[ 9.02548422e-02 -9.95917158e-01 -1.75437250e-03 1.58158510e+02] [ 9.92476788e-01 9.00891075e-02 -8.29082465e-02 1.22343875e+02] [ 8.27277950e-02 5.74169672e-03 9.96555641e-01 2.50522211e+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:158.16, Y:122.37, Z:25.05 [[ 8.78748768e-02 -9.96129817e-01 -1.84212129e-03 1.58161583e+02] [ 9.92688740e-01 8.77246346e-02 -8.29062971e-02 1.22370600e+02] [ 8.27470339e-02 5.45672758e-03 9.96555644e-01 2.50548661e+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:158.17, Y:122.40, Z:25.06 [[ 8.42775393e-02 -9.96440680e-01 -1.80760484e-03 1.58167491e+02] [ 9.92999199e-01 8.41368623e-02 -8.29070497e-02 1.22396126e+02] [ 8.27640432e-02 5.19225199e-03 9.96555645e-01 2.50581574e+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:158.17, Y:122.42, Z:25.06 [[ 8.32633928e-02 -9.96525983e-01 -1.78101470e-03 1.58171551e+02] [ 9.93084450e-01 8.31240145e-02 -8.29076209e-02 1.22423260e+02] [ 8.27676435e-02 5.13447179e-03 9.96555645e-01 2.50627506e+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:158.18, Y:122.45, Z:25.07 [[ 7.94071205e-02 -9.96840737e-01 -1.74779615e-03 1.58178585e+02] [ 9.93398792e-01 7.92783055e-02 -8.29083212e-02 1.22449088e+02] [ 8.27849543e-02 4.84725247e-03 9.96555646e-01 2.50716221e+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:158.18, Y:122.48, Z:25.08 [[ 7.51898400e-02 -9.97167766e-01 -1.71281383e-03 1.58184697e+02] [ 9.93725406e-01 7.50726854e-02 -8.29090440e-02 1.22476020e+02] [ 8.28028117e-02 4.53185113e-03 9.96555647e-01 2.50797986e+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:158.19, Y:122.50, Z:25.08 [[ 7.25488086e-02 -9.97363443e-01 -1.68310559e-03 1.58187059e+02] [ 9.93920863e-01 7.24383078e-02 -8.29096471e-02 1.22503236e+02] [ 8.28129724e-02 4.34212236e-03 9.96555647e-01 2.50814375e+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:158.19, Y:122.53, Z:25.08 [[ 7.09386480e-02 -9.97479316e-01 -1.64986406e-03 1.58190905e+02] [ 9.94036648e-01 7.08309491e-02 -8.29103086e-02 1.22529535e+02] [ 8.28181794e-02 4.24151986e-03 9.96555648e-01 2.50807133e+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:158.19, Y:122.56, Z:25.08 [[ 7.45051790e-02 -9.97219319e-01 -1.61516239e-03 1.58194403e+02] [ 9.93777160e-01 7.43822933e-02 -8.29109847e-02 1.22555506e+02] [ 8.28005752e-02 4.57218626e-03 9.96555648e-01 2.50832264e+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:158.20, Y:122.58, Z:25.09 [[ 7.74037826e-02 -9.96998573e-01 -1.58084082e-03 1.58195877e+02] [ 9.93556898e-01 7.72680466e-02 -8.29116391e-02 1.22581238e+02] [ 8.27849344e-02 4.84701920e-03 9.96555649e-01 2.50854769e+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:158.20, Y:122.61, Z:25.09 [[ 7.98957592e-02 -9.96802029e-01 -1.54367300e-03 1.58197883e+02] [ 9.93360835e-01 7.97483404e-02 -8.29123312e-02 1.22611846e+02] [ 8.27702853e-02 5.09091934e-03 9.96555649e-01 2.50908714e+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:158.20, Y:122.64, Z:25.09 [[ 8.69882165e-02 -9.96205900e-01 -2.61822293e-03 1.58200981e+02] [ 9.92761881e-01 8.69053463e-02 -8.28933537e-02 1.22636315e+02] [ 8.28063856e-02 4.61147307e-03 9.96554984e-01 2.50883573e+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:158.20, Y:122.66, Z:25.09 [[ 8.65918239e-02 -9.96242920e-01 -1.37843759e-03 1.58200980e+02] [ 9.92803601e-01 8.64076067e-02 -8.29140288e-02 1.22663998e+02] [ 8.27216217e-02 5.81115918e-03 9.96555750e-01 2.50903453e+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:158.20, Y:122.69, Z:25.09 [[ 8.65268348e-02 -9.96248612e-01 -1.34531775e-03 1.58202099e+02] [ 9.92809429e-01 8.63400991e-02 -8.29145662e-02 1.22691046e+02] [ 8.27196764e-02 5.83869083e-03 9.96555751e-01 2.50916296e+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:158.21, Y:122.72, Z:25.09 [[ 8.42038871e-02 -9.96447682e-01 -1.31240916e-03 1.58206567e+02] [ 9.93008216e-01 8.40224447e-02 -8.29150872e-02 1.22716974e+02] [ 8.27308182e-02 5.67853956e-03 9.96555752e-01 2.50932543e+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:158.21, Y:122.74, Z:25.09 [[ 8.19216669e-02 -9.96637940e-01 -1.28701247e-03 1.58208709e+02] [ 9.93198175e-01 8.17459983e-02 -8.29154814e-02 1.22744806e+02] [ 8.27419227e-02 5.51431601e-03 9.96555752e-01 2.50932862e+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:158.21, Y:122.77, Z:25.09 [[ 7.50445425e-02 -9.97179391e-01 -1.25649653e-03 1.58213410e+02] [ 9.93738609e-01 7.48900785e-02 -8.29159439e-02 1.22772651e+02] [ 8.27761695e-02 4.97375996e-03 9.96555752e-01 2.50918694e+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:158.21, Y:122.81, Z:25.09 [[ 6.60216210e-02 -9.97817440e-01 -1.22589946e-03 1.58212696e+02] [ 9.94375493e-01 6.58957505e-02 -8.29163963e-02 1.22807102e+02] [ 8.28162078e-02 4.25527051e-03 9.96555753e-01 2.50897130e+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:158.22, Y:122.83, Z:25.10 [[ 5.83983409e-02 -9.98285764e-01 -3.89454753e-03 1.58221515e+02] [ 9.94840197e-01 5.85200976e-02 -8.28756983e-02 1.22825617e+02] [ 8.29615391e-02 9.65350853e-04 9.96552282e-01 2.50968245e+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:158.22, Y:122.85, Z:25.10 [[ 5.20979964e-02 -9.98641357e-01 -1.11325967e-03 1.58223516e+02] [ 9.95198598e-01 5.20108213e-02 -8.29133628e-02 1.22852068e+02] [ 8.28586147e-02 3.21170562e-03 9.96556137e-01 2.51028067e+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:158.23, Y:122.88, Z:25.11 [[ 3.89273732e-02 -9.99241420e-01 -1.11507183e-03 1.58227236e+02] [ 9.95797809e-01 3.88857453e-02 -8.29133390e-02 1.22878320e+02] [ 8.28938031e-02 2.11721241e-03 9.96556137e-01 2.51085962e+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:158.23, Y:122.90, Z:25.11 [[ 3.23254985e-02 -9.99476840e-01 -1.05321908e-03 1.58229013e+02] [ 9.96033063e-01 3.23014909e-02 -8.29141249e-02 1.22904981e+02] [ 8.29047680e-02 1.63119940e-03 9.96556139e-01 2.51124401e+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:158.23, Y:122.93, Z:25.12 [[ 2.13751566e-02 -9.99771006e-01 -1.01944919e-03 1.58231271e+02] [ 9.96327163e-01 2.13860736e-02 -8.29145401e-02 1.22931693e+02] [ 8.29173552e-02 7.56606359e-04 9.96556140e-01 2.51162213e+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:158.23, Y:122.96, Z:25.12 [[ 1.68816352e-02 -9.99857008e-01 -9.87121997e-04 1.58230325e+02] [ 9.96413230e-01 1.69053491e-02 -8.29149250e-02 1.22958321e+02] [ 8.29197565e-02 4.16158098e-04 9.96556140e-01 2.51180217e+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:158.23, Y:122.99, Z:25.12 [[ 1.13757355e-02 -9.99934842e-01 -9.50975872e-04 1.58226632e+02] [ 9.96491212e-01 1.14154147e-02 -8.29153397e-02 1.22985537e+02] [ 8.29207929e-02 -4.41612852e-06 9.96556141e-01 2.51203597e+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:158.22, Y:123.01, Z:25.12 [[ 1.00755615e-02 -9.99948820e-01 -9.16443855e-04 1.58224815e+02] [ 9.96505209e-01 1.01168549e-02 -8.29157214e-02 1.23012999e+02] [ 8.29207493e-02 -7.78186267e-05 9.96556142e-01 2.51239853e+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:158.22, Y:123.04, Z:25.13 [[ 1.03151720e-02 -9.99946408e-01 -8.81887736e-04 1.58220082e+02] [ 9.96502756e-01 1.03527749e-02 -8.29160890e-02 1.23038595e+02] [ 8.29207753e-02 -2.35098365e-05 9.96556142e-01 2.51313017e+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:158.22, Y:123.07, Z:25.13 [[ 1.20424415e-02 -9.99927134e-01 -8.40346515e-04 1.58216841e+02] [ 9.96483392e-01 1.20706511e-02 -8.29165126e-02 1.23065727e+02] [ 8.29206143e-02 1.61125907e-04 9.96556143e-01 2.51320874e+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:158.21, Y:123.09, Z:25.13 [[ 1.67487415e-02 -9.99859403e-01 -8.08518291e-04 1.58210951e+02] [ 9.96415559e-01 1.67581025e-02 -8.29168230e-02 1.23091435e+02] [ 8.29187144e-02 5.83132228e-04 9.96556143e-01 2.51318933e+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:158.21, Y:123.12, Z:25.13 [[ 2.05128284e-02 -9.99789433e-01 -5.60175131e-04 1.58207189e+02] [ 9.96345641e-01 2.04886306e-02 -8.29191151e-02 1.23119975e+02] [ 8.29131323e-02 1.14277753e-03 9.96556123e-01 2.51302541e+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:158.21, Y:123.15, Z:25.13 [[ 2.23992944e-02 -9.99748834e-01 -7.34780272e-04 1.58205781e+02] [ 9.96305011e-01 2.23830773e-02 -8.29175691e-02 1.23146451e+02] [ 8.29131897e-02 1.12522977e-03 9.96556138e-01 2.51327518e+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:158.20, Y:123.17, Z:25.13 [[ 2.68830959e-02 -9.99638341e-01 -6.97272163e-04 1.58201593e+02] [ 9.96194656e-01 2.68483227e-02 -8.29178845e-02 1.23172213e+02] [ 8.29066171e-02 1.53447064e-03 9.96556139e-01 2.51318506e+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:158.20, Y:123.20, Z:25.13 [[ 2.98632679e-02 -9.99553776e-01 -6.58381763e-04 1.58200348e+02] [ 9.96110254e-01 2.98150034e-02 -8.29181934e-02 1.23199068e+02] [ 8.29008230e-02 1.82038740e-03 9.96556140e-01 2.51335001e+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:158.20, Y:123.22, Z:25.13 [[ 3.49227013e-02 -9.99389823e-01 -6.21103501e-04 1.58198773e+02] [ 9.95946651e-01 3.48539154e-02 -8.29184727e-02 1.23224962e+02] [ 8.28895257e-02 2.27715110e-03 9.96556140e-01 2.51338411e+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:158.20, Y:123.25, Z:25.14 [[ 3.83628406e-02 -9.99263706e-01 -5.82396316e-04 1.58198103e+02] [ 9.95820868e-01 3.82789934e-02 -8.29187446e-02 1.23252529e+02] [ 8.28799855e-02 2.60103618e-03 9.96556141e-01 2.51380370e+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:158.20, Y:123.28, Z:25.14 [[ 3.94900173e-02 -9.99219729e-01 -6.86640906e-04 1.58198057e+02] [ 9.95776770e-01 3.94109280e-02 -8.29180545e-02 1.23279736e+02] [ 8.28804171e-02 2.59069434e-03 9.96556132e-01 2.51390097e+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:158.20, Y:123.31, Z:25.14 [[ 4.09443706e-02 -9.99161301e-01 -5.02654703e-04 1.58195362e+02] [ 9.95718884e-01 4.08450194e-02 -8.29191712e-02 1.23306190e+02] [ 8.28701579e-02 2.89457050e-03 9.96556149e-01 2.51398729e+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:158.19, Y:123.33, Z:25.14 [[ 4.08989684e-02 -9.99163178e-01 -4.66175287e-04 1.58193595e+02] [ 9.95720846e-01 4.07967499e-02 -8.29193763e-02 1.23332904e+02] [ 8.28690061e-02 2.92713650e-03 9.96556150e-01 2.51419525e+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:158.19, Y:123.36, Z:25.14 [[ 3.93898336e-02 -9.99223826e-01 -4.31003339e-04 1.58191653e+02] [ 9.95781427e-01 3.92898991e-02 -8.29195592e-02 1.23359741e+02] [ 8.28721333e-02 2.83700252e-03 9.96556150e-01 2.51441001e+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:158.19, Y:123.39, Z:25.15 [[ 3.81588642e-02 -9.99271607e-01 -3.96747630e-04 1.58191164e+02] [ 9.95829167e-01 3.80603311e-02 -8.29197232e-02 1.23386962e+02] [ 8.28744253e-02 2.76902959e-03 9.96556151e-01 2.51455642e+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:158.19, Y:123.41, Z:25.15 [[ 3.40551952e-02 -9.99419888e-01 -3.62274612e-04 1.58189154e+02] [ 9.95977145e-01 3.39679410e-02 -8.29198738e-02 1.23412752e+02] [ 8.28840767e-02 2.46303525e-03 9.96556152e-01 2.51473190e+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:158.19, Y:123.44, Z:25.15 [[ 3.10989639e-02 -9.99516257e-01 -3.26189485e-04 1.58187493e+02] [ 9.96073340e-01 3.10189016e-02 -8.29200158e-02 1.23438967e+02] [ 8.28900219e-02 2.25381793e-03 9.96556152e-01 2.51489438e+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:158.19, Y:123.46, Z:25.15 [[ 2.38368116e-02 -9.99715844e-01 -1.94968587e-04 1.58186613e+02] [ 9.96272623e-01 2.37708844e-02 -8.29204803e-02 1.23463862e+02] [ 8.29015526e-02 1.78231800e-03 9.96556148e-01 2.51539964e+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:158.19, Y:123.49, Z:25.16 [[ 1.00254397e-02 -9.99949741e-01 7.82373206e-05 1.58187621e+02] [ 9.96506075e-01 9.98442587e-03 -8.29213729e-02 1.23491279e+02] [ 8.29164242e-02 9.09287193e-04 9.96556090e-01 2.51574932e+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:158.19, Y:123.52, Z:25.16 [[ 2.84733704e-03 -9.99995916e-01 -2.46209778e-04 1.58187510e+02] [ 9.96552074e-01 2.85794713e-03 -8.29204139e-02 1.23518169e+02] [ 8.29207789e-02 -9.25849851e-06 9.96556142e-01 2.51606385e+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:158.19, Y:123.54, Z:25.16 [[-7.14307480e-03 -9.99974466e-01 -2.11602814e-04 1.58185349e+02] [ 9.96530866e-01 -7.10092962e-03 -8.29205023e-02 1.23544024e+02] [ 8.29168823e-02 -8.03176085e-04 9.96556143e-01 2.51627930e+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:158.18, Y:123.57, Z:25.17 [[-9.72715948e-03 -9.99952673e-01 -1.84821709e-04 1.58184383e+02] [ 9.96509162e-01 -9.67833607e-03 -8.29205620e-02 1.23570529e+02] [ 8.29148488e-02 -9.90758057e-04 9.96556143e-01 2.51680578e+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:158.18, Y:123.60, Z:25.17 [[-1.05080274e-02 -9.99944778e-01 -1.49894283e-04 1.58182382e+02] [ 9.96501265e-01 -1.04594109e-02 -8.29206252e-02 1.23597261e+02] [ 8.29144783e-02 -1.02070205e-03 9.96556144e-01 2.51747234e+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:158.18, Y:123.62, Z:25.18 [[-9.28962199e-03 -9.99956844e-01 -1.14728554e-04 1.58175495e+02] [ 9.96513238e-01 -9.24811704e-03 -8.29206739e-02 1.23624245e+02] [ 8.29160343e-02 -8.84630238e-04 9.96556144e-01 2.51794208e+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:158.17, Y:123.65, Z:25.18 [[-7.56687692e-03 -9.99971368e-01 -7.96628275e-05 1.58171886e+02] [ 9.96527667e-01 -7.53421222e-03 -8.29207076e-02 1.23649932e+02] [ 8.29177332e-02 -7.06837000e-04 9.96556145e-01 2.51814084e+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:158.17, Y:123.68, Z:25.18 [[-4.99328539e-03 -9.99987533e-01 -4.31828163e-05 1.58168596e+02] [ 9.96543741e-01 -4.97250854e-03 -8.29207267e-02 1.23677160e+02] [ 8.29194781e-02 -4.57080418e-04 9.96556146e-01 2.51847731e+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:158.16, Y:123.70, Z:25.19 [[ 1.53226559e-03 -9.99998826e-01 -8.47733253e-06 1.58161426e+02] [ 9.96554975e-01 1.52769164e-03 -8.29207303e-02 1.23703199e+02] [ 8.29206459e-02 1.18608454e-04 9.96556146e-01 2.51863046e+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:158.16, Y:123.68, Z:25.18 [[ 4.47711173e-03 -9.99989977e-01 2.74076947e-05 1.58157935e+02] [ 9.96546170e-01 4.45942058e-03 -8.29207184e-02 1.23684278e+02] [ 8.29197651e-02 3.98558355e-04 9.96556147e-01 2.51846757e+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:158.15, Y:123.68, Z:25.18 [[ 1.23935527e-02 -9.99923192e-01 9.54409228e-05 1.58149170e+02] [ 9.96479713e-01 1.23429578e-02 -8.29206403e-02 1.23683211e+02] [ 8.29130934e-02 1.12278627e-03 9.96556149e-01 2.51812547e+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:158.14, Y:123.67, Z:25.18 [[ 1.62963940e-02 -9.99867192e-01 1.62639238e-04 1.58144494e+02] [ 9.96424047e-01 1.62267878e-02 -8.29205087e-02 1.23674223e+02] [ 8.29068571e-02 1.51336293e-03 9.96556151e-01 2.51775225e+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:158.14, Y:123.66, Z:25.18 [[ 2.52086340e-02 -9.99682186e-01 2.29532472e-04 1.58138309e+02] [ 9.96239966e-01 2.51027938e-02 -8.29203237e-02 1.23660042e+02] [ 8.28882086e-02 2.31897751e-03 9.96556154e-01 2.51752865e+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:158.13, Y:123.76, Z:25.18 [[ 3.38318166e-02 -9.99427519e-01 2.03766727e-04 1.58134007e+02] [ 9.95986257e-01 3.36984197e-02 -8.29204027e-02 1.23758306e+02] [ 8.28660658e-02 3.00829672e-03 9.96556153e-01 2.51820723e+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:158.13, Y:123.65, Z:25.17 [[ 3.42448667e-02 -9.99413465e-01 1.23196829e-04 1.58133159e+02] [ 9.95971993e-01 3.41167233e-02 -8.29206729e-02 1.23645240e+02] [ 8.28678339e-02 2.96230798e-03 9.96556143e-01 2.51736765e+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:158.13, Y:123.64, Z:25.17 [[ 3.67758465e-02 -9.99323487e-01 3.25038654e-04 1.58130112e+02] [ 9.95883079e-01 3.66222665e-02 -8.29198592e-02 1.23636774e+02] [ 8.28518592e-02 3.37314851e-03 9.96556166e-01 2.51692305e+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:158.13, Y:123.64, Z:25.17 [[ 3.69576713e-02 -9.99316759e-01 3.81073003e-04 1.58129079e+02] [ 9.95876592e-01 3.67988238e-02 -8.29195953e-02 1.23640292e+02] [ 8.28489182e-02 3.44401683e-03 9.96556168e-01 2.51696271e+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:158.13, Y:123.64, Z:25.16 [[ 3.73583907e-02 -9.99301842e-01 4.23780950e-04 1.58131339e+02] [ 9.95861907e-01 3.71946263e-02 -8.29193648e-02 1.23642764e+02] [ 8.28457116e-02 3.51976133e-03 9.96556170e-01 2.51639053e+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:158.13, Y:123.65, Z:25.16 [[ 3.62876829e-02 -9.99341259e-01 5.01954011e-04 1.58132160e+02] [ 9.95901462e-01 3.61211294e-02 -8.29188918e-02 1.23652814e+02] [ 8.28461386e-02 3.50883119e-03 9.96556173e-01 2.51642460e+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:158.13, Y:123.66, Z:25.17 [[ 3.38265954e-02 -9.99427556e-01 5.66940979e-04 1.58134433e+02] [ 9.95987613e-01 3.36631304e-02 -8.29184477e-02 1.23657304e+02] [ 8.28518965e-02 3.36951497e-03 9.96556175e-01 2.51655857e+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:158.14, Y:123.65, Z:25.16 [[ 3.08202445e-02 -9.99524743e-01 6.32866159e-04 1.58135847e+02] [ 9.96084573e-01 3.06616663e-02 -8.29179447e-02 1.23645103e+02] [ 8.28591326e-02 3.18593954e-03 9.96556177e-01 2.51648099e+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:158.14, Y:123.65, Z:25.17 [[ 2.50263927e-02 -9.99686547e-01 6.98632767e-04 1.58139282e+02] [ 9.96245741e-01 2.48823078e-02 -8.29173907e-02 1.23651441e+02] [ 8.28740164e-02 2.77113310e-03 9.96556179e-01 2.51683449e+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:158.14, Y:123.66, Z:25.18 [[ 1.87649052e-02 -9.99823638e-01 7.55978317e-04 1.58143104e+02] [ 9.96382172e-01 1.86376206e-02 -8.29168680e-02 1.23660273e+02] [ 8.28881550e-02 2.30917049e-03 9.96556181e-01 2.51752729e+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:158.14, Y:123.73, Z:25.18 [[ 1.72726956e-02 -9.99850484e-01 8.14162717e-04 1.58143720e+02] [ 9.96409008e-01 1.71457257e-02 -8.29162969e-02 1.23732791e+02] [ 8.28899402e-02 2.24342702e-03 9.96556183e-01 2.51845523e+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:158.15, Y:123.66, Z:25.18 [[ 9.74558482e-03 -9.99952305e-01 6.41906719e-04 1.58145592e+02] [ 9.96509560e-01 9.65880346e-03 -8.29180609e-02 1.23658272e+02] [ 8.29079060e-02 1.44775118e-03 9.96556162e-01 2.51795735e+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:158.14, Y:123.66, Z:25.18 [[ 7.02827326e-03 -9.99974894e-01 9.03091624e-04 1.58142641e+02] [ 9.96532515e-01 6.92919676e-03 -8.29152189e-02 1.23656618e+02] [ 8.29068795e-02 1.48271098e-03 9.96556196e-01 2.51781991e+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:158.14, Y:123.65, Z:25.17 [[ 5.44960312e-03 -9.99984680e-01 9.70545118e-04 1.58142331e+02] [ 9.96542308e-01 5.35036985e-03 -8.29144296e-02 1.23653727e+02] [ 8.29079665e-02 1.41904001e-03 9.96556198e-01 2.51737410e+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:158.14, Y:123.67, Z:25.17 [[ 1.22031660e-03 -9.99998726e-01 1.02940150e-03 1.58144523e+02] [ 9.96556090e-01 1.13076389e-03 -8.29136990e-02 1.23670369e+02] [ 8.29124293e-02 1.12703730e-03 9.96556200e-01 2.51696506e+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:158.14, Y:123.66, Z:25.17 [[-2.13039662e-03 -9.99997138e-01 1.08898529e-03 1.58144525e+02] [ 9.96554338e-01 -2.21335327e-03 -8.29129165e-02 1.23663452e+02] [ 8.29150895e-02 9.08595619e-04 9.96556201e-01 2.51698689e+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:158.14, Y:123.68, Z:25.17 [[-5.77034162e-03 -9.99982691e-01 1.14915511e-03 1.58140804e+02] [ 9.96539720e-01 -5.84575464e-03 -8.29120827e-02 1.23675513e+02] [ 8.29173653e-02 6.66747673e-04 9.96556203e-01 2.51711304e+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:158.14, Y:123.68, Z:25.17 [[-7.47089806e-03 -9.99971361e-01 1.20972351e-03 1.58138580e+02] [ 9.96528373e-01 -7.54547762e-03 -8.29111992e-02 1.23683968e+02] [ 8.29179526e-02 5.86102682e-04 9.96556205e-01 2.51738956e+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:158.14, Y:123.67, Z:25.17 [[-9.28459126e-03 -9.99956089e-01 1.27147740e-03 1.58138130e+02] [ 9.96513079e-01 -9.35804606e-03 -8.29102523e-02 1.23672928e+02] [ 8.29185102e-02 4.97256055e-04 9.96556207e-01 2.51732900e+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:158.14, Y:123.67, Z:25.17 [[-1.01297871e-02 -9.99947791e-01 1.34231704e-03 1.58138223e+02] [ 9.96504849e-01 -1.02062051e-02 -8.29091056e-02 1.23670588e+02] [ 8.29184770e-02 4.97773847e-04 9.96556209e-01 2.51730816e+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:158.14, Y:123.68, Z:25.17 [[-1.40033670e-02 -9.99900950e-01 1.41263595e-03 1.58136375e+02] [ 9.96457852e-01 -1.40722775e-02 -8.29079077e-02 1.23677191e+02] [ 8.29195747e-02 2.46642333e-04 9.96556212e-01 2.51725083e+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:158.13, Y:123.82, Z:25.18 [[-1.40968899e-02 -9.99899533e-01 1.48347349e-03 1.58133088e+02] [ 9.96456553e-01 -1.41713519e-02 -8.29066404e-02 1.23820932e+02] [ 8.29193338e-02 3.09491093e-04 9.96556214e-01 2.51842324e+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:157.78, Y:123.69, Z:25.53 [[-9.62483730e-02 9.95356440e-01 -1.34486186e-03 1.57777063e+02] [ 9.91919697e-01 9.60280704e-02 8.29091380e-02 1.23691599e+02] [ 8.26532889e-02 6.64587467e-03 -9.96556203e-01 2.55324439e+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:157.81, Y:123.62, Z:25.53 [[-1.69470845e-01 9.85498447e-01 -8.51133744e-03 1.57805432e+02] [ 9.82079743e-01 1.69592917e-01 8.22047520e-02 1.23617270e+02] [ 8.24561180e-02 5.57249670e-03 -9.96579117e-01 2.55266209e+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:157.82, Y:123.63, Z:25.53 [[-2.44184387e-01 9.69620967e-01 -1.44625696e-02 1.57822394e+02] [ 9.66237197e-01 2.44542579e-01 8.11455942e-02 1.23634598e+02] [ 8.22171835e-02 5.84021448e-03 -9.96597324e-01 2.55286636e+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:157.85, Y:123.61, Z:25.52 [[-3.16255291e-01 9.48438985e-01 -2.11206643e-02 1.57849637e+02] [ 9.45123059e-01 3.16917902e-01 7.94068495e-02 1.23608684e+02] [ 8.20060684e-02 5.15120944e-03 -9.96618518e-01 2.55245037e+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:157.88, Y:123.60, Z:25.52 [[-3.87271123e-01 9.21574128e-01 -2.68738342e-02 1.57876340e+02] [ 9.18332440e-01 3.88166247e-01 7.74112051e-02 1.23598499e+02] [ 8.17716793e-02 5.30001061e-03 -9.96636996e-01 2.55229497e+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:157.90, Y:123.60, Z:25.52 [[-4.58308298e-01 8.88188696e-01 -3.27771912e-02 1.57900341e+02] [ 8.85046881e-01 4.59448489e-01 7.48271581e-02 1.23600696e+02] [ 8.15200670e-02 5.28455664e-03 -9.96657691e-01 2.55227780e+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:157.92, Y:123.60, Z:25.52 [[-5.27476273e-01 8.48699518e-01 -3.84435786e-02 1.57921872e+02] [ 8.45674337e-01 5.28848187e-01 7.17949207e-02 1.23602665e+02] [ 8.12631315e-02 5.35936936e-03 -9.96678273e-01 2.55213121e+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:157.95, Y:123.60, Z:25.52 [[-5.94278922e-01 8.03062807e-01 -4.38485045e-02 1.57951901e+02] [ 8.00169714e-01 5.95868827e-01 6.83283967e-02 1.23600848e+02] [ 8.09999510e-02 5.51988063e-03 -9.96698821e-01 2.55197198e+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:157.93, Y:123.66, Z:25.53 [[-6.60719412e-01 7.49035567e-01 -4.89446480e-02 1.57927576e+02] [ 7.46281335e-01 6.62502035e-01 6.44610225e-02 1.23658527e+02] [ 8.07095274e-02 6.06417159e-03 -9.96719217e-01 2.55278103e+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:157.96, Y:123.66, Z:25.53 [[-7.17075554e-01 6.94873388e-01 -5.43472618e-02 1.57955490e+02] [ 6.92328464e-01 7.19113736e-01 5.96383514e-02 1.23655894e+02] [ 8.05229657e-02 5.13904759e-03 -9.96739506e-01 2.55269422e+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:158.00, Y:123.64, Z:25.52 [[-7.69530706e-01 6.35931614e-01 -5.84249566e-02 1.58004736e+02] [ 6.33540462e-01 7.71725084e-01 5.53793959e-02 1.23635119e+02] [ 8.03055131e-02 5.60157166e-03 -9.96754557e-01 2.55246776e+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:158.04, Y:123.63, Z:25.52 [[-8.14683381e-01 5.76532124e-01 -6.24635777e-02 1.58040299e+02] [ 5.74345727e-01 8.17057867e-01 5.04324092e-02 1.23634820e+02] [ 8.01122615e-02 5.21075671e-03 -9.96772228e-01 2.55211384e+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:158.06, Y:123.65, Z:25.52 [[-8.54740663e-01 5.14867109e-01 -6.58047075e-02 1.58057601e+02] [ 5.12869261e-01 8.57253992e-01 4.56148586e-02 1.23649315e+02] [ 7.98969385e-02 5.23966282e-03 -9.96789358e-01 2.55165537e+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:158.07, Y:123.67, Z:25.52 [[-8.88704294e-01 4.53262447e-01 -6.89770440e-02 1.58066318e+02] [ 4.51501844e-01 8.91365464e-01 4.01708079e-02 1.23666274e+02] [ 7.96916735e-02 4.55670690e-03 -9.96809146e-01 2.55197455e+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:158.08, Y:123.68, Z:25.52 [[-9.20224329e-01 3.84767116e-01 -7.17039153e-02 1.58077439e+02] [ 3.83240380e-01 9.23003784e-01 3.45083427e-02 1.23678652e+02] [ 7.94606607e-02 4.27558076e-03 -9.96828833e-01 2.55222585e+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:158.09, Y:123.69, Z:25.52 [[-9.46645686e-01 3.13672394e-01 -7.39700974e-02 1.58086198e+02] [ 3.12385868e-01 9.49522724e-01 2.86647075e-02 1.23691905e+02] [ 7.92276158e-02 4.02810855e-03 -9.96848413e-01 2.55236753e+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:158.10, Y:123.71, Z:25.52 [[-9.67471786e-01 2.41367695e-01 -7.57626437e-02 1.58103745e+02] [ 2.40328566e-01 9.70426540e-01 2.26828190e-02 1.23708556e+02] [ 7.89969799e-02 3.73705988e-03 -9.96867851e-01 2.55244537e+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:158.13, Y:123.73, Z:25.52 [[-9.83802152e-01 1.61842091e-01 -7.70744044e-02 1.58129222e+02] [ 1.61036279e-01 9.86808888e-01 1.65992390e-02 1.23732339e+02] [ 7.87441628e-02 3.91859172e-03 -9.96887156e-01 2.55197236e+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:158.13, Y:123.75, Z:25.52 [[-9.94068995e-01 7.58830006e-02 -7.79012409e-02 1.58125055e+02] [ 7.52965459e-02 9.97106508e-01 1.04423502e-02 1.23752758e+02] [ 7.84682311e-02 4.51472226e-03 -9.96906392e-01 2.55211162e+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:158.12, Y:123.95, Z:25.18 [[-9.96201633e-01 -3.81897061e-02 7.82550438e-02 1.58119352e+02] [ 3.79935891e-02 -9.99270001e-01 -3.99401841e-03 1.23950301e+02] [ 7.83504480e-02 -1.00565768e-03 9.96925371e-01 2.51835699e+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:158.08, Y:123.95, Z:25.19 [[-9.95964352e-01 -4.39675294e-02 7.82423601e-02 1.58084363e+02] [ 4.37707744e-02 -9.99032651e-01 -4.22873757e-03 1.23947467e+02] [ 7.83525996e-02 -7.86943179e-04 9.96925399e-01 2.51874315e+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:158.14, Y:123.93, Z:25.18 [[-9.95473480e-01 -5.39558902e-02 7.82388120e-02 1.58140160e+02] [ 5.37847334e-02 -9.98543318e-01 -4.29477202e-03 1.23933223e+02] [ 7.83565712e-02 -6.72780076e-05 9.96925395e-01 2.51789961e+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:158.06, Y:123.93, Z:25.19 [[-9.94763445e-01 -6.57558532e-02 7.82422926e-02 1.58058349e+02] [ 6.56261711e-02 -9.97835312e-01 -4.23040129e-03 1.23927918e+02] [ 7.83510960e-02 9.26493518e-04 9.96925397e-01 2.51884098e+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:158.12, Y:123.92, Z:25.19 [[-9.94617371e-01 -6.79329107e-02 7.82394070e-02 1.58118135e+02] [ 6.78057267e-02 -9.97689345e-01 -4.28412729e-03 1.23920966e+02] [ 7.83496560e-02 1.04401243e-03 9.96925394e-01 2.51866312e+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:158.15, Y:123.92, Z:25.19 [[-9.94463933e-01 -7.01399561e-02 7.82423955e-02 1.58149578e+02] [ 7.00239386e-02 -9.97536348e-01 -4.22883642e-03 1.23916811e+02] [ 7.83462439e-02 1.27341540e-03 9.96925396e-01 2.51879781e+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:158.16, Y:123.92, Z:25.19 [[-9.94546459e-01 -6.89588188e-02 7.82433473e-02 1.58157313e+02] [ 6.88405433e-02 -9.97618788e-01 -4.21115212e-03 1.23916079e+02] [ 7.83474294e-02 1.19812810e-03 9.96925396e-01 2.51902896e+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:158.16, Y:123.91, Z:25.19 [[-9.94744465e-01 -6.60367696e-02 7.82470138e-02 1.58157947e+02] [ 6.59149160e-02 -9.97816651e-01 -4.14188889e-03 1.23913457e+02] [ 7.83496903e-02 1.03752430e-03 9.96925398e-01 2.51900496e+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:158.16, Y:123.91, Z:25.19 [[-9.94742119e-01 -6.60678335e-02 7.82506069e-02 1.58159673e+02] [ 6.59515047e-02 -9.97814517e-01 -4.07286039e-03 1.23912516e+02] [ 7.83486766e-02 1.10929950e-03 9.96925401e-01 2.51861028e+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:158.16, Y:123.91, Z:25.18 [[-9.94419547e-01 -7.07534643e-02 7.82541444e-02 1.58164245e+02] [ 7.06570498e-02 -9.97492632e-01 -4.00372307e-03 1.23912800e+02] [ 7.83412097e-02 1.54782649e-03 9.96925403e-01 2.51806021e+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:158.17, Y:123.91, Z:25.18 [[-9.94230404e-01 -7.33597238e-02 7.82576155e-02 1.58167009e+02] [ 7.32767954e-02 -9.97303880e-01 -3.93468838e-03 1.23912778e+02] [ 7.83352713e-02 1.82248046e-03 9.96925405e-01 2.51792186e+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:158.18, Y:123.91, Z:25.18 [[-9.93828235e-01 -7.86171331e-02 7.82610169e-02 1.58183725e+02] [ 7.85558785e-02 -9.96902217e-01 -3.86583454e-03 1.23909779e+02] [ 7.83225020e-02 2.30588742e-03 9.96925408e-01 2.51769329e+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:158.19, Y:123.91, Z:25.18 [[-9.93722748e-01 -7.99361998e-02 7.82643169e-02 1.58193318e+02] [ 7.98843758e-02 -9.96796902e-01 -3.79783212e-03 1.23909104e+02] [ 7.83172129e-02 2.47810393e-03 9.96925410e-01 2.51767873e+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:158.20, Y:123.91, Z:25.18 [[-9.93668714e-01 -8.06020116e-02 7.82675037e-02 1.58201695e+02] [ 8.05575071e-02 -9.96742980e-01 -3.73098316e-03 1.23911138e+02] [ 7.83133097e-02 2.59767374e-03 9.96925412e-01 2.51770572e+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:158.19, Y:123.91, Z:25.18 [[-9.93780733e-01 -7.92058512e-02 7.82706020e-02 1.58192809e+02] [ 7.91622332e-02 -9.96855010e-01 -3.66481651e-03 1.23914503e+02] [ 7.83147166e-02 2.55405161e-03 9.96925414e-01 2.51768738e+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:158.20, Y:123.92, Z:25.17 [[-9.94074309e-01 -7.54287897e-02 7.82736564e-02 1.58202204e+02] [ 7.53787160e-02 -9.97148485e-01 -3.59837994e-03 1.23919964e+02] [ 7.83218793e-02 2.32311066e-03 9.96925417e-01 2.51747332e+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:158.20, Y:123.93, Z:25.18 [[-9.94450109e-01 -7.02975392e-02 7.82766663e-02 1.58202015e+02] [ 7.02368483e-02 -9.97524091e-01 -3.53167130e-03 1.23925180e+02] [ 7.83311282e-02 1.98583543e-03 9.96925419e-01 2.51768964e+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:158.19, Y:123.93, Z:25.18 [[-9.94665982e-01 -6.71705757e-02 7.82796098e-02 1.58194085e+02] [ 6.71054502e-02 -9.97739871e-01 -3.46518076e-03 1.23927623e+02] [ 7.83354460e-02 1.80629103e-03 9.96925421e-01 2.51783504e+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:158.20, Y:123.93, Z:25.18 [[-9.95105678e-01 -6.03036889e-02 7.82825294e-02 1.58196446e+02] [ 6.02226382e-02 -9.98179186e-01 -3.39792144e-03 1.23932039e+02] [ 7.83448987e-02 1.33308952e-03 9.96925423e-01 2.51785454e+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:158.19, Y:123.94, Z:25.18 [[-9.95360198e-01 -5.59416694e-02 7.82854165e-02 1.58187925e+02] [ 5.58524854e-02 -9.98433478e-01 -3.33005400e-03 1.23935180e+02] [ 7.83490695e-02 1.05783188e-03 9.96925426e-01 2.51791028e+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:158.19, Y:123.94, Z:25.18 [[-9.95786432e-01 -4.77527813e-02 7.82882699e-02 1.58190180e+02] [ 4.76437062e-02 -9.98859069e-01 -3.26156741e-03 1.23941237e+02] [ 7.83546973e-02 4.82118754e-04 9.96925428e-01 2.51798104e+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:158.19, Y:123.94, Z:25.18 [[-9.95977356e-01 -4.35845398e-02 7.82910906e-02 1.58190188e+02] [ 4.34680424e-02 -9.99049717e-01 -3.19239745e-03 1.23943872e+02] [ 7.83558311e-02 2.23604875e-04 9.96925430e-01 2.51808130e+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:158.19, Y:123.95, Z:25.18 [[-9.96115904e-01 -4.02886794e-02 7.82938574e-02 1.58188253e+02] [ 4.01674677e-02 -9.99188081e-01 -3.12303956e-03 1.23946954e+02] [ 7.83561122e-02 3.39566097e-05 9.96925433e-01 2.51798215e+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:158.15, Y:123.95, Z:25.18 [[-9.96001088e-01 -4.30288167e-02 7.82965780e-02 1.58151770e+02] [ 4.29215408e-02 -9.99073780e-01 -3.05327802e-03 1.23950124e+02] [ 7.83554371e-02 3.19541539e-04 9.96925435e-01 2.51788070e+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:158.20, Y:123.95, Z:25.18 [[-9.96000918e-01 -4.30396116e-02 7.82928097e-02 1.58196945e+02] [ 4.29246910e-02 -9.99073342e-01 -3.15095318e-03 1.23945917e+02] [ 7.83558749e-02 2.22342407e-04 9.96925427e-01 2.51768930e+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:158.17, Y:123.95, Z:25.18 [[-9.95986807e-01 -4.33565717e-02 7.82974270e-02 1.58172488e+02] [ 4.32520016e-02 -9.99059594e-01 -3.03172096e-03 1.23945658e+02] [ 7.83552407e-02 3.66966359e-04 9.96925434e-01 2.51804259e+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:158.11, Y:123.95, Z:25.19 [[-9.95961344e-01 -4.39351309e-02 7.82988239e-02 1.58114751e+02] [ 4.38352457e-02 -9.99034285e-01 -2.99483241e-03 1.23946627e+02] [ 7.83547879e-02 4.49510872e-04 9.96925436e-01 2.51854999e+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:158.20, Y:123.94, Z:25.18 [[-9.95965367e-01 -4.38431173e-02 7.82992309e-02 1.58195030e+02] [ 4.37438000e-02 -9.99038325e-01 -2.98399717e-03 1.23943828e+02] [ 7.83547602e-02 4.53148057e-04 9.96925437e-01 2.51785461e+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:158.19, Y:123.94, Z:25.18 [[-9.95934569e-01 -4.45358283e-02 7.83000232e-02 1.58192102e+02] [ 4.44402943e-02 -9.99007648e-01 -2.96306036e-03 1.23944534e+02] [ 7.83542844e-02 5.28661829e-04 9.96925437e-01 2.51829810e+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:158.21, Y:123.94, Z:25.18 [[-9.95914499e-01 -4.49779033e-02 7.83026120e-02 1.58213413e+02] [ 4.48892416e-02 -9.98987781e-01 -2.89299630e-03 1.23941955e+02] [ 7.83534735e-02 6.33767909e-04 9.96925439e-01 2.51839126e+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:158.22, Y:123.94, Z:25.19 [[-9.95671478e-01 -5.00661262e-02 7.83051098e-02 1.58223370e+02] [ 4.99986152e-02 -9.98745295e-01 -2.82373476e-03 1.23938364e+02] [ 7.83482335e-02 1.10363489e-03 9.96925442e-01 2.51852107e+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:158.23, Y:123.94, Z:25.18 [[-9.95213696e-01 -5.84605562e-02 7.83074947e-02 1.58228945e+02] [ 5.84242969e-02 -9.98288038e-01 -2.75597506e-03 1.23937222e+02] [ 7.83345511e-02 1.83227620e-03 9.96925444e-01 2.51836276e+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:158.23, Y:123.94, Z:25.18 [[-9.94985060e-01 -6.22278454e-02 7.83098008e-02 1.58233099e+02] [ 6.22085068e-02 -9.98059553e-01 -2.68881694e-03 1.23936692e+02] [ 7.83251641e-02 2.19620309e-03 9.96925446e-01 2.51814024e+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:158.24, Y:123.94, Z:25.18 [[-9.94807180e-01 -6.50069087e-02 7.83120404e-02 1.58241517e+02] [ 6.50014183e-02 -9.97881727e-01 -2.62192995e-03 1.23935142e+02] [ 7.83165977e-02 2.48207896e-03 9.96925448e-01 2.51787630e+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:158.19, Y:123.93, Z:25.18 [[-9.94453536e-01 -7.02071843e-02 7.83142096e-02 1.58187145e+02] [ 7.02229959e-02 -9.97528045e-01 -2.55545896e-03 1.23934448e+02] [ 7.83000320e-02 2.95817322e-03 9.96925451e-01 2.51796040e+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:158.25, Y:123.93, Z:25.17 [[-9.94418685e-01 -7.07025271e-02 7.83111188e-02 1.58245818e+02] [ 7.07123407e-02 -9.97493226e-01 -2.65120717e-03 1.23932637e+02] [ 7.83022576e-02 2.90115257e-03 9.96925443e-01 2.51712279e+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:158.17, Y:123.94, Z:25.18 [[-9.94444749e-01 -7.03315133e-02 7.83142304e-02 1.58174094e+02] [ 7.03476765e-02 -9.97519259e-01 -2.55587708e-03 1.23937568e+02] [ 7.82997118e-02 2.96754560e-03 9.96925448e-01 2.51784349e+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:158.25, Y:123.94, Z:25.17 [[-9.94223823e-01 -7.33837904e-02 7.83186408e-02 1.58252813e+02] [ 7.34202457e-02 -9.97298161e-01 -2.41783819e-03 1.23936628e+02] [ 7.82844666e-02 3.34630153e-03 9.96925446e-01 2.51727294e+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:158.25, Y:123.94, Z:25.17 [[-9.93870902e-01 -7.80228758e-02 7.83138634e-02 1.58247225e+02] [ 7.80622012e-02 -9.96945194e-01 -2.56379615e-03 1.23937161e+02] [ 7.82746645e-02 3.56527016e-03 9.96925456e-01 2.51739594e+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:158.26, Y:123.94, Z:25.17 [[-9.93487435e-01 -8.27649793e-02 7.83113911e-02 1.58264933e+02] [ 8.28129826e-02 -9.96561609e-01 -2.64001466e-03 1.23936042e+02] [ 7.82606266e-02 3.86237847e-03 9.96925452e-01 2.51687992e+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:158.25, Y:123.94, Z:25.17 [[-9.93295536e-01 -8.50325184e-02 7.83163420e-02 1.58253681e+02] [ 8.50998088e-02 -9.96369335e-01 -2.48394734e-03 1.23937526e+02] [ 7.82432179e-02 4.19741192e-03 9.96925464e-01 2.51702886e+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:158.28, Y:123.94, Z:25.16 [[-9.93098529e-01 -8.73042526e-02 7.83152604e-02 1.58277817e+02] [ 8.73758709e-02 -9.96172232e-01 -2.51832564e-03 1.23941755e+02] [ 7.82353483e-02 4.34191859e-03 9.96925463e-01 2.51644131e+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:158.28, Y:123.94, Z:25.16 [[-9.93168823e-01 -8.64977499e-02 7.83187593e-02 1.58280250e+02] [ 8.65758303e-02 -9.96242362e-01 -2.40436916e-03 1.23941729e+02] [ 7.82324383e-02 4.39256713e-03 9.96925469e-01 2.51642115e+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:158.17, Y:123.95, Z:25.17 [[-9.92986760e-01 -8.85616754e-02 7.83206456e-02 1.58173200e+02] [ 8.86511026e-02 -9.96059988e-01 -2.34127567e-03 1.23947781e+02] [ 7.82194086e-02 4.61835584e-03 9.96925471e-01 2.51731498e+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:158.26, Y:123.95, Z:25.16 [[-9.93934219e-01 -7.72079289e-02 7.83179620e-02 1.58258525e+02] [ 7.72550777e-02 -9.97008394e-01 -2.43223668e-03 1.23946471e+02] [ 7.82714535e-02 3.63297698e-03 9.96925464e-01 2.51642791e+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:158.29, Y:123.95, Z:25.16 [[-9.93153068e-01 -8.66571564e-02 7.83423256e-02 1.58292020e+02] [ 8.67995770e-02 -9.96224522e-01 -1.59196271e-03 1.23950815e+02] [ 7.81845009e-02 5.21901807e-03 9.96925246e-01 2.51601535e+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:158.29, Y:123.96, Z:25.16 [[-9.93440628e-01 -8.33147511e-02 7.83222309e-02 1.58288415e+02] [ 8.33925832e-02 -9.96514159e-01 -2.28222384e-03 1.23959355e+02] [ 7.82393549e-02 4.26423927e-03 9.96925483e-01 2.51578621e+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:158.30, Y:123.96, Z:25.16 [[-9.93670212e-01 -8.05286337e-02 7.83240007e-02 1.58296121e+02] [ 8.06027552e-02 -9.96743833e-01 -2.21978103e-03 1.23964502e+02] [ 7.82477206e-02 4.10739997e-03 9.96925485e-01 2.51570701e+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:158.28, Y:123.97, Z:25.16 [[-9.94666820e-01 -6.71043809e-02 7.83257219e-02 1.58280394e+02] [ 6.71419073e-02 -9.97741104e-01 -2.15729364e-03 1.23970853e+02] [ 7.82935561e-02 3.11314996e-03 9.96925487e-01 2.51600809e+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:123.98, Z:25.16 [[-9.94401400e-01 -7.09120526e-02 7.83411605e-02 1.58294140e+02] [ 7.10065778e-02 -9.97474593e-01 -1.58193278e-03 1.23975103e+02] [ 7.82554953e-02 3.98966155e-03 9.96925353e-01 2.51590588e+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:158.32, Y:123.73, Z:25.52 [[-9.92823810e-01 -9.03640163e-02 -7.83276939e-02 1.58318244e+02] [-9.08056460e-02 9.95866445e-01 2.08758535e-03 1.23734847e+02] [ 7.78152795e-02 9.18520129e-03 -9.96925481e-01 2.55231225e+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:158.33, Y:123.75, Z:25.52 [[-9.83560408e-01 -1.62861018e-01 -7.80077704e-02 1.58331594e+02] [-1.63043182e-01 9.86610535e-01 -4.07109310e-03 1.23750863e+02] [ 7.76263104e-02 8.71446914e-03 -9.96944439e-01 2.55204437e+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:158.33, Y:123.76, Z:25.52 [[-9.67905107e-01 -2.39143024e-01 -7.72678374e-02 1.58334717e+02] [-2.39116648e-01 9.70942099e-01 -9.72985475e-03 1.23760846e+02] [ 7.73494231e-02 9.05845017e-03 -9.96962894e-01 2.55219917e+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:158.34, Y:123.78, Z:25.52 [[-9.46890609e-01 -3.12468457e-01 -7.59054490e-02 1.58344606e+02] [-3.12164421e-01 9.49890918e-01 -1.61436543e-02 1.23777493e+02] [ 7.71462794e-02 8.40870583e-03 -9.96984325e-01 2.55194166e+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:158.35, Y:123.80, Z:25.52 [[-9.18524896e-01 -3.88331419e-01 -7.42342535e-02 1.58352063e+02] [-3.87818906e-01 9.21478001e-01 -2.17896611e-02 1.23796348e+02] [ 7.68668415e-02 8.77510083e-03 -9.97002751e-01 2.55191436e+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:158.37, Y:123.82, Z:25.52 [[-8.83211005e-01 -4.63420660e-01 -7.19695217e-02 1.58366611e+02] [-4.62677787e-01 8.86094225e-01 -2.76819525e-02 1.23817557e+02] [ 7.66001662e-02 8.84969394e-03 -9.97022616e-01 2.55150184e+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:158.22, Y:124.08, Z:25.17 [[-9.15992243e-01 3.95155208e-01 6.93582883e-02 1.58215325e+02] [-3.93774192e-01 -9.18609299e-01 3.31487921e-02 1.24083333e+02] [ 7.68120864e-02 3.05253254e-03 9.97040915e-01 2.51670743e+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:158.03, Y:124.00, Z:25.19 [[-9.16642074e-01 3.93640804e-01 6.93846177e-02 1.58028829e+02] [-3.92259634e-01 -9.19259046e-01 3.30935898e-02 1.23999874e+02] [ 7.68094248e-02 3.11819212e-03 9.97040917e-01 2.51854057e+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:158.22, Y:124.09, Z:25.17 [[-9.18287789e-01 3.89800205e-01 6.93061128e-02 1.58219959e+02] [-3.88395720e-01 -9.20892328e-01 3.32578434e-02 1.24092367e+02] [ 7.67873818e-02 3.62207391e-03 9.97040911e-01 2.51685000e+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:158.24, Y:124.10, Z:25.16 [[-9.20207232e-01 3.85231527e-01 6.93925082e-02 1.58239652e+02] [-3.83827732e-01 -9.22812121e-01 3.30765952e-02 1.24103662e+02] [ 7.67783949e-02 3.80255311e-03 9.97040931e-01 2.51637985e+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:158.23, Y:124.10, Z:25.16 [[-9.21652387e-01 3.81758859e-01 6.94049843e-02 1.58225570e+02] [-3.80347219e-01 -9.24253031e-01 3.30503672e-02 1.24099429e+02] [ 7.67650376e-02 4.06295704e-03 9.97040933e-01 2.51645450e+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:158.40, Y:123.84, Z:25.51 [[-8.36392106e-01 -5.43714964e-01 -6.94426592e-02 1.58403514e+02] [-5.42808654e-01 8.39208959e-01 -3.29710182e-02 1.23835372e+02] [ 7.62037377e-02 1.01173771e-02 -9.97040937e-01 2.55128280e+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:158.28, Y:123.78, Z:25.52 [[-7.91400022e-01 -6.07678086e-01 -6.64330488e-02 1.58282856e+02] [-6.06559205e-01 7.94119744e-01 -3.82068513e-02 1.23775151e+02] [ 7.59732619e-02 1.00586743e-02 -9.97059119e-01 2.55222551e+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:158.37, Y:123.85, Z:25.51 [[-7.46140704e-01 -6.62465621e-01 -6.64330488e-02 1.58369183e+02] [-6.61543158e-01 7.48933166e-01 -3.82068513e-02 1.23848921e+02] [ 7.50646390e-02 1.54406419e-02 -9.97059119e-01 2.55136702e+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:158.10, Y:124.10, Z:25.17 [[-8.14945062e-01 5.76482179e-01 5.94377233e-02 1.58097860e+02] [-5.74573285e-01 -8.17098916e-01 4.70627389e-02 1.24095613e+02] [ 7.56973295e-02 4.20221873e-03 9.97121986e-01 2.51704871e+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:158.11, Y:124.11, Z:25.16 [[-8.17047686e-01 5.73500775e-01 5.94133011e-02 1.58114743e+02] [-5.71581789e-01 -8.19192558e-01 4.70936456e-02 1.24112290e+02] [ 7.56791764e-02 4.51819322e-03 9.97121983e-01 2.51638898e+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:158.31, Y:123.81, Z:25.53 [[-6.91639057e-01 -7.19782499e-01 -5.95698659e-02 1.58307059e+02] [-7.18327876e-01 6.94122398e-01 -4.68951925e-02 1.23811286e+02] [ 7.51031171e-02 1.03561485e-02 -9.97121995e-01 2.55267606e+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:158.32, Y:123.84, Z:25.52 [[-6.41209369e-01 -7.65050310e-01 -5.95698659e-02 1.58320039e+02] [-7.63767528e-01 6.43785682e-01 -4.68951925e-02 1.23838096e+02] [ 7.42274083e-02 1.54278924e-02 -9.97121995e-01 2.55245846e+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:158.01, Y:124.08, Z:25.17 [[-7.24341638e-01 6.87520719e-01 5.14242400e-02 1.58011431e+02] [-6.85364503e-01 -7.26152102e-01 5.45767603e-02 1.24080993e+02] [ 7.48644734e-02 4.28787125e-03 9.97184499e-01 2.51679517e+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:158.27, Y:123.80, Z:25.53 [[-5.79787705e-01 -8.13140576e-01 -5.14647643e-02 1.58273260e+02] [-8.11372843e-01 5.81979088e-01 -5.45385200e-02 1.23798732e+02] [ 7.42989001e-02 1.01363488e-02 -9.97184500e-01 2.55330659e+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:157.98, Y:124.08, Z:25.17 [[-6.67261151e-01 7.43355989e-01 4.67378874e-02 1.57978880e+02] [-7.41074990e-01 -6.68882210e-01 5.83476517e-02 1.24084008e+02] [ 7.46352177e-02 4.29684178e-03 9.97201645e-01 2.51651764e+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:157.97, Y:124.08, Z:25.17 [[-6.66835070e-01 7.43726748e-01 4.69202876e-02 1.57969591e+02] [-7.41456898e-01 -6.68471658e-01 5.82006065e-02 1.24083451e+02] [ 7.46502303e-02 4.02083458e-03 9.97201673e-01 2.51693519e+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:157.94, Y:124.05, Z:25.18 [[-6.65170366e-01 7.45213248e-01 4.69638142e-02 1.57942016e+02] [-7.42949521e-01 -6.66815409e-01 5.81654626e-02 1.24053151e+02] [ 7.46618682e-02 3.79819882e-03 9.97201674e-01 2.51757019e+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:157.97, Y:124.09, Z:25.17 [[-6.66368030e-01 7.44150653e-01 4.68343284e-02 1.57968455e+02] [-7.41876991e-01 -6.67999346e-01 5.82700995e-02 1.24093118e+02] [ 7.46470333e-02 4.08402077e-03 9.97201655e-01 2.51737345e+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:157.96, Y:124.09, Z:25.17 [[-6.66865028e-01 7.43693501e-01 4.70213811e-02 1.57963590e+02] [-7.41429294e-01 -6.68509394e-01 5.81187660e-02 1.24091140e+02] [ 7.46567835e-02 3.89434309e-03 9.97201684e-01 2.51748523e+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:157.96, Y:124.09, Z:25.17 [[-6.68220902e-01 7.42472744e-01 4.70643318e-02 1.57957797e+02] [-7.40207966e-01 -6.69864479e-01 5.80839640e-02 1.24091452e+02] [ 7.46524842e-02 3.97552547e-03 9.97201686e-01 2.51745734e+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:157.97, Y:124.11, Z:25.17 [[-6.70332890e-01 7.40563780e-01 4.71073670e-02 1.57965564e+02] [-7.38296758e-01 -6.71973367e-01 5.80490406e-02 1.24106109e+02] [ 7.46439130e-02 4.13296480e-03 9.97201687e-01 2.51700116e+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:157.96, Y:124.10, Z:25.17 [[-6.71740628e-01 7.39284398e-01 4.71498449e-02 1.57955218e+02] [-7.37016655e-01 -6.73380106e-01 5.80145179e-02 1.24097473e+02] [ 7.46389955e-02 4.22048770e-03 9.97201689e-01 2.51718157e+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:157.96, Y:124.11, Z:25.17 [[-6.72397019e-01 7.38683320e-01 4.72144225e-02 1.57959485e+02] [-7.36417773e-01 -6.74039525e-01 5.79619149e-02 1.24113236e+02] [ 7.46398866e-02 4.20387896e-03 9.97201692e-01 2.51745515e+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:157.98, Y:124.14, Z:25.17 [[-6.77374207e-01 7.34119223e-01 4.72562274e-02 1.57978729e+02] [-7.31844975e-01 -6.79004640e-01 5.79278115e-02 1.24143296e+02] [ 7.46131176e-02 4.65457280e-03 9.97201694e-01 2.51704484e+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:158.31, Y:123.80, Z:25.53 [[-5.32538816e-01 -8.45067786e-01 -4.75693895e-02 1.58306113e+02] [-8.43149955e-01 5.34576613e-01 -5.76714665e-02 1.23798503e+02] [ 7.41657816e-02 9.39583418e-03 -9.97201662e-01 2.55261143e+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:157.89, Y:124.05, Z:25.18 [[-6.13579230e-01 7.88464225e-01 4.29498973e-02 1.57885472e+02] [-7.86114860e-01 -6.15069956e-01 6.09292686e-02 1.24054996e+02] [ 7.44577400e-02 3.62138126e-03 9.97217594e-01 2.51788023e+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:157.87, Y:124.05, Z:25.18 [[-6.08779315e-01 7.92173743e-01 4.29942609e-02 1.57873948e+02] [-7.89835668e-01 -6.10287685e-01 6.08979478e-02 1.24052855e+02] [ 7.44806232e-02 3.11501025e-03 9.97217596e-01 2.51823872e+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:157.87, Y:124.06, Z:25.18 [[-6.02653858e-01 7.96841249e-01 4.30389536e-02 1.57870278e+02] [-7.94517115e-01 -6.04183617e-01 6.08663455e-02 1.24055529e+02] [ 7.45042454e-02 2.48615270e-03 9.97217597e-01 2.51849612e+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:157.86, Y:124.04, Z:25.19 [[-6.00023316e-01 7.98821514e-01 4.30837370e-02 1.57857268e+02] [-7.96504700e-01 -6.01564137e-01 6.08346295e-02 1.24038711e+02] [ 7.45136419e-02 2.18579705e-03 9.97217599e-01 2.51864118e+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:157.85, Y:124.03, Z:25.19 [[-5.94516018e-01 8.02926266e-01 4.31290453e-02 1.57846988e+02] [-8.00622423e-01 -5.96076164e-01 6.08024911e-02 1.24030476e+02] [ 7.45281130e-02 1.61797413e-03 9.97217600e-01 2.51879913e+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:157.84, Y:124.03, Z:25.19 [[-5.92128026e-01 8.04685807e-01 4.31874169e-02 1.57842693e+02] [-8.02389621e-01 -5.93699416e-01 6.07610022e-02 1.24026518e+02] [ 7.45338603e-02 1.32515722e-03 9.97217603e-01 2.51885546e+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:157.84, Y:124.01, Z:25.19 [[-5.88514436e-01 8.07329908e-01 4.32339916e-02 1.57836650e+02] [-8.05043217e-01 -5.90099608e-01 6.07278445e-02 1.24013663e+02] [ 7.45397666e-02 9.33981426e-04 9.97217605e-01 2.51888500e+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:157.79, Y:123.94, Z:25.20 [[-5.86660580e-01 8.08675531e-01 4.32810561e-02 1.57789878e+02] [-8.06394950e-01 -5.88254527e-01 6.06942829e-02 1.23943425e+02] [ 7.45422587e-02 7.05318169e-04 9.97217606e-01 2.51958423e+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:157.84, Y:124.02, Z:25.19 [[-5.88471574e-01 8.07362032e-01 4.32175289e-02 1.57844027e+02] [-8.05074564e-01 -5.90055629e-01 6.07396152e-02 1.24015329e+02] [ 7.45396054e-02 9.50203696e-04 9.97217601e-01 2.51868783e+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:157.84, Y:124.00, Z:25.19 [[-5.89241367e-01 8.06792883e-01 4.33573075e-02 1.57841417e+02] [-8.04511223e-01 -5.90833751e-01 6.06396750e-02 1.24003832e+02] [ 7.45406188e-02 8.49964445e-04 9.97217616e-01 2.51887162e+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:157.84, Y:124.00, Z:25.19 [[-5.89841181e-01 8.06351942e-01 4.34042250e-02 1.57840621e+02] [-8.04071562e-01 -5.91435395e-01 6.06060743e-02 1.23998076e+02] [ 7.45406206e-02 8.47855424e-04 9.97217618e-01 2.51892721e+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:157.83, Y:123.98, Z:25.19 [[-5.89466271e-01 8.06622150e-01 4.34766992e-02 1.57833955e+02] [-8.04346334e-01 -5.91066987e-01 6.05540395e-02 1.23980598e+02] [ 7.45418711e-02 7.24240246e-04 9.97217622e-01 2.51921214e+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:157.84, Y:123.99, Z:25.19 [[-5.89822168e-01 8.06359374e-01 4.35243643e-02 1.57842324e+02] [-8.04085373e-01 -5.91425458e-01 6.05197600e-02 1.23987850e+02] [ 7.45420929e-02 6.98591370e-04 9.97217623e-01 2.51917951e+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:157.84, Y:123.98, Z:25.19 [[-5.91825358e-01 8.04887704e-01 4.35721163e-02 1.57841424e+02] [-8.02612247e-01 -5.93426577e-01 6.04853609e-02 1.23975122e+02] [ 7.45407751e-02 8.25256194e-04 9.97217625e-01 2.51907384e+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:157.85, Y:123.98, Z:25.19 [[-5.94129495e-01 8.03185825e-01 4.36196624e-02 1.57845746e+02] [-8.00908297e-01 -5.95727765e-01 6.04510532e-02 1.23975073e+02] [ 7.45388730e-02 9.80404098e-04 9.97217627e-01 2.51892050e+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:157.85, Y:123.97, Z:25.19 [[-6.00895861e-01 7.98133654e-01 4.36673114e-02 1.57848376e+02] [-7.95845192e-01 -6.02478433e-01 6.04166141e-02 1.23968448e+02] [ 7.45291463e-02 1.55167355e-03 9.97217629e-01 2.51880091e+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:157.85, Y:123.97, Z:25.19 [[-6.04539849e-01 7.95374495e-01 4.37148034e-02 1.57851055e+02] [-7.93081293e-01 -6.06115541e-01 6.03822315e-02 1.23966371e+02] [ 7.45227086e-02 1.83407238e-03 9.97217630e-01 2.51876603e+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:157.86, Y:123.97, Z:25.19 [[-6.07688203e-01 7.92969049e-01 4.37622683e-02 1.57858758e+02] [-7.90672083e-01 -6.09258400e-01 6.03478117e-02 1.23966498e+02] [ 7.45164764e-02 2.07104932e-03 9.97217632e-01 2.51876004e+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:157.86, Y:123.96, Z:25.19 [[-6.08560017e-01 7.92297574e-01 4.38093537e-02 1.57857238e+02] [-7.90001331e-01 -6.10131268e-01 6.03136109e-02 1.23960065e+02] [ 7.45157842e-02 2.09500431e-03 9.97217634e-01 2.51898350e+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:157.87, Y:123.96, Z:25.19 [[-6.07469353e-01 7.93131521e-01 4.38563014e-02 1.57866832e+02] [-7.90839895e-01 -6.09047328e-01 6.02794543e-02 1.23963870e+02] [ 7.45200985e-02 1.93460823e-03 9.97217635e-01 2.51889676e+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:157.88, Y:123.97, Z:25.18 [[-6.08538462e-01 7.92308948e-01 4.39029865e-02 1.57876234e+02] [-7.90017637e-01 -6.10116891e-01 6.02454333e-02 1.23973590e+02] [ 7.45189495e-02 1.97752964e-03 9.97217637e-01 2.51847871e+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:158.17, Y:123.70, Z:25.54 [[-5.13680380e-01 -8.56850735e-01 -4.40373140e-02 1.58172518e+02] [-8.54763694e-01 5.15520439e-01 -6.01473660e-02 1.23701951e+02] [ 7.42394502e-02 6.74497538e-03 -9.97217634e-01 2.55375553e+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:157.80, Y:123.88, Z:25.19 [[-5.45664691e-01 8.37071170e-01 3.95209020e-02 1.57799307e+02] [-8.34699489e-01 -5.47092272e-01 6.29826133e-02 1.23876048e+02] [ 7.43425098e-02 1.37931149e-03 9.97231813e-01 2.51931566e+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:157.81, Y:123.88, Z:25.19 [[-5.45731285e-01 8.37025362e-01 3.95715516e-02 1.57810306e+02] [-8.34655865e-01 -5.47162486e-01 6.29507745e-02 1.23883228e+02] [ 7.43434634e-02 1.32557946e-03 9.97231815e-01 2.51874954e+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:157.81, Y:123.88, Z:25.19 [[-5.46400108e-01 8.36586815e-01 3.96159465e-02 1.57809102e+02] [-8.34218193e-01 -5.47832753e-01 6.29228238e-02 1.23881203e+02] [ 7.43433178e-02 1.33269444e-03 9.97231816e-01 2.51876814e+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:157.81, Y:123.88, Z:25.19 [[-5.47715084e-01 8.35724097e-01 3.96663549e-02 1.57809974e+02] [-8.33355517e-01 -5.49147795e-01 6.28910306e-02 1.23877355e+02] [ 7.43422411e-02 1.39019040e-03 9.97231818e-01 2.51893111e+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:157.82, Y:123.88, Z:25.19 [[-5.47985817e-01 8.35544207e-01 3.97167728e-02 1.57816080e+02] [-8.33177461e-01 -5.49421553e-01 6.28591749e-02 1.23883542e+02] [ 7.43428704e-02 1.35481639e-03 9.97231820e-01 2.51910628e+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:157.82, Y:123.88, Z:25.20 [[-5.47448118e-01 8.35894230e-01 3.97667489e-02 1.57821799e+02] [-8.33530696e-01 -5.48889132e-01 6.28275426e-02 1.23882104e+02] [ 7.43447166e-02 1.24801409e-03 9.97231821e-01 2.51965335e+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:157.82, Y:123.87, Z:25.20 [[-5.46911902e-01 8.36242814e-01 3.98161642e-02 1.57816758e+02] [-8.33882477e-01 -5.48358141e-01 6.27962108e-02 1.23869018e+02] [ 7.43463978e-02 1.14199347e-03 9.97231823e-01 2.51990572e+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:157.82, Y:123.87, Z:25.20 [[-5.45084388e-01 8.37432818e-01 3.98658508e-02 1.57820541e+02] [-8.35077943e-01 -5.46539502e-01 6.27646518e-02 1.23871967e+02] [ 7.43494415e-02 9.20939058e-04 9.97231825e-01 2.51988167e+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:157.81, Y:123.85, Z:25.20 [[-5.44330893e-01 8.37920413e-01 3.99156660e-02 1.57806629e+02] [-8.35569163e-01 -5.45791856e-01 6.27329556e-02 1.23848269e+02] [ 7.43508695e-02 7.95186131e-04 9.97231827e-01 2.51983354e+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:157.81, Y:123.85, Z:25.20 [[-5.40140788e-01 8.40625146e-01 3.99661496e-02 1.57813670e+02] [-8.38283592e-01 -5.41617237e-01 6.27007769e-02 1.23850165e+02] [ 7.43542053e-02 3.64279619e-04 9.97231828e-01 2.51951252e+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:157.81, Y:123.83, Z:25.20 [[-5.37288368e-01 8.42448710e-01 4.00172662e-02 1.57806834e+02] [-8.40114597e-01 -5.38776548e-01 6.26681362e-02 1.23831238e+02] [ 7.43550550e-02 5.17711957e-05 9.97231830e-01 2.51955018e+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:157.80, Y:123.82, Z:25.20 [[-5.36626974e-01 8.42867715e-01 4.00687558e-02 1.57800789e+02] [-8.40537222e-01 -5.38120814e-01 6.26351976e-02 1.23819546e+02] [ 7.43550174e-02 -6.75440614e-05 9.97231832e-01 2.51965555e+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:157.80, Y:123.81, Z:25.20 [[-5.35475900e-01 8.43596963e-01 4.01213785e-02 1.57798190e+02] [-8.41271030e-01 -5.36976825e-01 6.26014718e-02 1.23812240e+02] [ 7.43546619e-02 -2.31374009e-04 9.97231834e-01 2.51989824e+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:157.81, Y:123.83, Z:25.20 [[-5.46809707e-01 8.36292497e-01 4.01746510e-02 1.57806216e+02] [-8.33949028e-01 -5.48283099e-01 6.25672656e-02 1.23830992e+02] [ 7.43516169e-02 7.08777046e-04 9.97231836e-01 2.51986896e+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:158.06, Y:123.63, Z:25.54 [[-4.79540480e-01 -8.76583476e-01 -4.05257546e-02 1.58063002e+02] [-8.74381438e-01 4.81217952e-01 -6.23408655e-02 1.23633217e+02] [ 7.41486932e-02 5.53999895e-03 -9.97231808e-01 2.55378368e+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:157.77, Y:123.77, Z:25.21 [[-4.82128331e-01 8.75376307e-01 3.56173283e-02 1.57770949e+02] [-8.72957488e-01 -4.83442089e-01 6.50305424e-02 1.23769028e+02] [ 7.41451116e-02 2.60653448e-04 9.97247429e-01 2.52127081e+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:157.78, Y:123.76, Z:25.21 [[-4.91289686e-01 8.70265433e-01 3.56724075e-02 1.57775842e+02] [-8.67835143e-01 -4.92582098e-01 6.50003148e-02 1.23761308e+02] [ 7.41391165e-02 9.76215324e-04 9.97247431e-01 2.52108465e+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:157.79, Y:123.77, Z:25.21 [[-4.95687422e-01 8.67765833e-01 3.57272801e-02 1.57786264e+02] [-8.65331199e-01 -4.96971626e-01 6.49701404e-02 1.23771439e+02] [ 7.41343125e-02 1.28895123e-03 9.97247433e-01 2.52067201e+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:157.79, Y:123.77, Z:25.20 [[-5.03915660e-01 8.63011410e-01 3.57814737e-02 1.57792230e+02] [-8.60566782e-01 -5.05180733e-01 6.49402804e-02 1.23767414e+02] [ 7.41203141e-02 1.93207659e-03 9.97247435e-01 2.52030952e+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:157.80, Y:123.76, Z:25.20 [[-5.10844333e-01 8.58926032e-01 3.58348711e-02 1.57796104e+02] [-8.56473354e-01 -5.12093723e-01 6.49108018e-02 1.23764486e+02] [ 7.41043900e-02 2.46770302e-03 9.97247437e-01 2.52021008e+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:157.80, Y:123.76, Z:25.20 [[-5.13421728e-01 8.57385663e-01 3.58880927e-02 1.57795715e+02] [-8.54931283e-01 -5.14667767e-01 6.48813633e-02 1.23760186e+02] [ 7.40987952e-02 2.62964853e-03 9.97247438e-01 2.52014919e+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:157.80, Y:123.76, Z:25.20 [[-5.16507577e-01 8.55527993e-01 3.59412901e-02 1.57796369e+02] [-8.53071171e-01 -5.17748791e-01 6.48518812e-02 1.23756319e+02] [ 7.40911592e-02 2.83600957e-03 9.97247440e-01 2.51986589e+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:157.80, Y:123.76, Z:25.20 [[-5.17756166e-01 8.54770698e-01 3.59945388e-02 1.57799309e+02] [-8.52314102e-01 -5.18997822e-01 6.48223133e-02 1.23757932e+02] [ 7.40893013e-02 2.88349937e-03 9.97247442e-01 2.51964706e+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:157.80, Y:123.76, Z:25.20 [[-5.21284307e-01 8.52621396e-01 3.60475560e-02 1.57802052e+02] [-8.50161707e-01 -5.22519821e-01 6.47928173e-02 1.23757125e+02] [ 7.40793049e-02 3.12922715e-03 9.97247444e-01 2.51960723e+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:157.80, Y:123.76, Z:25.20 [[-5.24663166e-01 8.50544143e-01 3.61001765e-02 1.57803548e+02] [-8.48081565e-01 -5.25892907e-01 6.47634860e-02 1.23756804e+02] [ 7.40690305e-02 3.36312146e-03 9.97247446e-01 2.51970583e+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:157.80, Y:123.76, Z:25.20 [[-5.30512469e-01 8.46905847e-01 3.61525338e-02 1.57804854e+02] [-8.44436816e-01 -5.31729199e-01 6.47342459e-02 1.23761479e+02] [ 7.40471692e-02 3.81379413e-03 9.97247448e-01 2.51978440e+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:157.82, Y:123.79, Z:25.20 [[-5.31536612e-01 8.46261228e-01 3.62044675e-02 1.57816589e+02] [-8.43792677e-01 -5.32754311e-01 6.47051875e-02 1.23785813e+02] [ 7.40455777e-02 3.84411156e-03 9.97247449e-01 2.51963689e+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:157.80, Y:123.76, Z:25.20 [[-5.27941176e-01 8.48506741e-01 3.62549919e-02 1.57801086e+02] [-8.46045300e-01 -5.29173179e-01 6.46768660e-02 1.23758294e+02] [ 7.40639261e-02 3.47221524e-03 9.97247451e-01 2.51972859e+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:157.80, Y:123.75, Z:25.20 [[-5.21321344e-01 8.52587806e-01 3.63054940e-02 1.57795143e+02] [-8.50137984e-01 -5.22576290e-01 6.46485050e-02 1.23753096e+02] [ 7.40909174e-02 2.83796599e-03 9.97247453e-01 2.51956423e+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:157.79, Y:123.74, Z:25.20 [[-5.18266819e-01 8.54445816e-01 3.63572869e-02 1.57786437e+02] [-8.52002528e-01 -5.19534435e-01 6.46193645e-02 1.23744055e+02] [ 7.41026081e-02 2.51357208e-03 9.97247454e-01 2.51960321e+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:157.77, Y:123.73, Z:25.20 [[-5.11060848e-01 8.58773050e-01 3.64096007e-02 1.57774611e+02] [-8.56342600e-01 -5.12352905e-01 6.45898751e-02 1.23730372e+02] [ 7.41226087e-02 1.83026416e-03 9.97247456e-01 2.51985056e+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:157.77, Y:123.72, Z:25.20 [[-5.07417505e-01 8.60928526e-01 3.64629754e-02 1.57769916e+02] [-8.58505728e-01 -5.08723850e-01 6.45597295e-02 1.23722918e+02] [ 7.41308980e-02 1.45506364e-03 9.97247458e-01 2.51964932e+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:157.77, Y:123.72, Z:25.20 [[-5.01368802e-01 8.64462733e-01 3.65172176e-02 1.57767667e+02] [-8.62051381e-01 -5.02696151e-01 6.45290338e-02 1.23719286e+02] [ 7.41400097e-02 8.73126480e-04 9.97247460e-01 2.51992636e+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:157.77, Y:123.72, Z:25.20 [[-5.00383495e-01 8.65031134e-01 3.65717713e-02 1.57766994e+02] [-8.62623548e-01 -5.01717659e-01 6.44981009e-02 1.23717645e+02] [ 7.41415689e-02 7.26114004e-04 9.97247462e-01 2.52000961e+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:157.76, Y:123.70, Z:25.20 [[-5.01897146e-01 8.64151469e-01 3.66263988e-02 1.57760616e+02] [-8.61743807e-01 -5.03231169e-01 6.44670650e-02 1.23700835e+02] [ 7.41408544e-02 7.93263672e-04 9.97247464e-01 2.52029445e+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:157.76, Y:123.70, Z:25.20 [[-5.07141776e-01 8.61081688e-01 3.66816685e-02 1.57764663e+02] [-8.58668225e-01 -5.08465272e-01 6.44356014e-02 1.23700806e+02] [ 7.41356710e-02 1.18060217e-03 9.97247466e-01 2.52020621e+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:157.77, Y:123.71, Z:25.20 [[-5.10753208e-01 8.58942095e-01 3.67374076e-02 1.57772054e+02] [-8.56525372e-01 -5.12070735e-01 6.44038067e-02 1.23708863e+02] [ 7.41312920e-02 1.42792914e-03 9.97247468e-01 2.52011172e+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:157.78, Y:123.71, Z:25.20 [[-5.16705460e-01 8.55372313e-01 3.67922971e-02 1.57780378e+02] [-8.52948719e-01 -5.18010302e-01 6.43724346e-02 1.23710831e+02] [ 7.41211872e-02 1.87964573e-03 9.97247470e-01 2.52007293e+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:157.74, Y:123.64, Z:25.21 [[-5.18951107e-01 8.54009428e-01 3.68462444e-02 1.57741730e+02] [-8.51584593e-01 -5.20253638e-01 6.43415410e-02 1.23640587e+02] [ 7.41176753e-02 2.01241994e-03 9.97247472e-01 2.52076227e+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:157.69, Y:123.55, Z:25.22 [[-5.23972645e-01 8.50938185e-01 3.68357618e-02 1.57688949e+02] [-8.48505300e-01 -5.25260078e-01 6.43475494e-02 1.23553756e+02] [ 7.41041420e-02 2.46101646e-03 9.97247472e-01 2.52153478e+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:157.76, Y:123.67, Z:25.21 [[-5.27218188e-01 8.48935487e-01 3.67358263e-02 1.57755955e+02] [-8.46493742e-01 -5.28488757e-01 6.44048027e-02 1.23673611e+02] [ 7.40899937e-02 2.85873627e-03 9.97247462e-01 2.52071561e+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:157.76, Y:123.68, Z:25.21 [[-5.32636752e-01 8.45544779e-01 3.67711443e-02 1.57758750e+02] [-8.43096342e-01 -5.33894362e-01 6.43845342e-02 1.23675067e+02] [ 7.40719133e-02 3.29195194e-03 9.97247469e-01 2.52063993e+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:157.79, Y:123.73, Z:25.20 [[-5.36805273e-01 8.42902275e-01 3.68219164e-02 1.57791035e+02] [-8.40449636e-01 -5.38054643e-01 6.43553455e-02 1.23727985e+02] [ 7.40574703e-02 3.59932253e-03 9.97247480e-01 2.51985753e+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:157.95, Y:123.53, Z:25.56 [[-3.83000100e-01 -9.23007136e-01 -3.69966178e-02 1.57951575e+02] [-9.20816455e-01 3.84666585e-01 -6.42547577e-02 1.23534900e+02] [ 7.35389625e-02 9.45751585e-03 -9.97247500e-01 2.55647080e+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:157.97, Y:123.61, Z:25.56 [[-3.16261837e-01 -9.47950263e-01 -3.69966178e-02 1.57974464e+02] [-9.45883888e-01 3.18080174e-01 -6.42547577e-02 1.23610863e+02] [ 7.26782051e-02 1.46731770e-02 -9.97247500e-01 2.55573379e+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:157.72, Y:123.68, Z:25.20 [[-4.15939044e-01 9.08994575e-01 2.68993367e-02 1.57720314e+02] [-9.06438358e-01 -4.16788741e-01 6.82396431e-02 1.23677094e+02] [ 7.32408061e-02 4.00094137e-03 9.97306260e-01 2.52041526e+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:157.72, Y:123.68, Z:25.20 [[-4.17716156e-01 9.08177698e-01 2.69533365e-02 1.57719450e+02] [-9.05621163e-01 -4.18564895e-01 6.82183077e-02 1.23682706e+02] [ 7.32360661e-02 4.08637731e-03 9.97306262e-01 2.52023582e+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:157.72, Y:123.68, Z:25.20 [[-4.17989909e-01 9.08050137e-01 2.70071168e-02 1.57719090e+02] [-9.05494688e-01 -4.18841902e-01 6.81970100e-02 1.23684786e+02] [ 7.32380164e-02 4.05086113e-03 9.97306264e-01 2.52015997e+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:157.72, Y:123.69, Z:25.20 [[-4.17067701e-01 9.08472490e-01 2.70604435e-02 1.57715900e+02] [-9.05919246e-01 -4.17926278e-01 6.81758436e-02 1.23686916e+02] [ 7.32451488e-02 3.91936576e-03 9.97306265e-01 2.52007895e+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:157.71, Y:123.69, Z:25.20 [[-4.16282944e-01 9.08830772e-01 2.71134485e-02 1.57709743e+02] [-9.06279612e-01 -4.17147689e-01 6.81547572e-02 1.23688435e+02] [ 7.32514529e-02 3.79929739e-03 9.97306267e-01 2.52021110e+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:157.71, Y:123.69, Z:25.20 [[-4.16426867e-01 9.08763259e-01 2.71662416e-02 1.57705661e+02] [-9.06213304e-01 -4.17295154e-01 6.81337077e-02 1.23688137e+02] [ 7.32537512e-02 3.75429681e-03 9.97306269e-01 2.52020106e+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:157.70, Y:123.68, Z:25.20 [[-4.16497749e-01 9.08729198e-01 2.72189301e-02 1.57697777e+02] [-9.06180521e-01 -4.17369775e-01 6.81126526e-02 1.23677949e+02] [ 7.32563149e-02 3.70350219e-03 9.97306270e-01 2.52034778e+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:157.70, Y:123.70, Z:25.20 [[-4.17943441e-01 9.08063609e-01 2.72719931e-02 1.57698991e+02] [-9.05514904e-01 -4.18815377e-01 6.80913999e-02 1.23697579e+02] [ 7.32532525e-02 3.76315774e-03 9.97306272e-01 2.51988103e+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:157.69, Y:123.69, Z:25.20 [[-4.19222948e-01 9.07472031e-01 2.73245784e-02 1.57693745e+02] [-9.04923443e-01 -4.20095224e-01 6.80702914e-02 1.23690968e+02] [ 7.32508105e-02 3.80997667e-03 9.97306273e-01 2.51982451e+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:157.70, Y:123.71, Z:25.19 [[-4.21124451e-01 9.06589610e-01 2.73765737e-02 1.57696033e+02] [-9.04040526e-01 -4.21995272e-01 6.80493736e-02 1.23713667e+02] [ 7.32456397e-02 3.90772299e-03 9.97306275e-01 2.51945952e+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:157.68, Y:123.69, Z:25.20 [[-4.21840666e-01 9.06255022e-01 2.74278410e-02 1.57683112e+02] [-9.03706564e-01 -4.22713309e-01 6.80287037e-02 1.23693218e+02] [ 7.32454679e-02 3.91055376e-03 9.97306276e-01 2.51964311e+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:157.68, Y:123.71, Z:25.19 [[-4.21123231e-01 9.06587078e-01 2.74789761e-02 1.57678183e+02] [-9.04040629e-01 -4.22001715e-01 6.80080425e-02 1.23706853e+02] [ 7.32513876e-02 3.79765577e-03 9.97306278e-01 2.51944205e+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:157.68, Y:123.73, Z:25.19 [[-4.18651759e-01 9.07729665e-01 2.75238151e-02 1.57681769e+02] [-9.05186788e-01 -4.19540527e-01 6.79898908e-02 1.23731124e+02] [ 7.32637966e-02 3.54989358e-03 9.97306279e-01 2.51939728e+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:157.67, Y:123.71, Z:25.20 [[-4.17687730e-01 9.08174180e-01 2.75067131e-02 1.57670828e+02] [-9.05631800e-01 -4.18577921e-01 6.79968185e-02 1.23710922e+02] [ 7.32666577e-02 3.49048266e-03 9.97306279e-01 2.51955380e+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:157.67, Y:123.74, Z:25.20 [[-4.19670561e-01 9.07260696e-01 2.74708937e-02 1.57673959e+02] [-9.04715445e-01 -4.20552518e-01 6.80113388e-02 1.23736591e+02] [ 7.32569681e-02 3.68901484e-03 9.97306276e-01 2.51954503e+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:158.01, Y:123.57, Z:25.57 [[-2.66015711e-01 -9.63577185e-01 -2.74708937e-02 1.58014703e+02] [-9.61209945e-01 2.67301139e-01 -6.80113388e-02 1.23565551e+02] [ 7.28771756e-02 8.31321159e-03 -9.97306276e-01 2.55651012e+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:157.99, Y:123.53, Z:25.57 [[-1.97146262e-01 -9.79989133e-01 -2.74708937e-02 1.57993339e+02] [-9.77718814e-01 1.98596020e-01 -6.80113388e-02 1.23531126e+02] [ 7.21059831e-02 1.34506284e-02 -9.97306276e-01 2.55692141e+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:157.57, Y:123.57, Z:25.21 [[-2.98406686e-01 9.54270479e-01 1.79249435e-02 1.57571377e+02] [-9.51674684e-01 -2.98918285e-01 7.04496624e-02 1.23569348e+02] [ 7.25861264e-02 3.96393533e-03 9.97354271e-01 2.52097445e+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:157.55, Y:123.50, Z:25.22 [[-2.98795684e-01 9.54147164e-01 1.80091387e-02 1.57549495e+02] [-9.51552391e-01 -2.99312420e-01 7.04281331e-02 1.23495778e+02] [ 7.25891624e-02 3.90698314e-03 9.97354275e-01 2.52181932e+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:157.58, Y:123.62, Z:25.21 [[-3.04959986e-01 9.52199543e-01 1.77605387e-02 1.57577205e+02] [-9.49597983e-01 -3.05441608e-01 7.04918069e-02 1.23616279e+02] [ 7.25470738e-02 4.63180864e-03 9.97354234e-01 2.52057171e+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:157.98, Y:123.49, Z:25.57 [[-1.22275316e-01 -9.92337297e-01 -1.77605387e-02 1.57982458e+02] [-9.89870961e-01 1.23233055e-01 -7.04918069e-02 1.23490302e+02] [ 7.21403345e-02 8.96123362e-03 -9.97354234e-01 2.55685950e+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:157.54, Y:123.54, Z:25.21 [[-2.42362323e-01 9.70096004e-01 1.32002619e-02 1.57536204e+02] [-9.67479794e-01 -2.42679455e-01 7.13409496e-02 1.23544598e+02] [ 7.24110025e-02 4.51937156e-03 9.97364638e-01 2.52142825e+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:157.96, Y:123.41, Z:25.57 [[-5.60159549e-02 -9.98342609e-01 -1.32002619e-02 1.57959607e+02] [-9.95832385e-01 5.68183914e-02 -7.13409496e-02 1.23413349e+02] [ 7.19727275e-02 9.14901692e-03 -9.97364638e-01 2.55728036e+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:157.49, Y:123.42, Z:25.23 [[-1.70042218e-01 9.85402657e-01 8.20048071e-03 1.57491172e+02] [-9.82782868e-01 -1.70188726e-01 7.19279691e-02 1.23423415e+02] [ 7.22736412e-02 4.17149948e-03 9.97376117e-01 2.52258635e+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:157.49, Y:123.45, Z:25.22 [[-1.71680380e-01 9.85116254e-01 8.47424206e-03 1.57486524e+02] [-9.82497420e-01 -1.71842452e-01 7.18957040e-02 1.23446740e+02] [ 7.22818612e-02 4.01716086e-03 9.97376155e-01 2.52175420e+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:157.94, Y:123.32, Z:25.59 [[-2.77162827e-03 -9.99960252e-01 -8.47424206e-03 1.57944106e+02] [-9.97406449e-01 3.37383561e-03 -7.18957040e-02 1.23316151e+02] [ 7.19214370e-02 8.25299551e-03 -9.97376155e-01 2.55865463e+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:157.45, Y:123.31, Z:25.23 [[-9.85597120e-02 9.95124616e-01 3.60297621e-03 1.57451932e+02] [-9.92512636e-01 -9.85622064e-02 7.21398563e-02 1.23307308e+02] [ 7.21432641e-02 3.53408405e-03 9.97388019e-01 2.52275397e+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:157.43, Y:122.91, Z:25.26 [[-9.94905827e-02 9.95031784e-01 3.65692896e-03 1.57430037e+02] [-9.92419807e-01 -9.94945355e-02 7.21371213e-02 1.22909474e+02] [ 7.21425730e-02 3.54775550e-03 9.97388020e-01 2.52557818e+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:157.45, Y:123.36, Z:25.22 [[-1.18866776e-01 9.92904274e-01 3.43388610e-03 1.57450409e+02] [-9.90293034e-01 -1.18803688e-01 7.21483983e-02 1.23360686e+02] [ 7.20444114e-02 5.17549404e-03 9.97387997e-01 2.52214041e+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:157.94, Y:123.24, Z:25.59 [[ 6.94637484e-02 -9.97578566e-01 -3.43388610e-03 1.57937404e+02] [-9.95001831e-01 -6.90359735e-02 -7.21483983e-02 1.23242900e+02] [ 7.17366341e-02 8.42842115e-03 -9.97387997e-01 2.55921816e+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:157.96, Y:123.23, Z:25.60 [[ 1.46931659e-01 -9.89146640e-01 -1.06676805e-04 1.57958464e+02] [-9.86571700e-01 -1.46541389e-01 -7.21242068e-02 1.23233435e+02] [ 7.13257843e-02 1.07025737e-02 -9.97395652e-01 2.55977177e+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:157.45, Y:123.13, Z:25.23 [[ 2.73609146e-02 9.99603406e-01 -6.66415028e-03 1.57450341e+02] [-9.97051408e-01 2.77679790e-02 7.15362053e-02 1.23130034e+02] [ 7.16928844e-02 4.68720442e-03 9.97415741e-01 2.52294900e+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:157.98, Y:123.20, Z:25.61 [[ 2.18610907e-01 -9.75794966e-01 5.78411022e-03 1.57983935e+02] [-9.73215382e-01 -2.18457475e-01 -7.16111232e-02 1.23197291e+02] [ 7.11413556e-02 1.00257876e-02 -9.97415857e-01 2.56062588e+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:157.47, Y:123.06, Z:25.24 [[ 1.17183717e-01 9.93040668e-01 -1.17561920e-02 1.57471214e+02] [-9.90532274e-01 1.17723734e-01 7.06182493e-02 1.23056624e+02] [ 7.15107762e-02 3.36957859e-03 9.97434136e-01 2.52360029e+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:157.47, Y:123.03, Z:25.24 [[ 1.21314277e-01 9.92544220e-01 -1.17821231e-02 1.57471784e+02] [-9.90033990e-01 1.21845694e-01 7.06139226e-02 1.23025270e+02] [ 7.15230417e-02 3.09822537e-03 9.97434136e-01 2.52361932e+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:158.03, Y:123.14, Z:25.61 [[ 2.71991434e-01 -9.62235523e-01 1.11111754e-02 1.58029210e+02] [-9.59671203e-01 -2.72083256e-01 -7.07240061e-02 1.23138203e+02] [ 7.10763157e-02 8.57324882e-03 -9.97434036e-01 2.56055804e+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:157.50, Y:122.95, Z:25.25 [[ 2.18972468e-01 9.75579677e-01 -1.71858132e-02 1.57504269e+02] [-9.73122368e-01 2.19640246e-01 6.92171841e-02 1.22952002e+02] [ 7.13015744e-02 1.56724165e-03 9.97453572e-01 2.52513936e+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:158.07, Y:123.11, Z:25.60 [[ 3.31947853e-01 -9.43140767e-01 1.72080216e-02 1.58065358e+02] [-9.40622313e-01 -3.32324256e-01 -6.92116625e-02 1.23113938e+02] [ 7.09949835e-02 6.78841371e-03 -9.97453573e-01 2.56040679e+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:158.09, Y:123.12, Z:25.61 [[ 3.94434710e-01 -9.18659644e-01 2.20390363e-02 1.58091355e+02] [-9.16191681e-01 -3.94996907e-01 -6.76036090e-02 1.23116883e+02] [ 7.08100585e-02 6.47322817e-03 -9.97468813e-01 2.56071991e+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:158.12, Y:123.12, Z:25.61 [[ 4.60655674e-01 -8.87148228e-01 2.76472900e-02 1.58118310e+02] [-8.84764658e-01 -4.61450773e-01 -6.52279411e-02 1.23120896e+02] [ 7.06247157e-02 5.58627610e-03 -9.97487315e-01 2.56074960e+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:157.65, Y:122.82, Z:25.26 [[ 4.59825385e-01 8.87401260e-01 -3.28575479e-02 1.57646106e+02] [-8.85196106e-01 4.60997712e-01 6.25217081e-02 1.22815568e+02] [ 7.06290970e-02 3.36304971e-04 9.97502590e-01 2.52601815e+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:158.16, Y:123.10, Z:25.61 [[ 5.24818808e-01 -8.50590595e-01 3.25708223e-02 1.58155434e+02] [-8.48295008e-01 -5.25802206e-01 -6.26707274e-02 1.23101106e+02] [ 7.04329416e-02 5.26111052e-03 -9.97502642e-01 2.56098711e+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:157.72, Y:122.76, Z:25.27 [[ 5.29109335e-01 8.47723833e-01 -3.75182033e-02 1.57717660e+02] [-8.45627133e-01 5.30437804e-01 5.95859742e-02 1.22764271e+02] [ 7.04135238e-02 1.98915533e-04 9.97517868e-01 2.52667059e+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:157.74, Y:122.74, Z:25.27 [[ 5.25827990e-01 8.49774212e-01 -3.72654595e-02 1.57738629e+02] [-8.47671481e-01 5.27146810e-01 5.97436284e-02 1.22743951e+02] [ 7.04129628e-02 1.73995259e-04 9.97517912e-01 2.52671645e+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:157.76, Y:122.72, Z:25.27 [[ 5.23580512e-01 8.51159854e-01 -3.72874093e-02 1.57758635e+02] [-8.49061589e-01 5.24906425e-01 5.97299259e-02 1.22723904e+02] [ 7.04121157e-02 3.85881741e-04 9.97517912e-01 2.52676330e+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:158.21, Y:123.03, Z:25.62 [[ 6.00818897e-01 -7.98514024e-01 3.73096012e-02 1.58213018e+02] [-7.96301886e-01 -6.01944597e-01 -5.97160608e-02 1.23028853e+02] [ 7.01424249e-02 6.16883197e-03 -9.97517913e-01 2.56190930e+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:157.84, Y:122.68, Z:25.27 [[ 5.81496315e-01 8.12476854e-01 -4.17540166e-02 1.57836181e+02] [-8.10515570e-01 5.82992541e-01 5.64287865e-02 1.22684207e+02] [ 7.01893631e-02 1.02914912e-03 9.97533154e-01 2.52728738e+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:157.85, Y:122.66, Z:25.27 [[ 5.79095578e-01 8.14188659e-01 -4.17748701e-02 1.57854752e+02] [-8.12232910e-01 5.80599031e-01 5.64133442e-02 1.22663494e+02] [ 7.01855541e-02 1.26220610e-03 9.97533155e-01 2.52732664e+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:157.88, Y:122.64, Z:25.27 [[ 5.72337649e-01 8.18952954e-01 -4.17812874e-02 1.57875223e+02] [-8.17010059e-01 5.73857677e-01 5.64085910e-02 1.22642746e+02] [ 7.01724947e-02 1.85097177e-03 9.97533155e-01 2.52722814e+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:158.27, Y:122.96, Z:25.64 [[ 6.77901011e-01 -7.33963913e-01 4.17994505e-02 1.58273724e+02] [-7.31833987e-01 -6.79145496e-01 -5.63951287e-02 1.22959652e+02] [ 6.97798978e-02 7.64005624e-03 -9.97533155e-01 2.56356397e+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:158.29, Y:122.97, Z:25.64 [[ 7.38433422e-01 -6.72758586e-01 4.59561440e-02 1.58294626e+02] [-6.70734736e-01 -7.39817205e-01 -5.27770557e-02 1.22966364e+02] [ 6.95053633e-02 8.14795968e-03 -9.97548302e-01 2.56432318e+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:158.32, Y:122.98, Z:25.65 [[ 7.91113822e-01 -6.09637910e-01 4.98050080e-02 1.58317398e+02] [-6.07735005e-01 -7.92635710e-01 -4.88548401e-02 1.22976376e+02] [ 6.92609906e-02 8.38149253e-03 -9.97563364e-01 2.56458947e+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:158.33, Y:122.98, Z:25.65 [[ 8.38999356e-01 -5.41513355e-01 5.33232324e-02 1.58330457e+02] [-5.39738869e-01 -8.40647283e-01 -4.46553303e-02 1.22979338e+02] [ 6.90074881e-02 8.68517216e-03 -9.97578335e-01 2.56474759e+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:158.35, Y:122.99, Z:25.65 [[ 8.80641932e-01 -4.70489279e-01 5.57640306e-02 1.58348486e+02] [-4.68788752e-01 -8.82347019e-01 -4.12412940e-02 1.22987400e+02] [ 6.86068128e-02 1.01772625e-02 -9.97591865e-01 2.56478205e+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:158.16, Y:122.58, Z:25.27 [[ 8.27812164e-01 5.57871282e-01 -5.92170092e-02 1.58163850e+02] [-5.56753424e-01 8.29919690e-01 3.54814503e-02 1.22579259e+02] [ 6.89394441e-02 3.59729650e-03 9.97614361e-01 2.52736466e+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:158.19, Y:122.56, Z:25.28 [[ 8.25488812e-01 5.61257069e-01 -5.96550387e-02 1.58190251e+02] [-5.60200290e-01 8.27627995e-01 3.47496367e-02 1.22561749e+02] [ 6.88756593e-02 4.73333361e-03 9.97614023e-01 2.52770871e+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:158.43, Y:122.98, Z:25.66 [[ 9.15991210e-01 -3.96803733e-01 5.92190841e-02 1.58426507e+02] [-3.95319015e-01 -9.17858503e-01 -3.54773835e-02 1.22983145e+02] [ 6.84322981e-02 9.08654145e-03 -9.97614382e-01 2.56593858e+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:158.28, Y:122.57, Z:25.27 [[ 8.68484666e-01 4.91835365e-01 -6.19060507e-02 1.58282817e+02] [-4.90933356e-01 8.70677751e-01 3.00781205e-02 1.22567878e+02] [ 6.86937044e-02 4.26935884e-03 9.97628662e-01 2.52748870e+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:158.31, Y:122.55, Z:25.28 [[ 8.70520176e-01 4.88259831e-01 -6.16194898e-02 1.58308233e+02] [-4.87308071e-01 8.72691907e-01 3.06541826e-02 1.22553581e+02] [ 6.87420361e-02 3.34259028e-03 9.97628869e-01 2.52761913e+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:158.34, Y:122.54, Z:25.28 [[ 8.76759176e-01 4.76965485e-01 -6.16220172e-02 1.58336391e+02] [-4.75986087e-01 8.78918584e-01 3.06491013e-02 1.22537729e+02] [ 6.87792995e-02 2.45934202e-03 9.97628869e-01 2.52791889e+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:158.36, Y:122.52, Z:25.28 [[ 8.79117176e-01 4.72650568e-01 -6.12734221e-02 1.58361049e+02] [-4.71611661e-01 8.81248916e-01 3.13494605e-02 1.22524167e+02] [ 6.88144772e-02 1.33741121e-03 9.97628578e-01 2.52780937e+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:158.38, Y:122.51, Z:25.29 [[ 8.82504215e-01 4.66290332e-01 -6.13158821e-02 1.58384963e+02] [-4.65241989e-01 8.84631251e-01 3.12640526e-02 1.22508748e+02] [ 6.88200710e-02 9.36064776e-04 9.97628649e-01 2.52853934e+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:158.41, Y:122.49, Z:25.29 [[ 8.84745662e-01 4.61981146e-01 -6.16322552e-02 1.58412042e+02] [-4.60966661e-01 8.86888774e-01 3.06274475e-02 1.22492947e+02] [ 6.88102585e-02 1.31291355e-03 9.97628901e-01 2.52873814e+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:158.44, Y:122.48, Z:25.29 [[ 8.89743530e-01 4.52282016e-01 -6.16232779e-02 1.58438770e+02] [-4.51242914e-01 8.91874815e-01 3.06454995e-02 1.22475167e+02] [ 6.88206578e-02 5.40432569e-04 9.97628901e-01 2.52921422e+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:158.47, Y:122.46, Z:25.30 [[ 8.92035075e-01 4.47746778e-01 -6.16136977e-02 1.58467263e+02] [-4.46695510e-01 8.94160385e-01 3.06647487e-02 1.22459777e+02] [ 6.88225701e-02 1.68530747e-04 9.97628902e-01 2.52965746e+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:158.50, Y:122.45, Z:25.30 [[ 8.95744551e-01 4.40280368e-01 -6.16027388e-02 1.58496064e+02] [-4.39209872e-01 8.97860240e-01 3.06867484e-02 1.22447517e+02] [ 6.88214227e-02 -4.30956570e-04 9.97628902e-01 2.53014775e+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:158.52, Y:122.44, Z:25.30 [[ 8.98693003e-01 4.34231594e-01 -6.15939110e-02 1.58524941e+02] [-4.33145646e-01 9.00800803e-01 3.07044572e-02 1.22438191e+02] [ 6.88166899e-02 -9.14746450e-04 9.97628902e-01 2.53021133e+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:158.55, Y:122.43, Z:25.30 [[ 9.00129759e-01 4.31245510e-01 -6.15932376e-02 1.58552929e+02] [-4.30152477e-01 9.02233894e-01 3.07058080e-02 1.22427286e+02] [ 6.88132484e-02 -1.14472787e-03 9.97628902e-01 2.53042016e+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:158.58, Y:122.42, Z:25.31 [[ 9.03261097e-01 4.24647500e-01 -6.15945684e-02 1.58580908e+02] [-4.23539282e-01 9.05357274e-01 3.07031383e-02 1.22419468e+02] [ 6.88031014e-02 -1.64523106e-03 9.97628902e-01 2.53103935e+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:158.61, Y:122.41, Z:25.32 [[ 9.04806129e-01 4.21345147e-01 -6.15965502e-02 1.58608690e+02] [-4.20229550e-01 9.06898388e-01 3.06991619e-02 1.22408714e+02] [ 6.87967550e-02 -1.89209925e-03 9.97628902e-01 2.53159372e+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:158.64, Y:122.40, Z:25.32 [[ 9.07734969e-01 4.14997501e-01 -6.15978901e-02 1.58638219e+02] [-4.13867459e-01 9.09819462e-01 3.06964731e-02 1.22404527e+02] [ 6.87819188e-02 -2.37089986e-03 9.97628902e-01 2.53171440e+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:158.67, Y:122.40, Z:25.32 [[ 9.08783914e-01 4.12694906e-01 -6.16012395e-02 1.58668203e+02] [-4.11560038e-01 9.10865783e-01 3.06897500e-02 1.22396673e+02] [ 6.87759648e-02 -2.53774263e-03 9.97628902e-01 2.53169285e+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:158.70, Y:122.39, Z:25.32 [[ 9.09486561e-01 4.11144114e-01 -6.16012395e-02 1.58697238e+02] [-4.10005696e-01 9.11566491e-01 3.06897500e-02 1.22388996e+02] [ 6.87715359e-02 -2.65505610e-03 9.97628902e-01 2.53152236e+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:158.73, Y:122.39, Z:25.31 [[ 9.09944707e-01 4.10128926e-01 -6.16027157e-02 1.58726737e+02] [-4.08988388e-01 9.12023475e-01 3.06867866e-02 1.22385970e+02] [ 6.87686617e-02 -2.72848358e-03 9.97628902e-01 2.53136251e+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:158.76, Y:122.39, Z:25.31 [[ 9.10476885e-01 4.08945589e-01 -6.16063972e-02 1.58758663e+02] [-4.07802848e-01 9.12554443e-01 3.06793940e-02 1.22385857e+02] [ 6.87653943e-02 -2.80961485e-03 9.97628902e-01 2.53107346e+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:158.79, Y:122.38, Z:25.31 [[ 9.10632475e-01 4.08598569e-01 -6.16093010e-02 1.58787410e+02] [-4.07455431e-01 9.12709814e-01 3.06735616e-02 1.22378970e+02] [ 6.87645870e-02 -2.82929702e-03 9.97628902e-01 2.53112230e+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:158.82, Y:122.38, Z:25.31 [[ 9.11496646e-01 4.06666692e-01 -6.16122307e-02 1.58818382e+02] [-4.05519548e-01 9.13571776e-01 3.06676758e-02 1.22379038e+02] [ 6.87587172e-02 -2.96851965e-03 9.97628902e-01 2.53142601e+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:158.85, Y:122.37, Z:25.32 [[ 9.12178570e-01 4.05138079e-01 -6.15905361e-02 1.58846048e+02] [-4.03984521e-01 9.14250143e-01 3.07112738e-02 1.22373311e+02] [ 6.87514629e-02 -3.13254263e-03 9.97628901e-01 2.53176620e+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:158.88, Y:122.37, Z:25.33 [[ 9.13420667e-01 4.02325023e-01 -6.16219212e-02 1.58877872e+02] [-4.01169332e-01 9.15491047e-01 3.06481456e-02 1.22374493e+02] [ 6.87448330e-02 -3.27382461e-03 9.97628904e-01 2.53261450e+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:158.91, Y:122.38, Z:25.33 [[ 9.15362576e-01 3.97877770e-01 -6.16817169e-02 1.58910356e+02] [-3.96720101e-01 9.17431858e-01 3.05278126e-02 1.22376312e+02] [ 6.87351101e-02 -3.47364029e-03 9.97628898e-01 2.53313334e+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:158.94, Y:122.37, Z:25.34 [[ 9.15729808e-01 3.97038387e-01 -6.16395852e-02 1.58939696e+02] [-3.95873128e-01 9.17794820e-01 3.06126468e-02 1.22370206e+02] [ 6.87268880e-02 -3.63145775e-03 9.97628903e-01 2.53359407e+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:158.97, Y:122.37, Z:25.34 [[ 9.16168255e-01 3.96024100e-01 -6.16493405e-02 1.58970805e+02] [-3.94857874e-01 9.18232720e-01 3.05929886e-02 1.22373304e+02] [ 6.87240024e-02 -3.68559740e-03 9.97628903e-01 2.53402490e+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:159.00, Y:122.37, Z:25.34 [[ 9.17042522e-01 3.93975464e-01 -6.17765911e-02 1.59001916e+02] [-3.92821795e-01 9.19114090e-01 3.03369002e-02 1.22367185e+02] [ 6.87317296e-02 -3.55303605e-03 9.97628851e-01 2.53419286e+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:159.03, Y:122.37, Z:25.35 [[ 9.17999566e-01 3.91781671e-01 -6.15135712e-02 1.59033401e+02] [-3.90587654e-01 9.20048127e-01 3.08662893e-02 1.22370602e+02] [ 6.86882924e-02 -4.30879865e-03 9.97628865e-01 2.53478564e+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:159.06, Y:122.36, Z:25.35 [[ 9.18136164e-01 3.91440809e-01 -6.16447624e-02 1.59059005e+02] [-3.90263677e-01 9.20194424e-01 3.06020242e-02 1.22358219e+02] [ 6.87040478e-02 -4.03911343e-03 9.97628909e-01 2.53498000e+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:159.09, Y:122.35, Z:25.35 [[ 9.18503631e-01 3.90576079e-01 -6.16555378e-02 1.59087128e+02] [-3.89398461e-01 9.20561613e-01 3.05802991e-02 1.22354382e+02] [ 6.87016547e-02 -4.07954423e-03 9.97628909e-01 2.53522582e+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:159.12, Y:122.36, Z:25.35 [[ 9.18746780e-01 3.90003045e-01 -6.16601936e-02 1.59119632e+02] [-3.88824771e-01 9.20804386e-01 3.05709085e-02 1.22359279e+02] [ 6.86997241e-02 -4.11191306e-03 9.97628909e-01 2.53511028e+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:159.15, Y:122.35, Z:25.35 [[ 9.18691973e-01 3.90131403e-01 -6.16647946e-02 1.59148956e+02] [-3.88954037e-01 9.20750099e-01 3.05616250e-02 1.22354555e+02] [ 6.87009154e-02 -4.09194879e-03 9.97628909e-01 2.53521294e+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:159.18, Y:122.36, Z:25.35 [[ 9.17059463e-01 3.93951857e-01 -6.16755705e-02 1.59181689e+02] [-3.92784525e-01 9.19123296e-01 3.05398630e-02 1.22356746e+02] [ 6.87186894e-02 -3.78166070e-03 9.97628909e-01 2.53521656e+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:159.21, Y:122.36, Z:25.35 [[ 9.13187499e-01 4.02844112e-01 -6.16864082e-02 1.59214506e+02] [-4.01698365e-01 9.15263392e-01 3.05179567e-02 1.22358042e+02] [ 6.87532904e-02 -3.08928724e-03 9.97628910e-01 2.53530709e+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:159.24, Y:122.35, Z:25.36 [[ 9.09655836e-01 4.10762625e-01 -6.16467811e-02 1.59238682e+02] [-4.09629535e-01 9.11738670e-01 3.05980767e-02 1.22354118e+02] [ 6.87743005e-02 -2.58137674e-03 9.97628905e-01 2.53551828e+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:159.27, Y:122.35, Z:25.36 [[ 9.07143342e-01 4.16233816e-01 -6.19706990e-02 1.59271169e+02] [-4.15157827e-01 9.09256482e-01 2.99437667e-02 1.22348304e+02] [ 6.88108680e-02 -1.43566784e-03 9.97628690e-01 2.53595968e+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:159.30, Y:122.35, Z:25.36 [[ 8.99722269e-01 4.32090564e-01 -6.16245365e-02 1.59299743e+02] [-4.31003812e-01 9.01829654e-01 3.06429198e-02 1.22350227e+02] [ 6.88153510e-02 -1.00970712e-03 9.97628903e-01 2.53621704e+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:159.33, Y:122.34, Z:25.37 [[ 8.97209123e-01 4.37243491e-01 -6.19186545e-02 1.59330504e+02] [-4.36209820e-01 8.99343164e-01 3.00477270e-02 1.22342150e+02] [ 6.88242917e-02 5.04303365e-05 9.97628796e-01 2.53657091e+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:159.36, Y:122.34, Z:25.37 [[ 8.92303169e-01 4.47209237e-01 -6.16356546e-02 1.59358774e+02] [-4.46159764e-01 8.94429353e-01 3.06202171e-02 1.22339695e+02] [ 6.88223825e-02 1.76832334e-04 9.97628913e-01 2.53669179e+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:159.38, Y:122.33, Z:25.37 [[ 8.89159258e-01 4.53417858e-01 -6.17094815e-02 1.59384130e+02] [-4.52393599e-01 8.91297688e-01 3.04707044e-02 1.22333753e+02] [ 6.88174797e-02 8.23665540e-04 9.97628927e-01 2.53667516e+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:159.41, Y:122.32, Z:25.37 [[ 8.89113746e-01 4.53475354e-01 -6.19423195e-02 1.59412741e+02] [-4.52483939e-01 8.91267788e-01 3.00002667e-02 1.22321766e+02] [ 6.88115756e-02 1.35425521e-03 9.97628755e-01 2.53691251e+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:159.44, Y:122.31, Z:25.37 [[ 8.89168099e-01 4.53410326e-01 -6.16373991e-02 1.59436596e+02] [-4.52375965e-01 8.91301655e-01 3.06161017e-02 1.22311031e+02] [ 6.88191725e-02 6.60417015e-04 9.97628932e-01 2.53666375e+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:159.46, Y:122.30, Z:25.37 [[ 8.89830792e-01 4.52067868e-01 -6.19338719e-02 1.59463289e+02] [-4.51072002e-01 8.91982699e-01 3.00152313e-02 1.22299414e+02] [ 6.88128638e-02 1.22815858e-03 9.97628829e-01 2.53675859e+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:159.49, Y:122.29, Z:25.37 [[ 8.91408739e-01 4.48959575e-01 -6.18527330e-02 1.59491023e+02] [-4.47944796e-01 8.93551707e-01 3.01795709e-02 1.22287719e+02] [ 6.88180225e-02 8.04276612e-04 9.97628905e-01 2.53689613e+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:159.52, Y:122.28, Z:25.37 [[ 8.91611336e-01 4.48575857e-01 -6.17164961e-02 1.59515874e+02] [-4.47541026e-01 8.93744641e-01 3.04556538e-02 1.22275887e+02] [ 6.88204587e-02 4.66057756e-04 9.97628953e-01 2.53712454e+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:159.54, Y:122.26, Z:25.38 [[ 8.91206055e-01 4.49380011e-01 -6.17201167e-02 1.59540646e+02] [-4.48347613e-01 8.93340539e-01 3.04483148e-02 1.22263853e+02] [ 6.88199463e-02 5.36344483e-04 9.97628953e-01 2.53774783e+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:159.57, Y:122.25, Z:25.38 [[ 8.91470597e-01 4.48832781e-01 -6.18814182e-02 1.59567435e+02] [-4.47821758e-01 8.93615351e-01 3.01210472e-02 1.22250101e+02] [ 6.88174986e-02 8.59817633e-04 9.97628895e-01 2.53784495e+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:159.59, Y:122.23, Z:25.38 [[ 8.92427895e-01 4.46940518e-01 -6.17788472e-02 1.59591374e+02] [-4.45910528e-01 8.94563548e-01 3.03291895e-02 1.22234556e+02] [ 6.88204484e-02 4.81223602e-04 9.97628946e-01 2.53816778e+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:159.62, Y:122.22, Z:25.38 [[ 8.93395785e-01 4.45008052e-01 -6.17398110e-02 1.59615778e+02] [-4.43967963e-01 8.95526535e-01 3.04084473e-02 1.22222243e+02] [ 6.88216429e-02 2.43719466e-04 9.97628950e-01 2.53838774e+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:159.64, Y:122.21, Z:25.39 [[ 8.93045987e-01 4.45708923e-01 -6.17448021e-02 1.59639729e+02] [-4.44671207e-01 8.95177893e-01 3.03983093e-02 1.22209354e+02] [ 6.88213796e-02 3.09047545e-04 9.97628950e-01 2.53868021e+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:159.67, Y:122.19, Z:25.39 [[ 8.94073628e-01 4.43612418e-01 -6.19707246e-02 1.59665550e+02] [-4.42601480e-01 8.96218492e-01 2.99389981e-02 1.22192728e+02] [ 6.88206207e-02 6.60665836e-04 9.97628832e-01 2.53855630e+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:159.69, Y:122.18, Z:25.39 [[ 8.94685850e-01 4.42406822e-01 -6.17530025e-02 1.59690508e+02] [-4.41362394e-01 8.96814473e-01 3.03815551e-02 1.22177325e+02] [ 6.88219936e-02 7.35055641e-05 9.97628953e-01 2.53852925e+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:159.71, Y:122.16, Z:25.38 [[ 8.96184390e-01 4.39361860e-01 -6.17632218e-02 1.59714338e+02] [-4.38311632e-01 8.98310157e-01 3.03607659e-02 1.22160774e+02] [ 6.88218920e-02 -1.37305869e-04 9.97628953e-01 2.53827353e+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:159.74, Y:122.15, Z:25.38 [[ 8.96501356e-01 4.38713317e-01 -6.17733262e-02 1.59739688e+02] [-4.37662969e-01 8.98627063e-01 3.03401932e-02 1.22145797e+02] [ 6.88218295e-02 -1.64126969e-04 9.97628954e-01 2.53822803e+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:159.76, Y:122.13, Z:25.38 [[ 8.95240085e-01 4.41280046e-01 -6.17827789e-02 1.59764747e+02] [-4.40237121e-01 8.97369444e-01 3.03209322e-02 1.22128864e+02] [ 6.88220002e-02 5.45587815e-05 9.97628954e-01 2.53832752e+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:159.79, Y:122.12, Z:25.39 [[ 8.93462093e-01 4.44873911e-01 -6.17469931e-02 1.59789171e+02] [-4.43834509e-01 8.95593178e-01 3.03938789e-02 1.22116586e+02] [ 6.88216296e-02 2.49667700e-04 9.97628950e-01 2.53850111e+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:159.82, Y:122.11, Z:25.39 [[ 8.90057610e-01 4.51640105e-01 -6.17953569e-02 1.59816758e+02] [-4.50623747e-01 8.92199775e-01 3.02952288e-02 1.22106603e+02] [ 6.88163438e-02 8.81956277e-04 9.97628956e-01 2.53919793e+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:159.84, Y:122.09, Z:25.40 [[ 8.86480497e-01 4.58635542e-01 -6.16909008e-02 1.59840734e+02] [-4.57621247e-01 8.88623673e-01 3.05083860e-02 1.22092260e+02] [ 6.88122250e-02 1.18597775e-03 9.97628925e-01 2.54004702e+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:159.86, Y:122.08, Z:25.41 [[ 8.84316048e-01 4.62785256e-01 -6.17651569e-02 1.59864766e+02] [-4.61791599e-01 8.86468833e-01 3.03566560e-02 1.22077368e+02] [ 6.88014993e-02 1.67775253e-03 9.97628959e-01 2.54083270e+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:159.89, Y:122.06, Z:25.41 [[ 8.83989971e-01 4.63400173e-01 -6.18224047e-02 1.59889093e+02] [-4.62416189e-01 8.86147185e-01 3.02396189e-02 1.22064433e+02] [ 6.87967945e-02 1.85616087e-03 9.97628967e-01 2.54121022e+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:159.91, Y:122.05, Z:25.42 [[ 8.83062111e-01 4.65165182e-01 -6.18276790e-02 1.59913399e+02] [-4.64186263e-01 8.85221628e-01 3.02288312e-02 1.22047141e+02] [ 6.87925984e-02 2.00562376e-03 9.97628967e-01 2.54161201e+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:159.94, Y:122.03, Z:25.42 [[ 8.81426614e-01 4.68273270e-01 -6.17030622e-02 1.59937356e+02] [-4.67284127e-01 8.83581512e-01 3.04837145e-02 1.22033057e+02] [ 6.87943937e-02 1.96370431e-03 9.97628927e-01 2.54152087e+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:159.96, Y:122.02, Z:25.41 [[ 8.77811103e-01 4.74998817e-01 -6.18368079e-02 1.59962404e+02] [-4.74045405e-01 8.79981996e-01 3.02099575e-02 1.22017902e+02] [ 6.87649717e-02 2.79481858e-03 9.97628973e-01 2.54122996e+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:159.99, Y:122.00, Z:25.41 [[ 8.75992977e-01 4.78342220e-01 -6.18467838e-02 1.59987160e+02] [-4.77398531e-01 8.78168113e-01 3.01895208e-02 1.22003638e+02] [ 6.87527958e-02 3.07975553e-03 9.97628973e-01 2.54131550e+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:160.01, Y:121.99, Z:25.42 [[ 8.74664908e-01 4.80765063e-01 -6.18567171e-02 1.60009038e+02] [-4.79828834e-01 8.76843265e-01 3.01691541e-02 1.21985206e+02] [ 6.87429211e-02 3.29273607e-03 9.97628973e-01 2.54173220e+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:160.03, Y:121.97, Z:25.42 [[ 8.75217151e-01 4.79742758e-01 -6.19824585e-02 1.60029319e+02] [-4.78822181e-01 8.77402210e-01 2.99112138e-02 1.21966203e+02] [ 6.87332342e-02 3.49976868e-03 9.97628936e-01 2.54198721e+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:160.05, Y:121.95, Z:25.42 [[ 8.76864423e-01 4.76714254e-01 -6.20669315e-02 1.60052393e+02] [-4.75798344e-01 8.79051524e-01 2.97380737e-02 1.21950547e+02] [ 6.87365944e-02 3.45508447e-03 9.97628860e-01 2.54226705e+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:160.07, Y:121.93, Z:25.42 [[ 8.81947469e-01 4.67236020e-01 -6.21221640e-02 1.60072606e+02] [-4.66304554e-01 8.84128064e-01 2.96248055e-02 1.21928679e+02] [ 6.87657248e-02 2.84032571e-03 9.97628793e-01 2.54220119e+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:160.10, Y:121.91, Z:25.43 [[ 8.84955308e-01 4.61515173e-01 -6.21115731e-02 1.60096796e+02] [-4.60568084e-01 8.87129147e-01 2.96465154e-02 1.21910954e+02] [ 6.87833036e-02 2.37076703e-03 9.97628807e-01 2.54256544e+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:160.12, Y:121.89, Z:25.42 [[ 8.89738803e-01 4.52226269e-01 -6.20988250e-02 1.60119216e+02] [-4.51254653e-01 8.91901773e-01 2.96726485e-02 1.21888985e+02] [ 6.88048032e-02 1.62147697e-03 9.97628824e-01 2.54240732e+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:160.14, Y:121.87, Z:25.42 [[ 8.91665687e-01 4.48435570e-01 -6.19503203e-02 1.60143011e+02] [-4.47433589e-01 8.93814613e-01 2.99770197e-02 1.21872792e+02] [ 6.88148635e-02 9.89174316e-04 9.97628957e-01 2.54248397e+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:160.16, Y:121.86, Z:25.42 [[ 8.94729503e-01 4.42290049e-01 -6.19566611e-02 1.60164398e+02] [-4.41274208e-01 8.96871915e-01 2.99640127e-02 1.21855269e+02] [ 6.88199739e-02 5.30190342e-04 9.97628954e-01 2.54221037e+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:160.19, Y:121.84, Z:25.43 [[ 8.96264201e-01 4.39155733e-01 -6.20703103e-02 1.60187776e+02] [-4.38148525e-01 8.98410786e-01 2.97309469e-02 1.21837734e+02] [ 6.88211520e-02 5.49231570e-04 9.97628863e-01 2.54254229e+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:160.21, Y:121.82, Z:25.42 [[ 8.96743070e-01 4.38172095e-01 -6.21054024e-02 1.60213866e+02] [-4.37167519e-01 8.98890932e-01 2.96589320e-02 1.21823238e+02] [ 6.88216994e-02 5.54022947e-04 9.97628822e-01 2.54226364e+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:160.24, Y:121.81, Z:25.43 [[ 8.95355037e-01 4.41007371e-01 -6.20633189e-02 1.60240708e+02] [-4.40003601e-01 8.97503227e-01 2.97454025e-02 1.21806592e+02] [ 6.88199707e-02 6.75387781e-04 9.97628867e-01 2.54290669e+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:160.27, Y:121.79, Z:25.43 [[ 8.93995401e-01 4.43782480e-01 -6.18816099e-02 1.60265250e+02] [-4.42759499e-01 8.96134413e-01 3.01187529e-02 1.21793995e+02] [ 6.88204151e-02 4.72643978e-04 9.97628953e-01 2.54325661e+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:160.29, Y:121.78, Z:25.44 [[ 8.93089557e-01 4.45601008e-01 -6.18933281e-02 1.60290484e+02] [-4.44584052e-01 8.95231441e-01 3.00946532e-02 1.21781292e+02] [ 6.88190611e-02 6.39566108e-04 9.97628953e-01 2.54357917e+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:160.32, Y:121.77, Z:25.44 [[ 8.91544014e-01 4.48683871e-01 -6.19035886e-02 1.60315157e+02] [-4.47675787e-01 8.93690087e-01 3.00735330e-02 1.21770648e+02] [ 6.88161327e-02 9.00859445e-04 9.97628953e-01 2.54373682e+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:160.34, Y:121.76, Z:25.44 [[ 8.91002981e-01 4.49756612e-01 -6.19086181e-02 1.60341439e+02] [-4.48751832e-01 8.93150603e-01 3.00631758e-02 1.21759827e+02] [ 6.88148317e-02 9.95226444e-04 9.97628953e-01 2.54390956e+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:160.37, Y:121.75, Z:25.45 [[ 8.90458747e-01 4.50831621e-01 -6.19198727e-02 1.60367259e+02] [-4.49831045e-01 8.92608330e-01 3.00399772e-02 1.21746630e+02] [ 6.88131658e-02 1.10412059e-03 9.97628954e-01 2.54458082e+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:160.39, Y:121.73, Z:25.46 [[ 8.89604500e-01 4.52519364e-01 -6.18874764e-02 1.60391325e+02] [-4.51518219e-01 8.91753822e-01 3.01067831e-02 1.21731847e+02] [ 6.88122959e-02 1.16019338e-03 9.97628950e-01 2.54554396e+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:160.42, Y:121.72, Z:25.46 [[ 8.89732616e-01 4.52253189e-01 -6.19913350e-02 1.60416330e+02] [-4.51266311e-01 8.91888532e-01 2.98925239e-02 1.21719399e+02] [ 6.88083500e-02 1.37824750e-03 9.97628945e-01 2.54588968e+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:160.44, Y:121.71, Z:25.47 [[ 8.88238572e-01 4.55188407e-01 -6.19334633e-02 1.60438628e+02] [-4.54200327e-01 8.90393927e-01 3.00119509e-02 1.21710251e+02] [ 6.88062717e-02 1.47242686e-03 9.97628954e-01 2.54658219e+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:160.47, Y:121.70, Z:25.47 [[ 8.86692714e-01 4.58124350e-01 -6.24348554e-02 1.60466270e+02] [-4.57216040e-01 8.88883532e-01 2.89751469e-02 1.21696277e+02] [ 6.87715351e-02 2.85416567e-03 9.97628353e-01 2.54706432e+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:160.49, Y:121.69, Z:25.47 [[ 8.83669345e-01 4.63977122e-01 -6.20783283e-02 1.60489908e+02] [-4.63031528e-01 8.85843685e-01 2.97114409e-02 1.21685474e+02] [ 6.87771240e-02 2.48913372e-03 9.97628945e-01 2.54678650e+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:160.52, Y:121.67, Z:25.47 [[ 8.82625205e-01 4.65902653e-01 -6.25097254e-02 1.60517778e+02] [-4.65024560e-01 8.84828534e-01 2.88205401e-02 1.21667571e+02] [ 6.87379548e-02 3.63082240e-03 9.97628143e-01 2.54660225e+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:160.54, Y:121.65, Z:25.46 [[ 8.81459798e-01 4.68181382e-01 -6.19259080e-02 1.60540714e+02] [-4.67224151e-01 8.83628940e-01 3.00248001e-02 1.21652627e+02] [ 6.87765769e-02 2.46762554e-03 9.97629036e-01 2.54617121e+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:160.57, Y:121.64, Z:25.46 [[ 8.81553202e-01 4.67972729e-01 -6.21729632e-02 1.60566413e+02] [-4.67050759e-01 8.83737752e-01 2.95156543e-02 1.21640576e+02] [ 6.87571160e-02 3.01831016e-03 9.97628863e-01 2.54634344e+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:160.59, Y:121.63, Z:25.46 [[ 8.79749889e-01 4.71351228e-01 -6.21944729e-02 1.60589381e+02] [-4.70440773e-01 8.81939296e-01 2.94712997e-02 1.21629611e+02] [ 6.87430830e-02 3.33144325e-03 9.97628834e-01 2.54645620e+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:160.62, Y:121.62, Z:25.46 [[ 8.77934334e-01 4.74685970e-01 -6.24862819e-02 1.60615027e+02] [-4.73826529e-01 8.80144905e-01 2.88680826e-02 1.21615536e+02] [ 6.87002565e-02 4.26337718e-03 9.97628237e-01 2.54646001e+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:160.64, Y:121.60, Z:25.47 [[ 8.77902474e-01 4.74749575e-01 -6.24506801e-02 1.60642284e+02] [-4.73885090e-01 8.80110966e-01 2.89414727e-02 1.21600102e+02] [ 6.87034802e-02 4.18665565e-03 9.97628339e-01 2.54659425e+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:160.66, Y:121.58, Z:25.47 [[ 8.77162698e-01 4.76152709e-01 -6.21626899e-02 1.60664161e+02] [-4.75249747e-01 8.79355092e-01 2.95347345e-02 1.21582473e+02] [ 6.87261218e-02 3.63603527e-03 9.97628939e-01 2.54676488e+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:160.69, Y:121.57, Z:25.47 [[ 8.77207143e-01 4.76052233e-01 -6.23048934e-02 1.60689764e+02] [-4.75169795e-01 8.79408113e-01 2.92410007e-02 1.21570141e+02] [ 6.87116724e-02 3.95498877e-03 9.97628721e-01 2.54695903e+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:160.72, Y:121.55, Z:25.48 [[ 8.79003230e-01 4.72726962e-01 -6.23100483e-02 1.60717448e+02] [-4.71836949e-01 8.81201158e-01 2.92303494e-02 1.21554272e+02] [ 6.87256609e-02 3.70661155e-03 9.97628711e-01 2.54750862e+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:160.74, Y:121.54, Z:25.48 [[ 8.81999954e-01 4.67161595e-01 -6.19364627e-02 1.60741576e+02] [-4.66203477e-01 8.84168660e-01 3.00016506e-02 1.21538055e+02] [ 6.87778981e-02 2.41353981e-03 9.97629077e-01 2.54825576e+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:160.77, Y:121.52, Z:25.48 [[ 8.83410824e-01 4.64486774e-01 -6.19463726e-02 1.60765702e+02] [-4.63523522e-01 8.85577254e-01 2.99811749e-02 1.21523238e+02] [ 6.87841578e-02 2.22790638e-03 9.97629077e-01 2.54837370e+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:160.78, Y:121.50, Z:25.49 [[ 8.85276231e-01 4.60908405e-01 -6.20438331e-02 1.60784747e+02] [-4.59950486e-01 8.87445050e-01 2.97797509e-02 1.21504980e+02] [ 6.87862300e-02 2.17378549e-03 9.97629054e-01 2.54872330e+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:160.81, Y:121.49, Z:25.49 [[ 8.87875449e-01 4.55827515e-01 -6.24376709e-02 1.60810532e+02] [-4.54914340e-01 8.90064072e-01 2.89636143e-02 1.21489371e+02] [ 6.87759399e-02 2.68770976e-03 9.97628511e-01 2.54933660e+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:160.83, Y:121.47, Z:25.49 [[ 8.89511433e-01 4.52651832e-01 -6.22553617e-02 1.60831665e+02] [-4.51704346e-01 8.91685053e-01 2.93419379e-02 1.21470604e+02] [ 6.87938575e-02 2.02102824e-03 9.97628849e-01 2.54892606e+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:160.86, Y:121.45, Z:25.50 [[ 8.93448786e-01 4.44808363e-01 -6.24082347e-02 1.60859339e+02] [-4.43863903e-01 8.95624024e-01 2.90248661e-02 1.21453885e+02] [ 6.88048175e-02 1.76853132e-03 9.97628573e-01 2.54962092e+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:160.88, Y:121.44, Z:25.50 [[ 8.93945399e-01 4.43868981e-01 -6.19834817e-02 1.60883523e+02] [-4.42860992e-01 8.96091410e-01 2.99053095e-02 1.21439266e+02] [ 6.88169048e-02 7.16352378e-04 9.97629050e-01 2.54995480e+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:160.91, Y:121.42, Z:25.50 [[ 8.92726458e-01 4.46313931e-01 -6.19947284e-02 1.60906862e+02] [-4.45313438e-01 8.94875974e-01 2.98819767e-02 1.21423928e+02] [ 6.88143354e-02 9.30654440e-04 9.97629050e-01 2.55034319e+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:160.93, Y:121.41, Z:25.51 [[ 8.91719079e-01 4.48321705e-01 -6.20059115e-02 1.60932097e+02] [-4.47327666e-01 8.93871587e-01 2.98587534e-02 1.21411627e+02] [ 6.88116497e-02 1.11133954e-03 9.97629050e-01 2.55054815e+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:160.96, Y:121.40, Z:25.51 [[ 8.89749565e-01 4.52216345e-01 -6.20168518e-02 1.60958286e+02] [-4.51233311e-01 8.91907120e-01 2.98360129e-02 1.21398569e+02] [ 6.88056044e-02 1.43748988e-03 9.97629051e-01 2.55061854e+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:160.98, Y:121.39, Z:25.51 [[ 8.88948476e-01 4.53791684e-01 -6.19976903e-02 1.60981454e+02] [-4.52809696e-01 8.91106510e-01 2.98758598e-02 1.21385691e+02] [ 6.88039622e-02 1.51505528e-03 9.97629049e-01 2.55102618e+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:161.01, Y:121.37, Z:25.51 [[ 8.89428160e-01 4.52846062e-01 -6.20321938e-02 1.61007288e+02] [-4.51866784e-01 8.91587421e-01 2.98040471e-02 1.21371610e+02] [ 6.88037690e-02 1.52172915e-03 9.97629052e-01 2.55079841e+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:161.03, Y:121.36, Z:25.51 [[ 8.90040971e-01 4.51638610e-01 -6.20454308e-02 1.61031611e+02] [-4.50658323e-01 8.92199774e-01 2.97764745e-02 1.21357841e+02] [ 6.88051249e-02 1.45900754e-03 9.97629052e-01 2.55106635e+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:161.06, Y:121.34, Z:25.51 [[ 8.90973043e-01 4.49797094e-01 -6.20452342e-02 1.61055844e+02] [-4.48812316e-01 8.93129801e-01 2.97768842e-02 1.21343080e+02] [ 6.88080037e-02 1.31626418e-03 9.97629052e-01 2.55125602e+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:161.08, Y:121.33, Z:25.51 [[ 8.89373832e-01 4.52949458e-01 -6.20562283e-02 1.61077899e+02] [-4.51973923e-01 8.91534786e-01 2.97539544e-02 1.21331049e+02] [ 6.88023238e-02 1.58540859e-03 9.97629053e-01 2.55124628e+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:161.11, Y:121.32, Z:25.51 [[ 8.90874920e-01 4.49926408e-01 -6.25148319e-02 1.61107961e+02] [-4.49010495e-01 8.93062365e-01 2.87956190e-02 1.21319020e+02] [ 6.87855530e-02 2.41652081e-03 9.97628542e-01 2.55102852e+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:161.13, Y:121.31, Z:25.52 [[ 8.91702366e-01 4.48350791e-01 -6.20359470e-02 1.61131017e+02] [-4.47361232e-01 8.93856905e-01 2.97953185e-02 1.21305673e+02] [ 6.88100142e-02 1.18392176e-03 9.97629080e-01 2.55154078e+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:161.15, Y:121.29, Z:25.52 [[ 8.92644027e-01 4.46467726e-01 -6.20742379e-02 1.61154996e+02] [-4.45479182e-01 8.94799027e-01 2.97153309e-02 1.21291914e+02] [ 6.88109039e-02 1.12756810e-03 9.97629083e-01 2.55200650e+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:161.17, Y:121.28, Z:25.52 [[ 8.92785832e-01 4.46182644e-01 -6.20846704e-02 1.61172714e+02] [-4.45194927e-01 8.94941211e-01 2.96935180e-02 1.21277011e+02] [ 6.88108626e-02 1.12982815e-03 9.97629084e-01 2.55240103e+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:161.20, Y:121.26, Z:25.52 [[ 8.96182978e-01 4.39231350e-01 -6.27047890e-02 1.61197966e+02] [-4.38317394e-01 8.98371674e-01 2.83936121e-02 1.21262819e+02] [ 6.88035708e-02 2.03872787e-03 9.97628143e-01 2.55249653e+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:161.23, Y:121.25, Z:25.53 [[ 8.99332321e-01 4.32769102e-01 -6.25482273e-02 1.61227265e+02] [-4.31816605e-01 9.01504029e-01 2.87211828e-02 1.21249618e+02] [ 6.88171194e-02 1.17947517e-03 9.97628595e-01 2.55290603e+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:161.25, Y:121.24, Z:25.53 [[ 9.01757806e-01 4.27760501e-01 -6.20790866e-02 1.61250148e+02] [-4.26728173e-01 9.03892067e-01 2.97018173e-02 1.21235989e+02] [ 6.88180581e-02 -2.92950390e-04 9.97629184e-01 2.55326260e+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:161.27, Y:121.22, Z:25.53 [[ 9.03004689e-01 4.25121331e-01 -6.20837004e-02 1.61274350e+02] [-4.24083429e-01 9.05136244e-01 2.96921703e-02 1.21222534e+02] [ 6.88169823e-02 -4.83500397e-04 9.97629184e-01 2.55344491e+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:161.30, Y:121.21, Z:25.54 [[ 9.03664431e-01 4.23715461e-01 -6.20951292e-02 1.61296711e+02] [-4.22675887e-01 9.05795170e-01 2.96682500e-02 1.21208379e+02] [ 6.88163643e-02 -5.64028452e-04 9.97629185e-01 2.55353260e+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:161.32, Y:121.20, Z:25.54 [[ 9.04569614e-01 4.21750940e-01 -6.22893104e-02 1.61324863e+02] [-4.20734709e-01 9.06711683e-01 2.92613918e-02 1.21197725e+02] [ 6.88194649e-02 -2.61691056e-04 9.97629096e-01 2.55368924e+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:161.35, Y:121.19, Z:25.54 [[ 9.03993540e-01 4.22999892e-01 -6.21833739e-02 1.61350388e+02] [-4.21971337e-01 9.06129638e-01 2.94833801e-02 1.21186711e+02] [ 6.88176646e-02 -4.13183689e-04 9.97629169e-01 2.55402429e+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:161.38, Y:121.18, Z:25.54 [[ 9.01579282e-01 4.28115994e-01 -6.22213354e-02 1.61376222e+02] [-4.27105053e-01 9.03723791e-01 2.94037884e-02 1.21176516e+02] [ 6.88191332e-02 6.52003484e-05 9.97629151e-01 2.55445412e+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:161.40, Y:121.17, Z:25.55 [[ 8.99740668e-01 4.31969396e-01 -6.22026659e-02 1.61401801e+02] [-4.30964930e-01 9.01888209e-01 2.94429558e-02 1.21166136e+02] [ 6.88183068e-02 3.16142818e-04 9.97629160e-01 2.55458710e+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:161.43, Y:121.16, Z:25.54 [[ 8.95109445e-01 4.41482415e-01 -6.22282832e-02 1.61429569e+02] [-4.40504508e-01 8.97269222e-01 2.93891648e-02 1.21158510e+02] [ 6.88103227e-02 1.10532028e-03 9.97629148e-01 2.55445442e+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:161.46, Y:121.15, Z:25.54 [[ 8.89849757e-01 4.52001744e-01 -6.21436538e-02 1.61457861e+02] [-4.51036948e-01 8.92015397e-01 2.95669124e-02 1.21147107e+02] [ 6.87973920e-02 1.71897413e-03 9.97629172e-01 2.55423190e+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:161.48, Y:121.14, Z:25.54 [[ 8.87807786e-01 4.56021849e-01 -6.19790968e-02 1.61481743e+02] [-4.55042699e-01 8.89967058e-01 2.99128463e-02 1.21137693e+02] [ 6.88002658e-02 1.64627764e-03 9.97629096e-01 2.55424909e+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:161.51, Y:121.13, Z:25.54 [[ 8.84583953e-01 4.62220412e-01 -6.21572264e-02 1.61507942e+02] [-4.61282650e-01 8.86761424e-01 2.95380197e-02 1.21125507e+02] [ 6.87717062e-02 2.54319187e-03 9.97629182e-01 2.55412059e+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:161.54, Y:121.11, Z:25.54 [[ 8.84366761e-01 4.62636394e-01 -6.21530274e-02 1.61535311e+02] [-4.61699035e-01 8.86544406e-01 2.95468575e-02 1.21111866e+02] [ 6.87708704e-02 2.56573417e-03 9.97629182e-01 2.55438890e+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:161.56, Y:121.10, Z:25.55 [[ 8.82374774e-01 4.66446186e-01 -6.19896312e-02 1.61558288e+02] [-4.65494077e-01 8.84546099e-01 2.98908644e-02 1.21096796e+02] [ 6.87751661e-02 2.48086142e-03 9.97629100e-01 2.55473045e+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:161.58, Y:121.08, Z:25.55 [[ 8.79396622e-01 4.72022338e-01 -6.21006667e-02 1.61582287e+02] [-4.71100458e-01 8.81580869e-01 2.96568700e-02 1.21081738e+02] [ 6.87454648e-02 3.17550123e-03 9.97629178e-01 2.55501437e+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:161.61, Y:121.07, Z:25.55 [[ 8.79071866e-01 4.72615754e-01 -6.21852317e-02 1.61610054e+02] [-4.71707922e-01 8.81261968e-01 2.94784822e-02 1.21066324e+02] [ 6.87334747e-02 3.41956206e-03 9.97629198e-01 2.55503981e+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:161.63, Y:121.05, Z:25.55 [[ 8.77449774e-01 4.75656319e-01 -6.19108995e-02 1.61633084e+02] [-4.74715306e-01 8.79626037e-01 3.00568281e-02 1.21048984e+02] [ 6.87551594e-02 3.01669454e-03 9.97629003e-01 2.55507633e+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:161.66, Y:121.04, Z:25.55 [[ 8.77001310e-01 4.76478686e-01 -6.19416129e-02 1.61655451e+02] [-4.75544273e-01 8.79180369e-01 2.99920572e-02 1.21035078e+02] [ 6.87484261e-02 3.15290583e-03 9.97629046e-01 2.55531567e+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:161.68, Y:121.02, Z:25.56 [[ 8.77311811e-01 4.75885839e-01 -6.21019742e-02 1.61677038e+02] [-4.74973838e-01 8.79500168e-01 2.96531196e-02 1.21015045e+02] [ 6.87301964e-02 3.48178103e-03 9.97629208e-01 2.55555119e+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:161.70, Y:121.00, Z:25.56 [[ 8.78994989e-01 4.72754597e-01 -6.22165529e-02 1.61700164e+02] [-4.71851887e-01 8.81187157e-01 2.94107414e-02 1.20998847e+02] [ 6.87284906e-02 3.50510357e-03 9.97629244e-01 2.55575550e+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:161.72, Y:120.98, Z:25.56 [[ 8.82665736e-01 4.65863628e-01 -6.22276422e-02 1.61721492e+02] [-4.64945447e-01 8.84851468e-01 2.93872598e-02 1.20978681e+02] [ 6.87526760e-02 2.99333159e-03 9.97629245e-01 2.55608685e+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:161.74, Y:120.96, Z:25.56 [[ 8.85283688e-01 4.60868749e-01 -6.22317331e-02 1.61743560e+02] [-4.59938841e-01 8.87464456e-01 2.93785943e-02 1.20959653e+02] [ 6.87681271e-02 2.61440090e-03 9.97629245e-01 2.55640815e+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:161.77, Y:120.94, Z:25.56 [[ 8.86220226e-01 4.59064711e-01 -6.22358610e-02 1.61769971e+02] [-4.58130976e-01 8.88399359e-01 2.93698471e-02 1.20943524e+02] [ 6.87729594e-02 2.48402319e-03 9.97629245e-01 2.55620604e+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:161.79, Y:120.93, Z:25.57 [[ 8.87078422e-01 4.57438380e-01 -6.19838787e-02 1.61791827e+02] [-4.56463330e-01 8.89239567e-01 2.99035187e-02 1.20927454e+02] [ 6.87975346e-02 1.76660146e-03 9.97629079e-01 2.55651545e+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:161.82, Y:120.91, Z:25.57 [[ 8.86690634e-01 4.58182761e-01 -6.20344847e-02 1.61816077e+02] [-4.57217015e-01 8.88855884e-01 2.97963004e-02 1.20912791e+02] [ 6.87918678e-02 1.94312145e-03 9.97629141e-01 2.55667587e+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:161.84, Y:120.89, Z:25.56 [[ 8.84651148e-01 4.62109535e-01 -6.20251948e-02 1.61840840e+02] [-4.61152019e-01 8.86820062e-01 2.98160015e-02 1.20892947e+02] [ 6.87834457e-02 2.22628389e-03 9.97629130e-01 2.55623302e+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:161.87, Y:120.88, Z:25.56 [[ 8.83676398e-01 4.63987955e-01 -6.18966896e-02 1.61866331e+02] [-4.63015939e-01 8.85839089e-01 3.00890179e-02 1.20878868e+02] [ 6.87914490e-02 2.07019883e-03 9.97628914e-01 2.55625732e+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:161.89, Y:120.87, Z:25.57 [[ 8.80864328e-01 4.69300473e-01 -6.19282035e-02 1.61887504e+02] [-4.68346195e-01 8.83034835e-01 3.00220083e-02 1.20865811e+02] [ 6.87741037e-02 2.55852233e-03 9.97628977e-01 2.55670435e+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:161.91, Y:120.85, Z:25.57 [[ 8.79562114e-01 4.71688726e-01 -6.22915123e-02 1.61912897e+02] [-4.70794814e-01 8.81757778e-01 2.92483117e-02 1.20851562e+02] [ 6.87221244e-02 3.60081409e-03 9.97629342e-01 2.55696844e+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:161.94, Y:120.84, Z:25.57 [[ 8.79387227e-01 4.72021226e-01 -6.22420026e-02 1.61939497e+02] [-4.71120701e-01 8.81580196e-01 2.93537712e-02 1.20836880e+02] [ 6.87269198e-02 3.51016440e-03 9.97629335e-01 2.55712050e+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:161.96, Y:120.82, Z:25.57 [[ 8.78123966e-01 4.74404045e-01 -6.19604826e-02 1.61964164e+02] [-4.73467254e-01 8.80301991e-01 2.99526918e-02 1.20820827e+02] [ 6.87536144e-02 3.03408297e-03 9.97629057e-01 2.55703608e+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:161.99, Y:120.81, Z:25.57 [[ 8.77247805e-01 4.76017274e-01 -6.19987348e-02 1.61985793e+02] [-4.75090219e-01 8.79429923e-01 2.98713070e-02 1.20809004e+02] [ 6.87428007e-02 3.25045400e-03 9.97629120e-01 2.55729166e+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:162.01, Y:120.80, Z:25.57 [[ 8.79025694e-01 4.72687178e-01 -6.22949497e-02 1.62014408e+02] [-4.71796325e-01 8.81222579e-01 2.92402753e-02 1.20795477e+02] [ 6.87172194e-02 3.68757499e-03 9.97629363e-01 2.55699753e+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:162.04, Y:120.78, Z:25.57 [[ 8.80522384e-01 4.69882029e-01 -6.23795678e-02 1.62043409e+02] [-4.68996895e-01 8.82721602e-01 2.90600472e-02 1.20777902e+02] [ 6.87185860e-02 3.66780159e-03 9.97629342e-01 2.55732560e+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:162.06, Y:120.76, Z:25.58 [[ 8.83957016e-01 4.63447814e-01 -6.19363981e-02 1.62063464e+02] [-4.62480648e-01 8.86121667e-01 3.00006985e-02 1.20758909e+02] [ 6.87869425e-02 2.12505761e-03 9.97629110e-01 2.55846123e+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:162.09, Y:120.74, Z:25.59 [[ 8.86176796e-01 4.59145170e-01 -6.22607314e-02 1.62088548e+02] [-4.58215695e-01 8.88357582e-01 2.93118350e-02 1.20743428e+02] [ 6.87681802e-02 2.55337634e-03 9.97629399e-01 2.55887831e+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:162.11, Y:120.73, Z:25.59 [[ 8.89815351e-01 4.52053184e-01 -6.22620238e-02 1.62112991e+02] [-4.51106514e-01 8.91988728e-01 2.93090895e-02 1.20727380e+02] [ 6.87862906e-02 2.00712675e-03 9.97629399e-01 2.55912632e+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:162.14, Y:120.71, Z:25.59 [[ 8.91738506e-01 4.48247473e-01 -6.22626650e-02 1.62139431e+02] [-4.47291621e-01 8.93907860e-01 2.93077274e-02 1.20711234e+02] [ 6.87942003e-02 1.71473933e-03 9.97629399e-01 2.55912102e+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:162.17, Y:120.70, Z:25.59 [[ 8.92456212e-01 4.46816820e-01 -6.22626650e-02 1.62165283e+02] [-4.45857491e-01 8.94624030e-01 2.93077274e-02 1.20696196e+02] [ 6.87968618e-02 1.60441222e-03 9.97629399e-01 2.55917467e+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:162.19, Y:120.68, Z:25.59 [[ 8.92678760e-01 4.46371943e-01 -6.22633068e-02 1.62193418e+02] [-4.45411628e-01 8.94846142e-01 2.93063638e-02 1.20679281e+02] [ 6.87976184e-02 1.57163233e-03 9.97629399e-01 2.55937628e+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:162.22, Y:120.66, Z:25.60 [[ 8.92289597e-01 4.47150866e-01 -6.22525327e-02 1.62222451e+02] [-4.46190848e-01 8.94457111e-01 2.93292322e-02 1.20664881e+02] [ 6.87968121e-02 1.60634158e-03 9.97629399e-01 2.55956963e+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:162.25, Y:120.65, Z:25.60 [[ 8.92129565e-01 4.47471002e-01 -6.22458221e-02 1.62252531e+02] [-4.46510770e-01 8.94296983e-01 2.93434673e-02 1.20650457e+02] [ 6.87966016e-02 1.61525525e-03 9.97629399e-01 2.55980009e+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:162.28, Y:120.64, Z:25.60 [[ 8.90783167e-01 4.50146775e-01 -6.22352926e-02 1.62280905e+02] [-4.49191495e-01 8.92952771e-01 2.93657827e-02 1.20636117e+02] [ 6.87920894e-02 1.79701921e-03 9.97629400e-01 2.55988623e+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:162.31, Y:120.62, Z:25.60 [[ 8.89734307e-01 4.52216535e-01 -6.22339850e-02 1.62309403e+02] [-4.51266108e-01 8.91906042e-01 2.93685536e-02 1.20622608e+02] [ 6.87878128e-02 1.95387854e-03 9.97629400e-01 2.56004675e+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:162.34, Y:120.61, Z:25.60 [[ 8.88192844e-01 4.55236825e-01 -6.22326773e-02 1.62338157e+02] [-4.54293588e-01 8.90367711e-01 2.93713245e-02 1.20611073e+02] [ 6.87808749e-02 2.18450602e-03 9.97629400e-01 2.56021810e+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:162.37, Y:120.60, Z:25.61 [[ 8.87385242e-01 4.56809247e-01 -6.22313740e-02 1.62366731e+02] [-4.55869671e-01 8.89561694e-01 2.93740856e-02 1.20597826e+02] [ 6.87770004e-02 2.30326592e-03 9.97629400e-01 2.56055858e+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:162.39, Y:120.58, Z:25.61 [[ 8.85908038e-01 4.59668743e-01 -6.22221465e-02 1.62392806e+02] [-4.58734821e-01 8.88086921e-01 2.93936190e-02 1.20583443e+02] [ 6.87700024e-02 2.50342188e-03 9.97629400e-01 2.56101121e+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:162.42, Y:120.57, Z:25.61 [[ 8.84661686e-01 4.62063282e-01 -6.22191626e-02 1.62418204e+02] [-4.61134813e-01 8.86842899e-01 2.93999337e-02 1.20568531e+02] [ 6.87632524e-02 2.68242697e-03 9.97629400e-01 2.56147553e+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:162.44, Y:120.55, Z:25.62 [[ 8.83718088e-01 4.63865323e-01 -6.22198058e-02 1.62444846e+02] [-4.62941397e-01 8.85901229e-01 2.93985725e-02 1.20553187e+02] [ 6.87575807e-02 2.82407352e-03 9.97629400e-01 2.56194151e+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:162.47, Y:120.54, Z:25.62 [[ 8.83041690e-01 4.65151662e-01 -6.22198058e-02 1.62471752e+02] [-4.64230917e-01 8.85226175e-01 2.93985725e-02 1.20538038e+02] [ 6.87533955e-02 2.92419232e-03 9.97629400e-01 2.56218446e+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:162.50, Y:120.52, Z:25.62 [[ 8.81605323e-01 4.67868304e-01 -6.22198058e-02 1.62497106e+02] [-4.66954288e-01 8.83792632e-01 2.93985725e-02 1.20524708e+02] [ 6.87440662e-02 3.13586712e-03 9.97629400e-01 2.56198208e+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:162.52, Y:120.51, Z:25.62 [[ 8.79728946e-01 4.71381889e-01 -6.22583055e-02 1.62523963e+02] [-4.70482353e-01 8.81922254e-01 2.93171089e-02 1.20510118e+02] [ 6.87265393e-02 3.50032470e-03 9.97629395e-01 2.56230150e+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:162.55, Y:120.50, Z:25.62 [[ 8.77823839e-01 4.74926017e-01 -6.22140404e-02 1.62549074e+02] [-4.74028719e-01 8.80018058e-01 2.94107459e-02 1.20498801e+02] [ 6.87174074e-02 3.67378802e-03 9.97629401e-01 2.56197219e+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:162.57, Y:120.48, Z:25.62 [[ 8.76143007e-01 4.78012177e-01 -6.22718982e-02 1.62574592e+02] [-4.77131268e-01 8.78343866e-01 2.92883195e-02 1.20482947e+02] [ 6.86963132e-02 4.05111340e-03 9.97629393e-01 2.56237118e+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:162.60, Y:120.47, Z:25.62 [[ 8.74437607e-01 4.81131868e-01 -6.22173452e-02 1.62598971e+02] [-4.80250629e-01 8.76638325e-01 2.94037530e-02 1.20466135e+02] [ 6.86891919e-02 4.16817185e-03 9.97629401e-01 2.56248054e+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:162.62, Y:120.45, Z:25.62 [[ 8.74715875e-01 4.80625469e-01 -6.22197442e-02 1.62623603e+02] [-4.79743316e-01 8.76916227e-01 2.93986757e-02 1.20454017e+02] [ 6.86912556e-02 4.13401807e-03 9.97629401e-01 2.56234278e+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:162.65, Y:120.44, Z:25.63 [[ 8.74076916e-01 4.81773569e-01 -6.23199201e-02 1.62649368e+02] [-4.80909346e-01 8.76284398e-01 2.91865479e-02 1.20438093e+02] [ 6.86712810e-02 4.45894429e-03 9.97629377e-01 2.56283718e+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:162.67, Y:120.42, Z:25.63 [[ 8.74550450e-01 4.80926001e-01 -6.22229270e-02 1.62672455e+02] [-4.80045085e-01 8.76751295e-01 2.93918874e-02 1.20422180e+02] [ 6.86893547e-02 4.16512194e-03 9.97629402e-01 2.56275757e+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:162.70, Y:120.41, Z:25.63 [[ 8.75304756e-01 4.79551382e-01 -6.22258519e-02 1.62697487e+02] [-4.78667447e-01 8.77504391e-01 2.93856938e-02 1.20407636e+02] [ 6.86954083e-02 4.06405218e-03 9.97629402e-01 2.56278156e+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:162.72, Y:120.39, Z:25.63 [[ 8.78149642e-01 4.74321473e-01 -6.22281750e-02 1.62721294e+02] [-4.73424781e-01 8.80344107e-01 2.93807736e-02 1.20390580e+02] [ 6.87181390e-02 3.65964430e-03 9.97629402e-01 2.56257772e+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:162.75, Y:120.38, Z:25.63 [[ 8.79890595e-01 4.71083836e-01 -6.22299033e-02 1.62746969e+02] [-4.70179325e-01 8.82081848e-01 2.93771124e-02 1.20375110e+02] [ 6.87309510e-02 3.41056904e-03 9.97629402e-01 2.56261006e+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:162.77, Y:120.35, Z:25.63 [[ 8.85389549e-01 4.60665437e-01 -6.22310400e-02 1.62772128e+02] [-4.59735294e-01 8.87570046e-01 2.93747042e-02 1.20354800e+02] [ 6.87663180e-02 2.60174940e-03 9.97629402e-01 2.56313393e+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:162.80, Y:120.34, Z:25.64 [[ 8.88674261e-01 4.54297638e-01 -6.22230962e-02 1.62799985e+02] [-4.53350690e-01 8.90847512e-01 2.93915217e-02 1.20336507e+02] [ 6.87837894e-02 2.08939479e-03 9.97629403e-01 2.56364691e+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:162.83, Y:120.32, Z:25.64 [[ 8.96252380e-01 4.39159521e-01 -6.22140435e-02 1.62825416e+02] [-4.38174520e-01 8.98408650e-01 2.94106714e-02 1.20317023e+02] [ 6.88096112e-02 9.01224374e-04 9.97629403e-01 2.56401493e+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:162.85, Y:120.30, Z:25.64 [[ 9.02500915e-01 4.26171576e-01 -6.22084138e-02 1.62852110e+02] [-4.25154720e-01 9.04642347e-01 2.94225743e-02 1.20298895e+02] [ 6.88154304e-02 -1.05699451e-04 9.97629403e-01 2.56435830e+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:162.88, Y:120.28, Z:25.65 [[ 9.04169598e-01 4.22620572e-01 -6.22028146e-02 1.62880523e+02] [-4.21594491e-01 9.06306626e-01 2.94344071e-02 1.20282770e+02] [ 6.88144090e-02 -3.89332092e-04 9.97629403e-01 2.56466470e+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:162.91, Y:120.27, Z:25.65 [[ 9.05514503e-01 4.19732542e-01 -6.21938774e-02 1.62909960e+02] [-4.18698350e-01 9.07647617e-01 2.94532790e-02 1.20268295e+02] [ 6.88126242e-02 -6.29897467e-04 9.97629403e-01 2.56511346e+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:162.94, Y:120.26, Z:25.65 [[ 9.05680350e-01 4.19376169e-01 -6.21830494e-02 1.62940847e+02] [-4.18339569e-01 9.07812295e-01 2.94761219e-02 1.20255919e+02] [ 6.88121198e-02 -6.82314317e-04 9.97629403e-01 2.56542660e+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:162.97, Y:120.25, Z:25.66 [[ 9.03073625e-01 4.24975032e-01 -6.20826070e-02 1.62971885e+02] [-4.23937087e-01 9.05204939e-01 2.96877965e-02 1.20247988e+02] [ 6.88140548e-02 -4.91146453e-04 9.97629382e-01 2.56554435e+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:163.01, Y:120.24, Z:25.65 [[ 8.98784317e-01 4.33968058e-01 -6.21166324e-02 1.63005591e+02] [-4.32956391e-01 9.00928215e-01 2.96161315e-02 1.20240692e+02] [ 6.88150818e-02 2.75278417e-04 9.97629395e-01 2.56543741e+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:163.03, Y:120.23, Z:25.66 [[ 8.95748994e-01 4.40222133e-01 -6.19533209e-02 1.63034207e+02] [-4.39201625e-01 8.97888821e-01 2.99599549e-02 1.20229842e+02] [ 6.88162295e-02 3.73399678e-04 9.97629283e-01 2.56578885e+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:163.07, Y:120.22, Z:25.66 [[ 8.90055891e-01 4.51593111e-01 -6.21624671e-02 1.63066831e+02] [-4.50630620e-01 8.92222304e-01 2.95195525e-02 1.20221099e+02] [ 6.87935662e-02 1.73825953e-03 9.97629402e-01 2.56633052e+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:163.10, Y:120.21, Z:25.66 [[ 8.84469379e-01 4.62453570e-01 -6.20533031e-02 1.63097042e+02] [-4.61501551e-01 8.86640451e-01 2.97494431e-02 1.20212101e+02] [ 6.87767048e-02 2.32522421e-03 9.97629369e-01 2.56636519e+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:163.13, Y:120.20, Z:25.67 [[ 8.82971977e-01 4.65303088e-01 -6.20767666e-02 1.63125417e+02] [-4.64361541e-01 8.85147596e-01 2.97000317e-02 1.20201863e+02] [ 6.87666173e-02 2.60176732e-03 9.97629382e-01 2.56678922e+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:163.16, Y:120.19, Z:25.67 [[ 8.81727625e-01 4.67645484e-01 -6.21618650e-02 1.63156480e+02] [-4.66722312e-01 8.83911084e-01 2.95208438e-02 1.20190672e+02] [ 6.87508507e-02 2.98298588e-03 9.97629401e-01 2.56669203e+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:163.19, Y:120.18, Z:25.67 [[ 8.81574220e-01 4.67936050e-01 -6.21510036e-02 1.63186852e+02] [-4.67011990e-01 8.83757303e-01 2.95436929e-02 1.20176840e+02] [ 6.87509623e-02 2.98030583e-03 9.97629402e-01 2.56664988e+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:163.22, Y:120.16, Z:25.66 [[ 8.82349879e-01 4.66473242e-01 -6.21402060e-02 1.63216235e+02] [-4.65543968e-01 8.84530747e-01 2.95663864e-02 1.20163685e+02] [ 6.87568510e-02 2.84110061e-03 9.97629402e-01 2.56648370e+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:163.24, Y:120.15, Z:25.67 [[ 8.82437807e-01 4.66308185e-01 -6.21304510e-02 1.63244909e+02] [-4.65377064e-01 8.84617887e-01 2.95868713e-02 1.20150113e+02] [ 6.87583086e-02 2.80551301e-03 9.97629402e-01 2.56658950e+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:163.28, Y:120.14, Z:25.67 [[ 8.82758157e-01 4.65702837e-01 -6.21200735e-02 1.63275614e+02] [-4.64768692e-01 8.84936942e-01 2.96086438e-02 1.20136665e+02] [ 6.87611773e-02 2.73419344e-03 9.97629402e-01 2.56667067e+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:163.30, Y:120.13, Z:25.67 [[ 8.83308407e-01 4.64674169e-01 -6.20014155e-02 1.63303100e+02] [-4.63720034e-01 8.85478550e-01 2.98574517e-02 1.20125648e+02] [ 6.87749100e-02 2.37796036e-03 9.97629369e-01 2.56719046e+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:163.33, Y:120.12, Z:25.68 [[ 8.84624461e-01 4.62149236e-01 -6.21099557e-02 1.63331862e+02] [-4.61204843e-01 8.86798827e-01 2.96299359e-02 1.20115646e+02] [ 6.87724881e-02 2.43404634e-03 9.97629400e-01 2.56754505e+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:163.36, Y:120.10, Z:25.68 [[ 8.84846638e-01 4.61707087e-01 -6.22333799e-02 1.63360934e+02] [-4.60779747e-01 8.87028380e-01 2.93713784e-02 1.20100061e+02] [ 6.87637477e-02 2.68671558e-03 9.97629354e-01 2.56823426e+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:163.39, Y:120.09, Z:25.68 [[ 8.84834472e-01 4.61749924e-01 -6.20883626e-02 1.63390683e+02] [-4.60801406e-01 8.87007029e-01 2.96748060e-02 1.20085530e+02] [ 6.87751535e-02 2.35311346e-03 9.97629411e-01 2.56845304e+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:163.42, Y:120.07, Z:25.68 [[ 8.84526973e-01 4.62340101e-01 -6.20778997e-02 1.63422368e+02] [-4.61391499e-01 8.86699494e-01 2.96966777e-02 1.20072312e+02] [ 6.87744072e-02 2.37470274e-03 9.97629411e-01 2.56794690e+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:163.45, Y:120.06, Z:25.68 [[ 8.83975734e-01 4.63413643e-01 -6.19249329e-02 1.63451212e+02] [-4.62445317e-01 8.86139589e-01 3.00159630e-02 1.20061856e+02] [ 6.87839414e-02 2.10351229e-03 9.97629362e-01 2.56764929e+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:163.48, Y:120.05, Z:25.68 [[ 8.84081623e-01 4.63194254e-01 -6.20545494e-02 1.63479113e+02] [-4.62244324e-01 8.86253568e-01 2.97455672e-02 1.20048447e+02] [ 6.87740416e-02 2.38685396e-03 9.97629407e-01 2.56764140e+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:163.51, Y:120.03, Z:25.68 [[ 8.84424150e-01 4.62541112e-01 -6.20454953e-02 1.63505455e+02] [-4.61588256e-01 8.86594812e-01 2.97644409e-02 1.20034997e+02] [ 6.87764918e-02 2.31508161e-03 9.97629407e-01 2.56760834e+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:163.53, Y:120.02, Z:25.68 [[ 8.84524363e-01 4.62349275e-01 -6.20467526e-02 1.63533597e+02] [-4.61396132e-01 8.86694899e-01 2.97618198e-02 1.20021357e+02] [ 6.87768948e-02 2.30307692e-03 9.97629407e-01 2.56795413e+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:163.56, Y:120.01, Z:25.69 [[ 8.84251382e-01 4.62874315e-01 -6.20230799e-02 1.63561944e+02] [-4.61919005e-01 8.86420966e-01 2.98111436e-02 1.20008530e+02] [ 6.87773711e-02 2.28909444e-03 9.97629407e-01 2.56857488e+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:163.59, Y:120.00, Z:25.69 [[ 8.82282634e-01 4.66614103e-01 -6.20373535e-02 1.63590506e+02] [-4.65670074e-01 8.84457150e-01 2.97814105e-02 1.19996023e+02] [ 6.87658070e-02 2.61331769e-03 9.97629407e-01 2.56895706e+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:163.62, Y:119.98, Z:25.69 [[ 8.81194597e-01 4.68666747e-01 -6.20287177e-02 1.63618962e+02] [-4.67726520e-01 8.83370760e-01 2.97993865e-02 1.19982803e+02] [ 6.87603370e-02 2.75341790e-03 9.97629408e-01 2.56921436e+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:163.65, Y:119.97, Z:25.69 [[ 8.78912130e-01 4.72933470e-01 -6.20274215e-02 1.63647546e+02] [-4.72003614e-01 8.81092744e-01 2.98020841e-02 1.19968973e+02] [ 6.87463141e-02 3.08375393e-03 9.97629408e-01 2.56940393e+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:163.68, Y:119.95, Z:25.70 [[ 8.76976896e-01 4.76512628e-01 -6.20261166e-02 1.63676454e+02] [-4.75591479e-01 8.79161202e-01 2.98047997e-02 1.19953988e+02] [ 6.87333187e-02 3.36097183e-03 9.97629408e-01 2.56980757e+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:163.71, Y:119.94, Z:25.70 [[ 8.76069609e-01 4.78180068e-01 -6.20150199e-02 1.63705224e+02] [-4.77261447e-01 8.78254980e-01 2.98278709e-02 1.19938458e+02] [ 6.87280934e-02 3.46608698e-03 9.97629408e-01 2.57009154e+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:163.73, Y:119.92, Z:25.70 [[ 8.75707210e-01 4.78844854e-01 -6.20039415e-02 1.63733604e+02] [-4.77926268e-01 8.77892594e-01 2.98508822e-02 1.19923108e+02] [ 6.87267424e-02 3.49267956e-03 9.97629408e-01 2.57042825e+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:163.76, Y:119.91, Z:25.71 [[ 8.75555431e-01 4.79123654e-01 -6.19936369e-02 1.63762073e+02] [-4.78204255e-01 8.77740473e-01 2.98722673e-02 1.19907823e+02] [ 6.87268341e-02 3.49079502e-03 9.97629408e-01 2.57075124e+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:163.79, Y:119.89, Z:25.71 [[ 8.75767124e-01 4.78737913e-01 -6.19835025e-02 1.63789200e+02] [-4.77816068e-01 8.77951136e-01 2.98932809e-02 1.19888776e+02] [ 6.87295333e-02 3.43716086e-03 9.97629409e-01 2.57136840e+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:163.82, Y:119.87, Z:25.72 [[ 8.76026372e-01 4.78264742e-01 -6.19728306e-02 1.63816945e+02] [-4.77340158e-01 8.78209225e-01 2.99153889e-02 1.19871767e+02] [ 6.87325873e-02 3.37545115e-03 9.97629409e-01 2.57177492e+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:163.85, Y:119.85, Z:25.72 [[ 8.76830918e-01 4.76789550e-01 -6.19618049e-02 1.63845296e+02] [-4.75859686e-01 8.79011526e-01 2.99382085e-02 1.19854900e+02] [ 6.87393656e-02 3.23437817e-03 9.97629409e-01 2.57167669e+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:163.87, Y:119.84, Z:25.72 [[ 8.77426019e-01 4.75694975e-01 -6.19505662e-02 1.63874779e+02] [-4.74760753e-01 8.79604763e-01 2.99614465e-02 1.19839792e+02] [ 6.87445226e-02 3.12274474e-03 9.97629410e-01 2.57166784e+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:163.90, Y:119.82, Z:25.72 [[ 8.79058244e-01 4.72673373e-01 -6.19393751e-02 1.63901387e+02] [-4.71730035e-01 8.81233057e-01 2.99845640e-02 1.19821997e+02] [ 6.87559299e-02 2.86048545e-03 9.97629410e-01 2.57150643e+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:163.93, Y:119.80, Z:25.72 [[ 8.80797172e-01 4.69426212e-01 -6.19303902e-02 1.63927076e+02] [-4.68473552e-01 8.82967918e-01 3.00031101e-02 1.19803748e+02] [ 6.87667940e-02 2.58609534e-03 9.97629410e-01 2.57161758e+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:163.95, Y:119.79, Z:25.72 [[ 8.83526626e-01 4.64269781e-01 -6.19215041e-02 1.63954841e+02] [-4.63303167e-01 8.85691193e-01 3.00214383e-02 1.19787289e+02] [ 6.87813775e-02 2.16368885e-03 9.97629410e-01 2.57213407e+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:163.98, Y:119.77, Z:25.73 [[ 8.85175092e-01 4.61120360e-01 -6.19117968e-02 1.63981798e+02] [-4.60144645e-01 8.87335572e-01 3.00414440e-02 1.19772576e+02] [ 6.87892611e-02 1.89644377e-03 9.97629411e-01 2.57257119e+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:164.01, Y:119.76, Z:25.73 [[ 8.89570482e-01 4.52584127e-01 -6.19028684e-02 1.64009862e+02] [-4.51586395e-01 8.91720884e-01 3.00598305e-02 1.19756828e+02] [ 6.88046826e-02 1.21415524e-03 9.97629411e-01 2.57328985e+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:164.04, Y:119.74, Z:25.74 [[ 8.89403179e-01 4.52914140e-01 -6.18931855e-02 1.64039756e+02] [-4.51915821e-01 8.91553307e-01 3.00797543e-02 1.19742067e+02] [ 6.88046203e-02 1.21748063e-03 9.97629411e-01 2.57352042e+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:164.07, Y:119.73, Z:25.74 [[ 8.91871211e-01 4.48036112e-01 -6.18820370e-02 1.64066957e+02] [-4.47024441e-01 8.94015088e-01 3.01026725e-02 1.19727993e+02] [ 6.88105591e-02 8.15076022e-04 9.97629411e-01 2.57400019e+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:164.10, Y:119.71, Z:25.74 [[ 8.95427763e-01 4.40888827e-01 -6.18559973e-02 1.64095321e+02] [-4.39856346e-01 8.97561697e-01 3.01561667e-02 1.19713255e+02] [ 6.88150909e-02 2.05084100e-04 9.97629411e-01 2.57442913e+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:164.12, Y:119.70, Z:25.75 [[ 8.95732248e-01 4.40267938e-01 -6.18698944e-02 1.64121612e+02] [-4.39235949e-01 8.97866420e-01 3.01276278e-02 1.19700010e+02] [ 6.88151291e-02 1.89193960e-04 9.97629411e-01 2.57466377e+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:164.15, Y:119.69, Z:25.75 [[ 8.96284749e-01 4.39100141e-01 -6.21668394e-02 1.64154514e+02] [-4.38107578e-01 8.98437788e-01 2.95176471e-02 1.19688491e+02] [ 6.88142406e-02 7.79546528e-04 9.97629186e-01 2.57488596e+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:164.18, Y:119.68, Z:25.75 [[ 8.95367599e-01 4.41008380e-01 -6.18746412e-02 1.64183090e+02] [-4.39978893e-01 8.97502948e-01 3.01169676e-02 1.19676991e+02] [ 6.88145080e-02 2.57779197e-04 9.97629439e-01 2.57496272e+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:164.21, Y:119.67, Z:25.75 [[ 8.93856554e-01 4.44054010e-01 -6.19394643e-02 1.64214920e+02] [-4.43041002e-01 8.95999791e-01 2.99840695e-02 1.19665519e+02] [ 6.88122934e-02 6.40265330e-04 9.97629419e-01 2.57485719e+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:164.25, Y:119.65, Z:25.75 [[ 8.92025305e-01 4.47735160e-01 -6.18391618e-02 1.64245268e+02] [-4.46716743e-01 8.94165949e-01 3.01895297e-02 1.19654322e+02] [ 6.88113867e-02 6.94764557e-04 9.97629445e-01 2.57486678e+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:164.28, Y:119.64, Z:25.75 [[ 8.90986127e-01 4.49800956e-01 -6.18289665e-02 1.64276016e+02] [-4.48786054e-01 8.93128440e-01 3.02103956e-02 1.19641077e+02] [ 6.88098732e-02 8.30934568e-04 9.97629446e-01 2.57490137e+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:164.30, Y:119.63, Z:25.75 [[ 8.88832596e-01 4.54043130e-01 -6.18179027e-02 1.64304968e+02] [-4.53036879e-01 8.90978984e-01 3.02330179e-02 1.19630364e+02] [ 6.88055463e-02 1.13369795e-03 9.97629446e-01 2.57467517e+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:164.34, Y:119.62, Z:25.75 [[ 8.87591984e-01 4.56453578e-01 -6.18918485e-02 1.64335239e+02] [-4.55463688e-01 8.89745983e-01 3.00818097e-02 1.19616888e+02] [ 6.87989733e-02 1.48911637e-03 9.97629432e-01 2.57487726e+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:164.37, Y:119.61, Z:25.75 [[ 8.84561048e-01 4.62311127e-01 -6.18075640e-02 1.64366154e+02] [-4.61323468e-01 8.86716050e-01 3.02540020e-02 1.19607257e+02] [ 6.87925208e-02 1.75176801e-03 9.97629450e-01 2.57486022e+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:164.39, Y:119.60, Z:25.75 [[ 8.81220075e-01 4.68647054e-01 -6.18151938e-02 1.64394645e+02] [-4.67675976e-01 8.83382601e-01 3.02384208e-02 1.19598001e+02] [ 6.87776135e-02 2.26277766e-03 9.97629450e-01 2.57451478e+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:164.42, Y:119.59, Z:25.75 [[ 8.79665721e-01 4.71560426e-01 -6.17979249e-02 1.64422048e+02] [-4.70594037e-01 8.81830345e-01 3.02736722e-02 1.19585532e+02] [ 6.87711512e-02 2.45102326e-03 9.97629451e-01 2.57475284e+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:164.45, Y:119.57, Z:25.75 [[ 8.76520285e-01 4.77381616e-01 -6.17979249e-02 1.64450410e+02] [-4.76429598e-01 8.78691267e-01 3.02736722e-02 1.19570270e+02] [ 6.87533915e-02 2.90687272e-03 9.97629451e-01 2.57528695e+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:164.48, Y:119.55, Z:25.76 [[ 8.74310166e-01 4.81418863e-01 -6.17868221e-02 1.64478453e+02] [-4.80475271e-01 8.76484824e-01 3.02963154e-02 1.19554972e+02] [ 6.87404296e-02 3.19866356e-03 9.97629451e-01 2.57565785e+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:164.50, Y:119.54, Z:25.76 [[ 8.73602132e-01 4.82703819e-01 -6.17765169e-02 1.64504323e+02] [-4.81761945e-01 8.75777534e-01 3.03173139e-02 1.19542337e+02] [ 6.87367689e-02 3.27630485e-03 9.97629451e-01 2.57600831e+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:164.53, Y:119.53, Z:25.76 [[ 8.72533606e-01 4.84632290e-01 -6.17790406e-02 1.64532888e+02] [-4.83695586e-01 8.74711240e-01 3.03121705e-02 1.19526302e+02] [ 6.87290778e-02 3.43386174e-03 9.97629452e-01 2.57633057e+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:164.56, Y:119.51, Z:25.76 [[ 8.72511855e-01 4.84672854e-01 -6.17680165e-02 1.64560533e+02] [-4.83734667e-01 8.74688849e-01 3.03346181e-02 1.19511063e+02] [ 6.87301612e-02 3.41201700e-03 9.97629452e-01 2.57637556e+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:164.59, Y:119.49, Z:25.76 [[ 8.73285686e-01 4.83278482e-01 -6.17577515e-02 1.64588499e+02] [-4.82335346e-01 8.75460540e-01 3.03555020e-02 1.19494509e+02] [ 6.87366354e-02 3.27892100e-03 9.97629452e-01 2.57629216e+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:164.62, Y:119.48, Z:25.77 [[ 8.73725506e-01 4.82483733e-01 -6.17510062e-02 1.64617431e+02] [-4.81537652e-01 8.75899081e-01 3.03692175e-02 1.19478920e+02] [ 6.87403031e-02 3.20107458e-03 9.97629452e-01 2.57673170e+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:164.64, Y:119.46, Z:25.77 [[ 8.74260159e-01 4.81515716e-01 -6.17396832e-02 1.64644882e+02] [-4.80565608e-01 8.76431976e-01 3.03922196e-02 1.19461656e+02] [ 6.87449639e-02 3.09926164e-03 9.97629453e-01 2.57695384e+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:164.67, Y:119.45, Z:25.77 [[ 8.73988148e-01 4.82010613e-01 -6.17291330e-02 1.64673180e+02] [-4.81060226e-01 8.76159843e-01 3.04136329e-02 1.19445331e+02] [ 6.87442813e-02 3.11427599e-03 9.97629453e-01 2.57724109e+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:164.70, Y:119.43, Z:25.77 [[ 8.73346264e-01 4.83174054e-01 -6.17182079e-02 1.64700990e+02] [-4.82224998e-01 8.75518540e-01 3.04357869e-02 1.19429845e+02] [ 6.87412179e-02 3.18108194e-03 9.97629453e-01 2.57741828e+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:164.73, Y:119.41, Z:25.78 [[ 8.72295800e-01 4.85072561e-01 -6.16818243e-02 1.64728450e+02] [-4.84123032e-01 8.74467872e-01 3.05095246e-02 1.19414606e+02] [ 6.87381069e-02 3.24826156e-03 9.97629451e-01 2.57759406e+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:164.76, Y:119.40, Z:25.78 [[ 8.71795925e-01 4.85967125e-01 -6.17075256e-02 1.64757278e+02] [-4.85023498e-01 8.73970566e-01 3.04574535e-02 1.19398896e+02] [ 6.87318821e-02 3.37691607e-03 9.97629453e-01 2.57788659e+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:164.78, Y:119.38, Z:25.78 [[ 8.71455235e-01 4.86579214e-01 -6.16963714e-02 1.64784740e+02] [-4.85635521e-01 8.73629847e-01 3.04800314e-02 1.19380676e+02] [ 6.87307412e-02 3.39996654e-03 9.97629453e-01 2.57824728e+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:164.81, Y:119.36, Z:25.78 [[ 8.71773340e-01 4.86010467e-01 -6.16852477e-02 1.64811399e+02] [-4.85063768e-01 8.73946644e-01 3.05025267e-02 1.19362425e+02] [ 6.87341625e-02 3.32998907e-03 9.97629453e-01 2.57814703e+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:164.84, Y:119.35, Z:25.78 [[ 8.71600006e-01 4.86326416e-01 -6.16445138e-02 1.64838835e+02] [-4.85374697e-01 8.73771120e-01 3.05848566e-02 1.19347311e+02] [ 6.87374195e-02 3.26292598e-03 9.97629451e-01 2.57828573e+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:164.87, Y:119.33, Z:25.79 [[ 8.69685191e-01 4.89736305e-01 -6.16929525e-02 1.64865158e+02] [-4.88800013e-01 8.71863001e-01 3.04869750e-02 1.19329786e+02] [ 6.87183812e-02 3.64144529e-03 9.97629452e-01 2.57893855e+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:164.89, Y:119.31, Z:25.79 [[ 8.69091021e-01 4.90793126e-01 -6.16676932e-02 1.64893158e+02] [-4.89855875e-01 8.71268416e-01 3.05379833e-02 1.19313562e+02] [ 6.87169457e-02 3.66799477e-03 9.97629454e-01 2.57922571e+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:164.92, Y:119.30, Z:25.80 [[ 8.67620177e-01 4.93389485e-01 -6.16607305e-02 1.64919474e+02] [-4.92457753e-01 8.69799939e-01 3.05520355e-02 1.19295732e+02] [ 6.87065527e-02 3.85774236e-03 9.97629454e-01 2.57950721e+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:164.95, Y:119.28, Z:25.80 [[ 8.66637552e-01 4.95114705e-01 -6.16504863e-02 1.64947683e+02] [-4.94185848e-01 8.68818541e-01 3.05726933e-02 1.19279586e+02] [ 6.87000756e-02 3.97135376e-03 9.97629454e-01 2.57980427e+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:164.98, Y:119.26, Z:25.80 [[ 8.65919203e-01 4.96371335e-01 -6.16395264e-02 1.64976027e+02] [-4.95444079e-01 8.68100872e-01 3.05947744e-02 1.19263354e+02] [ 6.86956956e-02 4.04633571e-03 9.97629455e-01 2.58012997e+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:165.00, Y:119.25, Z:25.80 [[ 8.65221598e-01 4.97601216e-01 -6.15192319e-02 1.65002371e+02] [-4.96659894e-01 8.67397272e-01 3.08370220e-02 1.19247701e+02] [ 6.87061536e-02 3.87327773e-03 9.97629421e-01 2.58025825e+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:165.03, Y:119.23, Z:25.81 [[ 8.64906708e-01 4.98134562e-01 -6.16307130e-02 1.65030205e+02] [-4.97210489e-01 8.67089730e-01 3.06125880e-02 1.19231230e+02] [ 6.86885463e-02 4.16640420e-03 9.97629453e-01 2.58050889e+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:165.06, Y:119.21, Z:25.81 [[ 8.64514232e-01 4.98816235e-01 -6.16239106e-02 1.65056523e+02] [-4.97892912e-01 8.66697571e-01 3.06262753e-02 1.19210234e+02] [ 6.86861769e-02 4.20525743e-03 9.97629453e-01 2.58115162e+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:165.08, Y:119.19, Z:25.81 [[ 8.64565576e-01 4.98728607e-01 -6.16128334e-02 1.65083425e+02] [-4.97803483e-01 8.66748152e-01 3.06485437e-02 1.19194404e+02] [ 6.86881150e-02 4.17340720e-03 9.97629453e-01 2.58127757e+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:165.11, Y:119.18, Z:25.81 [[ 8.63950902e-01 4.99793316e-01 -6.16074607e-02 1.65112359e+02] [-4.98870116e-01 8.66134293e-01 3.06593398e-02 1.19178846e+02] [ 6.86836675e-02 4.24595680e-03 9.97629453e-01 2.58077603e+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:165.14, Y:119.16, Z:25.81 [[ 8.63382226e-01 5.00776218e-01 -6.15979812e-02 1.65140878e+02] [-4.99854151e-01 8.65566095e-01 3.06783735e-02 1.19164023e+02] [ 6.86801239e-02 4.30284422e-03 9.97629453e-01 2.58060082e+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:165.17, Y:119.15, Z:25.80 [[ 8.63213165e-01 5.01068768e-01 -6.15883195e-02 1.65167449e+02] [-5.00146065e-01 8.65396765e-01 3.06977575e-02 1.19148135e+02] [ 6.86800200e-02 4.30444721e-03 9.97629454e-01 2.58044473e+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:165.20, Y:119.13, Z:25.81 [[ 8.63718394e-01 5.00198472e-01 -6.15794205e-02 1.65195474e+02] [-4.99272302e-01 8.65900525e-01 3.07155985e-02 1.19131826e+02] [ 6.86855480e-02 4.21527161e-03 9.97629454e-01 2.58077804e+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:165.22, Y:119.11, Z:25.81 [[ 8.66578485e-01 4.95228276e-01 -6.15685327e-02 1.65221530e+02] [-4.94288042e-01 8.68754593e-01 3.07374073e-02 1.19113623e+02] [ 6.87099788e-02 3.79621368e-03 9.97629454e-01 2.58136386e+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:165.25, Y:119.10, Z:25.82 [[ 8.70363044e-01 4.88557041e-01 -6.14832434e-02 1.65248461e+02] [-4.87588086e-01 8.72526532e-01 3.09080894e-02 1.19097288e+02] [ 6.87461259e-02 3.07723822e-03 9.97629441e-01 2.58179494e+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:165.28, Y:119.08, Z:25.82 [[ 8.71633868e-01 4.86277048e-01 -6.15551182e-02 1.65276185e+02] [-4.85312558e-01 8.73799336e-01 3.07642885e-02 1.19082449e+02] [ 6.87467888e-02 3.05827612e-03 9.97629453e-01 2.58206243e+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:165.30, Y:119.07, Z:25.82 [[ 8.73753980e-01 4.82462141e-01 -6.15163772e-02 1.65304979e+02] [-4.81482748e-01 8.75912752e-01 3.08417689e-02 1.19065685e+02] [ 6.87629651e-02 2.67095596e-03 9.97629451e-01 2.58230728e+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:165.33, Y:119.05, Z:25.83 [[ 8.74330972e-01 4.81425838e-01 -6.14370708e-02 1.65330968e+02] [-4.80432761e-01 8.76483511e-01 3.10002753e-02 1.19051396e+02] [ 6.87729130e-02 2.41188074e-03 9.97629425e-01 2.58284779e+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:165.36, Y:119.04, Z:25.83 [[ 8.74479870e-01 4.81142196e-01 -6.15397790e-02 1.65360538e+02] [-4.80162827e-01 8.76638652e-01 3.07950306e-02 1.19036550e+02] [ 6.87649375e-02 2.61947988e-03 9.97629451e-01 2.58331879e+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:165.39, Y:119.02, Z:25.84 [[ 8.73069642e-01 4.83697858e-01 -6.15287109e-02 1.65388917e+02] [-4.82723253e-01 8.75230579e-01 3.08171289e-02 1.19021082e+02] [ 6.87579885e-02 2.79583981e-03 9.97629451e-01 2.58361635e+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:165.42, Y:119.01, Z:25.84 [[ 8.72673448e-01 4.84413695e-01 -6.15176788e-02 1.65418300e+02] [-4.83439314e-01 8.74834486e-01 3.08391356e-02 1.19007315e+02] [ 6.87566865e-02 2.82756968e-03 9.97629452e-01 2.58388527e+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:165.45, Y:118.99, Z:25.84 [[ 8.69619987e-01 4.89890698e-01 -6.13855143e-02 1.65446667e+02] [-4.88911355e-01 8.71778822e-01 3.11026131e-02 1.18994528e+02] [ 6.87514722e-02 2.96462097e-03 9.97629413e-01 2.58405526e+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:165.48, Y:118.98, Z:25.84 [[ 8.68749236e-01 4.91418245e-01 -6.15050774e-02 1.65477095e+02] [-4.90459500e-01 8.70917258e-01 3.08643587e-02 1.18980793e+02] [ 6.87331424e-02 3.35236147e-03 9.97629449e-01 2.58412863e+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:165.51, Y:118.97, Z:25.84 [[ 8.68156598e-01 4.92465797e-01 -6.14943864e-02 1.65505369e+02] [-4.91508165e-01 8.70325112e-01 3.08856449e-02 1.18967712e+02] [ 6.87302325e-02 3.41141660e-03 9.97629449e-01 2.58411709e+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:165.53, Y:118.95, Z:25.84 [[ 8.67945496e-01 4.92838414e-01 -6.14891449e-02 1.65534876e+02] [-4.91880975e-01 8.70114095e-01 3.08960767e-02 1.18952298e+02] [ 6.87293450e-02 3.42922997e-03 9.97629449e-01 2.58440433e+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:165.56, Y:118.94, Z:25.84 [[ 8.67810549e-01 4.93077299e-01 -6.14786876e-02 1.65564266e+02] [-4.92118989e-01 8.69978763e-01 3.09168711e-02 1.18938834e+02] [ 6.87295599e-02 3.42484266e-03 9.97629449e-01 2.58444142e+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:165.60, Y:118.93, Z:25.84 [[ 8.67167031e-01 4.94209298e-01 -6.14695880e-02 1.65595082e+02] [-4.93252540e-01 8.69335931e-01 3.09349527e-02 1.18928326e+02] [ 6.87260627e-02 3.49425936e-03 9.97629449e-01 2.58399083e+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:165.63, Y:118.92, Z:25.84 [[ 8.67451695e-01 4.93710601e-01 -6.14605602e-02 1.65625647e+02] [-4.92751330e-01 8.69619483e-01 3.09528785e-02 1.18915524e+02] [ 6.87290648e-02 3.43464588e-03 9.97629450e-01 2.58390070e+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:165.65, Y:118.90, Z:25.84 [[ 8.66728565e-01 4.94999357e-01 -6.12962582e-02 1.65652050e+02] [-4.94020298e-01 8.68887552e-01 3.12788557e-02 1.18900870e+02] [ 6.87425693e-02 3.17131798e-03 9.97629391e-01 2.58397958e+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:165.68, Y:118.89, Z:25.84 [[ 8.67808267e-01 4.93084830e-01 -6.14504767e-02 1.65680438e+02] [-4.92122583e-01 8.69974737e-01 3.09728939e-02 1.18886034e+02] [ 6.87326265e-02 3.36263391e-03 9.97629450e-01 2.58430502e+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:165.71, Y:118.87, Z:25.85 [[ 8.68557563e-01 4.91764949e-01 -6.14409812e-02 1.65709331e+02] [-4.90798082e-01 8.70721974e-01 3.09917187e-02 1.18872130e+02] [ 6.87386535e-02 3.23702403e-03 9.97629450e-01 2.58471347e+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:165.74, Y:118.86, Z:25.85 [[ 8.70691938e-01 4.87977110e-01 -6.14319916e-02 1.65739323e+02] [-4.86999570e-01 8.72851550e-01 3.10095278e-02 1.18860128e+02] [ 6.87529488e-02 2.91760770e-03 9.97629450e-01 2.58532057e+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:165.77, Y:118.85, Z:25.86 [[ 8.72788267e-01 4.84218920e-01 -6.14221271e-02 1.65768727e+02] [-4.83230708e-01 8.74943016e-01 3.10290547e-02 1.18847375e+02] [ 6.87657165e-02 2.59926303e-03 9.97629450e-01 2.58551510e+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:165.80, Y:118.83, Z:25.86 [[ 8.74565223e-01 4.81003421e-01 -6.14115578e-02 1.65799203e+02] [-4.80005819e-01 8.76715640e-01 3.10499590e-02 1.18831981e+02] [ 6.87756097e-02 2.32269078e-03 9.97629451e-01 2.58571461e+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:165.83, Y:118.82, Z:25.86 [[ 8.74434334e-01 4.81258353e-01 -6.12779978e-02 1.65828875e+02] [-4.80242882e-01 8.76576415e-01 3.13139505e-02 1.18816749e+02] [ 6.87849478e-02 2.04632884e-03 9.97629412e-01 2.58595339e+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:165.86, Y:118.80, Z:25.86 [[ 8.77631042e-01 4.75405174e-01 -6.12672419e-02 1.65857471e+02] [-4.74373932e-01 8.79765581e-01 3.13351928e-02 1.18802472e+02] [ 6.87977235e-02 1.56284454e-03 9.97629406e-01 2.58636226e+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:165.89, Y:118.79, Z:25.87 [[ 8.79705566e-01 4.71558263e-01 -6.12447791e-02 1.65886718e+02] [-4.70514599e-01 8.81834075e-01 3.13795429e-02 1.18789043e+02] [ 6.88050159e-02 1.21180411e-03 9.97629391e-01 2.58671035e+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:165.92, Y:118.78, Z:25.87 [[ 8.83967014e-01 4.63509144e-01 -6.13318206e-02 1.65917363e+02] [-4.62458007e-01 8.86091795e-01 3.12077262e-02 1.18777267e+02] [ 6.88106895e-02 7.76790997e-04 9.97629433e-01 2.58675305e+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:165.94, Y:118.76, Z:25.87 [[ 8.85281691e-01 4.61001297e-01 -6.12709674e-02 1.65944394e+02] [-4.59935827e-01 8.87399349e-01 3.13277923e-02 1.18764964e+02] [ 6.88139695e-02 4.46792132e-04 9.97629409e-01 2.58685798e+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:165.98, Y:118.76, Z:25.87 [[ 8.87804683e-01 4.56109141e-01 -6.13783032e-02 1.65976480e+02] [-4.55046626e-01 8.89923794e-01 3.11160704e-02 1.18755243e+02] [ 6.88143366e-02 3.04996686e-04 9.97629437e-01 2.58691271e+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:166.01, Y:118.74, Z:25.87 [[ 8.88709721e-01 4.54344721e-01 -6.13669745e-02 1.66007618e+02] [-4.53276457e-01 8.90825939e-01 3.11383968e-02 1.18743059e+02] [ 6.88148589e-02 1.43208889e-04 9.97629438e-01 2.58714432e+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:166.04, Y:118.73, Z:25.88 [[ 8.90250876e-01 4.51319030e-01 -6.13556036e-02 1.66039252e+02] [-4.50242030e-01 8.92362662e-01 3.11607862e-02 1.18733909e+02] [ 6.88149055e-02 -1.16045665e-04 9.97629438e-01 2.58758778e+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:166.07, Y:118.73, Z:25.88 [[ 8.91093315e-01 4.49654990e-01 -6.13440585e-02 1.66072248e+02] [-4.48572483e-01 8.93202282e-01 3.11834978e-02 1.18727580e+02] [ 6.88144684e-02 -2.70149789e-04 9.97629438e-01 2.58769268e+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:166.10, Y:118.72, Z:25.88 [[ 8.91037307e-01 4.49767433e-01 -6.13332941e-02 1.66103649e+02] [-4.48683736e-01 8.93145663e-01 3.12046554e-02 1.18717771e+02] [ 6.88144033e-02 -2.85260555e-04 9.97629438e-01 2.58777377e+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:166.14, Y:118.71, Z:25.88 [[ 8.89454522e-01 4.52890851e-01 -6.13231564e-02 1.66136671e+02] [-4.51813185e-01 8.91565967e-01 3.12245653e-02 1.18711142e+02] [ 6.88149591e-02 -6.62202540e-05 9.97629439e-01 2.58823044e+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:166.17, Y:118.70, Z:25.89 [[ 8.87158831e-01 4.57384070e-01 -6.12292405e-02 1.66167002e+02] [-4.56304366e-01 8.89269254e-01 3.14088960e-02 1.18700619e+02] [ 6.88152097e-02 7.44903325e-05 9.97629421e-01 2.58861405e+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:166.20, Y:118.70, Z:25.89 [[ 8.82645554e-01 4.66023215e-01 -6.13122330e-02 1.66200561e+02] [-4.64975467e-01 8.84772004e-01 3.12460474e-02 1.18697459e+02] [ 6.88087307e-02 9.29499344e-04 9.97629438e-01 2.58865143e+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:166.23, Y:118.69, Z:25.89 [[ 8.80159525e-01 4.70702360e-01 -6.13066000e-02 1.66228540e+02] [-4.69665147e-01 8.82291133e-01 3.12570958e-02 1.18689712e+02] [ 6.88030583e-02 1.28234268e-03 9.97629438e-01 2.58882042e+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:166.26, Y:118.68, Z:25.89 [[ 8.75614075e-01 4.79104542e-01 -6.13092915e-02 1.66258002e+02] [-4.78088146e-01 8.77755688e-01 3.12518157e-02 1.18684613e+02] [ 6.87874662e-02 1.94671585e-03 9.97629438e-01 2.58906785e+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:166.29, Y:118.68, Z:25.89 [[ 8.71552649e-01 4.86453290e-01 -6.13121249e-02 1.66286616e+02] [-4.85455336e-01 8.73702918e-01 3.12462559e-02 1.18679406e+02] [ 6.87684264e-02 2.53154111e-03 9.97629438e-01 2.58914166e+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:166.31, Y:118.67, Z:25.89 [[ 8.70471679e-01 4.88377451e-01 -6.13719932e-02 1.66313514e+02] [-4.87392516e-01 8.72627949e-01 3.11287220e-02 1.18670171e+02] [ 6.87574825e-02 2.81557931e-03 9.97629431e-01 2.58916689e+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:166.34, Y:118.66, Z:25.89 [[ 8.69450029e-01 4.90200535e-01 -6.13195161e-02 1.66341400e+02] [-4.89212868e-01 8.71605041e-01 3.12317551e-02 1.18660479e+02] [ 6.87562224e-02 2.84384591e-03 9.97629437e-01 2.58905021e+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:166.37, Y:118.65, Z:25.89 [[ 8.70475691e-01 4.88376531e-01 -6.13223959e-02 1.66370074e+02] [-4.87384744e-01 8.72628811e-01 3.12260997e-02 1.18649183e+02] [ 6.87617836e-02 2.70603952e-03 9.97629437e-01 2.58870741e+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:166.40, Y:118.64, Z:25.89 [[ 8.71324034e-01 4.86876459e-01 -6.12024612e-02 1.66396030e+02] [-4.85864438e-01 8.73467754e-01 3.14615688e-02 1.18638743e+02] [ 6.87762736e-02 2.32287836e-03 9.97629404e-01 2.58915222e+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:166.42, Y:118.63, Z:25.89 [[ 8.73137445e-01 4.83602055e-01 -6.13192816e-02 1.66423662e+02] [-4.82598063e-01 8.75284901e-01 3.12322164e-02 1.18628141e+02] [ 6.87758053e-02 2.32254896e-03 9.97629437e-01 2.58946095e+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:166.45, Y:118.62, Z:25.90 [[ 8.73711067e-01 4.82575251e-01 -6.12380436e-02 1.66448702e+02] [-4.81557560e-01 8.75852084e-01 3.13917657e-02 1.18615038e+02] [ 6.87843573e-02 2.06230972e-03 9.97629420e-01 2.58961967e+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:166.47, Y:118.60, Z:25.90 [[ 8.74746010e-01 4.80684318e-01 -6.13351891e-02 1.66473096e+02] [-4.79675362e-01 8.76891132e-01 3.12007983e-02 1.18601519e+02] [ 6.87820179e-02 2.12820518e-03 9.97629443e-01 2.58982969e+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:166.50, Y:118.59, Z:25.90 [[ 8.75331658e-01 4.79616562e-01 -6.13387499e-02 1.66498685e+02] [-4.78605479e-01 8.77475779e-01 3.11937965e-02 1.18588628e+02] [ 6.87843288e-02 2.05214417e-03 9.97629443e-01 2.59011607e+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:166.52, Y:118.58, Z:25.90 [[ 8.76947879e-01 4.76654622e-01 -6.13415795e-02 1.66524850e+02] [-4.75636686e-01 8.79088754e-01 3.11882311e-02 1.18576483e+02] [ 6.87907073e-02 1.82585248e-03 9.97629443e-01 2.59015458e+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:166.55, Y:118.56, Z:25.90 [[ 8.77805315e-01 4.75073357e-01 -6.13443908e-02 1.66550007e+02] [-4.74051950e-01 8.79944537e-01 3.11827008e-02 1.18563276e+02] [ 6.87937318e-02 1.70808760e-03 9.97629443e-01 2.59023409e+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:166.57, Y:118.55, Z:25.90 [[ 8.79348676e-01 4.72209963e-01 -6.13486580e-02 1.66574092e+02] [-4.71182175e-01 8.81484839e-01 3.11743032e-02 1.18549834e+02] [ 6.87987284e-02 1.49331185e-03 9.97629443e-01 2.59018272e+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:166.60, Y:118.53, Z:25.90 [[ 8.79638386e-01 4.71669612e-01 -6.13521586e-02 1.66600012e+02] [-4.70640992e-01 8.81774149e-01 3.11674124e-02 1.18532562e+02] [ 6.87994687e-02 1.45878845e-03 9.97629443e-01 2.59006770e+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:166.63, Y:118.52, Z:25.90 [[ 8.79496425e-01 4.71927338e-01 -6.14054286e-02 1.66627763e+02] [-4.70906652e-01 8.81636001e-01 3.10626260e-02 1.18516412e+02] [ 6.87965389e-02 1.59675631e-03 9.97629434e-01 2.59034398e+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:166.66, Y:118.50, Z:25.91 [[ 8.78364106e-01 4.74029792e-01 -6.14186772e-02 1.66656006e+02] [-4.73016047e-01 8.80506984e-01 3.10365811e-02 1.18501534e+02] [ 6.87918383e-02 1.79060116e-03 9.97629429e-01 2.59085550e+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:166.68, Y:118.49, Z:25.91 [[ 8.77527151e-01 4.75570883e-01 -6.14689719e-02 1.66683436e+02] [-4.74567812e-01 8.79675079e-01 3.09377864e-02 1.18487514e+02] [ 6.87858332e-02 2.02244799e-03 9.97629400e-01 2.59132472e+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:166.71, Y:118.47, Z:25.91 [[ 8.74421616e-01 4.81278592e-01 -6.13005243e-02 1.66709114e+02] [-4.80266360e-01 8.76565179e-01 3.12683814e-02 1.18471554e+02] [ 6.87827076e-02 2.09883102e-03 9.97629457e-01 2.59129905e+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:166.74, Y:118.46, Z:25.92 [[ 8.72565086e-01 4.84604133e-01 -6.15548907e-02 1.66736669e+02] [-4.83635145e-01 8.74728699e-01 3.07692951e-02 1.18456408e+02] [ 6.87547570e-02 2.92189591e-03 9.97629313e-01 2.59157288e+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:166.76, Y:118.44, Z:25.92 [[ 8.71085331e-01 4.87264262e-01 -6.15132946e-02 1.66761887e+02] [-4.86296126e-01 8.73249276e-01 3.08509296e-02 1.18440439e+02] [ 6.87489954e-02 3.03988468e-03 9.97629357e-01 2.59232797e+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:166.79, Y:118.43, Z:25.92 [[ 8.71087143e-01 4.87286705e-01 -6.13095120e-02 1.66790004e+02] [-4.86290493e-01 8.73238197e-01 3.12507374e-02 1.18425979e+02] [ 6.87658766e-02 2.59211727e-03 9.97629458e-01 2.59224532e+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:166.82, Y:118.41, Z:25.92 [[ 8.70857297e-01 4.87688048e-01 -6.13835162e-02 1.66818777e+02] [-4.86703032e-01 8.73013517e-01 3.11055920e-02 1.18410815e+02] [ 6.87584648e-02 2.78701170e-03 9.97629443e-01 2.59224600e+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:166.85, Y:118.40, Z:25.93 [[ 8.70824398e-01 4.87740987e-01 -6.14296181e-02 1.66846930e+02] [-4.86762462e-01 8.72983597e-01 3.10152355e-02 1.18396147e+02] [ 6.87544506e-02 2.89280837e-03 9.97629419e-01 2.59274420e+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:166.87, Y:118.38, Z:25.93 [[ 8.71267023e-01 4.86967453e-01 -6.12900786e-02 1.66871174e+02] [-4.85967794e-01 8.73416469e-01 3.12885815e-02 1.18383412e+02] [ 6.87682849e-02 2.52429501e-03 9.97629466e-01 2.59286563e+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:166.90, Y:118.37, Z:25.93 [[ 8.72082235e-01 4.85505569e-01 -6.12937102e-02 1.66896136e+02] [-4.84502806e-01 8.74230233e-01 3.12814658e-02 1.18369924e+02] [ 6.87721404e-02 2.41696398e-03 9.97629466e-01 2.59320187e+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:166.92, Y:118.36, Z:25.93 [[ 8.72207993e-01 4.85279246e-01 -6.12965829e-02 1.66923243e+02] [-4.84276321e-01 8.74355916e-01 3.12758356e-02 1.18358452e+02] [ 6.87725438e-02 2.40544988e-03 9.97629466e-01 2.59327266e+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:166.95, Y:118.35, Z:25.93 [[ 8.72322225e-01 4.85073604e-01 -6.12987342e-02 1.66949564e+02] [-4.84070468e-01 8.74470050e-01 3.12716186e-02 1.18346598e+02] [ 6.87729439e-02 2.39397901e-03 9.97629466e-01 2.59329808e+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:166.98, Y:118.33, Z:25.93 [[ 8.73965270e-01 4.82106650e-01 -6.13015991e-02 1.66977738e+02] [-4.81096615e-01 8.76109859e-01 3.12660016e-02 1.18333775e+02] [ 6.87804826e-02 2.16659232e-03 9.97629466e-01 2.59303840e+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:167.00, Y:118.32, Z:25.93 [[ 8.75597270e-01 4.79123538e-01 -6.14007890e-02 1.67004877e+02] [-4.78119802e-01 8.77744843e-01 3.10716044e-02 1.18317656e+02] [ 6.87813630e-02 2.15072113e-03 9.97629439e-01 2.59341417e+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:167.03, Y:118.30, Z:25.94 [[ 8.76689210e-01 4.77128365e-01 -6.13559415e-02 1.67030225e+02] [-4.76113596e-01 8.78831572e-01 3.11594653e-02 1.18303569e+02] [ 6.87886032e-02 1.89523095e-03 9.97629458e-01 2.59397299e+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:167.06, Y:118.29, Z:25.94 [[ 8.80823404e-01 4.69460882e-01 -6.12912036e-02 1.67058400e+02] [-4.68418632e-01 8.82952520e-01 3.12862912e-02 1.18292117e+02] [ 6.88049125e-02 1.15224424e-03 9.97629468e-01 2.59407795e+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:167.09, Y:118.28, Z:25.94 [[ 8.82458357e-01 4.66387352e-01 -6.12379368e-02 1.67086281e+02] [-4.65330442e-01 8.84580243e-01 3.13906741e-02 1.18279219e+02] [ 6.88100824e-02 7.94913514e-04 9.97629461e-01 2.59430331e+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:167.12, Y:118.27, Z:25.95 [[ 8.85009009e-01 4.61501031e-01 -6.14479617e-02 1.67115307e+02] [-4.60460917e-01 8.87139238e-01 3.09792861e-02 1.18265408e+02] [ 6.88098705e-02 8.77437504e-04 9.97629406e-01 2.59455891e+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:167.14, Y:118.25, Z:25.95 [[ 8.86197965e-01 4.59230874e-01 -6.13202330e-02 1.67143785e+02] [-4.58167988e-01 8.88316851e-01 3.12292553e-02 1.18251664e+02] [ 6.88132346e-02 4.19665252e-04 9.97629472e-01 2.59486888e+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:167.17, Y:118.24, Z:25.95 [[ 8.88390045e-01 4.54974484e-01 -6.13298186e-02 1.67173619e+02] [-4.53902741e-01 8.90504467e-01 3.12105031e-02 1.18240529e+02] [ 6.88144600e-02 1.10672457e-04 9.97629469e-01 2.59487439e+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:167.20, Y:118.23, Z:25.95 [[ 8.89379327e-01 4.53040932e-01 -6.13051903e-02 1.67201854e+02] [-4.51961272e-01 8.91489711e-01 3.12586563e-02 1.18228815e+02] [ 6.88143972e-02 -9.32309227e-05 9.97629475e-01 2.59489805e+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:167.23, Y:118.22, Z:25.95 [[ 8.89776706e-01 4.52302756e-01 -6.09887734e-02 1.67226196e+02] [-4.51178867e-01 8.91864060e-01 3.18767728e-02 1.18220477e+02] [ 6.88116472e-02 -8.46364194e-04 9.97629310e-01 2.59507293e+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:167.25, Y:118.21, Z:25.96 [[ 8.91739774e-01 4.48371253e-01 -6.13465246e-02 1.67253224e+02] [-4.47286139e-01 8.93847352e-01 3.11772632e-02 1.18213791e+02] [ 6.88134171e-02 -3.62555460e-04 9.97629481e-01 2.59569599e+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:167.28, Y:118.20, Z:25.96 [[ 8.92456247e-01 4.46934247e-01 -6.14135699e-02 1.67280277e+02] [-4.45854752e-01 8.94566751e-01 3.10462147e-02 1.18203286e+02] [ 6.88141543e-02 -3.25856245e-04 9.97629443e-01 2.59614185e+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:167.31, Y:118.20, Z:25.96 [[ 8.94504792e-01 4.42824010e-01 -6.13846363e-02 1.67309664e+02] [-4.41730938e-01 8.96608274e-01 3.11027435e-02 1.18196617e+02] [ 6.88110144e-02 -7.06060101e-04 9.97629463e-01 2.59647811e+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:167.34, Y:118.19, Z:25.97 [[ 8.96737448e-01 4.38303191e-01 -6.12557171e-02 1.67337102e+02] [-4.37182303e-01 8.98826193e-01 3.13545562e-02 1.18191113e+02] [ 6.88010450e-02 -1.33688924e-03 9.97629505e-01 2.59692510e+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:167.36, Y:118.18, Z:25.97 [[ 8.97446847e-01 4.36844248e-01 -6.12883407e-02 1.67364367e+02] [-4.35724316e-01 8.99536107e-01 3.12907780e-02 1.18181508e+02] [ 6.88002717e-02 -1.37698967e-03 9.97629504e-01 2.59721290e+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:167.39, Y:118.18, Z:25.98 [[ 8.98833200e-01 4.33987656e-01 -6.12665682e-02 1.67392527e+02] [-4.32858184e-01 9.00917317e-01 3.13333647e-02 1.18176157e+02] [ 6.87944057e-02 -1.64373300e-03 9.97629504e-01 2.59771913e+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:167.42, Y:118.17, Z:25.98 [[ 8.99357026e-01 4.32915307e-01 -6.11659800e-02 1.67419251e+02] [-4.31769972e-01 9.01432496e-01 3.15300804e-02 1.18168053e+02] [ 6.87868565e-02 -1.94716587e-03 9.97629479e-01 2.59811709e+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:167.45, Y:118.17, Z:25.98 [[ 9.01243345e-01 4.28958620e-01 -6.12775247e-02 1.67450145e+02] [-4.27818986e-01 9.03321918e-01 3.13117907e-02 1.18165276e+02] [ 6.87847936e-02 -2.00385449e-03 9.97629509e-01 2.59798574e+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:167.48, Y:118.16, Z:25.98 [[ 9.03126572e-01 4.24986929e-01 -6.12250414e-02 1.67481105e+02] [-4.23831195e-01 9.05196245e-01 3.14145756e-02 1.18163953e+02] [ 6.87714616e-02 -2.42225550e-03 9.97629500e-01 2.59758352e+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:167.51, Y:118.16, Z:25.98 [[ 9.03978641e-01 4.23173586e-01 -6.12105597e-02 1.67508767e+02] [-4.22011783e-01 9.06044920e-01 3.14429415e-02 1.18157382e+02] [ 6.87653389e-02 -2.59217005e-03 9.97629495e-01 2.59788131e+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:167.54, Y:118.15, Z:25.98 [[ 9.04143704e-01 4.22807730e-01 -6.13007873e-02 1.67540627e+02] [-4.21657056e-01 9.06216178e-01 3.12660425e-02 1.18153841e+02] [ 6.87712896e-02 -2.42108603e-03 9.97629514e-01 2.59839859e+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:167.57, Y:118.15, Z:25.99 [[ 9.03653976e-01 4.23867220e-01 -6.12051567e-02 1.67567550e+02] [-4.22706282e-01 9.05720746e-01 3.14536006e-02 1.18148744e+02] [ 6.87669305e-02 -2.55136697e-03 9.97629490e-01 2.59889019e+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:167.60, Y:118.15, Z:25.99 [[ 9.01486914e-01 4.28440921e-01 -6.13165640e-02 1.67599190e+02] [-4.27305317e-01 9.03567677e-01 3.12349040e-02 1.18149316e+02] [ 6.87859763e-02 -1.95696346e-03 9.97629520e-01 2.59918285e+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:167.62, Y:118.14, Z:25.99 [[ 9.01652808e-01 4.28089950e-01 -6.13286902e-02 1.67624654e+02] [-4.26955154e-01 9.03734012e-01 3.12110764e-02 1.18136629e+02] [ 6.87859714e-02 -1.95695429e-03 9.97629521e-01 2.59937885e+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:167.65, Y:118.13, Z:25.99 [[ 8.99979870e-01 4.31594185e-01 -6.13408031e-02 1.67652578e+02] [-4.30469116e-01 9.02066348e-01 3.11872522e-02 1.18131005e+02] [ 6.87937109e-02 -1.66257785e-03 9.97629521e-01 2.59946962e+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:167.68, Y:118.13, Z:26.00 [[ 8.95900551e-01 4.39998300e-01 -6.13489939e-02 1.67683111e+02] [-4.38893911e-01 8.97998049e-01 3.11711316e-02 1.18128944e+02] [ 6.88065217e-02 -1.00053409e-03 9.97629521e-01 2.59952816e+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:167.71, Y:118.12, Z:26.00 [[ 8.93533402e-01 4.44784078e-01 -6.13610913e-02 1.67709817e+02] [-4.43692561e-01 8.95637626e-01 3.11472995e-02 1.18120716e+02] [ 6.88111250e-02 -6.05692697e-04 9.97629522e-01 2.59953918e+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:167.74, Y:118.12, Z:25.99 [[ 8.88115349e-01 4.55505546e-01 -6.13663129e-02 1.67738762e+02] [-4.54440143e-01 8.90232915e-01 3.11370085e-02 1.18115999e+02] [ 6.88133917e-02 2.34060828e-04 9.97629522e-01 2.59919303e+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:167.77, Y:118.11, Z:25.99 [[ 8.82460747e-01 4.66365475e-01 -6.13699747e-02 1.67769389e+02] [-4.65326630e-01 8.84591467e-01 3.11297896e-02 1.18111626e+02] [ 6.88052150e-02 1.08626610e-03 9.97629522e-01 2.59874987e+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:167.79, Y:118.10, Z:25.99 [[ 8.80230044e-01 4.70560866e-01 -6.13802947e-02 1.67794887e+02] [-4.69533594e-01 8.82366368e-01 3.11094278e-02 1.18102645e+02] [ 6.87987870e-02 1.43665737e-03 9.97629522e-01 2.59874953e+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:167.82, Y:118.09, Z:25.99 [[ 8.77562232e-01 4.75516945e-01 -6.13853765e-02 1.67820794e+02] [-4.74502437e-01 8.79704646e-01 3.10993971e-02 1.18092496e+02] [ 6.87892912e-02 1.83585445e-03 9.97629522e-01 2.59912302e+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:167.85, Y:118.08, Z:25.99 [[ 8.76602654e-01 4.77282101e-01 -6.13969278e-02 1.67845375e+02] [-4.76273504e-01 8.78747857e-01 3.10765757e-02 1.18080720e+02] [ 6.87847120e-02 1.99992119e-03 9.97629522e-01 2.59913739e+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:167.87, Y:118.07, Z:26.00 [[ 8.75965534e-01 4.78449777e-01 -6.14019041e-02 1.67871275e+02] [-4.77444727e-01 8.78112402e-01 3.10667402e-02 1.18069701e+02] [ 6.87816484e-02 2.10262171e-03 9.97629522e-01 2.59959117e+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:167.90, Y:118.06, Z:26.00 [[ 8.76129806e-01 4.78147418e-01 -6.14134320e-02 1.67897143e+02] [-4.77143224e-01 8.78277074e-01 3.10439348e-02 1.18058402e+02] [ 6.87815866e-02 2.10448635e-03 9.97629523e-01 2.59986533e+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:167.92, Y:118.05, Z:26.00 [[ 8.77042771e-01 4.76469247e-01 -6.14250373e-02 1.67922013e+02] [-4.75462552e-01 8.79188866e-01 3.10209551e-02 1.18047552e+02] [ 6.87847400e-02 1.99860055e-03 9.97629523e-01 2.60008338e+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:167.95, Y:118.03, Z:26.00 [[ 8.77622850e-01 4.75399288e-01 -6.14300342e-02 1.67947269e+02] [-4.74390669e-01 8.79768042e-01 3.10110567e-02 1.18033790e+02] [ 6.87868152e-02 1.92582304e-03 9.97629523e-01 2.60023268e+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:167.97, Y:118.02, Z:26.01 [[ 8.80159665e-01 4.70682045e-01 -6.14603758e-02 1.67970747e+02] [-4.69666122e-01 8.82301408e-01 3.09509141e-02 1.18018480e+02] [ 6.87946156e-02 1.62411013e-03 9.97629522e-01 2.60074127e+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:167.99, Y:118.00, Z:26.01 [[ 8.83561223e-01 4.64267407e-01 -6.14437888e-02 1.67993826e+02] [-4.63233645e-01 8.85694413e-01 3.09838078e-02 1.18002965e+02] [ 6.88051926e-02 1.08673913e-03 9.97629523e-01 2.60110267e+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:168.02, Y:117.99, Z:26.01 [[ 8.85660332e-01 4.60249935e-01 -6.14473163e-02 1.68018242e+02] [-4.59206982e-01 8.87789043e-01 3.09768105e-02 1.17989271e+02] [ 6.88093291e-02 7.82104391e-04 9.97629523e-01 2.60142737e+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:168.04, Y:117.97, Z:26.02 [[ 8.89785134e-01 4.52222574e-01 -6.14585951e-02 1.68042144e+02] [-4.51161961e-01 8.91905101e-01 3.09544168e-02 1.17973460e+02] [ 6.88135206e-02 1.85000363e-04 9.97629523e-01 2.60199338e+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:168.07, Y:117.96, Z:26.02 [[ 8.91662291e-01 4.48508610e-01 -6.14685719e-02 1.68065514e+02] [-4.47440533e-01 8.93778507e-01 3.09345926e-02 1.17960801e+02] [ 6.88137196e-02 -7.96791555e-05 9.97629523e-01 2.60223993e+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:168.09, Y:117.95, Z:26.02 [[ 8.94429097e-01 4.42964169e-01 -6.14762999e-02 1.68089789e+02] [-4.41884030e-01 8.96539182e-01 3.09192270e-02 1.17947255e+02] [ 6.88120214e-02 -4.89661171e-04 9.97629523e-01 2.60247643e+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:168.11, Y:117.93, Z:26.03 [[ 8.95061055e-01 4.41684252e-01 -6.14876401e-02 1.68114193e+02] [-4.40602646e-01 8.97170388e-01 3.08966590e-02 1.17933714e+02] [ 6.88114576e-02 -5.62779257e-04 9.97629524e-01 2.60270628e+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:168.14, Y:117.92, Z:26.03 [[ 8.94133674e-01 4.43557031e-01 -6.14990517e-02 1.68138323e+02] [-4.42481406e-01 8.96246063e-01 3.08739277e-02 1.17919276e+02] [ 6.88126307e-02 -3.93231524e-04 9.97629524e-01 2.60326373e+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:168.16, Y:117.91, Z:26.04 [[ 8.91095862e-01 4.49627168e-01 -6.15107775e-02 1.68164082e+02] [-4.48567546e-01 8.93216323e-01 3.08505486e-02 1.17910099e+02] [ 6.88136753e-02 1.00942354e-04 9.97629524e-01 2.60384386e+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:168.19, Y:117.90, Z:26.04 [[ 8.88862031e-01 4.54026727e-01 -6.15143991e-02 1.68190574e+02] [-4.52978101e-01 8.90987951e-01 3.08433256e-02 1.17900001e+02] [ 6.88122826e-02 4.49214592e-04 9.97629524e-01 2.60416812e+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:168.22, Y:117.89, Z:26.04 [[ 8.84797838e-01 4.61895424e-01 -6.15256293e-02 1.68217320e+02] [-4.60867260e-01 8.86933729e-01 3.08209076e-02 1.17890233e+02] [ 6.88051920e-02 1.08487584e-03 9.97629525e-01 2.60434600e+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:168.24, Y:117.88, Z:26.05 [[ 8.80706316e-01 4.69644900e-01 -6.15634025e-02 1.68242098e+02] [-4.68640795e-01 8.82853625e-01 3.07454525e-02 1.17877647e+02] [ 6.87909180e-02 1.77340768e-03 9.97629523e-01 2.60514795e+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:168.27, Y:117.87, Z:26.05 [[ 8.78708261e-01 4.73375775e-01 -6.15399712e-02 1.68267219e+02] [-4.72377508e-01 8.80858289e-01 3.07922813e-02 1.17865653e+02] [ 6.87843137e-02 2.01266630e-03 9.97629524e-01 2.60520151e+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:168.29, Y:117.86, Z:26.04 [[ 8.75194203e-01 4.79840190e-01 -6.15507921e-02 1.68293801e+02] [-4.78859319e-01 8.77352222e-01 3.07706362e-02 1.17855890e+02] [ 6.87667121e-02 2.54388801e-03 9.97629524e-01 2.60440305e+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:168.32, Y:117.84, Z:26.04 [[ 8.74282960e-01 4.81498073e-01 -6.15541334e-02 1.68320749e+02] [-4.80521764e-01 8.76443047e-01 3.07639507e-02 1.17844364e+02] [ 6.87614752e-02 2.68170284e-03 9.97629524e-01 2.60399106e+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:168.35, Y:117.83, Z:26.03 [[ 8.73416070e-01 4.83067608e-01 -6.15634289e-02 1.68345709e+02] [-4.82096489e-01 8.75578494e-01 3.07453378e-02 1.17830971e+02] [ 6.87556912e-02 2.82604081e-03 9.97629525e-01 2.60344594e+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:168.37, Y:117.82, Z:26.04 [[ 8.74039005e-01 4.81939164e-01 -6.15667127e-02 1.68371738e+02] [-4.80965716e-01 8.76200382e-01 3.07387607e-02 1.17816335e+02] [ 6.87589898e-02 2.74460223e-03 9.97629525e-01 2.60377680e+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:168.39, Y:117.80, Z:26.04 [[ 8.74367206e-01 4.81342055e-01 -6.15777165e-02 1.68394848e+02] [-4.80368680e-01 8.76528616e-01 3.07167059e-02 1.17800673e+02] [ 6.87598730e-02 2.72232608e-03 9.97629525e-01 2.60409010e+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:168.42, Y:117.79, Z:26.04 [[ 8.74962069e-01 4.80259489e-01 -6.15808539e-02 1.68419851e+02] [-4.79283882e-01 8.77122472e-01 3.07104148e-02 1.17786134e+02] [ 6.87629189e-02 2.64426266e-03 9.97629525e-01 2.60443507e+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:168.44, Y:117.77, Z:26.05 [[ 8.76144569e-01 4.78097675e-01 -6.15898353e-02 1.68443455e+02] [-4.77118001e-01 8.78303131e-01 3.06923921e-02 1.17769951e+02] [ 6.87685065e-02 2.49464645e-03 9.97629525e-01 2.60474165e+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:168.47, Y:117.76, Z:26.05 [[ 8.76794653e-01 4.76908686e-01 -6.15568153e-02 1.68466498e+02] [-4.75921437e-01 8.78949765e-01 3.07586756e-02 1.17756090e+02] [ 6.87744279e-02 2.32716571e-03 9.97629522e-01 2.60539997e+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:168.49, Y:117.74, Z:26.06 [[ 8.77667315e-01 4.75295125e-01 -6.16005505e-02 1.68491470e+02] [-4.74310068e-01 8.79823425e-01 3.06708370e-02 1.17741592e+02] [ 6.87753066e-02 2.29897013e-03 9.97629526e-01 2.60574623e+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:168.51, Y:117.72, Z:26.06 [[ 8.79759780e-01 4.71409613e-01 -6.16093065e-02 1.68513364e+02] [-4.70416263e-01 8.81912081e-01 3.06532384e-02 1.17723609e+02] [ 6.87842229e-02 2.01453351e-03 9.97629527e-01 2.60610773e+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:168.54, Y:117.71, Z:26.06 [[ 8.81718012e-01 4.67735306e-01 -6.16200605e-02 1.68538434e+02] [-4.66734496e-01 8.83866854e-01 3.06316051e-02 1.17708252e+02] [ 6.87914122e-02 1.75176992e-03 9.97629527e-01 2.60598277e+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:168.56, Y:117.69, Z:26.06 [[ 8.85440251e-01 4.60655125e-01 -6.15826070e-02 1.68561770e+02] [-4.59631886e-01 8.87578510e-01 3.07069904e-02 1.17692803e+02] [ 6.88047311e-02 1.11612444e-03 9.97629522e-01 2.60605639e+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:168.58, Y:117.68, Z:26.07 [[ 8.88465371e-01 4.54792550e-01 -6.15874991e-02 1.68583665e+02] [-4.53755884e-01 8.90597150e-01 3.06971339e-02 1.17677761e+02] [ 6.88104790e-02 6.72349564e-04 9.97629523e-01 2.60685069e+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:168.61, Y:117.66, Z:26.07 [[ 8.90209500e-01 4.51360977e-01 -6.16466890e-02 1.68607189e+02] [-4.50324352e-01 8.92341289e-01 3.05778049e-02 1.17664497e+02] [ 6.88115138e-02 5.40352849e-04 9.97629532e-01 2.60705760e+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:168.63, Y:117.65, Z:26.07 [[ 8.91915097e-01 4.47980524e-01 -6.16515098e-02 1.68632401e+02] [-4.46936491e-01 8.94043268e-01 3.05680820e-02 1.17650137e+02] [ 6.88130227e-02 2.90175585e-04 9.97629532e-01 2.60728791e+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:168.66, Y:117.64, Z:26.08 [[ 8.91521685e-01 4.48761653e-01 -6.16608771e-02 1.68657482e+02] [-4.47720791e-01 8.93651409e-01 3.05491750e-02 1.17639103e+02] [ 6.88126279e-02 3.71604691e-04 9.97629533e-01 2.60763147e+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:168.68, Y:117.63, Z:26.08 [[ 8.88484612e-01 4.54743533e-01 -6.16718139e-02 1.68684438e+02] [-4.53718543e-01 8.90622019e-01 3.05270802e-02 1.17629656e+02] [ 6.88082677e-02 8.58804539e-04 9.97629533e-01 2.60832207e+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:168.71, Y:117.62, Z:26.09 [[ 8.84496217e-01 4.62451971e-01 -6.16815814e-02 1.68710240e+02] [-4.61446981e-01 8.86643100e-01 3.05073317e-02 1.17620258e+02] [ 6.87977242e-02 1.47916001e-03 9.97629533e-01 2.60912334e+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:168.74, Y:117.61, Z:26.09 [[ 8.83013210e-01 4.65276713e-01 -6.16867144e-02 1.68735849e+02] [-4.64279315e-01 8.85163631e-01 3.04969491e-02 1.17608193e+02] [ 6.87923563e-02 1.71065653e-03 9.97629533e-01 2.60948401e+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:168.76, Y:117.60, Z:26.10 [[ 8.81893813e-01 4.67393487e-01 -6.16978959e-02 1.68760029e+02] [-4.66402832e-01 8.84047349e-01 3.04743111e-02 1.17596517e+02] [ 6.87873558e-02 1.90096695e-03 9.97629533e-01 2.60978307e+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:168.79, Y:117.58, Z:26.10 [[ 8.80042491e-01 4.70869395e-01 -6.17027336e-02 1.68785687e+02] [-4.69887930e-01 8.82200230e-01 3.04645128e-02 1.17584590e+02] [ 6.87789725e-02 2.18330402e-03 9.97629534e-01 2.60978813e+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:168.81, Y:117.57, Z:26.10 [[ 8.78191996e-01 4.74310341e-01 -6.17131972e-02 1.68811959e+02] [-4.73338818e-01 8.80354229e-01 3.04433015e-02 1.17574757e+02] [ 6.87690469e-02 2.47618810e-03 9.97629534e-01 2.60963431e+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:168.84, Y:117.56, Z:26.10 [[ 8.77499287e-01 4.75589240e-01 -6.17241933e-02 1.68836257e+02] [-4.74622434e-01 8.79663634e-01 3.04209906e-02 1.17563552e+02] [ 6.87644240e-02 2.60128933e-03 9.97629534e-01 2.60974071e+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:168.86, Y:117.55, Z:26.10 [[ 8.76643999e-01 4.77162974e-01 -6.17316406e-02 1.68861149e+02] [-4.76201116e-01 8.78810549e-01 3.04058706e-02 1.17550115e+02] [ 6.87589726e-02 2.74155213e-03 9.97629534e-01 2.61007001e+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:168.88, Y:117.54, Z:26.10 [[ 8.77125792e-01 4.76275309e-01 -6.17428207e-02 1.68883933e+02] [-4.75312854e-01 8.79292076e-01 3.03831513e-02 1.17536094e+02] [ 6.87607177e-02 2.69731071e-03 9.97629535e-01 2.61031097e+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:168.91, Y:117.52, Z:26.11 [[ 8.78206788e-01 4.74278468e-01 -6.17476471e-02 1.68907946e+02] [-4.73311776e-01 8.80371185e-01 3.03733394e-02 1.17522579e+02] [ 6.87662701e-02 2.55181569e-03 9.97629535e-01 2.61051198e+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:168.93, Y:117.51, Z:26.11 [[ 8.80593728e-01 4.69830346e-01 -6.17586608e-02 1.68931332e+02] [-4.68854288e-01 8.82753917e-01 3.03509285e-02 1.17506945e+02] [ 6.87774870e-02 2.22897573e-03 9.97629535e-01 2.61072488e+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:168.96, Y:117.49, Z:26.11 [[ 8.81580477e-01 4.67974711e-01 -6.17699903e-02 1.68955197e+02] [-4.66995721e-01 8.83739338e-01 3.03278533e-02 1.17493906e+02] [ 6.87812388e-02 2.10987777e-03 9.97629535e-01 2.61076433e+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:168.98, Y:117.48, Z:26.11 [[ 8.83356131e-01 4.64613614e-01 -6.17748808e-02 1.68980433e+02] [-4.63627104e-01 8.85511566e-01 3.03178885e-02 1.17481221e+02] [ 6.87884752e-02 1.85901639e-03 9.97629535e-01 2.61061286e+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:169.01, Y:117.47, Z:26.11 [[ 8.84140635e-01 4.63117504e-01 -6.17860428e-02 1.69005534e+02] [-4.62128936e-01 8.86295127e-01 3.02951240e-02 1.17468914e+02] [ 6.87908709e-02 1.76796804e-03 9.97629536e-01 2.61058540e+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:169.03, Y:117.45, Z:26.11 [[ 8.86295889e-01 4.58977875e-01 -6.17973114e-02 1.69029079e+02] [-4.57980846e-01 8.88446478e-01 3.02721205e-02 1.17452734e+02] [ 6.87978372e-02 1.47192894e-03 9.97629536e-01 2.61075701e+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:169.05, Y:117.44, Z:26.11 [[ 8.89694607e-01 4.52352971e-01 -6.18085352e-02 1.69051350e+02] [-4.51341518e-01 8.91838450e-01 3.02491867e-02 1.17437139e+02] [ 6.88065377e-02 9.84219793e-04 9.97629536e-01 2.61090313e+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:169.08, Y:117.43, Z:26.11 [[ 8.91787645e-01 4.48211895e-01 -6.18133790e-02 1.69076768e+02] [-4.47191172e-01 8.93927089e-01 3.02392853e-02 1.17425168e+02] [ 6.88102614e-02 6.75376404e-04 9.97629536e-01 2.61100742e+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:169.10, Y:117.42, Z:26.11 [[ 8.95423797e-01 4.40901326e-01 -6.18243098e-02 1.69102285e+02] [-4.39864679e-01 8.97555570e-01 3.02169208e-02 1.17415429e+02] [ 6.88134341e-02 1.37380222e-04 9.97629537e-01 2.61104778e+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:169.13, Y:117.40, Z:26.11 [[ 8.97005944e-01 4.37672830e-01 -6.18290468e-02 1.69127304e+02] [-4.36629178e-01 8.99134297e-01 3.02072250e-02 1.17402507e+02] [ 6.88134982e-02 -9.96944948e-05 9.97629537e-01 2.61113328e+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:169.15, Y:117.39, Z:26.12 [[ 9.00851225e-01 4.29702018e-01 -6.18323969e-02 1.69151007e+02] [-4.28640007e-01 9.02970477e-01 3.02003661e-02 1.17388842e+02] [ 6.88099872e-02 -7.02197785e-04 9.97629537e-01 2.61160581e+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:169.18, Y:117.38, Z:26.12 [[ 9.03002328e-01 4.25161321e-01 -6.18437231e-02 1.69175623e+02] [-4.24090243e-01 9.05117012e-01 3.01771546e-02 1.17378133e+02] [ 6.88059648e-02 -1.02272128e-03 9.97629537e-01 2.61191583e+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:169.20, Y:117.37, Z:26.12 [[ 9.03152541e-01 4.24841423e-01 -6.18486271e-02 1.69201301e+02] [-4.23770284e-01 9.05267194e-01 3.01671005e-02 1.17365892e+02] [ 6.88057670e-02 -1.03588322e-03 9.97629537e-01 2.61211195e+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:169.23, Y:117.36, Z:26.13 [[ 9.08027074e-01 4.14319031e-01 -6.18593077e-02 1.69228505e+02] [-4.13224886e-01 9.10129915e-01 3.01451835e-02 1.17357068e+02] [ 6.87897296e-02 -1.81083740e-03 9.97629537e-01 2.61296928e+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:169.25, Y:117.35, Z:26.13 [[ 9.10518239e-01 4.08813796e-01 -6.18693584e-02 1.69254004e+02] [-4.07708340e-01 9.12615155e-01 3.01245414e-02 1.17346915e+02] [ 6.87782423e-02 -2.20429094e-03 9.97629538e-01 2.61347483e+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:169.28, Y:117.34, Z:26.14 [[ 9.13968002e-01 4.01040212e-01 -6.18808523e-02 1.69281186e+02] [-3.99918525e-01 9.16056280e-01 3.01009126e-02 1.17339055e+02] [ 6.87580198e-02 -2.76397175e-03 9.97629538e-01 2.61433550e+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:169.31, Y:117.33, Z:26.15 [[ 9.14645826e-01 3.99490336e-01 -6.18909035e-02 1.69309998e+02] [-3.98366506e-01 9.16732953e-01 3.00802320e-02 1.17334854e+02] [ 6.87541927e-02 -2.85749563e-03 9.97629538e-01 2.61471332e+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:169.34, Y:117.33, Z:26.15 [[ 9.14203973e-01 4.00499905e-01 -6.18944323e-02 1.69337995e+02] [-3.99378872e-01 9.16292603e-01 3.00729694e-02 1.17328065e+02] [ 6.87576318e-02 -2.77349958e-03 9.97629538e-01 2.61479648e+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:169.37, Y:117.33, Z:26.15 [[ 9.11869728e-01 4.05784813e-01 -6.19054512e-02 1.69368015e+02] [-4.04677426e-01 9.13965624e-01 3.00502697e-02 1.17327396e+02] [ 6.87733974e-02 -2.35019268e-03 9.97629539e-01 2.61502591e+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:169.40, Y:117.32, Z:26.15 [[ 9.10019737e-01 4.09915689e-01 -6.19128880e-02 1.69395385e+02] [-4.08818859e-01 9.12121178e-01 3.00349398e-02 1.17320455e+02] [ 6.87838493e-02 -2.02123181e-03 9.97629539e-01 2.61525287e+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:169.43, Y:117.32, Z:26.15 [[ 9.06078672e-01 4.18553284e-01 -6.19240524e-02 1.69425849e+02] [-4.17478067e-01 9.08191252e-01 3.00119041e-02 1.17319005e+02] [ 6.88004637e-02 -1.34121252e-03 9.97629539e-01 2.61518045e+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:169.46, Y:117.32, Z:26.15 [[ 9.02416222e-01 4.26391518e-01 -6.19292863e-02 1.69456778e+02] [-4.25335394e-01 9.04538411e-01 3.00011001e-02 1.17316078e+02] [ 6.88096328e-02 -7.32762025e-04 9.97629539e-01 2.61501613e+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:169.48, Y:117.31, Z:26.15 [[ 9.00724558e-01 4.29952126e-01 -6.19390038e-02 1.69483853e+02] [-4.28905772e-01 9.02851581e-01 2.99810243e-02 1.17308709e+02] [ 6.88121327e-02 -4.38648591e-04 9.97629539e-01 2.61517276e+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:169.51, Y:117.30, Z:26.15 [[ 8.98938434e-01 4.33672551e-01 -6.19500734e-02 1.69511126e+02] [-4.32636577e-01 9.01070531e-01 2.99581338e-02 1.17300799e+02] [ 6.88134058e-02 -1.28650107e-04 9.97629540e-01 2.61544139e+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:169.54, Y:117.30, Z:26.16 [[ 8.95412899e-01 4.40904261e-01 -6.19610608e-02 1.69539962e+02] [-4.39887081e-01 8.97554025e-01 2.99353919e-02 1.17297347e+02] [ 6.88120414e-02 4.51334074e-04 9.97629540e-01 2.61567061e+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:169.57, Y:117.29, Z:26.16 [[ 8.92449727e-01 4.46870050e-01 -6.19729315e-02 1.69567651e+02] [-4.45868888e-01 8.94598390e-01 2.99107966e-02 1.17291390e+02] [ 6.88071239e-02 9.37919826e-04 9.97629540e-01 2.61593282e+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:169.59, Y:117.28, Z:26.16 [[ 8.91188369e-01 4.49379784e-01 -6.19766072e-02 1.69593768e+02] [-4.48385203e-01 8.93340086e-01 2.99031785e-02 1.17283842e+02] [ 6.88040715e-02 1.14002871e-03 9.97629541e-01 2.61603133e+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:169.62, Y:117.27, Z:26.16 [[ 8.91276961e-01 4.49203380e-01 -6.19814607e-02 1.69620650e+02] [-4.48209072e-01 8.93428805e-01 2.98931151e-02 1.17272002e+02] [ 6.88041107e-02 1.13760815e-03 9.97629541e-01 2.61602883e+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:169.65, Y:117.26, Z:26.16 [[ 8.91936815e-01 4.47890407e-01 -6.19911404e-02 1.69648120e+02] [-4.46894328e-01 8.94087838e-01 2.98730283e-02 1.17261322e+02] [ 6.88053675e-02 1.05863530e-03 9.97629541e-01 2.61569494e+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:169.67, Y:117.25, Z:26.16 [[ 8.92392713e-01 4.46979970e-01 -6.20012285e-02 1.69673350e+02] [-4.45983150e-01 8.94543394e-01 2.98520758e-02 1.17250649e+02] [ 6.88060693e-02 1.01172829e-03 9.97629541e-01 2.61579958e+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:169.70, Y:117.24, Z:26.16 [[ 8.93163638e-01 4.45437000e-01 -6.20047967e-02 1.69699397e+02] [-4.44436980e-01 8.95312832e-01 2.98446626e-02 1.17239760e+02] [ 6.88076071e-02 9.01057188e-04 9.97629541e-01 2.61598066e+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:169.72, Y:117.23, Z:26.16 [[ 8.93033562e-01 4.45696154e-01 -6.20160978e-02 1.69723651e+02] [-4.44698389e-01 8.95183803e-01 2.98211609e-02 1.17229045e+02] [ 6.88069830e-02 9.47161195e-04 9.97629541e-01 2.61614241e+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:169.75, Y:117.22, Z:26.16 [[ 8.91837098e-01 4.48084803e-01 -6.20209664e-02 1.69749387e+02] [-4.47093501e-01 8.93990326e-01 2.98110319e-02 1.17218559e+02] [ 6.88040144e-02 1.14258682e-03 9.97629542e-01 2.61624558e+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:169.77, Y:117.21, Z:26.16 [[ 8.87376658e-01 4.56852995e-01 -6.20323162e-02 1.69771819e+02] [-4.55884614e-01 8.89540291e-01 2.97873961e-02 1.17206908e+02] [ 6.87887057e-02 1.84693853e-03 9.97629542e-01 2.61617884e+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:169.80, Y:117.19, Z:26.16 [[ 8.86339219e-01 4.58806928e-01 -6.24419076e-02 1.69800279e+02] [-4.57903265e-01 8.88531097e-01 2.89325015e-02 1.17193965e+02] [ 6.87560088e-02 2.94834253e-03 9.97629149e-01 2.61646618e+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:169.82, Y:117.18, Z:26.16 [[ 8.81059538e-01 4.68918130e-01 -6.20473917e-02 1.69824988e+02] [-4.67981619e-01 8.83237131e-01 2.97552359e-02 1.17181819e+02] [ 6.87553298e-02 2.82090447e-03 9.97629564e-01 2.61618667e+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:169.85, Y:117.17, Z:26.16 [[ 8.78687142e-01 4.73333280e-01 -6.21652062e-02 1.69849737e+02] [-4.72425038e-01 8.80876711e-01 2.95093863e-02 1.17168306e+02] [ 6.87276570e-02 3.43888165e-03 9.97629532e-01 2.61607769e+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:169.87, Y:117.15, Z:26.16 [[ 8.76794921e-01 4.76826872e-01 -6.21836035e-02 1.69872549e+02] [-4.75930066e-01 8.78989212e-01 2.94709773e-02 1.17149672e+02] [ 6.87112706e-02 3.75504326e-03 9.97629521e-01 2.61643041e+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:169.89, Y:117.14, Z:26.17 [[ 8.77622679e-01 4.75317526e-01 -6.20619299e-02 1.69894489e+02] [-4.74399017e-01 8.79807931e-01 2.97250222e-02 1.17136227e+02] [ 6.87314021e-02 3.35476492e-03 9.97629560e-01 2.61655558e+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:169.92, Y:117.12, Z:26.17 [[ 8.80364378e-01 4.70195652e-01 -6.22463773e-02 1.69917152e+02] [-4.69291573e-01 8.82555726e-01 2.93395672e-02 1.17116008e+02] [ 6.87312337e-02 3.38219047e-03 9.97629479e-01 2.61725540e+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:169.94, Y:117.10, Z:26.17 [[ 8.81887362e-01 4.67356619e-01 -6.20682802e-02 1.69940788e+02] [-4.66419315e-01 8.84064614e-01 2.97116298e-02 1.17100773e+02] [ 6.87582970e-02 2.74753390e-03 9.97629564e-01 2.61746631e+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:169.96, Y:117.08, Z:26.18 [[ 8.83325702e-01 4.64630964e-01 -6.20787561e-02 1.69962735e+02] [-4.63688477e-01 8.85500715e-01 2.96897256e-02 1.17082484e+02] [ 6.87655487e-02 2.55950613e-03 9.97629565e-01 2.61763434e+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:169.98, Y:117.06, Z:26.18 [[ 8.84224268e-01 4.62917199e-01 -6.20895438e-02 1.69984249e+02] [-4.61972079e-01 8.86398138e-01 2.96671485e-02 1.17064036e+02] [ 6.87694892e-02 2.45122298e-03 9.97629565e-01 2.61789242e+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:170.01, Y:117.05, Z:26.18 [[ 8.84619722e-01 4.62160423e-01 -6.20942049e-02 1.70007495e+02] [-4.61214127e-01 8.86793081e-01 2.96573893e-02 1.17049141e+02] [ 6.87711829e-02 2.40321306e-03 9.97629565e-01 2.61808929e+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:170.03, Y:117.03, Z:26.18 [[ 8.86880449e-01 4.57791348e-01 -6.22105359e-02 1.70031601e+02] [-4.56851406e-01 8.89056596e-01 2.94136314e-02 1.17031330e+02] [ 6.87739932e-02 2.33459622e-03 9.97629534e-01 2.61831026e+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:170.06, Y:117.02, Z:26.19 [[ 8.88374697e-01 4.54899666e-01 -6.21022724e-02 1.70056024e+02] [-4.53936784e-01 8.90540757e-01 2.96404684e-02 1.17017107e+02] [ 6.87880439e-02 1.85866364e-03 9.97629566e-01 2.61859016e+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:170.08, Y:117.00, Z:26.19 [[ 8.92003875e-01 4.47731703e-01 -6.21724145e-02 1.70079664e+02] [-4.46761645e-01 8.94166745e-01 2.94934795e-02 1.16999459e+02] [ 6.87976713e-02 1.46795214e-03 9.97629553e-01 2.61867002e+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:170.10, Y:116.99, Z:26.19 [[ 8.92884086e-01 4.45976783e-01 -6.21507615e-02 1.70103920e+02] [-4.44999315e-01 8.95043611e-01 2.95388751e-02 1.16985240e+02] [ 6.88012945e-02 1.28225479e-03 9.97629559e-01 2.61860645e+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:170.13, Y:116.97, Z:26.18 [[ 8.90636865e-01 4.50451230e-01 -6.21261921e-02 1.70126010e+02] [-4.49481016e-01 8.92799655e-01 2.95904144e-02 1.16970868e+02] [ 6.87952814e-02 1.57023006e-03 9.97629562e-01 2.61821329e+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:170.15, Y:116.96, Z:26.18 [[ 8.88702714e-01 4.54211121e-01 -6.24479283e-02 1.70153705e+02] [-4.53297315e-01 8.90890254e-01 2.89153945e-02 1.16955246e+02] [ 6.87679445e-02 2.61028873e-03 9.97629268e-01 2.61830344e+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:170.18, Y:116.94, Z:26.18 [[ 8.87306814e-01 4.56976973e-01 -6.21181446e-02 1.70177894e+02] [-4.56021500e-01 8.89476147e-01 2.96070106e-02 1.16940716e+02] [ 6.87823300e-02 2.05670724e-03 9.97629571e-01 2.61845616e+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:170.20, Y:116.93, Z:26.19 [[ 8.86857761e-01 4.57848138e-01 -6.21159810e-02 1.70201456e+02] [-4.56894479e-01 8.89027891e-01 2.96115492e-02 1.16927648e+02] [ 6.87804322e-02 2.11921655e-03 9.97629571e-01 2.61860877e+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:170.23, Y:116.91, Z:26.19 [[ 8.87152777e-01 4.57275627e-01 -6.21204669e-02 1.70226279e+02] [-4.56321225e-01 8.89322581e-01 2.96021354e-02 1.16912430e+02] [ 6.87814690e-02 2.08527101e-03 9.97629571e-01 2.61858522e+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:170.25, Y:116.90, Z:26.19 [[ 8.87610119e-01 4.56386020e-01 -6.21295254e-02 1.70252739e+02] [-4.55430774e-01 8.89779551e-01 2.95831111e-02 1.16899679e+02] [ 6.87828996e-02 2.03742901e-03 9.97629571e-01 2.61855391e+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:170.28, Y:116.89, Z:26.19 [[ 8.87656949e-01 4.56293694e-01 -6.21386057e-02 1.70277008e+02] [-4.55339557e-01 8.89826869e-01 2.95640258e-02 1.16885001e+02] [ 6.87824795e-02 2.05145233e-03 9.97629572e-01 2.61850174e+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:170.30, Y:116.87, Z:26.19 [[ 8.85692702e-01 4.60094159e-01 -6.21433996e-02 1.70297354e+02] [-4.59150038e-01 8.87866999e-01 2.95539457e-02 1.16871130e+02] [ 6.87726715e-02 2.35743023e-03 9.97629572e-01 2.61878469e+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:170.33, Y:116.86, Z:26.19 [[ 8.86257029e-01 4.58939862e-01 -6.26313216e-02 1.70326808e+02] [-4.58065168e-01 8.88460797e-01 2.85256802e-02 1.16856177e+02] [ 6.87370456e-02 3.40814226e-03 9.97628991e-01 2.61924682e+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:170.35, Y:116.85, Z:26.20 [[ 8.86279081e-01 4.58963381e-01 -6.21450380e-02 1.70352407e+02] [-4.58016807e-01 8.88452273e-01 2.95493390e-02 1.16845939e+02] [ 6.87749648e-02 2.27451092e-03 9.97629606e-01 2.61957720e+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:170.38, Y:116.84, Z:26.19 [[ 8.85555118e-01 4.60357079e-01 -6.21570027e-02 1.70377200e+02] [-4.59415690e-01 8.87730561e-01 2.95241499e-02 1.16835643e+02] [ 6.87703223e-02 2.41064021e-03 9.97629606e-01 2.61949115e+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:170.40, Y:116.82, Z:26.20 [[ 8.84205085e-01 4.62943881e-01 -6.21637322e-02 1.70397125e+02] [-4.62009850e-01 8.86383698e-01 2.95099740e-02 1.16819324e+02] [ 6.87623807e-02 2.62738758e-03 9.97629607e-01 2.61982623e+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:170.43, Y:116.81, Z:26.21 [[ 8.86893034e-01 4.57730113e-01 -6.24811113e-02 1.70425577e+02] [-4.56830095e-01 8.89086253e-01 2.88426710e-02 1.16805442e+02] [ 6.87532562e-02 2.96288806e-03 9.97629295e-01 2.62052330e+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:170.45, Y:116.79, Z:26.21 [[ 8.89051764e-01 4.53570333e-01 -6.21362558e-02 1.70447063e+02] [-4.52609309e-01 8.91218593e-01 2.95674398e-02 1.16792618e+02] [ 6.87879000e-02 1.83646321e-03 9.97629617e-01 2.62121202e+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:170.47, Y:116.78, Z:26.22 [[ 8.90906998e-01 4.49880496e-01 -6.23879809e-02 1.70474672e+02] [-4.48947440e-01 8.93086203e-01 2.90384158e-02 1.16779216e+02] [ 6.87816619e-02 2.13839646e-03 9.97629445e-01 2.62160407e+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:170.50, Y:116.76, Z:26.21 [[ 8.92500742e-01 4.46740525e-01 -6.21717692e-02 1.70500290e+02] [-4.45768119e-01 8.94662487e-01 2.94926799e-02 1.16764985e+02] [ 6.87983250e-02 1.39195392e-03 9.97629617e-01 2.62141614e+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:170.53, Y:116.75, Z:26.22 [[ 8.92241869e-01 4.47255830e-01 -6.21825487e-02 1.70525528e+02] [-4.46286251e-01 8.94404886e-01 2.94700137e-02 1.16753041e+02] [ 6.87970108e-02 1.45683641e-03 9.97629615e-01 2.62156177e+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:170.55, Y:116.74, Z:26.22 [[ 8.91920592e-01 4.47892658e-01 -6.22079126e-02 1.70551912e+02] [-4.46928343e-01 8.94085968e-01 2.94166405e-02 1.16742181e+02] [ 6.87947190e-02 1.56517190e-03 9.97629609e-01 2.62162950e+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:170.58, Y:116.73, Z:26.22 [[ 8.88145922e-01 4.55353611e-01 -6.20476419e-02 1.70577001e+02] [-4.54383893e-01 8.90308916e-01 2.97542076e-02 1.16731301e+02] [ 6.87902547e-02 1.76737090e-03 9.97629579e-01 2.62169148e+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:170.60, Y:116.72, Z:26.22 [[ 8.83678265e-01 4.63947884e-01 -6.21698041e-02 1.70602833e+02] [-4.63017257e-01 8.85858320e-01 2.94967348e-02 1.16719289e+02] [ 6.87585859e-02 2.72006875e-03 9.97629620e-01 2.62168591e+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:170.63, Y:116.71, Z:26.22 [[ 8.81711328e-01 4.67673695e-01 -6.21807719e-02 1.70627184e+02] [-4.66753906e-01 8.83895977e-01 2.94735961e-02 1.16707486e+02] [ 6.87453597e-02 3.03591463e-03 9.97629620e-01 2.62184826e+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:170.65, Y:116.70, Z:26.22 [[ 8.78312113e-01 4.74026155e-01 -6.21854940e-02 1.70652085e+02] [-4.73122864e-01 8.80503635e-01 2.94636297e-02 1.16695416e+02] [ 6.87210846e-02 3.54311614e-03 9.97629620e-01 2.62184059e+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:170.68, Y:116.68, Z:26.22 [[ 8.77423538e-01 4.75667482e-01 -6.21963222e-02 1.70677066e+02] [-4.74769905e-01 8.79617405e-01 2.94407542e-02 1.16684224e+02] [ 6.87129769e-02 3.69693131e-03 9.97629620e-01 2.62188574e+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:170.70, Y:116.67, Z:26.22 [[ 8.76910005e-01 4.76612925e-01 -6.22009907e-02 1.70702265e+02] [-4.75718410e-01 8.79105123e-01 2.94308873e-02 1.16671820e+02] [ 6.87083509e-02 3.78191687e-03 9.97629620e-01 2.62197805e+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:170.73, Y:116.66, Z:26.22 [[ 8.75980041e-01 4.78318605e-01 -6.22115810e-02 1.70725900e+02] [-4.77429948e-01 8.78177536e-01 2.94084844e-02 1.16657627e+02] [ 6.86994382e-02 3.94042657e-03 9.97629621e-01 2.62214461e+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:170.75, Y:116.64, Z:26.22 [[ 8.75711315e-01 4.78809991e-01 -6.22148332e-02 1.70750194e+02] [-4.77923054e-01 8.77909506e-01 2.94016027e-02 1.16643588e+02] [ 6.86967746e-02 3.98658693e-03 9.97629621e-01 2.62247133e+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:170.77, Y:116.63, Z:26.23 [[ 8.75657938e-01 4.78906244e-01 -6.22252810e-02 1.70773832e+02] [-4.78021115e-01 8.77856856e-01 2.93794745e-02 1.16627324e+02] [ 6.86949033e-02 4.01862815e-03 9.97629621e-01 2.62303100e+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:170.80, Y:116.61, Z:26.23 [[ 8.75993244e-01 4.78291446e-01 -6.22344677e-02 1.70798042e+02] [-4.77406152e-01 8.78192096e-01 2.93600015e-02 1.16614001e+02] [ 6.86964551e-02 3.99195476e-03 9.97629621e-01 2.62327043e+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:170.82, Y:116.60, Z:26.23 [[ 8.76159951e-01 4.77985574e-01 -6.22377035e-02 1.70823868e+02] [-4.77099997e-01 8.78358689e-01 2.93531404e-02 1.16602076e+02] [ 6.86974053e-02 3.97556212e-03 9.97629621e-01 2.62346657e+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:170.85, Y:116.59, Z:26.23 [[ 8.77551081e-01 4.75425380e-01 -6.22479528e-02 1.70846076e+02] [-4.74534925e-01 8.79747847e-01 2.93313892e-02 1.16585656e+02] [ 6.87073893e-02 3.79903531e-03 9.97629622e-01 2.62338110e+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:170.87, Y:116.57, Z:26.24 [[ 8.78813643e-01 4.73086907e-01 -6.22523817e-02 1.70869127e+02] [-4.72191268e-01 8.81008302e-01 2.93219864e-02 1.16569546e+02] [ 6.87167129e-02 3.62646939e-03 9.97629622e-01 2.62360806e+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:170.89, Y:116.55, Z:26.24 [[ 8.81110690e-01 4.68793357e-01 -6.22634737e-02 1.70890269e+02] [-4.67888681e-01 8.83301639e-01 2.92984143e-02 1.16548791e+02] [ 6.87323303e-02 3.31722853e-03 9.97629622e-01 2.62359093e+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:170.91, Y:116.53, Z:26.24 [[ 8.81929600e-01 4.67250484e-01 -6.22668904e-02 1.70913918e+02] [-4.66342487e-01 8.84119174e-01 2.92911510e-02 1.16534048e+02] [ 6.87376562e-02 3.20496345e-03 9.97629622e-01 2.62357440e+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:170.94, Y:116.52, Z:26.24 [[ 8.81301150e-01 4.68434308e-01 -6.22702292e-02 1.70937226e+02] [-4.67529752e-01 8.83492148e-01 2.92840514e-02 1.16517573e+02] [ 6.87329129e-02 3.30511661e-03 9.97629622e-01 2.62369227e+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:170.96, Y:116.50, Z:26.24 [[ 8.79102511e-01 4.72546179e-01 -6.22806948e-02 1.70960536e+02] [-4.71653440e-01 8.81298349e-01 2.92617764e-02 1.16499929e+02] [ 6.87154142e-02 3.65080284e-03 9.97629622e-01 2.62361814e+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:170.98, Y:116.48, Z:26.24 [[ 8.77547726e-01 4.75425886e-01 -6.22913706e-02 1.70984000e+02] [-4.74541960e-01 8.79747127e-01 2.92390327e-02 1.16484778e+02] [ 6.87016473e-02 3.90122243e-03 9.97629623e-01 2.62356186e+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:171.01, Y:116.47, Z:26.24 [[ 8.74316098e-01 4.81342642e-01 -6.22946353e-02 1.71007298e+02] [-4.80474086e-01 8.76521613e-01 2.92320754e-02 1.16466755e+02] [ 6.86732387e-02 4.37288385e-03 9.97629623e-01 2.62353344e+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:171.03, Y:116.45, Z:26.24 [[ 8.71889204e-01 4.85723673e-01 -6.23035335e-02 1.71031241e+02] [-4.84867542e-01 8.74099572e-01 2.92130980e-02 1.16451480e+02] [ 6.86489852e-02 4.73837636e-03 9.97629623e-01 2.62384407e+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:171.06, Y:116.44, Z:26.24 [[ 8.71244130e-01 4.86878462e-01 -6.23139593e-02 1.71055652e+02] [-4.86026843e-01 8.73456240e-01 2.91908421e-02 1.16437948e+02] [ 6.86409089e-02 4.85390702e-03 9.97629623e-01 2.62402089e+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:171.08, Y:116.42, Z:26.24 [[ 8.71665712e-01 4.86122884e-01 -6.23171661e-02 1.71078531e+02] [-4.85269833e-01 8.73877270e-01 2.91839945e-02 1.16421463e+02] [ 6.86445626e-02 4.80195351e-03 9.97629623e-01 2.62431624e+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:171.10, Y:116.41, Z:26.24 [[ 8.73162477e-01 4.83427948e-01 -6.23274298e-02 1.71102139e+02] [-4.82569628e-01 8.75371995e-01 2.91620582e-02 1.16407120e+02] [ 6.86574405e-02 4.61410961e-03 9.97629624e-01 2.62431651e+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:171.12, Y:116.39, Z:26.25 [[ 8.76212653e-01 4.77876640e-01 -6.23322077e-02 1.71124780e+02] [-4.77005037e-01 8.78416965e-01 2.91518420e-02 1.16387077e+02] [ 6.86846531e-02 4.18956424e-03 9.97629624e-01 2.62476024e+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:171.15, Y:116.37, Z:26.25 [[ 8.80915891e-01 4.69148949e-01 -6.23414517e-02 1.71147567e+02] [-4.68256887e-01 8.83112003e-01 2.91320604e-02 1.16367651e+02] [ 6.87217598e-02 3.52891914e-03 9.97629624e-01 2.62543531e+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:171.17, Y:116.35, Z:26.26 [[ 8.83263297e-01 4.64714063e-01 -6.23441130e-02 1.71172358e+02] [-4.63811372e-01 8.85455062e-01 2.91263639e-02 1.16350869e+02] [ 6.87383413e-02 3.18966036e-03 9.97629624e-01 2.62556751e+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:171.19, Y:116.34, Z:26.26 [[ 8.85672516e-01 4.60122653e-01 -6.22200836e-02 1.71194967e+02] [-4.59189964e-01 8.87851731e-01 2.93918416e-02 1.16336181e+02] [ 6.87660610e-02 2.53929162e-03 9.97629581e-01 2.62584307e+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:171.22, Y:116.32, Z:26.26 [[ 8.88969963e-01 4.53701123e-01 -6.23513949e-02 1.71218723e+02] [-4.52772367e-01 8.91150805e-01 2.91105964e-02 1.16319510e+02] [ 6.87720060e-02 2.35254285e-03 9.97629629e-01 2.62590557e+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:171.24, Y:116.31, Z:26.26 [[ 8.90405575e-01 4.50876792e-01 -6.23540711e-02 1.71242819e+02] [-4.49941519e-01 8.92583630e-01 2.91048629e-02 1.16308054e+02] [ 6.87789303e-02 2.14055322e-03 9.97629629e-01 2.62581071e+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:171.27, Y:116.29, Z:26.26 [[ 8.90863709e-01 4.49969995e-01 -6.23606877e-02 1.71267892e+02] [-4.49033497e-01 8.93041237e-01 2.90906791e-02 1.16294612e+02] [ 6.87805984e-02 2.08620735e-03 9.97629629e-01 2.62605431e+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:171.29, Y:116.28, Z:26.26 [[ 8.92295781e-01 4.47122905e-01 -6.23646342e-02 1.71291767e+02] [-4.46180049e-01 8.94470564e-01 2.90822161e-02 1.16279253e+02] [ 6.87866545e-02 1.87591683e-03 9.97629629e-01 2.62621870e+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:171.32, Y:116.27, Z:26.27 [[ 8.92697631e-01 4.46308409e-01 -6.24479244e-02 1.71317203e+02] [-4.45376046e-01 8.94876953e-01 2.89035645e-02 1.16265875e+02] [ 6.87831122e-02 2.01066606e-03 9.97629611e-01 2.62675222e+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:171.34, Y:116.26, Z:26.27 [[ 8.94264482e-01 4.43172030e-01 -6.23665603e-02 1.71344766e+02] [-4.42219853e-01 8.96435200e-01 2.90780770e-02 1.16256247e+02] [ 6.87941703e-02 1.57623966e-03 9.97629629e-01 2.62715086e+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:171.37, Y:116.25, Z:26.27 [[ 8.94506158e-01 4.42683637e-01 -6.23693038e-02 1.71369710e+02] [-4.41730685e-01 8.96676536e-01 2.90721913e-02 1.16245730e+02] [ 6.87948746e-02 1.54518111e-03 9.97629630e-01 2.62720358e+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:171.40, Y:116.23, Z:26.27 [[ 8.93850507e-01 4.44005347e-01 -6.23740559e-02 1.71396318e+02] [-4.43056315e-01 8.96022601e-01 2.90619921e-02 1.16231740e+02] [ 6.87922437e-02 1.65814298e-03 9.97629630e-01 2.62717986e+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:171.42, Y:116.22, Z:26.27 [[ 8.91795553e-01 4.48136814e-01 -6.22421671e-02 1.71420583e+02] [-4.47178083e-01 8.93963438e-01 2.93450739e-02 1.16221388e+02] [ 6.87928296e-02 1.66352657e-03 9.97629580e-01 2.62736704e+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:171.45, Y:116.21, Z:26.28 [[ 8.90599831e-01 4.50489186e-01 -6.23813696e-02 1.71446315e+02] [-4.49557073e-01 8.92779234e-01 2.90461221e-02 1.16209174e+02] [ 6.87777553e-02 2.17551455e-03 9.97629634e-01 2.62766740e+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:171.47, Y:116.20, Z:26.28 [[ 8.87914899e-01 4.55758026e-01 -6.23839210e-02 1.71471807e+02] [-4.54839227e-01 8.90099949e-01 2.90406414e-02 1.16196596e+02] [ 6.87634303e-02 2.58903620e-03 9.97629634e-01 2.62814844e+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:171.50, Y:116.18, Z:26.28 [[ 8.85216159e-01 4.60977517e-01 -6.23865448e-02 1.71498413e+02] [-4.60071994e-01 8.87406744e-01 2.90350037e-02 1.16184804e+02] [ 6.87467245e-02 3.00004764e-03 9.97629634e-01 2.62830143e+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:171.53, Y:116.17, Z:26.28 [[ 8.84076241e-01 4.63157812e-01 -6.24022553e-02 1.71525443e+02] [-4.62260069e-01 8.86270025e-01 2.90012256e-02 1.16171011e+02] [ 6.87373925e-02 3.20677636e-03 9.97629634e-01 2.62820868e+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:171.55, Y:116.16, Z:26.28 [[ 8.82569578e-01 4.66039829e-01 -6.22721331e-02 1.71550406e+02] [-4.65129536e-01 8.84758233e-01 2.92811112e-02 1.16157223e+02] [ 6.87419465e-02 3.12199050e-03 9.97629590e-01 2.62830550e+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:171.58, Y:116.14, Z:26.29 [[ 8.81881708e-01 4.67336914e-01 -6.22965567e-02 1.71575092e+02] [-4.66433541e-01 8.84073211e-01 2.92285571e-02 1.16144905e+02] [ 6.87343006e-02 3.28107369e-03 9.97629606e-01 2.62857521e+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:171.60, Y:116.13, Z:26.29 [[ 8.80364881e-01 4.70185003e-01 -6.23196506e-02 1.71599123e+02] [-4.69292224e-01 8.82560708e-01 2.91788505e-02 1.16133341e+02] [ 6.87203329e-02 3.55809216e-03 9.97629619e-01 2.62873801e+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:171.63, Y:116.12, Z:26.29 [[ 8.80608567e-01 4.69721683e-01 -6.23705976e-02 1.71626098e+02] [-4.68835493e-01 8.82807039e-01 2.90691015e-02 1.16122527e+02] [ 6.87155898e-02 3.64305001e-03 9.97629639e-01 2.62893527e+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:171.65, Y:116.11, Z:26.29 [[ 8.80120134e-01 4.70636943e-01 -6.23651954e-02 1.71653132e+02] [-4.69752216e-01 8.82319197e-01 2.90807476e-02 1.16109795e+02] [ 6.87124833e-02 3.70163728e-03 9.97629637e-01 2.62931570e+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:171.68, Y:116.10, Z:26.30 [[ 8.79488854e-01 4.71823914e-01 -6.23020855e-02 1.71675661e+02] [-4.70932547e-01 8.81685269e-01 2.92168158e-02 1.16095609e+02] [ 6.87160235e-02 3.64421597e-03 9.97629605e-01 2.62966442e+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:171.70, Y:116.08, Z:26.30 [[ 8.79894875e-01 4.71051802e-01 -6.24116178e-02 1.71702056e+02] [-4.70175189e-01 8.82097171e-01 2.89805504e-02 1.16083968e+02] [ 6.87044520e-02 3.84455641e-03 9.97629650e-01 2.63018973e+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:171.73, Y:116.07, Z:26.30 [[ 8.79444498e-01 4.71889654e-01 -6.24301910e-02 1.71729549e+02] [-4.71017973e-01 8.81648750e-01 2.89404586e-02 1.16069878e+02] [ 6.86982028e-02 3.95421499e-03 9.97629651e-01 2.62993576e+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:171.75, Y:116.06, Z:26.30 [[ 8.78863771e-01 4.72995223e-01 -6.22413918e-02 1.71752876e+02] [-4.72097515e-01 8.81057674e-01 2.93481154e-02 1.16058133e+02] [ 6.87197742e-02 3.59101104e-03 9.97629539e-01 2.62987221e+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:171.78, Y:116.04, Z:26.30 [[ 8.78303220e-01 4.74007664e-01 -6.24514915e-02 1.71780392e+02] [-4.73144583e-01 8.80510840e-01 2.88940268e-02 1.16041180e+02] [ 6.86852053e-02 4.17086816e-03 9.97629664e-01 2.62988935e+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:171.80, Y:116.03, Z:26.30 [[ 8.79072145e-01 4.72615880e-01 -6.21803359e-02 1.71802186e+02] [-4.71707926e-01 8.81261914e-01 2.94800224e-02 1.16028557e+02] [ 6.87298886e-02 3.41589079e-03 9.97629457e-01 2.62990254e+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:171.83, Y:116.01, Z:26.30 [[ 8.80209923e-01 4.70455888e-01 -6.24639845e-02 1.71829861e+02] [-4.69585858e-01 8.82414789e-01 2.88662701e-02 1.16014081e+02] [ 6.86994505e-02 3.92382636e-03 9.97629685e-01 2.63047725e+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:171.86, Y:116.00, Z:26.30 [[ 8.81862001e-01 4.67369236e-01 -6.23330409e-02 1.71855679e+02] [-4.66471507e-01 8.84055787e-01 2.91495764e-02 1.15997973e+02] [ 6.87295008e-02 3.37068375e-03 9.97629638e-01 2.63036866e+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:171.88, Y:115.99, Z:26.30 [[ 8.82231349e-01 4.66693410e-01 -6.21699952e-02 1.71877679e+02] [-4.65769169e-01 8.84414316e-01 2.95025231e-02 1.15985688e+02] [ 6.87526670e-02 2.92881620e-03 9.97629437e-01 2.63046094e+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:171.90, Y:115.97, Z:26.31 [[ 8.82618567e-01 4.65919360e-01 -6.24789135e-02 1.71903270e+02] [-4.65040327e-01 8.84819836e-01 2.88331694e-02 1.15972418e+02] [ 6.87165138e-02 3.60652366e-03 9.97629708e-01 2.63083140e+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:171.93, Y:115.95, Z:26.32 [[ 8.83856828e-01 4.63565728e-01 -6.24813878e-02 1.71929354e+02] [-4.62681210e-01 8.86055899e-01 2.88278066e-02 1.15954287e+02] [ 6.87255853e-02 3.42931044e-03 9.97629708e-01 2.63162573e+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:171.96, Y:115.94, Z:26.32 [[ 8.84333346e-01 4.62675790e-01 -6.23349473e-02 1.71955169e+02] [-4.61766735e-01 8.86522448e-01 2.91450028e-02 1.15939514e+02] [ 6.87460172e-02 3.01030723e-03 9.97629652e-01 2.63170704e+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:171.98, Y:115.93, Z:26.32 [[ 8.87217727e-01 4.57101399e-01 -6.24741174e-02 1.71980359e+02] [-4.56199744e-01 8.89409828e-01 2.88435744e-02 1.15927431e+02] [ 6.87495322e-02 2.91014582e-03 9.97629707e-01 2.63199004e+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:172.01, Y:115.92, Z:26.33 [[ 8.89392779e-01 4.52853497e-01 -6.24835540e-02 1.72009921e+02] [-4.51942804e-01 8.91581140e-01 2.88231175e-02 1.15916217e+02] [ 6.87618079e-02 2.60392007e-03 9.97629708e-01 2.63252722e+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:172.03, Y:115.91, Z:26.33 [[ 8.90822358e-01 4.50077356e-01 -6.21763550e-02 1.72030566e+02] [-4.49113159e-01 8.92988041e-01 2.94911637e-02 1.15905088e+02] [ 6.87960465e-02 1.65283125e-03 9.97629376e-01 2.63277090e+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:172.06, Y:115.89, Z:26.33 [[ 8.92936660e-01 4.45818154e-01 -6.25323462e-02 1.72056173e+02] [-4.44897702e-01 8.95120900e-01 2.87160129e-02 1.15892947e+02] [ 6.87761299e-02 2.17891640e-03 9.97629739e-01 2.63303021e+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:172.08, Y:115.88, Z:26.33 [[ 8.98767379e-01 4.33943080e-01 -6.25348092e-02 1.72081539e+02] [-4.32994130e-01 9.00939389e-01 2.87106482e-02 1.15879010e+02] [ 6.87988599e-02 1.27301127e-03 9.97629739e-01 2.63324384e+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:172.11, Y:115.86, Z:26.34 [[ 9.05228914e-01 4.20297345e-01 -6.25360293e-02 1.72110703e+02] [-4.19315830e-01 9.07386404e-01 2.87079903e-02 1.15863675e+02] [ 6.88102349e-02 2.35044151e-04 9.97629739e-01 2.63398164e+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:172.14, Y:115.85, Z:26.34 [[ 9.08170845e-01 4.13903776e-01 -6.25250358e-02 1.72140022e+02] [-4.12905424e-01 9.10320596e-01 2.87319140e-02 1.15851913e+02] [ 6.88100756e-02 -2.76560264e-04 9.97629739e-01 2.63426618e+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:172.17, Y:115.84, Z:26.34 [[ 9.12480476e-01 4.04315818e-01 -6.25147936e-02 1.72171171e+02] [-4.03293355e-01 9.14618864e-01 2.87541818e-02 1.15843191e+02] [ 6.88029800e-02 -1.02582860e-03 9.97629740e-01 2.63418790e+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:172.20, Y:115.83, Z:26.34 [[ 9.14343405e-01 4.00086610e-01 -6.25047437e-02 1.72201955e+02] [-3.99052765e-01 9.16476313e-01 2.87760113e-02 1.15830960e+02] [ 6.87970138e-02 -1.36846533e-03 9.97629740e-01 2.63427543e+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:172.23, Y:115.82, Z:26.34 [[ 9.17871905e-01 3.91925584e-01 -6.24940211e-02 1.72231967e+02] [-3.90871197e-01 9.19994733e-01 2.87992792e-02 1.15822504e+02] [ 6.87813446e-02 -2.00693649e-03 9.97629740e-01 2.63435962e+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:172.26, Y:115.81, Z:26.35 [[ 9.19180484e-01 3.88847519e-01 -6.24887616e-02 1.72262366e+02] [-3.87785250e-01 9.21299378e-01 2.88106867e-02 1.15811769e+02] [ 6.87738213e-02 -2.25000092e-03 9.97629740e-01 2.63481454e+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:172.29, Y:115.81, Z:26.35 [[ 9.21937502e-01 3.82266389e-01 -6.24792014e-02 1.72293307e+02] [-3.81187598e-01 9.24048032e-01 2.88314044e-02 1.15808628e+02] [ 6.87550599e-02 -2.76445622e-03 9.97629741e-01 2.63516248e+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:172.33, Y:115.81, Z:26.35 [[ 9.22960686e-01 3.79789201e-01 -6.24798820e-02 1.72325617e+02] [-3.78704845e-01 9.25068363e-01 2.88299292e-02 1.15807868e+02] [ 6.87474580e-02 -2.94745720e-03 9.97629741e-01 2.63524133e+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:172.35, Y:115.80, Z:26.35 [[ 9.23247402e-01 3.79091301e-01 -6.24821502e-02 1.72353983e+02] [-3.78005685e-01 9.25354430e-01 2.88250126e-02 1.15803201e+02] [ 6.87454461e-02 -2.99401007e-03 9.97629741e-01 2.63541675e+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:172.39, Y:115.81, Z:26.36 [[ 9.22247783e-01 3.81516102e-01 -6.24859188e-02 1.72387593e+02] [-3.80436578e-01 9.24357939e-01 2.88168408e-02 1.15806723e+02] [ 6.87534440e-02 -2.80433843e-03 9.97629741e-01 2.63582447e+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:172.42, Y:115.80, Z:26.36 [[ 9.20539634e-01 3.85629883e-01 -6.24209623e-02 1.72416515e+02] [-3.84550252e-01 9.22649748e-01 2.89576757e-02 1.15802796e+02] [ 6.87596302e-02 -2.65269137e-03 9.97629729e-01 2.63593921e+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:172.44, Y:115.79, Z:26.36 [[ 9.20593197e-01 3.85490853e-01 -6.24897428e-02 1.72442428e+02] [-3.84421008e-01 9.22708275e-01 2.88084831e-02 1.15791055e+02] [ 6.87652095e-02 -2.49852362e-03 9.97629743e-01 2.63613303e+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:172.48, Y:115.80, Z:26.36 [[ 9.17614960e-01 3.92526831e-01 -6.24937811e-02 1.72476058e+02] [-3.91473805e-01 9.19738461e-01 2.87997201e-02 1.15795432e+02] [ 6.87825969e-02 -1.96237572e-03 9.97629743e-01 2.63647279e+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:172.51, Y:115.79, Z:26.37 [[ 9.16070071e-01 3.96118421e-01 -6.24965724e-02 1.72505081e+02] [-3.95074135e-01 9.18197883e-01 2.87936616e-02 1.15793008e+02] [ 6.87899203e-02 -1.68623237e-03 9.97629743e-01 2.63666195e+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:172.54, Y:115.79, Z:26.36 [[ 9.13600314e-01 4.01781087e-01 -6.25013966e-02 1.72543344e+02] [-4.00750708e-01 9.15734895e-01 2.87831862e-02 1.15793499e+02] [ 6.87992497e-02 -1.24884904e-03 9.97629743e-01 2.63625373e+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:172.57, Y:115.79, Z:26.36 [[ 9.12510477e-01 4.04334827e-01 -6.19514023e-02 1.72567518e+02] [-4.03229142e-01 9.14607959e-01 2.99756603e-02 1.15791764e+02] [ 6.87814490e-02 -2.37249329e-03 9.97628931e-01 2.63635432e+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:172.61, Y:115.79, Z:26.36 [[ 9.12290875e-01 4.04743840e-01 -6.25122649e-02 1.72605242e+02] [-4.03722217e-01 9.14429565e-01 2.87565817e-02 1.15788761e+02] [ 6.88021126e-02 -9.96776875e-04 9.97629829e-01 2.63595473e+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:172.63, Y:115.79, Z:26.36 [[ 9.12960973e-01 4.03316798e-01 -6.19501614e-02 1.72633524e+02] [-4.02208712e-01 9.15057132e-01 2.99766047e-02 1.15792051e+02] [ 6.87780053e-02 -2.45057562e-03 9.97628979e-01 2.63573231e+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:172.66, Y:115.79, Z:26.36 [[ 9.13814916e-01 4.01295604e-01 -6.24831058e-02 1.72661100e+02] [-4.00261734e-01 9.15947643e-01 2.88177076e-02 1.15786440e+02] [ 6.87956729e-02 -1.32445477e-03 9.97629892e-01 2.63565837e+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:172.69, Y:115.78, Z:26.36 [[ 9.15067767e-01 3.98424120e-01 -6.25236165e-02 1.72688824e+02] [-3.97389577e-01 9.17200162e-01 2.87295456e-02 1.15780616e+02] [ 6.87932152e-02 -1.44324765e-03 9.97629897e-01 2.63588549e+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:172.72, Y:115.78, Z:26.36 [[ 9.16793674e-01 3.94434797e-01 -6.25343907e-02 1.72718526e+02] [-3.93392575e-01 9.18922327e-01 2.87060749e-02 1.15779092e+02] [ 6.87869226e-02 -1.71698293e-03 9.97629897e-01 2.63640874e+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:172.75, Y:115.77, Z:26.37 [[ 9.16914249e-01 3.94153898e-01 -6.25377106e-02 1.72746546e+02] [-3.93111517e-01 9.19042824e-01 2.86988404e-02 1.15772172e+02] [ 6.87865940e-02 -1.73008132e-03 9.97629897e-01 2.63669377e+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:172.78, Y:115.77, Z:26.36 [[ 9.16015703e-01 3.96235998e-01 -6.25481118e-02 1.72779236e+02] [-3.95200004e-01 9.18147393e-01 2.86761534e-02 1.15773667e+02] [ 6.87909101e-02 -1.54879281e-03 9.97629897e-01 2.63630800e+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:172.81, Y:115.77, Z:26.37 [[ 9.09144506e-01 4.11741470e-01 -6.26516473e-02 1.72809368e+02] [-4.10757398e-01 9.11300689e-01 2.84502161e-02 1.15771633e+02] [ 6.88086231e-02 -1.30730022e-04 9.97629869e-01 2.63748509e+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:172.84, Y:115.76, Z:26.38 [[ 9.05836513e-01 4.18984495e-01 -6.25476171e-02 1.72839092e+02] [-4.18001968e-01 9.07993373e-01 2.86773380e-02 1.15764378e+02] [ 6.88081818e-02 1.68047181e-04 9.97629894e-01 2.63839575e+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:172.87, Y:115.76, Z:26.38 [[ 8.98039030e-01 4.35459833e-01 -6.24550633e-02 1.72865512e+02] [-4.34502806e-01 9.00207359e-01 2.88794480e-02 1.15763881e+02] [ 6.87983472e-02 1.20202883e-03 9.97629863e-01 2.63758921e+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:172.89, Y:115.75, Z:26.38 [[ 8.93957285e-01 4.43713186e-01 -6.29204344e-02 1.72894110e+02] [-4.42847491e-01 8.96163970e-01 2.78610509e-02 1.15751236e+02] [ 6.87493419e-02 2.95756707e-03 9.97629581e-01 2.63800539e+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:172.92, Y:115.75, Z:26.38 [[ 8.91723255e-01 4.48220938e-01 -6.26707892e-02 1.72922662e+02] [-4.47328041e-01 8.93918722e-01 2.84067120e-02 1.15745482e+02] [ 6.87550749e-02 2.70347576e-03 9.97629907e-01 2.63799011e+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:172.95, Y:115.74, Z:26.38 [[ 8.91333957e-01 4.48982798e-01 -6.27552697e-02 1.72947430e+02] [-4.48104719e-01 8.93535480e-01 2.82224554e-02 1.15736838e+02] [ 6.87454571e-02 2.96529967e-03 9.97629826e-01 2.63839817e+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:172.98, Y:115.72, Z:26.39 [[ 8.91728304e-01 4.48157355e-01 -6.30524930e-02 1.72976774e+02] [-4.47322933e-01 8.93947372e-01 2.75733577e-02 1.15723177e+02] [ 6.87228134e-02 3.61688259e-03 9.97629236e-01 2.63913141e+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:173.00, Y:115.71, Z:26.39 [[ 8.94045332e-01 4.43588223e-01 -6.25494454e-02 1.73001679e+02] [-4.42665464e-01 8.96228355e-01 2.86709426e-02 1.15713297e+02] [ 6.87766791e-02 2.05535689e-03 9.97629963e-01 2.63936682e+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:173.03, Y:115.70, Z:26.40 [[ 8.93673223e-01 4.44306718e-01 -6.27671178e-02 1.73025727e+02] [-4.43418948e-01 8.95870863e-01 2.81963266e-02 1.15697637e+02] [ 6.87590494e-02 2.63382728e-03 9.97629819e-01 2.64005223e+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:173.05, Y:115.68, Z:26.40 [[ 8.94140001e-01 4.43367069e-01 -6.27638507e-02 1.73050029e+02] [-4.42476490e-01 8.96336500e-01 2.82034525e-02 1.15684063e+02] [ 6.87620123e-02 2.55369328e-03 9.97629823e-01 2.64040446e+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:173.07, Y:115.67, Z:26.40 [[ 8.94289532e-01 4.43072719e-01 -6.27120323e-02 1.73074358e+02] [-4.42173494e-01 8.96482445e-01 2.83165347e-02 1.15672907e+02] [ 6.87665201e-02 2.40641783e-03 9.97629879e-01 2.64046604e+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:173.10, Y:115.66, Z:26.41 [[ 8.93531600e-01 4.44586964e-01 -6.27989786e-02 1.73099549e+02] [-4.43704763e-01 8.95731526e-01 2.81267891e-02 1.15660876e+02] [ 6.87558287e-02 2.73203109e-03 9.97629777e-01 2.64054751e+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:173.12, Y:115.65, Z:26.40 [[ 8.92926059e-01 4.45795192e-01 -6.28466460e-02 1.73120643e+02] [-4.44923279e-01 8.95130161e-01 2.80226904e-02 1.15649481e+02] [ 6.87483090e-02 2.93974527e-03 9.97629705e-01 2.64027119e+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:173.15, Y:115.63, Z:26.40 [[ 8.92000331e-01 4.47588029e-01 -6.32484406e-02 1.73151922e+02] [-4.46782340e-01 8.94230734e-01 2.71465437e-02 1.15633027e+02] [ 6.87091675e-02 4.04356030e-03 9.97628538e-01 2.64040625e+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:173.17, Y:115.62, Z:26.40 [[ 8.92283064e-01 4.47101041e-01 -6.27024149e-02 1.73173565e+02] [-4.46210393e-01 8.94479399e-01 2.83353299e-02 1.15618490e+02] [ 6.87547739e-02 2.69533419e-03 9.97629950e-01 2.64020031e+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:173.20, Y:115.60, Z:26.40 [[ 8.92954953e-01 4.45726712e-01 -6.29217782e-02 1.73198477e+02] [-4.44866264e-01 8.95163664e-01 2.78571696e-02 1.15604314e+02] [ 6.87419741e-02 3.11657883e-03 9.97629605e-01 2.64031732e+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:173.22, Y:115.59, Z:26.40 [[ 8.95613992e-01 4.40352762e-01 -6.29684207e-02 1.73223266e+02] [-4.39486188e-01 8.97820426e-01 2.77555826e-02 1.15588808e+02] [ 6.87565819e-02 2.81546305e-03 9.97629493e-01 2.64039172e+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:173.25, Y:115.57, Z:26.41 [[ 8.98237334e-01 4.34979859e-01 -6.29461201e-02 1.73251589e+02] [-4.34096683e-01 9.00437116e-01 2.78041405e-02 1.15574532e+02] [ 6.87732640e-02 2.34998487e-03 9.97629548e-01 2.64074817e+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:173.28, Y:115.56, Z:26.41 [[ 9.02601808e-01 4.25904199e-01 -6.25746759e-02 1.73276882e+02] [-4.24942746e-01 9.04767941e-01 2.86118099e-02 1.15556378e+02] [ 6.88014507e-02 7.65583340e-04 9.97630079e-01 2.64085913e+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:173.30, Y:115.55, Z:26.41 [[ 9.05652228e-01 4.19388330e-01 -6.25097625e-02 1.73298410e+02] [-4.18401545e-01 9.07806926e-01 2.87529357e-02 1.15545143e+02] [ 6.88054410e-02 1.14020960e-04 9.97630091e-01 2.64131925e+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:173.33, Y:115.53, Z:26.42 [[ 9.08902744e-01 4.12221118e-01 -6.30043835e-02 1.73327064e+02] [-4.11291783e-01 9.11083516e-01 2.76748269e-02 1.15530508e+02] [ 6.88104033e-02 7.59459063e-04 9.97629466e-01 2.64161005e+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:173.35, Y:115.52, Z:26.42 [[ 9.11861828e-01 4.05707813e-01 -6.25234149e-02 1.73347278e+02] [-4.04690830e-01 9.14002397e-01 2.87219340e-02 1.15516882e+02] [ 6.87992642e-02 -8.87782573e-04 9.97630128e-01 2.64182972e+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:173.38, Y:115.50, Z:26.43 [[ 9.15837670e-01 3.96572602e-01 -6.30201030e-02 1.73377633e+02] [-3.95608496e-01 9.18003282e-01 2.76385852e-02 1.15502916e+02] [ 6.88133671e-02 -3.81169264e-04 9.97629478e-01 2.64271816e+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:173.40, Y:115.49, Z:26.43 [[ 9.20333278e-01 3.86103742e-01 -6.25344576e-02 1.73403334e+02] [-3.85042885e-01 9.22452416e-01 2.86969816e-02 1.15490566e+02] [ 6.87650735e-02 -2.33233923e-03 9.97630154e-01 2.64349322e+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:173.43, Y:115.48, Z:26.44 [[ 9.23585029e-01 3.78257800e-01 -6.25438323e-02 1.73429586e+02] [-3.77180329e-01 9.25695769e-01 2.86765354e-02 1.15483141e+02] [ 6.87436841e-02 -2.89491551e-03 9.97630155e-01 2.64362024e+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:173.45, Y:115.48, Z:26.44 [[ 9.22718331e-01 3.80366371e-01 -6.25484353e-02 1.73450795e+02] [-3.79294402e-01 9.24831870e-01 2.86664920e-02 1.15475288e+02] [ 6.87505559e-02 -2.72682625e-03 9.97630155e-01 2.64380403e+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:173.48, Y:115.47, Z:26.44 [[ 9.22947303e-01 3.79734748e-01 -6.30063343e-02 1.73483257e+02] [-3.78729037e-01 9.25093895e-01 2.76694958e-02 1.15465634e+02] [ 6.87938442e-02 -1.67515821e-03 9.97629491e-01 2.64354497e+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:173.51, Y:115.46, Z:26.44 [[ 9.25656948e-01 3.73174513e-01 -6.24499541e-02 1.73512169e+02] [-3.72071756e-01 9.27754576e-01 2.88800218e-02 1.15458108e+02] [ 6.87155188e-02 -3.49712879e-03 9.97630166e-01 2.64415753e+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:173.54, Y:115.45, Z:26.44 [[ 9.27454983e-01 3.68701149e-01 -6.23435502e-02 1.73539529e+02] [-3.67572752e-01 9.29539017e-01 2.91116411e-02 1.15453180e+02] [ 6.86842579e-02 -4.08394630e-03 9.97630089e-01 2.64427377e+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:173.57, Y:115.44, Z:26.44 [[ 9.27918987e-01 3.67499655e-01 -6.25328462e-02 1.73565942e+02] [-3.66396208e-01 9.30016223e-01 2.86991999e-02 1.15444868e+02] [ 6.87035075e-02 -3.71873474e-03 9.97630192e-01 2.64420966e+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:173.59, Y:115.44, Z:26.44 [[ 9.27815209e-01 3.67753242e-01 -6.25818749e-02 1.73591713e+02] [-3.66657551e-01 9.29916513e-01 2.85922986e-02 1.15440010e+02] [ 6.87108294e-02 -3.58225250e-03 9.97630187e-01 2.64396568e+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:173.62, Y:115.43, Z:26.44 [[ 9.29904042e-01 3.62387653e-01 -6.28781557e-02 1.73624730e+02] [-3.61323244e-01 9.32021732e-01 2.79464709e-02 1.15430735e+02] [ 6.87312635e-02 -3.26819710e-03 9.97629857e-01 2.64421394e+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:173.65, Y:115.43, Z:26.45 [[ 9.30269188e-01 3.61542249e-01 -6.23413155e-02 1.73653495e+02] [-3.60397539e-01 9.32344291e-01 2.91159271e-02 1.15426726e+02] [ 6.86502073e-02 -4.61799321e-03 9.97630103e-01 2.64456422e+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:173.68, Y:115.43, Z:26.45 [[ 9.30471382e-01 3.61000464e-01 -6.24633704e-02 1.73678469e+02] [-3.59872302e-01 9.32555420e-01 2.88498814e-02 1.15426695e+02] [ 6.86653751e-02 -4.36515208e-03 9.97630198e-01 2.64477679e+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:173.71, Y:115.42, Z:26.45 [[ 9.31922488e-01 3.57135577e-01 -6.30448774e-02 1.73711971e+02] [-3.56084093e-01 9.34046901e-01 2.75772601e-02 1.15419684e+02] [ 6.87356931e-02 -3.25059086e-03 9.97629610e-01 2.64484318e+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:173.74, Y:115.42, Z:26.45 [[ 9.31407195e-01 3.58560461e-01 -6.25702222e-02 1.73741661e+02] [-3.57442515e-01 9.33496661e-01 2.86152510e-02 1.15418572e+02] [ 6.86693910e-02 -4.28719305e-03 9.97630260e-01 2.64500776e+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:173.77, Y:115.41, Z:26.45 [[ 9.29748070e-01 3.62840313e-01 -6.25734302e-02 1.73765404e+02] [-3.61732459e-01 9.31842904e-01 2.86082341e-02 1.15413456e+02] [ 6.86888275e-02 -3.96360963e-03 9.97630260e-01 2.64507881e+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:173.80, Y:115.41, Z:26.45 [[ 9.30840433e-01 3.59943606e-01 -6.30609891e-02 1.73802255e+02] [-3.58901108e-01 9.32969233e-01 2.75391669e-02 1.15414754e+02] [ 6.87465096e-02 -3.00191114e-03 9.97629644e-01 2.64463599e+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:173.83, Y:115.41, Z:26.45 [[ 9.30885590e-01 3.59909869e-01 -6.25851773e-02 1.73832218e+02] [-3.58797235e-01 9.32977846e-01 2.85811769e-02 1.15409775e+02] [ 6.86772315e-02 -4.15041716e-03 9.97630298e-01 2.64459224e+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:173.86, Y:115.41, Z:26.45 [[ 9.31255012e-01 3.58951386e-01 -6.25939694e-02 1.73863478e+02] [-3.57837888e-01 9.33346807e-01 2.85619088e-02 1.15411705e+02] [ 6.86742183e-02 -4.19992689e-03 9.97630298e-01 2.64460902e+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:173.89, Y:115.41, Z:26.45 [[ 9.32308433e-01 3.56205831e-01 -6.25970657e-02 1.73892139e+02] [-3.55086628e-01 9.34397181e-01 2.85551213e-02 1.15406943e+02] [ 6.86620224e-02 -4.39479943e-03 9.97630298e-01 2.64492836e+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:173.92, Y:115.41, Z:26.45 [[ 9.35123919e-01 3.48745804e-01 -6.26068772e-02 1.73923539e+02] [-3.47611381e-01 9.37204440e-01 2.85335935e-02 1.15410113e+02] [ 6.86264143e-02 -4.91958270e-03 9.97630299e-01 2.64536697e+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:173.95, Y:115.40, Z:26.46 [[ 9.36624145e-01 3.44695824e-01 -6.26099001e-02 1.73951573e+02] [-3.43552849e-01 9.38699980e-01 2.85269589e-02 1.15404633e+02] [ 6.86050356e-02 -5.20922896e-03 9.97630299e-01 2.64567165e+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:173.98, Y:115.41, Z:26.46 [[ 9.39322540e-01 3.37272581e-01 -6.26128728e-02 1.73982038e+02] [-3.36113644e-01 9.41389507e-01 2.85204328e-02 1.15406199e+02] [ 6.85622614e-02 -5.74484450e-03 9.97630299e-01 2.64616182e+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:174.01, Y:115.40, Z:26.46 [[ 9.39761421e-01 3.36047108e-01 -6.26163962e-02 1.74012983e+02] [-3.34885988e-01 9.41827161e-01 2.85126950e-02 1.15398198e+02] [ 6.85554314e-02 -5.82577709e-03 9.97630299e-01 2.64635893e+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:174.04, Y:115.41, Z:26.47 [[ 9.40570362e-01 3.33822080e-01 -6.23715811e-02 1.74042774e+02] [-3.32620705e-01 9.42613152e-01 2.90501800e-02 1.15405452e+02] [ 6.84898641e-02 -6.57765898e-03 9.97630128e-01 2.64701314e+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:174.07, Y:115.40, Z:26.47 [[ 9.38565070e-01 3.39371398e-01 -6.26311686e-02 1.74065943e+02] [-3.38219807e-01 9.40636109e-01 2.84793331e-02 1.15403909e+02] [ 6.85782098e-02 -5.54660556e-03 9.97630324e-01 2.64701998e+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:174.10, Y:115.41, Z:26.48 [[ 9.37287492e-01 3.42792210e-01 -6.31320616e-02 1.74104724e+02] [-3.41721794e-01 9.39402371e-01 2.73751847e-02 1.15407473e+02] [ 6.86904085e-02 -4.08481690e-03 9.97629662e-01 2.64776473e+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:174.14, Y:115.41, Z:26.48 [[ 9.34804603e-01 3.49594232e-01 -6.26436550e-02 1.74136783e+02] [-3.48467223e-01 9.36889082e-01 2.84506904e-02 1.15409086e+02] [ 6.86363537e-02 -4.76657580e-03 9.97630358e-01 2.64821974e+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:174.16, Y:115.40, Z:26.49 [[ 9.32625488e-01 3.55365105e-01 -6.26525434e-02 1.74160617e+02] [-3.54252310e-01 9.34717590e-01 2.84311034e-02 1.15404231e+02] [ 6.86658564e-02 -4.32076344e-03 9.97630358e-01 2.64851379e+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:174.20, Y:115.40, Z:26.49 [[ 9.31199738e-01 3.59016430e-01 -6.30416602e-02 1.74196393e+02] [-3.57969642e-01 9.33326066e-01 2.75715452e-02 1.15404752e+02] [ 6.87370624e-02 -3.10761520e-03 9.97629971e-01 2.64852285e+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:174.22, Y:115.40, Z:26.49 [[ 9.28723136e-01 3.65439245e-01 -6.26697312e-02 1.74222045e+02] [-3.64351754e-01 9.30828482e-01 2.83925565e-02 1.15399293e+02] [ 6.87105252e-02 -3.53499759e-03 9.97630376e-01 2.64857830e+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:174.25, Y:115.39, Z:26.49 [[ 9.28778849e-01 3.65253506e-01 -6.29263491e-02 1.74247963e+02] [-3.64203825e-01 9.30903495e-01 2.78254730e-02 1.15387755e+02] [ 6.87417098e-02 -2.92569374e-03 9.97630201e-01 2.64878867e+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:174.27, Y:115.39, Z:26.48 [[ 9.23478167e-01 3.78453176e-01 -6.29386185e-02 1.74273907e+02] [-3.77435730e-01 9.25618455e-01 2.77983200e-02 1.15386744e+02] [ 6.87775092e-02 -1.91585822e-03 9.97630184e-01 2.64835445e+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:174.31, Y:115.38, Z:26.49 [[ 9.18754652e-01 3.89719838e-01 -6.33114407e-02 1.74309554e+02] [-3.88785446e-01 9.20933451e-01 2.69714011e-02 1.15384940e+02] [ 6.88169136e-02 -1.65533574e-04 9.97629292e-01 2.64856654e+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:174.34, Y:115.38, Z:26.49 [[ 9.17305411e-01 3.93166596e-01 -6.30143676e-02 1.74341231e+02] [-3.92195066e-01 9.19467036e-01 2.76297016e-02 1.15379510e+02] [ 6.88027095e-02 -6.30950691e-04 9.97630086e-01 2.64887149e+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:174.37, Y:115.37, Z:26.49 [[ 9.15146557e-01 3.98214746e-01 -6.27040342e-02 1.74369471e+02] [-3.97207943e-01 9.17291666e-01 2.83169405e-02 1.15373473e+02] [ 6.87941113e-02 -1.00761012e-03 9.97630370e-01 2.64896563e+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:174.40, Y:115.37, Z:26.49 [[ 9.10431655e-01 4.08877969e-01 -6.27137005e-02 1.74395610e+02] [-4.07897769e-01 9.12589050e-01 2.82955162e-02 1.15370159e+02] [ 6.88012496e-02 -1.80355140e-04 9.97630370e-01 2.64892424e+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:174.42, Y:115.36, Z:26.49 [[ 9.08245349e-01 4.13659889e-01 -6.30545990e-02 1.74423525e+02] [-4.12743445e-01 9.10430925e-01 2.75386868e-02 1.15364675e+02] [ 6.87985070e-02 1.01348825e-03 9.97630061e-01 2.64882557e+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:174.45, Y:115.35, Z:26.49 [[ 9.09921893e-01 4.09945274e-01 -6.31428594e-02 1.74454764e+02] [-4.09033503e-01 9.12109628e-01 2.73426317e-02 1.15354682e+02] [ 6.88021926e-02 9.47885721e-04 9.97629871e-01 2.64880535e+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:174.48, Y:115.34, Z:26.49 [[ 9.11750903e-01 4.05925773e-01 -6.27260603e-02 1.74480769e+02] [-4.04940508e-01 9.13905973e-01 2.82675988e-02 1.15344240e+02] [ 6.88002681e-02 -3.72685973e-04 9.97630385e-01 2.64904852e+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:174.51, Y:115.33, Z:26.49 [[ 9.12881043e-01 4.03376124e-01 -6.27367795e-02 1.74505631e+02] [-4.02386476e-01 9.15034105e-01 2.82437889e-02 1.15332935e+02] [ 6.87991629e-02 -5.38787871e-04 9.97630385e-01 2.64927877e+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:174.53, Y:115.32, Z:26.50 [[ 9.14739638e-01 3.99142722e-01 -6.27413854e-02 1.74531320e+02] [-3.98143812e-01 9.16888418e-01 2.82335535e-02 1.15322350e+02] [ 6.87960670e-02 -8.46256132e-04 9.97630385e-01 2.64954732e+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:174.56, Y:115.31, Z:26.50 [[ 9.15636128e-01 3.97080217e-01 -6.27517577e-02 1.74556908e+02] [-3.96078047e-01 9.17783389e-01 2.82104811e-02 1.15311174e+02] [ 6.87943448e-02 -9.75941988e-04 9.97630385e-01 2.64977429e+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:174.58, Y:115.30, Z:26.50 [[ 9.17268820e-01 3.93293437e-01 -6.27549477e-02 1.74581434e+02] [-3.92282890e-01 9.19412151e-01 2.82033832e-02 1.15298357e+02] [ 6.87898670e-02 -1.25239181e-03 9.97630385e-01 2.65004986e+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:174.61, Y:115.29, Z:26.50 [[ 9.19264792e-01 3.88604822e-01 -6.27577474e-02 1.74605741e+02] [-3.87583769e-01 9.21403138e-01 2.81971519e-02 1.15285177e+02] [ 6.87827346e-02 -1.59676467e-03 9.97630385e-01 2.65010107e+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:174.63, Y:115.27, Z:26.50 [[ 9.21892321e-01 3.82328083e-01 -6.27677086e-02 1.74630469e+02] [-3.81293983e-01 9.24024388e-01 2.81749605e-02 1.15270861e+02] [ 6.87709722e-02 -2.04133009e-03 9.97630386e-01 2.64999293e+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:174.66, Y:115.26, Z:26.50 [[ 9.23159933e-01 3.79255578e-01 -6.27769483e-02 1.74655739e+02] [-3.78215782e-01 9.25289228e-01 2.81543586e-02 1.15258090e+02] [ 6.87645315e-02 -2.24774326e-03 9.97630386e-01 2.64999415e+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:174.68, Y:115.25, Z:26.50 [[ 9.24444036e-01 3.76114173e-01 -6.27801987e-02 1.74681080e+02] [-3.75067634e-01 9.26570024e-01 2.81471088e-02 1.15245597e+02] [ 6.87567768e-02 -2.47360627e-03 9.97630386e-01 2.65013313e+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:174.71, Y:115.23, Z:26.51 [[ 9.24449808e-01 3.76099483e-01 -6.27832083e-02 1.74706325e+02] [-3.75053366e-01 9.26576004e-01 2.81403942e-02 1.15234756e+02] [ 6.87570019e-02 -2.46732845e-03 9.97630386e-01 2.65054267e+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:174.73, Y:115.22, Z:26.51 [[ 9.23908853e-01 3.77424819e-01 -6.27928171e-02 1.74732639e+02] [-3.76383208e-01 9.26037260e-01 2.81189365e-02 1.15224427e+02] [ 6.87612728e-02 -2.34517247e-03 9.97630386e-01 2.65091602e+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:174.76, Y:115.22, Z:26.51 [[ 9.20486831e-01 3.85694071e-01 -6.28018952e-02 1.74759522e+02] [-3.84672970e-01 9.22625153e-01 2.80986467e-02 1.15216209e+02] [ 6.87800896e-02 -1.70624276e-03 9.97630386e-01 2.65137053e+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:174.79, Y:115.21, Z:26.52 [[ 9.16408456e-01 3.95286051e-01 -6.28050924e-02 1.74786335e+02] [-3.94287826e-01 9.18557553e-01 2.80914986e-02 1.15205514e+02] [ 6.87942695e-02 -9.80003489e-04 9.97630387e-01 2.65183394e+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:174.81, Y:115.19, Z:26.52 [[ 9.14425346e-01 3.99850819e-01 -6.28140825e-02 1.74811416e+02] [-3.98864705e-01 9.16580026e-01 2.80713817e-02 1.15193871e+02] [ 6.87984984e-02 -6.14862443e-04 9.97630387e-01 2.65204854e+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:174.84, Y:115.18, Z:26.52 [[ 9.09833711e-01 4.10189841e-01 -6.28244613e-02 1.74836947e+02] [-4.09229818e-01 9.12000141e-01 2.80481347e-02 1.15184354e+02] [ 6.88009775e-02 1.90504420e-04 9.97630387e-01 2.65236723e+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:174.86, Y:115.18, Z:26.53 [[ 9.07175632e-01 4.16034729e-01 -6.28289447e-02 1.74861775e+02] [-4.15089360e-01 9.09348497e-01 2.80380881e-02 1.15175403e+02] [ 6.87982248e-02 6.44156108e-04 9.97630387e-01 2.65265888e+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:174.89, Y:115.17, Z:26.53 [[ 9.02383214e-01 4.26329109e-01 -6.28333250e-02 1.74887502e+02] [-4.25409206e-01 9.04566981e-01 2.80282684e-02 1.15166527e+02] [ 6.87862178e-02 1.43763598e-03 9.97630387e-01 2.65308545e+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:174.91, Y:115.15, Z:26.53 [[ 9.00196943e-01 4.30925809e-01 -6.28363852e-02 1.74912802e+02] [-4.30017534e-01 9.02385573e-01 2.80214061e-02 1.15154895e+02] [ 6.87777945e-02 1.79596328e-03 9.97630387e-01 2.65336709e+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:174.94, Y:115.14, Z:26.54 [[ 8.96647226e-01 4.38262537e-01 -6.28466371e-02 1.74936351e+02] [-4.37373775e-01 8.98843852e-01 2.79983942e-02 1.15140938e+02] [ 6.87599607e-02 2.38278842e-03 9.97630388e-01 2.65361916e+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:174.96, Y:115.12, Z:26.54 [[ 8.94454781e-01 4.42718950e-01 -6.28536092e-02 1.74959099e+02] [-4.41842228e-01 8.96656240e-01 2.79827337e-02 1.15124258e+02] [ 6.87465674e-02 2.74208881e-03 9.97630388e-01 2.65399538e+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:174.98, Y:115.11, Z:26.54 [[ 8.93632554e-01 4.44374806e-01 -6.28640573e-02 1.74982549e+02] [-4.43503812e-01 8.95836285e-01 2.79592422e-02 1.15110002e+02] [ 6.87402864e-02 2.89516003e-03 9.97630388e-01 2.65419093e+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:175.00, Y:115.09, Z:26.54 [[ 8.92977911e-01 4.45688219e-01 -6.28686056e-02 1.75003708e+02] [-4.44821184e-01 8.95183203e-01 2.79490111e-02 1.15091752e+02] [ 6.87354647e-02 3.00743801e-03 9.97630388e-01 2.65433241e+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:175.03, Y:115.07, Z:26.54 [[ 8.94968477e-01 4.41676807e-01 -6.28730684e-02 1.75025349e+02] [-4.40800590e-01 8.97170137e-01 2.79389683e-02 1.15071419e+02] [ 6.87478336e-02 2.70998970e-03 9.97630388e-01 2.65433171e+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:175.05, Y:115.06, Z:26.54 [[ 8.97277950e-01 4.36965515e-01 -6.28762201e-02 1.75048160e+02] [-4.36078231e-01 8.99475173e-01 2.79318736e-02 1.15055194e+02] [ 6.87608645e-02 2.35629652e-03 9.97630388e-01 2.65447485e+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:175.07, Y:115.03, Z:26.55 [[ 9.01447330e-01 4.28296672e-01 -6.28861881e-02 1.75068512e+02] [-4.27389817e-01 9.03636547e-01 2.79094134e-02 1.15033357e+02] [ 6.87797668e-02 1.71805026e-03 9.97630388e-01 2.65473134e+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:175.09, Y:115.02, Z:26.55 [[ 9.03370385e-01 4.24224031e-01 -6.28960885e-02 1.75090605e+02] [-4.23308859e-01 9.05556139e-01 2.78870844e-02 1.15016999e+02] [ 6.87863104e-02 1.43210525e-03 9.97630389e-01 2.65487845e+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:175.11, Y:115.00, Z:26.55 [[ 9.06710877e-01 4.17035521e-01 -6.29027809e-02 1.75112426e+02] [-4.16104065e-01 9.08889740e-01 2.78719806e-02 1.14996313e+02] [ 6.87952982e-02 9.02274911e-04 9.97630389e-01 2.65491208e+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:175.14, Y:114.98, Z:26.55 [[ 9.08339891e-01 4.13473910e-01 -6.29123819e-02 1.75136708e+02] [-4.12535412e-01 9.10515730e-01 2.78502926e-02 1.14982430e+02] [ 6.87980827e-02 6.56053610e-04 9.97630389e-01 2.65511235e+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:175.16, Y:114.97, Z:26.55 [[ 9.09895131e-01 4.10038627e-01 -6.29219824e-02 1.75160914e+02] [-4.09093415e-01 9.12068061e-01 2.78285852e-02 1.14969194e+02] [ 6.87999254e-02 4.19874434e-04 9.97630389e-01 2.65516222e+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:175.18, Y:114.95, Z:26.55 [[ 9.12380617e-01 4.04476477e-01 -6.29316247e-02 1.75184294e+02] [-4.03519523e-01 9.14548402e-01 2.78067632e-02 1.14951894e+02] [ 6.88011984e-02 2.37873675e-05 9.97630390e-01 2.65474734e+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:175.21, Y:114.94, Z:26.55 [[ 9.13447455e-01 4.02060699e-01 -6.29360169e-02 1.75207392e+02] [-4.01098696e-01 9.15613004e-01 2.77968185e-02 1.14935723e+02] [ 6.88010438e-02 -1.47378780e-04 9.97630390e-01 2.65506755e+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:175.23, Y:114.92, Z:26.56 [[ 9.13091595e-01 4.02866744e-01 -6.29454194e-02 1.75232507e+02] [-4.01908122e-01 9.15258643e-01 2.77755104e-02 1.14922872e+02] [ 6.88011686e-02 -6.33098549e-05 9.97630390e-01 2.65575624e+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:175.26, Y:114.91, Z:26.56 [[ 9.10290966e-01 4.09154176e-01 -6.29540967e-02 1.75255650e+02] [-4.08211882e-01 9.12465163e-01 2.77558292e-02 1.14908272e+02] [ 6.87998335e-02 4.32729730e-04 9.97630390e-01 2.65617246e+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:175.28, Y:114.89, Z:26.57 [[ 9.08544322e-01 4.13017594e-01 -6.29577761e-02 1.75280516e+02] [-4.12085124e-01 9.10722751e-01 2.77474807e-02 1.14894549e+02] [ 6.87972768e-02 7.34146866e-04 9.97630390e-01 2.65664451e+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:175.30, Y:114.88, Z:26.57 [[ 9.05015236e-01 4.20693085e-01 -6.29662736e-02 1.75304935e+02] [-4.19780429e-01 9.07202039e-01 2.77281843e-02 1.14881394e+02] [ 6.87881872e-02 1.33758006e-03 9.97630391e-01 2.65736673e+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:175.33, Y:114.87, Z:26.58 [[ 9.03130291e-01 4.24723862e-01 -6.29707796e-02 1.75330319e+02] [-4.23821679e-01 9.05321435e-01 2.77179475e-02 1.14868284e+02] [ 6.87812702e-02 1.65546354e-03 9.97630391e-01 2.65791370e+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:175.36, Y:114.85, Z:26.58 [[ 9.02527978e-01 4.26009165e-01 -6.29240870e-02 1.75355161e+02] [-4.25102702e-01 9.04717365e-01 2.78241142e-02 1.14854636e+02] [ 6.87818418e-02 1.63715787e-03 9.97630381e-01 2.65819677e+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:175.38, Y:114.84, Z:26.58 [[ 9.02094922e-01 4.26916576e-01 -6.29840430e-02 1.75377759e+02] [-4.26021825e-01 9.04289110e-01 2.76877281e-02 1.14838492e+02] [ 6.87761342e-02 1.85561808e-03 9.97630393e-01 2.65837317e+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:175.40, Y:114.83, Z:26.59 [[ 9.02543412e-01 4.25966930e-01 -6.29886069e-02 1.75401301e+02] [-4.25070595e-01 9.04736953e-01 2.76773416e-02 1.14825513e+02] [ 6.87777525e-02 1.79460226e-03 9.97630393e-01 2.65856263e+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:175.42, Y:114.81, Z:26.59 [[ 9.04550911e-01 4.21686138e-01 -6.29956425e-02 1.75424625e+02] [-4.20780536e-01 9.06740642e-01 2.76613188e-02 1.14809018e+02] [ 6.87851040e-02 1.48626910e-03 9.97630393e-01 2.65882662e+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:175.45, Y:114.80, Z:26.59 [[ 9.06110476e-01 4.18322902e-01 -6.30059971e-02 1.75449147e+02] [-4.17410812e-01 9.08297512e-01 2.76377133e-02 1.14795344e+02] [ 6.87896789e-02 1.25656284e-03 9.97630393e-01 2.65891595e+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:175.47, Y:114.78, Z:26.59 [[ 9.09545023e-01 4.10800195e-01 -6.30162729e-02 1.75472753e+02] [-4.09871638e-01 9.11725119e-01 2.76142637e-02 1.14779434e+02] [ 6.87974639e-02 7.12166921e-04 9.97630393e-01 2.65896736e+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:175.50, Y:114.77, Z:26.59 [[ 9.10713876e-01 4.08200819e-01 -6.30263966e-02 1.75496628e+02] [-4.07267640e-01 9.12891997e-01 2.75911383e-02 1.14765107e+02] [ 6.87990183e-02 5.40979294e-04 9.97630394e-01 2.65928788e+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:175.52, Y:114.75, Z:26.59 [[ 9.12308066e-01 4.04608881e-01 -6.31319695e-02 1.75520203e+02] [-4.03683812e-01 9.14489676e-01 2.73498083e-02 1.14747811e+02] [ 6.87995097e-02 5.33903399e-04 9.97630364e-01 2.65885209e+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:175.54, Y:114.73, Z:26.59 [[ 9.11262310e-01 4.06974102e-01 -6.30323908e-02 1.75544369e+02] [-4.06038940e-01 9.13439579e-01 2.75774159e-02 1.14732900e+02] [ 6.87995746e-02 4.63345430e-04 9.97630394e-01 2.65886626e+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:175.57, Y:114.72, Z:26.59 [[ 9.10134392e-01 4.09488797e-01 -6.30421658e-02 1.75569437e+02] [-4.08561199e-01 9.12314894e-01 2.75550521e-02 1.14720275e+02] [ 6.87977919e-02 6.77782203e-04 9.97630395e-01 2.65903353e+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:175.59, Y:114.70, Z:26.59 [[ 9.06199694e-01 4.18122622e-01 -6.30522645e-02 1.75593008e+02] [-4.17217404e-01 9.08389581e-01 2.75319246e-02 1.14704935e+02] [ 6.87877406e-02 1.35708043e-03 9.97630395e-01 2.65924983e+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:175.62, Y:114.69, Z:26.59 [[ 9.03758705e-01 4.23371361e-01 -6.30626143e-02 1.75616595e+02] [-4.22480513e-01 9.05954477e-01 2.75081977e-02 1.14692392e+02] [ 6.87780409e-02 1.78195251e-03 9.97630395e-01 2.65937303e+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:175.64, Y:114.68, Z:26.60 [[ 8.99068064e-01 4.33242609e-01 -6.30670996e-02 1.75640087e+02] [-4.32376579e-01 9.01273742e-01 2.74979105e-02 1.14678193e+02] [ 6.87539874e-02 2.54624364e-03 9.97630395e-01 2.66015452e+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:175.67, Y:114.66, Z:26.60 [[ 8.97964672e-01 4.35514326e-01 -6.31404771e-02 1.75666496e+02] [-4.34665693e-01 9.00177115e-01 2.73294345e-02 1.14664230e+02] [ 6.87399727e-02 2.90413253e-03 9.97630384e-01 2.66031333e+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:175.69, Y:114.65, Z:26.60 [[ 8.97172103e-01 4.37153660e-01 -6.30784795e-02 1.75690508e+02] [-4.36299077e-01 8.99382242e-01 2.74717904e-02 1.14649939e+02] [ 6.87410580e-02 2.87415840e-03 9.97630396e-01 2.66042847e+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:175.71, Y:114.63, Z:26.60 [[ 8.97191751e-01 4.37111852e-01 -6.30887549e-02 1.75711710e+02] [-4.36258823e-01 8.99402489e-01 2.74481729e-02 1.14629589e+02] [ 6.87401048e-02 2.89675164e-03 9.97630396e-01 2.66038861e+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:175.73, Y:114.61, Z:26.61 [[ 8.98745311e-01 4.33907120e-01 -6.30989487e-02 1.75733013e+02] [-4.33047850e-01 9.00953631e-01 2.74247189e-02 1.14608944e+02] [ 6.87490077e-02 2.67702662e-03 9.97630396e-01 2.66090082e+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:175.75, Y:114.59, Z:26.61 [[ 9.01309675e-01 4.28552537e-01 -6.31157018e-02 1.75754991e+02] [-4.27682840e-01 9.03513910e-01 2.73861674e-02 1.14588718e+02] [ 6.87623260e-02 2.31008495e-03 9.97630396e-01 2.66149486e+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:175.78, Y:114.57, Z:26.62 [[ 9.03093754e-01 4.24781768e-01 -6.31040487e-02 1.75778831e+02] [-4.23900993e-01 9.05293586e-01 2.74129925e-02 1.14573992e+02] [ 6.87722300e-02 1.99336654e-03 9.97630396e-01 2.66185242e+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:175.80, Y:114.56, Z:26.62 [[ 9.03244396e-01 4.24459908e-01 -6.31137654e-02 1.75804969e+02] [-4.23579912e-01 9.05444539e-01 2.73906034e-02 1.14562933e+02] [ 6.87722272e-02 1.99331418e-03 9.97630396e-01 2.66204839e+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:175.82, Y:114.55, Z:26.62 [[ 9.07621161e-01 4.15017172e-01 -6.31234949e-02 1.75824832e+02] [-4.14115839e-01 9.09812649e-01 2.73681627e-02 1.14545101e+02] [ 6.87888116e-02 1.30051546e-03 9.97630397e-01 2.66238228e+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:175.85, Y:114.53, Z:26.63 [[ 9.10375228e-01 4.08910113e-01 -6.33203285e-02 1.75850329e+02] [-4.08025623e-01 9.12573689e-01 2.69137983e-02 1.14529927e+02] [ 6.87897900e-02 1.33466120e-03 9.97630284e-01 2.66262558e+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:175.87, Y:114.52, Z:26.63 [[ 9.12938811e-01 4.03169280e-01 -6.32238774e-02 1.75874443e+02] [-4.02255531e-01 9.15125182e-01 2.71364971e-02 1.14515983e+02] [ 6.87983643e-02 6.58192948e-04 9.97630368e-01 2.66276487e+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:175.90, Y:114.50, Z:26.63 [[ 9.17246371e-01 3.93284417e-01 -6.31384418e-02 1.75896785e+02] [-3.92333511e-01 9.19416813e-01 2.73338489e-02 1.14500930e+02] [ 6.88005218e-02 -3.00547151e-04 9.97630391e-01 2.66326578e+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:175.92, Y:114.49, Z:26.64 [[ 9.22082226e-01 3.81807999e-01 -6.31428517e-02 1.75921770e+02] [-3.80830781e-01 9.24240950e-01 2.73236580e-02 1.14488030e+02] [ 6.87916004e-02 -1.14791787e-03 9.97630391e-01 2.66364624e+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:175.95, Y:114.48, Z:26.64 [[ 9.26294189e-01 3.71471070e-01 -6.31531499e-02 1.75946173e+02] [-3.70471391e-01 9.28442603e-01 2.72998350e-02 1.14475968e+02] [ 6.87751738e-02 -1.89124329e-03 9.97630392e-01 2.66352953e+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:175.97, Y:114.46, Z:26.64 [[ 9.27316866e-01 3.68909950e-01 -6.31575752e-02 1.75969186e+02] [-3.67905035e-01 9.29462836e-01 2.72895933e-02 1.14464680e+02] [ 6.87700214e-02 -2.07011020e-03 9.97630392e-01 2.66370588e+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:176.00, Y:114.45, Z:26.64 [[ 9.30847428e-01 3.59867176e-01 -6.33930701e-02 1.75996535e+02] [-3.58878465e-01 9.33001082e-01 2.67437473e-02 1.14453793e+02] [ 6.87699998e-02 -2.14394077e-03 9.97630237e-01 2.66392999e+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:176.02, Y:114.44, Z:26.64 [[ 9.31953420e-01 3.57032721e-01 -6.31700830e-02 1.76022568e+02] [-3.56002439e-01 9.34087324e-01 2.72604972e-02 1.14443703e+02] [ 6.87392633e-02 -2.91680997e-03 9.97630395e-01 2.66384301e+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:176.05, Y:114.44, Z:26.64 [[ 9.33481793e-01 3.53015651e-01 -6.31798445e-02 1.76048889e+02] [-3.51977717e-01 9.35611985e-01 2.72378550e-02 1.14436318e+02] [ 6.87272088e-02 -3.18814433e-03 9.97630396e-01 2.66355934e+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:176.08, Y:114.43, Z:26.63 [[ 9.34995974e-01 3.48958300e-01 -6.33295586e-02 1.76077157e+02] [-3.47934578e-01 9.37133100e-01 2.68901803e-02 1.14427827e+02] [ 6.87317772e-02 -3.10766703e-03 9.97630335e-01 2.66344230e+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:176.10, Y:114.42, Z:26.64 [[ 9.36355639e-01 3.45318384e-01 -6.31928056e-02 1.76104769e+02] [-3.44264968e-01 9.38478219e-01 2.72078129e-02 1.14421263e+02] [ 6.87004296e-02 -3.72111984e-03 9.97630395e-01 2.66376132e+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:176.13, Y:114.41, Z:26.64 [[ 9.36594261e-01 3.44668823e-01 -6.32027944e-02 1.76131144e+02] [-3.43615496e-01 9.38716884e-01 2.71845896e-02 1.14413317e+02] [ 6.86992107e-02 -3.74347103e-03 9.97630395e-01 2.66393664e+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:176.16, Y:114.41, Z:26.64 [[ 9.36489288e-01 3.44953150e-01 -6.32070999e-02 1.76159869e+02] [-3.43901141e-01 9.38612565e-01 2.71745751e-02 1.14410379e+02] [ 6.87009335e-02 -3.71170474e-03 9.97630395e-01 2.66374862e+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:176.19, Y:114.41, Z:26.64 [[ 9.34190984e-01 3.51129159e-01 -6.32101254e-02 1.76190347e+02] [-3.50091668e-01 9.36321392e-01 2.71675359e-02 1.14406639e+02] [ 6.87243066e-02 -3.25032884e-03 9.97630395e-01 2.66356508e+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:176.22, Y:114.40, Z:26.64 [[ 9.31660112e-01 3.57788889e-01 -6.32182520e-02 1.76218141e+02] [-3.56767913e-01 9.33798484e-01 2.71486123e-02 1.14400625e+02] [ 6.87465797e-02 -2.73903528e-03 9.97630395e-01 2.66371465e+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:176.25, Y:114.40, Z:26.64 [[ 9.24497559e-01 3.75907517e-01 -6.32281811e-02 1.76249455e+02] [-3.74930061e-01 9.26656171e-01 2.71254680e-02 1.14403104e+02] [ 6.87874515e-02 -1.37128320e-03 9.97630396e-01 2.66415452e+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:176.28, Y:114.40, Z:26.64 [[ 9.20579946e-01 3.85400670e-01 -6.32367597e-02 1.76278559e+02] [-3.84446852e-01 9.22749106e-01 2.71054543e-02 1.14399289e+02] [ 6.87981237e-02 -6.41564484e-04 9.97630396e-01 2.66445638e+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:176.31, Y:114.40, Z:26.64 [[ 9.14219482e-01 4.00253132e-01 -6.32468913e-02 1.76307663e+02] [-3.99336192e-01 9.16404486e-01 2.70817931e-02 1.14399619e+02] [ 6.87993074e-02 4.98069908e-04 9.97630396e-01 2.66437518e+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:176.33, Y:114.39, Z:26.65 [[ 9.10964849e-01 4.07605209e-01 -6.32537534e-02 1.76331735e+02] [-4.06707014e-01 9.13157626e-01 2.70657560e-02 1.14392352e+02] [ 6.87927904e-02 1.06979287e-03 9.97630396e-01 2.66462234e+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:176.36, Y:114.39, Z:26.65 [[ 9.10154196e-01 4.09352851e-01 -6.36363324e-02 1.76363243e+02] [-4.08521280e-01 9.12373553e-01 2.61699153e-02 1.14385967e+02] [ 6.87728361e-02 2.17813771e-03 9.97629968e-01 2.66503937e+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:176.39, Y:114.38, Z:26.65 [[ 9.08114368e-01 4.13915204e-01 -6.32653035e-02 1.76385862e+02] [-4.13034165e-01 9.10314076e-01 2.70381465e-02 1.14378031e+02] [ 6.87827963e-02 1.57700245e-03 9.97630413e-01 2.66524933e+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:176.41, Y:114.37, Z:26.65 [[ 9.09058224e-01 4.11772815e-01 -6.36890363e-02 1.76413513e+02] [-4.10955898e-01 9.11283114e-01 2.60448976e-02 1.14368183e+02] [ 6.87633241e-02 2.49705673e-03 9.97629876e-01 2.66514112e+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:176.44, Y:114.36, Z:26.65 [[ 9.12216219e-01 4.04728049e-01 -6.36928281e-02 1.76442759e+02] [-4.03894565e-01 9.14434966e-01 2.60360044e-02 1.14355502e+02] [ 6.87804503e-02 1.97472160e-03 9.97629866e-01 2.66511369e+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:176.47, Y:114.34, Z:26.66 [[ 9.13666939e-01 4.01508359e-01 -6.32752820e-02 1.76468195e+02] [-4.00599106e-01 9.15855116e-01 2.70141233e-02 1.14342539e+02] [ 6.87973870e-02 6.66110042e-04 9.97630431e-01 2.66563864e+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:176.49, Y:114.33, Z:26.66 [[ 9.15606523e-01 3.97064040e-01 -6.32838376e-02 1.76490930e+02] [-3.96145551e-01 9.17790838e-01 2.69940658e-02 1.14327112e+02] [ 6.87996992e-02 3.53667965e-04 9.97630431e-01 2.66644382e+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:176.52, Y:114.31, Z:26.67 [[ 9.16605355e-01 3.94752327e-01 -6.32868382e-02 1.76515896e+02] [-3.93828815e-01 9.18787552e-01 2.69870291e-02 1.14313710e+02] [ 6.88003517e-02 1.87725137e-04 9.97630431e-01 2.66680503e+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:176.54, Y:114.30, Z:26.67 [[ 9.17242977e-01 3.93266955e-01 -6.32963150e-02 1.76539614e+02] [-3.92341444e-01 9.19424326e-01 2.69647838e-02 1.14299463e+02] [ 6.88005302e-02 1.00509078e-04 9.97630431e-01 2.66698403e+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:176.57, Y:114.29, Z:26.67 [[ 9.17654131e-01 3.92305946e-01 -6.33004045e-02 1.76565643e+02] [-3.91378812e-01 9.19834791e-01 2.69551802e-02 1.14288178e+02] [ 6.88005918e-02 3.89047078e-05 9.97630431e-01 2.66713083e+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:176.59, Y:114.28, Z:26.67 [[ 9.17899907e-01 3.91729036e-01 -6.33097422e-02 1.76591564e+02] [-3.90802046e-01 9.20080628e-01 2.69332308e-02 1.14276406e+02] [ 6.88005959e-02 1.95666759e-05 9.97630431e-01 2.66672906e+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:176.62, Y:114.26, Z:26.66 [[ 9.15881029e-01 3.96424833e-01 -6.33189740e-02 1.76617151e+02] [-3.95510525e-01 9.18067097e-01 2.69115097e-02 1.14262855e+02] [ 6.87994574e-02 3.95579435e-04 9.97630432e-01 2.66619396e+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:176.64, Y:114.25, Z:26.66 [[ 9.14607814e-01 3.99352265e-01 -6.33270471e-02 1.76643776e+02] [-3.98446270e-01 9.16797341e-01 2.68924991e-02 1.14250567e+02] [ 6.87976488e-02 6.36335857e-04 9.97630432e-01 2.66623134e+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:176.67, Y:114.24, Z:26.66 [[ 9.11377762e-01 4.06668484e-01 -6.33349779e-02 1.76666547e+02] [-4.05781361e-01 9.13575003e-01 2.68738080e-02 1.14238829e+02] [ 6.87899834e-02 1.20796254e-03 9.97630432e-01 2.66620712e+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:176.69, Y:114.23, Z:26.66 [[ 9.11127465e-01 4.07197332e-01 -6.35379791e-02 1.76694336e+02] [-4.06344829e-01 9.13338493e-01 2.63946650e-02 1.14227531e+02] [ 6.87795192e-02 1.76942499e-03 9.97630316e-01 2.66646449e+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:176.72, Y:114.21, Z:26.67 [[ 9.08594638e-01 4.12847227e-01 -6.33478616e-02 1.76719247e+02] [-4.11977167e-01 9.10798687e-01 2.68433459e-02 1.14213269e+02] [ 6.87793501e-02 1.70815236e-03 9.97630434e-01 2.66718177e+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:176.74, Y:114.20, Z:26.68 [[ 9.04910812e-01 4.20859032e-01 -6.33569063e-02 1.76736674e+02] [-4.20009973e-01 9.07123037e-01 2.68219811e-02 1.14198261e+02] [ 6.87607823e-02 2.33903175e-03 9.97630434e-01 2.66774098e+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:176.77, Y:114.18, Z:26.68 [[ 9.04840839e-01 4.20936758e-01 -6.38380873e-02 1.76765905e+02] [-4.20167862e-01 9.07082905e-01 2.56821046e-02 1.14183979e+02] [ 6.87169795e-02 3.58449551e-03 9.97629755e-01 2.66811457e+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:176.79, Y:114.17, Z:26.68 [[ 9.04305231e-01 4.22138006e-01 -6.34945222e-02 1.76792551e+02] [-4.21314959e-01 9.06527281e-01 2.64951519e-02 1.14169857e+02] [ 6.87441272e-02 2.79148757e-03 9.97630419e-01 2.66840305e+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:176.82, Y:114.15, Z:26.68 [[ 9.01915672e-01 4.27236812e-01 -6.33784460e-02 1.76816300e+02] [-4.26407036e-01 9.04135171e-01 2.67699725e-02 1.14153276e+02] [ 6.87397998e-02 2.88075757e-03 9.97630463e-01 2.66830841e+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:176.84, Y:114.14, Z:26.68 [[ 9.00336970e-01 4.30553259e-01 -6.33816323e-02 1.76840038e+02] [-4.29732188e-01 9.02559704e-01 2.67624264e-02 1.14135834e+02] [ 6.87283572e-02 3.14192558e-03 9.97630463e-01 2.66815008e+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:176.86, Y:114.12, Z:26.68 [[ 9.00016724e-01 4.31221018e-01 -6.33903101e-02 1.76863082e+02] [-4.30403040e-01 9.02240598e-01 2.67418559e-02 1.14120877e+02] [ 6.87249616e-02 3.21526465e-03 9.97630464e-01 2.66834834e+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:176.88, Y:114.10, Z:26.69 [[ 9.02994248e-01 4.24928466e-01 -6.35388611e-02 1.76884713e+02] [-4.24119713e-01 9.05221560e-01 2.63893281e-02 1.14101510e+02] [ 6.87303237e-02 3.11867200e-03 9.97630401e-01 2.66859725e+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:176.91, Y:114.09, Z:26.69 [[ 9.05801061e-01 4.18914183e-01 -6.35243665e-02 1.76910078e+02] [-4.18088226e-01 9.08022038e-01 2.64237442e-02 1.14085973e+02] [ 6.87508060e-02 2.62413414e-03 9.97630413e-01 2.66875691e+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:176.93, Y:114.07, Z:26.69 [[ 9.11624174e-01 4.06104875e-01 -6.34050084e-02 1.76931376e+02] [-4.05227976e-01 9.13825485e-01 2.67071191e-02 1.14065344e+02] [ 6.87870038e-02 1.34662786e-03 9.97630460e-01 2.66897183e+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:176.95, Y:114.05, Z:26.70 [[ 9.16610051e-01 3.94720874e-01 -6.34148712e-02 1.76953471e+02] [-3.93818251e-01 9.18800939e-01 2.66836797e-02 1.14047147e+02] [ 6.87982486e-02 5.15404633e-04 9.97630460e-01 2.66960170e+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:176.98, Y:114.03, Z:26.70 [[ 9.18789191e-01 3.89604865e-01 -6.35174965e-02 1.76979517e+02] [-3.88706896e-01 9.20982025e-01 2.64397037e-02 1.14033491e+02] [ 6.87995098e-02 3.97174935e-04 9.97630427e-01 2.66984478e+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:177.00, Y:114.01, Z:26.69 [[ 9.20858968e-01 3.84702847e-01 -6.34230320e-02 1.77002323e+02] [-3.83777717e-01 9.23040451e-01 2.66643989e-02 1.14013984e+02] [ 6.87998943e-02 -2.13804430e-04 9.97630457e-01 2.66949011e+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:177.03, Y:114.00, Z:26.69 [[ 9.21152061e-01 3.83999103e-01 -6.34316074e-02 1.77026333e+02] [-3.83073712e-01 9.23333434e-01 2.66439834e-02 1.13999734e+02] [ 6.87997896e-02 -2.44178936e-04 9.97630457e-01 2.66949778e+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:177.05, Y:113.99, Z:26.69 [[ 9.20348150e-01 3.85920273e-01 -6.34415070e-02 1.77050327e+02] [-3.85001062e-01 9.22532133e-01 2.66203909e-02 1.13985129e+02] [ 6.88001773e-02 -7.49799311e-05 9.97630458e-01 2.66940375e+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:177.08, Y:113.97, Z:26.70 [[ 9.19719402e-01 3.87415806e-01 -6.34445732e-02 1.77075473e+02] [-3.86500651e-01 9.21905088e-01 2.66130812e-02 1.13974384e+02] [ 6.88002032e-02 4.48017197e-05 9.97630458e-01 2.66951540e+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:177.10, Y:113.96, Z:26.70 [[ 9.18827092e-01 3.89526865e-01 -6.34475961e-02 1.77101192e+02] [-3.88617228e-01 9.21015080e-01 2.66058724e-02 1.13962403e+02] [ 6.87998949e-02 2.10632588e-04 9.97630458e-01 2.66994565e+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:177.13, Y:113.95, Z:26.70 [[ 9.19416195e-01 3.88132967e-01 -6.34559718e-02 1.77126614e+02] [-3.87221393e-01 9.21603377e-01 2.65858810e-02 1.13950592e+02] [ 6.88000948e-02 1.28020241e-04 9.97630458e-01 2.67032709e+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:177.15, Y:113.94, Z:26.71 [[ 9.22260600e-01 3.81323291e-01 -6.34660130e-02 1.77150210e+02] [-3.80397218e-01 9.24441681e-01 2.65618891e-02 1.13936823e+02] [ 6.87992947e-02 -3.54688937e-04 9.97630458e-01 2.67089058e+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:177.18, Y:113.92, Z:26.72 [[ 9.26146246e-01 3.71785963e-01 -6.34691122e-02 1.77175146e+02] [-3.70837941e-01 9.28317877e-01 2.65544815e-02 1.13922097e+02] [ 6.87920950e-02 -1.05657844e-03 9.97630458e-01 2.67167514e+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:177.20, Y:113.91, Z:26.72 [[ 9.27940905e-01 3.67282239e-01 -6.34778148e-02 1.77200637e+02] [-3.66325101e-01 9.30108534e-01 2.65336619e-02 1.13911829e+02] [ 6.87866000e-02 -1.36815329e-03 9.97630459e-01 2.67208000e+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:177.23, Y:113.90, Z:26.72 [[ 9.31305186e-01 3.58664068e-01 -6.34880866e-02 1.77226017e+02] [-3.57688551e-01 9.33464606e-01 2.65090614e-02 1.13904090e+02] [ 6.87717295e-02 -1.97906460e-03 9.97630459e-01 2.67236745e+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:177.25, Y:113.89, Z:26.73 [[ 9.34228307e-01 3.50978880e-01 -6.34924877e-02 1.77252935e+02] [-3.49986321e-01 9.36379946e-01 2.64985161e-02 1.13894867e+02] [ 6.87535117e-02 -2.53416165e-03 9.97630459e-01 2.67252014e+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:177.28, Y:113.89, Z:26.73 [[ 9.35313372e-01 3.48075180e-01 -6.35024811e-02 1.77279477e+02] [-3.47077566e-01 9.37462672e-01 2.64745457e-02 1.13886197e+02] [ 6.87463379e-02 -2.72170999e-03 9.97630459e-01 2.67272590e+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:177.31, Y:113.88, Z:26.73 [[ 9.37448886e-01 3.42280207e-01 -6.35125676e-02 1.77307787e+02] [-3.41270948e-01 9.39592742e-01 2.64503260e-02 1.13881136e+02] [ 6.87293706e-02 -3.12083453e-03 9.97630460e-01 2.67325458e+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:177.33, Y:113.87, Z:26.73 [[ 9.38577146e-01 3.39172252e-01 -6.35226266e-02 1.77334493e+02] [-3.38157527e-01 9.40718420e-01 2.64261465e-02 1.13874916e+02] [ 6.87199206e-02 -3.32232283e-03 9.97630460e-01 2.67349613e+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:177.36, Y:113.87, Z:26.74 [[ 9.40178051e-01 3.34708168e-01 -6.35269615e-02 1.77364703e+02] [-3.33683981e-01 9.42314815e-01 2.64157217e-02 1.13872855e+02] [ 6.87039548e-02 -3.63755230e-03 9.97630460e-01 2.67365165e+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:177.39, Y:113.87, Z:26.74 [[ 9.40608244e-01 3.33495998e-01 -6.35338574e-02 1.77391686e+02] [-3.32470175e-01 9.42744222e-01 2.63991238e-02 1.13865995e+02] [ 6.87001791e-02 -3.70812077e-03 9.97630460e-01 2.67379897e+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:177.42, Y:113.86, Z:26.74 [[ 9.40959079e-01 3.32504055e-01 -6.35379052e-02 1.77420753e+02] [-3.31476636e-01 9.43094291e-01 2.63893777e-02 1.13863105e+02] [ 6.86968108e-02 -3.76999352e-03 9.97630460e-01 2.67403337e+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:177.45, Y:113.85, Z:26.74 [[ 9.41080083e-01 3.32159575e-01 -6.35475732e-02 1.77447058e+02] [-3.31132942e-01 9.43215673e-01 2.63660760e-02 1.13852429e+02] [ 6.86968116e-02 -3.76989412e-03 9.97630461e-01 2.67422934e+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:177.48, Y:113.85, Z:26.74 [[ 9.40691767e-01 3.33255882e-01 -6.35571946e-02 1.77477816e+02] [-3.32233301e-01 9.42829299e-01 2.63428627e-02 1.13853376e+02] [ 6.87024992e-02 -3.66469748e-03 9.97630461e-01 2.67441619e+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:177.51, Y:113.85, Z:26.75 [[ 9.40918989e-01 3.32598846e-01 -6.36353917e-02 1.77507388e+02] [-3.31587494e-01 9.43061875e-01 2.61540254e-02 1.13848028e+02] [ 6.87109105e-02 -3.50811907e-03 9.97630445e-01 2.67458058e+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:177.54, Y:113.85, Z:26.74 [[ 9.40054221e-01 3.35047977e-01 -6.35681863e-02 1.77537458e+02] [-3.34031257e-01 9.42194549e-01 2.63163654e-02 1.13845975e+02] [ 6.87108436e-02 -3.50504921e-03 9.97630460e-01 2.67431805e+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:177.57, Y:113.84, Z:26.74 [[ 9.39589701e-01 3.36325433e-01 -6.36898426e-02 1.77566237e+02] [-3.35331492e-01 9.41740748e-01 2.60221761e-02 1.13840103e+02] [ 6.87312397e-02 -3.09295874e-03 9.97630418e-01 2.67423171e+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:177.60, Y:113.84, Z:26.74 [[ 9.36711379e-01 3.44281259e-01 -6.35783556e-02 1.77598001e+02] [-3.43287313e-01 9.38862377e-01 2.62917799e-02 1.13842487e+02] [ 6.87430931e-02 -2.80216648e-03 9.97630460e-01 2.67426532e+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:177.63, Y:113.84, Z:26.74 [[ 9.31543916e-01 3.58025837e-01 -6.35879940e-02 1.77627813e+02] [-3.57065238e-01 9.33710011e-01 2.62684484e-02 1.13843505e+02] [ 6.87775298e-02 -1.76515102e-03 9.97630460e-01 2.67425182e+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:177.66, Y:113.84, Z:26.74 [[ 9.28629029e-01 3.65508900e-01 -6.36503827e-02 1.77655637e+02] [-3.64576116e-01 9.30807255e-01 2.61172259e-02 1.13837143e+02] [ 6.87923165e-02 -1.04780485e-03 9.97630452e-01 2.67428161e+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:177.69, Y:113.84, Z:26.74 [[ 9.25353147e-01 3.73708157e-01 -6.37476830e-02 1.77687533e+02] [-3.72810916e-01 9.27546322e-01 2.58812933e-02 1.13836919e+02] [ 6.88009793e-02 -1.83504152e-04 9.97630388e-01 2.67428782e+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:177.72, Y:113.83, Z:26.74 [[ 9.24480322e-01 3.75886524e-01 -6.36038951e-02 1.77715392e+02] [-3.74970436e-01 9.26665615e-01 2.62299710e-02 1.13831340e+02] [ 6.87990352e-02 -3.99511823e-04 9.97630459e-01 2.67437829e+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:177.75, Y:113.83, Z:26.75 [[ 9.24018942e-01 3.77017623e-01 -6.36137341e-02 1.77745490e+02] [-3.76105853e-01 9.26206040e-01 2.62060874e-02 1.13828989e+02] [ 6.87995816e-02 -2.89423413e-04 9.97630460e-01 2.67460842e+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:177.77, Y:113.82, Z:26.75 [[ 9.24437160e-01 3.75989557e-01 -6.36222490e-02 1.77774707e+02] [-3.75076779e-01 9.26623837e-01 2.61853991e-02 1.13823536e+02] [ 6.87993291e-02 -3.43527726e-04 9.97630460e-01 2.67487505e+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:177.80, Y:113.81, Z:26.75 [[ 9.25001754e-01 3.74596969e-01 -6.36307097e-02 1.77800619e+02] [-3.73682313e-01 9.27187646e-01 2.61648233e-02 1.13814800e+02] [ 6.87988714e-02 -4.24836586e-04 9.97630460e-01 2.67492038e+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:177.83, Y:113.81, Z:26.75 [[ 9.27382598e-01 3.68662198e-01 -6.36372558e-02 1.77826769e+02] [-3.67734648e-01 9.29563050e-01 2.61488925e-02 1.13806730e+02] [ 6.87949498e-02 -8.48404044e-04 9.97630460e-01 2.67497507e+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:177.85, Y:113.80, Z:26.75 [[ 9.28602635e-01 3.65573688e-01 -6.36633675e-02 1.77852946e+02] [-3.64643244e-01 9.30781855e-01 2.60852975e-02 1.13797297e+02] [ 6.87928057e-02 -1.00845913e-03 9.97630459e-01 2.67543861e+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:177.88, Y:113.79, Z:26.76 [[ 9.31000892e-01 3.59405195e-01 -6.37592669e-02 1.77880804e+02] [-3.58476296e-01 9.33180817e-01 2.58516520e-02 1.13788481e+02] [ 6.87901428e-02 -1.21172527e-03 9.97630417e-01 2.67580691e+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:177.91, Y:113.78, Z:26.76 [[ 9.31485013e-01 3.58168635e-01 -6.36466773e-02 1.77905638e+02] [-3.57218094e-01 9.33655541e-01 2.61259449e-02 1.13779271e+02] [ 6.87815669e-02 -1.60018141e-03 9.97630460e-01 2.67590435e+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:177.93, Y:113.77, Z:26.76 [[ 9.31785269e-01 3.57385604e-01 -6.36532971e-02 1.77932111e+02] [-3.56434340e-01 9.33955480e-01 2.61098065e-02 1.13769501e+02] [ 6.87806146e-02 -1.64051216e-03 9.97630461e-01 2.67583165e+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:177.96, Y:113.76, Z:26.76 [[ 9.32289177e-01 3.56067307e-01 -6.36628854e-02 1.77958711e+02] [-3.55114572e-01 9.34458742e-01 2.60864067e-02 1.13761155e+02] [ 6.87788564e-02 -1.71245632e-03 9.97630461e-01 2.67595876e+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:177.99, Y:113.75, Z:26.76 [[ 9.31954925e-01 3.56939550e-01 -6.36724016e-02 1.77987155e+02] [-3.55990433e-01 9.34126075e-01 2.60631587e-02 1.13754048e+02] [ 6.87810227e-02 -1.62292329e-03 9.97630461e-01 2.67599862e+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:178.01, Y:113.75, Z:26.76 [[ 9.31033477e-01 3.59334714e-01 -6.36806677e-02 1.78013504e+02] [-3.58392564e-01 9.33207659e-01 2.60429463e-02 1.13745335e+02] [ 6.87854215e-02 -1.42417715e-03 9.97630461e-01 2.67604310e+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:178.04, Y:113.74, Z:26.76 [[ 9.29768912e-01 3.62592520e-01 -6.36901515e-02 1.78040405e+02] [-3.61659578e-01 9.31947060e-01 2.60197322e-02 1.13736318e+02] [ 6.87904097e-02 -1.15818480e-03 9.97630462e-01 2.67598570e+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:178.07, Y:113.73, Z:26.76 [[ 9.27320074e-01 3.68809803e-01 -6.36930917e-02 1.78069030e+02] [-3.67891961e-01 9.29504628e-01 2.60125330e-02 1.13730690e+02] [ 6.87967007e-02 -6.89767594e-04 9.97630462e-01 2.67588633e+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:178.09, Y:113.73, Z:26.76 [[ 9.23422714e-01 3.78460885e-01 -6.37012548e-02 1.78094855e+02] [-3.77567256e-01 9.25617284e-01 2.59925273e-02 1.13727036e+02] [ 6.88001373e-02 4.94179190e-05 9.97630462e-01 2.67583961e+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:178.13, Y:113.72, Z:26.76 [[ 9.23328116e-01 3.78644602e-01 -6.39801109e-02 1.78125297e+02] [-3.77798662e-01 9.25541798e-01 2.53090970e-02 1.13716623e+02] [ 6.87994199e-02 8.02999403e-04 9.97630190e-01 2.67607097e+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:178.15, Y:113.70, Z:26.76 [[ 9.21844953e-01 3.82289025e-01 -6.36944656e-02 1.78149664e+02] [-3.81403392e-01 9.24042748e-01 2.60086854e-02 1.13704277e+02] [ 6.87992440e-02 3.17309820e-04 9.97630474e-01 2.67628398e+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:178.17, Y:113.69, Z:26.77 [[ 9.21797867e-01 3.82401675e-01 -6.36996929e-02 1.78174864e+02] [-3.81517196e-01 9.23996127e-01 2.59958766e-02 1.13694533e+02] [ 6.87991363e-02 3.39584680e-04 9.97630474e-01 2.67677817e+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:178.20, Y:113.69, Z:26.77 [[ 9.20915131e-01 3.84521833e-01 -6.37046467e-02 1.78201186e+02] [-3.83643255e-01 9.23115756e-01 2.59837314e-02 1.13685736e+02] [ 6.87980751e-02 5.11046655e-04 9.97630475e-01 2.67749316e+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:178.23, Y:113.67, Z:26.78 [[ 9.18483341e-01 3.90294397e-01 -6.37074221e-02 1.78226562e+02] [-3.89430120e-01 9.20689622e-01 2.59769248e-02 1.13674112e+02] [ 6.87934106e-02 9.50216412e-04 9.97630475e-01 2.67800900e+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:178.25, Y:113.66, Z:26.78 [[ 9.16483323e-01 3.94966380e-01 -6.37171693e-02 1.78251737e+02] [-3.94115012e-01 9.18694617e-01 2.59529945e-02 1.13662181e+02] [ 6.87871807e-02 1.32640633e-03 9.97630475e-01 2.67815088e+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:178.28, Y:113.65, Z:26.78 [[ 9.13523917e-01 4.01763352e-01 -6.37201921e-02 1.78275624e+02] [-4.00928951e-01 9.15741669e-01 2.59455708e-02 1.13647177e+02] [ 6.87752145e-02 1.84537037e-03 9.97630475e-01 2.67813558e+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:178.30, Y:113.63, Z:26.78 [[ 9.12865359e-01 4.03255892e-01 -6.37300801e-02 1.78300181e+02] [-4.02426812e-01 9.15085105e-01 2.59212601e-02 1.13634656e+02] [ 6.87713479e-02 1.98407257e-03 9.97630475e-01 2.67822303e+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:178.32, Y:113.62, Z:26.78 [[ 9.12351232e-01 4.04416162e-01 -6.37400710e-02 1.78324427e+02] [-4.03591621e-01 9.14572668e-01 2.58966693e-02 1.13619395e+02] [ 6.87679585e-02 2.09810042e-03 9.97630476e-01 2.67843937e+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:178.35, Y:113.61, Z:26.79 [[ 9.12666958e-01 4.03701582e-01 -6.37499502e-02 1.78349246e+02] [-4.02877000e-01 9.14888379e-01 2.58723268e-02 1.13605969e+02] [ 6.87687879e-02 2.07057086e-03 9.97630476e-01 2.67877695e+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:178.37, Y:113.59, Z:26.79 [[ 9.14337099e-01 3.99902917e-01 -6.37599155e-02 1.78371790e+02] [-3.99070817e-01 9.16555714e-01 2.58477449e-02 1.13588442e+02] [ 6.87761035e-02 1.81116947e-03 9.97630476e-01 2.67934666e+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:178.39, Y:113.57, Z:26.80 [[ 9.17434917e-01 3.92743250e-01 -6.37645104e-02 1.78394316e+02] [-3.91894621e-01 9.19647262e-01 2.58364049e-02 1.13570715e+02] [ 6.87879310e-02 1.28574864e-03 9.97630476e-01 2.67985498e+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:178.42, Y:113.56, Z:26.80 [[ 9.18984054e-01 3.89103010e-01 -6.37742649e-02 1.78417599e+02] [-3.88247288e-01 9.21193665e-01 2.58123044e-02 1.13555726e+02] [ 6.87920942e-02 1.03908931e-03 9.97630477e-01 2.67997844e+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:178.44, Y:113.54, Z:26.80 [[ 9.22255912e-01 3.81282497e-01 -6.37784519e-02 1.78439322e+02] [-3.80408752e-01 9.24458458e-01 2.58019549e-02 1.13535220e+02] [ 6.87983631e-02 4.65875822e-04 9.97630477e-01 2.67977962e+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:178.46, Y:113.52, Z:26.80 [[ 9.24255080e-01 3.76408900e-01 -6.37878346e-02 1.78463473e+02] [-3.75525142e-01 9.26453628e-01 2.57787381e-02 1.13521708e+02] [ 6.87998172e-02 1.27805979e-04 9.97630477e-01 2.67991115e+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:178.49, Y:113.51, Z:26.80 [[ 9.27431385e-01 3.68511811e-01 -6.37971094e-02 1.78487096e+02] [-3.67610913e-01 9.29622965e-01 2.57557643e-02 1.13506378e+02] [ 6.87985614e-02 -4.34190463e-04 9.97630477e-01 2.68020060e+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:178.51, Y:113.49, Z:26.81 [[ 9.28546280e-01 3.65691858e-01 -6.38065182e-02 1.78511281e+02] [-3.64785908e-01 9.30735775e-01 2.57324342e-02 1.13492189e+02] [ 6.87971509e-02 -6.18037310e-04 9.97630478e-01 2.68052056e+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:178.53, Y:113.47, Z:26.81 [[ 9.28075019e-01 3.66884576e-01 -6.38158859e-02 1.78532578e+02] [-3.65983039e-01 9.30266334e-01 2.57091816e-02 1.13472758e+02] [ 6.87980725e-02 -5.04517341e-04 9.97630478e-01 2.68120946e+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:178.56, Y:113.46, Z:26.82 [[ 9.27281316e-01 3.68885314e-01 -6.38199485e-02 1.78556943e+02] [-3.67989199e-01 9.29474855e-01 2.56990928e-02 1.13460257e+02] [ 6.87990553e-02 -3.45236886e-04 9.97630478e-01 2.68154721e+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:178.58, Y:113.45, Z:26.81 [[ 9.24165494e-01 3.76621791e-01 -6.38291947e-02 1.78581231e+02] [-3.75745627e-01 9.26367077e-01 2.56761074e-02 1.13447337e+02] [ 6.87994461e-02 2.54568273e-04 9.97630478e-01 2.68103799e+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:178.61, Y:113.43, Z:26.81 [[ 9.20701918e-01 3.85010782e-01 -6.38331901e-02 1.78605943e+02] [-3.84155364e-01 9.22911645e-01 2.56661705e-02 1.13430759e+02] [ 6.87941469e-02 8.90970026e-04 9.97630478e-01 2.68069658e+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:178.62, Y:113.42, Z:26.81 [[ 9.17827080e-01 3.91813414e-01 -6.38412011e-02 1.78624792e+02] [-3.90975758e-01 9.20043601e-01 2.56462287e-02 1.13417339e+02] [ 6.87852250e-02 1.42155878e-03 9.97630479e-01 2.68093693e+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:178.65, Y:113.40, Z:26.81 [[ 9.18266417e-01 3.90709984e-01 -6.42844958e-02 1.78652994e+02] [-3.89946797e-01 9.20510342e-01 2.45398723e-02 1.13397648e+02] [ 6.87625163e-02 2.53339263e-03 9.97629840e-01 2.68130129e+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:178.67, Y:113.38, Z:26.82 [[ 9.17038382e-01 3.93653993e-01 -6.38524897e-02 1.78674774e+02] [-3.92822831e-01 9.19257310e-01 2.56168152e-02 1.13377881e+02] [ 6.87810296e-02 1.59111302e-03 9.97630512e-01 2.68186471e+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:178.70, Y:113.36, Z:26.82 [[ 9.16594565e-01 3.94685832e-01 -6.38552801e-02 1.78699938e+02] [-3.93857653e-01 9.18814608e-01 2.56098577e-02 1.13364806e+02] [ 6.87790122e-02 1.67603440e-03 9.97630512e-01 2.68211239e+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:178.72, Y:113.35, Z:26.82 [[ 9.14931559e-01 3.98524293e-01 -6.38641567e-02 1.78724253e+02] [-3.97706971e-01 9.17155622e-01 2.55877027e-02 1.13345567e+02] [ 6.87706915e-02 1.98822358e-03 9.97630512e-01 2.68228609e+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:178.75, Y:113.33, Z:26.82 [[ 9.14542998e-01 3.99433300e-01 -6.37506432e-02 1.78747855e+02] [-3.98598425e-01 9.16760587e-01 2.58712446e-02 1.13330072e+02] [ 6.87779138e-02 1.75054034e-03 9.97630460e-01 2.68238914e+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:178.77, Y:113.31, Z:26.83 [[ 9.15110409e-01 3.98128968e-01 -6.37672636e-02 1.78769639e+02] [-3.97293826e-01 9.17327882e-01 2.58296704e-02 1.13310966e+02] [ 6.87790289e-02 1.69733988e-03 9.97630475e-01 2.68264797e+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:178.79, Y:113.30, Z:26.83 [[ 9.16326497e-01 3.95312960e-01 -6.38233067e-02 1.78793729e+02] [-3.94480764e-01 9.18545036e-01 2.56893681e-02 1.13299076e+02] [ 6.87799217e-02 1.63721811e-03 9.97630514e-01 2.68279865e+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:178.82, Y:113.28, Z:26.83 [[ 9.19651655e-01 3.87501335e-01 -6.39026478e-02 1.78818684e+02] [-3.86664098e-01 9.21868272e-01 2.54904701e-02 1.13284129e+02] [ 6.87874148e-02 1.26650667e-03 9.97630537e-01 2.68334211e+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:178.84, Y:113.27, Z:26.84 [[ 9.20766900e-01 3.84851701e-01 -6.38551786e-02 1.78839395e+02] [-3.83999825e-01 9.22977944e-01 2.56095738e-02 1.13271987e+02] [ 6.87928095e-02 9.39929495e-04 9.97630526e-01 2.68350518e+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:178.87, Y:113.25, Z:26.84 [[ 9.26461422e-01 3.70869797e-01 -6.42248222e-02 1.78866266e+02] [-3.70048787e-01 9.28684436e-01 2.46802262e-02 1.13254331e+02] [ 6.87977433e-02 9.01040079e-04 9.97630221e-01 2.68383924e+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:178.89, Y:113.24, Z:26.84 [[ 9.30721125e-01 3.60105233e-01 -6.38937251e-02 1.78888469e+02] [-3.59201222e-01 9.32911352e-01 2.55125979e-02 1.13238027e+02] [ 6.87944015e-02 -7.94409728e-04 9.97630542e-01 2.68431881e+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:178.91, Y:113.23, Z:26.85 [[ 9.32283416e-01 3.56019622e-01 -6.40129754e-02 1.78913290e+02] [-3.55126606e-01 9.34478160e-01 2.52123268e-02 1.13226829e+02] [ 6.87948105e-02 -7.72323475e-04 9.97630532e-01 2.68455471e+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:178.94, Y:113.21, Z:26.84 [[ 9.34616987e-01 3.49838400e-01 -6.40638878e-02 1.78938476e+02] [-3.48939659e-01 9.36809429e-01 2.50840113e-02 1.13214863e+02] [ 6.87910046e-02 -1.08951190e-03 9.97630498e-01 2.68448079e+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:178.96, Y:113.20, Z:26.85 [[ 9.35445297e-01 3.47608336e-01 -6.41135038e-02 1.78963739e+02] [-3.46712937e-01 9.37639160e-01 2.49588865e-02 1.13203762e+02] [ 6.87912488e-02 -1.11869184e-03 9.97630449e-01 2.68458658e+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:178.99, Y:113.19, Z:26.85 [[ 9.36502030e-01 3.44757741e-01 -6.40784487e-02 1.78990293e+02] [-3.43849617e-01 9.38690616e-01 2.50473115e-02 1.13190314e+02] [ 6.87850930e-02 -1.42350806e-03 9.97630485e-01 2.68465922e+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:179.02, Y:113.18, Z:26.85 [[ 9.35377171e-01 3.47820574e-01 -6.39562070e-02 1.79015960e+02] [-3.46898524e-01 9.37559867e-01 2.53556598e-02 1.13179189e+02] [ 6.87819931e-02 -1.53079155e-03 9.97630540e-01 2.68489764e+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:179.04, Y:113.17, Z:26.85 [[ 9.33979194e-01 3.51555457e-01 -6.39658176e-02 1.79042262e+02] [-3.50643797e-01 9.36166250e-01 2.53313915e-02 1.13169783e+02] [ 6.87880286e-02 -1.22977548e-03 9.97630540e-01 2.68529470e+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:179.07, Y:113.16, Z:26.85 [[ 9.34111206e-01 3.51202804e-01 -6.39753533e-02 1.79068761e+02] [-3.50291969e-01 9.36298605e-01 2.53072859e-02 1.13159555e+02] [ 6.87880239e-02 -1.22976689e-03 9.97630541e-01 2.68549066e+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:179.10, Y:113.15, Z:26.86 [[ 9.29661213e-01 3.62816711e-01 -6.39848768e-02 1.79095571e+02] [-3.61934864e-01 9.31860459e-01 2.52831846e-02 1.13152996e+02] [ 6.87981385e-02 -3.46438359e-04 9.97630541e-01 2.68602256e+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:179.12, Y:113.15, Z:26.86 [[ 9.24397511e-01 3.76013681e-01 -6.40543017e-02 1.79123041e+02] [-3.75175411e-01 9.26613746e-01 2.51072904e-02 1.13146968e+02] [ 6.87942812e-02 8.22482192e-04 9.97630528e-01 2.68628782e+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:179.15, Y:113.14, Z:26.86 [[ 9.21938905e-01 3.82008639e-01 -6.40160619e-02 1.79150957e+02] [-3.81178046e-01 9.24158019e-01 2.52042495e-02 1.13138468e+02] [ 6.87891980e-02 1.16473915e-03 9.97630538e-01 2.68646936e+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:179.18, Y:113.13, Z:26.87 [[ 9.18004742e-01 3.91370229e-01 -6.40049743e-02 1.79177527e+02] [-3.90560301e-01 9.20231481e-01 2.52323745e-02 1.13132152e+02] [ 6.87745925e-02 1.83436256e-03 9.97630538e-01 2.68657537e+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:179.20, Y:113.12, Z:26.87 [[ 9.16909640e-01 3.93928367e-01 -6.40090101e-02 1.79204638e+02] [-3.93125364e-01 9.19138886e-01 2.52221324e-02 1.13123742e+02] [ 6.87688837e-02 2.03714903e-03 9.97630538e-01 2.68664063e+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:179.23, Y:113.12, Z:26.86 [[ 9.14857298e-01 3.98669990e-01 -6.40184645e-02 1.79232030e+02] [-3.97880218e-01 9.17091265e-01 2.51981126e-02 1.13116259e+02] [ 6.87565059e-02 2.41900341e-03 9.97630539e-01 2.68644518e+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:179.26, Y:113.11, Z:26.87 [[ 9.13953227e-01 4.00736741e-01 -6.40278324e-02 1.79259645e+02] [-3.99953686e-01 9.16189557e-01 2.51742866e-02 1.13106473e+02] [ 6.87498930e-02 2.60004716e-03 9.97630539e-01 2.68665310e+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:179.29, Y:113.09, Z:26.86 [[ 9.14082282e-01 4.00435938e-01 -6.40674698e-02 1.79286141e+02] [-3.99659203e-01 9.16320820e-01 2.50734289e-02 1.13094500e+02] [ 6.87466585e-02 2.68597683e-03 9.97630534e-01 2.68620131e+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:179.31, Y:113.08, Z:26.86 [[ 9.14917055e-01 3.98529893e-01 -6.40367585e-02 1.79311495e+02] [-3.97743028e-01 9.17152048e-01 2.51516215e-02 1.13082427e+02] [ 6.87551172e-02 2.45852669e-03 9.97630538e-01 2.68647093e+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:179.34, Y:113.07, Z:26.87 [[ 9.16450442e-01 3.94989418e-01 -6.40464411e-02 1.79335402e+02] [-3.94195640e-01 9.18682989e-01 2.51269413e-02 1.13067709e+02] [ 6.87632519e-02 2.21923132e-03 9.97630538e-01 2.68694459e+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:179.36, Y:113.05, Z:26.87 [[ 9.18501361e-01 3.90195757e-01 -6.40509240e-02 1.79359657e+02] [-3.89391121e-01 9.20730018e-01 2.51155090e-02 1.13052860e+02] [ 6.87735734e-02 1.87223191e-03 9.97630538e-01 2.68747465e+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:179.38, Y:113.04, Z:26.88 [[ 9.19916251e-01 3.86847770e-01 -6.40538424e-02 1.79384734e+02] [-3.86035540e-01 9.22142151e-01 2.51080637e-02 1.13040519e+02] [ 6.87797465e-02 1.62974382e-03 9.97630538e-01 2.68764577e+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:179.41, Y:113.03, Z:26.88 [[ 9.23736985e-01 3.77631942e-01 -6.40632464e-02 1.79408352e+02] [-3.76799166e-01 9.25955279e-01 2.50840464e-02 1.13025179e+02] [ 6.87922384e-02 9.67916442e-04 9.97630538e-01 2.68761654e+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:179.43, Y:113.01, Z:26.88 [[ 9.25848609e-01 3.72423187e-01 -6.40727884e-02 1.79433525e+02] [-3.71579618e-01 9.28062822e-01 2.50596493e-02 1.13012290e+02] [ 6.87963673e-02 6.06700736e-04 9.97630539e-01 2.68769318e+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:179.46, Y:113.00, Z:26.88 [[ 9.29549947e-01 3.63084502e-01 -6.40822962e-02 1.79457217e+02] [-3.62220364e-01 9.31756213e-01 2.50353127e-02 1.12997000e+02] [ 6.87990116e-02 -5.96609358e-05 9.97630539e-01 2.68757203e+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:179.48, Y:112.98, Z:26.88 [[ 9.30716625e-01 3.60081684e-01 -6.40916866e-02 1.79483026e+02] [-3.59212085e-01 9.32920745e-01 2.50112496e-02 1.12984839e+02] [ 6.87985569e-02 -2.55877510e-04 9.97630539e-01 2.68766389e+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:179.51, Y:112.97, Z:26.88 [[ 9.30458607e-01 3.60746257e-01 -6.41008420e-02 1.79509125e+02] [-3.59879850e-01 9.32663983e-01 2.49877635e-02 1.12972220e+02] [ 6.87987887e-02 -1.81478216e-04 9.97630540e-01 2.68783345e+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:179.54, Y:112.96, Z:26.88 [[ 9.29159099e-01 3.64078881e-01 -6.41087849e-02 1.79535174e+02] [-3.63221792e-01 9.31368112e-01 2.49673684e-02 1.12962468e+02] [ 6.87989696e-02 8.70501838e-05 9.97630540e-01 2.68800539e+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:179.56, Y:112.95, Z:26.88 [[ 9.25669217e-01 3.72861100e-01 -6.41178680e-02 1.79561118e+02] [-3.72026584e-01 9.27886856e-01 2.49440207e-02 1.12952808e+02] [ 6.87947819e-02 7.63639306e-04 9.97630540e-01 2.68845639e+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:179.59, Y:112.94, Z:26.89 [[ 9.22810866e-01 3.79878649e-01 -6.41273489e-02 1.79587431e+02] [-3.79062689e-01 9.25035399e-01 2.49196228e-02 1.12942295e+02] [ 6.87865005e-02 1.31218665e-03 9.97630541e-01 2.68911029e+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:179.61, Y:112.93, Z:26.90 [[ 9.20776136e-01 3.84782958e-01 -6.41356510e-02 1.79613796e+02] [-3.83980334e-01 9.23005515e-01 2.48982375e-02 1.12933580e+02] [ 6.87779771e-02 1.70112579e-03 9.97630541e-01 2.68974996e+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:179.64, Y:112.92, Z:26.90 [[ 9.19621479e-01 3.87528743e-01 -6.41701596e-02 1.79639019e+02] [-3.86738975e-01 9.21855447e-01 2.48092714e-02 1.12924947e+02] [ 6.87699169e-02 2.00196294e-03 9.97630538e-01 2.68999921e+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:179.67, Y:112.92, Z:26.90 [[ 9.17266848e-01 3.93060225e-01 -6.42276333e-02 1.79667099e+02] [-3.92294290e-01 9.19509123e-01 2.46609712e-02 1.12916415e+02] [ 6.87511416e-02 2.57544242e-03 9.97630517e-01 2.69020086e+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:179.69, Y:112.91, Z:26.90 [[ 9.16133326e-01 3.95707065e-01 -6.41533152e-02 1.79693558e+02] [-3.94934188e-01 9.18373195e-01 2.48528149e-02 1.12906504e+02] [ 6.87511194e-02 2.56784544e-03 9.97630538e-01 2.69032206e+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:179.72, Y:112.90, Z:26.90 [[ 9.14526401e-01 3.99405386e-01 -6.41622971e-02 1.79720648e+02] [-3.98643190e-01 9.16769926e-01 2.48296047e-02 1.12897047e+02] [ 6.87391422e-02 2.87053384e-03 9.97630538e-01 2.69011590e+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:179.75, Y:112.89, Z:26.90 [[ 9.14365116e-01 3.99773132e-01 -6.41706978e-02 1.79746470e+02] [-3.99013360e-01 9.16609463e-01 2.48078746e-02 1.12887441e+02] [ 6.87369906e-02 2.92151060e-03 9.97630538e-01 2.69010634e+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:179.77, Y:112.88, Z:26.90 [[ 9.14692757e-01 3.99021485e-01 -6.41795472e-02 1.79772746e+02] [-3.98261473e-01 9.16937023e-01 2.47849596e-02 1.12876701e+02] [ 6.87383343e-02 2.88961799e-03 9.97630539e-01 2.69011847e+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:179.80, Y:112.86, Z:26.90 [[ 9.14583891e-01 3.99269441e-01 -6.41889381e-02 1.79797021e+02] [-3.98511743e-01 9.16828939e-01 2.47606147e-02 1.12863400e+02] [ 6.87364328e-02 2.93438631e-03 9.97630539e-01 2.69031358e+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:179.82, Y:112.85, Z:26.91 [[ 9.14633673e-01 3.99153861e-01 -6.41984431e-02 1.79822215e+02] [-3.98397607e-01 9.16879207e-01 2.47359461e-02 1.12851283e+02] [ 6.87356660e-02 2.95217692e-03 9.97630539e-01 2.69058809e+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:179.85, Y:112.84, Z:26.91 [[ 9.15670208e-01 3.96769773e-01 -6.42013729e-02 1.79847215e+02] [-3.96008204e-01 9.17913946e-01 2.47283395e-02 1.12836629e+02] [ 6.87427932e-02 2.78126657e-03 9.97630539e-01 2.69132182e+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:179.87, Y:112.82, Z:26.92 [[ 9.17074434e-01 3.93511918e-01 -6.42094428e-02 1.79872526e+02] [-3.92743842e-01 9.19315952e-01 2.47073676e-02 1.12823896e+02] [ 6.87514086e-02 2.55936814e-03 9.97630540e-01 2.69170197e+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:179.90, Y:112.81, Z:26.92 [[ 9.20607514e-01 3.85172378e-01 -6.42187267e-02 1.79896239e+02] [-3.84385673e-01 9.22842561e-01 2.46832136e-02 1.12806827e+02] [ 6.87710663e-02 1.96120658e-03 9.97630540e-01 2.69208064e+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:179.92, Y:112.79, Z:26.92 [[ 9.23074159e-01 3.79221402e-01 -6.42279162e-02 1.79920884e+02] [-3.78421950e-01 9.25304678e-01 2.46592784e-02 1.12793848e+02] [ 6.87817175e-02 1.54291061e-03 9.97630540e-01 2.69230268e+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:179.94, Y:112.78, Z:26.92 [[ 9.29009527e-01 3.64437707e-01 -6.42375082e-02 1.79944643e+02] [-3.63604479e-01 9.31227650e-01 2.46342659e-02 1.12777822e+02] [ 6.87973992e-02 4.71577970e-04 9.97630541e-01 2.69229928e+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:179.97, Y:112.76, Z:26.92 [[ 9.34253092e-01 3.50775535e-01 -6.42470583e-02 1.79969092e+02] [-3.49911585e-01 9.36459430e-01 2.46093337e-02 1.12762631e+02] [ 6.87971158e-02 -5.10556159e-04 9.97630541e-01 2.69193820e+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:180.00, Y:112.75, Z:26.92 [[ 9.36205335e-01 3.45527590e-01 -6.42670709e-02 1.79995259e+02] [-3.44654861e-01 9.38408215e-01 2.45570409e-02 1.12750625e+02] [ 6.87938824e-02 -8.40474273e-04 9.97630541e-01 2.69196237e+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:180.02, Y:112.74, Z:26.92 [[ 9.38134052e-01 3.40257854e-01 -6.42580149e-02 1.80020448e+02] [-3.39371132e-01 9.40331337e-01 2.45807149e-02 1.12738588e+02] [ 6.87876063e-02 -1.25269041e-03 9.97630541e-01 2.69207397e+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:180.05, Y:112.73, Z:26.92 [[ 9.38288244e-01 3.39830680e-01 -6.42672541e-02 1.80045587e+02] [-3.38944613e-01 9.40485793e-01 2.45565347e-02 1.12728909e+02] [ 6.87875033e-02 -1.25806828e-03 9.97630541e-01 2.69244348e+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:180.07, Y:112.72, Z:26.93 [[ 9.35662678e-01 3.46993188e-01 -6.42734760e-02 1.80072699e+02] [-3.46125065e-01 9.37867377e-01 2.45402391e-02 1.12721774e+02] [ 6.87952921e-02 -7.14724827e-04 9.97630541e-01 2.69317151e+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:180.10, Y:112.72, Z:26.94 [[ 9.29196690e-01 3.63952274e-01 -6.42826019e-02 1.80101549e+02] [-3.63126045e-01 9.31417429e-01 2.45163105e-02 1.12718850e+02] [ 6.87967028e-02 5.62212410e-04 9.97630542e-01 2.69369307e+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:180.13, Y:112.71, Z:26.94 [[ 9.25636097e-01 3.72911955e-01 -6.42999951e-02 1.80128097e+02] [-3.72110388e-01 9.27865856e-01 2.44706553e-02 1.12712281e+02] [ 6.87871699e-02 1.27577425e-03 9.97630542e-01 2.69402165e+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:180.16, Y:112.71, Z:26.95 [[ 9.20467651e-01 3.85489327e-01 -6.43217133e-02 1.80155081e+02] [-3.84722196e-01 9.22709493e-01 2.44136065e-02 1.12705117e+02] [ 6.87614401e-02 2.27405576e-03 9.97630539e-01 2.69459591e+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:180.18, Y:112.70, Z:26.95 [[ 9.19273274e-01 3.88332129e-01 -6.43024545e-02 1.80181777e+02] [-3.87568394e-01 9.21516273e-01 2.44642271e-02 1.12695731e+02] [ 6.87560036e-02 2.43228887e-03 9.97630541e-01 2.69472994e+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:180.21, Y:112.69, Z:26.95 [[ 9.19020904e-01 3.88927499e-01 -6.43115683e-02 1.80208546e+02] [-3.88166893e-01 9.21264966e-01 2.44402452e-02 1.12686862e+02] [ 6.87534782e-02 2.50252542e-03 9.97630541e-01 2.69463907e+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:180.24, Y:112.68, Z:26.95 [[ 9.18599571e-01 3.89920104e-01 -6.43206032e-02 1.80235096e+02] [-3.89163586e-01 9.20845014e-01 2.44164445e-02 1.12676594e+02] [ 6.87497694e-02 2.60230112e-03 9.97630541e-01 2.69452048e+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:180.26, Y:112.67, Z:26.95 [[ 9.17945324e-01 3.91447521e-01 -6.43833844e-02 1.80261211e+02] [-3.90706318e-01 9.20195883e-01 2.42509680e-02 1.12665743e+02] [ 6.87383066e-02 2.89393236e-03 9.97630528e-01 2.69455324e+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:180.29, Y:112.65, Z:26.94 [[ 9.17287001e-01 3.92977601e-01 -6.44450428e-02 1.80286368e+02] [-3.92251555e-01 9.19542536e-01 2.40882302e-02 1.12650707e+02] [ 6.87260930e-02 3.18284775e-03 9.97630490e-01 2.69436652e+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:180.31, Y:112.64, Z:26.95 [[ 9.17306790e-01 3.92949336e-01 -6.43356225e-02 1.80311087e+02] [-3.92202992e-01 9.19555639e-01 2.43770204e-02 1.12638044e+02] [ 6.87391185e-02 2.87141733e-03 9.97630537e-01 2.69462099e+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:180.34, Y:112.63, Z:26.95 [[ 9.17496691e-01 3.92504268e-01 -6.43445582e-02 1.80335756e+02] [-3.91758484e-01 9.19745726e-01 2.43534113e-02 1.12625572e+02] [ 6.87394503e-02 2.86335234e-03 9.97630537e-01 2.69526526e+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:180.36, Y:112.62, Z:26.96 [[ 9.17629976e-01 3.92191104e-01 -6.43534388e-02 1.80362068e+02] [-3.91446197e-01 9.19879302e-01 2.43299221e-02 1.12615663e+02] [ 6.87393753e-02 2.86504303e-03 9.97630538e-01 2.69553509e+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:180.39, Y:112.60, Z:26.96 [[ 9.18295133e-01 3.90629581e-01 -6.43628676e-02 1.80386567e+02] [-3.89882595e-01 9.20543769e-01 2.43049534e-02 1.12603581e+02] [ 6.87430705e-02 2.77484139e-03 9.97630538e-01 2.69566512e+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:180.41, Y:112.59, Z:26.96 [[ 9.19773250e-01 3.87135341e-01 -6.43692182e-02 1.80410468e+02] [-3.86380988e-01 9.22019424e-01 2.42881228e-02 1.12588556e+02] [ 6.87524602e-02 2.53147647e-03 9.97630538e-01 2.69559593e+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:180.43, Y:112.58, Z:26.96 [[ 9.20871809e-01 3.84513337e-01 -6.43786071e-02 1.80434550e+02] [-3.83754326e-01 9.23116414e-01 2.42632109e-02 1.12575990e+02] [ 6.87584771e-02 2.36226207e-03 9.97630539e-01 2.69561694e+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:180.46, Y:112.56, Z:26.95 [[ 9.23481466e-01 3.78201742e-01 -6.43849677e-02 1.80458812e+02] [-3.77428563e-01 9.25721230e-01 2.42463205e-02 1.12560862e+02] [ 6.87725322e-02 1.90969821e-03 9.97630539e-01 2.69546150e+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:180.48, Y:112.55, Z:26.96 [[ 9.24948672e-01 3.74598678e-01 -6.43877604e-02 1.80484640e+02] [-3.73817290e-01 9.27185585e-01 2.42389022e-02 1.12548878e+02] [ 6.87792640e-02 1.64951771e-03 9.97630539e-01 2.69552826e+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:180.51, Y:112.53, Z:26.95 [[ 9.27176218e-01 3.69049196e-01 -6.43968224e-02 1.80509490e+02] [-3.68256090e-01 9.29409003e-01 2.42148029e-02 1.12534423e+02] [ 6.87874400e-02 1.26313269e-03 9.97630539e-01 2.69542603e+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:180.54, Y:112.52, Z:26.96 [[ 9.28266499e-01 3.66297688e-01 -6.43996178e-02 1.80535138e+02] [-3.65498479e-01 9.30497106e-01 2.42073660e-02 1.12519723e+02] [ 6.87907602e-02 1.06707547e-03 9.97630539e-01 2.69553686e+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:180.56, Y:112.51, Z:26.96 [[ 9.28276358e-01 3.66271332e-01 -6.44074160e-02 1.80560282e+02] [-3.65473500e-01 9.30507458e-01 2.41866001e-02 1.12508068e+02] [ 6.87904391e-02 1.08735472e-03 9.97630539e-01 2.69570730e+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:180.59, Y:112.50, Z:26.96 [[ 9.26943219e-01 3.69630610e-01 -6.44164686e-02 1.80585046e+02] [-3.68842539e-01 9.29177785e-01 2.41624662e-02 1.12496139e+02] [ 6.87855387e-02 1.36229969e-03 9.97630540e-01 2.69626943e+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:180.61, Y:112.49, Z:26.97 [[ 9.25828806e-01 3.72412649e-01 -6.44192565e-02 1.80611043e+02] [-3.71631810e-01 9.28065909e-01 2.41550311e-02 1.12485435e+02] [ 6.87809550e-02 1.57682128e-03 9.97630540e-01 2.69673398e+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:180.64, Y:112.47, Z:26.97 [[ 9.23670633e-01 3.77733193e-01 -6.44220129e-02 1.80635994e+02] [-3.76965750e-01 9.25912368e-01 2.41476773e-02 1.12473739e+02] [ 6.87705178e-02 1.98039201e-03 9.97630540e-01 2.69725234e+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:180.66, Y:112.46, Z:26.98 [[ 9.22603586e-01 3.80318443e-01 -6.45019794e-02 1.80661585e+02] [-3.79572185e-01 9.24852483e-01 2.39341190e-02 1.12462669e+02] [ 6.87574026e-02 2.40145321e-03 9.97630519e-01 2.69760330e+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:180.69, Y:112.45, Z:26.98 [[ 9.21140042e-01 3.83861061e-01 -6.44337469e-02 1.80687244e+02] [-3.83110711e-01 9.23387558e-01 2.41164247e-02 1.12450471e+02] [ 6.87546766e-02 2.47065414e-03 9.97630538e-01 2.69788301e+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:180.71, Y:112.44, Z:26.98 [[ 9.21279005e-01 3.83525961e-01 -6.44424747e-02 1.80713965e+02] [-3.82776423e-01 9.23526791e-01 2.40930802e-02 1.12440740e+02] [ 6.87546736e-02 2.47061103e-03 9.97630538e-01 2.69807897e+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:180.74, Y:112.42, Z:26.99 [[ 9.20174874e-01 3.86166082e-01 -6.44512091e-02 1.80737420e+02] [-3.85424628e-01 9.22425339e-01 2.40696922e-02 1.12424407e+02] [ 6.87463272e-02 2.69275731e-03 9.97630539e-01 2.69874346e+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:180.76, Y:112.41, Z:26.99 [[ 9.19836098e-01 3.86971692e-01 -6.44551164e-02 1.80762413e+02] [-3.86232940e-01 9.22087452e-01 2.40592247e-02 1.12411484e+02] [ 6.87434929e-02 2.76414578e-03 9.97630539e-01 2.69919762e+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:180.79, Y:112.40, Z:26.99 [[ 9.18987793e-01 3.88980567e-01 -6.44635975e-02 1.80787350e+02] [-3.88248329e-01 9.21241273e-01 2.40364790e-02 1.12398517e+02] [ 6.87362499e-02 2.93865322e-03 9.97630539e-01 2.69933682e+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:180.81, Y:112.39, Z:26.99 [[ 9.18018776e-01 3.91260633e-01 -6.44720423e-02 1.80812766e+02] [-3.90535579e-01 9.20274578e-01 2.40138066e-02 1.12386864e+02] [ 6.87276387e-02 3.13350105e-03 9.97630539e-01 2.69921004e+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:180.84, Y:112.37, Z:26.99 [[ 9.15520463e-01 3.97069966e-01 -6.44804117e-02 1.80836566e+02] [-3.96360800e-01 9.17781310e-01 2.39913127e-02 1.12370650e+02] [ 6.87051464e-02 3.59296981e-03 9.97630540e-01 2.69887910e+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:180.86, Y:112.35, Z:26.99 [[ 9.14131927e-01 4.00255874e-01 -6.44829894e-02 1.80860533e+02] [-3.99555074e-01 9.16395380e-01 2.39843824e-02 1.12353879e+02] [ 6.86918035e-02 3.83961586e-03 9.97630540e-01 2.69904362e+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:180.89, Y:112.34, Z:26.99 [[ 9.14022478e-01 4.00504443e-01 -6.44910905e-02 1.80886027e+02] [-3.99805791e-01 9.16286595e-01 2.39625799e-02 1.12340981e+02] [ 6.86894414e-02 3.88157480e-03 9.97630540e-01 2.69920275e+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:180.91, Y:112.33, Z:26.99 [[ 9.13899250e-01 4.00784258e-01 -6.44991406e-02 1.80910671e+02] [-4.00087824e-01 9.16164050e-01 2.39408922e-02 1.12327268e+02] [ 6.86869266e-02 3.92575737e-03 9.97630540e-01 2.69927930e+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:180.93, Y:112.31, Z:26.99 [[ 9.14280157e-01 3.99913271e-01 -6.45071299e-02 1.80934859e+02] [-3.99216193e-01 9.16544759e-01 2.39193461e-02 1.12308855e+02] [ 6.86893358e-02 3.88330727e-03 9.97630540e-01 2.69912700e+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:180.96, Y:112.29, Z:26.99 [[ 9.15119826e-01 3.97986982e-01 -6.45140813e-02 1.80957080e+02] [-3.97286455e-01 9.17383363e-01 2.39005824e-02 1.12292124e+02] [ 6.86962655e-02 3.75867389e-03 9.97630541e-01 2.69918647e+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:180.98, Y:112.28, Z:26.99 [[ 9.15888146e-01 3.96214766e-01 -6.45194741e-02 1.80981016e+02] [-3.95510882e-01 9.18150641e-01 2.38860157e-02 1.12277858e+02] [ 6.87025887e-02 3.64123552e-03 9.97630541e-01 2.69935790e+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:181.00, Y:112.26, Z:26.99 [[ 9.17784635e-01 3.91801341e-01 -6.45218742e-02 1.81004310e+02] [-3.91087029e-01 9.20043860e-01 2.38795307e-02 1.12256618e+02] [ 6.87189863e-02 3.31740173e-03 9.97630541e-01 2.69942533e+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:181.03, Y:112.24, Z:27.00 [[ 9.18870673e-01 3.89246387e-01 -6.45285653e-02 1.81028673e+02] [-3.88527059e-01 9.21128306e-01 2.38614359e-02 1.12241687e+02] [ 6.87270658e-02 3.14552003e-03 9.97630541e-01 2.69955837e+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:181.05, Y:112.22, Z:27.00 [[ 9.20961257e-01 3.84272622e-01 -6.45361541e-02 1.81052383e+02] [-3.83542536e-01 9.23215433e-01 2.38408935e-02 1.12223106e+02] [ 6.87421761e-02 2.79582100e-03 9.97630541e-01 2.69988778e+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:181.08, Y:112.21, Z:27.00 [[ 9.21891753e-01 3.82034552e-01 -6.45383431e-02 1.81076618e+02] [-3.81299406e-01 9.24144284e-01 2.38349663e-02 1.12210116e+02] [ 6.87485215e-02 2.63517307e-03 9.97630541e-01 2.70000254e+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:181.10, Y:112.19, Z:27.00 [[ 9.23707028e-01 3.77623675e-01 -6.45421355e-02 1.81102084e+02] [-3.76878488e-01 9.25956257e-01 2.38246926e-02 1.12194665e+02] [ 6.87599622e-02 2.31750647e-03 9.97630541e-01 2.70013482e+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:181.13, Y:112.18, Z:27.00 [[ 9.24009042e-01 3.76883705e-01 -6.45442755e-02 1.81126793e+02] [-3.76137122e-01 9.26257808e-01 2.38188937e-02 1.12182177e+02] [ 6.87615920e-02 2.26862488e-03 9.97630541e-01 2.70047145e+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:181.15, Y:112.17, Z:27.01 [[ 9.22796854e-01 3.79841623e-01 -6.45469366e-02 1.81150617e+02] [-3.79102750e-01 9.25048166e-01 2.38116802e-02 1.12166515e+02] [ 6.87536925e-02 2.49657764e-03 9.97630541e-01 2.70109767e+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:181.18, Y:112.15, Z:27.02 [[ 9.19722226e-01 3.87226526e-01 -6.45495450e-02 1.81175853e+02] [-3.86506219e-01 9.21979546e-01 2.38046072e-02 1.12152820e+02] [ 6.87311355e-02 3.05517421e-03 9.97630541e-01 2.70185939e+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:181.20, Y:112.14, Z:27.02 [[ 9.16531776e-01 3.94718350e-01 -6.45517475e-02 1.81201576e+02] [-3.94016906e-01 9.18795028e-01 2.37986330e-02 1.12142658e+02] [ 6.87035818e-02 3.62227646e-03 9.97630541e-01 2.70231062e+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:181.23, Y:112.13, Z:27.03 [[ 9.15197174e-01 3.97802532e-01 -6.45544553e-02 1.81228319e+02] [-3.97109229e-01 9.17462934e-01 2.37912858e-02 1.12133066e+02] [ 6.86905537e-02 3.86145247e-03 9.97630541e-01 2.70258077e+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:181.25, Y:112.12, Z:27.03 [[ 9.14253627e-01 3.99965942e-01 -6.45565755e-02 1.81252784e+02] [-3.99278404e-01 9.16521142e-01 2.37855312e-02 1.12120451e+02] [ 6.86808687e-02 4.03003830e-03 9.97630541e-01 2.70295872e+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:181.28, Y:112.11, Z:27.03 [[ 9.15557344e-01 3.96972116e-01 -6.45591867e-02 1.81280344e+02] [-3.96277661e-01 9.17822751e-01 2.37784417e-02 1.12107284e+02] [ 6.86932687e-02 3.81283654e-03 9.97630541e-01 2.70335044e+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:181.30, Y:112.09, Z:27.03 [[ 9.16478123e-01 3.94873211e-01 -6.43661258e-02 1.81303126e+02] [-3.94136843e-01 9.18730405e-01 2.43020848e-02 1.12092189e+02] [ 6.87313591e-02 3.09673261e-03 9.97630398e-01 2.70335555e+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:181.33, Y:112.08, Z:27.03 [[ 9.17485356e-01 3.92506460e-01 -6.44926407e-02 1.81329303e+02] [-3.91788334e-01 9.19743379e-01 2.39586874e-02 1.12083761e+02] [ 6.87206189e-02 3.28571937e-03 9.97630533e-01 2.70287038e+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:181.36, Y:112.07, Z:27.03 [[ 9.15388643e-01 3.97348942e-01 -6.46332031e-02 1.81357398e+02] [-3.96669587e-01 9.17658633e-01 2.35769327e-02 1.12068332e+02] [ 6.86794861e-02 4.05596958e-03 9.97630531e-01 2.70296276e+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:181.38, Y:112.06, Z:27.02 [[ 9.13271702e-01 4.02220925e-01 -6.44447565e-02 1.81383015e+02] [-4.01517672e-01 9.15534435e-01 2.40885245e-02 1.12056889e+02] [ 6.86903023e-02 3.87634090e-03 9.97630501e-01 2.70230737e+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:181.41, Y:112.04, Z:27.02 [[ 9.11970671e-01 4.05112683e-01 -6.47549881e-02 1.81411401e+02] [-4.04475953e-01 9.14253137e-01 2.32466243e-02 1.12040227e+02] [ 6.86199534e-02 4.99159592e-03 9.97630385e-01 2.70227031e+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:181.44, Y:112.02, Z:27.02 [[ 9.11434282e-01 4.06314690e-01 -6.47759317e-02 1.81440528e+02] [-4.05684982e-01 9.13718735e-01 2.31898601e-02 1.12024844e+02] [ 6.86093632e-02 5.14258919e-03 9.97630347e-01 2.70243134e+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:181.47, Y:112.01, Z:27.02 [[ 9.11542708e-01 4.06078752e-01 -6.47297317e-02 1.81468220e+02] [-4.05439611e-01 9.13824454e-01 2.33149889e-02 1.12005558e+02] [ 6.86193333e-02 4.99138909e-03 9.97630429e-01 2.70231258e+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:181.50, Y:111.99, Z:27.02 [[ 9.12390653e-01 4.04201776e-01 -6.45307727e-02 1.81498640e+02] [-4.03519988e-01 9.14659850e-01 2.38532697e-02 1.11991649e+02] [ 6.86652408e-02 4.27595629e-03 9.97630593e-01 2.70242598e+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:181.53, Y:111.98, Z:27.03 [[ 9.13151256e-01 4.02481893e-01 -6.45221579e-02 1.81528572e+02] [-4.01794193e-01 9.15418668e-01 2.38765496e-02 1.11977351e+02] [ 6.86746667e-02 4.12172713e-03 9.97630594e-01 2.70267964e+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:181.55, Y:111.96, Z:27.03 [[ 9.15430589e-01 3.97271763e-01 -6.45134297e-02 1.81554452e+02] [-3.96569498e-01 9.17693532e-01 2.39001097e-02 1.11959430e+02] [ 6.86983958e-02 3.70516689e-03 9.97630594e-01 2.70309174e+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:181.58, Y:111.94, Z:27.04 [[ 9.17637007e-01 3.92148986e-01 -6.45096622e-02 1.81582416e+02] [-3.91433372e-01 9.19895763e-01 2.39102742e-02 1.11943858e+02] [ 6.87185548e-02 3.31028212e-03 9.97630594e-01 2.70404172e+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:181.61, Y:111.93, Z:27.04 [[ 9.19140446e-01 3.88613344e-01 -6.45020146e-02 1.81612187e+02] [-3.87887595e-01 9.21395966e-01 2.39308873e-02 1.11930373e+02] [ 6.87317582e-02 3.02368489e-03 9.97630594e-01 2.70419112e+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:181.64, Y:111.91, Z:27.04 [[ 9.22379625e-01 3.80862762e-01 -6.44932790e-02 1.81639219e+02] [-3.80116411e-01 9.24628412e-01 2.39544067e-02 1.11914452e+02] [ 6.87556596e-02 2.41989707e-03 9.97630595e-01 2.70436957e+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:181.67, Y:111.90, Z:27.05 [[ 9.25951804e-01 3.72095124e-01 -6.44862441e-02 1.81668873e+02] [-3.71326156e-01 9.28192957e-01 2.39733298e-02 1.11901267e+02] [ 6.87760368e-02 1.74728116e-03 9.97630595e-01 2.70471236e+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:181.70, Y:111.89, Z:27.05 [[ 9.28548810e-01 3.65567519e-01 -6.44786556e-02 1.81702525e+02] [-3.64781377e-01 9.30783997e-01 2.39937225e-02 1.11890292e+02] [ 6.87870264e-02 1.24127030e-03 9.97630595e-01 2.70473039e+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:181.73, Y:111.88, Z:27.05 [[ 9.28370092e-01 3.66076579e-01 -6.41631530e-02 1.81729396e+02] [-3.65233053e-01 9.30584654e-01 2.48398629e-02 1.11879181e+02] [ 6.88025376e-02 3.73918406e-04 9.97630228e-01 2.70546966e+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:181.76, Y:111.87, Z:27.06 [[ 9.29904023e-01 3.62108688e-01 -6.44655366e-02 1.81762475e+02] [-3.61311808e-01 9.32135398e-01 2.40286847e-02 1.11866725e+02] [ 6.87916041e-02 9.47789025e-04 9.97630601e-01 2.70552263e+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:181.79, Y:111.85, Z:27.06 [[ 9.28494130e-01 3.65760356e-01 -6.41717475e-02 1.81789186e+02] [-3.64917750e-01 9.30708988e-01 2.48156319e-02 1.11854913e+02] [ 6.88017965e-02 3.76241176e-04 9.97630278e-01 2.70602739e+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:181.82, Y:111.85, Z:27.06 [[ 9.27108296e-01 3.69209295e-01 -6.44569951e-02 1.81819046e+02] [-3.68427934e-01 9.29345143e-01 2.40512376e-02 1.11846607e+02] [ 6.87827358e-02 1.44965569e-03 9.97630610e-01 2.70649287e+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:181.85, Y:111.84, Z:27.07 [[ 9.26195773e-01 3.71493701e-01 -6.44501460e-02 1.81853825e+02] [-3.70716581e-01 9.28434097e-01 2.40695773e-02 1.11839137e+02] [ 6.87794094e-02 1.59959708e-03 9.97630610e-01 2.70679181e+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:181.88, Y:111.83, Z:27.07 [[ 9.24054392e-01 3.76832463e-01 -6.41932651e-02 1.81881479e+02] [-3.76020506e-01 9.26280574e-01 2.47563382e-02 1.11829419e+02] [ 6.87899664e-02 1.26178100e-03 9.97630367e-01 2.70691831e+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:181.92, Y:111.82, Z:27.07 [[ 9.23816555e-01 3.77372459e-01 -6.44437735e-02 1.81917147e+02] [-3.76608426e-01 9.26059367e-01 2.40861396e-02 1.11820671e+02] [ 6.87682059e-02 2.01889357e-03 9.97630622e-01 2.70691764e+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:181.94, Y:111.81, Z:27.07 [[ 9.21023948e-01 3.84190155e-01 -6.41312138e-02 1.81943007e+02] [-3.83384551e-01 9.23252541e-01 2.49205238e-02 1.11811436e+02] [ 6.87835260e-02 1.63451745e-03 9.97630270e-01 2.70701253e+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:181.97, Y:111.80, Z:27.07 [[ 9.20359722e-01 3.85728087e-01 -6.44346513e-02 1.81974260e+02] [-3.84982765e-01 9.22608799e-01 2.41096402e-02 1.11801690e+02] [ 6.87477416e-02 2.61668850e-03 9.97630644e-01 2.70708941e+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:182.01, Y:111.79, Z:27.07 [[ 9.19103260e-01 3.88712888e-01 -6.44320419e-02 1.82006388e+02] [-3.87974381e-01 9.21354584e-01 2.41166117e-02 1.11793308e+02] [ 6.87391949e-02 2.83232519e-03 9.97630644e-01 2.70720363e+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:182.04, Y:111.78, Z:27.07 [[ 9.18367420e-01 3.90449617e-01 -6.44234277e-02 1.82037075e+02] [-3.89713758e-01 9.20619610e-01 2.41396010e-02 1.11783533e+02] [ 6.87347689e-02 2.93767300e-03 9.97630644e-01 2.70721711e+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:182.07, Y:111.78, Z:27.07 [[ 9.17473259e-01 3.92546982e-01 -6.44180538e-02 1.82068389e+02] [-3.91815267e-01 9.19726799e-01 2.41539331e-02 1.11775601e+02] [ 6.87285640e-02 3.07938919e-03 9.97630644e-01 2.70722618e+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:182.10, Y:111.77, Z:27.07 [[ 9.17104205e-01 3.93409699e-01 -6.44102900e-02 1.82099225e+02] [-3.92678654e-01 9.19357962e-01 2.41746189e-02 1.11766304e+02] [ 6.87266425e-02 3.12190137e-03 9.97630644e-01 2.70724470e+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:182.13, Y:111.75, Z:27.07 [[ 9.16656031e-01 3.94454175e-01 -6.44020512e-02 1.82128714e+02] [-3.93724161e-01 9.18910122e-01 2.41965477e-02 1.11754765e+02] [ 6.87241259e-02 3.17673216e-03 9.97630645e-01 2.70737524e+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:182.16, Y:111.74, Z:27.07 [[ 9.15539528e-01 3.97039970e-01 -6.43943678e-02 1.82157776e+02] [-3.96314888e-01 9.17795210e-01 2.42169783e-02 1.11741878e+02] [ 6.87159506e-02 3.34884580e-03 9.97630645e-01 2.70721561e+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:182.19, Y:111.73, Z:27.07 [[ 9.14644498e-01 3.99098723e-01 -6.43867307e-02 1.82187767e+02] [-3.98377293e-01 9.16901351e-01 2.42372663e-02 1.11730665e+02] [ 6.87093424e-02 3.48172926e-03 9.97630645e-01 2.70739233e+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:182.22, Y:111.72, Z:27.07 [[ 9.14827383e-01 3.98680534e-01 -6.43792730e-02 1.82216834e+02] [-3.97956684e-01 9.17083460e-01 2.42570595e-02 1.11720288e+02] [ 6.87119839e-02 3.42913974e-03 9.97630645e-01 2.70741681e+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:182.24, Y:111.71, Z:27.07 [[ 9.14421811e-01 3.99599952e-01 -6.44409075e-02 1.82244946e+02] [-3.98889854e-01 9.16682271e-01 2.40935382e-02 1.11707203e+02] [ 6.86996141e-02 3.67316734e-03 9.97630628e-01 2.70745300e+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:182.27, Y:111.69, Z:27.07 [[ 9.15040079e-01 3.98193775e-01 -6.43690256e-02 1.82273599e+02] [-3.97466829e-01 9.17295156e-01 2.42840773e-02 1.11694308e+02] [ 6.87151638e-02 3.36364852e-03 9.97630649e-01 2.70698859e+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:182.30, Y:111.68, Z:27.07 [[ 9.15655785e-01 3.96800939e-01 -6.42144720e-02 1.82301331e+02] [-3.96041884e-01 9.17900353e-01 2.46935022e-02 1.11682711e+02] [ 6.87408913e-02 2.82087233e-03 9.97630559e-01 2.70718513e+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:182.32, Y:111.67, Z:27.08 [[ 9.14314686e-01 3.99902084e-01 -6.40857051e-02 1.82322996e+02] [-3.99126745e-01 9.16553924e-01 2.50349085e-02 1.11668229e+02] [ 6.87495166e-02 2.68853437e-03 9.97630330e-01 2.70789122e+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:182.35, Y:111.65, Z:27.09 [[ 9.14365519e-01 3.99738162e-01 -6.43824461e-02 1.82351762e+02] [-3.99017622e-01 9.16622615e-01 2.42470506e-02 1.11653910e+02] [ 6.87068775e-02 3.51906352e-03 9.97630684e-01 2.70859270e+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:182.38, Y:111.64, Z:27.09 [[ 9.14786225e-01 3.98775687e-01 -6.43747864e-02 1.82379634e+02] [-3.98051346e-01 9.17042104e-01 2.42673697e-02 1.11642704e+02] [ 6.87116266e-02 3.42501490e-03 9.97630684e-01 2.70894271e+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:182.41, Y:111.63, Z:27.09 [[ 9.15745253e-01 3.96573885e-01 -6.43411701e-02 1.82407326e+02] [-3.95837870e-01 9.17997354e-01 2.43565035e-02 1.11632545e+02] [ 6.87241771e-02 3.16431924e-03 9.97630680e-01 2.70921893e+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:182.43, Y:111.62, Z:27.09 [[ 9.15821987e-01 3.96407221e-01 -6.42759935e-02 1.82434805e+02] [-3.95658689e-01 9.18069993e-01 2.45293410e-02 1.11622378e+02] [ 6.87334689e-02 2.96684552e-03 9.97630647e-01 2.70942515e+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:182.46, Y:111.61, Z:27.10 [[ 9.15598138e-01 3.96923291e-01 -6.42802529e-02 1.82460533e+02] [-3.96176818e-01 9.17846825e-01 2.45180399e-02 1.11610240e+02] [ 6.87312071e-02 3.01767438e-03 9.97630651e-01 2.70982726e+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:182.49, Y:111.60, Z:27.10 [[ 9.15739053e-01 3.96582427e-01 -6.43767445e-02 1.82486025e+02] [-3.95853058e-01 9.17993307e-01 2.42620166e-02 1.11595021e+02] [ 6.87193100e-02 3.26605503e-03 9.97630688e-01 2.71016162e+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:182.51, Y:111.58, Z:27.10 [[ 9.15698741e-01 3.96685769e-01 -6.43134174e-02 1.82512997e+02] [-3.95944857e-01 9.17949252e-01 2.44303364e-02 1.11583532e+02] [ 6.87276202e-02 3.09373854e-03 9.97630665e-01 2.71039682e+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:182.54, Y:111.57, Z:27.10 [[ 9.14507246e-01 3.99386885e-01 -6.45493014e-02 1.82543564e+02] [-3.98696490e-01 9.16773906e-01 2.38057676e-02 1.11569437e+02] [ 6.86848266e-02 3.96503290e-03 9.97630529e-01 2.71020868e+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:182.57, Y:111.56, Z:27.10 [[ 9.14070663e-01 4.00417377e-01 -6.43486427e-02 1.82572341e+02] [-3.99692243e-01 9.16326280e-01 2.43363677e-02 1.11560573e+02] [ 6.87090569e-02 3.47449365e-03 9.97630690e-01 2.71015445e+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:182.60, Y:111.55, Z:27.11 [[ 9.13574282e-01 4.01548608e-01 -6.43486427e-02 1.82600808e+02] [-4.00826266e-01 9.15830795e-01 2.43363677e-02 1.11550304e+02] [ 6.87047032e-02 3.55954660e-03 9.97630690e-01 2.71065239e+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:182.63, Y:111.54, Z:27.11 [[ 9.11549663e-01 4.06101687e-01 -6.44874562e-02 1.82630940e+02] [-4.05416426e-01 9.13817802e-01 2.39697061e-02 1.11535615e+02] [ 6.86639236e-02 4.29469646e-03 9.97630604e-01 2.71057584e+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:182.66, Y:111.52, Z:27.11 [[ 9.10400219e-01 4.08702579e-01 -6.42934108e-02 1.82656991e+02] [-4.07987750e-01 9.12659112e-01 2.44814379e-02 1.11524604e+02] [ 6.86835940e-02 3.94301757e-03 9.97630701e-01 2.71096364e+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:182.68, Y:111.51, Z:27.11 [[ 9.10395966e-01 4.08712663e-01 -6.42895372e-02 1.82683132e+02] [-4.07997141e-01 9.12654640e-01 2.44916527e-02 1.11513890e+02] [ 6.86841930e-02 3.93284557e-03 9.97630700e-01 2.71111994e+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:182.71, Y:111.50, Z:27.11 [[ 9.09218839e-01 4.11322442e-01 -6.43035856e-02 1.82710344e+02] [-4.10616013e-01 9.11480369e-01 2.44545787e-02 1.11498726e+02] [ 6.86701729e-02 4.16951829e-03 9.97630704e-01 2.71128805e+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:182.74, Y:111.48, Z:27.12 [[ 9.09207898e-01 4.11330657e-01 -6.44056543e-02 1.82736811e+02] [-4.10643219e-01 9.11475296e-01 2.41853601e-02 1.11484422e+02] [ 6.86523429e-02 4.45822479e-03 9.97630683e-01 2.71157205e+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:182.77, Y:111.47, Z:27.12 [[ 9.09068414e-01 4.11641762e-01 -6.43869406e-02 1.82765573e+02] [-4.10951627e-01 9.11334979e-01 2.42346198e-02 1.11470849e+02] [ 6.86540527e-02 4.42899057e-03 9.97630696e-01 2.71170018e+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:182.79, Y:111.46, Z:27.12 [[ 9.09620480e-01 4.10421612e-01 -6.43792165e-02 1.82794358e+02] [-4.09727005e-01 9.11885673e-01 2.42549196e-02 1.11456350e+02] [ 6.86612283e-02 4.31513198e-03 9.97630701e-01 2.71199796e+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:182.82, Y:111.44, Z:27.12 [[ 9.08107966e-01 4.13746268e-01 -6.44511314e-02 1.82823023e+02] [-4.13073275e-01 9.10379750e-01 2.40661885e-02 1.11439199e+02] [ 6.86323006e-02 4.76834247e-03 9.97630628e-01 2.71227290e+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:182.85, Y:111.42, Z:27.12 [[ 9.07189216e-01 4.15784327e-01 -6.42737841e-02 1.82851452e+02] [-4.15083632e-01 9.09452480e-01 2.45308832e-02 1.11422880e+02] [ 6.86535091e-02 4.42484304e-03 9.97630752e-01 2.71211913e+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:182.88, Y:111.41, Z:27.12 [[ 9.06713460e-01 4.16821979e-01 -6.42661637e-02 1.82879299e+02] [-4.16122467e-01 9.08977090e-01 2.45508309e-02 1.11410076e+02] [ 6.86497964e-02 4.48202570e-03 9.97630752e-01 2.71216481e+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:182.91, Y:111.39, Z:27.13 [[ 9.06331298e-01 4.17640668e-01 -6.43416653e-02 1.82906991e+02] [-4.16957144e-01 9.08599833e-01 2.43532954e-02 1.11394085e+02] [ 6.86317529e-02 4.75556315e-03 9.97630727e-01 2.71265959e+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:182.94, Y:111.38, Z:27.13 [[ 9.06867522e-01 4.16469683e-01 -6.43762428e-02 1.82937257e+02] [-4.15789611e-01 9.09137124e-01 2.42629168e-02 1.11379350e+02] [ 6.86316015e-02 4.76372171e-03 9.97630698e-01 2.71287580e+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:182.96, Y:111.36, Z:27.13 [[ 9.07241146e-01 4.15675701e-01 -6.42434053e-02 1.82963604e+02] [-4.14969178e-01 9.09502581e-01 2.46097012e-02 1.11360279e+02] [ 6.86591977e-02 4.33209954e-03 9.97630767e-01 2.71335434e+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:182.99, Y:111.34, Z:27.14 [[ 9.09328466e-01 4.11076513e-01 -6.43260586e-02 1.82992815e+02] [-4.10373727e-01 9.11591098e-01 2.43941410e-02 1.11342633e+02] [ 6.86669208e-02 4.21543759e-03 9.97630735e-01 2.71374087e+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:183.02, Y:111.33, Z:27.14 [[ 9.10249976e-01 4.09047698e-01 -6.42258764e-02 1.83021821e+02] [-4.08321505e-01 9.12505164e-01 2.46551201e-02 1.11329870e+02] [ 6.86915640e-02 3.78248402e-03 9.97630774e-01 2.71383465e+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:183.05, Y:111.31, Z:27.14 [[ 9.12836394e-01 4.03244129e-01 -6.42175224e-02 1.83051560e+02] [-4.02502068e-01 9.15086410e-01 2.46768601e-02 1.11314735e+02] [ 6.87153810e-02 3.32174957e-03 9.97630775e-01 2.71389250e+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:183.08, Y:111.30, Z:27.14 [[ 9.13718352e-01 4.01243123e-01 -6.42084891e-02 1.83077600e+02] [-4.00494487e-01 9.15966189e-01 2.47003423e-02 1.11299778e+02] [ 6.87236475e-02 3.14598987e-03 9.97630775e-01 2.71421387e+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:183.10, Y:111.29, Z:27.15 [[ 9.15731647e-01 3.96601540e-01 -6.43643458e-02 1.83104846e+02] [-3.95869906e-01 9.17985169e-01 2.42949942e-02 1.11285666e+02] [ 6.87209470e-02 3.23221247e-03 9.97630685e-01 2.71458608e+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:183.13, Y:111.27, Z:27.15 [[ 9.20016658e-01 3.86547472e-01 -6.44236145e-02 1.83133105e+02] [-3.85801958e-01 9.22265720e-01 2.41410557e-02 1.11269360e+02] [ 6.87473552e-02 2.64458328e-03 9.97630597e-01 2.71477401e+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:183.16, Y:111.25, Z:27.15 [[ 9.24001080e-01 3.76937131e-01 -6.43459751e-02 1.83164252e+02] [-3.76154226e-01 9.26237264e-01 2.43419412e-02 1.11254896e+02] [ 6.87750213e-02 1.71203048e-03 9.97630726e-01 2.71506058e+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:183.19, Y:111.24, Z:27.15 [[ 9.24558525e-01 3.75594078e-01 -6.41920767e-02 1.83189465e+02] [-3.74780284e-01 9.26783516e-01 2.47397165e-02 1.11242790e+02] [ 6.87842496e-02 1.18460897e-03 9.97630855e-01 2.71538316e+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:183.22, Y:111.23, Z:27.15 [[ 9.26732797e-01 3.70137895e-01 -6.45310888e-02 1.83221292e+02] [-3.69371941e-01 9.28975227e-01 2.38620399e-02 1.11231330e+02] [ 6.87800281e-02 1.72223855e-03 9.97630363e-01 2.71539402e+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:183.25, Y:111.22, Z:27.16 [[ 9.25523575e-01 3.73184160e-01 -6.43404632e-02 1.83249019e+02] [-3.72391295e-01 9.27756202e-01 2.43547510e-02 1.11218542e+02] [ 6.87810711e-02 1.41893222e-03 9.97630769e-01 2.71567836e+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:183.28, Y:111.21, Z:27.16 [[ 9.24990131e-01 3.74492089e-01 -6.44122181e-02 1.83280856e+02] [-3.73715274e-01 9.27228523e-01 2.41694227e-02 1.11206710e+02] [ 6.87761034e-02 1.71535223e-03 9.97630646e-01 2.71558828e+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:183.31, Y:111.19, Z:27.16 [[ 9.21835780e-01 3.82213973e-01 -6.42749810e-02 1.83309785e+02] [-3.81431240e-01 9.24071875e-01 2.45230382e-02 1.11194693e+02] [ 6.87677500e-02 1.91027161e-03 9.97630867e-01 2.71566558e+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:183.34, Y:111.18, Z:27.16 [[ 9.21588155e-01 3.82797542e-01 -6.43530483e-02 1.83341455e+02] [-3.82030181e-01 9.23829712e-01 2.43229117e-02 1.11183979e+02] [ 6.87620089e-02 2.16909944e-03 9.97630734e-01 2.71574278e+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:183.37, Y:111.17, Z:27.16 [[ 9.18702888e-01 3.89696405e-01 -6.42005901e-02 1.83371142e+02] [-3.88918621e-01 9.20940596e-01 2.47128472e-02 1.11168919e+02] [ 6.87554375e-02 2.26504087e-03 9.97630974e-01 2.71629106e+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:183.40, Y:111.16, Z:27.17 [[ 9.16639644e-01 3.94548379e-01 -6.40573123e-02 1.83400719e+02] [-3.93756867e-01 9.18872452e-01 2.50788275e-02 1.11157086e+02] [ 6.87553104e-02 2.23475910e-03 9.97631051e-01 2.71670911e+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:183.43, Y:111.15, Z:27.17 [[ 9.13653414e-01 4.01416447e-01 -6.40490009e-02 1.83430322e+02] [-4.00640229e-01 9.15891585e-01 2.51000361e-02 1.11145183e+02] [ 6.87375083e-02 2.72787269e-03 9.97631051e-01 2.71675013e+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:183.46, Y:111.13, Z:27.17 [[ 9.12396118e-01 4.04267359e-01 -6.40408155e-02 1.83463673e+02] [-4.03496672e-01 9.14636199e-01 2.51209033e-02 1.11132341e+02] [ 6.87296093e-02 2.92004130e-03 9.97631051e-01 2.71676528e+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:183.49, Y:111.12, Z:27.17 [[ 9.08986170e-01 4.11923059e-01 -6.37458700e-02 1.83488617e+02] [-4.11118589e-01 9.11214660e-01 2.58717707e-02 1.11122752e+02] [ 6.87433502e-02 2.69003038e-03 9.97630751e-01 2.71708215e+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:183.52, Y:111.11, Z:27.17 [[ 9.07452888e-01 4.15245602e-01 -6.40339492e-02 1.83518583e+02] [-4.14500793e-01 9.09701695e-01 2.51380060e-02 1.11110147e+02] [ 6.86902385e-02 3.73056661e-03 9.97631061e-01 2.71734185e+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:183.55, Y:111.10, Z:27.17 [[ 9.06441095e-01 4.17450933e-01 -6.40254641e-02 1.83550530e+02] [-4.16710075e-01 9.08691206e-01 2.51595986e-02 1.11095900e+02] [ 6.86822741e-02 3.87436180e-03 9.97631061e-01 2.71711171e+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:183.58, Y:111.08, Z:27.17 [[ 9.04884113e-01 4.20852376e-01 -6.37810290e-02 1.83576210e+02] [-4.20076285e-01 9.07122525e-01 2.57806062e-02 1.11083934e+02] [ 6.87070374e-02 3.46443667e-03 9.97630864e-01 2.71730880e+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:183.61, Y:111.07, Z:27.17 [[ 9.05376613e-01 4.19756157e-01 -6.40152857e-02 1.83606325e+02] [-4.19019222e-01 9.07628005e-01 2.51852155e-02 1.11072516e+02] [ 6.86737153e-02 4.02153016e-03 9.97631068e-01 2.71742187e+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:183.63, Y:111.06, Z:27.17 [[ 9.05305807e-01 4.19908392e-01 -6.40182605e-02 1.83634596e+02] [-4.19172369e-01 9.07557497e-01 2.51776574e-02 1.11058738e+02] [ 6.86725619e-02 4.04120648e-03 9.97631068e-01 2.71747325e+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:183.66, Y:111.04, Z:27.18 [[ 9.07379187e-01 4.15411102e-01 -6.40049107e-02 1.83661300e+02] [-4.14661531e-01 9.09626403e-01 2.52115489e-02 1.11041280e+02] [ 6.86937139e-02 3.66393954e-03 9.97631069e-01 2.71759519e+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:183.69, Y:111.03, Z:27.18 [[ 9.08023182e-01 4.14002608e-01 -6.39979746e-02 1.83689953e+02] [-4.13248316e-01 9.10268817e-01 2.52291435e-02 1.11027560e+02] [ 6.87002918e-02 3.53840803e-03 9.97631069e-01 2.71765504e+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:183.72, Y:111.01, Z:27.17 [[ 9.09564324e-01 4.10606804e-01 -6.39905755e-02 1.83721843e+02] [-4.09842810e-01 9.11806676e-01 2.52478965e-02 1.11014151e+02] [ 6.87139920e-02 3.26149133e-03 9.97631069e-01 2.71698280e+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:183.75, Y:111.00, Z:27.18 [[ 9.08630945e-01 4.12715346e-01 -6.36855396e-02 1.83745116e+02] [-4.11902456e-01 9.10856375e-01 2.60198150e-02 1.10996889e+02] [ 6.87471568e-02 2.58982107e-03 9.97630754e-01 2.71756287e+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:183.77, Y:110.98, Z:27.18 [[ 9.08622632e-01 4.12687422e-01 -6.39844072e-02 1.83772733e+02] [-4.11927506e-01 9.10866354e-01 2.52629233e-02 1.10982992e+02] [ 6.87069344e-02 3.40247343e-03 9.97631084e-01 2.71790763e+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:183.80, Y:110.97, Z:27.19 [[ 9.08389363e-01 4.13201678e-01 -6.39776409e-02 1.83801264e+02] [-4.12441829e-01 9.10633108e-01 2.52800474e-02 1.10969753e+02] [ 6.87059159e-02 3.42292910e-03 9.97631084e-01 2.71856559e+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:183.83, Y:110.96, Z:27.19 [[ 9.09019899e-01 4.11813897e-01 -6.39698123e-02 1.83831096e+02] [-4.11049233e-01 9.11262007e-01 2.52998417e-02 1.10956489e+02] [ 6.87120860e-02 3.29668272e-03 9.97631085e-01 2.71903326e+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:183.86, Y:110.94, Z:27.20 [[ 9.09688016e-01 4.10338968e-01 -6.39503387e-02 1.83856998e+02] [-4.09567217e-01 9.11927695e-01 2.53490469e-02 1.10937349e+02] [ 6.87197867e-02 3.13223814e-03 9.97631084e-01 2.71985478e+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:183.89, Y:110.92, Z:27.20 [[ 9.10758021e-01 4.07972690e-01 -6.38600868e-02 1.83886083e+02] [-4.07179162e-01 9.12990115e-01 2.55769359e-02 1.10921907e+02] [ 6.87383193e-02 2.70809710e-03 9.97631049e-01 2.72041328e+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:183.92, Y:110.91, Z:27.21 [[ 9.11138337e-01 4.07126252e-01 -6.38368664e-02 1.83915981e+02] [-4.06326552e-01 9.13368246e-01 2.56355349e-02 1.10909836e+02] [ 6.87434659e-02 2.58109521e-03 9.97631031e-01 2.72055500e+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:183.94, Y:110.90, Z:27.21 [[ 9.11517194e-01 4.06275014e-01 -6.38515371e-02 1.83943053e+02] [-4.05475818e-01 9.13747272e-01 2.55985249e-02 1.10896326e+02] [ 6.87442088e-02 2.55675869e-03 9.97631042e-01 2.72067787e+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:183.97, Y:110.88, Z:27.21 [[ 9.11885922e-01 4.05431689e-01 -6.39469343e-02 1.83972952e+02] [-4.04647259e-01 9.14121201e-01 2.53579613e-02 1.10883253e+02] [ 6.87361694e-02 2.75238371e-03 9.97631076e-01 2.72087242e+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:184.00, Y:110.87, Z:27.21 [[ 9.12707097e-01 4.03583260e-01 -6.39242296e-02 1.83999992e+02] [-4.02790301e-01 9.14939365e-01 2.54151656e-02 1.10868437e+02] [ 6.87439295e-02 2.55145766e-03 9.97631075e-01 2.72111458e+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:184.03, Y:110.85, Z:27.21 [[ 9.13336812e-01 4.02154260e-01 -6.39360544e-02 1.84029187e+02] [-4.01359890e-01 9.15568578e-01 2.53853837e-02 1.10854760e+02] [ 6.87466826e-02 2.47596231e-03 9.97631076e-01 2.72135203e+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:184.06, Y:110.84, Z:27.21 [[ 9.15408066e-01 3.97418244e-01 -6.39281804e-02 1.84057840e+02] [-3.96610943e-01 9.17635187e-01 2.54051972e-02 1.10839138e+02] [ 6.87592367e-02 2.09849350e-03 9.97631076e-01 2.72145671e+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:184.09, Y:110.83, Z:27.21 [[ 9.16680987e-01 3.94474446e-01 -6.39208908e-02 1.84087091e+02] [-3.93658715e-01 9.18905033e-01 2.54235253e-02 1.10826575e+02] [ 6.87661593e-02 1.85775351e-03 9.97631076e-01 2.72149595e+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:184.12, Y:110.81, Z:27.22 [[ 9.19581055e-01 3.87667118e-01 -6.39131436e-02 1.84115680e+02] [-3.86833568e-01 9.21798484e-01 2.54429863e-02 1.10812405e+02] [ 6.87784480e-02 1.32686120e-03 9.97631076e-01 2.72180104e+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:184.14, Y:110.80, Z:27.22 [[ 9.22249369e-01 3.81276227e-01 -6.39104094e-02 1.84144428e+02] [-3.80426833e-01 9.24460778e-01 2.54498526e-02 1.10795957e+02] [ 6.87860905e-02 8.42124186e-04 9.97631076e-01 2.72233284e+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:184.17, Y:110.78, Z:27.23 [[ 9.23353176e-01 3.78596751e-01 -6.39015857e-02 1.84172738e+02] [-3.77739408e-01 9.25561515e-01 2.54719885e-02 1.10782637e+02] [ 6.87884606e-02 6.18505717e-04 9.97631077e-01 2.72256653e+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:184.20, Y:110.77, Z:27.23 [[ 9.26653922e-01 3.70434374e-01 -6.39600167e-02 1.84202071e+02] [-3.69567679e-01 9.28858625e-01 2.53255753e-02 1.10768445e+02] [ 6.87912768e-02 1.69511232e-04 9.97631060e-01 2.72306229e+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:184.23, Y:110.76, Z:27.23 [[ 9.28137238e-01 3.66715834e-01 -6.38808699e-02 1.84231506e+02] [-3.65826663e-01 9.30332948e-01 2.55236687e-02 1.10755982e+02] [ 6.87904115e-02 -3.20141893e-04 9.97631083e-01 2.72340609e+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:184.26, Y:110.74, Z:27.24 [[ 9.28000348e-01 3.67063660e-01 -6.38719239e-02 1.84262347e+02] [-3.66173773e-01 9.30195769e-01 2.55460362e-02 1.10743420e+02] [ 6.87904149e-02 -3.18507109e-04 9.97631083e-01 2.72363660e+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:184.29, Y:110.73, Z:27.24 [[ 9.29839306e-01 3.62381656e-01 -6.38623605e-02 1.84292269e+02] [-3.61479074e-01 9.32029537e-01 2.55699216e-02 1.10732589e+02] [ 6.87876768e-02 -6.91011211e-04 9.97631083e-01 2.72369404e+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:184.32, Y:110.72, Z:27.24 [[ 9.29696596e-01 3.62749187e-01 -6.38534774e-02 1.84322979e+02] [-3.61845949e-01 9.31886556e-01 2.55920854e-02 1.10720788e+02] [ 6.87877053e-02 -6.87752535e-04 9.97631083e-01 2.72423256e+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:184.35, Y:110.71, Z:27.25 [[ 9.27464028e-01 3.68421551e-01 -6.38438546e-02 1.84352552e+02] [-3.67530056e-01 9.29658795e-01 2.56160686e-02 1.10709924e+02] [ 6.87905127e-02 -2.93446694e-04 9.97631084e-01 2.72486188e+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:184.38, Y:110.70, Z:27.25 [[ 9.23605813e-01 3.77991272e-01 -6.38349425e-02 1.84384649e+02] [-3.77120984e-01 9.25809075e-01 2.56382583e-02 1.10701827e+02] [ 6.87900069e-02 3.93851943e-04 9.97631084e-01 2.72532917e+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:184.42, Y:110.70, Z:27.25 [[ 9.18565750e-01 3.90089059e-01 -6.37768614e-02 1.84415914e+02] [-3.89237750e-01 9.20776424e-01 2.57827635e-02 1.10695466e+02] [ 6.87818044e-02 1.14119851e-03 9.97631075e-01 2.72523158e+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:184.45, Y:110.68, Z:27.25 [[ 9.16285632e-01 3.95418405e-01 -6.37567737e-02 1.84445714e+02] [-3.94576477e-01 9.18499904e-01 2.58327208e-02 1.10684546e+02] [ 6.87753238e-02 1.48677221e-03 9.97631066e-01 2.72543805e+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:184.48, Y:110.67, Z:27.25 [[ 9.14035986e-01 4.00580673e-01 -6.38227360e-02 1.84475592e+02] [-3.99762683e-01 9.16259196e-01 2.56687148e-02 1.10673789e+02] [ 6.87605598e-02 2.05181913e-03 9.97631082e-01 2.72544362e+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:184.51, Y:110.66, Z:27.26 [[ 9.13623174e-01 4.01522685e-01 -6.38140187e-02 1.84505645e+02] [-4.00705476e-01 9.15846672e-01 2.56903685e-02 1.10660739e+02] [ 6.87591223e-02 2.09931073e-03 9.97631082e-01 2.72564357e+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:184.53, Y:110.65, Z:27.25 [[ 9.13622933e-01 4.01533620e-01 -6.37486381e-02 1.84532614e+02] [-4.00705126e-01 9.15842261e-01 2.58525715e-02 1.10647587e+02] [ 6.87643735e-02 1.92490391e-03 9.97631072e-01 2.72543020e+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:184.56, Y:110.63, Z:27.26 [[ 9.13796450e-01 4.01129958e-01 -6.38028602e-02 1.84563257e+02] [-4.00309862e-01 9.16018884e-01 2.57180560e-02 1.10634533e+02] [ 6.87609075e-02 2.03984589e-03 9.97631082e-01 2.72560032e+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:184.59, Y:110.62, Z:27.26 [[ 9.15200048e-01 3.97918658e-01 -6.37935246e-02 1.84593145e+02] [-3.97089152e-01 9.17418986e-01 2.57411922e-02 1.10622774e+02] [ 6.87682913e-02 1.77337621e-03 9.97631083e-01 2.72562751e+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:184.62, Y:110.61, Z:27.26 [[ 9.15544632e-01 3.97135786e-01 -6.37275008e-02 1.84623638e+02] [-3.96292998e-01 9.17758575e-01 2.59047738e-02 1.10609025e+02] [ 6.87741731e-02 1.53778573e-03 9.97631068e-01 2.72576399e+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:184.65, Y:110.60, Z:27.26 [[ 9.17636481e-01 3.92286404e-01 -6.36762593e-02 1.84651262e+02] [-3.91423109e-01 9.19842542e-01 2.60316609e-02 1.10596409e+02] [ 6.87839989e-02 1.03675766e-03 9.97631037e-01 2.72585354e+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:184.68, Y:110.58, Z:27.26 [[ 9.19965711e-01 3.86774459e-01 -6.37856493e-02 1.84679603e+02] [-3.85916705e-01 9.22173887e-01 2.57608111e-02 1.10584117e+02] [ 6.87850839e-02 9.16884688e-04 9.97631080e-01 2.72625185e+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:184.71, Y:110.57, Z:27.27 [[ 9.21187548e-01 3.83856537e-01 -6.37782183e-02 1.84709951e+02] [-3.82990516e-01 9.23392494e-01 2.57791955e-02 1.10572187e+02] [ 6.87878408e-02 6.78978884e-04 9.97631080e-01 2.72656329e+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:184.74, Y:110.56, Z:27.27 [[ 9.23179586e-01 3.79042149e-01 -6.37691222e-02 1.84740184e+02] [-3.78163075e-01 9.25379361e-01 2.58016768e-02 1.10561708e+02] [ 6.87905525e-02 2.95546004e-04 9.97631080e-01 2.72659908e+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:184.77, Y:110.55, Z:27.27 [[ 9.23626962e-01 3.77951657e-01 -6.37634649e-02 1.84771159e+02] [-3.77069022e-01 9.25825310e-01 2.58156500e-02 1.10550469e+02] [ 6.87908974e-02 1.99196904e-04 9.97631081e-01 2.72673251e+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:184.80, Y:110.54, Z:27.27 [[ 9.23224121e-01 3.78936148e-01 -6.37543615e-02 1.84800975e+02] [-3.78054305e-01 9.25422787e-01 2.58381124e-02 1.10540709e+02] [ 6.87907336e-02 2.48242250e-04 9.97631081e-01 2.72715828e+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:184.83, Y:110.53, Z:27.28 [[ 9.22499439e-01 3.80698356e-01 -6.37459495e-02 1.84831610e+02] [-3.79819281e-01 9.24699213e-01 2.58588491e-02 1.10529639e+02] [ 6.87902507e-02 3.57166899e-04 9.97631081e-01 2.72763214e+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:184.87, Y:110.52, Z:27.28 [[ 9.21587025e-01 3.82903328e-01 -6.37369314e-02 1.84866696e+02] [-3.82027979e-01 9.23788284e-01 2.58810580e-02 1.10523725e+02] [ 6.87893737e-02 4.97643837e-04 9.97631081e-01 2.72764557e+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:184.89, Y:110.52, Z:27.28 [[ 9.19234051e-01 3.88564844e-01 -6.34517274e-02 1.84894895e+02] [-3.87654518e-01 9.21421367e-01 2.65826862e-02 1.10515922e+02] [ 6.87948748e-02 1.61638458e-04 9.97630813e-01 2.72796958e+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:184.93, Y:110.51, Z:27.28 [[ 9.15631101e-01 3.96935499e-01 -6.37330108e-02 1.84928290e+02] [-3.96093232e-01 9.17845218e-01 2.58903147e-02 1.10510831e+02] [ 6.87738242e-02 1.53823690e-03 9.97631092e-01 2.72837475e+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:184.96, Y:110.50, Z:27.29 [[ 9.11403167e-01 4.06550770e-01 -6.37239224e-02 1.84959038e+02] [-4.05730292e-01 9.13625451e-01 2.59126648e-02 1.10503686e+02] [ 6.87546111e-02 2.23784091e-03 9.97631092e-01 2.72930732e+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:184.99, Y:110.49, Z:27.30 [[ 9.09794744e-01 4.10138753e-01 -6.37159807e-02 1.84990234e+02] [-4.09325674e-01 9.12019745e-01 2.59321779e-02 1.10493024e+02] [ 6.87460235e-02 2.48762755e-03 9.97631092e-01 2.72975303e+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:185.02, Y:110.48, Z:27.30 [[ 9.09113827e-01 4.11647296e-01 -6.37067686e-02 1.85022661e+02] [-4.10836327e-01 9.11339597e-01 2.59547892e-02 1.10481141e+02] [ 6.87427197e-02 2.57719711e-03 9.97631092e-01 2.72992656e+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:185.05, Y:110.47, Z:27.30 [[ 9.10371978e-01 4.08888881e-01 -6.35038906e-02 1.85050181e+02] [-4.08036469e-01 9.12582342e-01 2.64520008e-02 1.10470896e+02] [ 6.87684582e-02 1.83074306e-03 9.97630968e-01 2.73022449e+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:185.08, Y:110.46, Z:27.30 [[ 9.13136876e-01 4.02646094e-01 -6.36959101e-02 1.85080584e+02] [-4.01811330e-01 9.15353827e-01 2.59812677e-02 1.10457768e+02] [ 6.87655510e-02 1.86928469e-03 9.97631097e-01 2.73017424e+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:185.11, Y:110.44, Z:27.30 [[ 9.14173813e-01 4.00287691e-01 -6.36867665e-02 1.85109484e+02] [-3.99445648e-01 9.16388009e-01 2.60036618e-02 1.10444782e+02] [ 6.87707349e-02 1.66753506e-03 9.97631097e-01 2.73035700e+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:185.14, Y:110.43, Z:27.30 [[ 9.15899133e-01 3.96325443e-01 -6.36782634e-02 1.85139995e+02] [-3.95472375e-01 9.18109105e-01 2.60244676e-02 1.10431241e+02] [ 6.87777521e-02 1.34720669e-03 9.97631097e-01 2.73042154e+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:185.17, Y:110.42, Z:27.31 [[ 9.17089991e-01 3.93563427e-01 -6.36692825e-02 1.85170362e+02] [-3.92702178e-01 9.19296787e-01 2.60464210e-02 1.10418611e+02] [ 6.87818856e-02 1.11615391e-03 9.97631097e-01 2.73054650e+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:185.20, Y:110.41, Z:27.31 [[ 9.17918520e-01 3.91628596e-01 -6.36602914e-02 1.85200513e+02] [-3.90761173e-01 9.20122897e-01 2.60683779e-02 1.10406435e+02] [ 6.87844140e-02 9.47323326e-04 9.97631098e-01 2.73079428e+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:185.23, Y:110.39, Z:27.31 [[ 9.20975151e-01 3.84386972e-01 -6.36508153e-02 1.85229626e+02] [-3.83500617e-01 9.23171983e-01 2.60914950e-02 1.10394163e+02] [ 6.87898802e-02 3.80508377e-04 9.97631098e-01 2.73085302e+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:185.26, Y:110.38, Z:27.31 [[ 9.22599303e-01 3.80465862e-01 -6.36887288e-02 1.85258523e+02] [-3.79576548e-01 9.24794946e-01 2.59990596e-02 1.10379985e+02] [ 6.87907692e-02 1.88033574e-04 9.97631092e-01 2.73142606e+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:185.29, Y:110.37, Z:27.31 [[ 9.25097761e-01 3.74379018e-01 -6.35175821e-02 1.85285366e+02] [-3.73446605e-01 9.27275491e-01 2.64158396e-02 1.10366001e+02] [ 6.87878333e-02 -7.16808718e-04 9.97631054e-01 2.73096411e+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:185.32, Y:110.35, Z:27.31 [[ 9.26512117e-01 3.70844483e-01 -6.36369885e-02 1.85315863e+02] [-3.69923717e-01 9.28694744e-01 2.61249904e-02 1.10353230e+02] [ 6.87876454e-02 -6.64288803e-04 9.97631103e-01 2.73112600e+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:185.34, Y:110.34, Z:27.31 [[ 9.26491296e-01 3.70923426e-01 -6.34798412e-02 1.85342458e+02] [-3.69976623e-01 9.28662835e-01 2.65073072e-02 1.10341637e+02] [ 6.87835505e-02 -1.07273212e-03 9.97631030e-01 2.73113368e+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:185.37, Y:110.33, Z:27.31 [[ 9.26056497e-01 3.71982671e-01 -6.36259167e-02 1.85372206e+02] [-3.71062737e-01 9.28239474e-01 2.61519285e-02 1.10330258e+02] [ 6.87881517e-02 -6.08956473e-04 9.97631104e-01 2.73123053e+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:185.40, Y:110.32, Z:27.31 [[ 9.24020861e-01 3.77012260e-01 -6.36176369e-02 1.85402095e+02] [-3.76102824e-01 9.26208232e-01 2.61720546e-02 1.10321997e+02] [ 6.87903645e-02 -2.56751571e-04 9.97631104e-01 2.73121352e+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:185.43, Y:110.31, Z:27.32 [[ 9.21214913e-01 3.83818293e-01 -6.36129053e-02 1.85433891e+02] [-3.82924223e-01 9.23408610e-01 2.61835500e-02 1.10313393e+02] [ 6.87904300e-02 2.38245574e-04 9.97631104e-01 2.73185169e+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:185.46, Y:110.30, Z:27.32 [[ 9.16955072e-01 3.93923711e-01 -6.33837928e-02 1.85461546e+02] [-3.93015333e-01 9.19143055e-01 2.67393410e-02 1.10304908e+02] [ 6.87920335e-02 3.92028042e-04 9.97630945e-01 2.73226571e+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:185.49, Y:110.30, Z:27.33 [[ 9.15440240e-01 3.97395840e-01 -6.36059257e-02 1.85492775e+02] [-3.96533151e-01 9.17646454e-01 2.62001003e-02 1.10295475e+02] [ 6.87795631e-02 1.23723199e-03 9.97631115e-01 2.73253684e+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:185.52, Y:110.29, Z:27.33 [[ 9.13184918e-01 4.02552873e-01 -6.35963018e-02 1.85523931e+02] [-4.01701016e-01 9.15395338e-01 2.62234399e-02 1.10288987e+02] [ 6.87720793e-02 1.59984922e-03 9.97631115e-01 2.73257917e+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:185.55, Y:110.28, Z:27.33 [[ 9.12431980e-01 4.04257315e-01 -6.35917125e-02 1.85554262e+02] [-4.03408812e-01 9.14643689e-01 2.62345642e-02 1.10277069e+02] [ 6.87692730e-02 1.71620187e-03 9.97631115e-01 2.73276295e+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:185.58, Y:110.26, Z:27.34 [[ 9.11693024e-01 4.05920264e-01 -6.35969354e-02 1.85583652e+02] [-4.05076677e-01 9.13906613e-01 2.62219113e-02 1.10264931e+02] [ 6.87656650e-02 1.85530163e-03 9.97631115e-01 2.73354884e+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:185.61, Y:110.25, Z:27.34 [[ 9.11841258e-01 4.05590024e-01 -6.35787102e-02 1.85613563e+02] [-4.04742561e-01 9.14053365e-01 2.62660270e-02 1.10252766e+02] [ 6.87675725e-02 1.78256290e-03 9.97631116e-01 2.73417996e+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:185.64, Y:110.24, Z:27.35 [[ 9.11891510e-01 4.05488463e-01 -6.35057525e-02 1.85642503e+02] [-4.04628471e-01 9.14098790e-01 2.64424235e-02 1.10242384e+02] [ 6.87726292e-02 1.58361402e-03 9.97631103e-01 2.73462029e+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:185.67, Y:110.23, Z:27.35 [[ 9.11861563e-01 4.05546110e-01 -6.35676271e-02 1.85674182e+02] [-4.04696674e-01 9.14072912e-01 2.62928329e-02 1.10232744e+02] [ 6.87684021e-02 1.75018360e-03 9.97631116e-01 2.73469727e+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:185.70, Y:110.22, Z:27.35 [[ 9.11495507e-01 4.06369698e-01 -6.35579182e-02 1.85704654e+02] [-4.05520626e-01 9.13706997e-01 2.63162813e-02 1.10221460e+02] [ 6.87674539e-02 1.78687455e-03 9.97631116e-01 2.73473744e+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:185.74, Y:110.21, Z:27.35 [[ 9.11431282e-01 4.06515249e-01 -6.35481742e-02 1.85735489e+02] [-4.05664892e-01 9.13642277e-01 2.63397902e-02 1.10210249e+02] [ 6.87678250e-02 1.77235444e-03 9.97631117e-01 2.73500646e+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:185.76, Y:110.20, Z:27.35 [[ 9.11811110e-01 4.05664097e-01 -6.35384959e-02 1.85764654e+02] [-4.04810051e-01 9.14020683e-01 2.63631161e-02 1.10198228e+02] [ 6.87700691e-02 1.68283966e-03 9.97631117e-01 2.73537156e+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:185.80, Y:110.19, Z:27.35 [[ 9.14041398e-01 4.00610319e-01 -6.35585957e-02 1.85795139e+02] [-3.99747419e-01 9.16247531e-01 2.63147036e-02 1.10185254e+02] [ 6.87773481e-02 1.35465617e-03 9.97631115e-01 2.73545537e+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:185.82, Y:110.17, Z:27.35 [[ 9.15146779e-01 3.98096919e-01 -6.34445948e-02 1.85823848e+02] [-3.97208922e-01 9.17342951e-01 2.65891391e-02 1.10172068e+02] [ 6.87855062e-02 8.67794184e-04 9.97631095e-01 2.73538261e+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:185.85, Y:110.16, Z:27.35 [[ 9.19376571e-01 3.88215442e-01 -6.35255262e-02 1.85853540e+02] [-3.87317288e-01 9.21568585e-01 2.63943587e-02 1.10159226e+02] [ 6.87898269e-02 3.38179497e-04 9.97631117e-01 2.73538459e+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:185.88, Y:110.14, Z:27.36 [[ 9.23244091e-01 3.78942883e-01 -6.34242823e-02 1.85882930e+02] [-3.78005977e-01 9.25419855e-01 2.66378057e-02 1.10143259e+02] [ 6.87882970e-02 -6.18438952e-04 9.97631088e-01 2.73562903e+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:185.91, Y:110.13, Z:27.36 [[ 9.24501419e-01 3.75879782e-01 -6.33365275e-02 1.85911738e+02] [-3.74921214e-01 9.26667811e-01 2.68486651e-02 1.10127922e+02] [ 6.87837917e-02 -1.07542117e-03 9.97631011e-01 2.73594932e+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:185.94, Y:110.11, Z:27.36 [[ 9.25961532e-01 3.72259662e-01 -6.33875785e-02 1.85938089e+02] [-3.71301018e-01 9.28127834e-01 2.67259656e-02 1.10113492e+02] [ 6.87807749e-02 -1.21134362e-03 9.97631063e-01 2.73592486e+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:185.97, Y:110.10, Z:27.36 [[ 9.26399874e-01 3.71145675e-01 -6.35150500e-02 1.85967053e+02] [-3.70205410e-01 9.28574156e-01 2.64195218e-02 1.10101726e+02] [ 6.87839252e-02 -9.61426560e-04 9.97631118e-01 2.73597002e+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:186.00, Y:110.09, Z:27.36 [[ 9.26708957e-01 3.70374633e-01 -6.35070152e-02 1.85997704e+02] [-3.69431237e-01 9.28881882e-01 2.64388217e-02 1.10092202e+02] [ 6.87827847e-02 -1.03961768e-03 9.97631118e-01 2.73639849e+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:186.03, Y:110.08, Z:27.37 [[ 9.27196962e-01 3.69152734e-01 -6.34984452e-02 1.86027641e+02] [-3.68205066e-01 9.29368027e-01 2.64593884e-02 1.10080457e+02] [ 6.87809804e-02 -1.15261535e-03 9.97631118e-01 2.73681545e+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:186.06, Y:110.07, Z:27.38 [[ 9.26930311e-01 3.69841800e-01 -6.33817194e-02 1.86055732e+02] [-3.68876603e-01 9.29093681e-01 2.67391750e-02 1.10069257e+02] [ 6.87768197e-02 -1.40531844e-03 9.97631081e-01 2.73762092e+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:186.09, Y:110.06, Z:27.39 [[ 9.25903802e-01 3.72387006e-01 -6.34828166e-02 1.86088617e+02] [-3.71444346e-01 9.28077049e-01 2.64969674e-02 1.10063640e+02] [ 6.87840714e-02 -9.53309568e-04 9.97631116e-01 2.73852971e+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:186.12, Y:110.06, Z:27.39 [[ 9.23546208e-01 3.78214139e-01 -6.33756081e-02 1.86117618e+02] [-3.77267565e-01 9.25717790e-01 2.67536428e-02 1.10056468e+02] [ 6.87865339e-02 -7.98664057e-04 9.97631082e-01 2.73880556e+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:186.15, Y:110.04, Z:27.39 [[ 9.23413635e-01 3.78521388e-01 -6.34729688e-02 1.86148313e+02] [-3.77591539e-01 9.25592397e-01 2.65206309e-02 1.10043448e+02] [ 6.87887234e-02 -5.22656208e-04 9.97631113e-01 2.73902810e+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:186.18, Y:110.04, Z:27.39 [[ 9.18445690e-01 3.90422692e-01 -6.34636554e-02 1.86181644e+02] [-3.89519537e-01 9.20635652e-01 2.65428992e-02 1.10038532e+02] [ 6.87898540e-02 3.42122253e-04 9.97631114e-01 2.73935128e+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:186.21, Y:110.03, Z:27.40 [[ 9.16094871e-01 3.95908809e-01 -6.34539335e-02 1.86212758e+02] [-3.95017160e-01 9.18289543e-01 2.65661203e-02 1.10028995e+02] [ 6.87868446e-02 7.28306108e-04 9.97631114e-01 2.73953872e+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:186.25, Y:110.02, Z:27.39 [[ 9.12162504e-01 4.04888161e-01 -6.34440127e-02 1.86246000e+02] [-4.04016467e-01 9.14365177e-01 2.65897916e-02 1.10022680e+02] [ 6.87768878e-02 1.37821501e-03 9.97631114e-01 2.73910545e+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:186.28, Y:110.01, Z:27.39 [[ 9.10462005e-01 4.08714157e-01 -6.33377903e-02 1.86277900e+02] [-4.07834091e-01 9.12661384e-01 2.68431221e-02 1.10012295e+02] [ 6.87771193e-02 1.39166741e-03 9.97631080e-01 2.73906016e+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:186.31, Y:110.00, Z:27.39 [[ 9.08910744e-01 4.12154610e-01 -6.33232684e-02 1.86307813e+02] [-4.11280459e-01 9.11112491e-01 2.68777240e-02 1.10004283e+02] [ 6.87723987e-02 1.61417080e-03 9.97631070e-01 2.73908308e+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:186.34, Y:110.00, Z:27.39 [[ 9.09264637e-01 4.11357370e-01 -6.34266075e-02 1.86339159e+02] [-4.10498429e-01 9.11472324e-01 2.66316150e-02 1.09995113e+02] [ 6.87667084e-02 1.82133698e-03 9.97631105e-01 2.73897820e+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:186.37, Y:109.98, Z:27.39 [[ 9.09599587e-01 4.10629802e-01 -6.33384336e-02 1.86369567e+02] [-4.09754482e-01 9.11800855e-01 2.68414704e-02 1.09983797e+02] [ 6.87739456e-02 1.53821668e-03 9.97631083e-01 2.73935802e+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:186.40, Y:109.97, Z:27.40 [[ 9.11003424e-01 4.07503446e-01 -6.33537954e-02 1.86398039e+02] [-4.06623112e-01 9.13202684e-01 2.68049169e-02 1.09972283e+02] [ 6.87779519e-02 1.34174637e-03 9.97631091e-01 2.73957234e+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:186.43, Y:109.96, Z:27.40 [[ 9.12528291e-01 4.04067194e-01 -6.34178351e-02 1.86427355e+02] [-4.03189158e-01 9.14728454e-01 2.66525414e-02 1.09960029e+02] [ 6.87795158e-02 1.24818552e-03 9.97631104e-01 2.73980645e+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:186.46, Y:109.95, Z:27.40 [[ 9.15056392e-01 3.98321537e-01 -6.33383939e-02 1.86456825e+02] [-3.97416608e-01 9.17245649e-01 2.68413640e-02 1.09949113e+02] [ 6.87883595e-02 6.10367978e-04 9.97631089e-01 2.73965447e+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:186.49, Y:109.94, Z:27.40 [[ 9.16903929e-01 3.94042608e-01 -6.33846031e-02 1.86485301e+02] [-3.93135048e-01 9.19092082e-01 2.67315888e-02 1.09936623e+02] [ 6.87896718e-02 4.08410197e-04 9.97631101e-01 2.73994468e+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:186.52, Y:109.92, Z:27.40 [[ 9.18059376e-01 3.91340744e-01 -6.33987778e-02 1.86515153e+02] [-3.90429068e-01 9.20245817e-01 2.66979288e-02 1.09924997e+02] [ 6.87904473e-02 2.42441872e-04 9.97631102e-01 2.73971554e+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:186.55, Y:109.91, Z:27.40 [[ 9.19890958e-01 3.87011900e-01 -6.34225059e-02 1.86546843e+02] [-3.86093817e-01 9.22074720e-01 2.66416138e-02 1.09913407e+02] [ 6.87909109e-02 -2.03423168e-05 9.97631099e-01 2.73967632e+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:186.57, Y:109.90, Z:27.40 [[ 9.19272607e-01 3.88526016e-01 -6.31300938e-02 1.86573016e+02] [-3.87563936e-01 9.21437518e-01 2.73330416e-02 1.09902467e+02] [ 6.87900347e-02 -6.59568781e-04 9.97630942e-01 2.73969619e+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:186.60, Y:109.89, Z:27.40 [[ 9.19179000e-01 3.88709300e-01 -6.33643937e-02 1.86603099e+02] [-3.87785797e-01 9.21360450e-01 2.67786671e-02 1.09889945e+02] [ 6.87905632e-02 -4.25765460e-05 9.97631123e-01 2.74005108e+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:186.63, Y:109.88, Z:27.40 [[ 9.19257461e-01 3.88525353e-01 -6.33543252e-02 1.86631426e+02] [-3.87599773e-01 9.21438030e-01 2.68024664e-02 1.09877917e+02] [ 6.87905224e-02 -8.22451198e-05 9.97631123e-01 2.74035093e+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:186.66, Y:109.87, Z:27.41 [[ 9.19589888e-01 3.87738668e-01 -6.33495363e-02 1.86662445e+02] [-3.86810444e-01 9.21769332e-01 2.68137806e-02 1.09866486e+02] [ 6.87903994e-02 -1.53419252e-04 9.97631123e-01 2.74070049e+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:186.70, Y:109.86, Z:27.41 [[ 9.20918517e-01 3.84574034e-01 -6.33395474e-02 1.86695107e+02] [-3.83636698e-01 9.23094058e-01 2.68373557e-02 1.09858255e+02] [ 6.87893100e-02 -4.15642951e-04 9.97631123e-01 2.74102988e+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:186.72, Y:109.85, Z:27.41 [[ 9.20953738e-01 3.84533357e-01 -6.30738380e-02 1.86723077e+02] [-3.83552947e-01 9.23110441e-01 2.74636294e-02 1.09850207e+02] [ 6.87848000e-02 -1.10057574e-03 9.97630914e-01 2.74118607e+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:186.75, Y:109.84, Z:27.41 [[ 9.21334070e-01 3.83578707e-01 -6.33317159e-02 1.86754353e+02] [-3.82637773e-01 9.23508048e-01 2.68555304e-02 1.09838674e+02] [ 6.87885590e-02 -5.09808449e-04 9.97631131e-01 2.74148122e+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:186.79, Y:109.83, Z:27.42 [[ 9.24259913e-01 3.76475697e-01 -6.33218999e-02 1.86788996e+02] [-3.75516473e-01 9.26425883e-01 2.68786555e-02 1.09829411e+02] [ 6.87822076e-02 -1.06444723e-03 9.97631132e-01 2.74188382e+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:186.82, Y:109.82, Z:27.42 [[ 9.25680350e-01 3.73017162e-01 -6.30403517e-02 1.86818166e+02] [-3.72004680e-01 9.27822194e-01 2.75407608e-02 1.09819129e+02] [ 6.87634139e-02 -2.04263522e-03 9.97630904e-01 2.74230529e+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:186.85, Y:109.81, Z:27.43 [[ 9.29701646e-01 3.62866611e-01 -6.31084093e-02 1.86849688e+02] [-3.61841602e-01 9.31837408e-01 2.73806527e-02 1.09812363e+02] [ 6.87423012e-02 -2.62058995e-03 9.97631008e-01 2.74264959e+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:186.88, Y:109.81, Z:27.43 [[ 9.32827686e-01 3.54758884e-01 -6.30764830e-02 1.86881503e+02] [-3.53710250e-01 9.34951999e-01 2.74557622e-02 1.09805542e+02] [ 6.87136594e-02 -3.30069653e-03 9.97630963e-01 2.74302692e+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:186.91, Y:109.79, Z:27.43 [[ 9.34100165e-01 3.51391291e-01 -6.30954973e-02 1.86913021e+02] [-3.50338013e-01 9.36222149e-01 2.74110477e-02 1.09794787e+02] [ 6.87034055e-02 -3.49991305e-03 9.97630990e-01 2.74323436e+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:186.95, Y:109.79, Z:27.44 [[ 9.34900450e-01 3.49269279e-01 -6.30247543e-02 1.86945569e+02] [-3.48200004e-01 9.37014541e-01 2.75773024e-02 1.09788765e+02] [ 6.86870157e-02 -3.83681273e-03 9.97630880e-01 2.74360066e+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:186.98, Y:109.79, Z:27.44 [[ 9.34414016e-01 3.50561366e-01 -6.30648557e-02 1.86979276e+02] [-3.49501355e-01 9.36532693e-01 2.74830555e-02 1.09787711e+02] [ 6.86967966e-02 -3.63929967e-03 9.97630947e-01 2.74351891e+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:187.01, Y:109.78, Z:27.44 [[ 9.34463696e-01 3.50421488e-01 -6.31061228e-02 1.87009885e+02] [-3.49367686e-01 9.36585405e-01 2.73861221e-02 1.09780419e+02] [ 6.87009592e-02 -3.54409677e-03 9.97631003e-01 2.74367432e+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:187.04, Y:109.78, Z:27.44 [[ 9.34397723e-01 3.50606806e-01 -6.30536462e-02 1.87038760e+02] [-3.49545126e-01 9.36515583e-01 2.75093901e-02 1.09775999e+02] [ 6.86957017e-02 -3.66461671e-03 9.97630929e-01 2.74390236e+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:187.07, Y:109.77, Z:27.44 [[ 9.34816536e-01 3.49488533e-01 -6.30540185e-02 1.87066945e+02] [-3.48424379e-01 9.36933153e-01 2.75085151e-02 1.09769069e+02] [ 6.86913110e-02 -3.74585758e-03 9.97630930e-01 2.74402609e+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:187.10, Y:109.77, Z:27.44 [[ 9.36011096e-01 3.46270926e-01 -6.30846620e-02 1.87098188e+02] [-3.45204338e-01 9.38126434e-01 2.74364446e-02 1.09768514e+02] [ 6.86818321e-02 -3.90371757e-03 9.97630977e-01 2.74401535e+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:187.13, Y:109.76, Z:27.44 [[ 9.36045877e-01 3.46172938e-01 -6.31063593e-02 1.87125319e+02] [-3.45109559e-01 9.38162797e-01 2.73853779e-02 1.09762729e+02] [ 6.86841152e-02 -3.85536223e-03 9.97631008e-01 2.74396846e+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:187.16, Y:109.76, Z:27.44 [[ 9.37404277e-01 3.42437127e-01 -6.33248368e-02 1.87160060e+02] [-3.41399915e-01 9.39533966e-01 2.68705269e-02 1.09762342e+02] [ 6.86973011e-02 -3.56945295e-03 9.97631164e-01 2.74428530e+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:187.19, Y:109.76, Z:27.44 [[ 9.36312854e-01 3.45460938e-01 -6.30474371e-02 1.87185916e+02] [-3.44386664e-01 9.38424356e-01 2.75236885e-02 1.09757046e+02] [ 6.86736098e-02 -4.05808683e-03 9.97630927e-01 2.74442023e+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:187.22, Y:109.76, Z:27.45 [[ 9.35143436e-01 3.48562656e-01 -6.33311146e-02 1.87217140e+02] [-3.47540466e-01 9.37280346e-01 2.68547428e-02 1.09757400e+02] [ 6.87195695e-02 -3.10291137e-03 9.97631191e-01 2.74488496e+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:187.25, Y:109.76, Z:27.46 [[ 9.33669442e-01 3.52491465e-01 -6.33335606e-02 1.87248841e+02] [-3.51478660e-01 9.35810816e-01 2.68489729e-02 1.09758289e+02] [ 6.87322649e-02 -2.80767054e-03 9.97631191e-01 2.74563488e+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:187.28, Y:109.76, Z:27.46 [[ 9.33272763e-01 3.53539953e-01 -6.33360176e-02 1.87278042e+02] [-3.52529946e-01 9.35415459e-01 2.68431757e-02 1.09756923e+02] [ 6.87356250e-02 -2.72416189e-03 9.97631191e-01 2.74590892e+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:187.31, Y:109.76, Z:27.45 [[ 9.30648733e-01 3.60401477e-01 -6.32748872e-02 1.87311116e+02] [-3.59397471e-01 9.32794262e-01 2.69874600e-02 1.09763226e+02] [ 6.87487721e-02 -2.37501105e-03 9.97631177e-01 2.74549144e+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:187.34, Y:109.76, Z:27.45 [[ 9.29179756e-01 3.64158963e-01 -6.33500625e-02 1.87339218e+02] [-3.63175727e-01 9.31334862e-01 2.68098284e-02 1.09758542e+02] [ 6.87631610e-02 -1.90394488e-03 9.97631196e-01 2.74547551e+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:187.37, Y:109.76, Z:27.46 [[ 9.26084768e-01 3.71957704e-01 -6.33598428e-02 1.87369631e+02] [-3.70994202e-01 9.28248768e-01 2.67866946e-02 1.09758946e+02] [ 6.87772134e-02 -1.30061551e-03 9.97631196e-01 2.74576081e+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:187.40, Y:109.75, Z:27.46 [[ 9.25010231e-01 3.74620272e-01 -6.33697493e-02 1.87400090e+02] [-3.73664606e-01 9.27177702e-01 2.67632382e-02 1.09754515e+02] [ 6.87810701e-02 -1.07723675e-03 9.97631196e-01 2.74617211e+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:187.43, Y:109.76, Z:27.46 [[ 9.21455143e-01 3.83303936e-01 -6.32337812e-02 1.87429874e+02] [-3.82346581e-01 9.23621937e-01 2.70852088e-02 1.09758356e+02] [ 6.87859747e-02 -7.80584852e-04 9.97631134e-01 2.74599143e+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:187.46, Y:109.76, Z:27.46 [[ 9.18328670e-01 3.90710990e-01 -6.33827837e-02 1.87460040e+02] [-3.89795467e-01 9.20513388e-01 2.67319293e-02 1.09757248e+02] [ 6.87891595e-02 1.57624681e-04 9.97631208e-01 2.74649702e+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:187.49, Y:109.75, Z:27.47 [[ 9.16642628e-01 3.94649047e-01 -6.33910233e-02 1.87486841e+02] [-3.93744262e-01 9.18831816e-01 2.67123759e-02 1.09749557e+02] [ 6.87877027e-02 4.74149196e-04 9.97631208e-01 2.74684039e+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:187.51, Y:109.74, Z:27.47 [[ 9.14367730e-01 3.99889873e-01 -6.34014535e-02 1.87514979e+02] [-3.98999352e-01 9.16562758e-01 2.66875971e-02 1.09744116e+02] [ 6.87835109e-02 8.94861346e-04 9.97631208e-01 2.74710684e+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:187.54, Y:109.74, Z:27.47 [[ 9.13958249e-01 4.00827292e-01 -6.33861196e-02 1.87542913e+02] [-3.99936496e-01 9.16153167e-01 2.67240396e-02 1.09735025e+02] [ 6.87831187e-02 9.25766172e-04 9.97631207e-01 2.74716329e+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:187.57, Y:109.72, Z:27.47 [[ 9.11830522e-01 4.05649906e-01 -6.33502352e-02 1.87569569e+02] [-4.04764788e-01 9.14027747e-01 2.68093940e-02 1.09724592e+02] [ 6.87791010e-02 1.19632077e-03 9.97631196e-01 2.74658185e+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:187.60, Y:109.71, Z:27.46 [[ 9.10771729e-01 4.08010118e-01 -6.34239784e-02 1.87595601e+02] [-4.07142909e-01 9.12976064e-01 2.66337901e-02 1.09713272e+02] [ 6.87714300e-02 1.56532002e-03 9.97631215e-01 2.74612224e+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:187.62, Y:109.70, Z:27.46 [[ 9.08431355e-01 4.13189909e-01 -6.34552743e-02 1.87622370e+02] [-4.12340469e-01 9.10642601e-01 2.65592131e-02 1.09701681e+02] [ 6.87590748e-02 2.03795555e-03 9.97631213e-01 2.74615120e+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:187.65, Y:109.69, Z:27.46 [[ 9.07501982e-01 4.15230218e-01 -6.34351532e-02 1.87649496e+02] [-4.14382399e-01 9.09713848e-01 2.66071848e-02 1.09689911e+02] [ 6.87559444e-02 2.14033801e-03 9.97631214e-01 2.74643154e+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:187.67, Y:109.68, Z:27.47 [[ 9.05959679e-01 4.18595224e-01 -6.33648127e-02 1.87674120e+02] [-4.17743899e-01 9.08170215e-01 2.67748930e-02 1.09677810e+02] [ 6.87538779e-02 2.21329042e-03 9.97631197e-01 2.74668558e+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:187.70, Y:109.66, Z:27.47 [[ 9.03732198e-01 4.23370701e-01 -6.34457539e-02 1.87698855e+02] [-4.22544584e-01 9.05952255e-01 2.65817049e-02 1.09663567e+02] [ 6.87327388e-02 2.78591706e-03 9.97631219e-01 2.74699070e+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:187.72, Y:109.65, Z:27.47 [[ 9.01841528e-01 4.27381893e-01 -6.34553046e-02 1.87722329e+02] [-4.26567249e-01 9.04065820e-01 2.65588861e-02 1.09648168e+02] [ 6.87185590e-02 3.11604828e-03 9.97631219e-01 2.74738265e+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:187.75, Y:109.63, Z:27.48 [[ 9.01571644e-01 4.27950275e-01 -6.34596929e-02 1.87746392e+02] [-4.27137770e-01 9.03796719e-01 2.65483965e-02 1.09634158e+02] [ 6.87160558e-02 3.17075017e-03 9.97631219e-01 2.74769995e+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:187.77, Y:109.62, Z:27.47 [[ 9.01670933e-01 4.27739563e-01 -6.34696402e-02 1.87768757e+02] [-4.26928209e-01 9.03896427e-01 2.65245940e-02 1.09615576e+02] [ 6.87155993e-02 3.18052439e-03 9.97631220e-01 2.74747817e+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:187.79, Y:109.60, Z:27.48 [[ 9.01961879e-01 4.27125257e-01 -6.34726991e-02 1.87791103e+02] [-4.26312901e-01 9.04187008e-01 2.65172722e-02 1.09597351e+02] [ 6.87173866e-02 3.14166185e-03 9.97631220e-01 2.74765827e+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:187.82, Y:109.58, Z:27.48 [[ 9.02204855e-01 4.26610333e-01 -6.34824651e-02 1.87815798e+02] [-4.25798349e-01 9.04430119e-01 2.64938717e-02 1.09582964e+02] [ 6.87180129e-02 3.12782916e-03 9.97631220e-01 2.74789953e+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:187.84, Y:109.56, Z:27.48 [[ 9.03136351e-01 4.24633320e-01 -6.34923152e-02 1.87838286e+02] [-4.23818122e-01 9.05360440e-01 2.64702450e-02 1.09563691e+02] [ 6.87235784e-02 3.00295333e-03 9.97631220e-01 2.74837336e+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:187.86, Y:109.55, Z:27.49 [[ 9.03956356e-01 4.22883588e-01 -6.35010004e-02 1.87861999e+02] [-4.22065546e-01 9.06179400e-01 2.64493932e-02 1.09547926e+02] [ 6.87283127e-02 2.89248737e-03 9.97631221e-01 2.74867729e+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:187.88, Y:109.53, Z:27.49 [[ 9.06329240e-01 4.17773315e-01 -6.35040593e-02 1.87883817e+02] [-4.16943249e-01 9.08547822e-01 2.64420468e-02 1.09528734e+02] [ 6.87432564e-02 2.51238862e-03 9.97631221e-01 2.74902508e+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:187.91, Y:109.51, Z:27.49 [[ 9.07935212e-01 4.14270015e-01 -6.35138210e-02 1.87908702e+02] [-4.13433027e-01 9.10151191e-01 2.64185785e-02 1.09514792e+02] [ 6.87516048e-02 2.27235361e-03 9.97631221e-01 2.74915681e+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:187.93, Y:109.50, Z:27.49 [[ 9.11424716e-01 4.06533787e-01 -6.35237551e-02 1.87931853e+02] [-4.05679649e-01 9.13634141e-01 2.63946703e-02 1.09498175e+02] [ 6.87677967e-02 1.71353983e-03 9.97631221e-01 2.74895736e+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:187.96, Y:109.48, Z:27.49 [[ 9.13178793e-01 4.02577737e-01 -6.35268206e-02 1.87957409e+02] [-4.01714540e-01 9.15384695e-01 2.63872903e-02 1.09483648e+02] [ 6.87744149e-02 1.42333358e-03 9.97631221e-01 2.74898096e+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:187.98, Y:109.47, Z:27.49 [[ 9.13328164e-01 4.02237389e-01 -6.35354121e-02 1.87983779e+02] [-4.01374808e-01 9.15534306e-01 2.63665875e-02 1.09472959e+02] [ 6.87744767e-02 1.42016694e-03 9.97631222e-01 2.74917691e+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:188.01, Y:109.45, Z:27.49 [[ 9.17938411e-01 3.91600664e-01 -6.35452116e-02 1.88007864e+02] [-3.90714150e-01 9.20135045e-01 2.63429487e-02 1.09454041e+02] [ 6.87860924e-02 6.46808893e-04 9.97631222e-01 2.74905471e+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:188.03, Y:109.44, Z:27.49 [[ 9.20465658e-01 3.85621548e-01 -6.35530776e-02 1.88032020e+02] [-3.84722076e-01 9.22657018e-01 2.63239582e-02 1.09439968e+02] [ 6.87887786e-02 2.19972427e-04 9.97631222e-01 2.74920988e+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:188.06, Y:109.42, Z:27.50 [[ 9.23991816e-01 3.77092690e-01 -6.35627786e-02 1.88056176e+02] [-3.76174604e-01 9.26175443e-01 2.63005130e-02 1.09424866e+02] [ 6.87880158e-02 -3.90755781e-04 9.97631223e-01 2.74963427e+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:188.08, Y:109.41, Z:27.50 [[ 9.26152775e-01 3.71753184e-01 -6.35657727e-02 1.88081467e+02] [-3.70823006e-01 9.28331278e-01 2.62932745e-02 1.09411247e+02] [ 6.87847035e-02 -7.79938180e-04 9.97631223e-01 2.75018937e+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:188.11, Y:109.40, Z:27.50 [[ 9.27292269e-01 3.68901236e-01 -6.35682822e-02 1.88106119e+02] [-3.67964775e-01 9.29468078e-01 2.62872060e-02 1.09399209e+02] [ 6.87820719e-02 -9.85034277e-04 9.97631223e-01 2.75029600e+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:188.13, Y:109.39, Z:27.51 [[ 9.29629203e-01 3.62971381e-01 -6.35713958e-02 1.88131802e+02] [-3.62021557e-01 9.31799212e-01 2.62796741e-02 1.09389697e+02] [ 6.87745461e-02 -1.41613685e-03 9.97631223e-01 2.75075685e+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:188.16, Y:109.38, Z:27.51 [[ 9.30665756e-01 3.60304666e-01 -6.35751442e-02 1.88158541e+02] [-3.59349243e-01 9.32833306e-01 2.62706030e-02 1.09381049e+02] [ 6.87704328e-02 -1.60347063e-03 9.97631223e-01 2.75119337e+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:188.19, Y:109.37, Z:27.52 [[ 9.32483330e-01 3.55573409e-01 -6.35797918e-02 1.88185799e+02] [-3.54607757e-01 9.34646342e-01 2.62593500e-02 1.09374516e+02] [ 6.87617465e-02 -1.94051881e-03 9.97631223e-01 2.75240515e+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:188.21, Y:109.37, Z:27.53 [[ 9.34456700e-01 3.50354053e-01 -6.35823275e-02 1.88212863e+02] [-3.49376740e-01 9.36614469e-01 2.62532090e-02 1.09369298e+02] [ 6.87500460e-02 -2.31830075e-03 9.97631223e-01 2.75268662e+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:188.24, Y:109.36, Z:27.53 [[ 9.35639333e-01 3.47182616e-01 -6.35867147e-02 1.88241524e+02] [-3.46198711e-01 9.37794103e-01 2.62425785e-02 1.09362433e+02] [ 6.87422132e-02 -2.53995001e-03 9.97631223e-01 2.75272687e+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:188.27, Y:109.36, Z:27.53 [[ 9.37894447e-01 3.41043126e-01 -6.35892441e-02 1.88272895e+02] [-3.40045535e-01 9.40042916e-01 2.62364481e-02 1.09361835e+02] [ 6.87243787e-02 -2.98378045e-03 9.97631223e-01 2.75276253e+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:188.30, Y:109.36, Z:27.53 [[ 9.39009950e-01 3.37959164e-01 -6.35917945e-02 1.88300838e+02] [-3.36954936e-01 9.41155324e-01 2.62302649e-02 1.09356496e+02] [ 6.87145144e-02 -3.20291074e-03 9.97631223e-01 2.75285690e+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:188.33, Y:109.36, Z:27.53 [[ 9.41018463e-01 3.32324923e-01 -6.35955866e-02 1.88330168e+02] [-3.31308473e-01 9.43158074e-01 2.62210678e-02 1.09357015e+02] [ 6.86946053e-02 -3.60475225e-03 9.97631223e-01 2.75294591e+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:188.36, Y:109.35, Z:27.53 [[ 9.42360905e-01 3.28497579e-01 -6.36024046e-02 1.88358222e+02] [-3.27473554e-01 9.44496900e-01 2.62045195e-02 1.09352316e+02] [ 6.86803952e-02 -3.86600922e-03 9.97631223e-01 2.75314691e+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:188.39, Y:109.35, Z:27.53 [[ 9.44988358e-01 3.20858957e-01 -6.36123733e-02 1.88389574e+02] [-3.19819298e-01 9.47116787e-01 2.61802978e-02 1.09353993e+02] [ 6.86485297e-02 -4.39561202e-03 9.97631223e-01 2.75307996e+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:188.42, Y:109.35, Z:27.53 [[ 9.46306272e-01 3.16950335e-01 -6.36154427e-02 1.88419972e+02] [-3.15902387e-01 9.48430632e-01 2.61728374e-02 1.09348693e+02] [ 6.86303241e-02 -4.67124995e-03 9.97631223e-01 2.75341843e+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:188.45, Y:109.35, Z:27.54 [[ 9.47656165e-01 3.12907351e-01 -6.35356841e-02 1.88449945e+02] [-3.11837415e-01 9.49769562e-01 2.63667454e-02 1.09348288e+02] [ 6.85946073e-02 -5.17380538e-03 9.97631200e-01 2.75381007e+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:188.48, Y:109.35, Z:27.54 [[ 9.49102135e-01 3.08485608e-01 -6.35748877e-02 1.88479657e+02] [-3.07412173e-01 9.51213736e-01 2.62713583e-02 1.09350094e+02] [ 6.85776424e-02 -5.39050789e-03 9.97631219e-01 2.75368060e+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:188.51, Y:109.35, Z:27.54 [[ 9.50265604e-01 3.04857200e-01 -6.36974772e-02 1.88509314e+02] [-3.03795556e-01 9.52383158e-01 2.59726966e-02 1.09346113e+02] [ 6.85823681e-02 -5.32994968e-03 9.97631220e-01 2.75379928e+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:188.54, Y:109.35, Z:27.54 [[ 9.51565268e-01 3.00787120e-01 -6.36447131e-02 1.88540580e+02] [-2.99707883e-01 9.53673898e-01 2.61013567e-02 1.09347766e+02] [ 6.85472535e-02 -5.76232225e-03 9.97631229e-01 2.75426274e+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:188.57, Y:109.34, Z:27.55 [[ 9.51616352e-01 3.00623719e-01 -6.36529581e-02 1.88570286e+02] [-2.99545455e-01 9.53725479e-01 2.60812342e-02 1.09343701e+02] [ 6.85480856e-02 -5.75237468e-03 9.97631230e-01 2.75472961e+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:188.60, Y:109.35, Z:27.55 [[ 9.50170803e-01 3.05156416e-01 -6.36789419e-02 1.88601658e+02] [-3.04092439e-01 9.52287175e-01 2.60177770e-02 1.09349418e+02] [ 6.85801313e-02 -5.35704729e-03 9.97631228e-01 2.75485915e+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:188.63, Y:109.35, Z:27.55 [[ 9.48725694e-01 3.09604912e-01 -6.37522981e-02 1.88633138e+02] [-3.08562831e-01 9.50852961e-01 2.58384604e-02 1.09347626e+02] [ 6.86187756e-02 -4.84202167e-03 9.97631204e-01 2.75498800e+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:188.66, Y:109.35, Z:27.55 [[ 9.46029982e-01 3.17763066e-01 -6.36703040e-02 1.88662973e+02] [-3.16725904e-01 9.48159625e-01 2.60389560e-02 1.09346992e+02] [ 6.86438301e-02 -4.46759849e-03 9.97631227e-01 2.75515599e+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:188.70, Y:109.36, Z:27.55 [[ 9.38688277e-01 3.38836303e-01 -6.36732247e-02 1.88696808e+02] [-3.37847501e-01 9.40840800e-01 2.60318121e-02 1.09357126e+02] [ 6.87268906e-02 -2.92391697e-03 9.97631227e-01 2.75527472e+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:188.73, Y:109.37, Z:27.55 [[ 9.31284447e-01 3.58661962e-01 -6.38034246e-02 1.88732109e+02] [-3.57740823e-01 9.33466840e-01 2.57130915e-02 1.09366814e+02] [ 6.87806889e-02 -1.12111257e-03 9.97631174e-01 2.75520245e+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:188.76, Y:109.37, Z:27.55 [[ 9.27204630e-01 3.69102189e-01 -6.36800418e-02 1.88757765e+02] [-3.68184866e-01 9.29388572e-01 2.60151187e-02 1.09366110e+02] [ 6.87857404e-02 -6.75310841e-04 9.97631227e-01 2.75525782e+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:188.79, Y:109.37, Z:27.55 [[ 9.24439775e-01 3.75922221e-01 -6.39811472e-02 1.88794588e+02] [-3.75071957e-01 9.26651006e-01 2.52772628e-02 1.09371148e+02] [ 6.87904792e-02 6.30227036e-04 9.97630930e-01 2.75538665e+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:188.82, Y:109.37, Z:27.56 [[ 9.23768410e-01 3.77619210e-01 -6.36840356e-02 1.88823203e+02] [-3.76722727e-01 9.25960977e-01 2.60049223e-02 1.09367082e+02] [ 6.87888900e-02 -3.13021658e-05 9.97631238e-01 2.75554276e+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:188.85, Y:109.37, Z:27.56 [[ 9.23620569e-01 3.77979016e-01 -6.36938636e-02 1.88853600e+02] [-3.77085049e-01 9.25814162e-01 2.59808283e-02 1.09367324e+02] [ 6.87888889e-02 2.15762190e-05 9.97631239e-01 2.75584520e+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:188.88, Y:109.36, Z:27.56 [[ 9.23781470e-01 3.77585092e-01 -6.36968896e-02 1.88880298e+02] [-3.76690701e-01 9.25974891e-01 2.59734073e-02 1.09362414e+02] [ 6.87888918e-02 2.73576332e-07 9.97631239e-01 2.75585239e+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:188.91, Y:109.36, Z:27.56 [[ 9.24248245e-01 3.76440379e-01 -6.37010440e-02 1.88909798e+02] [-3.75543973e-01 9.26440843e-01 2.59632145e-02 1.09358652e+02] [ 6.87888512e-02 -7.39123271e-05 9.97631239e-01 2.75586847e+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:188.94, Y:109.35, Z:27.56 [[ 9.25425892e-01 3.73534515e-01 -6.37093791e-02 1.88937890e+02] [-3.72632633e-01 9.27616243e-01 2.59427455e-02 1.09354771e+02] [ 6.87883657e-02 -2.67894714e-04 9.97631239e-01 2.75596196e+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:188.97, Y:109.35, Z:27.56 [[ 9.26181212e-01 3.71656105e-01 -6.37189333e-02 1.88965054e+02] [-3.70751397e-01 9.28370397e-01 2.59192579e-02 1.09347091e+02] [ 6.87878218e-02 -3.82046164e-04 9.97631239e-01 2.75640891e+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:188.99, Y:109.34, Z:27.57 [[ 9.28064731e-01 3.66926921e-01 -6.37219758e-02 1.88992025e+02] [-3.66011572e-01 9.30249488e-01 2.59117757e-02 1.09340970e+02] [ 6.87850634e-02 -7.24824630e-04 9.97631239e-01 2.75733487e+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:189.02, Y:109.33, Z:27.58 [[ 9.30502280e-01 3.60700203e-01 -6.37249620e-02 1.89018329e+02] [-3.59770738e-01 9.32681069e-01 2.59044297e-02 1.09330835e+02] [ 6.87787987e-02 -1.17775431e-03 9.97631239e-01 2.75789107e+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:189.04, Y:109.32, Z:27.58 [[ 9.31547417e-01 3.57990865e-01 -6.37334412e-02 1.89043320e+02] [-3.57056491e-01 9.33724105e-01 2.58835513e-02 1.09319798e+02] [ 6.87755252e-02 -1.35531644e-03 9.97631240e-01 2.75790105e+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:189.07, Y:109.31, Z:27.58 [[ 9.32758353e-01 3.54823015e-01 -6.37376176e-02 1.89070453e+02] [-3.53881952e-01 9.34932157e-01 2.58732630e-02 1.09308421e+02] [ 6.87707775e-02 -1.57790964e-03 9.97631240e-01 2.75769170e+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:189.10, Y:109.30, Z:27.58 [[ 9.32644834e-01 3.55119821e-01 -6.37457905e-02 1.89097555e+02] [-3.54180826e-01 9.34819533e-01 2.58531112e-02 1.09299415e+02] [ 6.87717623e-02 -1.53423388e-03 9.97631240e-01 2.75771631e+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:189.12, Y:109.29, Z:27.58 [[ 9.30712365e-01 3.60152656e-01 -6.37538942e-02 1.89123630e+02] [-3.59226792e-01 9.32892685e-01 2.58331118e-02 1.09290216e+02] [ 6.87794054e-02 -1.14108972e-03 9.97631240e-01 2.75772779e+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:189.15, Y:109.28, Z:27.58 [[ 9.29396050e-01 3.63534366e-01 -6.37632119e-02 1.89149261e+02] [-3.62618014e-01 9.31580386e-01 2.58100929e-02 1.09279534e+02] [ 6.87834133e-02 -8.66109112e-04 9.97631240e-01 2.75793167e+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:189.18, Y:109.27, Z:27.58 [[ 9.26366736e-01 3.71184180e-01 -6.37728308e-02 1.89175082e+02] [-3.70287506e-01 9.28559222e-01 2.57863042e-02 1.09270185e+02] [ 6.87883183e-02 -2.73291995e-04 9.97631241e-01 2.75799448e+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:189.20, Y:109.26, Z:27.58 [[ 9.24876359e-01 3.74881803e-01 -6.37758097e-02 1.89199947e+02] [-3.73994402e-01 9.27072615e-01 2.57789344e-02 1.09260636e+02] [ 6.87888601e-02 9.46884300e-06 9.97631241e-01 2.75810242e+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:189.23, Y:109.25, Z:27.59 [[ 9.21614218e-01 3.82830339e-01 -6.37821690e-02 1.89225119e+02] [-3.81962969e-01 9.23818461e-01 2.57631908e-02 1.09248064e+02] [ 6.87860762e-02 6.18703693e-04 9.97631241e-01 2.75885091e+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:189.25, Y:109.24, Z:27.59 [[ 9.20023307e-01 3.86636643e-01 -6.37904519e-02 1.89251365e+02] [-3.85779814e-01 9.22231669e-01 2.57426658e-02 1.09236579e+02] [ 6.87826327e-02 9.25216176e-04 9.97631241e-01 2.75946853e+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:189.28, Y:109.23, Z:27.60 [[ 9.17366892e-01 3.92896522e-01 -6.37989742e-02 1.89276193e+02] [-3.92056229e-01 9.19581599e-01 2.57215272e-02 1.09225544e+02] [ 6.87742613e-02 1.41670784e-03 9.97631241e-01 2.75977774e+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:189.30, Y:109.21, Z:27.60 [[ 9.16239139e-01 3.95518639e-01 -6.38031807e-02 1.89301359e+02] [-3.94685410e-01 9.18456513e-01 2.57110885e-02 1.09213520e+02] [ 6.87696617e-02 1.62467893e-03 9.97631242e-01 2.75974912e+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:189.33, Y:109.19, Z:27.60 [[ 9.13424012e-01 4.01976567e-01 -6.38076383e-02 1.89325235e+02] [-4.01159784e-01 9.15647496e-01 2.57000215e-02 1.09194910e+02] [ 6.87561106e-02 2.12204170e-03 9.97631242e-01 2.75975449e+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:189.35, Y:109.18, Z:27.60 [[ 9.12052832e-01 4.05076746e-01 -6.38158362e-02 1.89349752e+02] [-4.04268944e-01 9.14279595e-01 2.56796490e-02 1.09180806e+02] [ 6.87477455e-02 2.37756412e-03 9.97631242e-01 2.75989481e+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:189.37, Y:109.16, Z:27.60 [[ 9.09498555e-01 4.10778189e-01 -6.38252172e-02 1.89373177e+02] [-4.09985976e-01 9.11730911e-01 2.56563120e-02 1.09164534e+02] [ 6.87304768e-02 2.83306524e-03 9.97631242e-01 2.76030091e+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:189.40, Y:109.15, Z:27.61 [[ 9.07771526e-01 4.14580305e-01 -6.38281079e-02 1.89396773e+02] [-4.13797945e-01 9.10007354e-01 2.56491185e-02 1.09148478e+02] [ 6.87176669e-02 3.12840043e-03 9.97631242e-01 2.76108835e+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:189.42, Y:109.13, Z:27.61 [[ 9.07170690e-01 4.15892100e-01 -6.38365160e-02 1.89420068e+02] [-4.15114442e-01 9.09408157e-01 2.56281751e-02 1.09134289e+02] [ 6.87120039e-02 3.25033045e-03 9.97631242e-01 2.76119943e+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:189.44, Y:109.11, Z:27.61 [[ 9.06543784e-01 4.17256203e-01 -6.38406556e-02 1.89442142e+02] [-4.16482636e-01 9.08782669e-01 2.56178590e-02 1.09111340e+02] [ 6.87064919e-02 3.36481370e-03 9.97631243e-01 2.76106254e+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:189.47, Y:109.09, Z:27.61 [[ 9.07097324e-01 4.16050117e-01 -6.38493993e-02 1.89465740e+02] [-4.15275104e-01 9.09335708e-01 2.55960479e-02 1.09094360e+02] [ 6.87097774e-02 3.29695939e-03 9.97631243e-01 2.76102624e+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:189.49, Y:109.07, Z:27.61 [[ 9.08630781e-01 4.12689913e-01 -6.38524793e-02 1.89485753e+02] [-4.11907159e-01 9.10866471e-01 2.55883621e-02 1.09068939e+02] [ 6.87211414e-02 3.05091997e-03 9.97631243e-01 2.76120591e+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:189.51, Y:109.04, Z:27.61 [[ 9.11276358e-01 4.06814304e-01 -6.38554706e-02 1.89505623e+02] [-4.06017653e-01 9.13507133e-01 2.55808951e-02 1.09044570e+02] [ 6.87391020e-02 2.61518345e-03 9.97631243e-01 2.76140326e+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:189.53, Y:109.03, Z:27.62 [[ 9.12861966e-01 4.03242218e-01 -6.38650426e-02 1.89528762e+02] [-4.02438508e-01 9.15090208e-01 2.55569756e-02 1.09027332e+02] [ 6.87479266e-02 2.37176150e-03 9.97631243e-01 2.76165166e+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:189.55, Y:109.00, Z:27.62 [[ 9.16813528e-01 3.94173795e-01 -6.38746806e-02 1.89549557e+02] [-3.93349715e-01 9.19034316e-01 2.55328646e-02 1.09002614e+02] [ 6.87674095e-02 1.71621172e-03 9.97631244e-01 2.76219068e+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:189.57, Y:108.99, Z:27.62 [[ 9.18838834e-01 3.89427956e-01 -6.38832051e-02 1.89573113e+02] [-3.88593888e-01 9.21055890e-01 2.55115183e-02 1.08985548e+02] [ 6.87749008e-02 1.38364928e-03 9.97631244e-01 2.76243440e+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:189.59, Y:108.96, Z:27.63 [[ 9.23254967e-01 3.78838777e-01 -6.38862052e-02 1.89593170e+02] [-3.77979795e-01 9.25462490e-01 2.55040034e-02 1.08960830e+02] [ 6.87861920e-02 6.00996886e-04 9.97631244e-01 2.76255285e+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:189.62, Y:108.94, Z:27.63 [[ 9.25098248e-01 3.74313444e-01 -6.38958373e-02 1.89616537e+02] [-3.73445332e-01 9.27302195e-01 2.54798490e-02 1.08942927e+02] [ 6.87882002e-02 2.90238436e-04 9.97631244e-01 2.76273624e+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:189.64, Y:108.92, Z:27.62 [[ 9.26957115e-01 3.69684470e-01 -6.39053946e-02 1.89638547e+02] [-3.68807006e-01 9.29157356e-01 2.54558559e-02 1.08921990e+02] [ 6.87888021e-02 -2.77295238e-05 9.97631244e-01 2.76244947e+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:189.67, Y:108.91, Z:27.63 [[ 9.27089824e-01 3.69350781e-01 -6.39097667e-02 1.89665041e+02] [-3.68473282e-01 9.29290051e-01 2.54448746e-02 1.08911716e+02] [ 6.87887947e-02 -4.06427961e-05 9.97631245e-01 2.76264540e+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:189.69, Y:108.90, Z:27.63 [[ 9.26704740e-01 3.70314321e-01 -6.39189185e-02 1.89690859e+02] [-3.69440696e-01 9.28906508e-01 2.54218641e-02 1.08897315e+02] [ 6.87887797e-02 5.56877852e-05 9.97631245e-01 2.76254516e+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:189.71, Y:108.88, Z:27.62 [[ 9.23992331e-01 3.77029774e-01 -6.39274786e-02 1.89713850e+02] [-3.76173642e-01 9.26200958e-01 2.54003200e-02 1.08879820e+02] [ 6.87863689e-02 5.78131531e-04 9.97631245e-01 2.76239911e+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:189.74, Y:108.87, Z:27.63 [[ 9.20217172e-01 3.86151606e-01 -6.39319503e-02 1.89738553e+02] [-3.85318145e-01 9.22434454e-01 2.53890600e-02 1.08865404e+02] [ 6.87770600e-02 1.27069150e-03 9.97631245e-01 2.76306026e+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:189.76, Y:108.85, Z:27.63 [[ 9.18514631e-01 3.90182658e-01 -6.39403329e-02 1.89764379e+02] [-3.89360397e-01 9.20736091e-01 2.53679316e-02 1.08853118e+02] [ 6.87702991e-02 1.59501701e-03 9.97631245e-01 2.76349294e+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:189.79, Y:108.84, Z:27.64 [[ 9.15916158e-01 3.96242556e-01 -6.39486339e-02 1.89788132e+02] [-3.95436450e-01 9.18143531e-01 2.53469888e-02 1.08835964e+02] [ 6.87575802e-02 2.07190412e-03 9.97631246e-01 2.76409309e+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:189.81, Y:108.82, Z:27.64 [[ 9.15629077e-01 3.96904165e-01 -6.39568427e-02 1.89812920e+02] [-3.96101115e-01 9.17857553e-01 2.53262590e-02 1.08822157e+02] [ 6.87553688e-02 2.14391754e-03 9.97631246e-01 2.76426422e+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:189.84, Y:108.81, Z:27.64 [[ 9.16538651e-01 3.94797727e-01 -6.39660594e-02 1.89835071e+02] [-3.93991179e-01 9.18765863e-01 2.53029592e-02 1.08805558e+02] [ 6.87593825e-02 2.01092308e-03 9.97631246e-01 2.76443026e+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:189.86, Y:108.79, Z:27.65 [[ 9.17756046e-01 3.91958391e-01 -6.39723304e-02 1.89860977e+02] [-3.91146057e-01 9.19981155e-01 2.52870946e-02 1.08791944e+02] [ 6.87648273e-02 1.81514080e-03 9.97631246e-01 2.76467437e+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:189.88, Y:108.78, Z:27.65 [[ 9.20131238e-01 3.86348327e-01 -6.39802701e-02 1.89884029e+02] [-3.85523822e-01 9.22351865e-01 2.52669899e-02 1.08775247e+02] [ 6.87741807e-02 1.41697154e-03 9.97631247e-01 2.76509380e+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:189.91, Y:108.76, Z:27.65 [[ 9.21394123e-01 3.83326280e-01 -6.39830689e-02 1.89908959e+02] [-3.82494983e-01 9.23612216e-01 2.52599007e-02 1.08762573e+02] [ 6.87783278e-02 1.19887876e-03 9.97631247e-01 2.76541241e+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:189.93, Y:108.75, Z:27.66 [[ 9.23210954e-01 3.78928175e-01 -6.39919765e-02 1.89932790e+02] [-3.78087875e-01 9.25425652e-01 2.52373145e-02 1.08749039e+02] [ 6.87829461e-02 8.95225220e-04 9.97631247e-01 2.76562802e+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:189.96, Y:108.74, Z:27.66 [[ 9.24984799e-01 3.74576261e-01 -6.39980235e-02 1.89957559e+02] [-3.73726602e-01 9.27195923e-01 2.52219709e-02 1.08736816e+02] [ 6.87862580e-02 5.87824167e-04 9.97631247e-01 2.76552237e+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:189.98, Y:108.73, Z:27.66 [[ 9.26136369e-01 3.71719426e-01 -6.40007365e-02 1.89983806e+02] [-3.70863422e-01 9.28345044e-01 2.52150846e-02 1.08726146e+02] [ 6.87877034e-02 3.82925277e-04 9.97631247e-01 2.76558136e+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:190.01, Y:108.72, Z:27.66 [[ 9.27661125e-01 3.67896236e-01 -6.40093571e-02 1.90010049e+02] [-3.67032640e-01 9.29866843e-01 2.51931821e-02 1.08715624e+02] [ 6.87886556e-02 1.22787639e-04 9.97631247e-01 2.76568572e+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:190.04, Y:108.70, Z:27.66 [[ 9.30604306e-01 3.60384984e-01 -6.40178868e-02 1.90035057e+02] [-3.59505078e-01 9.32803567e-01 2.51714889e-02 1.08702197e+02] [ 6.87875398e-02 -4.09940594e-04 9.97631248e-01 2.76596773e+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:190.06, Y:108.69, Z:27.66 [[ 9.31939627e-01 3.56916172e-01 -6.40263817e-02 1.90062438e+02] [-3.56029566e-01 9.34136196e-01 2.51498626e-02 1.08688508e+02] [ 6.87857533e-02 -6.42868688e-04 9.97631248e-01 2.76633060e+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:190.09, Y:108.68, Z:27.67 [[ 9.34073474e-01 3.51321702e-01 -6.38733666e-02 1.90085920e+02] [-3.50395269e-01 9.36253644e-01 2.55395633e-02 1.08677742e+02] [ 6.87742751e-02 -1.47490310e-03 9.97631156e-01 2.76672312e+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:190.11, Y:108.67, Z:27.67 [[ 9.36351287e-01 3.45174085e-01 -6.40399839e-02 1.90111463e+02] [-3.44262341e-01 9.38537528e-01 2.51147257e-02 1.08667145e+02] [ 6.87728807e-02 -1.46965098e-03 9.97631260e-01 2.76692085e+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:190.14, Y:108.66, Z:27.67 [[ 9.37961939e-01 3.40772574e-01 -6.40425984e-02 1.90137474e+02] [-3.39851027e-01 9.40144066e-01 2.51080571e-02 1.08656887e+02] [ 6.87654061e-02 -1.78545904e-03 9.97631260e-01 2.76708346e+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:190.16, Y:108.65, Z:27.67 [[ 9.41855807e-01 3.29856203e-01 -6.40509559e-02 1.90162750e+02] [-3.28910824e-01 9.44027715e-01 2.50867189e-02 1.08647910e+02] [ 6.87408874e-02 -2.56101919e-03 9.97631260e-01 2.76718938e+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:190.19, Y:108.64, Z:27.68 [[ 9.43775721e-01 3.24321449e-01 -6.40545638e-02 1.90189709e+02] [-3.23363960e-01 9.45942318e-01 2.50775033e-02 1.08637621e+02] [ 6.87250947e-02 -2.95460129e-03 9.97631260e-01 2.76775944e+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:190.22, Y:108.63, Z:27.68 [[ 9.47494494e-01 3.13274303e-01 -6.41357595e-02 1.90217100e+02] [-3.12305563e-01 9.49656107e-01 2.48699503e-02 1.08628187e+02] [ 6.86980320e-02 -3.53418645e-03 9.97631239e-01 2.76818615e+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:190.25, Y:108.62, Z:27.68 [[ 9.48895763e-01 3.09007025e-01 -6.41208913e-02 1.90245689e+02] [-3.08026008e-01 9.51051824e-01 2.49079658e-02 1.08619395e+02] [ 6.86790270e-02 -3.88416102e-03 9.97631247e-01 2.76827277e+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:190.27, Y:108.62, Z:27.69 [[ 9.50201741e-01 3.04979522e-01 -6.40635804e-02 1.90273555e+02] [-3.03979528e-01 9.52349053e-01 2.50545102e-02 1.08616370e+02] [ 6.86520027e-02 -4.33282221e-03 9.97631259e-01 2.76890274e+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:190.30, Y:108.61, Z:27.69 [[ 9.50758538e-01 3.03238671e-01 -6.40664511e-02 1.90302050e+02] [-3.02235239e-01 9.52904245e-01 2.50471675e-02 1.08610818e+02] [ 6.86444630e-02 -4.45066920e-03 9.97631259e-01 2.76947399e+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:190.33, Y:108.61, Z:27.70 [[ 9.51269646e-01 3.01627201e-01 -6.40865990e-02 1.90331062e+02] [-3.00623591e-01 9.53415270e-01 2.49955937e-02 1.08609917e+02] [ 6.86404930e-02 -4.51160608e-03 9.97631259e-01 2.76985905e+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:190.36, Y:108.60, Z:27.70 [[ 9.51196033e-01 3.01861282e-01 -6.40770892e-02 1.90359240e+02] [-3.00856567e-01 9.53341140e-01 2.50199486e-02 1.08603936e+02] [ 6.86398790e-02 -4.52086276e-03 9.97631259e-01 2.76993650e+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:190.39, Y:108.61, Z:27.70 [[ 9.51495966e-01 3.00904777e-01 -6.41228634e-02 1.90390034e+02] [-2.99905768e-01 9.53643743e-01 2.49026477e-02 1.08605929e+02] [ 6.86436931e-02 -4.46395229e-03 9.97631253e-01 2.76981732e+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:190.42, Y:108.60, Z:27.70 [[ 9.51448826e-01 3.01057496e-01 -6.41055088e-02 1.90417326e+02] [-3.00055849e-01 9.53595369e-01 2.49471441e-02 1.08602696e+02] [ 6.86412411e-02 -4.50069812e-03 9.97631256e-01 2.76965152e+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:190.45, Y:108.61, Z:27.70 [[ 9.52417679e-01 2.97961754e-01 -6.41822279e-02 1.90450272e+02] [-2.96966319e-01 9.54567143e-01 2.47502662e-02 1.08605207e+02] [ 6.86408786e-02 -4.51263113e-03 9.97631227e-01 2.77004693e+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:190.48, Y:108.60, Z:27.70 [[ 9.52785314e-01 2.96804764e-01 -6.40864851e-02 1.90478505e+02] [-2.95790264e-01 9.54925816e-01 2.49960923e-02 1.08601224e+02] [ 6.86167984e-02 -4.85975125e-03 9.97631253e-01 2.77039713e+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:190.51, Y:108.60, Z:27.71 [[ 9.53260357e-01 2.95267014e-01 -6.41255217e-02 1.90509735e+02] [-2.94255767e-01 9.55402398e-01 2.48958006e-02 1.08603849e+02] [ 6.86165859e-02 -4.86287522e-03 9.97631253e-01 2.77084502e+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:190.54, Y:108.61, Z:27.71 [[ 9.52222722e-01 2.98602866e-01 -6.40953730e-02 1.90539181e+02] [-2.97593934e-01 9.54365854e-01 2.49733159e-02 1.08605237e+02] [ 6.86275391e-02 -4.70576462e-03 9.97631253e-01 2.77123151e+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:190.57, Y:108.60, Z:27.72 [[ 9.51631581e-01 3.00472154e-01 -6.41390609e-02 1.90567974e+02] [-2.99474969e-01 9.53780205e-01 2.48608986e-02 1.08600987e+02] [ 6.86445744e-02 -4.45037298e-03 9.97631253e-01 2.77180019e+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:190.60, Y:108.60, Z:27.72 [[ 9.49683789e-01 3.06576493e-01 -6.41214081e-02 1.90600577e+02] [-3.05590068e-01 9.51837373e-01 2.49063459e-02 1.08604075e+02] [ 6.86688528e-02 -4.05828745e-03 9.97631254e-01 2.77233848e+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:190.63, Y:108.60, Z:27.73 [[ 9.48979646e-01 3.08760549e-01 -6.40667950e-02 1.90630510e+02] [-3.07769617e-01 9.51131174e-01 2.50470065e-02 1.08603575e+02] [ 6.86694535e-02 -4.05128644e-03 9.97631241e-01 2.77301145e+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:190.66, Y:108.61, Z:27.73 [[ 9.45709348e-01 3.18623259e-01 -6.41330443e-02 1.90662634e+02] [-3.17666326e-01 9.47876194e-01 2.48762135e-02 1.08607311e+02] [ 6.87163261e-02 -3.15275907e-03 9.97631258e-01 2.77319578e+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:190.69, Y:108.60, Z:27.74 [[ 9.44138569e-01 3.23245816e-01 -6.41444019e-02 1.90694365e+02] [-3.22301482e-01 9.46310935e-01 2.48469095e-02 1.08603777e+02] [ 6.87322085e-02 -2.78508979e-03 9.97631258e-01 2.77364889e+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:190.72, Y:108.61, Z:27.73 [[ 9.38356979e-01 3.39708492e-01 -6.39086873e-02 1.90722925e+02] [-3.38760852e-01 9.40528118e-01 2.54547455e-02 1.08608726e+02] [ 6.87551106e-02 -2.23587671e-03 9.97631062e-01 2.77312572e+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:190.76, Y:108.61, Z:27.73 [[ 9.33391889e-01 3.53078211e-01 -6.41510607e-02 1.90755384e+02] [-3.52204632e-01 9.35593630e-01 2.48285534e-02 1.08614422e+02] [ 6.87857449e-02 -5.80469599e-04 9.97631287e-01 2.77304218e+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:190.78, Y:108.61, Z:27.73 [[ 9.31360294e-01 3.58401369e-01 -6.41596530e-02 1.90783208e+02] [-3.57541905e-01 9.33567583e-01 2.48063300e-02 1.08611181e+02] [ 6.87879948e-02 -1.63866208e-04 9.97631287e-01 2.77317512e+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:190.81, Y:108.61, Z:27.73 [[ 9.28494689e-01 3.65760356e-01 -6.41636528e-02 1.90813007e+02] [-3.64919102e-01 9.30708982e-01 2.47959799e-02 1.08607696e+02] [ 6.87870744e-02 3.91606880e-04 9.97631287e-01 2.77309641e+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:190.84, Y:108.60, Z:27.73 [[ 9.27994213e-01 3.67028583e-01 -6.41619824e-02 1.90840968e+02] [-3.66190056e-01 9.30209540e-01 2.48003033e-02 1.08600840e+02] [ 6.87865083e-02 4.80941974e-04 9.97631287e-01 2.77324527e+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:190.87, Y:108.60, Z:27.73 [[ 9.27814909e-01 3.67479607e-01 -6.41734652e-02 1.90870855e+02] [-3.66644214e-01 9.30031419e-01 2.47705546e-02 1.08596426e+02] [ 6.87860126e-02 5.46339833e-04 9.97631288e-01 2.77329240e+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:190.90, Y:108.59, Z:27.74 [[ 9.27718575e-01 3.67728858e-01 -6.41383951e-02 1.90898069e+02] [-3.66887774e-01 9.29932938e-01 2.48614627e-02 1.08587382e+02] [ 6.87866835e-02 4.67152307e-04 9.97631282e-01 2.77368181e+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:190.93, Y:108.58, Z:27.74 [[ 9.28094460e-01 3.66771299e-01 -6.41832316e-02 1.90925110e+02] [-3.65935970e-01 9.30310992e-01 2.47451687e-02 1.08580029e+02] [ 6.87861836e-02 5.21099145e-04 9.97631289e-01 2.77408989e+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:190.95, Y:108.57, Z:27.74 [[ 9.28565893e-01 3.65572575e-01 -6.42033863e-02 1.90951160e+02] [-3.64738002e-01 9.30782710e-01 2.46928483e-02 1.08571097e+02] [ 6.87864300e-02 4.88478123e-04 9.97631289e-01 2.77442398e+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:190.98, Y:108.56, Z:27.74 [[ 9.29522653e-01 3.63134606e-01 -6.41942100e-02 1.90976348e+02] [-3.62292571e-01 9.31736647e-01 2.47166811e-02 1.08559155e+02] [ 6.87875802e-02 2.82370389e-04 9.97631289e-01 2.77439577e+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:191.00, Y:108.55, Z:27.75 [[ 9.31529310e-01 3.57954020e-01 -6.42033050e-02 1.91000034e+02] [-3.57101302e-01 9.33739211e-01 2.46930336e-02 1.08545758e+02] [ 6.87881140e-02 -7.52007808e-05 9.97631289e-01 2.77461837e+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:191.03, Y:108.53, Z:27.75 [[ 9.32819419e-01 3.54577726e-01 -6.42072204e-02 1.91025990e+02] [-3.53717711e-01 9.35026491e-01 2.46828486e-02 1.08534169e+02] [ 6.87874402e-02 -3.13409459e-04 9.97631290e-01 2.77461916e+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:191.05, Y:108.52, Z:27.75 [[ 9.34706585e-01 3.49577553e-01 -6.41804865e-02 1.91051087e+02] [-3.48700954e-01 9.36907126e-01 2.47524207e-02 1.08520752e+02] [ 6.87840457e-02 -7.56453731e-04 9.97631286e-01 2.77456253e+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:191.08, Y:108.51, Z:27.75 [[ 9.35463800e-01 3.47530612e-01 -6.42647050e-02 1.91076627e+02] [-3.46664256e-01 9.37668397e-01 2.45330550e-02 1.08508886e+02] [ 6.87849706e-02 -6.71508697e-04 9.97631283e-01 2.77456724e+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:191.10, Y:108.49, Z:27.74 [[ 9.36879630e-01 3.43690963e-01 -6.42890402e-02 1.91102428e+02] [-3.42819923e-01 9.39082391e-01 2.44696327e-02 1.08494002e+02] [ 6.87826972e-02 -8.85536624e-04 9.97631273e-01 2.77434907e+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:191.13, Y:108.48, Z:27.74 [[ 9.37677100e-01 3.41521295e-01 -6.42250901e-02 1.91127473e+02] [-3.40633737e-01 9.39873240e-01 2.46363486e-02 1.08481235e+02] [ 6.87772813e-02 -1.22370750e-03 9.97631289e-01 2.77434764e+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:191.15, Y:108.47, Z:27.75 [[ 9.36949468e-01 3.43511970e-01 -6.42278773e-02 1.91153146e+02] [-3.42629577e-01 9.39147689e-01 2.46290803e-02 1.08471082e+02] [ 6.87798464e-02 -1.06983329e-03 9.97631289e-01 2.77460187e+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:191.18, Y:108.46, Z:27.75 [[ 9.32812831e-01 3.54589687e-01 -6.42368798e-02 1.91178857e+02] [-3.53735020e-01 9.35021979e-01 2.46055778e-02 1.08462076e+02] [ 6.87877786e-02 -2.29564763e-04 9.97631289e-01 2.77530262e+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:191.21, Y:108.45, Z:27.76 [[ 9.30522705e-01 3.60556181e-01 -6.42396683e-02 1.91206377e+02] [-3.59716182e-01 9.32737472e-01 2.45982956e-02 1.08451709e+02] [ 6.87878133e-02 2.18775618e-04 9.97631289e-01 2.77577241e+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:191.23, Y:108.44, Z:27.76 [[ 9.26783835e-01 3.70060890e-01 -6.42390886e-02 1.91231404e+02] [-3.69243497e-01 9.29007045e-01 2.45998097e-02 1.08440540e+02] [ 6.87819933e-02 9.21159724e-04 9.97631289e-01 2.77610491e+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:191.26, Y:108.43, Z:27.76 [[ 9.25971695e-01 3.72087646e-01 -6.42433164e-02 1.91257601e+02] [-3.71275886e-01 9.28196967e-01 2.45887637e-02 1.08429666e+02] [ 6.87796266e-02 1.08349500e-03 9.97631289e-01 2.77636864e+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:191.28, Y:108.42, Z:27.77 [[ 9.25496954e-01 3.73270416e-01 -6.42229225e-02 1.91282055e+02] [-3.72457800e-01 9.27721917e-01 2.46420755e-02 1.08415985e+02] [ 6.87791705e-02 1.11416266e-03 9.97631287e-01 2.77673884e+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:191.31, Y:108.40, Z:27.77 [[ 9.25677523e-01 3.72816964e-01 -6.42544548e-02 1.91306802e+02] [-3.72008982e-01 9.27904168e-01 2.45595793e-02 1.08403773e+02] [ 6.87782042e-02 1.16898378e-03 9.97631291e-01 2.77704139e+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:191.33, Y:108.39, Z:27.77 [[ 9.25773174e-01 3.72577833e-01 -6.42634360e-02 1.91331045e+02] [-3.71770907e-01 9.28000202e-01 2.45360561e-02 1.08389511e+02] [ 6.87780722e-02 1.17645336e-03 9.97631291e-01 2.77738584e+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:191.36, Y:108.38, Z:27.78 [[ 9.25720902e-01 3.72706144e-01 -6.42724045e-02 1.91356175e+02] [-3.71901159e-01 9.27948632e-01 2.45125407e-02 1.08377254e+02] [ 6.87774643e-02 1.21121041e-03 9.97631291e-01 2.77767806e+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:191.38, Y:108.37, Z:27.78 [[ 9.25861013e-01 3.72356356e-01 -6.42816346e-02 1.91382780e+02] [-3.71552211e-01 9.28089046e-01 2.44883117e-02 1.08367375e+02] [ 6.87774595e-02 1.21121033e-03 9.97631292e-01 2.77787399e+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:191.41, Y:108.36, Z:27.78 [[ 9.26051852e-01 3.71879892e-01 -6.42908556e-02 1.91408157e+02] [-3.71076282e-01 9.28280077e-01 2.44640793e-02 1.08356098e+02] [ 6.87776196e-02 1.20180575e-03 9.97631292e-01 2.77789829e+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:191.43, Y:108.34, Z:27.78 [[ 9.27395098e-01 3.68516857e-01 -6.42935413e-02 1.91432227e+02] [-3.67705655e-01 9.29620571e-01 2.44570190e-02 1.08340626e+02] [ 6.87814223e-02 9.59779205e-04 9.97631292e-01 2.77811360e+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:191.46, Y:108.33, Z:27.78 [[ 9.28454555e-01 3.65836421e-01 -6.43105984e-02 1.91457559e+02] [-3.65021903e-01 9.30678816e-01 2.44121318e-02 1.08327020e+02] [ 6.87833585e-02 8.09222002e-04 9.97631292e-01 2.77845561e+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:191.48, Y:108.31, Z:27.79 [[ 9.30912735e-01 3.59519381e-01 -6.43994981e-02 1.91483313e+02] [-3.58705936e-01 9.33137430e-01 2.41782458e-02 1.08308770e+02] [ 6.87861301e-02 5.92645315e-04 9.97631253e-01 2.77852186e+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:191.51, Y:108.30, Z:27.79 [[ 9.31301729e-01 3.58528833e-01 -6.42974703e-02 1.91507055e+02] [-3.57694481e-01 9.33518624e-01 2.44465990e-02 1.08297024e+02] [ 6.87876966e-02 2.31690327e-04 9.97631294e-01 2.77901038e+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:191.53, Y:108.28, Z:27.79 [[ 9.32011709e-01 3.56624251e-01 -6.46012255e-02 1.91534017e+02] [-3.55840665e-01 9.34247421e-01 2.36469335e-02 1.08282418e+02] [ 6.87865982e-02 9.48524164e-04 9.97630946e-01 2.77885237e+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:191.56, Y:108.27, Z:27.78 [[ 9.31282733e-01 3.58529939e-01 -6.45658862e-02 1.91563026e+02] [-3.57744473e-01 9.33517704e-01 2.37400169e-02 1.08267181e+02] [ 6.87849047e-02 9.89421131e-04 9.97631023e-01 2.77828231e+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:191.59, Y:108.26, Z:27.79 [[ 9.29689838e-01 3.62687802e-01 -6.42990072e-02 1.91586480e+02] [-3.61863675e-01 9.31910544e-01 2.44421400e-02 1.08255253e+02] [ 6.87857888e-02 5.43865869e-04 9.97631304e-01 2.77855072e+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:191.61, Y:108.24, Z:27.78 [[ 9.28349306e-01 3.66063461e-01 -6.45376479e-02 1.91614765e+02] [-3.65291030e-01 9.30588732e-01 2.38133551e-02 1.08240766e+02] [ 6.87752071e-02 1.46791222e-03 9.97631102e-01 2.77825442e+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:191.64, Y:108.23, Z:27.79 [[ 9.26337590e-01 3.71165006e-01 -6.43055869e-02 1.91637423e+02] [-3.70362431e-01 9.28566163e-01 2.44243769e-02 1.08230048e+02] [ 6.87774661e-02 1.19115503e-03 9.97631315e-01 2.77888228e+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:191.66, Y:108.22, Z:27.78 [[ 9.25487644e-01 3.73218648e-01 -6.46564910e-02 1.91664664e+02] [-3.72485496e-01 9.27740472e-01 2.34983496e-02 1.08215853e+02] [ 6.87544657e-02 2.33617293e-03 9.97630877e-01 2.77823143e+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:191.69, Y:108.20, Z:27.78 [[ 9.26153068e-01 3.71581312e-01 -6.45586770e-02 1.91693398e+02] [-3.70826171e-01 9.28398392e-01 2.37566235e-02 1.08202618e+02] [ 6.87636893e-02 1.93777721e-03 9.97631094e-01 2.77838485e+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:191.71, Y:108.19, Z:27.79 [[ 9.25577673e-01 3.73052803e-01 -6.43239977e-02 1.91714601e+02] [-3.72258137e-01 9.27809082e-01 2.43759453e-02 1.08185712e+02] [ 6.87739040e-02 1.38330080e-03 9.97631313e-01 2.77882838e+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:191.74, Y:108.17, Z:27.79 [[ 9.25661900e-01 3.72796700e-01 -6.45961849e-02 1.91739952e+02] [-3.72051475e-01 9.27910590e-01 2.36566730e-02 1.08171704e+02] [ 6.87586136e-02 2.13502496e-03 9.97631041e-01 2.77852931e+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:191.76, Y:108.16, Z:27.79 [[ 9.27394800e-01 3.68455099e-01 -6.46507964e-02 1.91762499e+02] [-3.67709411e-01 9.29643463e-01 2.35121441e-02 1.08156810e+02] [ 6.87653597e-02 1.96766608e-03 9.97630921e-01 2.77890791e+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:191.79, Y:108.14, Z:27.79 [[ 9.27407512e-01 3.68385331e-01 -6.48656689e-02 1.91790174e+02] [-3.67679216e-01 9.29669635e-01 2.29426361e-02 1.08140122e+02] [ 6.87553733e-02 2.57258516e-03 9.97630232e-01 2.77877588e+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:191.82, Y:108.13, Z:27.80 [[ 9.26298990e-01 3.71210440e-01 -6.45986876e-02 1.91816283e+02] [-3.70461856e-01 9.28546558e-01 2.36496107e-02 1.08125783e+02] [ 6.87618714e-02 2.02473915e-03 9.97631047e-01 2.77963853e+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:191.84, Y:108.11, Z:27.79 [[ 9.26752602e-01 3.70093424e-01 -6.45017167e-02 1.91844655e+02] [-3.69324249e-01 9.28993046e-01 2.39064736e-02 1.08114118e+02] [ 6.87692749e-02 1.66666148e-03 9.97631199e-01 2.77928370e+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:191.87, Y:108.10, Z:27.79 [[ 9.24142807e-01 3.76588762e-01 -6.43504173e-02 1.91869511e+02] [-3.75807427e-01 9.26378943e-01 2.43070412e-02 1.08100601e+02] [ 6.87666301e-02 1.72018747e-03 9.97631290e-01 2.77926377e+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:191.90, Y:108.09, Z:27.79 [[ 9.22727507e-01 3.80041840e-01 -6.43595239e-02 1.91895748e+02] [-3.79270555e-01 9.24967128e-01 2.42829049e-02 1.08089539e+02] [ 6.87589639e-02 2.00316803e-03 9.97631291e-01 2.77925021e+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:191.92, Y:108.07, Z:27.79 [[ 9.18846779e-01 3.89329273e-01 -6.43685731e-02 1.91916524e+02] [-3.88582295e-01 9.21094624e-01 2.42588940e-02 1.08073256e+02] [ 6.87342442e-02 2.72228123e-03 9.97631291e-01 2.77920007e+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:191.94, Y:108.06, Z:27.79 [[ 9.18319388e-01 3.90509330e-01 -6.47453844e-02 1.91941433e+02] [-3.89835711e-01 9.20590771e-01 2.32540700e-02 1.08060300e+02] [ 6.86849346e-02 3.88539959e-03 9.97630835e-01 2.77911814e+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:191.97, Y:108.04, Z:27.79 [[ 9.19303424e-01 3.88181024e-01 -6.47820046e-02 1.91969985e+02] [-3.87508530e-01 9.21575244e-01 2.31561734e-02 1.08040629e+02] [ 6.86902788e-02 3.81602994e-03 9.97630735e-01 2.77945854e+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:191.99, Y:108.02, Z:27.80 [[ 9.21283865e-01 3.83518092e-01 -6.44198222e-02 1.91992336e+02] [-3.82766386e-01 9.23530158e-01 2.41234580e-02 1.08020726e+02] [ 6.87454312e-02 2.43318994e-03 9.97631267e-01 2.77978751e+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:192.02, Y:108.00, Z:27.80 [[ 9.22663786e-01 3.80184793e-01 -6.44287328e-02 1.92018495e+02] [-3.79426632e-01 9.24907908e-01 2.40996363e-02 1.08004550e+02] [ 6.87529597e-02 2.21011550e-03 9.97631268e-01 2.78004729e+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:192.04, Y:107.99, Z:27.80 [[ 9.25558769e-01 3.73115185e-01 -6.42341409e-02 1.92036845e+02] [-3.72303780e-01 9.27784343e-01 2.46192847e-02 1.07987443e+02] [ 6.87812592e-02 1.12801866e-03 9.97631127e-01 2.78026664e+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:192.07, Y:107.97, Z:27.81 [[ 9.27710236e-01 3.67648836e-01 -6.47151563e-02 1.92065001e+02] [-3.66913884e-01 9.29962320e-01 2.33299080e-02 1.07972180e+02] [ 6.87598705e-02 2.10149486e-03 9.97631026e-01 2.78050845e+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:192.08, Y:107.95, Z:27.81 [[ 9.28034012e-01 3.66878779e-01 -6.44424861e-02 1.92084872e+02] [-3.66091159e-01 9.30267900e-01 2.40602812e-02 1.07950851e+02] [ 6.87759829e-02 1.26306516e-03 9.97631329e-01 2.78116240e+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:192.11, Y:107.94, Z:27.81 [[ 9.29505254e-01 3.63101343e-01 -6.46327866e-02 1.92112245e+02] [-3.62340053e-01 9.31748398e-01 2.35501428e-02 1.07935792e+02] [ 6.87725838e-02 1.52906581e-03 9.97631191e-01 2.78105020e+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:192.14, Y:107.92, Z:27.81 [[ 9.30157101e-01 3.61461210e-01 -6.44481298e-02 1.92136801e+02] [-3.60661629e-01 9.32386734e-01 2.40451060e-02 1.07924292e+02] [ 6.87819544e-02 8.78241404e-04 9.97631330e-01 2.78112475e+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:192.16, Y:107.91, Z:27.81 [[ 9.30691169e-01 3.60083170e-01 -6.44519891e-02 1.92161134e+02] [-3.59281004e-01 9.32919874e-01 2.40347570e-02 1.07912161e+02] [ 6.87830530e-02 7.87439250e-04 9.97631331e-01 2.78133286e+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:192.19, Y:107.90, Z:27.82 [[ 9.32254251e-01 3.55998958e-01 -6.45503935e-02 1.92185867e+02] [-3.55205306e-01 9.34486036e-01 2.37705482e-02 1.07897889e+02] [ 6.87837318e-02 7.68447714e-04 9.97631299e-01 2.78168539e+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:192.21, Y:107.89, Z:27.82 [[ 9.31490314e-01 3.58008779e-01 -6.44632459e-02 1.92209339e+02] [-3.57203737e-01 9.33717982e-01 2.40045854e-02 1.07885528e+02] [ 6.87843442e-02 6.66473569e-04 9.97631330e-01 2.78190848e+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:192.24, Y:107.87, Z:27.82 [[ 9.30567093e-01 3.60372664e-01 -6.46252896e-02 1.92235479e+02] [-3.59603512e-01 9.32807501e-01 2.35686264e-02 1.07874485e+02] [ 6.87764436e-02 1.30729294e-03 9.97631240e-01 2.78224728e+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:192.26, Y:107.86, Z:27.83 [[ 9.27851607e-01 3.67317654e-01 -6.45688572e-02 1.92262235e+02] [-3.66554704e-01 9.30094075e-01 2.37204523e-02 1.07862901e+02] [ 6.87680524e-02 1.65895857e-03 9.97631296e-01 2.78282208e+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:192.29, Y:107.85, Z:27.83 [[ 9.26295011e-01 3.71240860e-01 -6.44808167e-02 1.92288791e+02] [-3.70470912e-01 9.28535053e-01 2.39574174e-02 1.07854013e+02] [ 6.87666708e-02 1.69663078e-03 9.97631328e-01 2.78303020e+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:192.32, Y:107.85, Z:27.83 [[ 9.24283749e-01 3.76217379e-01 -6.44983354e-02 1.92316651e+02] [-3.75462779e-01 9.26529008e-01 2.39102230e-02 1.07845199e+02] [ 6.87550201e-02 2.11689366e-03 9.97631328e-01 2.78304913e+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:192.34, Y:107.83, Z:27.83 [[ 9.24102135e-01 3.76662098e-01 -6.45051012e-02 1.92344785e+02] [-3.75909851e-01 9.26348184e-01 2.38919793e-02 1.07830044e+02] [ 6.87533864e-02 2.16947391e-03 9.97631327e-01 2.78285101e+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:192.37, Y:107.82, Z:27.83 [[ 9.23740657e-01 3.77595216e-01 -6.42265596e-02 1.92366764e+02] [-3.76793002e-01 9.25969648e-01 2.46423476e-02 1.07818199e+02] [ 6.87766773e-02 1.43697980e-03 9.97631046e-01 2.78326269e+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:192.39, Y:107.80, Z:27.84 [[ 9.24410398e-01 3.75900540e-01 -6.45306153e-02 1.92391061e+02] [-3.75151359e-01 9.26657432e-01 2.38214450e-02 1.07802735e+02] [ 6.87522683e-02 2.18795653e-03 9.97631364e-01 2.78364933e+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:192.42, Y:107.79, Z:27.84 [[ 9.24686090e-01 3.75225351e-01 -6.45102467e-02 1.92416382e+02] [-3.74470693e-01 9.26931289e-01 2.38764779e-02 1.07790810e+02] [ 6.87556259e-02 2.07894973e-03 9.97631366e-01 2.78377456e+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:192.44, Y:107.78, Z:27.84 [[ 9.24388288e-01 3.75956924e-01 -6.45188687e-02 1.92441332e+02] [-3.75205668e-01 9.26634628e-01 2.38531568e-02 1.07775692e+02] [ 6.87531773e-02 2.15826641e-03 9.97631366e-01 2.78363727e+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:192.47, Y:107.76, Z:27.84 [[ 9.24660413e-01 3.75285663e-01 -6.45274528e-02 1.92466836e+02] [-3.74534397e-01 9.26906749e-01 2.38299127e-02 1.07763053e+02] [ 6.87539560e-02 2.13317370e-03 9.97631366e-01 2.78377670e+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:192.49, Y:107.75, Z:27.84 [[ 9.25726556e-01 3.72646529e-01 -6.45360971e-02 1.92491927e+02] [-3.71890490e-01 9.27971290e-01 2.38064791e-02 1.07750246e+02] [ 6.87590471e-02 1.96207090e-03 9.97631367e-01 2.78405147e+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:192.52, Y:107.74, Z:27.84 [[ 9.29556551e-01 3.62985658e-01 -6.45447958e-02 1.92515838e+02] [-3.62207922e-01 9.31793859e-01 2.37828715e-02 1.07735798e+02] [ 6.87752857e-02 1.27111234e-03 9.97631367e-01 2.78431888e+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:192.54, Y:107.72, Z:27.84 [[ 9.33760511e-01 3.52028618e-01 -6.45535440e-02 1.92541010e+02] [-3.51226267e-01 9.35989110e-01 2.37591027e-02 1.07722767e+02] [ 6.87852983e-02 4.87588388e-04 9.97631367e-01 2.78434522e+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:192.57, Y:107.71, Z:27.84 [[ 9.37409008e-01 3.42193901e-01 -6.45576201e-02 1.92568178e+02] [-3.41368931e-01 9.39629333e-01 2.37480221e-02 1.07711794e+02] [ 6.87866619e-02 -2.23644079e-04 9.97631367e-01 2.78426203e+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:192.60, Y:107.70, Z:27.84 [[ 9.39181875e-01 3.37297253e-01 -6.45598020e-02 1.92595053e+02] [-3.36461116e-01 9.41398019e-01 2.37420890e-02 1.07702181e+02] [ 6.87846112e-02 -5.76276664e-04 9.97631367e-01 2.78443055e+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:192.63, Y:107.69, Z:27.85 [[ 9.43592796e-01 3.24752801e-01 -6.45620090e-02 1.92625390e+02] [-3.23887618e-01 9.45797763e-01 2.37360861e-02 1.07694057e+02] [ 6.87709641e-02 -1.48636457e-03 9.97631367e-01 2.78460938e+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:192.65, Y:107.69, Z:27.85 [[ 9.43804398e-01 3.24197099e-01 -6.42611870e-02 1.92648588e+02] [-3.23274897e-01 9.45986514e-01 2.45531458e-02 1.07685407e+02] [ 6.87502749e-02 -2.39933836e-03 9.97631015e-01 2.78482567e+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:192.68, Y:107.68, Z:27.86 [[ 9.45462704e-01 3.19266429e-01 -6.45695244e-02 1.92675998e+02] [-3.18389985e-01 9.47663168e-01 2.37136587e-02 1.07678782e+02] [ 6.87611352e-02 -1.86208994e-03 9.97631414e-01 2.78556200e+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:192.70, Y:107.67, Z:27.86 [[ 9.45868191e-01 3.18062658e-01 -6.45717472e-02 1.92702824e+02] [-3.17183826e-01 9.48067703e-01 2.37076046e-02 1.07672210e+02] [ 6.87588918e-02 -1.94315521e-03 9.97631414e-01 2.78596637e+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:192.73, Y:107.67, Z:27.86 [[ 9.45812253e-01 3.18228291e-01 -6.45750472e-02 1.92731552e+02] [-3.17350458e-01 9.48012164e-01 2.36986127e-02 1.07673322e+02] [ 6.87594992e-02 -1.92151750e-03 9.97631414e-01 2.78638646e+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:192.76, Y:107.67, Z:27.87 [[ 9.44673144e-01 3.21592822e-01 -6.45810229e-02 1.92761798e+02] [-3.20723938e-01 9.46876604e-01 2.36823172e-02 1.07673797e+02] [ 6.87663228e-02 -1.65936902e-03 9.97631415e-01 2.78677802e+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:192.79, Y:107.67, Z:27.87 [[ 9.43761979e-01 3.24255270e-01 -6.45898294e-02 1.92788981e+02] [-3.23394248e-01 9.45968523e-01 2.36582742e-02 1.07668194e+02] [ 6.87712657e-02 -1.43980040e-03 9.97631415e-01 2.78714988e+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:192.82, Y:107.67, Z:27.87 [[ 9.41491018e-01 3.30789455e-01 -6.45987535e-02 1.92817235e+02] [-3.29945422e-01 9.43704116e-01 2.36338819e-02 1.07669561e+02] [ 6.87799485e-02 -9.37024600e-04 9.97631415e-01 2.78726621e+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:192.85, Y:107.66, Z:27.87 [[ 9.39973331e-01 3.35043453e-01 -6.47767058e-02 1.92848809e+02] [-3.34242933e-01 9.42202671e-01 2.31471114e-02 1.07663161e+02] [ 6.87880734e-02 -1.06511271e-04 9.97631289e-01 2.78718740e+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:192.88, Y:107.67, Z:27.87 [[ 9.36680823e-01 3.44173863e-01 -6.46017601e-02 1.92877863e+02] [-3.43362033e-01 9.38905932e-01 2.36255102e-02 1.07665164e+02] [ 6.87862589e-02 5.22293755e-05 9.97631419e-01 2.78721206e+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:192.91, Y:107.66, Z:27.87 [[ 9.35456262e-01 3.47487698e-01 -6.46055896e-02 1.92907689e+02] [-3.46684474e-01 9.37684492e-01 2.36150336e-02 1.07660095e+02] [ 6.87855931e-02 3.06923778e-04 9.97631419e-01 2.78747253e+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:192.93, Y:107.66, Z:27.87 [[ 9.31554866e-01 3.57835236e-01 -6.44939993e-02 1.92934113e+02] [-3.57035612e-01 9.33784446e-01 2.39202962e-02 1.07657075e+02] [ 6.87830182e-02 7.43586181e-04 9.97631367e-01 2.78745613e+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:192.96, Y:107.65, Z:27.87 [[ 9.30296428e-01 3.61072286e-01 -6.46170330e-02 1.92963310e+02] [-3.60303803e-01 9.32536864e-01 2.35832019e-02 1.07649880e+02] [ 6.87730059e-02 1.34239425e-03 9.97631431e-01 2.78724619e+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:192.99, Y:107.65, Z:27.87 [[ 9.27781292e-01 3.67502811e-01 -6.45256455e-02 1.92990879e+02] [-3.66732426e-01 9.30021117e-01 2.38338005e-02 1.07645235e+02] [ 6.87692016e-02 1.55109226e-03 9.97631390e-01 2.78697441e+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:193.02, Y:107.64, Z:27.87 [[ 9.27916546e-01 3.67141804e-01 -6.46357405e-02 1.93017693e+02] [-3.66391578e-01 9.30163150e-01 2.35314035e-02 1.07635795e+02] [ 6.87611459e-02 1.84681233e-03 9.97631442e-01 2.78716963e+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:193.05, Y:107.63, Z:27.87 [[ 9.27391965e-01 3.68463360e-01 -6.46443810e-02 1.93045090e+02] [-3.67717989e-01 9.29640184e-01 2.35076429e-02 1.07630827e+02] [ 6.87577193e-02 1.97010269e-03 9.97631442e-01 2.78735072e+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:193.07, Y:107.62, Z:27.88 [[ 9.27959087e-01 3.67031221e-01 -6.46530374e-02 1.93072446e+02] [-3.66284039e-01 9.30206705e-01 2.34838109e-02 1.07623032e+02] [ 6.87599807e-02 1.88935998e-03 9.97631443e-01 2.78757511e+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:193.10, Y:107.61, Z:27.87 [[ 9.30384869e-01 3.60836334e-01 -6.46617059e-02 1.93100036e+02] [-3.60075844e-01 9.32628018e-01 2.34599184e-02 1.07614122e+02] [ 6.87705095e-02 1.45636517e-03 9.97631443e-01 2.78734182e+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:193.13, Y:107.60, Z:27.87 [[ 9.31804122e-01 3.57168866e-01 -6.45869843e-02 1.93126119e+02] [-3.56385261e-01 9.34039329e-01 2.36659626e-02 1.07602677e+02] [ 6.87795285e-02 9.65807750e-04 9.97631417e-01 2.78720468e+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:193.15, Y:107.59, Z:27.87 [[ 9.35989946e-01 3.46035049e-01 -6.46727677e-02 1.93151817e+02] [-3.45241202e-01 9.38221502e-01 2.34291766e-02 1.07590836e+02] [ 6.87846975e-02 3.98230344e-04 9.97631448e-01 2.78719194e+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:193.18, Y:107.58, Z:27.87 [[ 9.38183167e-01 3.40042117e-01 -6.46815493e-02 1.93177717e+02] [-3.39235688e-01 9.40410207e-01 2.34049079e-02 1.07581060e+02] [ 6.87858436e-02 -1.58007957e-05 9.97631449e-01 2.78734036e+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:193.20, Y:107.57, Z:27.88 [[ 9.41569603e-01 3.30547796e-01 -6.46903217e-02 1.93204656e+02] [-3.29720579e-01 9.43789005e-01 2.33806360e-02 1.07569107e+02] [ 6.87824321e-02 -6.84765813e-04 9.97631449e-01 2.78752730e+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:193.23, Y:107.56, Z:27.88 [[ 9.44567548e-01 3.21889074e-01 -6.46496001e-02 1.93229565e+02] [-3.21033799e-01 9.46776299e-01 2.34933807e-02 1.07557599e+02] [ 6.87709717e-02 -1.43637830e-03 9.97631440e-01 2.78802628e+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:193.26, Y:107.55, Z:27.88 [[ 9.45942169e-01 3.17828687e-01 -6.46400746e-02 1.93255887e+02] [-3.16962129e-01 9.48146523e-01 2.35197822e-02 1.07547827e+02] [ 6.87635234e-02 -1.75989815e-03 9.97631435e-01 2.78842999e+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:193.28, Y:107.54, Z:27.88 [[ 9.47436195e-01 3.13335228e-01 -6.46969111e-02 1.93284129e+02] [-3.12468975e-01 9.49640645e-01 2.33620310e-02 1.07537545e+02] [ 6.87589637e-02 -1.91825626e-03 9.97631458e-01 2.78839834e+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:193.31, Y:107.53, Z:27.89 [[ 9.49466677e-01 3.07146483e-01 -6.46070215e-02 1.93307490e+02] [-3.06248892e-01 9.51658609e-01 2.36116233e-02 1.07525194e+02] [ 6.87360552e-02 -2.63262078e-03 9.97631407e-01 2.78871691e+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:193.33, Y:107.52, Z:27.89 [[ 9.50711215e-01 3.03244781e-01 -6.47362994e-02 1.93332970e+02] [-3.02362609e-01 9.52909330e-01 2.32521388e-02 1.07515052e+02] [ 6.87389135e-02 -2.53223276e-03 9.97631470e-01 2.78903027e+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:193.36, Y:107.51, Z:27.89 [[ 9.52773196e-01 2.96697176e-01 -6.47612790e-02 1.93358836e+02] [-2.95804618e-01 9.54967117e-01 2.31826158e-02 1.07505522e+02] [ 6.87231085e-02 -2.93108962e-03 9.97631467e-01 2.78925719e+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:193.38, Y:107.50, Z:27.89 [[ 9.52950534e-01 2.96131965e-01 -6.47390045e-02 1.93384213e+02] [-2.95233900e-01 9.55142204e-01 2.32446533e-02 1.07497845e+02] [ 6.87184403e-02 -3.03785605e-03 9.97631469e-01 2.78945364e+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:193.41, Y:107.49, Z:27.90 [[ 9.52732711e-01 2.96819898e-01 -6.47945175e-02 1.93411016e+02] [-2.95933918e-01 9.54929304e-01 2.30898404e-02 1.07490131e+02] [ 6.87277075e-02 -2.82355082e-03 9.97631460e-01 2.78980086e+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:193.44, Y:107.48, Z:27.90 [[ 9.51179520e-01 3.01769671e-01 -6.47501830e-02 1.93436547e+02] [-3.00886716e-01 9.53377322e-01 2.32135056e-02 1.07481599e+02] [ 6.87364880e-02 -2.59774125e-03 9.97631469e-01 2.79001892e+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:193.46, Y:107.48, Z:27.91 [[ 9.48105487e-01 3.11257797e-01 -6.49197115e-02 1.93464239e+02] [-3.10429147e-01 9.50324472e-01 2.27407723e-02 1.07475589e+02] [ 6.87730332e-02 -1.40768035e-03 9.97631339e-01 2.79079557e+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:193.49, Y:107.47, Z:27.92 [[ 9.44664808e-01 3.21552693e-01 -6.49019799e-02 1.93493757e+02] [-3.20744830e-01 9.46891419e-01 2.27902497e-02 1.07473325e+02] [ 6.87833940e-02 -7.12172333e-04 9.97631364e-01 2.79170259e+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:193.52, Y:107.47, Z:27.92 [[ 9.42039955e-01 3.29193074e-01 -6.47506253e-02 1.93520550e+02] [-3.28374218e-01 9.44262439e-01 2.32124701e-02 1.07468040e+02] [ 6.87829678e-02 -6.04638377e-04 9.97631464e-01 2.79182351e+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:193.55, Y:107.47, Z:27.92 [[ 9.38134009e-01 3.40146307e-01 -6.48465278e-02 1.93550458e+02] [-3.39371900e-01 9.40372404e-01 2.29446250e-02 1.07465001e+02] [ 6.87844147e-02 4.81956281e-04 9.97631431e-01 2.79160660e+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:193.58, Y:107.46, Z:27.92 [[ 9.36376681e-01 3.44970692e-01 -6.47605785e-02 1.93577408e+02] [-3.44191203e-01 9.38613278e-01 2.31847091e-02 1.07458104e+02] [ 6.87831840e-02 5.80400497e-04 9.97631463e-01 2.79152534e+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:193.61, Y:107.45, Z:27.91 [[ 9.32606602e-01 3.55035196e-01 -6.47683275e-02 1.93606230e+02] [-3.54281344e-01 9.34851968e-01 2.31630414e-02 1.07453213e+02] [ 6.87724934e-02 1.34420486e-03 9.97631464e-01 2.79114777e+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:193.64, Y:107.45, Z:27.91 [[ 9.29342115e-01 3.63493099e-01 -6.47765400e-02 1.93635075e+02] [-3.62761278e-01 9.31594758e-01 2.31400520e-02 1.07446870e+02] [ 6.87567343e-02 1.99339561e-03 9.97631464e-01 2.79058822e+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:193.66, Y:107.44, Z:27.91 [[ 9.28482885e-01 3.65680951e-01 -6.47840644e-02 1.93662024e+02] [-3.64955907e-01 9.30737718e-01 2.31189673e-02 1.07437661e+02] [ 6.87511382e-02 2.17776151e-03 9.97631464e-01 2.79052172e+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:193.69, Y:107.43, Z:27.91 [[ 9.27472219e-01 3.68235244e-01 -6.47926460e-02 1.93687566e+02] [-3.67518089e-01 9.29729574e-01 2.30948916e-02 1.07426086e+02] [ 6.87439922e-02 2.39259912e-03 9.97631465e-01 2.79072505e+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:193.71, Y:107.41, Z:27.91 [[ 9.25550943e-01 3.73036506e-01 -6.48013759e-02 1.93712753e+02] [-3.72332771e-01 9.27812516e-01 2.30703706e-02 1.07414139e+02] [ 6.87296181e-02 2.77487264e-03 9.97631465e-01 2.79076643e+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:193.74, Y:107.40, Z:27.91 [[ 9.24248825e-01 3.76250639e-01 -6.48040676e-02 1.93738146e+02] [-3.75555297e-01 9.26512993e-01 2.30628072e-02 1.07402433e+02] [ 6.87192066e-02 3.02173845e-03 9.97631465e-01 2.79097051e+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:193.76, Y:107.39, Z:27.91 [[ 9.21641213e-01 3.82592208e-01 -6.48126229e-02 1.93762269e+02] [-3.81914127e-01 9.23910611e-01 2.30387396e-02 1.07387861e+02] [ 6.86955122e-02 3.51940435e-03 9.97631465e-01 2.79138220e+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:193.79, Y:107.38, Z:27.92 [[ 9.20774973e-01 3.84671630e-01 -6.48165616e-02 1.93787451e+02] [-3.83999452e-01 9.23046125e-01 2.30276532e-02 1.07376075e+02] [ 6.86867609e-02 3.68623734e-03 9.97631465e-01 2.79176322e+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:193.81, Y:107.36, Z:27.92 [[ 9.19765320e-01 3.87078113e-01 -6.48250816e-02 1.93811554e+02] [-3.86413562e-01 9.22038715e-01 2.30036437e-02 1.07358285e+02] [ 6.86754419e-02 3.89133695e-03 9.97631466e-01 2.79229564e+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:193.83, Y:107.34, Z:27.93 [[ 9.19960881e-01 3.86611847e-01 -6.48325286e-02 1.93834943e+02] [-3.85947618e-01 9.22234371e-01 2.29826362e-02 1.07344086e+02] [ 6.86761456e-02 3.87883372e-03 9.97631466e-01 2.79264141e+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:193.86, Y:107.32, Z:27.93 [[ 9.21735835e-01 3.82360196e-01 -6.48361916e-02 1.93856796e+02] [-3.81686203e-01 9.24006448e-01 2.29722978e-02 1.07324284e+02] [ 6.86927514e-02 3.57268970e-03 9.97631466e-01 2.79286175e+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:193.88, Y:107.30, Z:27.93 [[ 9.23334251e-01 3.78483370e-01 -6.48397967e-02 1.93879857e+02] [-3.77800553e-01 9.25602227e-01 2.29621179e-02 1.07304508e+02] [ 6.87066400e-02 3.29480113e-03 9.97631466e-01 2.79270447e+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:193.90, Y:107.29, Z:27.93 [[ 9.23735367e-01 3.77501942e-01 -6.48479480e-02 1.93904507e+02] [-3.76818329e-01 9.26003102e-01 2.29390746e-02 1.07290412e+02] [ 6.87089462e-02 3.24626090e-03 9.97631466e-01 2.79281092e+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:193.93, Y:107.27, Z:27.93 [[ 9.22918777e-01 3.79492538e-01 -6.48563360e-02 1.93927881e+02] [-3.78815479e-01 9.25188478e-01 2.29153344e-02 1.07271472e+02] [ 6.87005332e-02 3.41959155e-03 9.97631467e-01 2.79293758e+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:193.95, Y:107.26, Z:27.93 [[ 9.22485462e-01 3.80543199e-01 -6.48648297e-02 1.93953520e+02] [-3.79870413e-01 9.24756432e-01 2.28912667e-02 1.07258026e+02] [ 6.86952843e-02 3.52336892e-03 9.97631467e-01 2.79281273e+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:193.98, Y:107.24, Z:27.93 [[ 9.20440129e-01 3.85463693e-01 -6.48668660e-02 1.93976360e+02] [-3.84803448e-01 9.22714777e-01 2.28854932e-02 1.07241001e+02] [ 6.86751425e-02 3.89626742e-03 9.97631467e-01 2.79321502e+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:194.00, Y:107.23, Z:27.94 [[ 9.19870756e-01 3.86819403e-01 -6.48732786e-02 1.94001364e+02] [-3.86163789e-01 9.22146743e-01 2.28673010e-02 1.07228460e+02] [ 6.86681982e-02 4.01674963e-03 9.97631467e-01 2.79353055e+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:194.03, Y:107.21, Z:27.94 [[ 9.19161224e-01 3.88501016e-01 -6.48814717e-02 1.94025134e+02] [-3.87851200e-01 9.21438873e-01 2.28440311e-02 1.07209764e+02] [ 6.86592394e-02 4.16700907e-03 9.97631467e-01 2.79361945e+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:194.05, Y:107.20, Z:27.94 [[ 9.19428523e-01 3.87866801e-01 -6.48886457e-02 1.94050154e+02] [-3.87216847e-01 9.21706133e-01 2.28236352e-02 1.07196108e+02] [ 6.86607930e-02 4.14127564e-03 9.97631468e-01 2.79366012e+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:194.08, Y:107.18, Z:27.94 [[ 9.19962761e-01 3.86596577e-01 -6.48968729e-02 1.94075043e+02] [-3.85945124e-01 9.22239942e-01 2.28002177e-02 1.07179616e+02] [ 6.86649745e-02 4.07128040e-03 9.97631468e-01 2.79367216e+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:194.10, Y:107.16, Z:27.94 [[ 9.21815141e-01 3.82157406e-01 -6.49042562e-02 1.94099520e+02] [-3.81496459e-01 9.24089585e-01 2.27791809e-02 1.07164545e+02] [ 6.86825798e-02 3.76255009e-03 9.97631468e-01 2.79358738e+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:194.12, Y:107.15, Z:27.94 [[ 9.23431719e-01 3.78233008e-01 -6.49126443e-02 1.94124115e+02] [-3.77564070e-01 9.25703825e-01 2.27552525e-02 1.07151334e+02] [ 6.86966707e-02 3.49576028e-03 9.97631469e-01 2.79350190e+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:194.15, Y:107.13, Z:27.93 [[ 9.27484131e-01 3.68183416e-01 -6.49165572e-02 1.94147099e+02] [-3.67490626e-01 9.29749077e-01 2.27440843e-02 1.07133019e+02] [ 6.87301038e-02 2.76144898e-03 9.97631469e-01 2.79324519e+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:194.17, Y:107.12, Z:27.93 [[ 9.29543226e-01 3.62953046e-01 -6.49190077e-02 1.94172775e+02] [-3.62247996e-01 9.31804386e-01 2.27370877e-02 1.07119209e+02] [ 6.87443113e-02 2.38167456e-03 9.97631469e-01 2.79340295e+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:194.20, Y:107.10, Z:27.94 [[ 9.33335125e-01 3.53087541e-01 -6.49209726e-02 1.94196097e+02] [-3.52358972e-01 9.35588817e-01 2.27314759e-02 1.07103297e+02] [ 6.87655369e-02 1.65940220e-03 9.97631469e-01 2.79419416e+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:194.22, Y:107.09, Z:27.94 [[ 9.35819229e-01 3.46431965e-01 -6.50174114e-02 1.94222768e+02] [-3.45706495e-01 9.38073960e-01 2.24558308e-02 1.07091970e+02] [ 6.87705582e-02 1.46234314e-03 9.97631431e-01 2.79439759e+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:194.25, Y:107.08, Z:27.95 [[ 9.39778409e-01 3.35560765e-01 -6.49270001e-02 1.94247973e+02] [-3.34791340e-01 9.42018482e-01 2.27142723e-02 1.07078185e+02] [ 6.87844527e-02 3.90614659e-04 9.97631468e-01 2.79500019e+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:194.27, Y:107.07, Z:27.95 [[ 9.41689469e-01 3.30159294e-01 -6.49290787e-02 1.94274175e+02] [-3.29377430e-01 9.43925230e-01 2.27083293e-02 1.07067520e+02] [ 6.87855615e-02 1.97847807e-06 9.97631468e-01 2.79533036e+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:194.30, Y:107.05, Z:27.96 [[ 9.45078739e-01 3.20328149e-01 -6.49311552e-02 1.94299574e+02] [-3.19523437e-01 9.47306379e-01 2.27023901e-02 1.07053192e+02] [ 6.87819121e-02 -7.08520293e-04 9.97631468e-01 2.79564784e+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:194.33, Y:107.04, Z:27.96 [[ 9.48528727e-01 3.09954323e-01 -6.49736225e-02 1.94325547e+02] [-3.09133569e-01 9.50750514e-01 2.25808731e-02 1.07041729e+02] [ 6.87727442e-02 -1.33307896e-03 9.97631461e-01 2.79599223e+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:194.35, Y:107.03, Z:27.96 [[ 9.50020169e-01 3.05360784e-01 -6.49343484e-02 1.94351769e+02] [-3.04521610e-01 9.52235058e-01 2.26932533e-02 1.07033151e+02] [ 6.87623926e-02 -1.78513602e-03 9.97631468e-01 2.79616426e+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:194.38, Y:107.03, Z:27.96 [[ 9.52668598e-01 2.96994514e-01 -6.49368967e-02 1.94379774e+02] [-2.96136392e-01 9.54876214e-01 2.26859589e-02 1.07026681e+02] [ 6.87443034e-02 -2.38202240e-03 9.97631468e-01 2.79620258e+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:194.41, Y:107.02, Z:27.96 [[ 9.53633334e-01 2.93881611e-01 -6.49389173e-02 1.94406216e+02] [-2.93016677e-01 9.55838290e-01 2.26801733e-02 1.07019187e+02] [ 6.87363896e-02 -2.60038357e-03 9.97631468e-01 2.79634162e+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:194.43, Y:107.01, Z:27.97 [[ 9.56006986e-01 2.86065079e-01 -6.49416176e-02 1.94434740e+02] [-2.85182648e-01 9.58204998e-01 2.26724387e-02 1.07014124e+02] [ 6.87131756e-02 -3.15478737e-03 9.97631468e-01 2.79673333e+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:194.46, Y:107.01, Z:27.97 [[ 9.58882147e-01 2.76274016e-01 -6.49437918e-02 1.94464601e+02] [-2.75369575e-01 9.61071194e-01 2.26662093e-02 1.07013983e+02] [ 6.86776922e-02 -3.85067917e-03 9.97631468e-01 2.79737127e+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:194.50, Y:107.01, Z:27.97 [[ 9.60178627e-01 2.71720907e-01 -6.49981003e-02 1.94495629e+02] [-2.70816581e-01 9.62367734e-01 2.25105220e-02 1.07010587e+02] [ 6.86686540e-02 -4.01155883e-03 9.97631457e-01 2.79733564e+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:194.52, Y:107.01, Z:27.97 [[ 9.61020399e-01 2.68755206e-01 -6.48878448e-02 1.94522602e+02] [-2.67822880e-01 9.63197728e-01 2.28263543e-02 1.07007769e+02] [ 6.86345262e-02 -4.55814261e-03 9.97631458e-01 2.79731813e+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:194.55, Y:107.01, Z:27.97 [[ 9.63076532e-01 2.61266342e-01 -6.49883967e-02 1.94554394e+02] [-2.60336425e-01 9.65254880e-01 2.25380303e-02 1.07011622e+02] [ 6.86187958e-02 -4.78700123e-03 9.97631468e-01 2.79735868e+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:194.59, Y:107.02, Z:27.98 [[ 9.64627209e-01 2.55491566e-01 -6.49492722e-02 1.94586231e+02] [-2.54541108e-01 9.66796665e-01 2.26502209e-02 1.07017402e+02] [ 6.85796802e-02 -5.31675964e-03 9.97631475e-01 2.79788368e+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:194.61, Y:107.02, Z:27.98 [[ 9.65209188e-01 2.53283530e-01 -6.49513376e-02 1.94614413e+02] [-2.52328506e-01 9.67376639e-01 2.26442965e-02 1.07017046e+02] [ 6.85678340e-02 -5.46740902e-03 9.97631475e-01 2.79796273e+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:194.65, Y:107.02, Z:27.98 [[ 9.66032305e-01 2.50124865e-01 -6.49548852e-02 1.94646304e+02] [-2.49163435e-01 9.68196922e-01 2.26341159e-02 1.07024341e+02] [ 6.85504751e-02 -5.68090487e-03 9.97631475e-01 2.79783248e+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:194.68, Y:107.02, Z:27.98 [[ 9.66082403e-01 2.49904446e-01 -6.50581240e-02 1.94677165e+02] [-2.48962304e-01 9.68255539e-01 2.23379239e-02 1.07023353e+02] [ 6.85752355e-02 -5.38325475e-03 9.97631424e-01 2.79797715e+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:194.70, Y:107.01, Z:27.98 [[ 9.66095047e-01 2.49863749e-01 -6.50266666e-02 1.94703864e+02] [-2.48915484e-01 9.68265490e-01 2.24281616e-02 1.07014069e+02] [ 6.85670617e-02 -5.48159166e-03 9.97631450e-01 2.79817259e+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:194.74, Y:107.02, Z:27.98 [[ 9.66801634e-01 2.47115459e-01 -6.50273019e-02 1.94737232e+02] [-2.46161148e-01 9.68969426e-01 2.24263389e-02 1.07022347e+02] [ 6.85513624e-02 -5.67462578e-03 9.97631450e-01 2.79828683e+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:194.77, Y:107.03, Z:27.98 [[ 9.66953484e-01 2.46523685e-01 -6.50156348e-02 1.94769209e+02] [-2.45565814e-01 9.69119697e-01 2.24598231e-02 1.07026969e+02] [ 6.85448107e-02 -5.75198696e-03 9.97631457e-01 2.79847515e+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:194.80, Y:107.03, Z:27.99 [[ 9.67317200e-01 2.45091627e-01 -6.50194600e-02 1.94798241e+02] [-2.44131281e-01 9.69482319e-01 2.24488381e-02 1.07029744e+02] [ 6.85372391e-02 -5.84186313e-03 9.97631455e-01 2.79856323e+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:194.83, Y:107.04, Z:27.99 [[ 9.65826926e-01 2.50862072e-01 -6.51657130e-02 1.94834683e+02] [-2.49942802e-01 9.68009990e-01 2.20285167e-02 1.07037337e+02] [ 6.86071805e-02 -4.98803369e-03 9.97631282e-01 2.79878571e+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:194.87, Y:107.05, Z:27.99 [[ 9.62653824e-01 2.62843348e-01 -6.48921347e-02 1.94865007e+02] [-2.61898443e-01 9.64825735e-01 2.28146042e-02 1.07045688e+02] [ 6.86062685e-02 -4.96741698e-03 9.97631447e-01 2.79898816e+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:194.89, Y:107.05, Z:27.99 [[ 9.60945547e-01 2.68973222e-01 -6.50927161e-02 1.94892914e+02] [-2.68081065e-01 9.63139684e-01 2.22371815e-02 1.07045622e+02] [ 6.86745844e-02 -3.91859591e-03 9.97631418e-01 2.79927756e+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:194.93, Y:107.06, Z:28.00 [[ 9.57723920e-01 2.80213470e-01 -6.51559979e-02 1.94927699e+02] [-2.79359460e-01 9.59933270e-01 2.20546929e-02 1.07057821e+02] [ 6.87254322e-02 -2.92036251e-03 9.97631338e-01 2.80018448e+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:194.96, Y:107.06, Z:28.00 [[ 9.56058486e-01 2.85839905e-01 -6.51745315e-02 1.94960137e+02] [-2.85002538e-01 9.58274230e-01 2.20012287e-02 1.07058919e+02] [ 6.87439031e-02 -2.45955449e-03 9.97631308e-01 2.79993518e+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:194.99, Y:107.06, Z:27.99 [[ 9.50186942e-01 3.04829852e-01 -6.49887461e-02 1.94989948e+02] [-3.04000116e-01 9.52405383e-01 2.25370018e-02 1.07064832e+02] [ 6.87655825e-02 -1.65777849e-03 9.97631468e-01 2.79948262e+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:195.02, Y:107.06, Z:28.00 [[ 9.48300745e-01 3.10596936e-01 -6.52322120e-02 1.95017814e+02] [-3.09829004e-01 9.50541582e-01 2.18331990e-02 1.07061730e+02] [ 6.87872547e-02 -4.93607581e-04 9.97631229e-01 2.79951905e+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:195.05, Y:107.07, Z:28.00 [[ 9.46700398e-01 3.15438012e-01 -6.52473498e-02 1.95048048e+02] [-3.14684553e-01 9.48946179e-01 2.17894632e-02 1.07065043e+02] [ 6.87894483e-02 -9.57603358e-05 9.97631196e-01 2.80008316e+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:195.08, Y:107.07, Z:28.00 [[ 9.46892793e-01 3.14853499e-01 -6.52787299e-02 1.95076719e+02] [-3.14104921e-01 9.49140281e-01 2.16985226e-02 1.07067664e+02] [ 6.87905277e-02 -4.18043855e-05 9.97631125e-01 2.79987630e+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:195.11, Y:107.06, Z:28.00 [[ 9.48988739e-01 3.08451055e-01 -6.54088678e-02 1.95109583e+02] [-3.07713302e-01 9.51240209e-01 2.13210757e-02 1.07063614e+02] [ 6.87960533e-02 -1.06282076e-04 9.97630739e-01 2.79996259e+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:195.14, Y:107.06, Z:28.00 [[ 9.49680570e-01 3.06371781e-01 -6.51394428e-02 1.95137868e+02] [-3.05575575e-01 9.51911319e-01 2.20999812e-02 1.07056362e+02] [ 6.87777835e-02 -1.08290007e-03 9.97631417e-01 2.79992796e+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:195.16, Y:107.05, Z:28.00 [[ 9.50214818e-01 3.04715927e-01 -6.51153126e-02 1.95163221e+02] [-3.03911052e-01 9.52442425e-01 2.21697703e-02 1.07049424e+02] [ 6.87740684e-02 -1.27678107e-03 9.97631444e-01 2.80010572e+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:195.19, Y:107.04, Z:28.00 [[ 9.51484653e-01 3.00688393e-01 -6.52950675e-02 1.95194972e+02] [-2.99909707e-01 9.53721897e-01 2.16497262e-02 1.07040436e+02] [ 6.87831570e-02 -1.01675762e-03 9.97631116e-01 2.80019373e+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:195.22, Y:107.04, Z:28.01 [[ 9.49886024e-01 3.05763371e-01 -6.50023234e-02 1.95218729e+02] [-3.04938640e-01 9.52106280e-01 2.24957072e-02 1.07036263e+02] [ 6.87674836e-02 -1.54663779e-03 9.97631516e-01 2.80068219e+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:195.25, Y:107.03, Z:28.01 [[ 9.49930628e-01 3.05550580e-01 -6.53501720e-02 1.95252689e+02] [-3.04794422e-01 9.52175718e-01 2.14886536e-02 1.07033829e+02] [ 6.87907176e-02 -4.94362336e-04 9.97630990e-01 2.80111061e+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:195.28, Y:107.03, Z:28.01 [[ 9.49479729e-01 3.07021947e-01 -6.50059118e-02 1.95280140e+02] [-3.06200955e-01 9.51701340e-01 2.24840940e-02 1.07025902e+02] [ 6.87693237e-02 -1.44331926e-03 9.97631544e-01 2.80138281e+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:195.31, Y:107.02, Z:28.01 [[ 9.49408511e-01 3.07240593e-01 -6.50130499e-02 1.95306110e+02] [-3.06421527e-01 9.51630833e-01 2.24634349e-02 1.07018834e+02] [ 6.87701020e-02 -1.40557831e-03 9.97631544e-01 2.80144618e+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:195.33, Y:107.01, Z:28.01 [[ 9.49700133e-01 3.06337237e-01 -6.50165751e-02 1.95334240e+02] [-3.05516755e-01 9.51921932e-01 2.24532273e-02 1.07011210e+02] [ 6.87689634e-02 -1.46017990e-03 9.97631544e-01 2.80140347e+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:195.36, Y:107.00, Z:28.01 [[ 9.50432460e-01 3.04055983e-01 -6.50238246e-02 1.95361469e+02] [-3.03231605e-01 9.52652817e-01 2.24322135e-02 1.07004201e+02] [ 6.87657784e-02 -1.60302517e-03 9.97631544e-01 2.80091614e+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:195.39, Y:107.00, Z:28.01 [[ 9.50709472e-01 3.03187904e-01 -6.50276418e-02 1.95388771e+02] [-3.02362256e-01 9.52929357e-01 2.24211425e-02 1.06995806e+02] [ 6.87645681e-02 -1.65408813e-03 9.97631544e-01 2.80102983e+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:195.42, Y:106.99, Z:28.02 [[ 9.49986928e-01 3.05442827e-01 -6.50347293e-02 1.95417383e+02] [-3.04623855e-01 9.52209284e-01 2.24005657e-02 1.06993223e+02] [ 6.87687651e-02 -1.46911459e-03 9.97631545e-01 2.80174255e+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:195.45, Y:106.99, Z:28.03 [[ 9.47272670e-01 3.13758895e-01 -6.50372474e-02 1.95445963e+02] [-3.12959939e-01 9.49502300e-01 2.23932523e-02 1.06992136e+02] [ 6.87790981e-02 -8.58462894e-04 9.97631545e-01 2.80280513e+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:195.47, Y:106.98, Z:28.03 [[ 9.44769924e-01 3.21215854e-01 -6.50397322e-02 1.95470687e+02] [-3.20434994e-01 9.47005956e-01 2.23860329e-02 1.06983704e+02] [ 6.87837625e-02 -3.08644361e-04 9.97631545e-01 2.80316761e+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:195.50, Y:106.97, Z:28.03 [[ 9.42467095e-01 3.27873986e-01 -6.52259411e-02 1.95499260e+02] [-3.27146318e-01 9.44721169e-01 2.18449115e-02 1.06971824e+02] [ 6.87827055e-02 7.50316195e-04 9.97631383e-01 2.80320708e+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:195.53, Y:106.96, Z:28.03 [[ 9.41184850e-01 3.31572927e-01 -6.50420810e-02 1.95525836e+02] [-3.30817138e-01 9.43429482e-01 2.23793070e-02 1.06962973e+02] [ 6.87829891e-02 4.53970368e-04 9.97631542e-01 2.80347709e+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:195.55, Y:106.96, Z:28.04 [[ 9.38611378e-01 3.38788846e-01 -6.50445997e-02 1.95554026e+02] [-3.38050819e-01 9.40861912e-01 2.23719841e-02 1.06958267e+02] [ 6.87773651e-02 9.89781346e-04 9.97631542e-01 2.80390354e+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:195.58, Y:106.95, Z:28.04 [[ 9.36745697e-01 3.43912270e-01 -6.50526639e-02 1.95578451e+02] [-3.43188180e-01 9.39000755e-01 2.23485105e-02 1.06950167e+02] [ 6.87704275e-02 1.39043430e-03 9.97631543e-01 2.80398672e+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:195.60, Y:106.94, Z:28.04 [[ 9.34013538e-01 3.51229094e-01 -6.52444230e-02 1.95602094e+02] [-3.50561628e-01 9.36286158e-01 2.17893475e-02 1.06939047e+02] [ 6.87405029e-02 2.52064557e-03 9.97631390e-01 2.80379798e+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:195.63, Y:106.93, Z:28.04 [[ 9.33587188e-01 3.52333589e-01 -6.53911654e-02 1.95629069e+02] [-3.51698863e-01 9.35869486e-01 2.13591917e-02 1.06929441e+02] [ 6.87231570e-02 3.05733088e-03 9.97631084e-01 2.80394570e+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:195.66, Y:106.92, Z:28.04 [[ 9.33907511e-01 3.51484869e-01 -6.53846151e-02 1.95658516e+02] [-3.50846726e-01 9.36188837e-01 2.13783957e-02 1.06916082e+02] [ 6.87265294e-02 2.97453383e-03 9.97631102e-01 2.80405598e+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:195.68, Y:106.90, Z:28.04 [[ 9.33533281e-01 3.52530942e-01 -6.50964564e-02 1.95680545e+02] [-3.51836437e-01 9.35797670e-01 2.22225817e-02 1.06898766e+02] [ 6.87512598e-02 2.15778563e-03 9.97631499e-01 2.80435980e+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:195.71, Y:106.89, Z:28.04 [[ 9.34087610e-01 3.51019891e-01 -6.53098235e-02 1.95705073e+02] [-3.50365368e-01 9.36364083e-01 2.15965881e-02 1.06886992e+02] [ 6.87346050e-02 2.70919501e-03 9.97631302e-01 2.80438890e+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:195.73, Y:106.87, Z:28.05 [[ 9.37130931e-01 3.42785496e-01 -6.54501478e-02 1.95732380e+02] [-3.42139716e-01 9.39410266e-01 2.11841148e-02 1.06870612e+02] [ 6.87461481e-02 2.54080574e-03 9.97630950e-01 2.80501479e+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:195.76, Y:106.86, Z:28.05 [[ 9.39320945e-01 3.36770242e-01 -6.52837406e-02 1.95761003e+02] [-3.36075968e-01 9.41585522e-01 2.16713729e-02 1.06856248e+02] [ 6.87684985e-02 1.58392181e-03 9.97631387e-01 2.80513977e+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:195.78, Y:106.84, Z:28.05 [[ 9.41741365e-01 3.29979165e-01 -6.50918716e-02 1.95784923e+02] [-3.29229675e-01 9.43988087e-01 2.22331443e-02 1.06837767e+02] [ 6.87824257e-02 4.92304030e-04 9.97631563e-01 2.80543652e+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:195.81, Y:106.83, Z:28.06 [[ 9.42662702e-01 3.27336404e-01 -6.50992310e-02 1.95810519e+02] [-3.26582105e-01 9.44907813e-01 2.22115749e-02 1.06825587e+02] [ 6.87834290e-02 3.22220643e-04 9.97631563e-01 2.80561560e+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:195.83, Y:106.81, Z:28.06 [[ 9.43310836e-01 3.25462247e-01 -6.51075490e-02 1.95834281e+02] [-3.24705172e-01 9.45555012e-01 2.21871661e-02 1.06810091e+02] [ 6.87838542e-02 2.11363636e-04 9.97631564e-01 2.80589667e+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:195.86, Y:106.80, Z:28.07 [[ 9.43590899e-01 3.24648607e-01 -6.51114180e-02 1.95861414e+02] [-3.23890381e-01 9.45834687e-01 2.21758063e-02 1.06798239e+02] [ 6.87839822e-02 1.64072964e-04 9.97631564e-01 2.80658464e+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:195.89, Y:106.78, Z:28.07 [[ 9.42875186e-01 3.26738402e-01 -6.50261580e-02 1.95885433e+02] [-3.25967866e-01 9.45114815e-01 2.24262311e-02 1.06784412e+02] [ 6.87846962e-02 5.13011233e-05 9.97631527e-01 2.80654044e+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:195.91, Y:106.77, Z:28.07 [[ 9.42049574e-01 3.29092447e-01 -6.51211333e-02 1.95909466e+02] [-3.28346797e-01 9.44297566e-01 2.21469744e-02 1.06767423e+02] [ 6.87821296e-02 5.18767771e-04 9.97631570e-01 2.80669636e+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:195.93, Y:106.75, Z:28.07 [[ 9.41590321e-01 3.30403663e-01 -6.51236288e-02 1.95934829e+02] [-3.29661652e-01 9.43839516e-01 2.21396339e-02 1.06754887e+02] [ 6.87812704e-02 6.22298039e-04 9.97631570e-01 2.80700501e+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:195.96, Y:106.74, Z:28.07 [[ 9.41025021e-01 3.32008707e-01 -6.51316266e-02 1.95959622e+02] [-3.31272162e-01 9.43276011e-01 2.21160805e-02 1.06742235e+02] [ 6.87798322e-02 7.64509679e-04 9.97631570e-01 2.80731593e+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:195.99, Y:106.73, Z:28.08 [[ 9.40602400e-01 3.33176945e-01 -6.52705767e-02 1.95987420e+02] [-3.32471614e-01 9.42863444e-01 2.17060081e-02 1.06729896e+02] [ 6.87731823e-02 1.28389067e-03 9.97631496e-01 2.80766990e+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:196.01, Y:106.71, Z:28.08 [[ 9.39795872e-01 3.35480870e-01 -6.50869049e-02 1.96009976e+02] [-3.34743549e-01 9.42046608e-01 2.22473430e-02 1.06714699e+02] [ 6.87784560e-02 8.79460423e-04 9.97631571e-01 2.80807448e+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:196.03, Y:106.70, Z:28.08 [[ 9.37908665e-01 3.40710929e-01 -6.51413745e-02 1.96031109e+02] [-3.39997305e-01 9.40167012e-01 2.20866963e-02 1.06701329e+02] [ 6.87689502e-02 1.43258797e-03 9.97631585e-01 2.80800866e+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:196.06, Y:106.68, Z:28.08 [[ 9.36091425e-01 3.45612653e-01 -6.54579165e-02 1.96058153e+02] [-3.44975936e-01 9.38373147e-01 2.11527893e-02 1.06684200e+02] [ 6.87346227e-02 2.78046135e-03 9.97631105e-01 2.80847775e+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:196.08, Y:106.67, Z:28.09 [[ 9.33642454e-01 3.52201254e-01 -6.53149615e-02 1.96084217e+02] [-3.51551210e-01 9.35920043e-01 2.15735854e-02 1.06669151e+02] [ 6.87278254e-02 2.81953856e-03 9.97631463e-01 2.80893004e+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:196.10, Y:106.66, Z:28.09 [[ 9.30896575e-01 3.59418472e-01 -6.51914756e-02 1.96103638e+02] [-3.58760653e-01 9.33171774e-01 2.19370565e-02 1.06657359e+02] [ 6.87194282e-02 2.96700567e-03 9.97631614e-01 2.80884033e+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:196.13, Y:106.64, Z:28.09 [[ 9.28402333e-01 3.65735513e-01 -6.56250161e-02 1.96131642e+02] [-3.65183112e-01 9.30706512e-01 2.06563072e-02 1.06642100e+02] [ 6.86323749e-02 4.78778388e-03 9.97630530e-01 2.80928912e+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:196.16, Y:106.63, Z:28.09 [[ 9.28007023e-01 3.66787165e-01 -6.53463185e-02 1.96159017e+02] [-3.66179749e-01 9.30296289e-01 2.14757271e-02 1.06629517e+02] [ 6.86684586e-02 3.99887295e-03 9.97631521e-01 2.80938421e+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:196.18, Y:106.61, Z:28.09 [[ 9.27617477e-01 3.67799965e-01 -6.51843697e-02 1.96182650e+02] [-3.67161650e-01 9.29898080e-01 2.19518455e-02 1.06611764e+02] [ 6.86887082e-02 3.57028516e-03 9.97631753e-01 2.80921804e+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:196.21, Y:106.60, Z:28.09 [[ 9.26813625e-01 3.69827220e-01 -6.51485365e-02 1.96206449e+02] [-3.69186505e-01 9.29093538e-01 2.20572396e-02 1.06597455e+02] [ 6.86864519e-02 3.60901031e-03 9.97631769e-01 2.80939774e+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:196.23, Y:106.58, Z:28.09 [[ 9.27436599e-01 3.68236720e-01 -6.52922123e-02 1.96233629e+02] [-3.67621764e-01 9.29723725e-01 2.16340791e-02 1.06584103e+02] [ 6.86701812e-02 3.93860150e-03 9.97631642e-01 2.80931299e+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:196.26, Y:106.57, Z:28.09 [[ 9.27075307e-01 3.69158563e-01 -6.52175602e-02 1.96257744e+02] [-3.68530449e-01 9.29358763e-01 2.18540286e-02 1.06565393e+02] [ 6.86781129e-02 3.77432645e-03 9.97631731e-01 2.80878065e+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:196.28, Y:106.55, Z:28.09 [[ 9.26351225e-01 3.70986249e-01 -6.51353285e-02 1.96280540e+02] [-3.70345639e-01 9.28631173e-01 2.20964363e-02 1.06546779e+02] [ 6.86841705e-02 3.65352397e-03 9.97631764e-01 2.80890329e+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:196.30, Y:106.53, Z:28.10 [[ 9.25683655e-01 3.72629862e-01 -6.52438251e-02 1.96304938e+02] [-3.72015780e-01 9.27970938e-01 2.17760798e-02 1.06532974e+02] [ 6.86587911e-02 4.11397136e-03 9.97631718e-01 2.80964911e+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:196.33, Y:106.51, Z:28.10 [[ 9.23444139e-01 3.78142985e-01 -6.52595246e-02 1.96327254e+02] [-3.77545816e-01 9.25735911e-01 2.17296906e-02 1.06513458e+02] [ 6.86300155e-02 4.57230502e-03 9.97631703e-01 2.81010335e+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:196.35, Y:106.50, Z:28.10 [[ 9.22025092e-01 3.81586266e-01 -6.52813272e-02 1.96352353e+02] [-3.81002192e-01 9.24320262e-01 2.16652520e-02 1.06498403e+02] [ 6.86080161e-02 4.89642282e-03 9.97631678e-01 2.80969712e+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:196.38, Y:106.48, Z:28.10 [[ 9.20037805e-01 3.86354557e-01 -6.52732191e-02 1.96377396e+02] [-3.85780685e-01 9.22335537e-01 2.16891882e-02 1.06477860e+02] [ 6.85835263e-02 5.22627414e-03 9.97631689e-01 2.80955784e+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:196.40, Y:106.47, Z:28.10 [[ 9.20144532e-01 3.86110449e-01 -6.52131983e-02 1.96404352e+02] [-3.85523477e-01 9.22438893e-01 2.18663691e-02 1.06468851e+02] [ 6.85980240e-02 5.02099897e-03 9.97631746e-01 2.80975431e+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:196.43, Y:106.45, Z:28.10 [[ 9.19299327e-01 3.88117281e-01 -6.52205737e-02 1.96426725e+02] [-3.87536853e-01 9.21595357e-01 2.18445752e-02 1.06447693e+02] [ 6.85852350e-02 5.19367254e-03 9.97631741e-01 2.80975195e+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:196.45, Y:106.43, Z:28.10 [[ 9.19510016e-01 3.87613771e-01 -6.52448876e-02 1.96452289e+02] [-3.87037151e-01 9.21807025e-01 2.17727487e-02 1.06432120e+02] [ 6.85826130e-02 5.23193496e-03 9.97631722e-01 2.81016570e+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:196.47, Y:106.41, Z:28.11 [[ 9.20690802e-01 3.84811248e-01 -6.51824421e-02 1.96474255e+02] [-3.84214637e-01 9.22982660e-01 2.19572611e-02 1.06412382e+02] [ 6.86116648e-02 4.82820003e-03 9.97631760e-01 2.81056306e+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:196.50, Y:106.40, Z:28.11 [[ 9.21312549e-01 3.83314589e-01 -6.52158980e-02 1.96499943e+02] [-3.82721218e-01 9.23605263e-01 2.18583331e-02 1.06397748e+02] [ 6.86123646e-02 4.82115132e-03 9.97631746e-01 2.81089391e+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:196.52, Y:106.38, Z:28.11 [[ 9.22362071e-01 3.80782931e-01 -6.52117248e-02 1.96523385e+02] [-3.80182397e-01 9.24652918e-01 2.18706751e-02 1.06376481e+02] [ 6.86261913e-02 4.61966869e-03 9.97631748e-01 2.81136801e+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:196.55, Y:106.36, Z:28.12 [[ 9.22885962e-01 3.79513941e-01 -6.51971546e-02 1.96547766e+02] [-3.78907225e-01 9.25175173e-01 2.19137862e-02 1.06361348e+02] [ 6.86353761e-02 4.47974726e-03 9.97631754e-01 2.81170338e+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:196.58, Y:106.34, Z:28.12 [[ 9.24617490e-01 3.75275178e-01 -6.51999849e-02 1.96578895e+02] [-3.74658553e-01 9.26904052e-01 2.19054076e-02 1.06341814e+02] [ 6.86546860e-02 4.17360900e-03 9.97631753e-01 2.81197735e+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:196.60, Y:106.33, Z:28.12 [[ 9.24165275e-01 3.76467494e-01 -6.47361594e-02 1.96600247e+02] [-3.75757596e-01 9.26425562e-01 2.32789109e-02 1.06328556e+02] [ 6.87369861e-02 2.81154250e-03 9.97630855e-01 2.81232198e+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:196.62, Y:106.31, Z:28.13 [[ 9.23983894e-01 3.76854461e-01 -6.50728683e-02 1.96622951e+02] [-3.76215474e-01 9.26264293e-01 2.22795205e-02 1.06308908e+02] [ 6.86708110e-02 3.89550184e-03 9.97631768e-01 2.81313222e+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:196.65, Y:106.29, Z:28.13 [[ 9.25891965e-01 3.72132485e-01 -6.51266618e-02 1.96648640e+02] [-3.71493070e-01 9.28172194e-01 2.21196069e-02 1.06291440e+02] [ 6.86801809e-02 3.71373722e-03 9.97631816e-01 2.81347729e+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:196.67, Y:106.28, Z:28.14 [[ 9.26865110e-01 3.69719824e-01 -6.50255250e-02 1.96673163e+02] [-3.69053382e-01 9.29137721e-01 2.24209015e-02 1.06278677e+02] [ 6.87071199e-02 3.21673858e-03 9.97631688e-01 2.81374991e+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:196.70, Y:106.26, Z:28.14 [[ 9.29854030e-01 3.62123000e-01 -6.51031222e-02 1.96698119e+02] [-3.61454149e-01 9.32125812e-01 2.21893828e-02 1.06261383e+02] [ 6.87195865e-02 2.89890659e-03 9.97631803e-01 2.81375050e+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:196.72, Y:106.24, Z:28.14 [[ 9.33109504e-01 3.53658677e-01 -6.50553188e-02 1.96722627e+02] [-3.52959293e-01 9.35372134e-01 2.23317753e-02 1.06242417e+02] [ 6.87487585e-02 2.12388757e-03 9.97631744e-01 2.81370924e+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:196.75, Y:106.23, Z:28.14 [[ 9.35055957e-01 3.48490644e-01 -6.49971459e-02 1.96747979e+02] [-3.47766694e-01 9.37310961e-01 2.25053089e-02 1.06229871e+02] [ 6.87654268e-02 1.56011944e-03 9.97631636e-01 2.81417243e+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:196.77, Y:106.21, Z:28.15 [[ 9.39584403e-01 3.36071985e-01 -6.50904740e-02 1.96773494e+02] [-3.35337534e-01 9.41835830e-01 2.22262942e-02 1.06214074e+02] [ 6.87741754e-02 9.43799681e-04 9.97631807e-01 2.81496374e+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:196.80, Y:106.20, Z:28.16 [[ 9.42340918e-01 3.28260675e-01 -6.51039444e-02 1.96798524e+02] [-3.27510342e-01 9.44587083e-01 2.21860174e-02 1.06202325e+02] [ 6.87791420e-02 4.15423035e-04 9.97631824e-01 2.81551291e+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:196.83, Y:106.19, Z:28.16 [[ 9.47677419e-01 3.12510903e-01 -6.51493974e-02 1.96825513e+02] [-3.11732596e-01 9.49913991e-01 2.20498925e-02 1.06185823e+02] [ 6.87771559e-02 -5.86994452e-04 9.97631875e-01 2.81585155e+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:196.85, Y:106.17, Z:28.16 [[ 9.52678791e-01 2.96904178e-01 -6.51999306e-02 1.96853573e+02] [-2.96099590e-01 9.54906009e-01 2.18985557e-02 1.06172917e+02] [ 6.87615782e-02 -1.55661688e-03 9.97631907e-01 2.81560471e+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:196.88, Y:106.16, Z:28.16 [[ 9.54592844e-01 2.90683689e-01 -6.52341633e-02 1.96880421e+02] [-2.89871583e-01 9.56817326e-01 2.17961009e-02 1.06163241e+02] [ 6.87529487e-02 -1.89687172e-03 9.97631913e-01 2.81561389e+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:196.91, Y:106.15, Z:28.16 [[ 9.58246840e-01 2.78401346e-01 -6.52356072e-02 1.96910591e+02] [-2.77561036e-01 9.60460821e-01 2.17917783e-02 1.06154292e+02] [ 6.87231054e-02 -2.77503998e-03 9.97631913e-01 2.81599450e+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:196.94, Y:106.15, Z:28.16 [[ 9.58362629e-01 2.78055816e-01 -6.50079612e-02 1.96935219e+02] [-2.77168552e-01 9.60558474e-01 2.24724636e-02 1.06145896e+02] [ 6.86925473e-02 -3.51860687e-03 9.97631672e-01 2.81620200e+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:196.96, Y:106.14, Z:28.17 [[ 9.59443744e-01 2.74247631e-01 -6.52375644e-02 1.96964100e+02] [-2.73398202e-01 9.61654220e-01 2.17849474e-02 1.06140569e+02] [ 6.87104493e-02 -3.06559862e-03 9.97631934e-01 2.81673472e+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:196.99, Y:106.13, Z:28.17 [[ 9.59848117e-01 2.72828747e-01 -6.52385418e-02 1.96993783e+02] [-2.71976250e-01 9.62057412e-01 2.17820200e-02 1.06133203e+02] [ 6.87059838e-02 -3.16409692e-03 9.97631934e-01 2.81711823e+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:197.02, Y:106.13, Z:28.17 [[ 9.61033487e-01 2.68623472e-01 -6.52385418e-02 1.97023593e+02] [-2.67761309e-01 9.63239028e-01 2.17820200e-02 1.06132267e+02] [ 6.86914714e-02 -3.46489324e-03 9.97631934e-01 2.81728995e+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:197.05, Y:106.13, Z:28.17 [[ 9.60964717e-01 2.68890901e-01 -6.51497959e-02 1.97051708e+02] [-2.68011384e-01 9.63163433e-01 2.20476385e-02 1.06128418e+02] [ 6.86783105e-02 -3.72611568e-03 9.97631899e-01 2.81701535e+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:197.08, Y:106.13, Z:28.17 [[ 9.59444487e-01 2.74264334e-01 -6.51563672e-02 1.97081875e+02] [-2.73398469e-01 9.61648609e-01 2.20279531e-02 1.06129953e+02] [ 6.86990117e-02 -3.32094712e-03 9.97631905e-01 2.81749226e+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:197.11, Y:106.13, Z:28.18 [[ 9.56967989e-01 2.82763688e-01 -6.52454257e-02 1.97114314e+02] [-2.81935573e-01 9.59186527e-01 2.17609392e-02 1.06130586e+02] [ 6.87357367e-02 -2.42951575e-03 9.97631944e-01 2.81800382e+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:197.14, Y:106.13, Z:28.18 [[ 9.55788427e-01 2.86747938e-01 -6.51467832e-02 1.97143035e+02] [-2.85908927e-01 9.58002918e-01 2.20566195e-02 1.06127725e+02] [ 6.87354986e-02 -2.45541475e-03 9.97631897e-01 2.81793633e+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:197.18, Y:106.13, Z:28.19 [[ 9.54350676e-01 2.91483397e-01 -6.52090267e-02 1.97175079e+02] [-2.90668113e-01 9.56573966e-01 2.18699589e-02 1.06131716e+02] [ 6.87519872e-02 -1.91742532e-03 9.97631940e-01 2.81860834e+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:197.21, Y:106.13, Z:28.19 [[ 9.54400596e-01 2.91334716e-01 -6.51428052e-02 1.97207911e+02] [-2.90505500e-01 9.56618791e-01 2.20690700e-02 1.06127832e+02] [ 6.87463178e-02 -2.13839038e-03 9.97631882e-01 2.81908724e+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:197.23, Y:106.13, Z:28.19 [[ 9.53351252e-01 2.94794850e-01 -6.49414087e-02 1.97233812e+02] [-2.93932442e-01 9.55557223e-01 2.26740684e-02 1.06129760e+02] [ 6.87394307e-02 -2.52796459e-03 9.97631445e-01 2.81894727e+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:197.27, Y:106.13, Z:28.19 [[ 9.54517189e-01 2.90904457e-01 -6.53569709e-02 1.97266628e+02] [-2.90118466e-01 9.56750954e-01 2.14216517e-02 1.06125786e+02] [ 6.87619983e-02 -1.48607064e-03 9.97631986e-01 2.81906682e+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:197.30, Y:106.13, Z:28.19 [[ 9.57059733e-01 2.82493989e-01 -6.50677583e-02 1.97296304e+02] [-2.81629158e-01 9.59264347e-01 2.22919248e-02 1.06125867e+02] [ 6.87145155e-02 -3.00972563e-03 9.97631824e-01 2.81893209e+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:197.32, Y:106.12, Z:28.19 [[ 9.58941899e-01 2.76022957e-01 -6.51288168e-02 1.97324611e+02] [-2.75155733e-01 9.61145448e-01 2.21076839e-02 1.06121265e+02] [ 6.87004941e-02 -3.27941705e-03 9.97631940e-01 2.81905845e+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:197.35, Y:106.13, Z:28.19 [[ 9.62870279e-01 2.61969281e-01 -6.52144308e-02 1.97353984e+02] [-2.61087370e-01 9.65067877e-01 2.18489853e-02 1.06125404e+02] [ 6.86601152e-02 -4.01107432e-03 9.97632046e-01 2.81948172e+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:197.39, Y:106.13, Z:28.20 [[ 9.65484165e-01 2.52143181e-01 -6.53004126e-02 1.97387426e+02] [-2.51256415e-01 9.67679768e-01 2.15889229e-02 1.06129853e+02] [ 6.86333878e-02 -4.43661565e-03 9.97632084e-01 2.82005908e+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:197.42, Y:106.14, Z:28.21 [[ 9.67241599e-01 2.45330238e-01 -6.52438772e-02 1.97419595e+02] [-2.44416543e-01 9.69426150e-01 2.17599026e-02 1.06136114e+02] [ 6.85874828e-02 -5.10040008e-03 9.97632068e-01 2.82067399e+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:197.45, Y:106.14, Z:28.21 [[ 9.67627052e-01 2.43810301e-01 -6.52259548e-02 1.97448351e+02] [-2.42889539e-01 9.69808648e-01 2.18141646e-02 1.06135118e+02] [ 6.85752131e-02 -5.26527370e-03 9.97632055e-01 2.82094225e+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:197.48, Y:106.14, Z:28.21 [[ 9.68490636e-01 2.40346803e-01 -6.52633335e-02 1.97481929e+02] [-2.39425823e-01 9.70672111e-01 2.17008745e-02 1.06141139e+02] [ 6.85650335e-02 -5.39136641e-03 9.97632081e-01 2.82101500e+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:197.51, Y:106.14, Z:28.21 [[ 9.68654379e-01 2.39706942e-01 -6.51864669e-02 1.97511638e+02] [-2.38768922e-01 9.70828665e-01 2.19341222e-02 1.06139591e+02] [ 6.85426520e-02 -5.68208113e-03 9.97632006e-01 2.82126231e+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:197.55, Y:106.15, Z:28.21 [[ 9.69062952e-01 2.38030094e-01 -6.52584841e-02 1.97545229e+02] [-2.37102934e-01 9.71241805e-01 2.17153133e-02 1.06146003e+02] [ 6.85506659e-02 -5.57052756e-03 9.97632084e-01 2.82113353e+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:197.57, Y:106.15, Z:28.22 [[ 9.68956947e-01 2.38472810e-01 -6.52162089e-02 1.97573744e+02] [-2.37538050e-01 9.71132596e-01 2.18438866e-02 1.06145087e+02] [ 6.85427593e-02 -5.67445463e-03 9.97632042e-01 2.82161713e+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:197.61, Y:106.15, Z:28.22 [[ 9.67598332e-01 2.43919523e-01 -6.52436478e-02 1.97606995e+02] [-2.43002612e-01 9.69781531e-01 2.17603603e-02 1.06147585e+02] [ 6.85798613e-02 -5.20091143e-03 9.97632073e-01 2.82206870e+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:197.63, Y:106.15, Z:28.23 [[ 9.66591449e-01 2.47902685e-01 -6.51554338e-02 1.97633754e+02] [-2.46976759e-01 9.68770978e-01 2.20289046e-02 1.06149028e+02] [ 6.85817179e-02 -5.20107293e-03 9.97631945e-01 2.82273545e+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:197.67, Y:106.15, Z:28.23 [[ 9.62284218e-01 2.64089915e-01 -6.53115656e-02 1.97666269e+02] [-2.63232880e-01 9.64491540e-01 2.15527331e-02 1.06154683e+02] [ 6.86843120e-02 -3.54770336e-03 9.97632136e-01 2.82288221e+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:197.70, Y:106.16, Z:28.23 [[ 9.57117336e-01 2.82243797e-01 -6.53057828e-02 1.97700135e+02] [-2.81427462e-01 9.59340035e-01 2.15703802e-02 1.06161275e+02] [ 6.87385580e-02 -2.26654408e-03 9.97632133e-01 2.82317789e+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:197.73, Y:106.16, Z:28.23 [[ 9.54317332e-01 2.91586596e-01 -6.52356323e-02 1.97728283e+02] [-2.90777395e-01 9.56542704e-01 2.17844699e-02 1.06160348e+02] [ 6.87527276e-02 -1.82025002e-03 9.97632071e-01 2.82287784e+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:197.76, Y:106.16, Z:28.23 [[ 9.49283837e-01 3.07550647e-01 -6.53666368e-02 1.97760091e+02] [-3.06806426e-01 9.51531681e-01 2.13840358e-02 1.06164716e+02] [ 6.87750998e-02 -2.44615309e-04 9.97632160e-01 2.82337397e+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:197.79, Y:106.16, Z:28.23 [[ 9.47566607e-01 3.12799966e-01 -6.53735895e-02 1.97787987e+02] [-3.12069666e-01 9.49819012e-01 2.13627593e-02 1.06161603e+02] [ 6.87753486e-02 1.58476913e-04 9.97632160e-01 2.82340346e+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:197.82, Y:106.16, Z:28.24 [[ 9.45143090e-01 3.20047671e-01 -6.53760559e-02 1.97820181e+02] [-3.19335164e-01 9.47401186e-01 2.13552087e-02 1.06156490e+02] [ 6.87720377e-02 6.93145593e-04 9.97632160e-01 2.82382044e+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:197.85, Y:106.15, Z:28.24 [[ 9.45044505e-01 3.20394990e-01 -6.50994182e-02 1.97845277e+02] [-3.19624921e-01 9.47284023e-01 2.22011186e-02 1.06152092e+02] [ 6.87807659e-02 -1.73648761e-04 9.97631784e-01 2.82350262e+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:197.87, Y:106.15, Z:28.23 [[ 9.44872161e-01 3.20845030e-01 -6.53839909e-02 1.97873899e+02] [-3.20136253e-01 9.47131385e-01 2.13288487e-02 1.06147723e+02] [ 6.87704850e-02 7.78750438e-04 9.97632204e-01 2.82310314e+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:197.90, Y:106.14, Z:28.23 [[ 9.45026766e-01 3.20388867e-01 -6.53864290e-02 1.97902021e+02] [-3.19679516e-01 9.47285810e-01 2.13213719e-02 1.06140072e+02] [ 6.87707666e-02 7.53434838e-04 9.97632204e-01 2.82324648e+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:197.93, Y:106.13, Z:28.23 [[ 9.44883084e-01 3.20810974e-01 -6.53932468e-02 1.97929174e+02] [-3.20104081e-01 9.47142898e-01 2.13004412e-02 1.06130826e+02] [ 6.87701645e-02 8.06218577e-04 9.97632204e-01 2.82316780e+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:197.96, Y:106.12, Z:28.23 [[ 9.45408379e-01 3.19258248e-01 -6.54000617e-02 1.97955160e+02] [-3.18549091e-01 9.47667484e-01 2.12794962e-02 1.06121540e+02] [ 6.87711666e-02 7.15316208e-04 9.97632204e-01 2.82342800e+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:197.98, Y:106.11, Z:28.24 [[ 9.46103011e-01 3.17193333e-01 -6.54024661e-02 1.97983574e+02] [-3.16479756e-01 9.48360723e-01 2.12721038e-02 1.06111073e+02] [ 6.87724996e-02 5.72955130e-04 9.97632204e-01 2.82420613e+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:198.01, Y:106.10, Z:28.24 [[ 9.47947893e-01 3.11661321e-01 -6.52840987e-02 1.98008018e+02] [-3.10909488e-01 9.50193231e-01 2.16359502e-02 1.06099726e+02] [ 6.87755975e-02 -2.12307736e-04 9.97632133e-01 2.82378656e+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:198.03, Y:106.09, Z:28.25 [[ 9.49270093e-01 3.07584096e-01 -6.54088230e-02 1.98033904e+02] [-3.06849043e-01 9.51520895e-01 2.12520971e-02 1.06089318e+02] [ 6.87746689e-02 -1.03345433e-04 9.97632214e-01 2.82451074e+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:198.06, Y:106.08, Z:28.25 [[ 9.51787157e-01 2.99687582e-01 -6.54870990e-02 1.98058952e+02] [-2.98950428e-01 9.54037303e-01 2.10110785e-02 1.06077196e+02] [ 6.87738946e-02 -4.20678368e-04 9.97632184e-01 2.82518102e+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:198.09, Y:106.06, Z:28.26 [[ 9.54958457e-01 2.89411296e-01 -6.55396656e-02 1.98086313e+02] [-2.88661040e-01 9.57204325e-01 2.08490871e-02 1.06063395e+02] [ 6.87688127e-02 -9.91263983e-04 9.97632131e-01 2.82566583e+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:198.11, Y:106.05, Z:28.25 [[ 9.58041899e-01 2.79075128e-01 -6.53666015e-02 1.98113699e+02] [-2.78264234e-01 9.60266525e-01 2.13826122e-02 1.06054891e+02] [ 6.87367146e-02 -2.29625110e-03 9.97632192e-01 2.82467853e+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:198.14, Y:106.04, Z:28.26 [[ 9.57342735e-01 2.81449631e-01 -6.54292888e-02 1.98137492e+02] [-2.80657466e-01 9.59574078e-01 2.11890459e-02 1.06039273e+02] [ 6.87478987e-02 -1.92196070e-03 9.97632213e-01 2.82618400e+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:198.16, Y:106.03, Z:28.26 [[ 9.58516810e-01 2.77406815e-01 -6.55056055e-02 1.98164569e+02] [-2.76621341e-01 9.60750542e-01 2.09530586e-02 1.06030552e+02] [ 6.87470672e-02 -1.96361040e-03 9.97632189e-01 2.82639554e+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:198.19, Y:106.02, Z:28.27 [[ 9.58618241e-01 2.77071653e-01 -6.54397948e-02 1.98191627e+02] [-2.76271510e-01 9.60846736e-01 2.11566237e-02 1.06022010e+02] [ 6.87395139e-02 -2.20197453e-03 9.97632212e-01 2.82658901e+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:198.22, Y:106.01, Z:28.27 [[ 9.59489137e-01 2.74038719e-01 -6.54475107e-02 1.98219590e+02] [-2.73233159e-01 9.61715680e-01 2.11327276e-02 1.06014752e+02] [ 6.87330829e-02 -2.39419246e-03 9.97632212e-01 2.82683491e+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:198.25, Y:106.01, Z:28.27 [[ 9.60108041e-01 2.71860752e-01 -6.54544184e-02 1.98245176e+02] [-2.71051600e-01 9.62333280e-01 2.11113110e-02 1.06005870e+02] [ 6.87283020e-02 -2.52761459e-03 9.97632213e-01 2.82696520e+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:198.27, Y:106.00, Z:28.28 [[ 9.61971132e-01 2.65192035e-01 -6.54578120e-02 1.98272720e+02] [-2.64368176e-01 9.64190969e-01 2.11007834e-02 1.05998055e+02] [ 6.87095909e-02 -2.99338212e-03 9.97632213e-01 2.82771057e+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:198.30, Y:105.99, Z:28.28 [[ 9.63013036e-01 2.61381434e-01 -6.54647941e-02 1.98301057e+02] [-2.60550263e-01 9.65230144e-01 2.10790994e-02 1.05991692e+02] [ 6.86982779e-02 -3.24257812e-03 9.97632213e-01 2.82819413e+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:198.33, Y:105.99, Z:28.29 [[ 9.64423619e-01 2.56126024e-01 -6.54716944e-02 1.98329908e+02] [-2.55284228e-01 9.66636715e-01 2.10576452e-02 1.05987436e+02] [ 6.86807545e-02 -3.59459940e-03 9.97632213e-01 2.82884533e+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:198.36, Y:105.98, Z:28.29 [[ 9.65040645e-01 2.53796470e-01 -6.54515530e-02 1.98358988e+02] [-2.52945096e-01 9.67250077e-01 2.11202949e-02 1.05984403e+02] [ 6.86682759e-02 -3.82629359e-03 9.97632210e-01 2.82872843e+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:198.39, Y:105.98, Z:28.29 [[ 9.64989998e-01 2.53982547e-01 -6.54764865e-02 1.98387253e+02] [-2.53136845e-01 9.67201604e-01 2.10427126e-02 1.05980243e+02] [ 6.86734444e-02 -3.73149598e-03 9.97632214e-01 2.82905701e+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:198.42, Y:105.98, Z:28.29 [[ 9.63888561e-01 2.58129213e-01 -6.54839867e-02 1.98416629e+02] [-2.57294611e-01 9.66104379e-01 2.10193464e-02 1.05980864e+02] [ 6.86900736e-02 -3.41163068e-03 9.97632214e-01 2.82931034e+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:198.45, Y:105.98, Z:28.29 [[ 9.62253904e-01 2.64155768e-01 -6.54916417e-02 1.98445924e+02] [-2.63336669e-01 9.64475499e-01 2.09954681e-02 1.05981916e+02] [ 6.87111578e-02 -2.95662039e-03 9.97632214e-01 2.82925356e+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:198.47, Y:105.98, Z:28.29 [[ 9.61403977e-01 2.67231974e-01 -6.54940099e-02 1.98474270e+02] [-2.66420488e-01 9.63628364e-01 2.09880781e-02 1.05978100e+02] [ 6.87205711e-02 -2.72907568e-03 9.97632214e-01 2.82948884e+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:198.51, Y:105.98, Z:28.29 [[ 9.60716259e-01 2.69674436e-01 -6.55741425e-02 1.98506283e+02] [-2.68885630e-01 9.62948829e-01 2.07381307e-02 1.05976864e+02] [ 6.87370874e-02 -2.29151473e-03 9.97632178e-01 2.82945056e+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:198.53, Y:105.97, Z:28.29 [[ 9.60226259e-01 2.71448607e-01 -6.54307686e-02 1.98533261e+02] [-2.70633473e-01 9.62449329e-01 2.11851805e-02 1.05970848e+02] [ 6.87244871e-02 -2.63481049e-03 9.97632198e-01 2.82856412e+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:198.56, Y:105.97, Z:28.28 [[ 9.59533082e-01 2.73853606e-01 -6.55779411e-02 1.98562640e+02] [-2.73075414e-01 9.61769352e-01 2.07251398e-02 1.05968096e+02] [ 6.87465082e-02 -1.97873392e-03 9.97632198e-01 2.82832076e+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:198.59, Y:105.96, Z:28.29 [[ 9.58823207e-01 2.76339262e-01 -6.55337325e-02 1.98591588e+02] [-2.75557418e-01 9.61058180e-01 2.08634716e-02 1.05963536e+02] [ 6.87471260e-02 -1.94607462e-03 9.97632220e-01 2.82893989e+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:198.62, Y:105.96, Z:28.30 [[ 9.56065249e-01 2.85739715e-01 -6.55137740e-02 1.98622056e+02] [-2.84975570e-01 9.58306333e-01 2.09259569e-02 1.05959482e+02] [ 6.87616415e-02 -1.33675510e-03 9.97632222e-01 2.83017085e+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:198.65, Y:105.95, Z:28.30 [[ 9.55008124e-01 2.89286652e-01 -6.53660110e-02 1.98647793e+02] [-2.88499170e-01 9.57241231e-01 2.13881822e-02 1.05954595e+02] [ 6.87583565e-02 -1.56784786e-03 9.97632112e-01 2.83020265e+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:198.67, Y:105.95, Z:28.30 [[ 9.52653087e-01 2.96916830e-01 -6.55171151e-02 1.98674725e+02] [-2.96179747e-01 9.54903202e-01 2.09148672e-02 1.05947073e+02] [ 6.87724791e-02 -5.19770288e-04 9.97632235e-01 2.83044321e+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:198.70, Y:105.94, Z:28.31 [[ 9.50819316e-01 3.02737234e-01 -6.55194280e-02 1.98701250e+02] [-3.02014424e-01 9.53074058e-01 2.09076191e-02 1.05939605e+02] [ 6.87743819e-02 -9.15558232e-05 9.97632235e-01 2.83053581e+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:198.73, Y:105.93, Z:28.31 [[ 9.50164768e-01 3.04784877e-01 -6.55216928e-02 1.98727933e+02] [-3.04067417e-01 9.52421217e-01 2.09005191e-02 1.05932620e+02] [ 6.87744125e-02 6.40750197e-05 9.97632235e-01 2.83070242e+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:198.76, Y:105.93, Z:28.31 [[ 9.48310198e-01 3.10505611e-01 -6.55288858e-02 1.98756277e+02] [-3.09803322e-01 9.50571414e-01 2.08779427e-02 1.05926270e+02] [ 6.87726040e-02 5.02300525e-04 9.97632235e-01 2.83115041e+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:198.78, Y:105.92, Z:28.32 [[ 9.46954674e-01 3.14613983e-01 -6.55353936e-02 1.98783848e+02] [-3.13922919e-01 9.49219346e-01 2.08574951e-02 1.05917725e+02] [ 6.87695230e-02 8.21959603e-04 9.97632235e-01 2.83155390e+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:198.81, Y:105.91, Z:28.32 [[ 9.43353303e-01 3.25251890e-01 -6.55420034e-02 1.98808013e+02] [-3.24587802e-01 9.45626031e-01 2.08367039e-02 1.05908033e+02] [ 6.87554019e-02 1.61776138e-03 9.97632236e-01 2.83202414e+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:198.84, Y:105.90, Z:28.32 [[ 9.43137703e-01 3.25834280e-01 -6.57517739e-02 1.98838267e+02] [-3.25217583e-01 9.45423965e-01 2.01754706e-02 1.05898722e+02] [ 6.87371628e-02 2.35538599e-03 9.97632024e-01 2.83215299e+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:198.86, Y:105.89, Z:28.32 [[ 9.41898862e-01 3.29437957e-01 -6.55527691e-02 1.98863659e+02] [-3.28786337e-01 9.44175193e-01 2.08026195e-02 1.05886762e+02] [ 6.87464709e-02 1.95889128e-03 9.97632240e-01 2.83247357e+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:198.89, Y:105.87, Z:28.32 [[ 9.41237957e-01 3.31320024e-01 -6.55602729e-02 1.98889036e+02] [-3.30674603e-01 9.43516053e-01 2.07789443e-02 1.05872320e+02] [ 6.87416502e-02 2.12118607e-03 9.97632240e-01 2.83245424e+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:198.91, Y:105.86, Z:28.33 [[ 9.40988136e-01 3.32027593e-01 -6.55668014e-02 1.98914154e+02] [-3.31385321e-01 9.43267121e-01 2.07583234e-02 1.05860409e+02] [ 6.87393442e-02 2.19453953e-03 9.97632240e-01 2.83262797e+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:198.94, Y:105.84, Z:28.33 [[ 9.39539900e-01 3.36102354e-01 -6.55742635e-02 1.98936791e+02] [-3.35471608e-01 9.41822102e-01 2.07347244e-02 1.05843522e+02] [ 6.87282804e-02 2.51720274e-03 9.97632240e-01 2.83271101e+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:198.97, Y:105.83, Z:28.32 [[ 9.39343047e-01 3.36625906e-01 -6.57087533e-02 1.98965564e+02] [-3.36026141e-01 9.41633677e-01 2.03088767e-02 1.05829759e+02] [ 6.87100690e-02 3.00285663e-03 9.97632151e-01 2.83242469e+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:198.99, Y:105.81, Z:28.33 [[ 9.38557833e-01 3.38834365e-01 -6.55779541e-02 1.98988147e+02] [-3.38211092e-01 9.40842082e-01 2.07228161e-02 1.05810233e+02] [ 6.87201011e-02 2.72963005e-03 9.97632245e-01 2.83265493e+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:199.01, Y:105.80, Z:28.33 [[ 9.39413611e-01 3.36428599e-01 -6.57104641e-02 1.99012677e+02] [-3.35828755e-01 9.41704216e-01 2.03031052e-02 1.05797175e+02] [ 6.87103664e-02 2.99444997e-03 9.97632156e-01 2.83284329e+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:199.04, Y:105.78, Z:28.33 [[ 9.42572379e-01 3.27470197e-01 -6.57311279e-02 1.99037434e+02] [-3.26853139e-01 9.44858437e-01 2.02375626e-02 1.05776452e+02] [ 6.87338094e-02 2.40905801e-03 9.97632127e-01 2.83331552e+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:199.06, Y:105.76, Z:28.34 [[ 9.43811246e-01 3.23911460e-01 -6.55873233e-02 1.99062447e+02] [-3.23254095e-01 9.46085923e-01 2.06933749e-02 1.05759507e+02] [ 6.87540646e-02 1.67073091e-03 9.97632241e-01 2.83374844e+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:199.09, Y:105.74, Z:28.34 [[ 9.47254086e-01 3.13690041e-01 -6.56372930e-02 1.99086083e+02] [-3.13019100e-01 9.49524808e-01 2.05348961e-02 1.05738488e+02] [ 6.87658305e-02 1.09396215e-03 9.97632229e-01 2.83428260e+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:199.11, Y:105.72, Z:28.35 [[ 9.49799095e-01 3.05907477e-01 -6.55918794e-02 1.99111007e+02] [-3.05207976e-01 9.52061171e-01 2.06789468e-02 1.05721957e+02] [ 6.87733260e-02 3.78319785e-04 9.97632240e-01 2.83457403e+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:199.14, Y:105.71, Z:28.34 [[ 9.50750206e-01 3.02937063e-01 -6.55986426e-02 1.99136483e+02] [-3.02231976e-01 9.53010546e-01 2.06574701e-02 1.05709068e+02] [ 6.87741116e-02 1.85913499e-04 9.97632240e-01 2.83445306e+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:199.16, Y:105.69, Z:28.34 [[ 9.51906870e-01 2.99282178e-01 -6.56009780e-02 1.99160744e+02] [-2.98568924e-01 9.54164647e-01 2.06500512e-02 1.05691099e+02] [ 6.87743263e-02 -7.05122329e-05 9.97632240e-01 2.83447097e+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:199.19, Y:105.68, Z:28.35 [[ 9.51717336e-01 2.99882931e-01 -6.56074771e-02 1.99186353e+02] [-2.99172527e-01 9.53976010e-01 2.06293821e-02 1.05679162e+02] [ 6.87743588e-02 -5.38581161e-06 9.97632241e-01 2.83480142e+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:199.21, Y:105.67, Z:28.36 [[ 9.50246993e-01 3.04494243e-01 -6.56803560e-02 1.99212378e+02] [-3.03810827e-01 9.52514005e-01 2.03973626e-02 1.05665853e+02] [ 6.87723384e-02 5.71870825e-04 9.97632216e-01 2.83560684e+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:199.24, Y:105.65, Z:28.36 [[ 9.47801364e-01 3.12015409e-01 -6.57187840e-02 1.99240642e+02] [-3.11358461e-01 9.50076225e-01 2.02749958e-02 1.05653467e+02] [ 6.87639654e-02 1.24543075e-03 9.97632180e-01 2.83615540e+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:199.27, Y:105.64, Z:28.37 [[ 9.46296751e-01 3.16571071e-01 -6.56141506e-02 1.99267382e+02] [-3.15901964e-01 9.48568001e-01 2.06081514e-02 1.05643696e+02] [ 6.87634283e-02 1.22621234e-03 9.97632241e-01 2.83665614e+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:199.29, Y:105.63, Z:28.37 [[ 9.44894087e-01 3.20732078e-01 -6.56208627e-02 1.99293483e+02] [-3.20074457e-01 9.47168690e-01 2.05867565e-02 1.05633725e+02] [ 6.87568598e-02 1.55125747e-03 9.97632241e-01 2.83697429e+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:199.32, Y:105.62, Z:28.37 [[ 9.43100896e-01 3.25965575e-01 -6.56288392e-02 1.99318162e+02] [-3.25322344e-01 9.45379609e-01 2.05612967e-02 1.05619702e+02] [ 6.87464413e-02 1.95915043e-03 9.97632241e-01 2.83736147e+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:199.34, Y:105.60, Z:28.38 [[ 9.42742350e-01 3.27000352e-01 -6.56325518e-02 1.99342415e+02] [-3.26360447e-01 9.45021999e-01 2.05494391e-02 1.05603990e+02] [ 6.87438791e-02 2.04704248e-03 9.97632241e-01 2.83771754e+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:199.37, Y:105.59, Z:28.38 [[ 9.42540149e-01 3.27582233e-01 -6.56349681e-02 1.99368294e+02] [-3.26944272e-01 9.44820343e-01 2.05417185e-02 1.05592646e+02] [ 6.87423551e-02 2.09758246e-03 9.97632241e-01 2.83789843e+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:199.39, Y:105.58, Z:28.37 [[ 9.41345573e-01 3.30997754e-01 -6.56429620e-02 1.99392924e+02] [-3.30369847e-01 9.43628556e-01 2.05161414e-02 1.05576841e+02] [ 6.87333702e-02 2.37367645e-03 9.97632242e-01 2.83747681e+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:199.42, Y:105.56, Z:28.37 [[ 9.40705723e-01 3.32811390e-01 -6.56454257e-02 1.99419200e+02] [-3.32188433e-01 9.42990062e-01 2.05082553e-02 1.05564662e+02] [ 6.87283650e-02 2.51441801e-03 9.97632242e-01 2.83717844e+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:199.44, Y:105.55, Z:28.36 [[ 9.39243640e-01 3.36914182e-01 -6.56522546e-02 1.99444169e+02] [-3.36302728e-01 9.41531085e-01 2.04863709e-02 1.05550488e+02] [ 6.87157874e-02 2.83733878e-03 9.97632242e-01 2.83649694e+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:199.47, Y:105.54, Z:28.36 [[ 9.37993788e-01 3.40377907e-01 -6.56546592e-02 1.99469097e+02] [-3.39775438e-01 9.40283615e-01 2.04786618e-02 1.05537384e+02] [ 6.87044844e-02 3.09898299e-03 9.97632242e-01 2.83637799e+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:199.50, Y:105.53, Z:28.36 [[ 9.37834418e-01 3.40816312e-01 -6.56570332e-02 1.99496248e+02] [-3.40215445e-01 9.40124666e-01 2.04710479e-02 1.05525603e+02] [ 6.87026634e-02 3.13908348e-03 9.97632242e-01 2.83643259e+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:199.52, Y:105.51, Z:28.37 [[ 9.37785059e-01 3.40953387e-01 -6.56503781e-02 1.99521265e+02] [-3.40351362e-01 9.40075003e-01 2.04924073e-02 1.05509715e+02] [ 6.87032351e-02 3.12672217e-03 9.97632241e-01 2.83656665e+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:199.55, Y:105.49, Z:28.37 [[ 9.38500459e-01 3.38976034e-01 -6.56668706e-02 1.99546117e+02] [-3.38372883e-01 9.40790105e-01 2.04394213e-02 1.05493903e+02] [ 6.87072160e-02 3.03748209e-03 9.97632243e-01 2.83699998e+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:199.57, Y:105.48, Z:28.37 [[ 9.38687094e-01 3.38457575e-01 -6.56735022e-02 1.99571571e+02] [-3.37854649e-01 9.40976800e-01 2.04180912e-02 1.05482085e+02] [ 6.87078996e-02 3.02189934e-03 9.97632243e-01 2.83749115e+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:199.60, Y:105.47, Z:28.38 [[ 9.38581531e-01 3.38749750e-01 -6.56758414e-02 1.99595750e+02] [-3.38148062e-01 9.40871562e-01 2.04105641e-02 1.05465844e+02] [ 6.87066050e-02 3.05118002e-03 9.97632243e-01 2.83837574e+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:199.62, Y:105.45, Z:28.39 [[ 9.38215117e-01 3.39761991e-01 -6.56824501e-02 1.99621124e+02] [-3.39164260e-01 9.40506184e-01 2.03892750e-02 1.05453341e+02] [ 6.87022511e-02 3.14761360e-03 9.97632243e-01 2.83871628e+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:199.65, Y:105.44, Z:28.39 [[ 9.36929769e-01 3.43289139e-01 -6.56899882e-02 1.99646399e+02] [-3.42701732e-01 9.39223505e-01 2.03649598e-02 1.05436055e+02] [ 6.86886504e-02 3.43153565e-03 9.97632244e-01 2.83885973e+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:199.67, Y:105.42, Z:28.39 [[ 9.36479287e-01 3.44514879e-01 -6.56966092e-02 1.99674713e+02] [-3.43931969e-01 9.38774169e-01 2.03435781e-02 1.05422250e+02] [ 6.86829451e-02 3.54382463e-03 9.97632244e-01 2.83934179e+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:199.70, Y:105.41, Z:28.39 [[ 9.36157867e-01 3.45425298e-01 -6.54966513e-02 1.99695569e+02] [-3.44799539e-01 9.38441662e-01 2.09887009e-02 1.05406594e+02] [ 6.87148145e-02 2.93447766e-03 9.97632028e-01 2.83938274e+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:199.72, Y:105.39, Z:28.40 [[ 9.36135260e-01 3.45446900e-01 -6.57055079e-02 1.99724894e+02] [-3.44868399e-01 9.38431224e-01 2.03131865e-02 1.05391299e+02] [ 6.86772275e-02 3.64386326e-03 9.97632277e-01 2.84001828e+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:199.75, Y:105.37, Z:28.40 [[ 9.37134553e-01 3.42778645e-01 -6.54341739e-02 1.99751896e+02] [-3.42132278e-01 9.39412802e-01 2.11918000e-02 1.05371567e+02] [ 6.87337971e-02 2.52757495e-03 9.97631834e-01 2.84000679e+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:199.77, Y:105.35, Z:28.40 [[ 9.37967650e-01 3.40543072e-01 -6.51698063e-02 1.99774005e+02] [-3.39831778e-01 9.40227773e-01 2.20476310e-02 1.05352433e+02] [ 6.87826298e-02 1.46680654e-03 9.97630592e-01 2.84011665e+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:199.79, Y:105.34, Z:28.40 [[ 9.39051506e-01 3.37531857e-01 -6.52266454e-02 1.99794400e+02] [-3.36826103e-01 9.41313005e-01 2.18632712e-02 1.05343699e+02] [ 6.87782401e-02 1.43929904e-03 9.97630935e-01 2.84028954e+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:199.82, Y:105.33, Z:28.41 [[ 9.38217258e-01 3.39744775e-01 -6.57408948e-02 1.99817561e+02] [-3.39160977e-01 9.40511686e-01 2.01891025e-02 1.05327131e+02] [ 6.86892219e-02 3.35498173e-03 9.97632465e-01 2.84050771e+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:199.84, Y:105.32, Z:28.41 [[ 9.38333890e-01 3.39421895e-01 -6.57441176e-02 1.99844822e+02] [-3.38838041e-01 9.40628304e-01 2.01786024e-02 1.05319019e+02] [ 6.86898373e-02 3.34234147e-03 9.97632465e-01 2.84070368e+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:199.87, Y:105.31, Z:28.41 [[ 9.37407316e-01 3.41971231e-01 -6.57510546e-02 1.99870123e+02] [-3.41395198e-01 9.39703706e-01 2.01559731e-02 1.05307968e+02] [ 6.86792726e-02 3.55273768e-03 9.97632465e-01 2.84128304e+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:199.90, Y:105.29, Z:28.42 [[ 9.35267170e-01 3.47780297e-01 -6.57585376e-02 1.99899975e+02] [-3.47220235e-01 9.37567507e-01 2.01315305e-02 1.05290870e+02] [ 6.86544178e-02 4.00433523e-03 9.97632466e-01 2.84201929e+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:199.92, Y:105.28, Z:28.42 [[ 9.34164863e-01 3.50792680e-01 -6.54255548e-02 1.99921775e+02] [-3.50164070e-01 9.36448051e-01 2.12172659e-02 1.05280614e+02] [ 6.87104948e-02 3.08925419e-03 9.97631858e-01 2.84157310e+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:199.95, Y:105.27, Z:28.42 [[ 9.33024298e-01 3.53752449e-01 -6.57637061e-02 1.99945938e+02] [-3.53208491e-01 9.35328435e-01 2.01116942e-02 1.05265300e+02] [ 6.86252253e-02 4.46360005e-03 9.97632525e-01 2.84160409e+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:199.97, Y:105.25, Z:28.42 [[ 9.33831112e-01 3.51616480e-01 -6.57670586e-02 1.99970994e+02] [-3.51068021e-01 9.36134181e-01 2.01007251e-02 1.05247929e+02] [ 6.86345378e-02 4.31802869e-03 9.97632525e-01 2.84191021e+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:200.00, Y:105.23, Z:28.42 [[ 9.35505304e-01 3.47137261e-01 -6.57688979e-02 1.99997697e+02] [-3.46578193e-01 9.37805822e-01 2.00947052e-02 1.05234512e+02] [ 6.86540763e-02 3.99536252e-03 9.97632525e-01 2.84242978e+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:200.02, Y:105.22, Z:28.42 [[ 9.39432171e-01 3.36374218e-01 -6.57235209e-02 2.00022765e+02] [-3.35778404e-01 9.41723460e-01 2.02432357e-02 1.05215197e+02] [ 6.87026840e-02 3.05139209e-03 9.97632513e-01 2.84246596e+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:200.05, Y:105.20, Z:28.43 [[ 9.40972766e-01 3.32046128e-01 -6.56933964e-02 2.00046505e+02] [-3.31432895e-01 9.43259478e-01 2.03419002e-02 1.05202052e+02] [ 6.87203680e-02 2.63177843e-03 9.97632490e-01 2.84271719e+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:200.07, Y:105.18, Z:28.43 [[ 9.43956028e-01 3.23450302e-01 -6.57793294e-02 2.00070312e+02] [-3.22835840e-01 9.46242364e-01 2.00601269e-02 1.05184789e+02] [ 6.87316422e-02 2.30004735e-03 9.97632533e-01 2.84285040e+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:200.10, Y:105.17, Z:28.43 [[ 9.44921738e-01 3.20617677e-01 -6.57815639e-02 2.00097383e+02] [-3.19996870e-01 9.47206360e-01 2.00527965e-02 1.05172591e+02] [ 6.87379968e-02 2.10157120e-03 9.97632533e-01 2.84318038e+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:200.12, Y:105.16, Z:28.43 [[ 9.46025956e-01 3.17344538e-01 -6.57824783e-02 2.00123154e+02] [-3.16716034e-01 9.48308473e-01 2.00497966e-02 1.05158466e+02] [ 6.87447750e-02 1.86673763e-03 9.97632533e-01 2.84317150e+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:200.15, Y:105.14, Z:28.43 [[ 9.46594020e-01 3.15645763e-01 -6.57838386e-02 2.00151234e+02] [-3.15013472e-01 9.48875491e-01 2.00453325e-02 1.05143671e+02] [ 6.87478964e-02 1.74800354e-03 9.97632533e-01 2.84281368e+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:200.18, Y:105.13, Z:28.43 [[ 9.46604119e-01 3.15615476e-01 -6.57838386e-02 2.00178713e+02] [-3.14983113e-01 9.48885569e-01 2.00453325e-02 1.05130216e+02] [ 6.87479523e-02 1.74580395e-03 9.97632533e-01 2.84255384e+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:200.21, Y:105.12, Z:28.43 [[ 9.46776954e-01 3.15096630e-01 -6.57838386e-02 2.00206345e+02] [-3.14463016e-01 9.49058057e-01 2.00453325e-02 1.05120187e+02] [ 6.87488987e-02 1.70812543e-03 9.97632533e-01 2.84290987e+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:200.24, Y:105.11, Z:28.44 [[ 9.47714788e-01 3.12264392e-01 -6.57847204e-02 2.00235845e+02] [-3.11624161e-01 9.49994044e-01 2.00424381e-02 1.05109953e+02] [ 6.87536323e-02 1.50559333e-03 9.97632533e-01 2.84377635e+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:200.26, Y:105.10, Z:28.44 [[ 9.48479982e-01 3.09933135e-01 -6.57812725e-02 2.00264261e+02] [-3.09286518e-01 9.50757433e-01 2.00537481e-02 1.05100645e+02] [ 6.87573548e-02 1.32468211e-03 9.97632533e-01 2.84424306e+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:200.30, Y:105.09, Z:28.45 [[ 9.49429649e-01 3.07011768e-01 -6.57808195e-02 2.00296990e+02] [-3.06358040e-01 9.51705069e-01 2.00552339e-02 1.05088886e+02] [ 6.87611322e-02 1.11144925e-03 9.97632533e-01 2.84461545e+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:200.33, Y:105.08, Z:28.45 [[ 9.50189959e-01 3.04697063e-01 -6.55647921e-02 2.00329032e+02] [-3.03988828e-01 9.52449295e-01 2.07637485e-02 1.05078282e+02] [ 6.87737931e-02 2.01458970e-04 9.97632259e-01 2.84490349e+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:200.36, Y:105.07, Z:28.45 [[ 9.52805533e-01 2.96436042e-01 -6.54773996e-02 2.00361150e+02] [-2.95688524e-01 9.55052454e-01 2.10501281e-02 1.05069012e+02] [ 6.87743679e-02 -6.95762902e-04 9.97631997e-01 2.84547194e+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:200.39, Y:105.06, Z:28.46 [[ 9.53685479e-01 2.93643061e-01 -6.52515141e-02 2.00393599e+02] [-2.92838400e-01 9.55913679e-01 2.17878248e-02 1.05059326e+02] [ 6.87726584e-02 -1.67058316e-03 9.97630959e-01 2.84566218e+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:200.42, Y:105.06, Z:28.46 [[ 9.55680812e-01 2.87122128e-01 -6.50774136e-02 2.00415105e+02] [-2.86263503e-01 9.57890075e-01 2.23564602e-02 1.05059731e+02] [ 6.87560431e-02 -2.73635162e-03 9.97629750e-01 2.84604019e+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:200.45, Y:105.05, Z:28.46 [[ 9.55620541e-01 2.87161929e-01 -6.57830340e-02 2.00449947e+02] [-2.86461910e-01 9.57882003e-01 2.00410080e-02 1.05051829e+02] [ 6.87673989e-02 -3.07265346e-04 9.97632673e-01 2.84574968e+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:200.48, Y:105.05, Z:28.46 [[ 9.56303307e-01 2.84980588e-01 -6.53456232e-02 2.00476168e+02] [-2.84177406e-01 9.58531279e-01 2.14706686e-02 1.05047354e+02] [ 6.87545475e-02 -1.96272163e-03 9.97631675e-01 2.84634452e+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:200.50, Y:105.05, Z:28.47 [[ 9.56800721e-01 2.83227283e-01 -6.56862712e-02 2.00504501e+02] [-2.82496286e-01 9.59052375e-01 2.03565887e-02 1.05046296e+02] [ 6.87621157e-02 -9.21071123e-04 9.97632659e-01 2.84652293e+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:200.53, Y:105.04, Z:28.47 [[ 9.56818435e-01 2.83169475e-01 -6.56774775e-02 2.00533004e+02] [-2.82436367e-01 9.59069411e-01 2.03853588e-02 1.05043273e+02] [ 6.87617711e-02 -9.55378983e-04 9.97632651e-01 2.84662178e+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:200.56, Y:105.04, Z:28.47 [[ 9.54201640e-01 2.91882853e-01 -6.56020612e-02 2.00559426e+02] [-2.91153360e-01 9.56453897e-01 2.06316443e-02 1.05042830e+02] [ 6.87673703e-02 -5.86488256e-04 9.97632550e-01 2.84697431e+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:200.59, Y:105.04, Z:28.47 [[ 9.52547985e-01 2.97199136e-01 -6.57648061e-02 2.00588588e+02] [-2.96518929e-01 9.54815452e-01 2.00991772e-02 1.05038796e+02] [ 6.87667111e-02 3.55079101e-04 9.97632705e-01 2.84744170e+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:200.62, Y:105.04, Z:28.47 [[ 9.48535345e-01 3.09766770e-01 -6.57666197e-02 2.00624990e+02] [-3.09117012e-01 9.50811724e-01 2.00932412e-02 1.05036417e+02] [ 6.87558914e-02 1.27043155e-03 9.97632705e-01 2.84732773e+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:200.66, Y:105.03, Z:28.47 [[ 9.46537458e-01 3.15902159e-01 -6.53656328e-02 2.00655756e+02] [-3.15176480e-01 9.48791710e-01 2.14027697e-02 1.05031421e+02] [ 6.87795516e-02 3.43186843e-04 9.97631824e-01 2.84715639e+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:200.68, Y:105.03, Z:28.48 [[ 9.44551638e-01 3.21815255e-01 -6.52467985e-02 2.00682087e+02] [-3.21077083e-01 9.46802411e-01 2.17876576e-02 1.05033256e+02] [ 6.87874267e-02 3.69684013e-04 9.97631271e-01 2.84807619e+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:200.71, Y:105.03, Z:28.48 [[ 9.42770919e-01 3.26931004e-01 -6.55676263e-02 2.00707564e+02] [-3.26277331e-01 9.45046427e-01 2.07449716e-02 1.05026436e+02] [ 6.87466253e-02 1.83547419e-03 9.97632464e-01 2.84796233e+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:200.74, Y:105.01, Z:28.48 [[ 9.42298896e-01 3.28254230e-01 -6.57415537e-02 2.00740872e+02] [-3.27643180e-01 9.44586037e-01 2.01783529e-02 1.05013286e+02] [ 6.87221834e-02 2.52573204e-03 9.97632639e-01 2.84780091e+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:200.77, Y:105.01, Z:28.48 [[ 9.44549692e-01 3.21822261e-01 -6.52404081e-02 2.00766023e+02] [-3.21082792e-01 9.46800037e-01 2.18066763e-02 1.05007853e+02] [ 6.87874947e-02 3.50083024e-04 9.97631274e-01 2.84800058e+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:200.80, Y:105.00, Z:28.48 [[ 9.45210947e-01 3.19837443e-01 -6.54238189e-02 2.00795093e+02] [-3.19134455e-01 9.47472068e-01 2.12103698e-02 1.04999780e+02] [ 6.87711115e-02 8.30721080e-04 9.97632119e-01 2.84824525e+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:200.82, Y:105.00, Z:28.48 [[ 9.45937799e-01 3.17699389e-01 -6.53358861e-02 2.00818769e+02] [-3.16971520e-01 9.48191414e-01 2.14964646e-02 1.04998773e+02] [ 6.87803398e-02 3.75296724e-04 9.97631758e-01 2.84782251e+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:200.85, Y:104.99, Z:28.48 [[ 9.45672860e-01 3.18401487e-01 -6.57520754e-02 2.00851432e+02] [-3.17769413e-01 9.47954150e-01 2.01377988e-02 1.04987643e+02] [ 6.87418578e-02 1.85022862e-03 9.97632765e-01 2.84801560e+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:200.88, Y:104.98, Z:28.48 [[ 9.46389132e-01 3.16338572e-01 -6.54027477e-02 2.00875304e+02] [-3.15622683e-01 9.48646220e-01 2.12760747e-02 1.04982050e+02] [ 6.87745125e-02 5.07144823e-04 9.97632101e-01 2.84788100e+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:200.91, Y:104.97, Z:28.48 [[ 9.47295389e-01 3.13541066e-01 -6.57529128e-02 2.00910591e+02] [-3.12897644e-01 9.49573453e-01 2.01326068e-02 1.04970876e+02] [ 6.87496194e-02 1.50240589e-03 9.97632815e-01 2.84806079e+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:200.93, Y:104.97, Z:28.49 [[ 9.47271408e-01 3.13712834e-01 -6.52773927e-02 2.00931684e+02] [-3.12962788e-01 9.49517902e-01 2.16805654e-02 1.04966432e+02] [ 6.87835246e-02 -1.07984915e-04 9.97631603e-01 2.84875824e+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:200.96, Y:104.96, Z:28.49 [[ 9.48076845e-01 3.11170285e-01 -6.57521885e-02 2.00962946e+02] [-3.10521344e-01 9.50353238e-01 2.01300128e-02 1.04960676e+02] [ 6.87516671e-02 1.33265891e-03 9.97632915e-01 2.84942003e+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:200.99, Y:104.95, Z:28.50 [[ 9.48061400e-01 3.11258487e-01 -6.55571177e-02 2.00990224e+02] [-3.10565644e-01 9.50325052e-01 2.07672081e-02 1.04952428e+02] [ 6.87645410e-02 6.71200126e-04 9.97632692e-01 2.84968398e+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:201.02, Y:104.94, Z:28.50 [[ 9.48895237e-01 3.08707882e-01 -6.55535860e-02 2.01018767e+02] [-3.08008157e-01 9.51156779e-01 2.07787589e-02 1.04943106e+02] [ 6.87663044e-02 4.74173886e-04 9.97632683e-01 2.85011875e+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:201.04, Y:104.94, Z:28.50 [[ 9.49255630e-01 3.07621915e-01 -6.54408636e-02 2.01044075e+02] [-3.06894160e-01 9.51508674e-01 2.11475176e-02 1.04935195e+02] [ 6.87729892e-02 9.01874432e-06 9.97632335e-01 2.85019157e+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:201.07, Y:104.93, Z:28.50 [[ 9.50278682e-01 3.04430445e-01 -6.55174101e-02 2.01071398e+02] [-3.03712395e-01 9.52534568e-01 2.08968580e-02 1.04927485e+02] [ 6.87692377e-02 4.06108494e-05 9.97632593e-01 2.85004587e+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:201.09, Y:104.92, Z:28.50 [[ 9.49340702e-01 3.07350737e-01 -6.54809563e-02 2.01094466e+02] [-3.06631392e-01 9.51596295e-01 2.10162100e-02 1.04918665e+02] [ 6.87707830e-02 1.26973233e-04 9.97632479e-01 2.85036598e+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:201.13, Y:104.91, Z:28.51 [[ 9.47781879e-01 3.12061429e-01 -6.57812600e-02 2.01127790e+02] [-3.11421555e-01 9.50060740e-01 2.00301022e-02 1.04906358e+02] [ 6.87468148e-02 1.50153435e-03 9.97633009e-01 2.85061749e+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:201.15, Y:104.90, Z:28.51 [[ 9.46105845e-01 3.17213618e-01 -6.52629314e-02 2.01149784e+02] [-3.16468600e-01 9.48354106e-01 2.17281828e-02 1.04902240e+02] [ 6.87848445e-02 9.65077913e-05 9.97631513e-01 2.85122619e+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:201.18, Y:104.90, Z:28.52 [[ 9.45873975e-01 3.17814743e-01 -6.56978864e-02 2.01180038e+02] [-3.17169884e-01 9.48151421e-01 2.03014323e-02 1.04895406e+02] [ 6.87436388e-02 1.63479452e-03 9.97633019e-01 2.85182991e+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:201.21, Y:104.89, Z:28.52 [[ 9.42546425e-01 3.27591216e-01 -6.54998644e-02 2.01206199e+02] [-3.26924846e-01 9.44818087e-01 2.09505986e-02 1.04888814e+02] [ 6.87486886e-02 1.66662121e-03 9.97632618e-01 2.85223506e+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:201.23, Y:104.88, Z:28.53 [[ 9.41543316e-01 3.30432570e-01 -6.56543977e-02 2.01234887e+02] [-3.29808365e-01 9.43826536e-01 2.04428976e-02 1.04880293e+02] [ 6.87213619e-02 2.40549601e-03 9.97632993e-01 2.85259900e+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:201.26, Y:104.87, Z:28.52 [[ 9.40008897e-01 3.34786000e-01 -6.55866366e-02 2.01261403e+02] [-3.34156833e-01 9.42290896e-01 2.06658563e-02 1.04870512e+02] [ 6.87203300e-02 2.49013395e-03 9.97632856e-01 2.85239063e+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:201.29, Y:104.86, Z:28.52 [[ 9.39922229e-01 3.35016104e-01 -6.56537396e-02 2.01290117e+02] [-3.34402919e-01 9.42208422e-01 2.04444960e-02 1.04860960e+02] [ 6.87087418e-02 2.73856593e-03 9.97633003e-01 2.85218991e+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:201.32, Y:104.85, Z:28.52 [[ 9.39041505e-01 3.37489817e-01 -6.55871566e-02 2.01316118e+02] [-3.36867328e-01 9.41325337e-01 2.06643034e-02 1.04849832e+02] [ 6.87128443e-02 2.68953165e-03 9.97632854e-01 2.85180552e+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:201.34, Y:104.84, Z:28.52 [[ 9.37992637e-01 3.40384017e-01 -6.56394228e-02 2.01340507e+02] [-3.39780638e-01 9.40281458e-01 2.04913945e-02 1.04839037e+02] [ 6.86944754e-02 3.08222779e-03 9.97632983e-01 2.85166131e+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:201.37, Y:104.82, Z:28.52 [[ 9.37679036e-01 3.41210327e-01 -6.58296188e-02 2.01367038e+02] [-3.40653020e-01 9.39979287e-01 1.98610395e-02 1.04824936e+02] [ 6.86552699e-02 3.80177804e-03 9.97633199e-01 2.85159268e+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:201.40, Y:104.80, Z:28.51 [[ 9.36453801e-01 3.44558509e-01 -6.58309380e-02 2.01402753e+02] [-3.44009730e-01 9.38756102e-01 1.98566660e-02 1.04802122e+02] [ 6.86409779e-02 4.05163283e-03 9.97633199e-01 2.85137453e+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:201.44, Y:104.79, Z:28.52 [[ 9.37503534e-01 3.41811604e-01 -6.52069873e-02 2.01440822e+02] [-3.41111140e-01 9.39766999e-01 2.19357748e-02 1.04787469e+02] [ 6.87772771e-02 1.67796334e-03 9.97630628e-01 2.85190787e+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:201.45, Y:104.79, Z:28.53 [[ 9.41278050e-01 3.31438790e-01 -6.43736085e-02 2.01454561e+02] [-3.30522087e-01 9.43474635e-01 2.47136368e-02 1.04788052e+02] [ 6.89259246e-02 -1.98550449e-03 9.97619805e-01 2.85287128e+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:201.49, Y:104.77, Z:28.52 [[ 9.41736714e-01 3.29910319e-01 -6.55068125e-02 2.01488177e+02] [-3.29252851e-01 9.44010399e-01 2.09027649e-02 1.04767069e+02] [ 6.87351501e-02 1.88340363e-03 9.97633165e-01 2.85225120e+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:201.50, Y:104.77, Z:28.53 [[ 9.46830235e-01 3.15118344e-01 -6.49071317e-02 2.01504315e+02] [-3.14287080e-01 9.49051505e-01 2.29101049e-02 1.04765919e+02] [ 6.88196053e-02 -1.29250717e-03 9.97628283e-01 2.85349306e+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:201.53, Y:104.76, Z:28.54 [[ 9.48308535e-01 3.10431453e-01 -6.59032357e-02 2.01533103e+02] [-3.09820631e-01 9.50593919e-01 1.95544785e-02 1.04755447e+02] [ 6.87175403e-02 1.87450318e-03 9.97634395e-01 2.85353678e+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:201.56, Y:104.74, Z:28.54 [[ 9.51867138e-01 2.99363695e-01 -6.58052380e-02 2.01560479e+02] [-2.98703446e-01 9.54138799e-01 1.98847649e-02 1.04742148e+02] [ 6.87401074e-02 7.28597086e-04 9.97634335e-01 2.85400855e+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:201.59, Y:104.73, Z:28.54 [[ 9.52679391e-01 2.96789861e-01 -6.57096325e-02 2.01590646e+02] [-2.96101325e-01 9.54942792e-01 2.02056801e-02 1.04730582e+02] [ 6.87457808e-02 2.07174264e-04 9.97634189e-01 2.85396196e+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:201.62, Y:104.72, Z:28.54 [[ 9.52817645e-01 2.96371459e-01 -6.55933987e-02 2.01618845e+02] [-2.95655013e-01 9.55072722e-01 2.05963268e-02 1.04722553e+02] [ 6.87506293e-02 -2.31526430e-04 9.97633849e-01 2.85416977e+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:201.65, Y:104.71, Z:28.55 [[ 9.54567074e-01 2.90682171e-01 -6.56168936e-02 2.01649056e+02] [-2.89957728e-01 9.56819504e-01 2.05171398e-02 1.04713642e+02] [ 6.87474903e-02 -5.58860712e-04 9.97633936e-01 2.85462161e+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:201.68, Y:104.71, Z:28.55 [[ 9.55305528e-01 2.88257582e-01 -6.55661094e-02 2.01677407e+02] [-2.87515589e-01 9.57552470e-01 2.06894730e-02 1.04708172e+02] [ 6.87468874e-02 -9.13489424e-04 9.97633716e-01 2.85514063e+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:201.71, Y:104.70, Z:28.55 [[ 9.53953618e-01 2.92659324e-01 -6.57496375e-02 2.01705653e+02] [-2.91970609e-01 9.56216773e-01 2.00660461e-02 1.04701689e+02] [ 6.87434217e-02 5.48844553e-05 9.97634371e-01 2.85512425e+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:201.74, Y:104.69, Z:28.55 [[ 9.52611337e-01 2.97016114e-01 -6.56739574e-02 2.01735618e+02] [-2.96320060e-01 9.54872461e-01 2.03225099e-02 1.04694420e+02] [ 6.87463663e-02 1.01057715e-04 9.97634165e-01 2.85521419e+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:201.76, Y:104.69, Z:28.56 [[ 9.48956569e-01 3.08507215e-01 -6.56104278e-02 2.01764896e+02] [-3.07823501e-01 9.51221742e-01 2.05399765e-02 1.04691335e+02] [ 6.87467964e-02 7.04885906e-04 9.97633891e-01 2.85631875e+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:201.79, Y:104.69, Z:28.57 [[ 9.44829292e-01 3.20919417e-01 -6.56379286e-02 2.01788991e+02] [-3.20271969e-01 9.47104970e-01 2.04460600e-02 1.04686216e+02] [ 6.87275461e-02 1.70395231e-03 9.97634012e-01 2.85684983e+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:201.82, Y:104.68, Z:28.57 [[ 9.43843876e-01 3.23745282e-01 -6.59373134e-02 2.01818667e+02] [-3.23175915e-01 9.46139589e-01 1.94217760e-02 1.04675804e+02] [ 6.86736110e-02 2.97822727e-03 9.97634735e-01 2.85690802e+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:201.86, Y:104.65, Z:28.56 [[ 9.39609466e-01 3.35884979e-01 -6.56911876e-02 2.01858840e+02] [-3.35286298e-01 9.41898286e-01 2.02661398e-02 1.04653237e+02] [ 6.86815090e-02 2.98309835e-03 9.97634177e-01 2.85573130e+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:201.87, Y:104.66, Z:28.58 [[ 9.43079372e-01 3.26230822e-01 -6.46122943e-02 2.01870914e+02] [-3.25357615e-01 9.45288921e-01 2.39014319e-02 1.04655099e+02] [ 6.88746697e-02 -1.51884536e-03 9.97624164e-01 2.85752718e+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:201.90, Y:104.65, Z:28.57 [[ 9.43287296e-01 3.25376705e-01 -6.58716736e-02 2.01900126e+02] [-3.24797138e-01 9.45580080e-01 1.96247864e-02 1.04646861e+02] [ 6.86723907e-02 2.88311931e-03 9.97635099e-01 2.85700254e+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:201.93, Y:104.64, Z:28.55 [[ 9.43312596e-01 3.25315143e-01 -6.58134044e-02 2.01926975e+02] [-3.24721560e-01 9.45601884e-01 1.98238495e-02 1.04637050e+02] [ 6.86822776e-02 2.67094437e-03 9.97635009e-01 2.85469770e+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:201.96, Y:104.62, Z:28.57 [[ 9.42201530e-01 3.28487609e-01 -6.59709655e-02 2.01956408e+02] [-3.27939329e-01 9.44501927e-01 1.92848932e-02 1.04621631e+02] [ 6.86445525e-02 3.46421829e-03 9.97635166e-01 2.85670708e+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:201.98, Y:104.61, Z:28.57 [[ 9.41572975e-01 3.30371409e-01 -6.55367466e-02 2.01983553e+02] [-3.29724309e-01 9.43848778e-01 2.07693036e-02 1.04611566e+02] [ 6.87183623e-02 2.05324354e-03 9.97633986e-01 2.85707898e+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:202.01, Y:104.60, Z:28.57 [[ 9.41332823e-01 3.31019074e-01 -6.57182582e-02 2.02008630e+02] [-3.30416643e-01 9.43620065e-01 2.01498015e-02 1.04602986e+02] [ 6.86830358e-02 2.74673671e-03 9.97634751e-01 2.85746798e+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:202.04, Y:104.59, Z:28.58 [[ 9.42172742e-01 3.28581253e-01 -6.59157355e-02 2.02041043e+02] [-3.28019888e-01 9.44470038e-01 1.94756392e-02 1.04594210e+02] [ 6.86547671e-02 3.27225577e-03 9.97635111e-01 2.85791693e+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:202.07, Y:104.58, Z:28.57 [[ 9.41789284e-01 3.29727887e-01 -6.56693667e-02 2.02067618e+02] [-3.29110585e-01 9.44072765e-01 2.03183919e-02 1.04580446e+02] [ 6.86962010e-02 2.47683992e-03 9.97634551e-01 2.85743729e+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:202.10, Y:104.57, Z:28.58 [[ 9.43353392e-01 3.25212819e-01 -6.57343097e-02 2.02097850e+02] [-3.24600228e-01 9.45637852e-01 2.00933912e-02 1.04569797e+02] [ 6.86954798e-02 2.38220323e-03 9.97634831e-01 2.85825012e+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:202.13, Y:104.57, Z:28.57 [[ 9.52262966e-01 2.98116354e-01 -6.57410266e-02 2.02130776e+02] [-2.97440316e-01 9.54529436e-01 2.00702335e-02 1.04569404e+02] [ 6.87350099e-02 4.41891614e-04 9.97634855e-01 2.85652296e+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:202.15, Y:104.55, Z:28.59 [[ 9.47606151e-01 3.12600737e-01 -6.57522735e-02 2.02151479e+02] [-3.11962021e-01 9.49883381e-01 2.00314663e-02 1.04545738e+02] [ 6.87188430e-02 1.53027146e-03 9.97634893e-01 2.85863014e+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:202.18, Y:104.53, Z:28.59 [[ 9.50148488e-01 3.04729305e-01 -6.60144036e-02 2.02182011e+02] [-3.04134406e-01 9.52437098e-01 1.91268604e-02 1.04534282e+02] [ 6.87030819e-02 1.90389393e-03 9.97635335e-01 2.85858784e+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:202.21, Y:104.52, Z:28.59 [[ 9.52582436e-01 2.97034710e-01 -6.60082181e-02 2.02212667e+02] [-2.96419844e-01 9.54865762e-01 1.91481835e-02 1.04520456e+02] [ 6.87166626e-02 1.32592246e-03 9.97635335e-01 2.85863055e+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:202.24, Y:104.51, Z:28.59 [[ 9.53614902e-01 2.93704761e-01 -6.60010052e-02 2.02239962e+02] [-2.93080203e-01 9.55895596e-01 1.91730132e-02 1.04509210e+02] [ 6.87212754e-02 1.05991692e-03 9.97635336e-01 2.85876374e+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:202.27, Y:104.50, Z:28.59 [[ 9.55671391e-01 2.86908856e-01 -6.61475767e-02 2.02273838e+02] [-2.86303029e-01 9.57957255e-01 1.86674401e-02 1.04498288e+02] [ 6.87224049e-02 1.09831311e-03 9.97635216e-01 2.85898836e+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:202.31, Y:104.49, Z:28.60 [[ 9.55632954e-01 2.87124169e-01 -6.57675394e-02 2.02306220e+02] [-2.86427640e-01 9.57893335e-01 1.99891377e-02 1.04489234e+02] [ 6.87376522e-02 -2.64637574e-04 9.97634735e-01 2.85952155e+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:202.33, Y:104.48, Z:28.60 [[ 9.54246629e-01 2.91723637e-01 -6.56558557e-02 2.02332306e+02] [-2.91011391e-01 9.56502591e-01 2.03755676e-02 1.04483908e+02] [ 6.87440308e-02 -3.36714804e-04 9.97634274e-01 2.85995181e+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:202.36, Y:104.48, Z:28.61 [[ 9.53576162e-01 2.93851296e-01 -6.59084207e-02 2.02362810e+02] [-2.93204399e-01 9.55850869e-01 1.95011752e-02 1.04476905e+02] [ 6.87290669e-02 7.28783057e-04 9.97635096e-01 2.86069869e+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:202.39, Y:104.47, Z:28.61 [[ 9.50148798e-01 3.04759308e-01 -6.58712825e-02 2.02390461e+02] [-3.04129601e-01 9.52428398e-01 1.96298709e-02 1.04467540e+02] [ 6.87200660e-02 1.38210864e-03 9.97635025e-01 2.86084028e+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:202.42, Y:104.46, Z:28.61 [[ 9.49207060e-01 3.07644197e-01 -6.60379053e-02 2.02420358e+02] [-3.07061506e-01 9.51498943e-01 1.90523806e-02 1.04461018e+02] [ 6.86963514e-02 2.19304448e-03 9.97635205e-01 2.86094621e+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:202.45, Y:104.45, Z:28.61 [[ 9.46792920e-01 3.15019285e-01 -6.59243193e-02 2.02449566e+02] [-3.14427075e-01 9.49082441e-01 1.94456769e-02 1.04453915e+02] [ 6.86933771e-02 2.31736174e-03 9.97635129e-01 2.86098724e+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:202.48, Y:104.45, Z:28.62 [[ 9.45987395e-01 3.17458262e-01 -6.57883007e-02 2.02476864e+02] [-3.16839220e-01 9.48270129e-01 1.99166039e-02 1.04447474e+02] [ 6.87077709e-02 2.00345759e-03 9.97634817e-01 2.86152869e+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:202.51, Y:104.44, Z:28.61 [[ 9.43634905e-01 3.24354930e-01 -6.59321335e-02 2.02507080e+02] [-3.23787339e-01 9.45930615e-01 1.94172832e-02 1.04438109e+02] [ 6.86653151e-02 3.02516388e-03 9.97635165e-01 2.86131947e+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:202.53, Y:104.43, Z:28.61 [[ 9.41736181e-01 3.29854280e-01 -6.57960384e-02 2.02533677e+02] [-3.29267120e-01 9.44027303e-01 1.98900472e-02 1.04430370e+02] [ 6.86740739e-02 2.93329503e-03 9.97634837e-01 2.86108650e+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:202.56, Y:104.42, Z:28.61 [[ 9.40597208e-01 3.33037020e-01 -6.60547915e-02 2.02563747e+02] [-3.32520470e-01 9.42904827e-01 1.89901152e-02 1.04421048e+02] [ 6.86077931e-02 4.10252094e-03 9.97635274e-01 2.86077034e+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:202.59, Y:104.41, Z:28.61 [[ 9.40947995e-01 3.32044797e-01 -6.60539405e-02 2.02593849e+02] [-3.31525606e-01 9.43255022e-01 1.89930748e-02 1.04408342e+02] [ 6.86122627e-02 4.02707702e-03 9.97635274e-01 2.86064172e+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:202.63, Y:104.39, Z:28.60 [[ 9.39407792e-01 3.36396577e-01 -6.59571329e-02 2.02629613e+02] [-3.35864473e-01 9.41711949e-01 1.93303274e-02 1.04394224e+02] [ 6.86152761e-02 3.99359749e-03 9.97635201e-01 2.86002204e+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:202.65, Y:104.39, Z:28.62 [[ 9.42285048e-01 3.28340171e-01 -6.55104624e-02 2.02652424e+02] [-3.27679853e-01 9.44557862e-01 2.08892371e-02 1.04389421e+02] [ 6.87371980e-02 1.78284292e-03 9.97633209e-01 2.86170168e+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:202.68, Y:104.38, Z:28.62 [[ 9.42413019e-01 3.27883432e-01 -6.59557097e-02 2.02680273e+02] [-3.27330126e-01 9.44712188e-01 1.93357381e-02 1.04380022e+02] [ 6.86490310e-02 3.36703949e-03 9.97635191e-01 2.86246413e+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:202.71, Y:104.37, Z:28.63 [[ 9.42620863e-01 3.27280649e-01 -6.59794292e-02 2.02710486e+02] [-3.26731651e-01 9.44921030e-01 1.92529254e-02 1.04368834e+02] [ 6.86464602e-02 3.40935867e-03 9.97635224e-01 2.86263384e+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:202.74, Y:104.36, Z:28.63 [[ 9.43002103e-01 3.26191212e-01 -6.59266787e-02 2.02742829e+02] [-3.25626652e-01 9.45298603e-01 1.94379458e-02 1.04355578e+02] [ 6.86608844e-02 3.13745989e-03 9.97635123e-01 2.86287397e+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:202.77, Y:104.34, Z:28.63 [[ 9.43268363e-01 3.25437731e-01 -6.58413198e-02 2.02772321e+02] [-3.24850528e-01 9.45559412e-01 1.97366068e-02 1.04343087e+02] [ 6.86799162e-02 2.77167071e-03 9.97634897e-01 2.86340236e+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:202.80, Y:104.33, Z:28.63 [[ 9.42593134e-01 3.27386928e-01 -6.58481880e-02 2.02798758e+02] [-3.26806135e-01 9.44885794e-01 1.97125916e-02 1.04331979e+02] [ 6.86726622e-02 2.93863832e-03 9.97634918e-01 2.86274902e+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:202.83, Y:104.32, Z:28.64 [[ 9.42943252e-01 3.26351126e-01 -6.59770143e-02 2.02830374e+02] [-3.25799287e-01 9.45242738e-01 1.92611475e-02 1.04319409e+02] [ 6.86501908e-02 3.33309510e-03 9.97635225e-01 2.86396744e+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:202.86, Y:104.32, Z:28.63 [[ 9.45673171e-01 3.18394163e-01 -6.57830531e-02 2.02859365e+02] [-3.17775979e-01 9.47956197e-01 1.99367772e-02 1.04318981e+02] [ 6.87072064e-02 2.05059880e-03 9.97634760e-01 2.86267015e+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:202.89, Y:104.30, Z:28.65 [[ 9.42839615e-01 3.26631662e-01 -6.60697936e-02 2.02886789e+02] [-3.26103174e-01 9.45144502e-01 1.89364677e-02 1.04295665e+02] [ 6.86307521e-02 3.69151744e-03 9.97635300e-01 2.86465652e+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:202.92, Y:104.28, Z:28.65 [[ 9.43005607e-01 3.26192263e-01 -6.58713375e-02 2.02916484e+02] [-3.25614458e-01 9.45298878e-01 1.96279706e-02 1.04283755e+02] [ 6.86705936e-02 2.93937351e-03 9.97635058e-01 2.86501247e+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:202.95, Y:104.29, Z:28.64 [[ 9.48695986e-01 3.09244679e-01 -6.59064099e-02 2.02948116e+02] [-3.08634385e-01 9.50980734e-01 1.95053784e-02 1.04285190e+02] [ 6.87076605e-02 1.83631003e-03 9.97635146e-01 2.86353549e+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:202.98, Y:104.26, Z:28.66 [[ 9.43647490e-01 3.24288158e-01 -6.60802912e-02 2.02977466e+02] [-3.23756670e-01 9.45951641e-01 1.88974016e-02 1.04260573e+02] [ 6.86369634e-02 3.56144947e-03 9.97635346e-01 2.86563682e+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:203.00, Y:104.25, Z:28.66 [[ 9.43006099e-01 3.26222170e-01 -6.57160014e-02 2.03003821e+02] [-3.25606858e-01 9.45290133e-01 2.01677763e-02 1.04247107e+02] [ 6.86998634e-02 2.37924464e-03 9.97634536e-01 2.86550262e+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:203.04, Y:104.24, Z:28.66 [[ 9.42894379e-01 3.26504891e-01 -6.59146853e-02 2.03035845e+02] [-3.25938700e-01 9.45190350e-01 1.94721969e-02 1.04235951e+02] [ 6.86596920e-02 3.12392187e-03 9.97635248e-01 2.86583911e+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:203.07, Y:104.22, Z:28.66 [[ 9.42138413e-01 3.28707661e-01 -6.57760123e-02 2.03065848e+02] [-3.28113001e-01 9.44427631e-01 1.99576574e-02 1.04224407e+02] [ 6.86809183e-02 2.77908917e-03 9.97634807e-01 2.86572508e+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:203.09, Y:104.21, Z:28.66 [[ 9.42045021e-01 3.28993488e-01 -6.56845816e-02 2.03094902e+02] [-3.28377318e-01 9.44328965e-01 2.02766419e-02 1.04211275e+02] [ 6.86987361e-02 2.46781727e-03 9.97634399e-01 2.86595884e+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:203.13, Y:104.21, Z:28.65 [[ 9.46046220e-01 3.17292475e-01 -6.57421793e-02 2.03132241e+02] [-3.16662013e-01 9.48325973e-01 2.00753132e-02 1.04208180e+02] [ 6.87147619e-02 1.82587667e-03 9.97634676e-01 2.86451349e+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:203.15, Y:104.19, Z:28.66 [[ 9.43368772e-01 3.25215123e-01 -6.55017927e-02 2.03154684e+02] [-3.24545529e-01 9.45638825e-01 2.09143835e-02 1.04188674e+02] [ 6.87427121e-02 1.52833770e-03 9.97633251e-01 2.86624833e+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:203.18, Y:104.18, Z:28.66 [[ 9.42678996e-01 3.27164741e-01 -6.57232295e-02 2.03177858e+02] [-3.26553611e-01 9.44964074e-01 2.01404677e-02 1.04177736e+02] [ 6.86953416e-02 2.47616199e-03 9.97634612e-01 2.86578308e+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:203.21, Y:104.17, Z:28.67 [[ 9.44414223e-01 3.22046259e-01 -6.60907137e-02 2.03212615e+02] [-3.21512432e-01 9.46717668e-01 1.88524063e-02 1.04166810e+02] [ 6.86405932e-02 3.44450546e-03 9.97635507e-01 2.86685191e+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:203.24, Y:104.16, Z:28.67 [[ 9.44836282e-01 3.20885210e-01 -6.57045048e-02 2.03241770e+02] [-3.20254680e-01 9.47116074e-01 2.02010268e-02 1.04157921e+02] [ 6.87120034e-02 1.95551214e-03 9.97634621e-01 2.86698331e+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:203.27, Y:104.15, Z:28.67 [[ 9.45126802e-01 3.20005621e-01 -6.58158844e-02 2.03272107e+02] [-3.19400127e-01 9.47412856e-01 1.98100856e-02 1.04147967e+02] [ 6.86941538e-02 2.29855899e-03 9.97635119e-01 2.86708810e+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:203.30, Y:104.15, Z:28.65 [[ 9.50906438e-01 3.02401002e-01 -6.58071353e-02 2.03302890e+02] [-3.01751047e-01 9.53180283e-01 1.98407048e-02 1.04151217e+02] [ 6.87259129e-02 9.90717995e-04 9.97635087e-01 2.86539682e+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:203.33, Y:104.13, Z:28.67 [[ 9.45634567e-01 3.18446248e-01 -6.60852023e-02 2.03333341e+02] [-3.17902639e-01 9.47935628e-01 1.88668431e-02 1.04129662e+02] [ 6.86525932e-02 3.16752122e-03 9.97635599e-01 2.86737978e+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:203.36, Y:104.12, Z:28.68 [[ 9.45583600e-01 3.18658523e-01 -6.57905924e-02 2.03362964e+02] [-3.18043790e-01 9.47867232e-01 1.98961572e-02 1.04120826e+02] [ 6.87008268e-02 2.11080943e-03 9.97635074e-01 2.86793233e+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:203.39, Y:104.11, Z:28.68 [[ 9.45600377e-01 3.18610518e-01 -6.57819506e-02 2.03394072e+02] [-3.17993576e-01 9.47883447e-01 1.99262984e-02 1.04110866e+02] [ 6.87023504e-02 2.07592238e-03 9.97635042e-01 2.86830700e+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:203.43, Y:104.10, Z:28.69 [[ 9.46102431e-01 3.17128952e-01 -6.57222720e-02 2.03425818e+02] [-3.16493986e-01 9.48380810e-01 2.01344615e-02 1.04102621e+02] [ 6.87149622e-02 1.75144090e-03 9.97634796e-01 2.86864794e+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:203.46, Y:104.09, Z:28.69 [[ 9.46121714e-01 3.17057742e-01 -6.57882224e-02 2.03457091e+02] [-3.16438703e-01 9.48404153e-01 1.99025098e-02 1.04093914e+02] [ 6.87040681e-02 1.98774311e-03 9.97635104e-01 2.86886560e+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:203.49, Y:104.09, Z:28.70 [[ 9.47216273e-01 3.13772019e-01 -6.57909731e-02 2.03487383e+02] [-3.13145730e-01 9.49496722e-01 1.98928891e-02 1.04086735e+02] [ 6.87101452e-02 1.75929401e-03 9.97635114e-01 2.86950331e+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:203.52, Y:104.08, Z:28.70 [[ 9.48954703e-01 3.08472675e-01 -6.57995543e-02 2.03516380e+02] [-3.07835727e-01 9.51232164e-01 1.98628916e-02 1.04076986e+02] [ 6.87178117e-02 1.40646928e-03 9.97635146e-01 2.86979331e+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:203.55, Y:104.07, Z:28.70 [[ 9.49975306e-01 3.05311695e-01 -6.58155505e-02 2.03548106e+02] [-3.04671027e-01 9.52251670e-01 1.98071522e-02 1.04067344e+02] [ 6.87203230e-02 1.23578589e-03 9.97635199e-01 2.87006438e+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:203.58, Y:104.07, Z:28.68 [[ 9.54699279e-01 2.90205970e-01 -6.58010774e-02 2.03578247e+02] [-2.89525803e-01 9.56964203e-01 1.98575663e-02 1.04071823e+02] [ 6.87320598e-02 9.31055681e-05 9.97635151e-01 2.86843901e+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:203.61, Y:104.05, Z:28.70 [[ 9.50028863e-01 3.05090578e-01 -6.60673872e-02 2.03605573e+02] [-3.04510342e-01 9.52320942e-01 1.89281468e-02 1.04052460e+02] [ 6.86921557e-02 2.13591689e-03 9.97635618e-01 2.86962845e+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:203.64, Y:104.05, Z:28.70 [[ 9.50967110e-01 3.02154931e-01 -6.60602231e-02 2.03639858e+02] [-3.01565885e-01 9.53256941e-01 1.89531170e-02 1.04045690e+02] [ 6.86991440e-02 1.89771878e-03 9.97635618e-01 2.87006973e+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:203.67, Y:104.04, Z:28.70 [[ 9.49036711e-01 3.08225435e-01 -6.57753981e-02 2.03666717e+02] [-3.07582349e-01 9.51312451e-01 1.99429146e-02 1.04037040e+02] [ 6.87198687e-02 1.30479335e-03 9.97635142e-01 2.86992186e+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:203.70, Y:104.03, Z:28.70 [[ 9.49332205e-01 3.07255525e-01 -6.60485176e-02 2.03700443e+02] [-3.06675989e-01 9.51624450e-01 1.89932714e-02 1.04029909e+02] [ 6.86891718e-02 2.22457020e-03 9.97635629e-01 2.87046813e+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:203.73, Y:104.02, Z:28.71 [[ 9.48313839e-01 3.10433847e-01 -6.58155704e-02 2.03731433e+02] [-3.09805732e-01 9.50593622e-01 1.98033966e-02 1.04020951e+02] [ 6.87115060e-02 1.61020591e-03 9.97635272e-01 2.87077032e+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:203.76, Y:104.01, Z:28.71 [[ 9.47236653e-01 3.13704683e-01 -6.58186492e-02 2.03760941e+02] [-3.13085182e-01 9.49518782e-01 1.97926964e-02 1.04012136e+02] [ 6.87051052e-02 1.85847629e-03 9.97635281e-01 2.87073301e+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:203.79, Y:104.00, Z:28.70 [[ 9.45688644e-01 3.18338397e-01 -6.58304974e-02 2.03788707e+02] [-3.17732931e-01 9.47974503e-01 1.97516298e-02 1.04002556e+02] [ 6.86933352e-02 2.23762491e-03 9.97635314e-01 2.87020282e+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:203.82, Y:103.99, Z:28.71 [[ 9.45623132e-01 3.18490339e-01 -6.60363220e-02 2.03818939e+02] [-3.17934924e-01 9.47921383e-01 1.90377538e-02 1.03992174e+02] [ 6.86605823e-02 2.99271271e-03 9.97635589e-01 2.87144846e+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:203.85, Y:103.98, Z:28.71 [[ 9.44498347e-01 3.21844185e-01 -6.58725578e-02 2.03847513e+02] [-3.21257401e-01 9.46788954e-01 1.96050607e-02 1.03982111e+02] [ 6.86771849e-02 2.64509928e-03 9.97635428e-01 2.87115022e+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:203.88, Y:103.96, Z:28.71 [[ 9.41683888e-01 3.29956642e-01 -6.60308179e-02 2.03876159e+02] [-3.29427867e-01 9.43988412e-01 1.90567359e-02 1.03964313e+02] [ 6.86202235e-02 3.80697036e-03 9.97635591e-01 2.87102472e+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:203.91, Y:103.97, Z:28.72 [[ 9.45224214e-01 3.19673972e-01 -6.60283045e-02 2.03907031e+02] [-3.19119506e-01 9.47522691e-01 1.90654406e-02 1.03967086e+02] [ 6.86580419e-02 3.04980379e-03 9.97635591e-01 2.87186661e+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:203.94, Y:103.96, Z:28.72 [[ 9.43670436e-01 3.24216724e-01 -6.61031391e-02 2.03936528e+02] [-3.23691363e-01 9.45975792e-01 1.88070057e-02 1.03955089e+02] [ 6.86295151e-02 3.64939990e-03 9.97635540e-01 2.87165537e+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:203.97, Y:103.94, Z:28.72 [[ 9.42103974e-01 3.28724688e-01 -6.61829414e-02 2.03971184e+02] [-3.28229715e-01 9.44416160e-01 1.85302725e-02 1.03941940e+02] [ 6.85955974e-02 4.26576470e-03 9.97635428e-01 2.87179155e+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:204.00, Y:103.93, Z:28.72 [[ 9.40778225e-01 3.32565148e-01 -6.58540326e-02 2.03999334e+02] [-3.32000143e-01 9.43074293e-01 1.96667823e-02 1.03932458e+02] [ 6.86457316e-02 3.36146771e-03 9.97635436e-01 2.87215841e+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:204.03, Y:103.92, Z:28.73 [[ 9.39545813e-01 3.36002668e-01 -6.59990362e-02 2.04028035e+02] [-3.35481124e-01 9.41851958e-01 1.91652097e-02 1.03922533e+02] [ 6.86008830e-02 4.13483831e-03 9.97635616e-01 2.87263776e+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:204.06, Y:103.91, Z:28.73 [[ 9.38626742e-01 3.38540757e-01 -6.61059369e-02 2.04057952e+02] [-3.38051313e-01 9.40939967e-01 1.87959800e-02 1.03914051e+02] [ 6.85649234e-02 4.70478925e-03 9.97635563e-01 2.87294522e+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:204.09, Y:103.90, Z:28.73 [[ 9.36182271e-01 3.45222048e-01 -6.62155045e-02 2.04091070e+02] [-3.44775826e-01 9.38504394e-01 1.84155298e-02 1.03899810e+02] [ 6.85009888e-02 5.58921275e-03 9.97635392e-01 2.87336401e+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:204.12, Y:103.89, Z:28.73 [[ 9.35827359e-01 3.46249346e-01 -6.58676252e-02 2.04115923e+02] [-3.45721234e-01 9.38132147e-01 1.96189302e-02 1.03893965e+02] [ 6.85855784e-02 4.41190506e-03 9.97635481e-01 2.87266518e+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:204.14, Y:103.88, Z:28.73 [[ 9.34851389e-01 3.48797217e-01 -6.62825887e-02 2.04142529e+02] [-3.48375279e-01 9.37178498e-01 1.81969196e-02 1.03877223e+02] [ 6.84656518e-02 6.07979980e-03 9.97634949e-01 2.87310976e+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:204.17, Y:103.86, Z:28.74 [[ 9.35274086e-01 3.47649951e-01 -6.63467863e-02 2.04173551e+02] [-3.47240619e-01 9.37603737e-01 1.79773570e-02 1.03861548e+02] [ 6.84568220e-02 6.22454304e-03 9.97634662e-01 2.87354091e+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:204.20, Y:103.85, Z:28.74 [[ 9.35867140e-01 3.46078344e-01 -6.62002782e-02 2.04203776e+02] [-3.45629910e-01 9.38188973e-01 1.84774378e-02 1.03851585e+02] [ 6.85030122e-02 5.58836928e-03 9.97635258e-01 2.87354409e+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:204.23, Y:103.84, Z:28.73 [[ 9.36046617e-01 3.45589839e-01 -6.62147615e-02 2.04233960e+02] [-3.45143669e-01 9.38368934e-01 1.84280048e-02 1.03836736e+02] [ 6.85024064e-02 5.60413420e-03 9.97635211e-01 2.87339753e+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:204.26, Y:103.82, Z:28.74 [[ 9.36760230e-01 3.43670120e-01 -6.61144536e-02 2.04264473e+02] [-3.43195229e-01 9.39076545e-01 1.87690721e-02 1.03823471e+02] [ 6.85369019e-02 5.10804477e-03 9.97635505e-01 2.87394347e+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:204.29, Y:103.81, Z:28.74 [[ 9.36848496e-01 3.43442309e-01 -6.60475344e-02 2.04292472e+02] [-3.42950908e-01 9.39161230e-01 1.89962949e-02 1.03810514e+02] [ 6.85534150e-02 4.85441155e-03 9.97635637e-01 2.87438868e+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:204.32, Y:103.79, Z:28.75 [[ 9.37641492e-01 3.41268936e-01 -6.60601660e-02 2.04322843e+02] [-3.40775180e-01 9.39953746e-01 1.89534209e-02 1.03791117e+02] [ 6.85617143e-02 4.74015116e-03 9.97635616e-01 2.87500566e+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:204.35, Y:103.78, Z:28.75 [[ 9.37938527e-01 3.40484206e-01 -6.58925246e-02 2.04353280e+02] [-3.39948739e-01 9.40241339e-01 1.95212815e-02 1.03778899e+02] [ 6.86015635e-02 4.09031860e-03 9.97635753e-01 2.87542303e+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:204.38, Y:103.77, Z:28.75 [[ 9.37374366e-01 3.42039314e-01 -6.58665741e-02 2.04382566e+02] [-3.41501519e-01 9.39676644e-01 1.96091102e-02 1.03765847e+02] [ 6.86003680e-02 4.11245785e-03 9.97635744e-01 2.87516761e+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:204.41, Y:103.76, Z:28.75 [[ 9.37928540e-01 3.40505269e-01 -6.59258367e-02 2.04413037e+02] [-3.39977738e-01 9.40233185e-01 1.94086214e-02 1.03755424e+02] [ 6.85943973e-02 4.20941688e-03 9.97635750e-01 2.87532806e+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:204.44, Y:103.74, Z:28.76 [[ 9.37985962e-01 3.40345386e-01 -6.59344673e-02 2.04444908e+02] [-3.39819505e-01 9.40290987e-01 1.93794415e-02 1.03739760e+02] [ 6.85932889e-02 4.22817403e-03 9.97635747e-01 2.87566687e+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:204.47, Y:103.72, Z:28.76 [[ 9.36580040e-01 3.44232185e-01 -6.57421531e-02 2.04472359e+02] [-3.43670399e-01 9.38876721e-01 2.00289886e-02 1.03723363e+02] [ 6.86183997e-02 3.83488102e-03 9.97635609e-01 2.87642381e+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:204.50, Y:103.71, Z:28.77 [[ 9.36423222e-01 3.44643707e-01 -6.58199387e-02 2.04503123e+02] [-3.44101301e-01 9.38724445e-01 1.97664072e-02 1.03713643e+02] [ 6.85991532e-02 4.13900382e-03 9.97635718e-01 2.87657818e+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:204.53, Y:103.71, Z:28.77 [[ 9.35285806e-01 3.47734186e-01 -6.57373413e-02 2.04531309e+02] [-3.47179889e-01 9.37584306e-01 2.00448068e-02 1.03705809e+02] [ 6.86045641e-02 4.07505959e-03 9.97635609e-01 2.87679195e+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:204.56, Y:103.69, Z:28.78 [[ 9.33914195e-01 3.51369637e-01 -6.59064125e-02 2.04562727e+02] [-3.50864258e-01 9.36223803e-01 1.94746966e-02 1.03693630e+02] [ 6.85459693e-02 4.93650887e-03 9.97635746e-01 2.87758502e+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:204.59, Y:103.68, Z:28.78 [[ 9.34364579e-01 3.50198797e-01 -6.57543605e-02 2.04589603e+02] [-3.49654615e-01 9.36665454e-01 1.99869400e-02 1.03683794e+02] [ 6.85892403e-02 4.31622677e-03 9.97635648e-01 2.87789587e+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:204.62, Y:103.67, Z:28.79 [[ 9.34622534e-01 3.49481133e-01 -6.59064201e-02 2.04620412e+02] [-3.48971069e-01 9.36931118e-01 1.94749446e-02 1.03671953e+02] [ 6.85559015e-02 4.79771179e-03 9.97635740e-01 2.87867146e+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:204.65, Y:103.66, Z:28.79 [[ 9.35228326e-01 3.47863279e-01 -6.58719791e-02 2.04651339e+02] [-3.47341097e-01 9.37534192e-01 1.95908200e-02 1.03660811e+02] [ 6.85721596e-02 4.55815569e-03 9.97635746e-01 2.87879236e+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:204.68, Y:103.65, Z:28.78 [[ 9.35554271e-01 3.46989251e-01 -6.58533641e-02 2.04681586e+02] [-3.46460531e-01 9.37858649e-01 1.96533771e-02 1.03652411e+02] [ 6.85806576e-02 4.42879057e-03 9.97635745e-01 2.87827294e+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:204.71, Y:103.64, Z:28.79 [[ 9.35591700e-01 3.46884975e-01 -6.58709757e-02 2.04713086e+02] [-3.46360143e-01 9.37896965e-01 1.95942219e-02 1.03641500e+02] [ 6.85771294e-02 4.48288920e-03 9.97635746e-01 2.87863106e+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:204.74, Y:103.63, Z:28.79 [[ 9.38169567e-01 3.39870081e-01 -6.57737937e-02 2.04742916e+02] [-3.39305157e-01 9.40465398e-01 1.99209906e-02 1.03632488e+02] [ 6.86285257e-02 3.62812026e-03 9.97635686e-01 2.87860024e+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:204.77, Y:103.62, Z:28.79 [[ 9.38374478e-01 3.39293284e-01 -6.58286205e-02 2.04771557e+02] [-3.38739839e-01 9.40673052e-01 1.97365299e-02 1.03619351e+02] [ 6.86196814e-02 3.77852044e-03 9.97635736e-01 2.87934360e+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:204.80, Y:103.61, Z:28.79 [[ 9.39209892e-01 3.36983579e-01 -6.57787626e-02 2.04801191e+02] [-3.36412783e-01 9.41504259e-01 1.99040061e-02 1.03608212e+02] [ 6.86383083e-02 3.43477712e-03 9.97635698e-01 2.87914938e+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:204.83, Y:103.60, Z:28.79 [[ 9.40541202e-01 3.33244916e-01 -6.58032932e-02 2.04833212e+02] [-3.32670750e-01 9.42834703e-01 1.98215578e-02 1.03600887e+02] [ 6.86470618e-02 3.24783917e-03 9.97635721e-01 2.87941648e+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:204.86, Y:103.59, Z:28.79 [[ 9.40914700e-01 3.32211358e-01 -6.56897331e-02 2.04862359e+02] [-3.31608066e-01 9.43200891e-01 2.02032283e-02 1.03591839e+02] [ 6.86703567e-02 2.77373086e-03 9.97635549e-01 2.87925044e+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:204.89, Y:103.58, Z:28.80 [[ 9.40721816e-01 3.32743764e-01 -6.57575323e-02 2.04891934e+02] [-3.32157638e-01 9.43012345e-01 1.99755182e-02 1.03578602e+02] [ 6.86568938e-02 3.05046083e-03 9.97635668e-01 2.88031652e+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:204.92, Y:103.57, Z:28.80 [[ 9.39323276e-01 3.36687992e-01 -6.56732694e-02 2.04917631e+02] [-3.36091755e-01 9.41611350e-01 2.02582690e-02 1.03568416e+02] [ 6.86594118e-02 3.04318070e-03 9.97635517e-01 2.88002395e+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:204.95, Y:103.56, Z:28.81 [[ 9.38965934e-01 3.37642517e-01 -6.58825177e-02 2.04951132e+02] [-3.37097666e-01 9.41266558e-01 1.95558111e-02 1.03561493e+02] [ 6.86158840e-02 3.84660250e-03 9.97635737e-01 2.88116560e+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:204.98, Y:103.55, Z:28.80 [[ 9.40196380e-01 3.34240624e-01 -6.56808324e-02 2.04984266e+02] [-3.33640273e-01 9.42483338e-01 2.02318081e-02 1.03554183e+02] [ 6.86653823e-02 2.89189810e-03 9.97635556e-01 2.87955838e+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:205.01, Y:103.55, Z:28.81 [[ 9.38971575e-01 3.37688189e-01 -6.55672812e-02 2.05011691e+02] [-3.37069553e-01 9.41254034e-01 2.06145716e-02 1.03545009e+02] [ 6.86767652e-02 2.74423739e-03 9.97635189e-01 2.88132615e+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:205.04, Y:103.53, Z:28.82 [[ 9.39108458e-01 3.37282938e-01 -6.56926567e-02 2.05042659e+02] [-3.36692800e-01 9.41398034e-01 2.01915694e-02 1.03533692e+02] [ 6.86532097e-02 3.15617098e-03 9.97635592e-01 2.88180995e+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:205.07, Y:103.52, Z:28.82 [[ 9.40781443e-01 3.32599541e-01 -6.56340076e-02 2.05073593e+02] [-3.31984232e-01 9.43064550e-01 2.03893036e-02 1.03520710e+02] [ 6.86785788e-02 2.60757718e-03 9.97635431e-01 2.88209999e+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:205.10, Y:103.51, Z:28.80 [[ 9.41364636e-01 3.30957285e-01 -6.55736016e-02 2.05097937e+02] [-3.30323861e-01 9.43642993e-01 2.05924504e-02 1.03511855e+02] [ 6.86932911e-02 2.27552072e-03 9.97635231e-01 2.88022123e+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:205.13, Y:103.50, Z:28.80 [[ 9.39015966e-01 3.37473165e-01 -6.60369569e-02 2.05126334e+02] [-3.36964899e-01 9.41324934e-01 1.90269907e-02 1.03496200e+02] [ 6.85833329e-02 4.38548843e-03 9.97635752e-01 2.88027200e+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:205.16, Y:103.49, Z:28.81 [[ 9.41064256e-01 3.31715626e-01 -6.60515598e-02 2.05160124e+02] [-3.31196680e-01 9.43370875e-01 1.89776585e-02 1.03494349e+02] [ 6.86063037e-02 4.01686125e-03 9.97635725e-01 2.88055975e+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:205.19, Y:103.49, Z:28.82 [[ 9.42291060e-01 3.28248205e-01 -6.58837917e-02 2.05191859e+02] [-3.27681271e-01 9.44586177e-01 1.95432762e-02 1.03490083e+02] [ 6.86479642e-02 3.17343011e-03 9.97635899e-01 2.88184880e+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:205.22, Y:103.48, Z:28.83 [[ 9.41776155e-01 3.29745908e-01 -6.57670841e-02 2.05222420e+02] [-3.29155228e-01 9.44065351e-01 1.99361317e-02 1.03479063e+02] [ 6.86622832e-02 2.87220607e-03 9.97635826e-01 2.88283754e+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:205.25, Y:103.47, Z:28.83 [[ 9.41550364e-01 3.30415767e-01 -6.56378879e-02 2.05252105e+02] [-3.29796448e-01 9.43832260e-01 2.03707716e-02 1.03471548e+02] [ 6.86819802e-02 2.46703479e-03 9.97635554e-01 2.88297329e+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:205.28, Y:103.46, Z:28.83 [[ 9.41259871e-01 3.31214692e-01 -6.57775300e-02 2.05283840e+02] [-3.30630091e-01 9.43550596e-01 1.99001667e-02 1.03464845e+02] [ 6.86556552e-02 3.01680241e-03 9.97635855e-01 2.88313634e+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:205.31, Y:103.46, Z:28.83 [[ 9.39243821e-01 3.36883814e-01 -6.58053221e-02 2.05314787e+02] [-3.36319567e-01 9.41539615e-01 1.98066199e-02 1.03456144e+02] [ 6.86308473e-02 3.52837202e-03 9.97635884e-01 2.88273747e+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:205.34, Y:103.45, Z:28.83 [[ 9.39497019e-01 3.36201014e-01 -6.56827971e-02 2.05343149e+02] [-3.35606310e-01 9.41785320e-01 2.02191774e-02 1.03449523e+02] [ 6.86568021e-02 3.04770431e-03 9.97635683e-01 2.88343669e+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:205.37, Y:103.44, Z:28.84 [[ 9.39454541e-01 3.36288381e-01 -6.58429241e-02 2.05374371e+02] [-3.35731558e-01 9.41752111e-01 1.96795084e-02 1.03440273e+02] [ 6.86257028e-02 3.61754395e-03 9.97635919e-01 2.88364275e+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:205.41, Y:103.43, Z:28.84 [[ 9.38892796e-01 3.37854253e-01 -6.58393612e-02 2.05406733e+02] [-3.37300422e-01 9.41191091e-01 1.96915107e-02 1.03429155e+02] [ 6.86202808e-02 3.71942676e-03 9.97635917e-01 2.88408952e+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:205.44, Y:103.42, Z:28.84 [[ 9.38540437e-01 3.38852058e-01 -6.57353109e-02 2.05436445e+02] [-3.38276219e-01 9.40833428e-01 2.00414809e-02 1.03419740e+02] [ 6.86370750e-02 3.42695221e-03 9.97635809e-01 2.88440577e+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:205.47, Y:103.41, Z:28.85 [[ 9.38259314e-01 3.39638880e-01 -6.56878277e-02 2.05468634e+02] [-3.39053823e-01 9.40550064e-01 2.02010541e-02 1.03409210e+02] [ 6.86437539e-02 3.31788189e-03 9.97635718e-01 2.88509769e+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:205.50, Y:103.40, Z:28.85 [[ 9.39030360e-01 3.37518141e-01 -6.56009703e-02 2.05497459e+02] [-3.36907709e-01 9.41314679e-01 2.04907477e-02 1.03402977e+02] [ 6.86671554e-02 2.86003850e-03 9.97635526e-01 2.88543268e+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:205.53, Y:103.39, Z:28.86 [[ 9.39505320e-01 3.36188364e-01 -6.56287865e-02 2.05529493e+02] [-3.35581168e-01 9.41790425e-01 2.03979008e-02 1.03394370e+02] [ 6.86660997e-02 2.85984854e-03 9.97635599e-01 2.88587938e+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:205.56, Y:103.38, Z:28.86 [[ 9.39477189e-01 3.36274440e-01 -6.55904848e-02 2.05558712e+02] [-3.35658554e-01 9.41760072e-01 2.05256332e-02 1.03384549e+02] [ 6.86727455e-02 2.73264307e-03 9.97635498e-01 2.88594032e+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:205.59, Y:103.37, Z:28.85 [[ 9.38091108e-01 3.40114824e-01 -6.56275825e-02 2.05585285e+02] [-3.39516915e-01 9.40378663e-01 2.04018437e-02 1.03371739e+02] [ 6.86537478e-02 3.14288618e-03 9.97635597e-01 2.88512217e+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:205.62, Y:103.37, Z:28.86 [[ 9.43597627e-01 3.24483288e-01 -6.58339909e-02 2.05618223e+02] [-3.23895403e-01 9.45887511e-01 1.97125642e-02 1.03367596e+02] [ 6.86679475e-02 2.72259816e-03 9.97635856e-01 2.88619817e+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:205.65, Y:103.36, Z:28.87 [[ 9.46131041e-01 3.17064206e-01 -6.56227314e-02 2.05648528e+02] [-3.16409370e-01 9.48402974e-01 2.04183656e-02 1.03361388e+02] [ 6.87107265e-02 1.44519759e-03 9.97635579e-01 2.88692308e+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:205.68, Y:103.36, Z:28.87 [[ 9.49617676e-01 3.06440849e-01 -6.57287991e-02 2.05677585e+02] [-3.05785169e-01 9.51889127e-01 2.00628982e-02 1.03356707e+02] [ 6.87146207e-02 1.04680920e-03 9.97635808e-01 2.88706920e+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:205.71, Y:103.35, Z:28.87 [[ 9.50380944e-01 3.04022947e-01 -6.59250204e-02 2.05706905e+02] [-3.03407044e-01 9.52663432e-01 1.94049315e-02 1.03347044e+02] [ 6.87039006e-02 1.56003843e-03 9.97635876e-01 2.88727700e+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:205.74, Y:103.33, Z:28.88 [[ 9.51198437e-01 3.01438395e-01 -6.60032398e-02 2.05741327e+02] [-3.00834473e-01 9.53484231e-01 1.91426303e-02 1.03330816e+02] [ 6.87033721e-02 1.64760984e-03 9.97635771e-01 2.88796053e+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:205.77, Y:103.33, Z:28.88 [[ 9.52274911e-01 2.98121233e-01 -6.55455933e-02 2.05771318e+02] [-2.97403974e-01 9.54527996e-01 2.06683618e-02 1.03325613e+02] [ 6.87267813e-02 -1.88442465e-04 9.97635502e-01 2.88759676e+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:205.81, Y:103.32, Z:28.88 [[ 9.52999812e-01 2.95769850e-01 -6.56624305e-02 2.05805054e+02] [-2.95073846e-01 9.55259228e-01 2.02788560e-02 1.03318351e+02] [ 6.87225169e-02 4.95199796e-05 9.97635812e-01 2.88813231e+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:205.83, Y:103.31, Z:28.89 [[ 9.53739687e-01 2.93399999e-01 -6.55518952e-02 2.05834260e+02] [-2.92673100e-01 9.55989636e-01 2.06463474e-02 1.03311771e+02] [ 6.87245708e-02 -5.05964506e-04 9.97635543e-01 2.88855433e+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:205.86, Y:103.30, Z:28.89 [[ 9.54102331e-01 2.92209664e-01 -6.55915639e-02 2.05863813e+02] [-2.91489013e-01 9.56354174e-01 2.05146018e-02 1.03304622e+02] [ 6.87233308e-02 -4.53809165e-04 9.97635654e-01 2.88939450e+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:205.89, Y:103.30, Z:28.90 [[ 9.54473275e-01 2.90989031e-01 -6.56212652e-02 2.05893871e+02] [-2.90272279e-01 9.56726289e-01 2.04159807e-02 1.03297877e+02] [ 6.87224160e-02 -4.38473784e-04 9.97635724e-01 2.88975430e+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:205.92, Y:103.30, Z:28.90 [[ 9.54593488e-01 2.90598152e-01 -6.56047787e-02 2.05921729e+02] [-2.89876715e-01 9.56845045e-01 2.04707220e-02 1.03299481e+02] [ 6.87223614e-02 -5.23920163e-04 9.97635686e-01 2.89010559e+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:205.96, Y:103.29, Z:28.91 [[ 9.54536975e-01 2.90704506e-01 -6.59549430e-02 2.05958277e+02] [-2.90063391e-01 9.56812625e-01 1.93087821e-02 1.03291164e+02] [ 6.87196721e-02 7.00168039e-04 9.97635763e-01 2.89059627e+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:205.99, Y:103.29, Z:28.90 [[ 9.53305862e-01 2.94789580e-01 -6.56280278e-02 2.05989155e+02] [-2.94083383e-01 9.55562182e-01 2.03931419e-02 1.03291992e+02] [ 6.87233472e-02 -1.40789314e-04 9.97635746e-01 2.89030385e+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:206.02, Y:103.29, Z:28.90 [[ 9.51715194e-01 2.99844683e-01 -6.58130377e-02 2.06023246e+02] [-2.99192870e-01 9.53987639e-01 1.97790759e-02 1.03289355e+02] [ 6.87154752e-02 8.66744566e-04 9.97635922e-01 2.89029211e+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:206.05, Y:103.28, Z:28.91 [[ 9.51018664e-01 3.02066804e-01 -6.57202125e-02 2.06054198e+02] [-3.01399043e-01 9.53286499e-01 2.00865158e-02 1.03283535e+02] [ 6.87176609e-02 7.05357769e-04 9.97635898e-01 2.89086372e+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:206.09, Y:103.28, Z:28.90 [[ 9.50105501e-01 3.04923747e-01 -6.57346542e-02 2.06088184e+02] [-3.04266112e-01 9.52376282e-01 2.00387160e-02 1.03284457e+02] [ 6.87144060e-02 9.61933311e-04 9.97635908e-01 2.89040139e+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:206.12, Y:103.29, Z:28.89 [[ 9.50904341e-01 3.02437595e-01 -6.56691396e-02 2.06121762e+02] [-3.01759050e-01 9.53169026e-01 2.02554359e-02 1.03285270e+02] [ 6.87197951e-02 5.55275280e-04 9.97635846e-01 2.88891890e+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:206.15, Y:103.28, Z:28.90 [[ 9.46981262e-01 3.14482940e-01 -6.57797031e-02 2.06148782e+02] [-3.13858555e-01 9.49261399e-01 1.98897965e-02 1.03276920e+02] [ 6.86971347e-02 1.81025801e-03 9.97635919e-01 2.88976771e+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:206.18, Y:103.27, Z:28.91 [[ 9.44533320e-01 3.21725947e-01 -6.59486324e-02 2.06179761e+02] [-3.21157842e-01 9.46828332e-01 1.93326006e-02 1.03265097e+02] [ 6.86618329e-02 2.91963501e-03 9.97635719e-01 2.89066744e+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:206.21, Y:103.26, Z:28.90 [[ 9.44685124e-01 3.21317677e-01 -6.57644818e-02 2.06211500e+02] [-3.20706360e-01 9.46968777e-01 1.99390373e-02 1.03263979e+02] [ 6.86836760e-02 2.25497567e-03 9.97635939e-01 2.88968991e+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:206.24, Y:103.25, Z:28.92 [[ 9.42058995e-01 3.28940324e-01 -6.57503879e-02 2.06240416e+02] [-3.28344249e-01 9.44346673e-01 1.99854052e-02 1.03250735e+02] [ 6.86651657e-02 2.76133095e-03 9.97635941e-01 2.89199036e+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:206.27, Y:103.24, Z:28.92 [[ 9.41773751e-01 3.29767530e-01 -6.56930615e-02 2.06269919e+02] [-3.29160350e-01 9.44058519e-01 2.01736580e-02 1.03241879e+02] [ 6.86707117e-02 2.62452949e-03 9.97635928e-01 2.89174433e+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:206.30, Y:103.24, Z:28.92 [[ 9.42756962e-01 3.26937284e-01 -6.57367734e-02 2.06303218e+02] [-3.26333229e-01 9.45042547e-01 2.00301929e-02 1.03235289e+02] [ 6.86726646e-02 2.56848967e-03 9.97635940e-01 2.89212596e+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:206.33, Y:103.23, Z:28.91 [[ 9.44121337e-01 3.23004188e-01 -6.55987548e-02 2.06325948e+02] [-3.22359171e-01 9.46395808e-01 2.04826668e-02 1.03232439e+02] [ 6.86983737e-02 1.80823752e-03 9.97635837e-01 2.89072233e+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:206.36, Y:103.22, Z:28.92 [[ 9.44112016e-01 3.22878457e-01 -6.63475943e-02 2.06360972e+02] [-3.22404727e-01 9.46430326e-01 1.80230640e-02 1.03218784e+02] [ 6.86126344e-02 4.37498671e-03 9.97633783e-01 2.89151781e+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:206.40, Y:103.22, Z:28.91 [[ 9.46647166e-01 3.15460606e-01 -6.59071326e-02 2.06395301e+02] [-3.14868049e-01 9.48935825e-01 1.94656399e-02 1.03215658e+02] [ 6.86822818e-02 2.32495744e-03 9.97635875e-01 2.89101987e+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:206.42, Y:103.20, Z:28.93 [[ 9.46443339e-01 3.16111706e-01 -6.57145024e-02 2.06421989e+02] [-3.15476954e-01 9.48720432e-01 2.00956094e-02 1.03200175e+02] [ 6.86971485e-02 1.71205536e-03 9.97636091e-01 2.89257537e+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:206.46, Y:103.20, Z:28.91 [[ 9.51473565e-01 3.00620837e-01 -6.57660155e-02 2.06456336e+02] [-2.99960625e-01 9.53743427e-01 1.99273413e-02 1.03197961e+02] [ 6.87144790e-02 7.66876615e-04 9.97636072e-01 2.89096235e+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:206.49, Y:103.17, Z:28.91 [[ 9.47236705e-01 3.13729309e-01 -6.57004199e-02 2.06488468e+02] [-3.13085660e-01 9.49511294e-01 2.01413180e-02 1.03171709e+02] [ 6.87022125e-02 1.49126363e-03 9.97636097e-01 2.89110570e+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:206.51, Y:103.17, Z:28.94 [[ 9.51680617e-01 3.00141030e-01 -6.49566471e-02 2.06511167e+02] [-2.99298896e-01 9.53892683e-01 2.25592710e-02 1.03174726e+02] [ 6.87326332e-02 -2.02776817e-03 9.97633055e-01 2.89409051e+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:206.54, Y:103.17, Z:28.94 [[ 9.53331184e-01 2.94712174e-01 -6.56078367e-02 2.06543245e+02] [-2.94003058e-01 9.55586050e-01 2.04329040e-02 1.03167377e+02] [ 6.87157591e-02 -1.90419942e-04 9.97636260e-01 2.89404186e+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:206.57, Y:103.16, Z:28.94 [[ 9.54284298e-01 2.91633423e-01 -6.55089703e-02 2.06570256e+02] [-2.90894835e-01 9.56529865e-01 2.07560159e-02 1.03158637e+02] [ 6.87144344e-02 -7.50918924e-04 9.97636087e-01 2.89449961e+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:206.60, Y:103.15, Z:28.95 [[ 9.54982833e-01 2.89307000e-01 -6.56448614e-02 2.06600937e+02] [-2.88593430e-01 9.57236258e-01 2.03120067e-02 1.03149888e+02] [ 6.87140472e-02 -4.52941965e-04 9.97636294e-01 2.89489773e+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:206.63, Y:103.14, Z:28.95 [[ 9.55855224e-01 2.86416048e-01 -6.56249847e-02 2.06630903e+02] [-2.85691208e-01 9.58105065e-01 2.03768942e-02 1.03141823e+02] [ 6.87118998e-02 -7.28879587e-04 9.97636278e-01 2.89507789e+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:206.66, Y:103.13, Z:28.95 [[ 9.55853110e-01 2.86425780e-01 -6.56132995e-02 2.06662330e+02] [-2.85698344e-01 9.58102125e-01 2.04150266e-02 1.03133589e+02] [ 6.87116316e-02 -7.68155626e-04 9.97636267e-01 2.89522996e+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:206.69, Y:103.12, Z:28.94 [[ 9.53335067e-01 2.94699930e-01 -6.56064097e-02 2.06690128e+02] [-2.93990470e-01 9.55589825e-01 2.04374865e-02 1.03123457e+02] [ 6.87157434e-02 -1.96113358e-04 9.97636260e-01 2.89372482e+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:206.73, Y:103.13, Z:28.93 [[ 9.59226808e-01 2.74896377e-01 -6.56956086e-02 2.06727775e+02] [-2.74160278e-01 9.61472961e-01 2.01466312e-02 1.03134227e+02] [ 6.87027873e-02 -1.31406242e-03 9.97636307e-01 2.89337715e+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:206.75, Y:103.12, Z:28.96 [[ 9.54794575e-01 2.89917751e-01 -6.56887916e-02 2.06753945e+02] [-2.89215469e-01 9.57051530e-01 2.01688337e-02 1.03118777e+02] [ 6.87148614e-02 -2.58878270e-04 9.97636307e-01 2.89625355e+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:206.79, Y:103.12, Z:28.97 [[ 9.53342895e-01 2.94673999e-01 -6.56091327e-02 2.06788239e+02] [-2.93965104e-01 9.55597823e-01 2.04283751e-02 1.03115056e+02] [ 6.87156554e-02 -1.88450727e-04 9.97636268e-01 2.89745678e+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:206.82, Y:103.11, Z:28.97 [[ 9.51862148e-01 2.99474133e-01 -6.53735116e-02 2.06820969e+02] [-2.98723804e-01 9.54104201e-01 2.11958389e-02 1.03106828e+02] [ 6.87207475e-02 -6.46892689e-04 9.97635725e-01 2.89745856e+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:206.85, Y:103.10, Z:28.98 [[ 9.49151559e-01 3.07981662e-01 -6.52580561e-02 2.06849702e+02] [-3.07225580e-01 9.51392198e-01 2.15714705e-02 1.03100824e+02] [ 6.87296227e-02 -4.25650713e-04 9.97635233e-01 2.89809809e+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:206.88, Y:103.09, Z:28.98 [[ 9.47520334e-01 3.12935488e-01 -6.53956927e-02 2.06880209e+02] [-3.12222125e-01 9.49774298e-01 2.11217446e-02 1.03091742e+02] [ 6.87208916e-02 4.04699660e-04 9.97635843e-01 2.89813534e+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:206.91, Y:103.09, Z:28.98 [[ 9.45644282e-01 3.18553176e-01 -6.54275688e-02 2.06910827e+02] [-3.17860410e-01 9.47904544e-01 2.10175012e-02 1.03088412e+02] [ 6.87142815e-02 9.21753997e-04 9.97635955e-01 2.89807466e+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:206.94, Y:103.08, Z:28.98 [[ 9.43384390e-01 3.25197621e-01 -6.53636059e-02 2.06943397e+02] [-3.24506300e-01 9.45645335e-01 2.12264275e-02 1.03079642e+02] [ 6.87135727e-02 1.18622153e-03 9.97635724e-01 2.89843000e+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:206.97, Y:103.08, Z:28.97 [[ 9.44634405e-01 3.21558951e-01 -6.53121904e-02 2.06971251e+02] [-3.20847205e-01 9.46889269e-01 2.13958779e-02 1.03080936e+02] [ 6.87234483e-02 7.43951348e-04 9.97635472e-01 2.89740619e+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:207.00, Y:103.07, Z:28.99 [[ 9.39257364e-01 3.36854461e-01 -6.57622651e-02 2.07004979e+02] [-3.36282912e-01 9.41550537e-01 1.99095438e-02 1.03066205e+02] [ 6.86251146e-02 3.41454040e-03 9.97636675e-01 2.89870447e+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:207.04, Y:103.06, Z:28.99 [[ 9.37838363e-01 3.40849921e-01 -6.54258118e-02 2.07037470e+02] [-3.40210483e-01 9.40114284e-01 2.10228483e-02 1.03057557e+02] [ 6.86733764e-02 2.54251334e-03 9.97635957e-01 2.89892888e+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:207.07, Y:103.05, Z:28.99 [[ 9.35843598e-01 3.46295531e-01 -6.53923973e-02 2.07065245e+02] [-3.45661622e-01 9.38121217e-01 2.11334856e-02 1.03048945e+02] [ 6.86644270e-02 2.82600494e-03 9.97635810e-01 2.89874701e+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:207.10, Y:103.04, Z:28.99 [[ 9.35520009e-01 3.47144871e-01 -6.55190871e-02 2.07095718e+02] [-3.46542432e-01 9.37805608e-01 2.07119503e-02 1.03039022e+02] [ 6.86342146e-02 3.32869984e-03 9.97636339e-01 2.89914535e+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:207.13, Y:103.03, Z:28.99 [[ 9.35887866e-01 3.46147702e-01 -6.55413630e-02 2.07125925e+02] [-3.45548000e-01 9.38174109e-01 2.06378351e-02 1.03028746e+02] [ 6.86329491e-02 3.33298744e-03 9.97636411e-01 2.89909320e+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:207.15, Y:103.02, Z:28.99 [[ 9.36785114e-01 3.43711305e-01 -6.55453238e-02 2.07154129e+02] [-3.43106576e-01 9.39070019e-01 2.06246530e-02 1.03020390e+02] [ 6.86405749e-02 3.16816366e-03 9.97636424e-01 2.89889321e+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:207.18, Y:103.01, Z:28.99 [[ 9.37528131e-01 3.41650252e-01 -6.56971055e-02 2.07184000e+02] [-3.41075832e-01 9.39820477e-01 2.01183311e-02 1.03007260e+02] [ 6.86169180e-02 3.54619352e-03 9.97636779e-01 2.89905474e+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:207.21, Y:102.99, Z:28.99 [[ 9.38761300e-01 3.38244626e-01 -6.57099337e-02 2.07213041e+02] [-3.37664873e-01 9.41052286e-01 2.00755483e-02 1.02993577e+02] [ 6.86269297e-02 3.34178862e-03 9.97636796e-01 2.89942566e+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:207.24, Y:102.98, Z:29.00 [[ 9.39813174e-01 3.35327497e-01 -6.56252121e-02 2.07242902e+02] [-3.34720966e-01 9.42097362e-01 2.03576819e-02 1.02982328e+02] [ 6.86518297e-02 2.83371679e-03 9.97636655e-01 2.89981132e+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:207.28, Y:102.96, Z:29.00 [[ 9.41648633e-01 3.30127181e-01 -6.56802520e-02 2.07277119e+02] [-3.29520753e-01 9.43932755e-01 2.01748983e-02 1.02963497e+02] [ 6.86580236e-02 2.64534067e-03 9.97636747e-01 2.90044030e+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:207.31, Y:102.95, Z:29.01 [[ 9.41878958e-01 3.29571230e-01 -6.51677279e-02 2.07308582e+02] [-3.28845793e-01 9.44130348e-01 2.18707554e-02 1.02954502e+02] [ 6.87348014e-02 8.30528864e-04 9.97634621e-01 2.90070583e+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:207.33, Y:102.95, Z:29.00 [[ 9.44538003e-01 3.21864714e-01 -6.52002080e-02 2.07333323e+02] [-3.21128344e-01 9.46785594e-01 2.17629713e-02 1.02948881e+02] [ 6.87353502e-02 3.81681395e-04 9.97634856e-01 2.90048098e+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:207.36, Y:102.94, Z:29.01 [[ 9.47895945e-01 3.11725268e-01 -6.57315426e-02 2.07361782e+02] [-3.11087279e-01 9.50171094e-01 1.99899354e-02 1.02936341e+02] [ 6.86875797e-02 1.49986800e-03 9.97637092e-01 2.90090354e+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:207.39, Y:102.92, Z:29.01 [[ 9.49361978e-01 3.07218467e-01 -6.57924575e-02 2.07392561e+02] [-3.06583749e-01 9.51638005e-01 1.97866780e-02 1.02924297e+02] [ 6.86894358e-02 1.38617856e-03 9.97637128e-01 2.90133175e+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:207.42, Y:102.91, Z:29.02 [[ 9.51521852e-01 3.00483658e-01 -6.56942654e-02 2.07423326e+02] [-2.99810234e-01 9.53786801e-01 2.01137389e-02 1.02913825e+02] [ 6.87021731e-02 5.57151036e-04 9.97637059e-01 2.90206893e+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:207.46, Y:102.91, Z:29.02 [[ 9.52563480e-01 2.97177664e-01 -6.56372842e-02 2.07455286e+02] [-2.96483304e-01 9.54822194e-01 2.03034108e-02 1.02905431e+02] [ 6.87056559e-02 1.20071263e-04 9.97636967e-01 2.90234752e+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:207.49, Y:102.89, Z:29.03 [[ 9.51903983e-01 2.99289376e-01 -6.56100319e-02 2.07488062e+02] [-2.98593803e-01 9.54162375e-01 2.03937108e-02 1.02891832e+02] [ 6.87062448e-02 1.77894403e-04 9.97636918e-01 2.90285838e+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:207.52, Y:102.89, Z:29.03 [[ 9.52330621e-01 2.98024867e-01 -6.51733620e-02 2.07520653e+02] [-2.97227330e-01 9.54557046e-01 2.18348316e-02 1.02885021e+02] [ 6.87190147e-02 -1.42267430e-03 9.97635040e-01 2.90307206e+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:207.54, Y:102.88, Z:29.03 [[ 9.51391043e-01 3.01013834e-01 -6.51594593e-02 2.07543014e+02] [-3.00220148e-01 9.53618947e-01 2.18807218e-02 1.02878062e+02] [ 6.87236949e-02 -1.25494023e-03 9.97634943e-01 2.90308556e+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:207.58, Y:102.88, Z:29.03 [[ 9.53777696e-01 2.93245790e-01 -6.56887610e-02 2.07577894e+02] [-2.92554210e-01 9.56037084e-01 2.01277987e-02 1.02879693e+02] [ 6.87032837e-02 2.00780437e-05 9.97637138e-01 2.90306082e+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:207.60, Y:102.87, Z:29.02 [[ 9.50949321e-01 3.02316182e-01 -6.55767800e-02 2.07602740e+02] [-3.01620449e-01 9.53207661e-01 2.05002387e-02 1.02868548e+02] [ 6.87058430e-02 2.84609720e-04 9.97636921e-01 2.90225403e+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:207.64, Y:102.87, Z:29.04 [[ 9.54107095e-01 2.92147268e-01 -6.57998817e-02 2.07639943e+02] [-2.91478617e-01 9.56373288e-01 1.97572907e-02 1.02866019e+02] [ 6.87012877e-02 3.28687230e-04 9.97637221e-01 2.90357553e+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:207.67, Y:102.86, Z:29.04 [[ 9.54460258e-01 2.91102036e-01 -6.53086632e-02 2.07669997e+02] [-2.90318968e-01 9.56690909e-01 2.13869587e-02 1.02859826e+02] [ 6.87059916e-02 -1.45265839e-03 9.97635894e-01 2.90409191e+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:207.70, Y:102.86, Z:29.05 [[ 9.54712766e-01 2.90259596e-01 -6.53674351e-02 2.07702150e+02] [-2.89487951e-01 9.56947049e-01 2.11913070e-02 1.02855996e+02] [ 6.87041543e-02 -1.30852647e-03 9.97636220e-01 2.90469729e+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:207.73, Y:102.85, Z:29.04 [[ 9.52699826e-01 2.96789492e-01 -6.54143695e-02 2.07733525e+02] [-2.96043887e-01 9.54942691e-01 2.10350782e-02 1.02852220e+02] [ 6.87099642e-02 -6.74591093e-04 9.97636450e-01 2.90381751e+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:207.76, Y:102.85, Z:29.05 [[ 9.52933614e-01 2.96031966e-01 -6.54415928e-02 2.07764415e+02] [-2.95290799e-01 9.55177823e-01 2.09444775e-02 1.02849170e+02] [ 6.87085929e-02 -6.34396399e-04 9.97636571e-01 2.90506612e+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:207.79, Y:102.84, Z:29.04 [[ 9.49828414e-01 3.05846193e-01 -6.54529587e-02 2.07789606e+02] [-3.05130833e-01 9.52080928e-01 2.09064980e-02 1.02841184e+02] [ 6.87106865e-02 1.14129962e-04 9.97636622e-01 2.90448227e+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:207.82, Y:102.84, Z:29.06 [[ 9.49467179e-01 3.06885701e-01 -6.58273729e-02 2.07824166e+02] [-3.06259468e-01 9.51745194e-01 1.96525834e-02 1.02839804e+02] [ 6.86819826e-02 1.50077328e-03 9.97637476e-01 2.90565349e+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:207.85, Y:102.84, Z:29.05 [[ 9.45896248e-01 3.17776517e-01 -6.55619796e-02 2.07852053e+02] [-3.17114933e-01 9.48164664e-01 2.05399500e-02 1.02835233e+02] [ 6.86906662e-02 1.36202107e-03 9.97637077e-01 2.90456003e+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:207.88, Y:102.83, Z:29.05 [[ 9.44660880e-01 3.21376379e-01 -6.58258710e-02 2.07884656e+02] [-3.20784811e-01 9.46948116e-01 1.96563221e-02 1.02829287e+02] [ 6.86507622e-02 2.54738112e-03 9.97637501e-01 2.90480788e+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:207.92, Y:102.83, Z:29.05 [[ 9.42491402e-01 3.27685578e-01 -6.58188364e-02 2.07916233e+02] [-3.27107677e-01 9.44782129e-01 1.96798492e-02 1.02826080e+02] [ 6.86332632e-02 2.98175801e-03 9.97637501e-01 2.90476394e+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:207.95, Y:102.82, Z:29.05 [[ 9.41558801e-01 3.30355898e-01 -6.58179704e-02 2.07945492e+02] [-3.29784291e-01 9.43851107e-01 1.96827453e-02 1.02819591e+02] [ 6.86246752e-02 3.17327062e-03 9.97637501e-01 2.90486946e+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:207.98, Y:102.81, Z:29.05 [[ 9.40455155e-01 3.33484862e-01 -6.58175406e-02 2.07976026e+02] [-3.32920780e-01 9.42749324e-01 1.96841825e-02 1.02814001e+02] [ 6.86138187e-02 3.39993605e-03 9.97637501e-01 2.90498835e+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:208.01, Y:102.81, Z:29.06 [[ 9.41287420e-01 3.31128440e-01 -6.58175406e-02 2.08006372e+02] [-3.30558613e-01 9.43580169e-01 1.96841825e-02 1.02806754e+02] [ 6.86221187e-02 3.22808160e-03 9.97637501e-01 2.90560035e+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:208.04, Y:102.80, Z:29.06 [[ 9.41364342e-01 3.30923174e-01 -6.57497460e-02 2.08035176e+02] [-3.30337037e-01 9.43653006e-01 1.99109579e-02 1.02797108e+02] [ 6.86339428e-02 2.97611041e-03 9.97637472e-01 2.90559243e+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:208.06, Y:102.79, Z:29.06 [[ 9.41954138e-01 3.29226802e-01 -6.58188108e-02 2.08064490e+02] [-3.28652640e-01 9.44245805e-01 1.96799805e-02 1.02787378e+02] [ 6.86283131e-02 3.09388686e-03 9.97637501e-01 2.90553837e+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:208.09, Y:102.78, Z:29.05 [[ 9.44099034e-01 3.23025810e-01 -6.58129099e-02 2.08094218e+02] [-3.22435220e-01 9.46386523e-01 1.96996946e-02 1.02776991e+02] [ 6.86479608e-02 2.62193743e-03 9.97637501e-01 2.90539458e+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:208.13, Y:102.77, Z:29.06 [[ 9.46501506e-01 3.15918230e-01 -6.58070732e-02 2.08125480e+02] [-3.15309104e-01 9.48784129e-01 1.97191727e-02 1.02766555e+02] [ 6.86663528e-02 2.08534263e-03 9.97637501e-01 2.90555013e+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:208.16, Y:102.76, Z:29.06 [[ 9.48038670e-01 3.11276481e-01 -6.57999477e-02 2.08155788e+02] [-3.10654530e-01 9.50317831e-01 1.97429209e-02 1.02758236e+02] [ 6.86763706e-02 1.72399938e-03 9.97637501e-01 2.90628590e+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:208.18, Y:102.75, Z:29.06 [[ 9.48001616e-01 3.11411812e-01 -6.56933690e-02 2.08183496e+02] [-3.10765582e-01 9.50274080e-01 2.00979133e-02 1.02749062e+02] [ 6.86854334e-02 1.36238378e-03 9.97637437e-01 2.90618712e+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:208.21, Y:102.74, Z:29.07 [[ 9.49499404e-01 3.06792100e-01 -6.57988530e-02 2.08211892e+02] [-3.06159140e-01 9.51775530e-01 1.97464369e-02 1.02741132e+02] [ 6.86837890e-02 1.39569013e-03 9.97637504e-01 2.90732362e+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:208.24, Y:102.73, Z:29.08 [[ 9.51033193e-01 3.02004516e-01 -6.57961839e-02 2.08236075e+02] [-3.01359481e-01 9.53305927e-01 1.97553332e-02 1.02734552e+02] [ 6.86900919e-02 1.04032621e-03 9.97637504e-01 2.90819868e+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:208.27, Y:102.73, Z:29.08 [[ 9.52530383e-01 2.97162552e-01 -6.61837413e-02 2.08269453e+02] [-2.96594907e-01 9.54824735e-01 1.84712349e-02 1.02725042e+02] [ 6.86828326e-02 2.03534813e-03 9.97636470e-01 2.90822184e+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:208.30, Y:102.72, Z:29.08 [[ 9.53613856e-01 2.93708355e-01 -6.60001117e-02 2.08299480e+02] [-2.93090144e-01 9.55894389e-01 1.90809814e-02 1.02716377e+02] [ 6.86933801e-02 1.14809398e-03 9.97637159e-01 2.90840245e+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:208.33, Y:102.71, Z:29.09 [[ 9.54108508e-01 2.92093014e-01 -6.60198933e-02 2.08329297e+02] [-2.91475490e-01 9.56389283e-01 1.90152265e-02 1.02706418e+02] [ 6.86949332e-02 1.10059134e-03 9.97637106e-01 2.90860829e+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:208.36, Y:102.70, Z:29.09 [[ 9.54182184e-01 2.91898654e-01 -6.58144065e-02 2.08358034e+02] [-2.91233628e-01 9.56449181e-01 1.96961286e-02 1.02698355e+02] [ 6.86974086e-02 3.73673374e-04 9.97637472e-01 2.90903907e+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:208.39, Y:102.70, Z:29.09 [[ 9.55178234e-01 2.88579862e-01 -6.60015482e-02 2.08392040e+02] [-2.87949735e-01 9.57455507e-01 1.90761964e-02 1.02695522e+02] [ 6.86985520e-02 7.83960751e-04 9.97637156e-01 2.90853177e+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:208.42, Y:102.69, Z:29.09 [[ 9.54389177e-01 2.91234244e-01 -6.57564792e-02 2.08418376e+02] [-2.90554509e-01 9.56651765e-01 1.98866192e-02 1.02690714e+02] [ 6.86977163e-02 1.26267460e-04 9.97637513e-01 2.90909599e+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:208.45, Y:102.69, Z:29.09 [[ 9.53572473e-01 2.93826024e-01 -6.60742495e-02 2.08450214e+02] [-2.93225344e-01 9.55857866e-01 1.88318507e-02 1.02685903e+02] [ 6.86908789e-02 1.41711004e-03 9.97636986e-01 2.90936458e+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:208.48, Y:102.68, Z:29.10 [[ 9.53446387e-01 2.94247749e-01 -6.60170360e-02 2.08481029e+02] [-2.93634921e-01 9.55728363e-01 1.90218250e-02 1.02679184e+02] [ 6.86914829e-02 1.24861683e-03 9.97637169e-01 2.90957485e+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:208.51, Y:102.68, Z:29.10 [[ 9.52795574e-01 2.96384170e-01 -6.58560492e-02 2.08509209e+02] [-2.95739484e-01 9.55068434e-01 1.95561893e-02 1.02675510e+02] [ 6.86931787e-02 8.43183399e-04 9.97637477e-01 2.91007525e+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:208.54, Y:102.67, Z:29.11 [[ 9.51876047e-01 2.99320175e-01 -6.58743058e-02 2.08537480e+02] [-2.98686671e-01 9.54152075e-01 1.94958930e-02 1.02666623e+02] [ 6.86896196e-02 1.11810354e-03 9.97637452e-01 2.91067847e+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:208.57, Y:102.66, Z:29.11 [[ 9.50686566e-01 3.03056376e-01 -6.59688267e-02 2.08568860e+02] [-3.02453448e-01 9.52971087e-01 1.91838179e-02 1.02658103e+02] [ 6.86801628e-02 1.71470115e-03 9.97637256e-01 2.91116756e+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:208.60, Y:102.65, Z:29.12 [[ 9.49549268e-01 3.06619521e-01 -6.58836578e-02 2.08597153e+02] [-3.06005674e-01 9.51830685e-01 1.94646860e-02 1.02649742e+02] [ 6.86783399e-02 1.67809478e-03 9.97637444e-01 2.91155933e+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:208.63, Y:102.64, Z:29.11 [[ 9.47941691e-01 3.11545574e-01 -6.59234871e-02 2.08627717e+02] [-3.10952699e-01 9.50228729e-01 1.93334396e-02 1.02643888e+02] [ 6.86656389e-02 2.17211279e-03 9.97637365e-01 2.91143947e+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:208.65, Y:102.63, Z:29.11 [[ 9.45285523e-01 3.19554108e-01 -6.57301517e-02 2.08654031e+02] [-3.18936337e-01 9.47565733e-01 1.99698493e-02 1.02634975e+02] [ 6.86650868e-02 2.08652433e-03 9.97637586e-01 2.91137105e+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:208.68, Y:102.63, Z:29.11 [[ 9.44155052e-01 3.22878418e-01 -6.57325320e-02 2.08681401e+02] [-3.22269219e-01 9.46437567e-01 1.99620113e-02 1.02625847e+02] [ 6.86570403e-02 2.33633797e-03 9.97637586e-01 2.91146961e+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:208.71, Y:102.62, Z:29.12 [[ 9.41719448e-01 3.29914376e-01 -6.57342068e-02 2.08706844e+02] [-3.29322610e-01 9.44006545e-01 1.99564949e-02 1.02615200e+02] [ 6.86374560e-02 2.85434116e-03 9.97637586e-01 2.91168925e+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:208.73, Y:102.60, Z:29.12 [[ 9.40699001e-01 3.32781187e-01 -6.58943946e-02 2.08734984e+02] [-3.32233218e-01 9.42997142e-01 1.94288408e-02 1.02604978e+02] [ 6.86037784e-02 3.61561563e-03 9.97637434e-01 2.91207132e+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:208.76, Y:102.59, Z:29.12 [[ 9.39877203e-01 3.35111841e-01 -6.58095566e-02 2.08760645e+02] [-3.34550056e-01 9.42171880e-01 1.97081139e-02 1.02594262e+02] [ 6.86083359e-02 3.49338383e-03 9.97637556e-01 2.91225258e+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:208.79, Y:102.58, Z:29.12 [[ 9.38249419e-01 3.39616611e-01 -6.59438066e-02 2.08789630e+02] [-3.39096814e-01 9.40554194e-01 1.92654837e-02 1.02578796e+02] [ 6.85666022e-02 4.28550579e-03 9.97637337e-01 2.91249228e+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:208.81, Y:102.56, Z:29.13 [[ 9.37550779e-01 3.41606758e-01 -6.55999933e-02 2.08813908e+02] [-3.41012763e-01 9.39837367e-01 2.03965570e-02 1.02564615e+02] [ 6.86209267e-02 3.24762705e-03 9.97637520e-01 2.91300665e+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:208.84, Y:102.55, Z:29.12 [[ 9.37338119e-01 3.42164138e-01 -6.57339587e-02 2.08840275e+02] [-3.41602289e-01 9.39632717e-01 1.99557762e-02 1.02550246e+02] [ 6.85939292e-02 3.74956100e-03 9.97637616e-01 2.91239391e+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:208.87, Y:102.54, Z:29.13 [[ 9.36231875e-01 3.45144667e-01 -6.59168738e-02 2.08869217e+02] [-3.44632041e-01 9.38538253e-01 1.93572735e-02 1.02535648e+02] [ 6.85465673e-02 4.59417028e-03 9.97637340e-01 2.91252260e+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:208.90, Y:102.52, Z:29.12 [[ 9.37856574e-01 3.40707253e-01 -6.59060973e-02 2.08895803e+02] [-3.40181240e-01 9.40159908e-01 1.93925580e-02 1.02519122e+02] [ 6.85694555e-02 4.23257986e-03 9.97637367e-01 2.91202770e+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:208.93, Y:102.50, Z:29.12 [[ 9.40823175e-01 3.32414542e-01 -6.59721592e-02 2.08925939e+02] [-3.31883247e-01 9.43125512e-01 1.91775683e-02 1.02498328e+02] [ 6.85949290e-02 3.85235365e-03 9.97637156e-01 2.91227858e+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:208.95, Y:102.48, Z:29.12 [[ 9.41841946e-01 3.29557460e-01 -6.57695192e-02 2.08953753e+02] [-3.28973248e-01 9.44130898e-01 1.98355800e-02 1.02481846e+02] [ 6.86319986e-02 2.95443109e-03 9.97637670e-01 2.91233141e+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:208.98, Y:102.46, Z:29.13 [[ 9.43911569e-01 3.23570479e-01 -6.58262531e-02 2.08978575e+02] [-3.22984625e-01 9.46200184e-01 1.96505565e-02 1.02459382e+02] [ 6.86431528e-02 2.71248006e-03 9.97637590e-01 2.91316063e+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:209.01, Y:102.45, Z:29.13 [[ 9.46845170e-01 3.14888054e-01 -6.58007388e-02 2.09013314e+02] [-3.14275427e-01 9.49126722e-01 1.97337664e-02 1.02446234e+02] [ 6.86671669e-02 1.99473383e-03 9.97637630e-01 2.91349041e+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:209.04, Y:102.43, Z:29.13 [[ 9.49363964e-01 3.07294738e-01 -6.54064797e-02 2.09038426e+02] [-3.06574866e-01 9.51614384e-01 2.10218223e-02 1.02433958e+02] [ 6.87016422e-02 9.46221952e-05 9.97637246e-01 2.91311243e+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:209.07, Y:102.42, Z:29.15 [[ 9.50780268e-01 3.02832076e-01 -6.56476593e-02 2.09069775e+02] [-3.02156075e-01 9.53043742e-01 2.02319641e-02 1.02420405e+02] [ 6.86919786e-02 5.99686857e-04 9.97637736e-01 2.91456749e+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:209.10, Y:102.40, Z:29.15 [[ 9.51381753e-01 3.00994496e-01 -6.53840547e-02 2.09100670e+02] [-3.00254781e-01 9.53625777e-01 2.10936793e-02 1.02403665e+02] [ 6.87010014e-02 -4.36266554e-04 9.97637200e-01 2.91465992e+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:209.13, Y:102.40, Z:29.15 [[ 9.51933257e-01 2.99271402e-01 -6.52663921e-02 2.09127265e+02] [-2.98501141e-01 9.54167541e-01 2.14795673e-02 1.02396319e+02] [ 6.87032930e-02 -9.65021955e-04 9.97636670e-01 2.91476675e+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:209.16, Y:102.39, Z:29.15 [[ 9.51090507e-01 3.01907095e-01 -6.54137187e-02 2.09158099e+02] [-3.01176108e-01 9.53337313e-01 2.09980614e-02 1.02385935e+02] [ 6.87008025e-02 -2.70007617e-04 9.97637272e-01 2.91498300e+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:209.19, Y:102.38, Z:29.15 [[ 9.51074808e-01 3.01949685e-01 -6.54453756e-02 2.09189129e+02] [-3.01225920e-01 9.53323850e-01 2.08945558e-02 1.02376501e+02] [ 6.86997420e-02 -1.58442243e-04 9.97637369e-01 2.91520375e+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:209.22, Y:102.37, Z:29.16 [[ 9.48864222e-01 3.08813437e-01 -6.55053355e-02 2.09219523e+02] [-3.08119519e-01 9.51122476e-01 2.06977527e-02 1.02367291e+02] [ 6.86953411e-02 5.44115450e-04 9.97637536e-01 2.91570742e+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:209.25, Y:102.35, Z:29.14 [[ 9.44173057e-01 3.22871341e-01 -6.55082939e-02 2.09254011e+02] [-3.22211710e-01 9.46441556e-01 2.06880483e-02 1.02350381e+02] [ 6.86793495e-02 1.57444161e-03 9.97637543e-01 2.91417550e+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:209.28, Y:102.35, Z:29.15 [[ 9.44948895e-01 3.20681235e-01 -6.50778888e-02 2.09278659e+02] [-3.19918525e-01 9.47187173e-01 2.21042226e-02 1.02354205e+02] [ 6.87293509e-02 -6.77385830e-05 9.97635340e-01 2.91528164e+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:209.31, Y:102.35, Z:29.16 [[ 9.43769894e-01 3.24024934e-01 -6.56218713e-02 2.09308892e+02] [-3.23394501e-01 9.46046306e-01 2.03072292e-02 1.02345918e+02] [ 6.86613775e-02 2.05640081e-03 9.97637903e-01 2.91577077e+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:209.34, Y:102.34, Z:29.16 [[ 9.41392835e-01 3.30874284e-01 -6.55876319e-02 2.09338549e+02] [-3.30252544e-01 9.43671696e-01 2.04202866e-02 1.02336633e+02] [ 6.86497395e-02 2.43697076e-03 9.97637847e-01 2.91600756e+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:209.37, Y:102.33, Z:29.16 [[ 9.40503287e-01 3.33399208e-01 -6.55632207e-02 2.09369181e+02] [-3.32777990e-01 9.42782335e-01 2.05006823e-02 1.02327429e+02] [ 6.86467576e-02 2.53703776e-03 9.97637803e-01 2.91619853e+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:209.40, Y:102.32, Z:29.17 [[ 9.40215628e-01 3.34215567e-01 -6.55326380e-02 2.09398216e+02] [-3.33589335e-01 9.42493367e-01 2.06011659e-02 1.02316635e+02] [ 6.86493070e-02 2.49145097e-03 9.97637743e-01 2.91656654e+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:209.43, Y:102.31, Z:29.16 [[ 9.40850504e-01 3.32408338e-01 -6.56126986e-02 2.09427957e+02] [-3.31796022e-01 9.43131886e-01 2.03382676e-02 1.02308780e+02] [ 6.86420380e-02 2.63476303e-03 9.97637875e-01 2.91603322e+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:209.46, Y:102.29, Z:29.16 [[ 9.39484225e-01 3.36238406e-01 -6.56743915e-02 2.09459642e+02] [-3.35649513e-01 9.41771713e-01 2.01356677e-02 1.02291930e+02] [ 6.86206690e-02 3.12643534e-03 9.97637925e-01 2.91631052e+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:209.49, Y:102.29, Z:29.16 [[ 9.40744105e-01 3.32741323e-01 -6.54502919e-02 2.09490392e+02] [-3.32092776e-01 9.43015798e-01 2.08708496e-02 1.02285850e+02] [ 6.86652534e-02 2.10144041e-03 9.97637543e-01 2.91647661e+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:209.52, Y:102.28, Z:29.17 [[ 9.41242210e-01 3.31318146e-01 -6.55086924e-02 2.09518228e+02] [-3.30679480e-01 9.43516536e-01 2.06791649e-02 1.02276603e+02] [ 6.86599171e-02 2.19827748e-03 9.97637701e-01 2.91716526e+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:209.55, Y:102.27, Z:29.18 [[ 9.40860708e-01 3.32382692e-01 -6.55962929e-02 2.09548388e+02] [-3.31766610e-01 9.43141084e-01 2.03914762e-02 1.02265914e+02] [ 6.86443326e-02 2.57712093e-03 9.97637867e-01 2.91758387e+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:209.58, Y:102.26, Z:29.18 [[ 9.40630869e-01 3.33032812e-01 -6.55950851e-02 2.09579767e+02] [-3.32418029e-01 9.42911597e-01 2.03954417e-02 1.02255820e+02] [ 6.86427177e-02 2.62040689e-03 9.97637866e-01 2.91766180e+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:209.61, Y:102.25, Z:29.18 [[ 9.40466640e-01 3.33500551e-01 -6.55734817e-02 2.09610647e+02] [-3.32881971e-01 9.42746373e-01 2.04663010e-02 1.02246179e+02] [ 6.86446847e-02 2.58035647e-03 9.97637835e-01 2.91768663e+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:209.64, Y:102.24, Z:29.18 [[ 9.39669931e-01 3.35740870e-01 -6.55628582e-02 2.09637896e+02] [-3.35125299e-01 9.41950497e-01 2.05011217e-02 1.02235034e+02] [ 6.86400313e-02 2.70748483e-03 9.97637818e-01 2.91802396e+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:209.67, Y:102.22, Z:29.18 [[ 9.39482686e-01 3.36252525e-01 -6.56240928e-02 2.09670361e+02] [-3.35652179e-01 9.41767226e-01 2.03004211e-02 1.02222596e+02] [ 6.86286877e-02 2.95497559e-03 9.97637896e-01 2.91792166e+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:209.70, Y:102.21, Z:29.18 [[ 9.38995863e-01 3.37632222e-01 -6.55076463e-02 2.09702956e+02] [-3.37008533e-01 9.41274368e-01 2.06836548e-02 1.02210950e+02] [ 6.86441367e-02 2.65476954e-03 9.97637677e-01 2.91792213e+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:209.73, Y:102.20, Z:29.18 [[ 9.38751407e-01 3.38324682e-01 -6.54385572e-02 2.09733943e+02] [-3.37686856e-01 9.41026206e-01 2.09109269e-02 1.02200228e+02] [ 6.86540799e-02 2.46757863e-03 9.97637473e-01 2.91801368e+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:209.76, Y:102.19, Z:29.18 [[ 9.37717964e-01 3.41183379e-01 -6.54134662e-02 2.09759054e+02] [-3.40546784e-01 9.39993185e-01 2.09928322e-02 1.02187100e+02] [ 6.86506179e-02 2.59098967e-03 9.97637399e-01 2.91811907e+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:209.79, Y:102.17, Z:29.18 [[ 9.37200914e-01 3.42566061e-01 -6.55967968e-02 2.09787517e+02] [-3.41974569e-01 9.39487880e-01 2.03940400e-02 1.02171500e+02] [ 6.86137016e-02 3.31912339e-03 9.97637782e-01 2.91821900e+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:209.82, Y:102.16, Z:29.19 [[ 9.36969694e-01 3.43197728e-01 -6.55981091e-02 2.09816298e+02] [-3.42608078e-01 9.39257134e-01 2.03897426e-02 1.02160730e+02] [ 6.86112053e-02 3.36987121e-03 9.97637783e-01 2.91853150e+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:209.84, Y:102.15, Z:29.19 [[ 9.36589416e-01 3.44227479e-01 -6.56331394e-02 2.09844930e+02] [-3.43648355e-01 9.38879508e-01 2.02750342e-02 1.02149079e+02] [ 6.86008336e-02 3.56533799e-03 9.97637817e-01 2.91894861e+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:209.88, Y:102.14, Z:29.19 [[ 9.36085498e-01 3.45582641e-01 -6.57006681e-02 2.09875181e+02] [-3.45022285e-01 9.38380232e-01 2.00540069e-02 1.02136482e+02] [ 6.85825249e-02 3.89592957e-03 9.97637840e-01 2.91934216e+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:209.91, Y:102.12, Z:29.20 [[ 9.36370833e-01 3.44820256e-01 -6.56403428e-02 2.09906303e+02] [-3.44244241e-01 9.38661700e-01 2.02512987e-02 1.02122274e+02] [ 6.85971338e-02 3.63358454e-03 9.97637825e-01 2.91984009e+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:209.94, Y:102.11, Z:29.20 [[ 9.36482926e-01 3.44536164e-01 -6.55329074e-02 2.09936365e+02] [-3.43934948e-01 9.38767436e-01 2.06022418e-02 1.02111686e+02] [ 6.86183768e-02 3.24540939e-03 9.97637703e-01 2.92036275e+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:209.97, Y:102.10, Z:29.20 [[ 9.36655866e-01 3.44069914e-01 -6.55109333e-02 2.09966272e+02] [-3.43462555e-01 9.38938794e-01 2.06739915e-02 1.02099468e+02] [ 6.86240552e-02 3.13613714e-03 9.97637662e-01 2.92025888e+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:210.00, Y:102.09, Z:29.20 [[ 9.36534364e-01 3.44396852e-01 -6.55300957e-02 2.09995611e+02] [-3.43794654e-01 9.38818622e-01 2.06114463e-02 1.02087122e+02] [ 6.86193913e-02 3.22556882e-03 9.97637697e-01 2.92015869e+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:210.02, Y:102.08, Z:29.21 [[ 9.36818770e-01 3.43622128e-01 -6.55318743e-02 2.10023921e+02] [-3.43018446e-01 9.39102632e-01 2.06056335e-02 1.02076309e+02] [ 6.86217072e-02 3.17489742e-03 9.97637700e-01 2.92086746e+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:210.05, Y:102.06, Z:29.21 [[ 9.37194513e-01 3.42582455e-01 -6.56026396e-02 2.10054217e+02] [-3.41992373e-01 9.39481825e-01 2.03744085e-02 1.02064826e+02] [ 6.86124025e-02 3.34081849e-03 9.97637799e-01 2.92124110e+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:210.08, Y:102.06, Z:29.21 [[ 9.37142302e-01 3.42740316e-01 -6.55238970e-02 2.10081651e+02] [-3.42132692e-01 9.39425127e-01 2.06313479e-02 1.02056241e+02] [ 6.86259899e-02 3.08335837e-03 9.97637693e-01 2.92124321e+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:210.12, Y:102.04, Z:29.21 [[ 9.36992016e-01 3.43111096e-01 -6.57323146e-02 2.10116224e+02] [-3.42551877e-01 9.39287050e-01 1.99511631e-02 1.02042546e+02] [ 6.85869774e-02 3.82264721e-03 9.97637817e-01 2.92143873e+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:210.14, Y:102.03, Z:29.21 [[ 9.37611318e-01 3.41472747e-01 -6.54322555e-02 2.10141300e+02] [-3.40841396e-01 9.39887855e-01 2.09275503e-02 1.02030345e+02] [ 6.86451703e-02 2.68011328e-03 9.97637538e-01 2.92118147e+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:210.17, Y:102.02, Z:29.21 [[ 9.39615199e-01 3.35873830e-01 -6.56661847e-02 2.10173208e+02] [-3.35281948e-01 9.41901988e-01 2.01658484e-02 1.02017031e+02] [ 6.86242906e-02 3.06854869e-03 9.97637856e-01 2.92146289e+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:210.20, Y:102.00, Z:29.22 [[ 9.40132221e-01 3.34456370e-01 -6.55007120e-02 2.10202661e+02] [-3.33823465e-01 9.42408180e-01 2.07054775e-02 1.02004679e+02] [ 6.86534856e-02 2.39978810e-03 9.97637680e-01 2.92161090e+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:210.23, Y:102.00, Z:29.22 [[ 9.43344282e-01 3.25279248e-01 -6.55360763e-02 2.10231005e+02] [-3.24632189e-01 9.45616192e-01 2.05902468e-02 1.01995353e+02] [ 6.86695549e-02 1.85142837e-03 9.97637742e-01 2.92166446e+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:210.26, Y:101.98, Z:29.22 [[ 9.44704529e-01 3.21288150e-01 -6.56298545e-02 2.10261104e+02] [-3.20652697e-01 9.46979611e-01 2.02845614e-02 1.01984478e+02] [ 6.86673234e-02 1.88147285e-03 9.97637839e-01 2.92195410e+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:210.29, Y:101.97, Z:29.23 [[ 9.46418543e-01 3.16204932e-01 -6.56230307e-02 2.10291922e+02] [-3.15555718e-01 9.48689741e-01 2.03067776e-02 1.01972502e+02] [ 6.86769992e-02 1.48901168e-03 9.97637836e-01 2.92289738e+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:210.32, Y:101.96, Z:29.23 [[ 9.50459750e-01 3.03881968e-01 -6.54370933e-02 2.10317968e+02] [-3.03161663e-01 9.52709687e-01 2.09107185e-02 1.01960988e+02] [ 6.86969430e-02 -3.67782412e-05 9.97637574e-01 2.92330060e+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:210.35, Y:101.95, Z:29.24 [[ 9.54166418e-01 2.91981070e-01 -6.56772553e-02 2.10352478e+02] [-2.91286349e-01 9.56424095e-01 2.01299243e-02 1.01951135e+02] [ 6.86928663e-02 -7.64098615e-05 9.97637852e-01 2.92371276e+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:210.38, Y:101.94, Z:29.24 [[ 9.53614375e-01 2.93884688e-01 -6.52028659e-02 2.10376077e+02] [-2.93090178e-01 9.55839648e-01 2.16498146e-02 1.01943387e+02] [ 6.86860334e-02 -1.53525480e-03 9.97637144e-01 2.92398634e+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:210.41, Y:101.94, Z:29.25 [[ 9.55925125e-01 2.86189232e-01 -6.55963418e-02 2.10410563e+02] [-2.85463151e-01 9.58172814e-01 2.03874625e-02 1.01942386e+02] [ 6.86873036e-02 -7.63549192e-04 9.97637946e-01 2.92471362e+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:210.44, Y:101.93, Z:29.24 [[ 9.54873186e-01 2.89705018e-01 -6.54843550e-02 2.10438414e+02] [-2.88962521e-01 9.57115570e-01 2.07472441e-02 1.01933918e+02] [ 6.86866765e-02 -8.88462736e-04 9.97637886e-01 2.92418000e+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:210.47, Y:101.93, Z:29.25 [[ 9.55303647e-01 2.88248108e-01 -6.56351223e-02 2.10474094e+02] [-2.87535429e-01 9.57555634e-01 2.02628776e-02 1.01926627e+02] [ 6.86900173e-02 -4.84777882e-04 9.97637934e-01 2.92491185e+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:210.51, Y:101.92, Z:29.25 [[ 9.54822707e-01 2.89903028e-01 -6.53439492e-02 2.10506716e+02] [-2.89130227e-01 9.57055078e-01 2.11964468e-02 1.01923468e+02] [ 6.86826726e-02 -1.34593790e-03 9.97637649e-01 2.92462584e+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:210.54, Y:101.92, Z:29.24 [[ 9.53502160e-01 2.94226132e-01 -6.53040192e-02 2.10536006e+02] [-2.93454692e-01 9.55735119e-01 2.13243243e-02 1.01917300e+02] [ 6.86875180e-02 -1.16901843e-03 9.97637539e-01 2.92448578e+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:210.57, Y:101.91, Z:29.25 [[ 9.53448249e-01 2.94360344e-01 -6.54860687e-02 2.10570996e+02] [-2.93629248e-01 9.55694349e-01 2.07406764e-02 1.01911877e+02] [ 6.86898985e-02 -5.46536498e-04 9.97637910e-01 2.92478528e+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:210.60, Y:101.91, Z:29.25 [[ 9.51541629e-01 3.00499351e-01 -6.53350404e-02 2.10599813e+02] [-2.99749506e-01 9.53781823e-01 2.12242293e-02 1.01909513e+02] [ 6.86932411e-02 -6.11591666e-04 9.97637642e-01 2.92543998e+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:210.63, Y:101.90, Z:29.26 [[ 9.49410441e-01 3.07131915e-01 -6.54965722e-02 2.10634511e+02] [-3.06433353e-01 9.51666863e-01 2.07070582e-02 1.01901592e+02] [ 6.86907158e-02 4.10836978e-04 9.97637919e-01 2.92553035e+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:210.67, Y:101.89, Z:29.26 [[ 9.48274298e-01 3.10668964e-01 -6.52736554e-02 2.10667420e+02] [-3.09929698e-01 9.50518168e-01 2.14194796e-02 1.01894526e+02] [ 6.86981629e-02 -8.12976693e-05 9.97637487e-01 2.92553945e+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:210.70, Y:101.89, Z:29.25 [[ 9.45812175e-01 3.18089817e-01 -6.52548674e-02 2.10695708e+02] [-3.17364015e-01 9.48060501e-01 2.14795033e-02 1.01891288e+02] [ 6.86979736e-02 3.93971012e-04 9.97637426e-01 2.92525605e+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:210.73, Y:101.88, Z:29.26 [[ 9.45008981e-01 3.20431771e-01 -6.54332115e-02 2.10725468e+02] [-3.19750957e-01 9.47270884e-01 2.09092745e-02 1.01883379e+02] [ 6.86829720e-02 1.16287981e-03 9.97637859e-01 2.92581079e+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:210.76, Y:101.88, Z:29.26 [[ 9.44921528e-01 3.20681885e-01 -6.54708710e-02 2.10758617e+02] [-3.20010041e-01 9.47186053e-01 2.07883603e-02 1.01875667e+02] [ 6.86795464e-02 1.30796686e-03 9.97637915e-01 2.92578380e+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:210.79, Y:101.87, Z:29.26 [[ 9.44465313e-01 3.22043701e-01 -6.53691550e-02 2.10787685e+02] [-3.21352540e-01 9.46724205e-01 2.11145415e-02 1.01866818e+02] [ 6.86863664e-02 1.06459194e-03 9.97637735e-01 2.92614500e+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:210.82, Y:101.86, Z:29.27 [[ 9.45371075e-01 3.19378017e-01 -6.53545169e-02 2.10818910e+02] [-3.18677249e-01 9.47627040e-01 2.11613759e-02 1.01863054e+02] [ 6.86901857e-02 8.21644916e-04 9.97637701e-01 2.92654869e+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:210.85, Y:101.86, Z:29.27 [[ 9.44665043e-01 3.21443631e-01 -6.54365966e-02 2.10847636e+02] [-3.20766022e-01 9.46927893e-01 2.08979646e-02 1.01856233e+02] [ 6.86812561e-02 1.24826013e-03 9.97637874e-01 2.92683213e+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:210.88, Y:101.85, Z:29.27 [[ 9.43625837e-01 3.24448178e-01 -6.56022853e-02 2.10880951e+02] [-3.23814667e-01 9.45901305e-01 2.03661983e-02 1.01851757e+02] [ 6.86610632e-02 2.02491121e-03 9.97637990e-01 2.92732236e+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:210.91, Y:101.85, Z:29.27 [[ 9.41305946e-01 3.31162618e-01 -6.53791810e-02 2.10909357e+02] [-3.30495639e-01 9.43572048e-01 2.10813186e-02 1.01847322e+02] [ 6.86713123e-02 1.76356366e-03 9.97637780e-01 2.92718530e+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:210.94, Y:101.84, Z:29.27 [[ 9.40205055e-01 3.34231428e-01 -6.56034099e-02 2.10939295e+02] [-3.33621855e-01 9.42487047e-01 2.03623146e-02 1.01839213e+02] [ 6.86360895e-02 2.74198018e-03 9.97637995e-01 2.92716300e+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:210.96, Y:101.83, Z:29.26 [[ 9.36778325e-01 3.43722554e-01 -6.55833462e-02 2.10964742e+02] [-3.43131601e-01 9.39065205e-01 2.04265946e-02 1.01832266e+02] [ 6.86081198e-02 3.36852749e-03 9.97638000e-01 2.92639448e+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:211.00, Y:101.82, Z:29.26 [[ 9.35795319e-01 3.46319045e-01 -6.59563441e-02 2.10995099e+02] [-3.45818190e-01 9.38104448e-01 1.92308071e-02 1.01822272e+02] [ 6.85339346e-02 4.81280424e-03 9.97637177e-01 2.92646007e+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:211.02, Y:101.81, Z:29.27 [[ 9.34638841e-01 3.49438863e-01 -6.58992936e-02 2.11023887e+02] [-3.48932901e-01 9.36946614e-01 1.94132160e-02 1.01809445e+02] [ 6.85278521e-02 4.85008604e-03 9.97637414e-01 2.92661526e+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:211.06, Y:101.80, Z:29.27 [[ 9.35654870e-01 3.46699230e-01 -6.59515525e-02 2.11057223e+02] [-3.46198225e-01 9.37963949e-01 1.92463048e-02 1.01796094e+02] [ 6.85328576e-02 4.82441157e-03 9.97637195e-01 2.92731105e+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:211.09, Y:101.79, Z:29.28 [[ 9.35542846e-01 3.47075472e-01 -6.55606544e-02 2.11087198e+02] [-3.46488173e-01 9.37830500e-01 2.04914272e-02 1.01786365e+02] [ 6.85968530e-02 3.54538326e-03 9.97638162e-01 2.92755908e+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:211.11, Y:101.77, Z:29.27 [[ 9.34719827e-01 3.49287909e-01 -6.55499850e-02 2.11113815e+02] [-3.48703653e-01 9.37008256e-01 2.05253586e-02 1.01769963e+02] [ 6.85901367e-02 3.67205957e-03 9.97638165e-01 2.92744868e+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:211.14, Y:101.75, Z:29.28 [[ 9.34439008e-01 3.50010934e-01 -6.56969279e-02 2.11143926e+02] [-3.49461167e-01 9.36736129e-01 2.00578816e-02 1.01754580e+02] [ 6.85611637e-02 4.21565811e-03 9.97638008e-01 2.92818699e+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:211.17, Y:101.74, Z:29.29 [[ 9.37326024e-01 3.42238597e-01 -6.55184580e-02 2.11173080e+02] [-3.41630180e-01 9.39608128e-01 2.06248626e-02 1.01744757e+02] [ 6.86202997e-02 3.05086216e-03 9.97638184e-01 2.92876449e+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:211.20, Y:101.73, Z:29.29 [[ 9.37561586e-01 3.41594004e-01 -6.55119044e-02 2.11202915e+02] [-3.40982567e-01 9.39842883e-01 2.06456823e-02 1.01732999e+02] [ 6.86233384e-02 2.98181863e-03 9.97638184e-01 2.92907070e+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:211.23, Y:101.72, Z:29.29 [[ 9.37239014e-01 3.42480278e-01 -6.55003001e-02 2.11232720e+02] [-3.41868429e-01 9.39520202e-01 2.06825077e-02 1.01716550e+02] [ 6.86222062e-02 3.00803156e-03 9.97638183e-01 2.92938610e+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:211.26, Y:101.71, Z:29.30 [[ 9.39066975e-01 3.37475862e-01 -6.52936340e-02 2.11260666e+02] [-3.36806326e-01 9.41332153e-01 2.13371820e-02 1.01710409e+02] [ 6.86637810e-02 1.95426606e-03 9.97637943e-01 2.92964719e+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:211.29, Y:101.70, Z:29.29 [[ 9.39132970e-01 3.37255428e-01 -6.54831346e-02 2.11287263e+02] [-3.36627146e-01 9.41409674e-01 2.07361941e-02 1.01696027e+02] [ 6.86398504e-02 2.56935710e-03 9.97638196e-01 2.92943770e+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:211.32, Y:101.69, Z:29.30 [[ 9.42829383e-01 3.26774635e-01 -6.55064298e-02 2.11318089e+02] [-3.26126161e-01 9.45100415e-01 2.06623413e-02 1.01688778e+02] [ 6.86620830e-02 1.88229796e-03 9.97638199e-01 2.92999445e+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:211.35, Y:101.68, Z:29.29 [[ 9.42399503e-01 3.28023669e-01 -6.54495974e-02 2.11349333e+02] [-3.27365694e-01 9.44667820e-01 2.08425604e-02 1.01675304e+02] [ 6.86649816e-02 1.78393428e-03 9.97638180e-01 2.92903850e+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:211.38, Y:101.67, Z:29.30 [[ 9.46638336e-01 3.15613848e-01 -6.52974679e-02 2.11378782e+02] [-3.14892954e-01 9.48887642e-01 2.13230001e-02 1.01668846e+02] [ 6.86897945e-02 3.76543229e-04 9.97637996e-01 2.92994511e+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:211.41, Y:101.66, Z:29.30 [[ 9.47528647e-01 3.12944986e-01 -6.52295817e-02 2.11405987e+02] [-3.12203074e-01 9.49771253e-01 2.15361765e-02 1.01661319e+02] [ 6.86928200e-02 -4.12682855e-05 9.97637858e-01 2.92998412e+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:211.44, Y:101.65, Z:29.30 [[ 9.50083683e-01 3.05049621e-01 -6.54654456e-02 2.11439651e+02] [-3.04340063e-01 9.52336443e-01 2.07948311e-02 1.01652939e+02] [ 6.86885850e-02 1.66928116e-04 9.97638136e-01 2.92988812e+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:211.47, Y:101.64, Z:29.30 [[ 9.50271870e-01 3.04494098e-01 -6.53201178e-02 2.11470088e+02] [-3.03751825e-01 9.52514157e-01 2.12510922e-02 1.01641720e+02] [ 6.86891691e-02 -3.53210078e-04 9.97638047e-01 2.93035181e+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:211.50, Y:101.64, Z:29.30 [[ 9.50669172e-01 3.03273533e-01 -6.52172527e-02 2.11501896e+02] [-3.02506233e-01 9.52903224e-01 2.15737002e-02 1.01635006e+02] [ 6.86884626e-02 -7.80826227e-04 9.97637853e-01 2.92976446e+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:211.53, Y:101.63, Z:29.31 [[ 9.50192314e-01 3.04774498e-01 -6.51695618e-02 2.11530508e+02] [-3.04000480e-01 9.52424179e-01 2.17230419e-02 1.01628032e+02] [ 6.86896956e-02 -8.29489323e-04 9.97637729e-01 2.93070285e+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:211.56, Y:101.62, Z:29.32 [[ 9.48902948e-01 3.08739811e-01 -6.52910773e-02 2.11558521e+02] [-3.08001308e-01 9.51146524e-01 2.13420965e-02 1.01624430e+02] [ 6.86905360e-02 -1.41841052e-04 9.97638006e-01 2.93155414e+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:211.59, Y:101.62, Z:29.32 [[ 9.47635933e-01 3.12574101e-01 -6.54489869e-02 2.11589467e+02] [-3.11878841e-01 9.49893152e-01 2.08467959e-02 1.01615938e+02] [ 6.86857129e-02 6.56981254e-04 9.97638131e-01 2.93156848e+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:211.62, Y:101.62, Z:29.32 [[ 9.47761100e-01 3.12211312e-01 -6.53681498e-02 2.11620640e+02] [-3.11497653e-01 9.50012613e-01 2.11008791e-02 1.01615312e+02] [ 6.86884999e-02 3.63432912e-04 9.97638090e-01 2.93163720e+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:211.65, Y:101.61, Z:29.32 [[ 9.47164321e-01 3.13997593e-01 -6.54619010e-02 2.11651799e+02] [-3.13308539e-01 9.49423439e-01 2.08060711e-02 1.01606867e+02] [ 6.86841194e-02 8.03004339e-04 9.97638134e-01 2.93161532e+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:211.68, Y:101.60, Z:29.32 [[ 9.47109936e-01 3.14196742e-01 -6.52929990e-02 2.11680101e+02] [-3.13471566e-01 9.49357857e-01 2.13362930e-02 1.01604581e+02] [ 6.86902153e-02 2.59683586e-04 9.97638004e-01 2.93159972e+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:211.71, Y:101.60, Z:29.31 [[ 9.48212638e-01 3.10794131e-01 -6.55728730e-02 2.11710610e+02] [-3.10121467e-01 9.50476791e-01 2.04583739e-02 1.01599592e+02] [ 6.86838365e-02 9.36666867e-04 9.97638037e-01 2.93100130e+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:211.74, Y:101.59, Z:29.32 [[ 9.45043057e-01 3.20291270e-01 -6.56286812e-02 2.11743341e+02] [-3.19653459e-01 9.47317386e-01 2.02839086e-02 1.01590643e+02] [ 6.86679495e-02 1.80926801e-03 9.97637930e-01 2.93239023e+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:211.77, Y:101.59, Z:29.32 [[ 9.44503810e-01 3.21945243e-01 -6.52978830e-02 2.11769653e+02] [-3.21239889e-01 9.46757915e-01 2.13162900e-02 1.01590828e+02] [ 6.86839658e-02 8.42967539e-04 9.97638112e-01 2.93182398e+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:211.80, Y:101.58, Z:29.33 [[ 9.42803561e-01 3.26800089e-01 -6.57506441e-02 2.11802704e+02] [-3.26204546e-01 9.45089676e-01 1.99022053e-02 1.01582692e+02] [ 6.86442974e-02 2.68428901e-03 9.97637587e-01 2.93285549e+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:211.84, Y:101.58, Z:29.33 [[ 9.40417567e-01 3.33664853e-01 -6.54413095e-02 2.11835946e+02] [-3.33018831e-01 9.42689268e-01 2.08662788e-02 1.01577087e+02] [ 6.86531640e-02 2.17017321e-03 9.97638228e-01 2.93272957e+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:211.87, Y:101.57, Z:29.33 [[ 9.39340693e-01 3.36695250e-01 -6.53863257e-02 2.11865647e+02] [-3.36044657e-01 9.41611076e-01 2.10373573e-02 1.01569864e+02] [ 6.86516668e-02 2.21147967e-03 9.97638240e-01 2.93269397e+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:211.90, Y:101.56, Z:29.33 [[ 9.38167040e-01 3.39952035e-01 -6.53851578e-02 2.11896162e+02] [-3.39309070e-01 9.40439595e-01 2.10409909e-02 1.01560474e+02] [ 6.86437190e-02 2.44581289e-03 9.97638240e-01 2.93273230e+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:211.92, Y:101.55, Z:29.33 [[ 9.36877166e-01 3.43495207e-01 -6.53622092e-02 2.11922146e+02] [-3.42855866e-01 9.39150747e-01 2.11123264e-02 1.01552800e+02] [ 6.86369505e-02 2.63016033e-03 9.97638237e-01 2.93252732e+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:211.96, Y:101.54, Z:29.33 [[ 9.37727840e-01 3.41097624e-01 -6.57184050e-02 2.11956576e+02] [-3.40530215e-01 9.40020882e-01 1.99978394e-02 1.01543661e+02] [ 6.85978886e-02 3.62657182e-03 9.97637799e-01 2.93324830e+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:211.99, Y:101.53, Z:29.34 [[ 9.37866921e-01 3.40773003e-01 -6.54171161e-02 2.11986463e+02] [-3.40139187e-01 9.40141973e-01 2.09381256e-02 1.01534168e+02] [ 6.86365246e-02 2.61374927e-03 9.97638309e-01 2.93356620e+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:212.02, Y:101.52, Z:29.34 [[ 9.38414799e-01 3.39251747e-01 -6.54669171e-02 2.12015973e+02] [-3.38625062e-01 9.40691844e-01 2.07827319e-02 1.01524876e+02] [ 6.86347730e-02 2.66591571e-03 9.97638292e-01 2.93366302e+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:212.04, Y:101.51, Z:29.33 [[ 9.39141303e-01 3.37242016e-01 -6.54326763e-02 2.12044569e+02] [-3.36603029e-01 9.41414909e-01 2.08894784e-02 1.01513876e+02] [ 6.86441068e-02 2.40666505e-03 9.97638309e-01 2.93349819e+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:212.08, Y:101.50, Z:29.34 [[ 9.41069856e-01 3.31804381e-01 -6.55238861e-02 2.12075700e+02] [-3.31172060e-01 9.43345387e-01 2.06045349e-02 1.01502730e+02] [ 6.86483307e-02 2.30937365e-03 9.97638248e-01 2.93389360e+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:212.11, Y:101.49, Z:29.34 [[ 9.42421805e-01 3.27979801e-01 -6.53482379e-02 2.12106549e+02] [-3.27300171e-01 9.44683618e-01 2.11532424e-02 1.01492504e+02] [ 6.86712460e-02 1.45321256e-03 9.97638285e-01 2.93441823e+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:212.13, Y:101.49, Z:29.35 [[ 9.46386656e-01 3.16370246e-01 -6.52852573e-02 2.12134722e+02] [-3.15649309e-01 9.48635708e-01 2.13496645e-02 1.01485727e+02] [ 6.86863249e-02 4.02208717e-04 9.97638225e-01 2.93475116e+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:212.17, Y:101.48, Z:29.35 [[ 9.47755359e-01 3.12212667e-01 -6.54448597e-02 2.12165913e+02] [-3.11516189e-01 9.50012032e-01 2.08519477e-02 1.01475544e+02] [ 6.86836463e-02 6.24588102e-04 9.97638295e-01 2.93492032e+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:212.20, Y:101.47, Z:29.35 [[ 9.51079679e-01 3.01938181e-01 -6.54276611e-02 2.12199804e+02] [-3.01213636e-01 9.53327491e-01 2.09055267e-02 1.01467842e+02] [ 6.86861647e-02 -1.75117889e-04 9.97638301e-01 2.93496894e+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:212.23, Y:101.46, Z:29.36 [[ 9.53010513e-01 2.95826379e-01 -6.52511692e-02 2.12227081e+02] [-2.95049795e-01 9.55240979e-01 2.14543837e-02 1.01462373e+02] [ 6.86773634e-02 -1.19390913e-03 9.97638208e-01 2.93571550e+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:212.26, Y:101.46, Z:29.36 [[ 9.56133988e-01 2.85531588e-01 -6.54179565e-02 2.12257283e+02] [-2.84766391e-01 9.58368292e-01 2.09360683e-02 1.01457083e+02] [ 6.86724040e-02 -1.38885106e-03 9.97638297e-01 2.93640341e+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:212.29, Y:101.45, Z:29.37 [[ 9.57401493e-01 2.81252044e-01 -6.54191838e-02 2.12290384e+02] [-2.80477121e-01 9.59632443e-01 2.09322552e-02 1.01447907e+02] [ 6.86656107e-02 -1.69198802e-03 9.97638297e-01 2.93673020e+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:212.32, Y:101.44, Z:29.37 [[ 9.59769120e-01 2.73104290e-01 -6.52478597e-02 2.12320063e+02] [-2.72274403e-01 9.61980259e-01 2.14623358e-02 1.01440966e+02] [ 6.86286090e-02 -2.83356516e-03 9.97638254e-01 2.93716340e+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:212.35, Y:101.44, Z:29.37 [[ 9.61419621e-01 2.67236481e-01 -6.52455040e-02 2.12350627e+02] [-2.66392609e-01 9.63625463e-01 2.14696181e-02 1.01436406e+02] [ 6.86096942e-02 -3.26039207e-03 9.97638251e-01 2.93739582e+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:212.39, Y:101.43, Z:29.37 [[ 9.62341745e-01 2.63881935e-01 -6.53045920e-02 2.12385265e+02] [-2.63042744e-01 9.64549318e-01 2.12868237e-02 1.01433871e+02] [ 6.86067079e-02 -3.30730006e-03 9.97638302e-01 2.93693167e+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:212.41, Y:101.43, Z:29.37 [[ 9.62122750e-01 2.64747056e-01 -6.50293027e-02 2.12414188e+02] [-2.63852712e-01 9.64309021e-01 2.21327567e-02 1.01429750e+02] [ 6.85679254e-02 -4.13627082e-03 9.97637876e-01 2.93745491e+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:212.45, Y:101.43, Z:29.38 [[ 9.62284726e-01 2.64098639e-01 -6.52687885e-02 2.12447942e+02] [-2.63252537e-01 9.64489658e-01 2.13962980e-02 1.01430526e+02] [ 6.86018046e-02 -3.40715665e-03 9.97638303e-01 2.93769660e+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:212.48, Y:101.42, Z:29.36 [[ 9.59829209e-01 2.72907937e-01 -6.51854904e-02 2.12476446e+02] [-2.72064668e-01 9.62035324e-01 2.16529789e-02 1.01420476e+02] [ 6.86200142e-02 -3.04849277e-03 9.97638211e-01 2.93645229e+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:212.51, Y:101.43, Z:29.38 [[ 9.61107188e-01 2.68336973e-01 -6.53317817e-02 2.12511163e+02] [-2.67513756e-01 9.63320744e-01 2.12022270e-02 1.01426999e+02] [ 6.86248020e-02 -2.90046248e-03 9.97638323e-01 2.93844063e+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:212.54, Y:101.42, Z:29.39 [[ 9.60366412e-01 2.71006621e-01 -6.52055634e-02 2.12542727e+02] [-2.70163199e-01 9.62572430e-01 2.15907937e-02 1.01423424e+02] [ 6.86163257e-02 -3.11892948e-03 9.97638247e-01 2.93861113e+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:212.57, Y:101.42, Z:29.36 [[ 9.54368002e-01 2.91432571e-01 -6.51826198e-02 2.12573323e+02] [-2.90631580e-01 9.56589812e-01 2.16614170e-02 1.01418679e+02] [ 6.86658724e-02 -1.72883549e-03 9.97638216e-01 2.93594028e+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:212.61, Y:101.43, Z:29.39 [[ 9.58343823e-01 2.78044832e-01 -6.53313793e-02 2.12607432e+02] [-2.77243988e-01 9.60565563e-01 2.12030820e-02 1.01428061e+02] [ 6.86504805e-02 -2.20711049e-03 9.97638331e-01 2.93876338e+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:212.64, Y:101.42, Z:29.36 [[ 9.52367065e-01 2.97905721e-01 -6.51855386e-02 2.12636004e+02] [-2.97120462e-01 9.54594475e-01 2.16522365e-02 1.01422590e+02] [ 6.86760802e-02 -1.25291963e-03 9.97638224e-01 2.93644279e+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:212.67, Y:101.43, Z:29.39 [[ 9.54421332e-01 2.91223966e-01 -6.53339310e-02 2.12669197e+02] [-2.90454378e-01 9.56654082e-01 2.11948369e-02 1.01430946e+02] [ 6.86744163e-02 -1.25227814e-03 9.97638339e-01 2.93923632e+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:212.70, Y:101.44, Z:29.39 [[ 9.50836172e-01 3.02746651e-01 -6.52306640e-02 2.12699805e+02] [-3.01982272e-01 9.53070770e-01 2.15131401e-02 1.01437487e+02] [ 6.86824703e-02 -7.56967697e-04 9.97638284e-01 2.93891631e+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:212.73, Y:101.44, Z:29.39 [[ 9.47487523e-01 3.13049106e-01 -6.53272710e-02 2.12731109e+02] [-3.12329563e-01 9.49736893e-01 2.12150449e-02 1.01443967e+02] [ 6.86850702e-02 3.02647682e-04 9.97638346e-01 2.93913461e+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:212.76, Y:101.44, Z:29.39 [[ 9.46176249e-01 3.16996505e-01 -6.52971804e-02 2.12761311e+02] [-3.16279932e-01 9.48426578e-01 2.13079904e-02 1.01441752e+02] [ 6.86841399e-02 4.91073358e-04 9.97638335e-01 2.93941317e+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:212.79, Y:101.44, Z:29.40 [[ 9.43218491e-01 3.25703414e-01 -6.52392830e-02 2.12790660e+02] [-3.24995235e-01 9.45471528e-01 2.14869009e-02 1.01442958e+02] [ 6.86802416e-02 9.35613862e-04 9.97638286e-01 2.93956045e+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:212.82, Y:101.44, Z:29.40 [[ 9.42417362e-01 3.28000611e-01 -6.53078462e-02 2.12819636e+02] [-3.27312606e-01 9.44676580e-01 2.12748147e-02 1.01437541e+02] [ 6.86729450e-02 1.32632654e-03 9.97638345e-01 2.93961186e+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:212.85, Y:101.44, Z:29.39 [[ 9.41864127e-01 3.29592191e-01 -6.52759854e-02 2.12849745e+02] [-3.28901169e-01 9.44122448e-01 2.13734618e-02 1.01435922e+02] [ 6.86730492e-02 1.33845100e-03 9.97638322e-01 2.93929989e+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:212.88, Y:101.43, Z:29.39 [[ 9.41985451e-01 3.29241167e-01 -6.52967365e-02 2.12877267e+02] [-3.28553760e-01 9.44244856e-01 2.13091342e-02 1.01429886e+02] [ 6.86719517e-02 1.38059387e-03 9.97638340e-01 2.93939372e+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:212.90, Y:101.42, Z:29.40 [[ 9.42227161e-01 3.28545231e-01 -6.53146919e-02 2.12904009e+02] [-3.27860016e-01 9.44487217e-01 2.12533929e-02 1.01423094e+02] [ 6.86715925e-02 1.38855184e-03 9.97638353e-01 2.93970373e+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:212.93, Y:101.41, Z:29.40 [[ 9.43791777e-01 3.24018176e-01 -6.53399038e-02 2.12931713e+02] [-3.23327541e-01 9.46050167e-01 2.11750324e-02 1.01414077e+02] [ 6.86759223e-02 1.14136902e-03 9.97638369e-01 2.93977634e+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:212.96, Y:101.40, Z:29.40 [[ 9.45338094e-01 3.19483221e-01 -6.53173690e-02 2.12956952e+02] [-3.18776912e-01 9.47591646e-01 2.12450831e-02 1.01404020e+02] [ 6.86816407e-02 7.37882733e-04 9.97638355e-01 2.94017001e+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:212.98, Y:101.40, Z:29.40 [[ 9.46178202e-01 3.16975483e-01 -6.53708925e-02 2.12984267e+02] [-3.16274707e-01 9.48433450e-01 2.10784504e-02 1.01395603e+02] [ 6.86812930e-02 7.31189562e-04 9.97638384e-01 2.94039611e+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:213.01, Y:101.39, Z:29.41 [[ 9.46237756e-01 3.16805982e-01 -6.53305297e-02 2.13011232e+02] [-3.16096114e-01 9.48490182e-01 2.12042659e-02 1.01387116e+02] [ 6.86830043e-02 5.86449555e-04 9.97638362e-01 2.94059107e+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:213.04, Y:101.38, Z:29.40 [[ 9.46728384e-01 3.15336266e-01 -6.53330510e-02 2.13037984e+02] [-3.14623443e-01 9.48979874e-01 2.11964030e-02 1.01379280e+02] [ 6.86837450e-02 4.88073148e-04 9.97638364e-01 2.94047034e+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:213.06, Y:101.37, Z:29.41 [[ 9.46624315e-01 3.15641128e-01 -6.53688354e-02 2.13064089e+02] [-3.14936742e-01 9.48878435e-01 2.10847024e-02 1.01370146e+02] [ 6.86822775e-02 6.27756006e-04 9.97638387e-01 2.94082875e+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:213.09, Y:101.37, Z:29.39 [[ 9.51416787e-01 3.00872538e-01 -6.54355717e-02 2.13087905e+02] [-3.00147491e-01 9.53664337e-01 2.08762213e-02 1.01369987e+02] [ 6.86846528e-02 -2.21664685e-04 9.97638396e-01 2.93892885e+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:213.12, Y:101.35, Z:29.41 [[ 9.47562381e-01 3.12667852e-01 -6.60632136e-02 2.13117672e+02] [-3.12107318e-01 9.49858680e-01 1.89079472e-02 1.01349314e+02] [ 6.86626241e-02 2.70235292e-03 9.97636277e-01 2.94119292e+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:213.15, Y:101.34, Z:29.41 [[ 9.48599834e-01 3.09646290e-01 -6.54028357e-02 2.13145484e+02] [-3.08935428e-01 9.50851765e-01 2.09719555e-02 1.01338060e+02] [ 6.86822900e-02 3.11259502e-04 9.97638535e-01 2.94116101e+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:213.17, Y:101.33, Z:29.41 [[ 9.48634123e-01 3.09554406e-01 -6.53404269e-02 2.13170497e+02] [-3.08829883e-01 9.50881728e-01 2.11670337e-02 1.01328461e+02] [ 6.86833665e-02 9.93059497e-05 9.97638504e-01 2.94122640e+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:213.20, Y:101.32, Z:29.41 [[ 9.48852316e-01 3.08868451e-01 -6.54183685e-02 2.13196326e+02] [-3.08159109e-01 9.51104719e-01 2.09231243e-02 1.01318653e+02] [ 6.86822119e-02 3.06311222e-04 9.97638542e-01 2.94115532e+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:213.23, Y:101.31, Z:29.41 [[ 9.49283692e-01 3.07535522e-01 -6.54398527e-02 2.13225116e+02] [-3.06827654e-01 9.51536559e-01 2.08558544e-02 1.01310342e+02] [ 6.86823283e-02 2.80634018e-04 9.97638541e-01 2.94127642e+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:213.25, Y:101.30, Z:29.41 [[ 9.50210901e-01 3.04684852e-01 -6.53175699e-02 2.13254170e+02] [-3.03943871e-01 9.52453166e-01 2.12388904e-02 1.01300399e+02] [ 6.86830944e-02 -3.28550191e-04 9.97638474e-01 2.94097063e+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:213.28, Y:101.29, Z:29.42 [[ 9.51675939e-01 3.00127272e-01 -6.50886107e-02 2.13281245e+02] [-2.99326782e-01 9.53898129e-01 2.19507988e-02 1.01290728e+02] [ 6.86759373e-02 -1.40728272e-03 9.97638028e-01 2.94161463e+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:213.30, Y:101.27, Z:29.40 [[ 9.51194508e-01 3.01647487e-01 -6.50983929e-02 2.13302006e+02] [-3.00852641e-01 9.53418687e-01 2.19202257e-02 1.01271598e+02] [ 6.86782053e-02 -1.26537485e-03 9.97638062e-01 2.94043136e+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:213.33, Y:101.27, Z:29.43 [[ 9.56434027e-01 2.84521906e-01 -6.54311665e-02 2.13330658e+02] [-2.83758368e-01 9.58668515e-01 2.08774279e-02 1.01268002e+02] [ 6.86668848e-02 -1.40124140e-03 9.97638660e-01 2.94279695e+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:213.36, Y:101.25, Z:29.41 [[ 9.57971046e-01 2.79321590e-01 -6.53523138e-02 2.13355242e+02] [-2.78529059e-01 9.60195454e-01 2.11246919e-02 1.01250716e+02] [ 6.86515772e-02 -2.03432468e-03 9.97638623e-01 2.94123587e+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:213.41, Y:101.23, Z:29.43 [[ 9.61081214e-01 2.68403598e-01 -6.54401162e-02 2.13410041e+02] [-2.67604530e-01 9.63303239e-01 2.08491116e-02 1.01231524e+02] [ 6.86346525e-02 -2.52561793e-03 9.97638665e-01 2.94284106e+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:213.40, Y:101.25, Z:29.42 [[ 9.67770988e-01 2.43799924e-01 -6.30944635e-02 2.13404778e+02] [-2.42462975e-01 9.69751860e-01 2.81609104e-02 1.01245438e+02] [ 6.80516011e-02 -1.19552408e-02 9.97610170e-01 2.94182297e+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:213.44, Y:101.23, Z:29.44 [[ 9.65006834e-01 2.53812716e-01 -6.58856183e-02 2.13437518e+02] [-2.53083889e-01 9.67251374e-01 1.93216092e-02 1.01229113e+02] [ 6.86320249e-02 -1.97089647e-03 9.97640096e-01 2.94362206e+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:213.47, Y:101.22, Z:29.41 [[ 9.61826254e-01 2.65745536e-01 -6.53419228e-02 2.13467878e+02] [-2.64927511e-01 9.64038771e-01 2.10395488e-02 1.01215952e+02] [ 6.85833131e-02 -2.92551742e-03 9.97641103e-01 2.94147042e+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:213.49, Y:101.22, Z:29.44 [[ 9.64123079e-01 2.57349422e-01 -6.50996430e-02 2.13493494e+02] [-2.56460806e-01 9.66308743e-01 2.18006507e-02 1.01221215e+02] [ 6.85167391e-02 -4.32300359e-03 9.97640601e-01 2.94359986e+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:213.52, Y:101.21, Z:29.44 [[ 9.64076196e-01 2.57459631e-01 -6.53576776e-02 2.13520805e+02] [-2.56626074e-01 9.66282855e-01 2.09881693e-02 1.01214126e+02] [ 6.85576096e-02 -3.46171020e-03 9.97641153e-01 2.94417242e+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:213.55, Y:101.21, Z:29.45 [[ 9.63791363e-01 2.58527239e-01 -6.53442835e-02 2.13547555e+02] [-2.57693270e-01 9.65997878e-01 2.10303891e-02 1.01210372e+02] [ 6.85593677e-02 -3.43012522e-03 9.97641142e-01 2.94470400e+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:213.58, Y:101.21, Z:29.45 [[ 9.63691428e-01 2.58867643e-01 -6.54704083e-02 2.13576436e+02] [-2.58061405e-01 9.65908182e-01 2.06323861e-02 1.01205989e+02] [ 6.85794602e-02 -2.98786813e-03 9.97641183e-01 2.94491044e+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:213.60, Y:101.20, Z:29.45 [[ 9.63861892e-01 2.58224326e-01 -6.55015290e-02 2.13604964e+02] [-2.57423270e-01 9.66080540e-01 2.05341176e-02 1.01202897e+02] [ 6.85821612e-02 -2.93043561e-03 9.97641168e-01 2.94525458e+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:213.64, Y:101.20, Z:29.45 [[ 9.63801512e-01 2.58451628e-01 -6.54935282e-02 2.13635956e+02] [-2.57649381e-01 9.66019724e-01 2.05593913e-02 1.01202847e+02] [ 6.85816482e-02 -2.94080542e-03 9.97641173e-01 2.94461551e+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:213.67, Y:101.20, Z:29.45 [[ 9.64258788e-01 2.56741772e-01 -6.54878005e-02 2.13666429e+02] [-2.55934366e-01 9.66475125e-01 2.05774825e-02 1.01197747e+02] [ 6.85754295e-02 -3.08143962e-03 9.97641176e-01 2.94487507e+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:213.70, Y:101.20, Z:29.45 [[ 9.64318832e-01 2.56550488e-01 -6.53531702e-02 2.13695324e+02] [-2.55713866e-01 9.66524342e-01 2.10027267e-02 1.01195366e+02] [ 6.85536896e-02 -3.54161303e-03 9.97641142e-01 2.94503236e+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:213.72, Y:101.19, Z:29.45 [[ 9.63813967e-01 2.58434737e-01 -6.53767904e-02 2.13723366e+02] [-2.57607479e-01 9.66022983e-01 2.09280570e-02 1.01194839e+02] [ 6.85640190e-02 -3.32920348e-03 9.97641164e-01 2.94512952e+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:213.75, Y:101.18, Z:29.43 [[ 9.61439875e-01 2.67094046e-01 -6.55296721e-02 2.13751422e+02] [-2.66319599e-01 9.63667948e-01 2.04440053e-02 1.01184468e+02] [ 6.86093167e-02 -2.20384592e-03 9.97641170e-01 2.94314772e+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:213.78, Y:101.19, Z:29.46 [[ 9.64200795e-01 2.56966527e-01 -6.54601536e-02 2.13784218e+02] [-2.56153761e-01 9.66415149e-01 2.06642320e-02 1.01192487e+02] [ 6.85717000e-02 -3.15660432e-03 9.97641197e-01 2.94579414e+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:213.81, Y:101.19, Z:29.46 [[ 9.63988955e-01 2.57779402e-01 -6.53840578e-02 2.13812152e+02] [-2.56952181e-01 9.66197984e-01 2.09053181e-02 1.01188573e+02] [ 6.85629052e-02 -3.35191951e-03 9.97641164e-01 2.94578510e+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:213.84, Y:101.18, Z:29.44 [[ 9.59573398e-01 2.73750200e-01 -6.54195884e-02 2.13840245e+02] [-2.72967439e-01 9.61798545e-01 2.07927159e-02 1.01176706e+02] [ 6.86124750e-02 -2.09471954e-03 9.97641188e-01 2.94371731e+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:213.87, Y:101.18, Z:29.46 [[ 9.63037740e-01 2.61290103e-01 -6.54659753e-02 2.13869296e+02] [-2.60488544e-01 9.65256172e-01 2.06456285e-02 1.01182149e+02] [ 6.85859351e-02 -2.82938283e-03 9.97641200e-01 2.94625977e+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:213.90, Y:101.17, Z:29.44 [[ 9.59277753e-01 2.74750128e-01 -6.55634046e-02 2.13898518e+02] [-2.74000838e-01 9.61514423e-01 2.03360822e-02 1.01172352e+02] [ 6.86275003e-02 -1.54352347e-03 9.97641160e-01 2.94424025e+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:213.93, Y:101.18, Z:29.46 [[ 9.61740984e-01 2.66020785e-01 -6.54768718e-02 2.13927627e+02] [-2.65232495e-01 9.63964165e-01 2.06109886e-02 1.01177026e+02] [ 6.86003094e-02 -2.45583838e-03 9.97641201e-01 2.94626017e+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:213.96, Y:101.18, Z:29.47 [[ 9.60505677e-01 2.70430927e-01 -6.55435611e-02 2.13958067e+02] [-2.69667271e-01 9.62737468e-01 2.03992768e-02 1.01177061e+02] [ 6.86178374e-02 -1.91866792e-03 9.97641174e-01 2.94709242e+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:213.99, Y:101.17, Z:29.47 [[ 9.59467668e-01 2.74116027e-01 -6.54385086e-02 2.13986100e+02] [-2.73338201e-01 9.61694537e-01 2.07327323e-02 1.01174184e+02] [ 6.86150304e-02 -2.00554205e-03 9.97641196e-01 2.94679242e+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:214.01, Y:101.18, Z:29.48 [[ 9.55718996e-01 2.86908717e-01 -6.54567687e-02 2.14009438e+02] [-2.86164682e-01 9.57957375e-01 2.06747019e-02 1.01175409e+02] [ 6.86365465e-02 -1.02778994e-03 9.97641202e-01 2.94768719e+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:214.04, Y:101.17, Z:29.48 [[ 9.55143778e-01 2.88716680e-01 -6.59017577e-02 2.14043945e+02] [-2.88074270e-01 9.57414399e-01 1.92583600e-02 1.01170338e+02] [ 6.86555015e-02 5.90098058e-04 9.97640253e-01 2.94780868e+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:214.07, Y:101.16, Z:29.47 [[ 9.50119742e-01 3.04922718e-01 -6.55332819e-02 2.14073738e+02] [-3.04238055e-01 9.52376951e-01 2.04291007e-02 1.01156665e+02] [ 6.86416842e-02 5.27626308e-04 9.97641239e-01 2.94651693e+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:214.10, Y:101.16, Z:29.49 [[ 9.54143860e-01 2.92134179e-01 -6.53231581e-02 2.14101807e+02] [-2.91373467e-01 9.56376714e-01 2.10969873e-02 1.01163944e+02] [ 6.86366983e-02 -1.09612582e-03 9.97641119e-01 2.94889087e+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:214.13, Y:101.16, Z:29.49 [[ 9.55069196e-01 2.89054674e-01 -6.54998248e-02 2.14131626e+02] [-2.88325268e-01 9.57312315e-01 2.05346640e-02 1.01161644e+02] [ 6.86394294e-02 -7.26770473e-04 9.97641268e-01 2.94890219e+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:214.16, Y:101.16, Z:29.49 [[ 9.55264459e-01 2.88407208e-01 -6.55064590e-02 2.14159074e+02] [-2.87677731e-01 9.57507555e-01 2.05135223e-02 1.01156329e+02] [ 6.86391771e-02 -7.51089320e-04 9.97641268e-01 2.94891809e+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:214.19, Y:101.15, Z:29.49 [[ 9.54276622e-01 2.91663822e-01 -6.54854521e-02 2.14188406e+02] [-2.90937403e-01 9.56520711e-01 2.05805166e-02 1.01151001e+02] [ 6.86407833e-02 -5.87338458e-04 9.97641267e-01 2.94860511e+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:214.22, Y:101.14, Z:29.49 [[ 9.53291453e-01 2.94853178e-01 -6.55515741e-02 2.14215236e+02] [-2.94148771e-01 9.55542561e-01 2.03694711e-02 1.01144197e+02] [ 6.86433223e-02 -1.36127777e-04 9.97641256e-01 2.94865918e+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:214.24, Y:101.14, Z:29.50 [[ 9.51431865e-01 3.00792660e-01 -6.55833970e-02 2.14244554e+02] [-3.00109311e-01 9.53689476e-01 2.02678248e-02 1.01138350e+02] [ 6.86426085e-02 3.98733705e-04 9.97641235e-01 2.94956977e+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:214.27, Y:101.13, Z:29.49 [[ 9.49622500e-01 3.06468780e-01 -6.55285723e-02 2.14270163e+02] [-3.05786837e-01 9.51880505e-01 2.04429385e-02 1.01130575e+02] [ 6.86404929e-02 6.24700525e-04 9.97641264e-01 2.94929145e+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:214.30, Y:101.11, Z:29.49 [[ 9.44095900e-01 3.23077475e-01 -6.56039328e-02 2.14297027e+02] [-3.22451941e-01 9.46370231e-01 2.02022760e-02 1.01114209e+02] [ 6.86125093e-02 2.08122955e-03 9.97641214e-01 2.94855008e+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:214.32, Y:101.11, Z:29.50 [[ 9.45073202e-01 3.20227443e-01 -6.55059394e-02 2.14322246e+02] [-3.19573358e-01 9.47339430e-01 2.05151857e-02 1.01108845e+02] [ 6.86258848e-02 1.54560083e-03 9.97641268e-01 2.94988526e+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:214.35, Y:101.10, Z:29.50 [[ 9.44423070e-01 3.22106591e-01 -6.56689403e-02 2.14349327e+02] [-3.21493185e-01 9.46700784e-01 1.99939512e-02 1.01098007e+02] [ 6.86090207e-02 2.22936803e-03 9.97641134e-01 2.94976073e+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:214.38, Y:101.09, Z:29.51 [[ 9.44158369e-01 3.22885140e-01 -6.56518139e-02 2.14376787e+02] [-3.22269800e-01 9.46435534e-01 2.00488246e-02 1.01086957e+02] [ 6.86086771e-02 2.22833139e-03 9.97641160e-01 2.95060615e+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:214.41, Y:101.07, Z:29.50 [[ 9.43413290e-01 3.25094145e-01 -6.54611379e-02 2.14405254e+02] [-3.24441763e-01 9.45680042e-01 2.06591785e-02 1.01073666e+02] [ 6.86214695e-02 1.74818343e-03 9.97641237e-01 2.95022246e+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:214.43, Y:101.06, Z:29.51 [[ 9.42978960e-01 3.26377779e-01 -6.53316673e-02 2.14429196e+02] [-3.25699691e-01 9.45238367e-01 2.10746759e-02 1.01062878e+02] [ 6.86323044e-02 1.40552787e-03 9.97641033e-01 2.95073960e+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:214.45, Y:101.05, Z:29.51 [[ 9.41250023e-01 3.31304920e-01 -6.54633029e-02 2.14451983e+02] [-3.30668006e-01 9.43521157e-01 2.06517723e-02 1.01047578e+02] [ 6.86080451e-02 2.20813860e-03 9.97641248e-01 2.95050514e+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:214.48, Y:101.03, Z:29.51 [[ 9.41483998e-01 3.30608804e-01 -6.56178311e-02 2.14475025e+02] [-3.30004789e-01 9.43764081e-01 2.01543650e-02 1.01030608e+02] [ 6.85909626e-02 2.67918636e-03 9.97641269e-01 2.95065175e+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:214.50, Y:101.02, Z:29.51 [[ 9.42129825e-01 3.28760766e-01 -6.56334698e-02 2.14501390e+02] [-3.28155781e-01 9.44409663e-01 2.01040110e-02 1.01018019e+02] [ 6.85942931e-02 2.59741416e-03 9.97641256e-01 2.95103085e+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:214.53, Y:101.00, Z:29.51 [[ 9.44643620e-01 3.21469588e-01 -6.56181060e-02 2.14530459e+02] [-3.20843566e-01 9.46917759e-01 2.01534938e-02 1.01003085e+02] [ 6.86136853e-02 2.01527786e-03 9.97641269e-01 2.95146375e+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:214.55, Y:100.99, Z:29.52 [[ 9.45792387e-01 3.18112663e-01 -6.54300794e-02 2.14554698e+02] [-3.17436635e-01 9.48052236e-01 2.07590840e-02 1.00990474e+02] [ 6.86348606e-02 1.13612065e-03 9.97641201e-01 2.95195383e+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:214.58, Y:100.97, Z:29.52 [[ 9.47988747e-01 3.11491171e-01 -6.55025674e-02 2.14577779e+02] [-3.10815495e-01 9.50248619e-01 2.05253640e-02 1.00971552e+02] [ 6.86371939e-02 9.01398798e-04 9.97641280e-01 2.95200455e+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:214.60, Y:100.96, Z:29.52 [[ 9.49489173e-01 3.06868909e-01 -6.55879841e-02 2.14603742e+02] [-3.06201257e-01 9.51751407e-01 2.02496979e-02 1.00957778e+02] [ 6.86374588e-02 8.56254309e-04 9.97641301e-01 2.95224817e+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:214.63, Y:100.94, Z:29.52 [[ 9.50718768e-01 3.03041617e-01 -6.55713531e-02 2.14628526e+02] [-3.02361153e-01 9.52977179e-01 2.03034093e-02 1.00943911e+02] [ 6.86407811e-02 5.23397642e-04 9.97641303e-01 2.95247702e+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:214.65, Y:100.93, Z:29.53 [[ 9.52401120e-01 2.97704539e-01 -6.56057469e-02 2.14650687e+02] [-2.97019068e-01 9.54658024e-01 2.01923320e-02 1.00926608e+02] [ 6.86424016e-02 2.54958222e-04 9.97641296e-01 2.95271296e+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:214.68, Y:100.91, Z:29.52 [[ 9.53018180e-01 2.95682358e-01 -6.57897492e-02 2.14676902e+02] [-2.95033081e-01 9.55286034e-01 1.95978406e-02 1.00911771e+02] [ 6.86427643e-02 7.33053985e-04 9.97641034e-01 2.95230500e+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:214.71, Y:100.91, Z:29.50 [[ 9.57359747e-01 2.81301876e-01 -6.58146657e-02 2.14711637e+02] [-2.80624053e-01 9.59619304e-01 1.95175046e-02 1.00908710e+02] [ 6.86473343e-02 -2.16094955e-04 9.97640966e-01 2.94956714e+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:214.74, Y:100.90, Z:29.50 [[ 9.57466993e-01 2.80998451e-01 -6.55501993e-02 2.14738792e+02] [-2.80261530e-01 9.59707555e-01 2.03686978e-02 1.00900379e+02] [ 6.86325940e-02 -1.13115664e-03 9.97641362e-01 2.94976045e+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:214.76, Y:100.88, Z:29.52 [[ 9.50862395e-01 3.02593568e-01 -6.55579087e-02 2.14756060e+02] [-3.01909251e-01 9.53119579e-01 2.03438542e-02 1.00876354e+02] [ 6.86404458e-02 4.48333234e-04 9.97641363e-01 2.95230783e+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:214.78, Y:100.87, Z:29.52 [[ 9.49714978e-01 3.06119528e-01 -6.58201756e-02 2.14782976e+02] [-3.05502167e-01 9.51991755e-01 1.94967993e-02 1.00865466e+02] [ 6.86286155e-02 1.59180400e-03 9.97641007e-01 2.95220259e+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:214.81, Y:100.85, Z:29.53 [[ 9.47178167e-01 3.13891967e-01 -6.57674121e-02 2.14809443e+02] [-3.13281472e-01 9.49456650e-01 1.96669485e-02 1.00853059e+02] [ 6.86166040e-02 1.97560747e-03 9.97641147e-01 2.95321496e+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:214.83, Y:100.84, Z:29.53 [[ 9.46160935e-01 3.16945074e-01 -6.57670574e-02 2.14832234e+02] [-3.16341852e-01 9.48441352e-01 1.96680920e-02 1.00844146e+02] [ 6.86099017e-02 2.19569238e-03 9.97641148e-01 2.95338986e+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:214.86, Y:100.83, Z:29.54 [[ 9.44506097e-01 3.21779816e-01 -6.60755902e-02 2.14863349e+02] [-3.21258035e-01 9.46807698e-01 1.86670236e-02 1.00833793e+02] [ 6.85675489e-02 3.59619668e-03 9.97639995e-01 2.95400286e+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:214.89, Y:100.82, Z:29.55 [[ 9.43464291e-01 3.24884358e-01 -6.57669028e-02 2.14890644e+02] [-3.24300564e-01 9.45749677e-01 1.96645244e-02 1.00823861e+02] [ 6.85877235e-02 2.77546708e-03 9.97641229e-01 2.95465871e+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:214.92, Y:100.81, Z:29.54 [[ 9.41441854e-01 3.30699053e-01 -6.57675600e-02 2.14916403e+02] [-3.30129518e-01 9.43730836e-01 1.96624047e-02 1.00811022e+02] [ 6.85692130e-02 3.20080219e-03 9.97641227e-01 2.95438654e+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:214.94, Y:100.80, Z:29.54 [[ 9.40462083e-01 3.33461876e-01 -6.58350032e-02 2.14943532e+02] [-3.32914260e-01 9.42756595e-01 1.94447390e-02 1.00799364e+02] [ 6.85504626e-02 3.63037162e-03 9.97641045e-01 2.95427643e+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:214.97, Y:100.79, Z:29.54 [[ 9.40222161e-01 3.34134319e-01 -6.58524518e-02 2.14968658e+02] [-3.33592280e-01 9.42518053e-01 1.93883954e-02 1.00786684e+02] [ 6.85454530e-02 3.73847054e-03 9.97640990e-01 2.95407392e+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:214.99, Y:100.78, Z:29.54 [[ 9.40768881e-01 3.32590988e-01 -6.58570183e-02 2.14993442e+02] [-3.32046214e-01 9.43064141e-01 1.93736224e-02 1.00776609e+02] [ 6.85508846e-02 3.64147256e-03 9.97640975e-01 2.95427360e+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:215.02, Y:100.76, Z:29.55 [[ 9.42846415e-01 3.26653096e-01 -6.58664705e-02 2.15018607e+02] [-3.26095995e-01 9.45138746e-01 1.93430453e-02 1.00762304e+02] [ 6.85714189e-02 3.24127130e-03 9.97640945e-01 2.95451306e+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:215.04, Y:100.75, Z:29.55 [[ 9.44148723e-01 3.22875652e-01 -6.58369356e-02 2.15044343e+02] [-3.22302736e-01 9.46437053e-01 1.94383985e-02 1.00750188e+02] [ 6.85867009e-02 2.86668532e-03 9.97641041e-01 2.95490047e+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:215.07, Y:100.74, Z:29.55 [[ 9.46948663e-01 3.14568112e-01 -6.58417176e-02 2.15070420e+02] [-3.13976186e-01 9.49232165e-01 1.94229574e-02 1.00736697e+02] [ 6.86089192e-02 2.28018782e-03 9.97641026e-01 2.95525708e+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:215.10, Y:100.72, Z:29.55 [[ 9.48013576e-01 3.11350755e-01 -6.58100874e-02 2.15095665e+02] [-3.10743986e-01 9.50293083e-01 1.95251556e-02 1.00724829e+02] [ 6.86180428e-02 1.93997623e-03 9.97641118e-01 2.95535684e+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:215.12, Y:100.71, Z:29.56 [[ 9.49925271e-01 3.05471329e-01 -6.57970112e-02 2.15122048e+02] [-3.04847519e-01 9.52200139e-01 1.95674572e-02 1.00709503e+02] [ 6.86292204e-02 1.47043352e-03 9.97641152e-01 2.95566161e+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:215.15, Y:100.70, Z:29.55 [[ 9.51028562e-01 3.02029992e-01 -6.57461576e-02 2.15146833e+02] [-3.01386573e-01 9.53297846e-01 1.97319753e-02 1.00698492e+02] [ 6.86353188e-02 1.04933710e-03 9.97641264e-01 2.95505031e+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:215.18, Y:100.69, Z:29.55 [[ 9.51700964e-01 2.99883574e-01 -6.58416043e-02 2.15176160e+02] [-2.99256394e-01 9.53975030e-01 1.94230123e-02 1.00688751e+02] [ 6.86358888e-02 1.21862157e-03 9.97641033e-01 2.95492256e+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:215.20, Y:100.68, Z:29.56 [[ 9.51628236e-01 3.00153812e-01 -6.56611774e-02 2.15201720e+02] [-2.99486970e-01 9.53890611e-01 2.00064411e-02 1.00676551e+02] [ 6.86385901e-02 6.25972780e-04 9.97641395e-01 2.95556092e+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:215.23, Y:100.67, Z:29.55 [[ 9.51332816e-01 3.01064844e-01 -6.57710688e-02 2.15229049e+02] [-3.00424731e-01 9.53603076e-01 1.96508296e-02 1.00666479e+02] [ 6.86356675e-02 1.06477660e-03 9.97641224e-01 2.95511008e+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:215.26, Y:100.66, Z:29.56 [[ 9.50835862e-01 3.02621579e-01 -6.58129388e-02 2.15256712e+02] [-3.01994556e-01 9.53109878e-01 1.95153408e-02 1.00657873e+02] [ 6.86327253e-02 1.31926340e-03 9.97641122e-01 2.95596384e+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:215.29, Y:100.65, Z:29.56 [[ 9.51234203e-01 3.01372369e-01 -6.57889472e-02 2.15286681e+02] [-3.00736986e-01 9.53505835e-01 1.95930334e-02 1.00649072e+02] [ 6.86349439e-02 1.14760619e-03 9.97641182e-01 2.95604676e+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:215.31, Y:100.64, Z:29.57 [[ 9.51091854e-01 3.01866369e-01 -6.55818590e-02 2.15312890e+02] [-3.01185877e-01 9.53350127e-01 2.02633273e-02 1.00641402e+02] [ 6.86392907e-02 4.80044215e-04 9.97641427e-01 2.95672251e+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:215.34, Y:100.63, Z:29.57 [[ 9.51172724e-01 3.01610936e-01 -6.55842374e-02 2.15339135e+02] [-3.00930369e-01 9.53430974e-01 2.02556266e-02 1.00634340e+02] [ 6.86393618e-02 4.69689238e-04 9.97641427e-01 2.95717751e+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:215.37, Y:100.63, Z:29.58 [[ 9.53137743e-01 2.95314942e-01 -6.57078925e-02 2.15367413e+02] [-2.94647065e-01 9.55399861e-01 1.98547814e-02 1.00626105e+02] [ 6.86407250e-02 4.36296177e-04 9.97641349e-01 2.95800987e+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:215.39, Y:100.62, Z:29.58 [[ 9.55439093e-01 2.87808838e-01 -6.55912512e-02 2.15394287e+02] [-2.87097207e-01 9.57687748e-01 2.02329282e-02 1.00617912e+02] [ 6.86391532e-02 -5.00265529e-04 9.97641427e-01 2.95848750e+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:215.42, Y:100.61, Z:29.59 [[ 9.56955828e-01 2.82697505e-01 -6.57089252e-02 2.15424421e+02] [-2.82000030e-01 9.59208998e-01 1.98514616e-02 1.00609312e+02] [ 6.86405510e-02 -4.67052950e-04 9.97641347e-01 2.95876609e+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:215.45, Y:100.60, Z:29.59 [[ 9.59285829e-01 2.74715562e-01 -6.55900795e-02 2.15451415e+02] [-2.73972989e-01 9.61524455e-01 2.02366773e-02 1.00600871e+02] [ 6.86257956e-02 -1.44284760e-03 9.97641428e-01 2.95860080e+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:215.48, Y:100.59, Z:29.59 [[ 9.60755584e-01 2.69510828e-01 -6.56705529e-02 2.15480065e+02] [-2.68773920e-01 9.62996125e-01 1.99760616e-02 1.00592843e+02] [ 6.86242529e-02 -1.54158076e-03 9.97641386e-01 2.95871111e+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:215.51, Y:100.59, Z:29.59 [[ 9.61893917e-01 2.65445444e-01 -6.55653062e-02 2.15506042e+02] [-2.64675837e-01 9.64123396e-01 2.03169370e-02 1.00586177e+02] [ 6.86060841e-02 -2.18918578e-03 9.97641425e-01 2.95905663e+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:215.54, Y:100.58, Z:29.59 [[ 9.63592166e-01 2.59199415e-01 -6.56185971e-02 2.15536382e+02] [-2.58427101e-01 9.65820711e-01 2.01441865e-02 1.00581101e+02] [ 6.85971614e-02 -2.45315648e-03 9.97641424e-01 2.95862129e+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:215.56, Y:100.58, Z:29.59 [[ 9.63830095e-01 2.58335057e-01 -6.55327820e-02 2.15564269e+02] [-2.57541845e-01 9.66051305e-01 2.04224207e-02 1.00575189e+02] [ 6.85838567e-02 -2.80631014e-03 9.97641408e-01 2.95881015e+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:215.59, Y:100.57, Z:29.60 [[ 9.63522207e-01 2.59475013e-01 -6.55566550e-02 2.15592836e+02] [-2.58689691e-01 9.65746202e-01 2.03449508e-02 1.00572888e+02] [ 6.85900970e-02 -2.64398111e-03 9.97641423e-01 2.95964922e+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:215.62, Y:100.57, Z:29.60 [[ 9.63229180e-01 2.60549946e-01 -6.55993402e-02 2.15622032e+02] [-2.59776527e-01 9.65457331e-01 2.02063771e-02 1.00572136e+02] [ 6.85981344e-02 -2.42220328e-03 9.97641433e-01 2.96018094e+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:215.65, Y:100.57, Z:29.60 [[ 9.63208438e-01 2.60629001e-01 -6.55898495e-02 2.15653316e+02] [-2.59853667e-01 9.65435926e-01 2.02372200e-02 1.00566502e+02] [ 6.85972035e-02 -2.44889819e-03 9.97641432e-01 2.95980776e+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:215.68, Y:100.56, Z:29.59 [[ 9.62190616e-01 2.64377690e-01 -6.55259863e-02 2.15681293e+02] [-2.63596909e-01 9.64416238e-01 2.04447878e-02 1.00564602e+02] [ 6.85994710e-02 -2.39933554e-03 9.97641396e-01 2.95908198e+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:215.71, Y:100.56, Z:29.59 [[ 9.62108568e-01 2.64640338e-01 -6.56703462e-02 2.15712288e+02] [-2.63892150e-01 9.64345335e-01 1.99751756e-02 1.00559863e+02] [ 6.86151292e-02 -1.88839873e-03 9.97641418e-01 2.95902379e+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:215.74, Y:100.56, Z:29.59 [[ 9.60951422e-01 2.68840913e-01 -6.55509531e-02 2.15740918e+02] [-2.68075997e-01 9.63182527e-01 2.03636945e-02 1.00559928e+02] [ 6.86121268e-02 -1.99588404e-03 9.97641415e-01 2.95931272e+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:215.77, Y:100.56, Z:29.59 [[ 9.60092702e-01 2.71874971e-01 -6.56201454e-02 2.15771312e+02] [-2.71132494e-01 9.62331346e-01 2.01382920e-02 1.00559904e+02] [ 6.86234204e-02 -1.54287345e-03 9.97641441e-01 2.95923318e+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:215.80, Y:100.56, Z:29.59 [[ 9.59568432e-01 2.73717980e-01 -6.56269068e-02 2.15800075e+02] [-2.72981311e-01 9.61808994e-01 2.01162399e-02 1.00555089e+02] [ 6.86267258e-02 -1.38798970e-03 9.97641442e-01 2.95937131e+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:215.83, Y:100.55, Z:29.60 [[ 9.58855054e-01 2.76215684e-01 -6.55887344e-02 2.15828623e+02] [-2.75476326e-01 9.61094741e-01 2.02408753e-02 1.00550724e+02] [ 6.86278349e-02 -1.33992194e-03 9.97641431e-01 2.95998261e+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:215.86, Y:100.55, Z:29.60 [[ 9.57354367e-01 2.81352076e-01 -6.56781910e-02 2.15858280e+02] [-2.80644774e-01 9.59604380e-01 1.99485523e-02 1.00549208e+02] [ 6.86376464e-02 -6.65592626e-04 9.97641434e-01 2.96031064e+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:215.89, Y:100.55, Z:29.60 [[ 9.56636935e-01 2.83778872e-01 -6.56911489e-02 2.15885745e+02] [-2.83080189e-01 9.58889645e-01 1.99061554e-02 1.00545656e+02] [ 6.86395088e-02 -4.47100644e-04 9.97641428e-01 2.96047496e+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:215.92, Y:100.54, Z:29.61 [[ 9.55894058e-01 2.86239436e-01 -6.58295871e-02 2.15915745e+02] [-2.85577755e-01 9.58158099e-01 1.94525659e-02 1.00544766e+02] [ 6.86432436e-02 2.04873608e-04 9.97641250e-01 2.96088157e+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:215.95, Y:100.54, Z:29.61 [[ 9.56171236e-01 2.85313433e-01 -6.58240958e-02 2.15946529e+02] [-2.84648325e-01 9.58434260e-01 1.94705101e-02 1.00537982e+02] [ 6.86432666e-02 1.19576836e-04 9.97641262e-01 2.96086914e+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:215.95, Y:100.55, Z:29.59 [[ 9.60499146e-01 2.70431008e-01 -6.56388614e-02 2.15951478e+02] [-2.69689471e-01 9.62738061e-01 2.00752665e-02 1.00546788e+02] [ 6.86220046e-02 -1.58016652e-03 9.97641480e-01 2.95917347e+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:216.00, Y:100.52, Z:29.62 [[ 9.56412955e-01 2.84191830e-01 -6.71510478e-02 2.16000890e+02] [-2.83823078e-01 9.58756646e-01 1.51708291e-02 1.00523319e+02] [ 6.86929390e-02 4.54943958e-03 9.97627477e-01 2.96151702e+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:216.04, Y:100.49, Z:29.59 [[ 9.50730111e-01 3.03033186e-01 -6.54457386e-02 2.16042598e+02] [-3.02329232e-01 9.52979991e-01 2.06439487e-02 1.00493407e+02] [ 6.86242809e-02 1.59336242e-04 9.97642563e-01 2.95911175e+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:216.06, Y:100.51, Z:29.62 [[ 9.56355830e-01 2.85090709e-01 -6.40844367e-02 2.16056484e+02] [-2.84051146e-01 9.58483674e-01 2.49798592e-02 1.00507179e+02] [ 6.85454121e-02 -5.68637629e-03 9.97631792e-01 2.96202665e+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:216.08, Y:100.50, Z:29.62 [[ 9.55735941e-01 2.86858091e-01 -6.54312441e-02 2.16083974e+02] [-2.86115786e-01 9.57972551e-01 2.06481900e-02 1.00500189e+02] [ 6.86044363e-02 -1.01330544e-03 9.97643426e-01 2.96210606e+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:216.11, Y:100.47, Z:29.59 [[ 9.44471990e-01 3.22000697e-01 -6.54844375e-02 2.16108885e+02] [-3.21353462e-01 9.46737898e-01 2.04769176e-02 1.00473572e+02] [ 6.85901805e-02 1.70377560e-03 9.97643466e-01 2.95917002e+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:216.14, Y:100.48, Z:29.62 [[ 9.52416286e-01 2.97673551e-01 -6.55261427e-02 2.16141010e+02] [-2.96977658e-01 9.54667717e-01 2.03425819e-02 1.00483118e+02] [ 6.86111417e-02 8.51941112e-05 9.97643475e-01 2.96235882e+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:216.16, Y:100.48, Z:29.61 [[ 9.50643988e-01 3.03293069e-01 -6.54929160e-02 2.16164211e+02] [-3.02603112e-01 9.52897251e-01 2.04495787e-02 1.00478634e+02] [ 6.86102351e-02 3.78091111e-04 9.97643470e-01 2.96119495e+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:216.20, Y:100.47, Z:29.63 [[ 9.47184338e-01 3.13845745e-01 -6.58990047e-02 2.16195252e+02] [-3.13271603e-01 9.49470656e-01 1.91409555e-02 1.00465405e+02] [ 6.85764787e-02 2.51427354e-03 9.97642694e-01 2.96266388e+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:216.23, Y:100.47, Z:29.60 [[ 9.49925330e-01 3.05535625e-01 -6.54969379e-02 2.16227940e+02] [-3.04852045e-01 9.52180483e-01 2.04342318e-02 1.00465659e+02] [ 6.86082918e-02 5.55881055e-04 9.97643520e-01 2.96001465e+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:216.25, Y:100.44, Z:29.63 [[ 9.42983320e-01 3.26327241e-01 -6.55209107e-02 2.16250004e+02] [-3.25698715e-01 9.45254430e-01 2.03570743e-02 1.00443984e+02] [ 6.85769989e-02 2.14369494e-03 9.97643523e-01 2.96277450e+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:216.27, Y:100.41, Z:29.59 [[ 9.32580258e-01 3.54968971e-01 -6.55064249e-02 2.16273070e+02] [-3.54406824e-01 9.34868703e-01 2.04037138e-02 1.00413434e+02] [ 6.84825918e-02 4.18782326e-03 9.97643522e-01 2.95944536e+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:216.30, Y:100.42, Z:29.63 [[ 9.40625662e-01 3.33061756e-01 -6.55227507e-02 2.16304152e+02] [-3.32449898e-01 9.42901318e-01 2.03511515e-02 1.00421624e+02] [ 6.85596782e-02 2.64021648e-03 9.97643523e-01 2.96312238e+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:216.33, Y:100.41, Z:29.63 [[ 9.39087661e-01 3.37376211e-01 -6.55107466e-02 2.16328246e+02] [-3.36772114e-01 9.41365391e-01 2.03898060e-02 1.00408244e+02] [ 6.85485850e-02 2.91437741e-03 9.97643522e-01 2.96327233e+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:216.35, Y:100.40, Z:29.64 [[ 9.38575157e-01 3.38780504e-01 -6.56082726e-02 2.16353489e+02] [-3.38201733e-01 9.40859485e-01 2.00753023e-02 1.00395207e+02] [ 6.85292866e-02 3.34665151e-03 9.97643492e-01 2.96408623e+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:216.38, Y:100.36, Z:29.61 [[ 9.28649278e-01 3.65119913e-01 -6.55588907e-02 2.16376729e+02] [-3.64594627e-01 9.30946465e-01 2.02345466e-02 1.00359424e+02] [ 6.84198534e-02 5.11162227e-03 9.97643521e-01 2.96135179e+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:216.41, Y:100.36, Z:29.65 [[ 9.38474869e-01 3.39073087e-01 -6.55313767e-02 2.16405199e+02] [-3.38477744e-01 9.40754900e-01 2.03232651e-02 1.00362172e+02] [ 6.85400360e-02 3.10803900e-03 9.97643525e-01 2.96483370e+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:216.44, Y:100.36, Z:29.62 [[ 9.46910888e-01 3.14730064e-01 -6.56106521e-02 2.16438855e+02] [-3.14093755e-01 9.49179861e-01 2.00674972e-02 1.00362455e+02] [ 6.85921543e-02 1.60576452e-03 9.97643492e-01 2.96176644e+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:216.46, Y:100.33, Z:29.65 [[ 9.39615854e-01 3.35898211e-01 -6.55319626e-02 2.16456348e+02] [-3.35295302e-01 9.41893894e-01 2.03212631e-02 1.00326803e+02] [ 6.85500313e-02 2.87837823e-03 9.97643528e-01 2.96487771e+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:216.48, Y:100.32, Z:29.65 [[ 9.39635311e-01 3.35832771e-01 -6.55883469e-02 2.16483369e+02] [-3.35242367e-01 9.41916642e-01 2.01393976e-02 1.00318510e+02] [ 6.85422251e-02 3.06430354e-03 9.97643510e-01 2.96507182e+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:216.51, Y:100.29, Z:29.62 [[ 9.31967874e-01 3.56558417e-01 -6.55894621e-02 2.16507754e+02] [-3.56018929e-01 9.34261779e-01 2.01357996e-02 1.00286705e+02] [ 6.84573164e-02 4.58517175e-03 9.97643510e-01 2.96192280e+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:216.54, Y:100.28, Z:29.65 [[ 9.40813728e-01 3.32527860e-01 -6.55343449e-02 2.16535244e+02] [-3.31917321e-01 9.43089735e-01 2.03136189e-02 1.00283253e+02] [ 6.85596122e-02 2.64065265e-03 9.97643527e-01 2.96534442e+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:216.56, Y:100.27, Z:29.65 [[ 9.40320033e-01 3.33922315e-01 -6.55295580e-02 2.16559000e+02] [-3.33314076e-01 9.42596656e-01 2.03290645e-02 1.00270228e+02] [ 6.85562706e-02 2.72609749e-03 9.97643527e-01 2.96545737e+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:216.58, Y:100.25, Z:29.65 [[ 9.38671094e-01 3.38521687e-01 -6.55716757e-02 2.16582968e+02] [-3.37934077e-01 9.40953134e-01 2.01930696e-02 1.00251851e+02] [ 6.85356657e-02 3.20425297e-03 9.97643521e-01 2.96503020e+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:216.61, Y:100.23, Z:29.65 [[ 9.37304772e-01 3.42280840e-01 -6.56017609e-02 2.16606279e+02] [-3.41709163e-01 9.39590871e-01 2.00958494e-02 1.00233483e+02] [ 6.85172398e-02 3.58078725e-03 9.97643506e-01 2.96538265e+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:216.63, Y:100.22, Z:29.66 [[ 9.36659923e-01 3.44045474e-01 -6.55812536e-02 2.16631683e+02] [-3.43473477e-01 9.38945930e-01 2.01621211e-02 1.00219441e+02] [ 6.85139377e-02 3.64037046e-03 9.97643518e-01 2.96594901e+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:216.66, Y:100.19, Z:29.64 [[ 9.27748530e-01 3.67396427e-01 -6.55936728e-02 2.16655119e+02] [-3.66884684e-01 9.30048781e-01 2.01219535e-02 1.00187951e+02] [ 6.83980493e-02 5.39720118e-03 9.97643512e-01 2.96387715e+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:216.68, Y:100.19, Z:29.67 [[ 9.35111751e-01 3.48237532e-01 -6.55487224e-02 2.16683980e+02] [-3.47668429e-01 9.37398474e-01 2.02673351e-02 1.00186144e+02] [ 6.85031191e-02 3.83699810e-03 9.97643524e-01 2.96695908e+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:216.71, Y:100.16, Z:29.64 [[ 9.26658792e-01 3.70139023e-01 -6.55788590e-02 2.16708809e+02] [-3.69630721e-01 9.28959799e-01 2.01698304e-02 1.00155221e+02] [ 6.83857650e-02 5.54941024e-03 9.97643519e-01 2.96380033e+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:216.74, Y:100.16, Z:29.68 [[ 9.34956827e-01 3.48652438e-01 -6.55531053e-02 2.16737352e+02] [-3.48085338e-01 9.37244048e-01 2.02531878e-02 1.00155567e+02] [ 6.85005811e-02 3.88221863e-03 9.97643523e-01 2.96752464e+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:216.76, Y:100.14, Z:29.68 [[ 9.36491208e-01 3.44493969e-01 -6.56362842e-02 2.16760461e+02] [-3.43935519e-01 9.38780595e-01 1.99838287e-02 1.00137774e+02] [ 6.85023784e-02 3.85996958e-03 9.97643486e-01 2.96774229e+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:216.79, Y:100.12, Z:29.68 [[ 9.37321293e-01 3.42227572e-01 -6.56435981e-02 2.16787593e+02] [-3.41665239e-01 9.39609737e-01 1.99601412e-02 1.00122771e+02] [ 6.85102746e-02 3.71907026e-03 9.97643479e-01 2.96791676e+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:216.81, Y:100.10, Z:29.68 [[ 9.39646564e-01 3.35788188e-01 -6.56553750e-02 2.16811166e+02] [-3.35212825e-01 9.41931779e-01 1.99219977e-02 1.00104039e+02] [ 6.85324557e-02 3.28888707e-03 9.97643466e-01 2.96816759e+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:216.84, Y:100.09, Z:29.69 [[ 9.40642661e-01 3.32983166e-01 -6.56779673e-02 2.16837339e+02] [-3.32406087e-01 9.42927473e-01 1.98487956e-02 1.00089695e+02] [ 6.85388745e-02 3.16113217e-03 9.97643438e-01 2.96850001e+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:216.86, Y:100.07, Z:29.69 [[ 9.42343618e-01 3.28147056e-01 -6.56354777e-02 2.16862641e+02] [-3.27548670e-01 9.44622892e-01 1.99864911e-02 1.00073354e+02] [ 6.85592830e-02 2.66467105e-03 9.97643486e-01 2.96873331e+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:216.89, Y:100.06, Z:29.69 [[ 9.43343369e-01 3.25279606e-01 -6.55474271e-02 2.16891131e+02] [-3.24654474e-01 9.45615421e-01 2.02718392e-02 1.00062109e+02] [ 6.85766738e-02 2.15696040e-03 9.97643517e-01 2.96876262e+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:216.92, Y:100.05, Z:29.69 [[ 9.44216626e-01 3.22737371e-01 -6.55404642e-02 2.16915483e+02] [-3.22104555e-01 9.46486552e-01 2.02944072e-02 1.00048479e+02] [ 6.85829316e-02 1.94856536e-03 9.97643516e-01 2.96880145e+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:216.94, Y:100.04, Z:29.69 [[ 9.44540534e-01 3.21783323e-01 -6.55642680e-02 2.16941887e+02] [-3.21153564e-01 9.46811307e-01 2.02172487e-02 1.00037402e+02] [ 6.85825638e-02 1.96018752e-03 9.97643518e-01 2.96891378e+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:216.97, Y:100.02, Z:29.69 [[ 9.44587301e-01 3.21642311e-01 -6.55824261e-02 2.16967161e+02] [-3.21016296e-01 9.46859112e-01 2.01583913e-02 1.00024959e+02] [ 6.85811093e-02 2.01166708e-03 9.97643516e-01 2.96922186e+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:217.00, Y:100.02, Z:29.67 [[ 9.48513409e-01 3.09853315e-01 -6.56752406e-02 2.17000504e+02] [-3.09219866e-01 9.50783232e-01 1.98575183e-02 1.00024186e+02] [ 6.85958354e-02 1.47296672e-03 9.97643444e-01 2.96745971e+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:217.02, Y:100.00, Z:29.67 [[ 9.40378963e-01 3.33750641e-01 -6.55584884e-02 2.17022159e+02] [-3.33148477e-01 9.42657205e-01 2.02357821e-02 9.99962337e+01] [ 6.85528867e-02 2.81140684e-03 9.97643522e-01 2.96719221e+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:217.05, Y:100.00, Z:29.70 [[ 9.44910119e-01 3.20697234e-01 -6.55602887e-02 2.17051292e+02] [-3.20063985e-01 9.47179917e-01 2.02299480e-02 9.99998080e+01] [ 6.85850771e-02 1.86800467e-03 9.97643522e-01 2.97004831e+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:217.08, Y:99.99, Z:29.70 [[ 9.44087070e-01 3.23101005e-01 -6.56151327e-02 2.17079017e+02] [-3.22485862e-01 9.46361862e-01 2.00523184e-02 9.99920546e+01] [ 6.85745833e-02 2.22881811e-03 9.97643503e-01 2.97009736e+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:217.11, Y:99.98, Z:29.68 [[ 9.39884588e-01 3.35120217e-01 -6.56612565e-02 2.17107119e+02] [-3.34544563e-01 9.42169736e-01 1.99028809e-02 9.99750254e+01] [ 6.85339064e-02 3.26020526e-03 9.97643461e-01 2.96760317e+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:217.14, Y:99.98, Z:29.69 [[ 9.44575133e-01 3.21683936e-01 -6.55535197e-02 2.17138084e+02] [-3.21051554e-01 9.46845167e-01 2.02516348e-02 9.99785959e+01] [ 6.85836589e-02 1.91686871e-03 9.97643527e-01 2.96909048e+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:217.16, Y:99.97, Z:29.71 [[ 9.41706691e-01 3.29986101e-01 -6.55567011e-02 2.17163426e+02] [-3.29374442e-01 9.43982397e-01 2.02413310e-02 9.99660751e+01] [ 6.85637298e-02 2.53130502e-03 9.97643527e-01 2.97076104e+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:217.19, Y:99.96, Z:29.71 [[ 9.41059459e-01 3.31818634e-01 -6.56009769e-02 2.17193875e+02] [-3.31221360e-01 9.43339001e-01 2.00982472e-02 9.99579636e+01] [ 6.85529330e-02 2.81479914e-03 9.97643510e-01 2.97148970e+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:217.22, Y:99.95, Z:29.72 [[ 9.39300789e-01 3.36773286e-01 -6.55574687e-02 2.17221751e+02] [-3.36178243e-01 9.41580894e-01 2.02387854e-02 9.99500067e+01] [ 6.85435423e-02 3.02868755e-03 9.97643528e-01 2.97187386e+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:217.25, Y:99.94, Z:29.73 [[ 9.39020668e-01 3.37541446e-01 -6.56197900e-02 2.17250065e+02] [-3.36962301e-01 9.41304897e-01 2.00374166e-02 9.99411708e+01] [ 6.85316883e-02 3.29584706e-03 9.97643496e-01 2.97256206e+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:217.28, Y:99.93, Z:29.73 [[ 9.38796787e-01 3.38171117e-01 -6.55811634e-02 2.17278940e+02] [-3.37584808e-01 9.41079160e-01 2.01621628e-02 9.99315023e+01] [ 6.85353273e-02 3.21103084e-03 9.97643523e-01 2.97284886e+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:217.31, Y:99.92, Z:29.73 [[ 9.37747364e-01 3.41069470e-01 -6.55858095e-02 2.17306629e+02] [-3.40491260e-01 9.40031805e-01 2.01471611e-02 9.99157845e+01] [ 6.85243284e-02 3.43844768e-03 9.97643520e-01 2.97264154e+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:217.33, Y:99.90, Z:29.72 [[ 9.37750016e-01 3.41081754e-01 -6.54839297e-02 2.17333695e+02] [-3.40480657e-01 9.40028542e-01 2.04758946e-02 9.99025784e+01] [ 6.85407170e-02 3.09474089e-03 9.97643520e-01 2.97224859e+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:217.37, Y:99.89, Z:29.73 [[ 9.38164636e-01 3.39921566e-01 -6.55777792e-02 2.17365856e+02] [-3.39338741e-01 9.40447903e-01 2.01732657e-02 9.98900767e+01] [ 6.85298130e-02 3.32723658e-03 9.97643521e-01 2.97295181e+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:217.39, Y:99.88, Z:29.73 [[ 9.38097390e-01 3.40146537e-01 -6.53729343e-02 2.17393154e+02] [-3.39518295e-01 9.40368705e-01 2.08332704e-02 9.98780272e+01] [ 6.85610264e-02 2.65167064e-03 9.97643400e-01 2.97303866e+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:217.42, Y:99.87, Z:29.73 [[ 9.37147366e-01 3.42727136e-01 -6.55204127e-02 2.17422464e+02] [-3.42138267e-01 9.39429062e-01 2.03578810e-02 9.98650072e+01] [ 6.85289781e-02 3.33870592e-03 9.97643540e-01 2.97255910e+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:217.45, Y:99.85, Z:29.73 [[ 9.36306030e-01 3.45035225e-01 -6.54347942e-02 2.17449796e+02] [-3.44432736e-01 9.38584219e-01 2.06338090e-02 9.98536807e+01] [ 6.85354561e-02 3.21832542e-03 9.97643490e-01 2.97287845e+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:217.48, Y:99.84, Z:29.73 [[ 9.35509310e-01 3.47166762e-01 -6.55558502e-02 2.17479653e+02] [-3.46596693e-01 9.37795781e-01 2.02436817e-02 9.98416108e+01] [ 6.85059331e-02 3.78328810e-03 9.97643535e-01 2.97294604e+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:217.51, Y:99.83, Z:29.73 [[ 9.34385539e-01 3.50183994e-01 -6.55349931e-02 2.17509047e+02] [-3.49616613e-01 9.36672672e-01 2.03108211e-02 9.98281420e+01] [ 6.84973615e-02 3.93398484e-03 9.97643541e-01 2.97316272e+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:217.54, Y:99.82, Z:29.73 [[ 9.33810250e-01 3.51712709e-01 -6.55483574e-02 2.17540067e+02] [-3.51152078e-01 9.36099051e-01 2.02678362e-02 9.98150259e+01] [ 6.84882107e-02 4.09112873e-03 9.97643537e-01 2.97337840e+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:217.57, Y:99.80, Z:29.73 [[ 9.34060512e-01 3.51068404e-01 -6.54365075e-02 2.17569123e+02] [-3.50481091e-01 9.36342633e-01 2.06271273e-02 9.98016232e+01] [ 6.85125244e-02 3.66727348e-03 9.97643516e-01 2.97316859e+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:217.60, Y:99.79, Z:29.74 [[ 9.33985883e-01 3.51279916e-01 -6.53665897e-02 2.17597945e+02] [-3.50677497e-01 9.36264135e-01 2.08509500e-02 9.97862933e+01] [ 6.85249136e-02 3.44809909e-03 9.97643447e-01 2.97423910e+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:217.63, Y:99.77, Z:29.74 [[ 9.37362902e-01 3.42196303e-01 -6.52110384e-02 2.17625527e+02] [-3.41537215e-01 9.39625765e-01 2.13483505e-02 9.97721114e+01] [ 6.85792985e-02 2.26084465e-03 9.97643107e-01 2.97408476e+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:217.65, Y:99.76, Z:29.74 [[ 9.39606851e-01 3.35952021e-01 -6.53850497e-02 2.17654468e+02] [-3.35316650e-01 9.41876067e-01 2.07898594e-02 9.97615804e+01] [ 6.85690087e-02 2.39040156e-03 9.97643512e-01 2.97431764e+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:217.68, Y:99.75, Z:29.75 [[ 9.44153223e-01 3.22933386e-01 -6.54883166e-02 2.17684788e+02] [-3.22289673e-01 9.46420003e-01 2.04583532e-02 9.97473416e+01] [ 6.85861381e-02 1.79038804e-03 9.97643592e-01 2.97481175e+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:217.71, Y:99.73, Z:29.76 [[ 9.47933305e-01 3.11680244e-01 -6.54054634e-02 2.17713697e+02] [-3.10991271e-01 9.50186793e-01 2.07240824e-02 9.97323901e+01] [ 6.86066946e-02 6.95480323e-04 9.97643542e-01 2.97567860e+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:217.75, Y:99.71, Z:29.74 [[ 9.46192240e-01 3.16927436e-01 -6.54006539e-02 2.17745964e+02] [-3.16249893e-01 9.48449196e-01 2.07395077e-02 9.97128155e+01] [ 6.86021166e-02 1.05938858e-03 9.97643537e-01 2.97446493e+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:217.77, Y:99.70, Z:29.75 [[ 9.46735902e-01 3.15362242e-01 -6.50982901e-02 2.17769694e+02] [-3.14614236e-01 9.48971365e-01 2.17078607e-02 9.96995769e+01] [ 6.86222529e-02 -7.07622428e-05 9.97642712e-01 2.97458062e+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:217.81, Y:99.71, Z:29.75 [[ 9.55217881e-01 2.88562542e-01 -6.55015976e-02 2.17806758e+02] [-2.87840280e-01 9.57460831e-01 2.04139955e-02 9.97088140e+01] [ 6.86059285e-02 -6.45815395e-04 9.97643629e-01 2.97493397e+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:217.83, Y:99.69, Z:29.76 [[ 9.52599195e-01 2.97112853e-01 -6.54119741e-02 2.17833434e+02] [-2.96390987e-01 9.54842313e-01 2.07012155e-02 9.96917299e+01] [ 6.86087178e-02 -3.32441639e-04 9.97643590e-01 2.97636531e+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:217.87, Y:99.68, Z:29.76 [[ 9.52916311e-01 2.96095720e-01 -6.54051175e-02 2.17865171e+02] [-2.95369954e-01 9.55158176e-01 2.07231631e-02 9.96818056e+01] [ 6.86082726e-02 -4.28733576e-04 9.97643584e-01 2.97635546e+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:217.90, Y:99.68, Z:29.77 [[ 9.54167919e-01 2.92062932e-01 -6.52903271e-02 2.17895484e+02] [-2.91302539e-01 9.56398465e-01 2.10904478e-02 9.96754021e+01] [ 6.86033066e-02 -1.10459068e-03 9.97643406e-01 2.97675067e+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:217.93, Y:99.67, Z:29.77 [[ 9.54641170e-01 2.90496509e-01 -6.53606503e-02 2.17926930e+02] [-2.89747845e-01 9.56875549e-01 2.08655289e-02 9.96673210e+01] [ 6.86033714e-02 -9.80985415e-04 9.97643531e-01 2.97687365e+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:217.96, Y:99.65, Z:29.75 [[ 9.52600721e-01 2.97124086e-01 -6.53386824e-02 2.17955630e+02] [-2.96386148e-01 9.54838700e-01 2.09357908e-02 9.96545186e+01] [ 6.86084303e-02 -5.77968962e-04 9.97643498e-01 2.97547816e+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:217.99, Y:99.66, Z:29.77 [[ 9.55657972e-01 2.87106336e-01 -6.54812350e-02 2.17991260e+02] [-2.86376131e-01 9.57898366e-01 2.04800306e-02 9.96575187e+01] [ 6.86043145e-02 -8.19641835e-04 9.97643612e-01 2.97692298e+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:218.03, Y:99.65, Z:29.76 [[ 9.54151880e-01 2.92122924e-01 -6.52563137e-02 2.18026068e+02] [-2.91355334e-01 9.56380011e-01 2.11977257e-02 9.96481586e+01] [ 6.86021757e-02 -1.21307476e-03 9.97643358e-01 2.97620387e+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:218.05, Y:99.65, Z:29.77 [[ 9.54575765e-01 2.90794588e-01 -6.49893525e-02 2.18054653e+02] [-2.89965562e-01 9.56782963e-01 2.20529944e-02 9.96471383e+01] [ 6.85935967e-02 -2.20657989e-03 9.97642245e-01 2.97724844e+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:218.09, Y:99.65, Z:29.78 [[ 9.52040166e-01 2.98927596e-01 -6.52825806e-02 2.18086157e+02] [-2.98181971e-01 9.54275586e-01 2.11096734e-02 9.96482435e+01] [ 6.86078367e-02 -6.31168431e-04 9.97643507e-01 2.97796910e+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:218.12, Y:99.64, Z:29.78 [[ 9.50199770e-01 3.04701506e-01 -6.54017588e-02 2.18119357e+02] [-3.03995865e-01 9.52447876e-01 2.07257609e-02 9.96426944e+01] [ 6.86069368e-02 1.88250946e-04 9.97643750e-01 2.97827651e+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:218.15, Y:99.64, Z:29.79 [[ 9.47236124e-01 3.13804399e-01 -6.53492490e-02 2.18151335e+02] [-3.13108722e-01 9.49487415e-01 2.08944330e-02 9.96424621e+01] [ 6.86050545e-02 6.69458132e-04 9.97643673e-01 2.97878151e+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:218.18, Y:99.64, Z:29.79 [[ 9.46391198e-01 3.16340360e-01 -6.53641876e-02 2.18183050e+02] [-3.15654029e-01 9.48645329e-01 2.08464315e-02 9.96431373e+01] [ 6.86019989e-02 9.03589853e-04 9.97643699e-01 2.97869969e+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:218.22, Y:99.63, Z:29.79 [[ 9.45993153e-01 3.17516872e-01 -6.54216317e-02 2.18215805e+02] [-3.16846117e-01 9.48251885e-01 2.06616016e-02 9.96346702e+01] [ 6.85965927e-02 1.18285629e-03 9.97643778e-01 2.97867369e+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:218.25, Y:99.63, Z:29.79 [[ 9.46843131e-01 3.14994675e-01 -6.53179955e-02 2.18247563e+02] [-3.14294889e-01 9.49093216e-01 2.09950029e-02 9.96269482e+01] [ 6.86061805e-02 6.50137922e-04 9.97643608e-01 2.97905177e+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:218.28, Y:99.62, Z:29.79 [[ 9.46816131e-01 3.15076026e-01 -6.53170173e-02 2.18277743e+02] [-3.14376217e-01 9.49066210e-01 2.09981478e-02 9.96175927e+01] [ 6.86061871e-02 6.52731765e-04 9.97643606e-01 2.97926910e+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:218.31, Y:99.61, Z:29.79 [[ 9.47518028e-01 3.12957342e-01 -6.53244924e-02 2.18308500e+02] [-3.12254160e-01 9.49767038e-01 2.09741024e-02 9.96083106e+01] [ 6.86070491e-02 5.24504320e-04 9.97643623e-01 2.97933467e+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:218.34, Y:99.60, Z:29.79 [[ 9.48868402e-01 3.08837199e-01 -6.53325430e-02 2.18337603e+02] [-3.08126033e-01 9.51114883e-01 2.09482099e-02 9.96018008e+01] [ 6.86083404e-02 2.53562796e-04 9.97643639e-01 2.97918473e+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:218.37, Y:99.59, Z:29.80 [[ 9.48526168e-01 3.09869649e-01 -6.54133702e-02 2.18367152e+02] [-3.09178816e-01 9.50778859e-01 2.06886540e-02 9.95926528e+01] [ 6.86044355e-02 6.00698654e-04 9.97643759e-01 2.97976236e+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:218.39, Y:99.59, Z:29.80 [[ 9.46473881e-01 3.16102661e-01 -6.53169261e-02 2.18394858e+02] [-3.15405296e-01 9.48724712e-01 2.09981000e-02 9.95850980e+01] [ 6.86053372e-02 7.27151253e-04 9.97643613e-01 2.97979423e+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:218.42, Y:99.58, Z:29.80 [[ 9.44858421e-01 3.20892711e-01 -6.53485497e-02 2.18424615e+02] [-3.20213795e-01 9.47114815e-01 2.08962527e-02 9.95762844e+01] [ 6.85980348e-02 1.18150673e-03 9.97643681e-01 2.97981259e+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:218.45, Y:99.57, Z:29.80 [[ 9.40707457e-01 3.32854490e-01 -6.54015936e-02 2.18452358e+02] [-3.32216115e-01 9.42975563e-01 2.07253841e-02 9.95665163e+01] [ 6.85706417e-02 2.23093992e-03 9.97643769e-01 2.97993063e+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:218.48, Y:99.56, Z:29.80 [[ 9.37008126e-01 3.43129260e-01 -6.54070629e-02 2.18481505e+02] [-3.42516972e-01 9.39283404e-01 2.07077459e-02 9.95567032e+01] [ 6.85412022e-02 2.99970295e-03 9.97643777e-01 2.97994786e+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:218.51, Y:99.55, Z:29.80 [[ 9.35810630e-01 3.46369697e-01 -6.54713542e-02 2.18510778e+02] [-3.45779743e-01 9.38091734e-01 2.05004280e-02 9.95472690e+01] [ 6.85188632e-02 3.45414965e-03 9.97643841e-01 2.97987425e+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:218.54, Y:99.53, Z:29.80 [[ 9.34519016e-01 3.49827594e-01 -6.55352110e-02 2.18539457e+02] [-3.49260458e-01 9.36805883e-01 2.02945742e-02 9.95344765e+01] [ 6.84933733e-02 3.92319233e-03 9.97643858e-01 2.97973186e+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:218.57, Y:99.52, Z:29.80 [[ 9.34637999e-01 3.49508336e-01 -6.55418491e-02 2.18568390e+02] [-3.48941913e-01 9.36925045e-01 2.02731832e-02 9.95215082e+01] [ 6.84934464e-02 3.92221088e-03 9.97643856e-01 2.98028108e+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:218.60, Y:99.51, Z:29.81 [[ 9.35824986e-01 3.46317132e-01 -6.55441834e-02 2.18595371e+02] [-3.45743434e-01 9.38110218e-01 2.02656645e-02 9.95077862e+01] [ 6.85060150e-02 3.69635581e-03 9.97643856e-01 2.98086478e+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:218.63, Y:99.49, Z:29.81 [[ 9.35622293e-01 3.46850470e-01 -6.56176570e-02 2.18625990e+02] [-3.46294597e-01 9.37911981e-01 2.00291593e-02 9.94914425e+01] [ 6.84907100e-02 3.98331217e-03 9.97643802e-01 2.98104318e+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:218.66, Y:99.48, Z:29.81 [[ 9.37484998e-01 3.41824918e-01 -6.54033919e-02 2.18655124e+02] [-3.41208747e-01 9.39759200e-01 2.07180371e-02 9.94757218e+01] [ 6.85453806e-02 2.89336039e-03 9.97643804e-01 2.98148895e+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:218.69, Y:99.46, Z:29.81 [[ 9.37909900e-01 3.40667523e-01 -6.53502710e-02 2.18685729e+02] [-3.40036678e-01 9.40180154e-01 2.08886390e-02 9.94620530e+01] [ 6.85571088e-02 2.62982772e-03 9.97643727e-01 2.98149859e+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:218.71, Y:99.45, Z:29.82 [[ 9.38635821e-01 3.38682527e-01 -6.52452331e-02 2.18710303e+02] [-3.38023552e-01 9.40898294e-01 2.12244990e-02 9.94513817e+01] [ 6.85774955e-02 2.13235041e-03 9.97643514e-01 2.98155465e+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:218.74, Y:99.44, Z:29.82 [[ 9.38060276e-01 3.40224487e-01 -6.54997477e-02 2.18740723e+02] [-3.39625901e-01 9.40339135e-01 2.04097456e-02 9.94396027e+01] [ 6.85358714e-02 3.09983925e-03 9.97643837e-01 2.98177055e+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:218.77, Y:99.43, Z:29.82 [[ 9.37195147e-01 3.42633651e-01 -6.53256362e-02 2.18770089e+02] [-3.42002096e-01 9.39465241e-01 2.09672787e-02 9.94292676e+01] [ 6.85552598e-02 2.69107263e-03 9.97643691e-01 2.98176818e+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:218.80, Y:99.42, Z:29.82 [[ 9.36622337e-01 3.44189566e-01 -6.53616136e-02 2.18798712e+02] [-3.43569805e-01 9.38895619e-01 2.08520142e-02 9.94185332e+01] [ 6.85447783e-02 2.92581459e-03 9.97643751e-01 2.98226943e+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:218.83, Y:99.40, Z:29.83 [[ 9.36649144e-01 3.44108507e-01 -6.54042477e-02 2.18828167e+02] [-3.43498060e-01 9.38924892e-01 2.07154659e-02 9.94044587e+01] [ 6.85380443e-02 3.06310874e-03 9.97643801e-01 2.98254652e+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:218.86, Y:99.39, Z:29.83 [[ 9.38045482e-01 3.40282531e-01 -6.54100436e-02 2.18856325e+02] [-3.39664089e-01 9.40319065e-01 2.06969241e-02 9.93908881e+01] [ 6.85491128e-02 2.80278682e-03 9.97643806e-01 2.98293861e+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:218.89, Y:99.38, Z:29.83 [[ 9.38652531e-01 3.38602108e-01 -6.54220064e-02 2.18887404e+02] [-3.37982255e-01 9.40925722e-01 2.06587045e-02 9.93764317e+01] [ 6.85523295e-02 2.72013194e-03 9.97643814e-01 2.98336755e+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:218.91, Y:99.36, Z:29.84 [[ 9.41307168e-01 3.31183694e-01 -6.52547009e-02 2.18913679e+02] [-3.30508934e-01 9.43564910e-01 2.11920914e-02 9.93629421e+01] [ 6.85905211e-02 1.61899405e-03 9.97643583e-01 2.98353125e+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:218.95, Y:99.35, Z:29.84 [[ 9.42245796e-01 3.28475151e-01 -6.53982824e-02 2.18945251e+02] [-3.27825632e-01 9.44510696e-01 2.07340312e-02 9.93506352e+01] [ 6.85799913e-02 1.90267953e-03 9.97643807e-01 2.98371859e+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:218.97, Y:99.34, Z:29.84 [[ 9.43865306e-01 3.23813261e-01 -6.52936151e-02 2.18971803e+02] [-3.23129426e-01 9.46120236e-01 2.10682832e-02 9.93366588e+01] [ 6.85978001e-02 1.21266677e-03 9.97643659e-01 2.98390746e+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:219.00, Y:99.33, Z:29.84 [[ 9.45799367e-01 3.18092835e-01 -6.54255725e-02 2.19003316e+02] [-3.17424474e-01 9.48058759e-01 2.06468501e-02 9.93265671e+01] [ 6.85949021e-02 1.23990018e-03 9.97643825e-01 2.98385751e+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:219.03, Y:99.31, Z:29.84 [[ 9.47418645e-01 3.13243215e-01 -6.53957091e-02 2.19034255e+02] [-3.12556707e-01 9.49672610e-01 2.07421781e-02 9.93146490e+01] [ 6.86018603e-02 7.88341186e-04 9.97643806e-01 2.98400170e+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:219.06, Y:99.31, Z:29.84 [[ 9.48608829e-01 3.09624206e-01 -6.53769076e-02 2.19063286e+02] [-3.08924966e-01 9.50858894e-01 2.08021396e-02 9.93063762e+01] [ 6.86050600e-02 4.63465704e-04 9.97643790e-01 2.98414567e+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:219.09, Y:99.30, Z:29.84 [[ 9.51720098e-01 2.99905055e-01 -6.54661164e-02 2.19090994e+02] [-2.99202396e-01 9.53969053e-01 2.05176031e-02 9.92972001e+01] [ 6.86059820e-02 6.06035784e-05 9.97643832e-01 2.98375945e+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:219.12, Y:99.28, Z:29.84 [[ 9.53027279e-01 2.95695771e-01 -6.55973783e-02 2.19123983e+02] [-2.95011940e-01 9.55282143e-01 2.00993286e-02 9.92815680e+01] [ 6.86072906e-02 1.96801411e-04 9.97643724e-01 2.98431905e+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:219.15, Y:99.27, Z:29.84 [[ 9.54343730e-01 2.91476451e-01 -6.53415869e-02 2.19153771e+02] [-2.90726691e-01 9.56577519e-01 2.09150962e-02 9.92722069e+01] [ 6.86005511e-02 -9.63647569e-04 9.97643742e-01 2.98374695e+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:219.18, Y:99.26, Z:29.84 [[ 9.55325792e-01 2.88203663e-01 -6.55078655e-02 2.19184412e+02] [-2.87482556e-01 9.57568920e-01 2.03848705e-02 9.92641797e+01] [ 6.86032904e-02 -6.41823934e-04 9.97643813e-01 2.98412152e+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:219.22, Y:99.26, Z:29.85 [[ 9.55699290e-01 2.86982362e-01 -6.54216409e-02 2.19215229e+02] [-2.86239579e-01 9.57935325e-01 2.06595180e-02 9.92561845e+01] [ 6.85986181e-02 -1.01802376e-03 9.97643821e-01 2.98454710e+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:219.24, Y:99.25, Z:29.84 [[ 9.53920006e-01 2.92851381e-01 -6.53811208e-02 2.19243571e+02] [-2.92113502e-01 9.56157692e-01 2.07886822e-02 9.92455178e+01] [ 6.86026559e-02 -7.32031629e-04 9.97643794e-01 2.98429166e+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:219.28, Y:99.24, Z:29.85 [[ 9.53424378e-01 2.94428330e-01 -6.55279621e-02 2.19275116e+02] [-2.93726299e-01 9.55673554e-01 2.03204061e-02 9.92376136e+01] [ 6.86062437e-02 -1.26684767e-04 9.97643808e-01 2.98485969e+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:219.30, Y:99.23, Z:29.85 [[ 9.50169177e-01 3.04810692e-01 -6.53374171e-02 2.19304765e+02] [-3.04091512e-01 9.52412958e-01 2.09263137e-02 9.92330898e+01] [ 6.86067668e-02 -1.49843394e-05 9.97643780e-01 2.98537695e+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:219.34, Y:99.23, Z:29.86 [[ 9.47146003e-01 3.14056046e-01 -6.54465398e-02 2.19339354e+02] [-3.13382715e-01 9.49403899e-01 2.05793750e-02 9.92263319e+01] [ 6.85982772e-02 1.01814159e-03 9.97643844e-01 2.98597668e+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:219.37, Y:99.22, Z:29.86 [[ 9.45730440e-01 3.18336405e-01 -6.52370137e-02 2.19369042e+02] [-3.17627364e-01 9.47977604e-01 2.12443173e-02 9.92187585e+01] [ 6.86060675e-02 6.29663072e-04 9.97643629e-01 2.98621793e+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:219.40, Y:99.21, Z:29.86 [[ 9.43032435e-01 3.26227442e-01 -6.53106604e-02 2.19398468e+02] [-3.25553423e-01 9.45290197e-01 2.10098274e-02 9.92123305e+01] [ 6.85915093e-02 1.44916036e-03 9.97643777e-01 2.98625588e+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:219.43, Y:99.21, Z:29.84 [[ 9.46250011e-01 3.16738276e-01 -6.54811567e-02 2.19433358e+02] [-3.16079129e-01 9.48512042e-01 2.04667957e-02 9.92133414e+01] [ 6.85922832e-02 1.33052131e-03 9.97643889e-01 2.98445116e+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:219.46, Y:99.20, Z:29.87 [[ 9.42998629e-01 3.26297326e-01 -6.54495340e-02 2.19461891e+02] [-3.25654123e-01 9.45265240e-01 2.05674265e-02 9.91989548e+01] [ 6.85782657e-02 1.91885562e-03 9.97643894e-01 2.98681256e+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:219.49, Y:99.19, Z:29.87 [[ 9.42211175e-01 3.28576158e-01 -6.53896846e-02 2.19494558e+02] [-3.27925234e-01 9.44475599e-01 2.07577578e-02 9.91871769e+01] [ 6.85794658e-02 1.88473629e-03 9.97643877e-01 2.98724632e+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:219.52, Y:99.18, Z:29.87 [[ 9.44124817e-01 3.23078048e-01 -6.51836231e-02 2.19522436e+02] [-3.22368740e-01 9.46371987e-01 2.14116044e-02 9.91827680e+01] [ 6.86055742e-02 7.97935384e-04 9.97643543e-01 2.98724955e+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:219.55, Y:99.18, Z:29.85 [[ 9.47531335e-01 3.12900460e-01 -6.54039089e-02 2.19554745e+02] [-3.12215232e-01 9.49785592e-01 2.07118075e-02 9.91789619e+01] [ 6.86004244e-02 7.95009986e-04 9.97643899e-01 2.98540464e+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:219.59, Y:99.16, Z:29.87 [[ 9.43349812e-01 3.25283338e-01 -6.54360987e-02 2.19585203e+02] [-3.24634775e-01 9.45614883e-01 2.06096052e-02 9.91634671e+01] [ 6.85813100e-02 1.80076597e-03 9.97643905e-01 2.98739401e+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:219.63, Y:99.17, Z:29.87 [[ 9.46288448e-01 3.16705107e-01 -6.50849271e-02 2.19629755e+02] [-3.15958805e-01 9.48524051e-01 2.17292139e-02 9.91691989e+01] [ 6.86163717e-02 2.05170309e-06 9.97643119e-01 2.98660665e+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:219.64, Y:99.15, Z:29.88 [[ 9.42731562e-01 3.27267163e-01 -6.44469164e-02 2.19643795e+02] [-3.26403938e-01 9.44930819e-01 2.37953038e-02 9.91529138e+01] [ 6.86852990e-02 -1.39685662e-03 9.97637398e-01 2.98761047e+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:219.67, Y:99.14, Z:29.87 [[ 9.41118268e-01 3.31698604e-01 -6.53639137e-02 2.19673798e+02] [-3.31051685e-01 9.43383172e-01 2.08079965e-02 9.91445219e+01] [ 6.85651996e-02 2.05604817e-03 9.97644519e-01 2.98679641e+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:219.70, Y:99.13, Z:29.87 [[ 9.39492389e-01 3.36245862e-01 -6.55192411e-02 2.19703009e+02] [-3.35645145e-01 9.41769719e-01 2.03010829e-02 9.91322470e+01] [ 6.85301923e-02 2.91850229e-03 9.97644774e-01 2.98693018e+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:219.73, Y:99.12, Z:29.87 [[ 9.39365556e-01 3.36604059e-01 -6.54985489e-02 2.19733535e+02] [-3.35999514e-01 9.41641889e-01 2.03685685e-02 9.91216143e+01] [ 6.85323202e-02 2.87394895e-03 9.97644757e-01 2.98726819e+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:219.76, Y:99.11, Z:29.88 [[ 9.40132011e-01 3.34451684e-01 -6.55276541e-02 2.19763212e+02] [-3.33848524e-01 9.42408690e-01 2.02737155e-02 9.91074910e+01] [ 6.85344089e-02 2.81634171e-03 9.97644778e-01 2.98770365e+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:219.79, Y:99.10, Z:29.88 [[ 9.41224163e-01 3.31376996e-01 -6.54703191e-02 2.19792690e+02] [-3.30753430e-01 9.43495385e-01 2.04603543e-02 9.90972206e+01] [ 6.85510347e-02 2.39675278e-03 9.97644732e-01 2.98762461e+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:219.82, Y:99.09, Z:29.88 [[ 9.42675728e-01 3.27223756e-01 -6.54758369e-02 2.19818543e+02] [-3.26591430e-01 9.44944521e-01 2.04423755e-02 9.90868266e+01] [ 6.85602643e-02 2.11331596e-03 9.97644738e-01 2.98797760e+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:219.85, Y:99.07, Z:29.88 [[ 9.44799426e-01 3.20983276e-01 -6.57554730e-02 2.19848563e+02] [-3.20399235e-01 9.47081250e-01 1.95303725e-02 9.90737470e+01] [ 6.85446985e-02 2.61571859e-03 9.97644617e-01 2.98810688e+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:219.89, Y:99.06, Z:29.88 [[ 9.46661965e-01 3.15448443e-01 -6.57526015e-02 2.19889067e+02] [-3.14850408e-01 9.48940156e-01 1.95397436e-02 9.90632267e+01] [ 6.85590656e-02 2.20470129e-03 9.97644623e-01 2.98815762e+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:219.91, Y:99.05, Z:29.89 [[ 9.46970224e-01 3.14685535e-01 -6.49646768e-02 2.19906115e+02] [-3.13908644e-01 9.49195830e-01 2.21052092e-02 9.90530716e+01] [ 6.86203899e-02 -5.40001242e-04 9.97642697e-01 2.98906503e+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:219.94, Y:99.04, Z:29.90 [[ 9.45956205e-01 3.17551138e-01 -6.57885478e-02 2.19938084e+02] [-3.16967574e-01 9.48237859e-01 1.94040999e-02 9.90395555e+01] [ 6.85449857e-02 2.49740766e-03 9.97644901e-01 2.98953274e+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:219.97, Y:99.03, Z:29.90 [[ 9.45242207e-01 3.19711432e-01 -6.55878891e-02 2.19970092e+02] [-3.19087493e-01 9.47512921e-01 2.00608177e-02 9.90268765e+01] [ 6.85590451e-02 1.96594354e-03 9.97645123e-01 2.98963725e+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:220.00, Y:99.02, Z:29.90 [[ 9.44593700e-01 3.21658383e-01 -6.54112133e-02 2.19998630e+02] [-3.20999130e-01 9.46854597e-01 2.06380929e-02 9.90198309e+01] [ 6.85733236e-02 1.50233009e-03 9.97644948e-01 2.99001301e+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:220.03, Y:99.01, Z:29.90 [[ 9.43334728e-01 3.25300526e-01 -6.55679759e-02 2.20029431e+02] [-3.24685537e-01 9.45607879e-01 2.01256386e-02 9.90111993e+01] [ 6.85484754e-02 2.30375972e-03 9.97645127e-01 2.99048303e+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:220.06, Y:99.00, Z:29.91 [[ 9.42522354e-01 3.27651014e-01 -6.55471250e-02 2.20061296e+02] [-3.27036960e-01 9.44795765e-01 2.01937914e-02 9.89987332e+01] [ 6.85451623e-02 2.40323266e-03 9.97645120e-01 2.99100826e+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:220.09, Y:98.99, Z:29.91 [[ 9.42561001e-01 3.27566001e-01 -6.54161582e-02 2.20088708e+02] [-3.26922101e-01 9.44826288e-01 2.06209828e-02 9.89864857e+01] [ 6.85616388e-02 1.94945375e-03 9.97644978e-01 2.99105402e+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:220.12, Y:98.97, Z:29.91 [[ 9.42358944e-01 3.28128668e-01 -6.55072312e-02 2.20116934e+02] [-3.27506741e-01 9.44630234e-01 2.03237597e-02 9.89734152e+01] [ 6.85489193e-02 2.30178307e-03 9.97645101e-01 2.99059489e+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:220.15, Y:98.96, Z:29.91 [[ 9.42849070e-01 3.26703796e-01 -6.55763698e-02 2.20149332e+02] [-3.26094098e-01 9.45123644e-01 2.00981807e-02 9.89610137e+01] [ 6.85439295e-02 2.43451619e-03 9.97645129e-01 2.99127473e+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:220.18, Y:98.95, Z:29.92 [[ 9.42856310e-01 3.26728794e-01 -6.53473364e-02 2.20180319e+02] [-3.26067426e-01 9.45116690e-01 2.08441034e-02 9.89514502e+01] [ 6.85712271e-02 1.65464338e-03 9.97644851e-01 2.99151563e+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:220.21, Y:98.94, Z:29.92 [[ 9.43948168e-01 3.23558685e-01 -6.53577301e-02 2.20209593e+02] [-3.22892068e-01 9.46206979e-01 2.08102298e-02 9.89410791e+01] [ 6.85752710e-02 1.45971432e-03 9.97644877e-01 2.99206288e+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:220.24, Y:98.92, Z:29.92 [[ 9.44985624e-01 3.20495267e-01 -6.54595650e-02 2.20235784e+02] [-3.19844268e-01 9.47248791e-01 2.04785852e-02 9.89245076e+01] [ 6.85697835e-02 1.58489803e-03 9.97645064e-01 2.99194703e+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:220.27, Y:98.91, Z:29.93 [[ 9.46277512e-01 3.16638286e-01 -6.55672649e-02 2.20266324e+02] [-3.16002336e-01 9.48544884e-01 2.01277629e-02 9.89134254e+01] [ 6.85667140e-02 1.67295946e-03 9.97645131e-01 2.99301311e+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:220.29, Y:98.90, Z:29.93 [[ 9.47552830e-01 3.12823042e-01 -6.54628006e-02 2.20294799e+02] [-3.12154466e-01 9.49810856e-01 2.04677160e-02 9.89003374e+01] [ 6.85800519e-02 1.04026328e-03 9.97645074e-01 2.99330613e+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:220.32, Y:98.89, Z:29.93 [[ 9.48837216e-01 3.08900561e-01 -6.54857265e-02 2.20322501e+02] [-3.08227804e-01 9.51093973e-01 2.03930116e-02 9.88921583e+01] [ 6.85824925e-02 8.34873298e-04 9.97645100e-01 2.99329425e+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:220.35, Y:98.88, Z:29.93 [[ 9.48880464e-01 3.08715097e-01 -6.57332078e-02 2.20354967e+02] [-3.08097514e-01 9.51153098e-01 1.95884221e-02 9.88807329e+01] [ 6.85695859e-02 1.66516687e-03 9.97644946e-01 2.99320892e+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:220.39, Y:98.87, Z:29.93 [[ 9.49094675e-01 3.08115238e-01 -6.54545480e-02 2.20386894e+02] [-3.07433805e-01 9.51348803e-01 2.04917048e-02 9.88706595e+01] [ 6.85839124e-02 6.74372894e-04 9.97645123e-01 2.99321277e+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:220.41, Y:98.86, Z:29.94 [[ 9.48527826e-01 3.09874544e-01 -6.53661272e-02 2.20414541e+02] [-3.09177511e-01 9.50777322e-01 2.07786081e-02 9.88627017e+01] [ 6.85873931e-02 5.00648478e-04 9.97644986e-01 2.99407721e+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:220.45, Y:98.86, Z:29.93 [[ 9.46489719e-01 3.16006645e-01 -6.55516045e-02 2.20445516e+02] [-3.15365795e-01 9.48755668e-01 2.01766561e-02 9.88551828e+01] [ 6.85684137e-02 1.57573633e-03 9.97645172e-01 2.99349322e+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:220.48, Y:98.85, Z:29.94 [[ 9.45382234e-01 3.19307104e-01 -6.55393322e-02 2.20477422e+02] [-3.18671409e-01 9.47649634e-01 2.02164417e-02 9.88477216e+01] [ 6.85635776e-02 1.77324643e-03 9.97645173e-01 2.99404978e+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:220.51, Y:98.84, Z:29.94 [[ 9.42332096e-01 3.28204326e-01 -6.55144304e-02 2.20506678e+02] [-3.27584433e-01 9.44603868e-01 2.02970611e-02 9.88397131e+01] [ 6.85467676e-02 2.33493542e-03 9.97645172e-01 2.99395594e+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:220.54, Y:98.83, Z:29.94 [[ 9.41652978e-01 3.30130935e-01 -6.55990418e-02 2.20541063e+02] [-3.29534732e-01 9.43931107e-01 2.00231246e-02 9.88302336e+01] [ 6.85312290e-02 2.76232774e-03 9.97645147e-01 2.99396054e+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:220.57, Y:98.82, Z:29.94 [[ 9.40205373e-01 3.34270407e-01 -6.53999338e-02 2.20569530e+02] [-3.33639351e-01 9.42474188e-01 2.06685114e-02 9.88191572e+01] [ 6.85466213e-02 2.38734599e-03 9.97645058e-01 2.99425426e+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:220.60, Y:98.81, Z:29.94 [[ 9.39810121e-01 3.35357845e-01 -6.55137622e-02 2.20600949e+02] [-3.34755066e-01 9.42086500e-01 2.02995480e-02 9.88070047e+01] [ 6.85272437e-02 2.85334317e-03 9.97645165e-01 2.99379017e+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:220.63, Y:98.80, Z:29.94 [[ 9.39978092e-01 3.34893931e-01 -6.54770327e-02 2.20633344e+02] [-3.34281755e-01 9.42251979e-01 2.04185059e-02 9.87960694e+01] [ 6.85338973e-02 2.69482920e-03 9.97645149e-01 2.99398217e+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:220.66, Y:98.79, Z:29.93 [[ 9.44440727e-01 3.22121152e-01 -6.53427669e-02 2.20661075e+02] [-3.21447993e-01 9.46697551e-01 2.08550940e-02 9.87889242e+01] [ 6.85777043e-02 1.30790118e-03 9.97644921e-01 2.99277678e+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:220.69, Y:98.77, Z:29.95 [[ 9.43787940e-01 3.23984765e-01 -6.55606408e-02 2.20689519e+02] [-3.23365182e-01 9.46059772e-01 2.01461412e-02 9.87732943e+01] [ 6.85513278e-02 2.18634340e-03 9.97645195e-01 2.99454041e+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:220.72, Y:98.76, Z:29.95 [[ 9.46527516e-01 3.15907989e-01 -6.54813331e-02 2.20719210e+02] [-3.15251204e-01 9.48788898e-01 2.04035793e-02 9.87573958e+01] [ 6.85736155e-02 1.33051981e-03 9.97645172e-01 2.99484261e+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:220.75, Y:98.74, Z:29.96 [[ 9.49066448e-01 3.08206700e-01 -6.54332342e-02 2.20749646e+02] [-3.07520801e-01 9.51319220e-01 2.05596432e-02 9.87430898e+01] [ 6.85845131e-02 6.09612995e-04 9.97645124e-01 2.99566122e+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:220.78, Y:98.73, Z:29.96 [[ 9.50606285e-01 3.03442636e-01 -6.53472038e-02 2.20778186e+02] [-3.02726254e-01 9.52849708e-01 2.08386426e-02 9.87336239e+01] [ 6.85893967e-02 -2.70304342e-05 9.97644974e-01 2.99601041e+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:220.81, Y:98.72, Z:29.96 [[ 9.51931737e-01 2.99240163e-01 -6.54315899e-02 2.20808052e+02] [-2.98532665e-01 9.54177826e-01 2.05651463e-02 9.87233909e+01] [ 6.85872899e-02 -4.31485241e-05 9.97645118e-01 2.99639424e+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:220.84, Y:98.71, Z:29.97 [[ 9.53784964e-01 2.93281827e-01 -6.54218026e-02 2.20837773e+02] [-2.92558118e-01 9.56025896e-01 2.05969245e-02 9.87120102e+01] [ 6.85856411e-02 -5.05357479e-04 9.97645104e-01 2.99679737e+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:220.87, Y:98.70, Z:29.96 [[ 9.51320915e-01 3.01180022e-01 -6.54149217e-02 2.20865449e+02] [-3.00473382e-01 9.53567299e-01 2.06192622e-02 9.86967789e+01] [ 6.85876401e-02 3.99073261e-05 9.97645094e-01 2.99586063e+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:220.90, Y:98.69, Z:29.97 [[ 9.53577865e-01 2.93926021e-01 -6.55495966e-02 2.20899284e+02] [-2.93232328e-01 9.55828172e-01 2.01818702e-02 9.86948152e+01] [ 6.85861279e-02 -2.37238701e-05 9.97645199e-01 2.99741572e+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:220.93, Y:98.69, Z:29.97 [[ 9.51602033e-01 3.00287049e-01 -6.54313275e-02 2.20930421e+02] [-2.99582030e-01 9.53848881e-01 2.05650184e-02 9.86878683e+01] [ 6.85870072e-02 3.23366038e-05 9.97645138e-01 2.99748311e+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:220.96, Y:98.68, Z:29.98 [[ 9.50462832e-01 3.03872542e-01 -6.54361077e-02 2.20961743e+02] [-3.03177065e-01 9.52712645e-01 2.05495401e-02 9.86800337e+01] [ 6.85862483e-02 3.07152978e-04 9.97645143e-01 2.99764930e+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:220.99, Y:98.68, Z:29.98 [[ 9.49369284e-01 3.07272847e-01 -6.54321103e-02 2.20992687e+02] [-3.06584534e-01 9.51621305e-01 2.05625027e-02 9.86759906e+01] [ 6.85848889e-02 5.39064532e-04 9.97645139e-01 2.99765857e+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:221.03, Y:98.66, Z:29.98 [[ 9.48193999e-01 3.10856092e-01 -6.55486945e-02 2.21025474e+02] [-3.10202391e-01 9.50456240e-01 2.01844827e-02 9.86646364e+01] [ 6.85756351e-02 1.19455635e-03 9.97645205e-01 2.99764166e+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:221.05, Y:98.66, Z:29.98 [[ 9.46525067e-01 3.15934952e-01 -6.53865716e-02 2.21054453e+02] [-3.15257109e-01 9.48780313e-01 2.07092501e-02 9.86569703e+01] [ 6.85802678e-02 1.01175712e-03 9.97645089e-01 2.99759316e+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:221.09, Y:98.65, Z:29.98 [[ 9.45856079e-01 3.17921155e-01 -6.54401800e-02 2.21086625e+02] [-3.17260044e-01 9.48116211e-01 2.05356990e-02 9.86479175e+01] [ 6.85736287e-02 1.33773871e-03 9.97645161e-01 2.99772512e+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:221.12, Y:98.64, Z:29.98 [[ 9.44728402e-01 3.21279631e-01 -6.53272126e-02 2.21115119e+02] [-3.20601296e-01 9.46983613e-01 2.09008710e-02 9.86428925e+01] [ 6.85788239e-02 1.19834249e-03 9.97644981e-01 2.99762917e+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:221.15, Y:98.63, Z:29.99 [[ 9.45096107e-01 3.20168232e-01 -6.54648963e-02 2.21146915e+02] [-3.19518021e-01 9.47359379e-01 2.04558379e-02 9.86343403e+01] [ 6.85680929e-02 1.58448137e-03 9.97645180e-01 2.99866945e+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:221.17, Y:98.63, Z:29.98 [[ 9.48367987e-01 3.10351057e-01 -6.54246417e-02 2.21167610e+02] [-3.09668440e-01 9.50621733e-01 2.05858806e-02 9.86326770e+01] [ 6.85829361e-02 7.36956637e-04 9.97645146e-01 2.99787831e+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:221.20, Y:98.61, Z:30.00 [[ 9.45134534e-01 3.19868102e-01 -6.63710030e-02 2.21204226e+02] [-3.19422165e-01 9.47450679e-01 1.75126397e-02 9.86116396e+01] [ 6.84849867e-02 4.64856885e-03 9.97641317e-01 2.99955559e+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:221.24, Y:98.60, Z:30.00 [[ 9.44337979e-01 3.22395629e-01 -6.54739588e-02 2.21235103e+02] [-3.21754015e-01 9.46603317e-01 2.04086619e-02 9.86015872e+01] [ 6.85575300e-02 1.79383463e-03 9.97645552e-01 2.99988496e+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:221.26, Y:98.59, Z:30.00 [[ 9.42356489e-01 3.28167927e-01 -6.53456888e-02 2.21264243e+02] [-3.27511531e-01 9.44617724e-01 2.08219322e-02 9.85928636e+01] [ 6.85597861e-02 1.77978360e-03 9.97645422e-01 3.00024448e+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:221.30, Y:98.59, Z:30.00 [[ 9.41784366e-01 3.29798051e-01 -6.53869555e-02 2.21295935e+02] [-3.29154783e-01 9.44049307e-01 2.06890219e-02 9.85850354e+01] [ 6.85517091e-02 2.03783176e-03 9.97645483e-01 3.00042186e+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:221.33, Y:98.58, Z:30.01 [[ 9.39614384e-01 3.35927945e-01 -6.54004984e-02 2.21327247e+02] [-3.35302481e-01 9.41884289e-01 2.06454074e-02 9.85751539e+01] [ 6.85350712e-02 2.53022760e-03 9.97645499e-01 3.00054114e+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:221.36, Y:98.57, Z:30.01 [[ 9.38825973e-01 3.38143799e-01 -6.53036246e-02 2.21358909e+02] [-3.37502044e-01 9.41091482e-01 2.09569288e-02 9.85650307e+01] [ 6.85431404e-02 2.36519779e-03 9.97645350e-01 3.00059913e+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:221.39, Y:98.55, Z:30.00 [[ 9.38036092e-01 3.40331979e-01 -6.52873229e-02 2.21388506e+02] [-3.39691870e-01 9.40302102e-01 2.10093138e-02 9.85529425e+01] [ 6.85399483e-02 2.47007815e-03 9.97645315e-01 3.00044972e+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:221.42, Y:98.54, Z:30.01 [[ 9.38270328e-01 3.39695452e-01 -6.52364199e-02 2.21419373e+02] [-3.39042463e-01 9.40532789e-01 2.11726510e-02 9.85420383e+01] [ 6.85492452e-02 2.25224631e-03 9.97645192e-01 3.00081568e+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:221.45, Y:98.53, Z:30.01 [[ 9.37810257e-01 3.40975008e-01 -6.51764220e-02 2.21447705e+02] [-3.40311737e-01 9.40069917e-01 2.13652401e-02 9.85293948e+01] [ 6.85554065e-02 2.14376001e-03 9.97645007e-01 3.00096482e+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:221.48, Y:98.52, Z:30.01 [[ 9.37985197e-01 3.40469546e-01 -6.53012981e-02 2.21478646e+02] [-3.39832886e-01 9.40252148e-01 2.09644355e-02 9.85186369e+01] [ 6.85374376e-02 2.52719848e-03 9.97645344e-01 3.00073855e+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:221.51, Y:98.51, Z:30.01 [[ 9.38782383e-01 3.38262944e-01 -6.53132266e-02 2.21508454e+02] [-3.37623614e-01 9.41048559e-01 2.09261649e-02 9.85061369e+01] [ 6.85414640e-02 2.40617268e-03 9.97645367e-01 3.00061772e+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:221.54, Y:98.49, Z:30.01 [[ 9.40999883e-01 3.32042647e-01 -6.53215118e-02 2.21539142e+02] [-3.31390179e-01 9.43262296e-01 2.08995451e-02 9.84912617e+01] [ 6.85548595e-02 1.98043801e-03 9.97645382e-01 3.00094354e+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:221.57, Y:98.48, Z:30.01 [[ 9.42336498e-01 3.28253872e-01 -6.52021528e-02 2.21565782e+02] [-3.27565808e-01 9.44588640e-01 2.12824567e-02 9.84793806e+01] [ 6.85752617e-02 1.30276011e-03 9.97645095e-01 3.00108049e+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:221.60, Y:98.46, Z:30.01 [[ 9.46277894e-01 3.16679532e-01 -6.53622363e-02 2.21596223e+02] [-3.15999446e-01 9.48532060e-01 2.07673168e-02 9.84609462e+01] [ 6.85747608e-02 1.00277763e-03 9.97645476e-01 3.00116060e+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:221.62, Y:98.45, Z:30.01 [[ 9.48891097e-01 3.08810600e-01 -6.51283356e-02 2.21624335e+02] [-3.08060168e-01 9.51123487e-01 2.15184987e-02 9.84519480e+01] [ 6.85902301e-02 -3.55265805e-04 9.97644854e-01 3.00149418e+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:221.65, Y:98.44, Z:30.01 [[ 9.52103566e-01 2.98741967e-01 -6.52076396e-02 2.21653419e+02] [-2.97985283e-01 9.54333575e-01 2.12649717e-02 9.84397448e+01] [ 6.85825792e-02 -8.15538415e-04 9.97645110e-01 3.00101291e+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:221.68, Y:98.43, Z:30.02 [[ 9.54033918e-01 2.92522991e-01 -6.51888329e-02 2.21684530e+02] [-2.91747638e-01 9.56257570e-01 2.13254712e-02 9.84313958e+01] [ 6.85755055e-02 -1.32653482e-03 9.97645047e-01 3.00193339e+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:221.72, Y:98.42, Z:30.03 [[ 9.55260932e-01 2.88465731e-01 -6.52998798e-02 2.21715318e+02] [-2.87705367e-01 9.57489414e-01 2.09676703e-02 9.84208947e+01] [ 6.85723980e-02 -1.24247039e-03 9.97645369e-01 3.00272023e+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:221.75, Y:98.42, Z:30.03 [[ 9.56157057e-01 2.85517899e-01 -6.51399375e-02 2.21746095e+02] [-2.84715605e-01 9.58371303e-01 2.14818315e-02 9.84169917e+01] [ 6.85616942e-02 -1.99364808e-03 9.97644886e-01 3.00314764e+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:221.78, Y:98.41, Z:30.04 [[ 9.54761370e-01 2.90110235e-01 -6.53205800e-02 2.21777700e+02] [-2.89358278e-01 9.56992654e-01 2.09008841e-02 9.84106215e+01] [ 6.85748756e-02 -1.05430621e-03 9.97645415e-01 3.00377680e+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:221.81, Y:98.41, Z:30.04 [[ 9.54651800e-01 2.90498363e-01 -6.51969524e-02 2.21807393e+02] [-2.89720190e-01 9.56874401e-01 2.12977227e-02 9.84052987e+01] [ 6.85722484e-02 -1.44303589e-03 9.97645109e-01 3.00365372e+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:221.84, Y:98.40, Z:30.04 [[ 9.54164809e-01 2.92060770e-01 -6.53454219e-02 2.21841291e+02] [-2.91318996e-01 9.56399405e-01 2.08187749e-02 9.83989063e+01] [ 6.85766700e-02 -8.28179653e-04 9.97645505e-01 3.00413211e+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:221.87, Y:98.39, Z:30.03 [[ 9.55534272e-01 2.87566318e-01 -6.52676619e-02 2.21869158e+02] [-2.86796903e-01 9.57759685e-01 2.10694918e-02 9.83949688e+01] [ 6.85696115e-02 -1.41405822e-03 9.97645332e-01 3.00281481e+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:221.89, Y:98.39, Z:30.03 [[ 9.54376774e-01 2.91331430e-01 -6.55055140e-02 2.21893722e+02] [-2.90623364e-01 9.56622122e-01 2.03021286e-02 9.83909229e+01] [ 6.85786720e-02 -3.38447073e-04 9.97645654e-01 3.00347083e+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:221.93, Y:98.38, Z:30.03 [[ 9.53307978e-01 2.94713347e-01 -6.59389199e-02 2.21927041e+02] [-2.94109561e-01 9.55584723e-01 1.89050972e-02 9.83827625e+01] [ 6.85818090e-02 1.37088682e-03 9.97644554e-01 3.00306373e+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:221.96, Y:98.37, Z:30.03 [[ 9.52456019e-01 2.97476228e-01 -6.58439552e-02 2.21958524e+02] [-2.96857902e-01 9.54728408e-01 1.92107302e-02 9.83716370e+01] [ 6.85778301e-02 1.24892278e-03 9.97644988e-01 3.00335169e+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:221.99, Y:98.36, Z:30.03 [[ 9.52182626e-01 2.98389656e-01 -6.56647565e-02 2.21987013e+02] [-2.97733870e-01 9.54443873e-01 1.97847366e-02 9.83640165e+01] [ 6.85768852e-02 7.11939622e-04 9.97645580e-01 3.00320841e+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:222.02, Y:98.35, Z:30.04 [[ 9.50334718e-01 3.04181852e-01 -6.58583742e-02 2.22022327e+02] [-3.03582743e-01 9.52612319e-01 1.91647606e-02 9.83523475e+01] [ 6.85670710e-02 1.78052849e-03 9.97644920e-01 3.00411093e+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:222.05, Y:98.35, Z:30.05 [[ 9.49361428e-01 3.07294451e-01 -6.54446356e-02 2.22052279e+02] [-3.06611497e-01 9.51614280e-01 2.04853917e-02 9.83465735e+01] [ 6.85730970e-02 6.18037009e-04 9.97645903e-01 3.00483370e+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:222.08, Y:98.34, Z:30.05 [[ 9.49283838e-01 3.07530630e-01 -6.54607240e-02 2.22083115e+02] [-3.06851775e-01 9.51537932e-01 2.04340744e-02 9.83367137e+01] [ 6.85724657e-02 6.89002805e-04 9.97645900e-01 3.00505487e+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:222.11, Y:98.33, Z:30.05 [[ 9.48576790e-01 3.09705624e-01 -6.54560958e-02 2.22112883e+02] [-3.09030919e-01 9.50832129e-01 2.04488248e-02 9.83300081e+01] [ 6.85708749e-02 8.30676876e-04 9.97645902e-01 3.00545400e+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:222.14, Y:98.33, Z:30.06 [[ 9.47317666e-01 3.13523863e-01 -6.55135602e-02 2.22144630e+02] [-3.12870901e-01 9.49579433e-01 2.02657359e-02 9.83256537e+01] [ 6.85641212e-02 1.29919697e-03 9.97645866e-01 3.00560982e+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:222.17, Y:98.32, Z:30.06 [[ 9.46185735e-01 3.16925924e-01 -6.55020171e-02 2.22171525e+02] [-3.16278554e-01 9.48449096e-01 2.03024385e-02 9.83186584e+01] [ 6.85596979e-02 1.50700555e-03 9.97645877e-01 3.00639479e+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:222.21, Y:98.31, Z:30.07 [[ 9.43559891e-01 3.24613812e-01 -6.57313171e-02 2.22205623e+02] [-3.24035893e-01 9.45842393e-01 1.95680325e-02 9.83099852e+01] [ 6.85235199e-02 2.83569550e-03 9.97645471e-01 3.00731172e+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:222.23, Y:98.30, Z:30.04 [[ 9.40967124e-01 3.32128939e-01 -6.53547229e-02 2.22232556e+02] [-3.31485625e-01 9.43231612e-01 2.07703329e-02 9.83030736e+01] [ 6.85430693e-02 2.11995079e-03 9.97645906e-01 3.00375968e+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:222.26, Y:98.30, Z:30.06 [[ 9.39705714e-01 3.35600940e-01 -6.57661006e-02 2.22263301e+02] [-3.35056623e-01 9.41996826e-01 1.94689583e-02 9.83010946e+01] [ 6.84852587e-02 3.74027625e-03 9.97645117e-01 3.00648566e+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:222.30, Y:98.29, Z:30.07 [[ 9.35908957e-01 3.46067513e-01 -6.56635371e-02 2.22296964e+02] [-3.45526248e-01 9.38200364e-01 1.97911432e-02 9.82930378e+01] [ 6.84546261e-02 4.16576741e-03 9.97645534e-01 3.00675977e+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:222.33, Y:98.28, Z:30.07 [[ 9.33815093e-01 3.51710973e-01 -6.54886533e-02 2.22327532e+02] [-3.51145074e-01 9.36100091e-01 2.03410010e-02 9.82805067e+01] [ 6.84580876e-02 4.00128421e-03 9.97645969e-01 3.00724815e+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:222.36, Y:98.27, Z:30.07 [[ 9.32950656e-01 3.54031090e-01 -6.53074306e-02 2.22357880e+02] [-3.53431162e-01 9.35226824e-01 2.09093857e-02 9.82698955e+01] [ 6.84798335e-02 3.57425599e-03 9.97646098e-01 3.00743977e+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:222.39, Y:98.26, Z:30.07 [[ 9.33887273e-01 3.51547037e-01 -6.53394360e-02 2.22388685e+02] [-3.50948048e-01 9.36163687e-01 2.08091084e-02 9.82600464e+01] [ 6.84837877e-02 3.49738600e-03 9.97646099e-01 3.00747598e+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:222.42, Y:98.25, Z:30.06 [[ 9.37720320e-01 3.41201059e-01 -6.52873536e-02 2.22421229e+02] [-3.40565586e-01 9.39986830e-01 2.09723851e-02 9.82499205e+01] [ 6.85250526e-02 2.56839414e-03 9.97646090e-01 3.00634099e+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:222.45, Y:98.23, Z:30.08 [[ 9.38560132e-01 3.38899698e-01 -6.52063936e-02 2.22449769e+02] [-3.38241041e-01 9.40820091e-01 2.12262593e-02 9.82340632e+01] [ 6.85410580e-02 2.13335770e-03 9.97646015e-01 3.00776034e+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:222.48, Y:98.22, Z:30.08 [[ 9.40441221e-01 3.33652023e-01 -6.51662235e-02 2.22475928e+02] [-3.32972034e-01 9.42694919e-01 2.13521714e-02 9.82176964e+01] [ 6.85560629e-02 1.61806780e-03 9.97645953e-01 3.00771431e+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:222.51, Y:98.20, Z:30.08 [[ 9.41394893e-01 3.30931092e-01 -6.52707281e-02 2.22507073e+02] [-3.30267243e-01 9.43653274e-01 2.10249303e-02 9.82027235e+01] [ 6.85507394e-02 1.76402144e-03 9.97646072e-01 3.00793163e+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:222.54, Y:98.19, Z:30.08 [[ 9.43045147e-01 3.26217918e-01 -6.51745340e-02 2.22538838e+02] [-3.25521983e-01 9.45293949e-01 2.13257781e-02 9.81914809e+01] [ 6.85659436e-02 1.10457199e-03 9.97645975e-01 3.00807455e+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:222.57, Y:98.18, Z:30.09 [[ 9.45130016e-01 3.20148979e-01 -6.50683118e-02 2.22566363e+02] [-3.19415845e-01 9.47367158e-01 2.16560940e-02 9.81789499e+01] [ 6.85767580e-02 3.16025375e-04 9.97645793e-01 3.00881961e+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:222.59, Y:98.17, Z:30.08 [[ 9.47329393e-01 3.13555870e-01 -6.51900172e-02 2.22594933e+02] [-3.12833179e-01 9.49569724e-01 2.12777189e-02 9.81719918e+01] [ 6.85742203e-02 2.36591774e-04 9.97645990e-01 3.00776800e+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:222.63, Y:98.16, Z:30.09 [[ 9.47613976e-01 3.12675146e-01 -6.52840403e-02 2.22626661e+02] [-3.11970509e-01 9.49860001e-01 2.09852281e-02 9.81598024e+01] [ 6.85722579e-02 4.80799811e-04 9.97646037e-01 3.00914008e+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:222.66, Y:98.15, Z:30.09 [[ 9.47166174e-01 3.14066985e-01 -6.51012179e-02 2.22658198e+02] [-3.13326525e-01 9.49400826e-01 2.15536516e-02 9.81466426e+01] [ 6.85764404e-02 -1.69512858e-05 9.97645865e-01 3.00939945e+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:222.69, Y:98.14, Z:30.10 [[ 9.46844352e-01 3.15055877e-01 -6.50043720e-02 2.22688697e+02] [-3.14297098e-01 9.49073088e-01 2.18542550e-02 9.81380542e+01] [ 6.85792115e-02 -2.61892430e-04 9.97645640e-01 3.00953228e+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:222.72, Y:98.13, Z:30.10 [[ 9.48252484e-01 3.10797949e-01 -6.49758497e-02 2.22718435e+02] [-3.10023100e-01 9.50475773e-01 2.19427078e-02 9.81345152e+01] [ 6.85777195e-02 -6.63212807e-04 9.97645557e-01 3.00959549e+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:222.75, Y:98.13, Z:30.10 [[ 9.49443709e-01 3.07084723e-01 -6.52350892e-02 2.22746049e+02] [-3.06356373e-01 9.51682177e-01 2.11378012e-02 9.81285347e+01] [ 6.85741675e-02 -8.39670850e-05 9.97646018e-01 3.00969560e+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:222.78, Y:98.12, Z:30.10 [[ 9.50787524e-01 3.02846908e-01 -6.54739239e-02 2.22783639e+02] [-3.02159777e-01 9.53039136e-01 2.03929977e-02 9.81172119e+01] [ 6.85751682e-02 3.94178412e-04 9.97645875e-01 3.01047473e+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:222.81, Y:98.11, Z:30.11 [[ 9.53235606e-01 2.95155147e-01 -6.50024448e-02 2.22812742e+02] [-2.94349017e-01 9.55447808e-01 2.18664793e-02 9.81109239e+01] [ 6.85604473e-02 -1.71050096e-03 9.97645498e-01 3.01062820e+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:222.84, Y:98.10, Z:30.11 [[ 9.52708634e-01 2.96788093e-01 -6.52923222e-02 2.22841883e+02] [-2.96047785e-01 9.54943150e-01 2.09592066e-02 9.80986300e+01] [ 6.85708988e-02 -6.38369693e-04 9.97646042e-01 3.01055131e+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:222.88, Y:98.09, Z:30.11 [[ 9.55288247e-01 2.88371335e-01 -6.53172209e-02 2.22879029e+02] [-2.87616665e-01 9.57517950e-01 2.08813236e-02 9.80930183e+01] [ 6.85639866e-02 -1.16136178e-03 9.97646045e-01 3.01136796e+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:222.91, Y:98.09, Z:30.12 [[ 9.56182158e-01 2.85499329e-01 -6.48522449e-02 2.22909482e+02] [-2.84639404e-01 9.58374545e-01 2.23302970e-02 9.80866648e+01] [ 6.85280255e-02 -2.89232724e-03 9.97644999e-01 3.01231205e+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:222.94, Y:98.08, Z:30.13 [[ 9.56392749e-01 2.84777486e-01 -6.49206726e-02 2.22939848e+02] [-2.83930377e-01 9.58589792e-01 2.21168006e-02 9.80814298e+01] [ 6.85306609e-02 -2.71939665e-03 9.97645304e-01 3.01257289e+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:222.97, Y:98.08, Z:30.13 [[ 9.55796122e-01 2.86753190e-01 -6.50106182e-02 2.22970171e+02] [-2.85929824e-01 9.58001778e-01 2.18341063e-02 9.80824890e+01] [ 6.85412874e-02 -2.28047953e-03 9.97645674e-01 3.01263539e+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:223.00, Y:98.08, Z:30.13 [[ 9.54595263e-01 2.90656630e-01 -6.53192759e-02 2.23002064e+02] [-2.89908582e-01 9.56826926e-01 2.08626223e-02 9.80763516e+01] [ 6.85631014e-02 -9.78741762e-04 9.97646302e-01 3.01321195e+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:223.03, Y:98.07, Z:30.13 [[ 9.49995869e-01 3.05370919e-01 -6.52414801e-02 2.23031196e+02] [-3.04640618e-01 9.52233464e-01 2.11074339e-02 9.80733871e+01] [ 6.85707171e-02 -1.76770203e-04 9.97646243e-01 3.01321922e+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:223.06, Y:98.07, Z:30.13 [[ 9.47434305e-01 3.13186314e-01 -6.54413504e-02 2.23063055e+02] [-3.12517847e-01 9.49691124e-01 2.04783860e-02 9.80685543e+01] [ 6.85626199e-02 1.04966451e-03 9.97646263e-01 3.01310925e+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:223.10, Y:98.07, Z:30.13 [[ 9.42413866e-01 3.27980561e-01 -6.54588256e-02 2.23095970e+02] [-3.27351321e-01 9.44681955e-01 2.04234273e-02 9.80692236e+01] [ 6.85362585e-02 2.18071196e-03 9.97646243e-01 3.01262689e+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:223.13, Y:98.07, Z:30.12 [[ 9.41779838e-01 3.29793183e-01 -6.54766678e-02 2.23127693e+02] [-3.29172199e-01 9.44050228e-01 2.03673958e-02 9.80674888e+01] [ 6.85302914e-02 2.37149600e-03 9.97646217e-01 3.01198248e+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:223.16, Y:98.06, Z:30.13 [[ 9.37675032e-01 3.41266644e-01 -6.55943039e-02 2.23159195e+02] [-3.40699162e-01 9.39959652e-01 1.99983654e-02 9.80585265e+01] [ 6.84807741e-02 3.59595645e-03 9.97645956e-01 3.01260287e+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:223.19, Y:98.04, Z:30.13 [[ 9.35849950e-01 3.46255386e-01 -6.55139626e-02 2.23191720e+02] [-3.45682455e-01 9.38133014e-01 2.02506666e-02 9.80444516e+01] [ 6.84727136e-02 3.69544211e-03 9.97646145e-01 3.01297817e+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:223.22, Y:98.04, Z:30.13 [[ 9.37391694e-01 3.42141898e-01 -6.50825078e-02 2.23217475e+02] [-3.41465044e-01 9.39646221e-01 2.16009778e-02 9.80388970e+01] [ 6.85451321e-02 1.97482419e-03 9.97646062e-01 3.01345118e+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:223.25, Y:98.03, Z:30.13 [[ 9.39119563e-01 3.37306129e-01 -6.54142297e-02 2.23248068e+02] [-3.36689672e-01 9.41391107e-01 2.05633102e-02 9.80309655e+01] [ 6.85165047e-02 2.71288861e-03 9.97646294e-01 3.01300918e+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:223.28, Y:98.02, Z:30.13 [[ 9.38162664e-01 3.39974762e-01 -6.53297630e-02 2.23277996e+02] [-3.39346401e-01 9.40430882e-01 2.08272955e-02 9.80185006e+01] [ 6.85188815e-02 2.63002893e-03 9.97646353e-01 3.01314533e+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:223.30, Y:98.00, Z:30.12 [[ 9.37439847e-01 3.41967669e-01 -6.53042683e-02 2.23303626e+02] [-3.41338592e-01 9.39707863e-01 2.09069027e-02 9.80031047e+01] [ 6.85164192e-02 2.69190334e-03 9.97646357e-01 3.01233893e+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:223.33, Y:97.99, Z:30.13 [[ 9.40074699e-01 3.34614154e-01 -6.55204387e-02 2.23334315e+02] [-3.34014206e-01 9.42350869e-01 2.02323907e-02 9.79933392e+01] [ 6.85132867e-02 2.86479865e-03 9.97646091e-01 3.01293425e+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:223.37, Y:97.97, Z:30.13 [[ 9.40615720e-01 3.33113966e-01 -6.53999443e-02 2.23367856e+02] [-3.32484201e-01 9.42883620e-01 2.06091308e-02 9.79714941e+01] [ 6.85297255e-02 2.35917574e-03 9.97646286e-01 3.01327481e+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:223.39, Y:97.96, Z:30.13 [[ 9.41207973e-01 3.31601666e-01 -6.45591769e-02 2.23388320e+02] [-3.30787755e-01 9.43419356e-01 2.32245501e-02 9.79621414e+01] [ 6.86076766e-02 -5.03746539e-04 9.97643590e-01 3.01297627e+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:223.42, Y:97.95, Z:30.13 [[ 9.45907550e-01 3.17796767e-01 -6.53002417e-02 2.23424002e+02] [-3.17109403e-01 9.48158402e-01 2.09110434e-02 9.79511973e+01] [ 6.85604348e-02 9.27406800e-04 9.97646534e-01 3.01271361e+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:223.45, Y:97.95, Z:30.14 [[ 9.48207310e-01 3.10967344e-01 -6.48244384e-02 2.23453353e+02] [-3.10161892e-01 9.50419926e-01 2.23956656e-02 9.79459668e+01] [ 6.85747585e-02 -1.12966339e-03 9.97645341e-01 3.01354845e+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:223.48, Y:97.93, Z:30.14 [[ 9.48094069e-01 3.11281553e-01 -6.49725451e-02 2.23481864e+02] [-3.10508504e-01 9.50317531e-01 2.19330602e-02 9.79326635e+01] [ 6.85719057e-02 -6.20076578e-04 9.97645984e-01 3.01441618e+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:223.51, Y:97.92, Z:30.15 [[ 9.48000586e-01 3.11568419e-01 -6.49615893e-02 2.23509132e+02] [-3.10793684e-01 9.50223509e-01 2.19674752e-02 9.79207442e+01] [ 6.85724008e-02 -6.35527728e-04 9.97645940e-01 3.01500673e+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:223.54, Y:97.91, Z:30.15 [[ 9.49886790e-01 3.05715040e-01 -6.52181054e-02 2.23541837e+02] [-3.04981885e-01 9.52123033e-01 2.11608036e-02 9.79140003e+01] [ 6.85648363e-02 -2.10027087e-04 9.97646640e-01 3.01456017e+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:223.57, Y:97.91, Z:30.16 [[ 9.51164780e-01 3.01735355e-01 -6.51255420e-02 2.23571116e+02] [-3.00972843e-01 9.53391383e-01 2.14527063e-02 9.79082976e+01] [ 6.85631705e-02 -8.04039178e-04 9.97646453e-01 3.01557930e+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:223.60, Y:97.90, Z:30.15 [[ 9.50719042e-01 3.03111110e-01 -6.52453710e-02 2.23599577e+02] [-3.02377745e-01 9.52955172e-01 2.10746047e-02 9.78987536e+01] [ 6.85638606e-02 -3.07279880e-04 9.97646682e-01 3.01544028e+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:223.63, Y:97.90, Z:30.16 [[ 9.54965018e-01 2.89463691e-01 -6.52118476e-02 2.23626716e+02] [-2.88691148e-01 9.57187970e-01 2.11804408e-02 9.78961206e+01] [ 6.85509646e-02 -1.40049689e-03 9.97646633e-01 3.01590066e+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:223.66, Y:97.88, Z:30.17 [[ 9.55430927e-01 2.87826921e-01 -6.56308388e-02 2.23662837e+02] [-2.87141199e-01 9.57682436e-01 1.98565915e-02 9.78824275e+01] [ 6.85687631e-02 -1.26283910e-04 9.97646385e-01 3.01656037e+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:223.70, Y:97.88, Z:30.16 [[ 9.60017188e-01 2.72286531e-01 -6.50157168e-02 2.23704615e+02] [-2.71432443e-01 9.62210630e-01 2.17975511e-02 9.78818627e+01] [ 6.84939934e-02 -3.27864883e-03 9.97646141e-01 3.01591546e+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:223.72, Y:97.88, Z:30.17 [[ 9.61921419e-01 2.65712080e-01 -6.40646044e-02 2.23723881e+02] [-2.64644430e-01 9.64027952e-01 2.47675954e-02 9.78768263e+01] [ 6.83411187e-02 -6.87013977e-03 9.97638358e-01 3.01711162e+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:223.75, Y:97.87, Z:30.18 [[ 9.60487129e-01 2.70659831e-01 -6.48670178e-02 2.23750598e+02] [-2.69770796e-01 9.62667226e-01 2.22604835e-02 9.78669945e+01] [ 6.84703708e-02 -3.88168089e-03 9.97645599e-01 3.01753930e+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:223.79, Y:97.86, Z:30.18 [[ 9.62194690e-01 2.64462504e-01 -6.51226711e-02 2.23786592e+02] [-2.63613495e-01 9.64389691e-01 2.14580750e-02 9.78631048e+01] [ 6.84784889e-02 -3.47963090e-03 9.97646525e-01 3.01765648e+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:223.82, Y:97.86, Z:30.18 [[ 9.62920721e-01 2.61864243e-01 -6.48907035e-02 2.23815799e+02] [-2.60960291e-01 9.65094553e-01 2.21862760e-02 9.78590271e+01] [ 6.84354568e-02 -4.42972800e-03 9.97645712e-01 3.01755246e+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:223.86, Y:97.86, Z:30.16 [[ 9.65163766e-01 2.53411563e-01 -6.51266833e-02 2.23859574e+02] [-2.52538502e-01 9.67349229e-01 2.14423362e-02 9.78577137e+01] [ 6.84339828e-02 -4.24837087e-03 9.97646601e-01 3.01612680e+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:223.87, Y:97.85, Z:30.17 [[ 9.62210824e-01 2.64581031e-01 -6.43988213e-02 2.23873677e+02] [-2.63579885e-01 9.64345662e-01 2.37294889e-02 9.78470826e+01] [ 6.83810965e-02 -5.85853714e-03 9.97642072e-01 3.01716139e+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:223.91, Y:97.85, Z:30.17 [[ 9.64650570e-01 2.55297164e-01 -6.53653972e-02 2.23914131e+02] [-2.54480160e-01 9.66856972e-01 2.06747197e-02 9.78495778e+01] [ 6.84771873e-02 -3.30968334e-03 9.97647193e-01 3.01738529e+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:223.94, Y:97.85, Z:30.17 [[ 9.64032686e-01 2.57734105e-01 -6.49161940e-02 2.23938789e+02] [-2.56826813e-01 9.66204787e-01 2.20974771e-02 9.78478290e+01] [ 6.84176108e-02 -4.63047097e-03 9.97646024e-01 3.01737645e+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:223.97, Y:97.85, Z:30.18 [[ 9.65186919e-01 2.53216254e-01 -6.55419017e-02 2.23974491e+02] [-2.52432669e-01 9.67405457e-01 2.01104334e-02 9.78495539e+01] [ 6.84978820e-02 -2.86541010e-03 9.97647147e-01 3.01765305e+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:224.00, Y:97.85, Z:30.18 [[ 9.65041771e-01 2.53877090e-01 -6.51214608e-02 2.24003963e+02] [-2.53005067e-01 9.67227294e-01 2.14428890e-02 9.78527703e+01] [ 6.84311125e-02 -4.21722401e-03 9.97646930e-01 3.01785002e+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:224.03, Y:97.84, Z:30.18 [[ 9.65038995e-01 2.53820365e-01 -6.53831773e-02 2.24033502e+02] [-2.53004173e-01 9.67245574e-01 2.06128193e-02 9.78435832e+01] [ 6.84735421e-02 -3.34995774e-03 9.97647308e-01 3.01805109e+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:224.07, Y:97.84, Z:30.18 [[ 9.67042822e-01 2.46075641e-01 -6.53831773e-02 2.24069797e+02] [-2.45241786e-01 9.69242786e-01 2.06128193e-02 9.78426397e+01] [ 6.84444856e-02 -3.89879180e-03 9.97647308e-01 3.01822999e+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:224.09, Y:97.85, Z:30.18 [[ 9.66360634e-01 2.48883442e-01 -6.48394732e-02 2.24094390e+02] [-2.47940514e-01 9.68517794e-01 2.23334592e-02 9.78462966e+01] [ 6.83566118e-02 -5.50584350e-03 9.97645758e-01 3.01849940e+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:224.12, Y:97.84, Z:30.19 [[ 9.66459586e-01 2.48354292e-01 -6.53912468e-02 2.24124129e+02] [-2.47527799e-01 9.68662183e-01 2.05806884e-02 9.78445944e+01] [ 6.84533302e-02 -3.70425218e-03 9.97647443e-01 3.01863790e+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:224.17, Y:97.85, Z:30.18 [[ 9.67754392e-01 2.43259464e-01 -6.53931956e-02 2.24165515e+02] [-2.42421795e-01 9.69952763e-01 2.05744944e-02 9.78510737e+01] [ 6.84332513e-02 -4.05832143e-03 9.97647443e-01 3.01838111e+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:224.19, Y:97.86, Z:30.19 [[ 9.65307464e-01 2.52952917e-01 -6.47790170e-02 2.24188260e+02] [-2.52005195e-01 9.67463328e-01 2.25408750e-02 9.78560542e+01] [ 6.83731034e-02 -5.43422611e-03 9.97645021e-01 3.01887850e+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:224.22, Y:97.85, Z:30.19 [[ 9.64353299e-01 2.56384828e-01 -6.54945354e-02 2.24218388e+02] [-2.55599804e-01 9.66570797e-01 2.02394404e-02 9.78544365e+01] [ 6.84941908e-02 -2.77758073e-03 9.97647649e-01 3.01913595e+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:224.25, Y:97.85, Z:30.19 [[ 9.63763909e-01 2.58599787e-01 -6.54620378e-02 2.24250631e+02] [-2.57812769e-01 9.65980692e-01 2.03439961e-02 9.78522986e+01] [ 6.84960177e-02 -2.72985999e-03 9.97647655e-01 3.01913594e+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:224.28, Y:97.85, Z:30.20 [[ 9.60797514e-01 2.69470756e-01 -6.52200027e-02 2.24278460e+02] [-2.68655885e-01 9.63004579e-01 2.11233582e-02 9.78547287e+01] [ 6.84992886e-02 -2.77353255e-03 9.97647310e-01 3.01970375e+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:224.31, Y:97.86, Z:30.20 [[ 9.59306603e-01 2.74683215e-01 -6.54215041e-02 2.24310356e+02] [-2.73924557e-01 9.61533241e-01 2.04734795e-02 9.78576950e+01] [ 6.85286720e-02 -1.71978761e-03 9.97647665e-01 3.01994107e+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:224.34, Y:97.86, Z:30.20 [[ 9.58575800e-01 2.77246178e-01 -6.53222194e-02 2.24337481e+02] [-2.76471642e-01 9.60797091e-01 2.07937858e-02 9.78557727e+01] [ 6.85263960e-02 -1.87267859e-03 9.97647546e-01 3.02010270e+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:224.37, Y:97.86, Z:30.20 [[ 9.58795611e-01 2.76451883e-01 -6.54624516e-02 2.24368452e+02] [-2.75706390e-01 9.61026660e-01 2.03407191e-02 9.78577539e+01] [ 6.85343913e-02 -1.45417600e-03 9.97647695e-01 3.02044945e+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:224.40, Y:97.85, Z:30.20 [[ 9.58866820e-01 2.76201456e-01 -6.54765409e-02 2.24396867e+02] [-2.75458489e-01 9.61098708e-01 2.02951674e-02 9.78523214e+01] [ 6.85349737e-02 -1.42429357e-03 9.97647698e-01 3.02044914e+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:224.43, Y:97.85, Z:30.21 [[ 9.59088279e-01 2.75433002e-01 -6.54701061e-02 2.24425291e+02] [-2.74686826e-01 9.61319098e-01 2.03159871e-02 9.78476295e+01] [ 6.85333567e-02 -1.50104944e-03 9.97647696e-01 3.02080015e+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:224.45, Y:97.85, Z:30.21 [[ 9.57806008e-01 2.79861342e-01 -6.54620465e-02 2.24454254e+02] [-2.79123699e-01 9.60039666e-01 2.03420782e-02 9.78456631e+01] [ 6.85391226e-02 -1.21175613e-03 9.97647694e-01 3.02072784e+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:224.48, Y:97.84, Z:30.21 [[ 9.56146482e-01 2.85475511e-01 -6.54800589e-02 2.24483249e+02] [-2.84754980e-01 9.58385712e-01 2.02836997e-02 9.78412831e+01] [ 6.85456524e-02 -7.48415278e-04 9.97647700e-01 3.02065388e+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:224.51, Y:97.84, Z:30.20 [[ 9.51513107e-01 3.00551951e-01 -6.55082534e-02 2.24513887e+02] [-2.99873197e-01 9.53765348e-01 2.01922398e-02 9.78407208e+01] [ 6.85483192e-02 4.30988591e-04 9.97647704e-01 3.02037686e+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:224.54, Y:97.84, Z:30.20 [[ 9.49167683e-01 3.07871998e-01 -6.55403872e-02 2.24541090e+02] [-3.07217812e-01 9.51427187e-01 2.00879239e-02 9.78359820e+01] [ 6.85414155e-02 1.06836614e-03 9.97647700e-01 3.02045738e+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:224.57, Y:97.83, Z:30.21 [[ 9.46875654e-01 3.14842972e-01 -6.55774283e-02 2.24569434e+02] [-3.14213747e-01 9.49142254e-01 1.99675624e-02 9.78292594e+01] [ 6.85289548e-02 1.69853076e-03 9.97647682e-01 3.02069083e+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:224.59, Y:97.82, Z:30.21 [[ 9.44247046e-01 3.22638358e-01 -6.55896848e-02 2.24594991e+02] [-3.22030606e-01 9.46519506e-01 1.99277005e-02 9.78230619e+01] [ 6.85113566e-02 2.30521362e-03 9.97647673e-01 3.02122404e+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:224.62, Y:97.81, Z:30.21 [[ 9.43617739e-01 3.24469576e-01 -6.56129264e-02 2.24622892e+02] [-3.23871487e-01 9.45892783e-01 1.98520319e-02 9.78135270e+01] [ 6.85041739e-02 2.51742661e-03 9.97647654e-01 3.02125383e+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:224.65, Y:97.80, Z:30.21 [[ 9.43591879e-01 3.24557665e-01 -6.55491224e-02 2.24647821e+02] [-3.23945364e-01 9.45863100e-01 2.00598337e-02 9.78031492e+01] [ 6.85110690e-02 2.30603813e-03 9.97647691e-01 3.02137981e+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:224.67, Y:97.79, Z:30.22 [[ 9.44595499e-01 3.21606619e-01 -6.56393679e-02 2.24673784e+02] [-3.21007609e-01 9.46870331e-01 1.97659351e-02 9.77891770e+01] [ 6.85088255e-02 2.39992327e-03 9.97647624e-01 3.02167646e+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:224.70, Y:97.78, Z:30.22 [[ 9.45074868e-01 3.20196128e-01 -6.56348499e-02 2.24698453e+02] [-3.19592701e-01 9.47348527e-01 1.97806539e-02 9.77775208e+01] [ 6.85127672e-02 2.28222014e-03 9.97647629e-01 3.02173952e+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:224.72, Y:97.76, Z:30.23 [[ 9.45820406e-01 3.17966319e-01 -6.57356839e-02 2.24724634e+02] [-3.17380324e-01 9.48098805e-01 1.94521563e-02 9.77616652e+01] [ 6.85090539e-02 2.46496631e-03 9.97647450e-01 3.02273587e+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:224.75, Y:97.75, Z:30.22 [[ 9.47048158e-01 3.14320917e-01 -6.55907639e-02 2.24753704e+02] [-3.13693458e-01 9.49315253e-01 1.99239897e-02 9.77536177e+01] [ 6.85288393e-02 1.70641577e-03 9.97647676e-01 3.02181103e+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:224.77, Y:97.74, Z:30.23 [[ 9.43487357e-01 3.24865417e-01 -6.55291377e-02 2.24774914e+02] [-3.24249359e-01 9.45757554e-01 2.01246598e-02 9.77360141e+01] [ 6.85124829e-02 2.26041880e-03 9.97647698e-01 3.02270565e+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:224.80, Y:97.72, Z:30.23 [[ 9.42958173e-01 3.26363945e-01 -6.56997621e-02 2.24802397e+02] [-3.25790099e-01 9.45239580e-01 1.95690534e-02 9.77243032e+01] [ 6.84886490e-02 2.95153311e-03 9.97647530e-01 3.02308118e+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:224.83, Y:97.71, Z:30.23 [[ 9.41075144e-01 3.31784346e-01 -6.55493768e-02 2.24826703e+02] [-3.31189534e-01 9.43351009e-01 2.00590655e-02 9.77080044e+01] [ 6.84913547e-02 2.83217957e-03 9.97647690e-01 3.02299418e+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:224.85, Y:97.69, Z:30.23 [[ 9.39759577e-01 3.35480317e-01 -6.56116979e-02 2.24850075e+02] [-3.34908595e-01 9.42041387e-01 1.98559523e-02 9.76941074e+01] [ 6.84702160e-02 3.31410022e-03 9.97647656e-01 3.02310428e+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:224.88, Y:97.68, Z:30.23 [[ 9.38970778e-01 3.37663066e-01 -6.57079313e-02 2.24876689e+02] [-3.37118529e-01 9.41259369e-01 1.95421870e-02 9.76813275e+01] [ 6.84468807e-02 3.80181858e-03 9.97647518e-01 3.02325011e+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:224.90, Y:97.67, Z:30.24 [[ 9.39146262e-01 3.37181151e-01 -6.56747263e-02 2.24902009e+02] [-3.36627885e-01 9.41432698e-01 1.96504951e-02 9.76702232e+01] [ 6.84541113e-02 3.65325522e-03 9.97647577e-01 3.02359810e+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:224.93, Y:97.65, Z:30.23 [[ 9.38780478e-01 3.38192650e-01 -6.57034664e-02 2.24926171e+02] [-3.37648393e-01 9.41069126e-01 1.95566804e-02 9.76540314e+01] [ 6.84454293e-02 3.82524003e-03 9.97647528e-01 3.02328983e+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:224.95, Y:97.64, Z:30.23 [[ 9.39339536e-01 3.36633021e-01 -6.57224866e-02 2.24950180e+02] [-3.36089305e-01 9.41628348e-01 1.94944591e-02 9.76375372e+01] [ 6.84486352e-02 3.77670866e-03 9.97647493e-01 3.02302224e+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:224.98, Y:97.63, Z:30.23 [[ 9.39752719e-01 3.35467179e-01 -6.57768917e-02 2.24975491e+02] [-3.34933046e-01 9.42043911e-01 1.93164029e-02 9.76252075e+01] [ 6.84447396e-02 3.87821256e-03 9.97647371e-01 3.02304757e+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:225.00, Y:97.61, Z:30.23 [[ 9.41421695e-01 3.30753900e-01 -6.57803101e-02 2.25000559e+02] [-3.30209074e-01 9.43710378e-01 1.93052034e-02 9.76093204e+01] [ 6.84628326e-02 3.54691800e-03 9.97647363e-01 3.02294238e+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:225.03, Y:97.60, Z:30.23 [[ 9.42588378e-01 3.27396300e-01 -6.58696672e-02 2.25028144e+02] [-3.26863709e-01 9.44880223e-01 1.90126442e-02 9.75970255e+01] [ 6.84636152e-02 3.60930622e-03 9.97647085e-01 3.02304340e+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:225.05, Y:97.58, Z:30.23 [[ 9.44294870e-01 3.22465725e-01 -6.57499405e-02 2.25052323e+02] [-3.21894018e-01 9.46576873e-01 1.94027175e-02 9.75791705e+01] [ 6.84940844e-02 2.84262596e-03 9.97647473e-01 3.02336342e+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:225.08, Y:97.57, Z:30.24 [[ 9.46567955e-01 3.15726679e-01 -6.57705913e-02 2.25078242e+02] [-3.15143391e-01 9.48847082e-01 1.93354292e-02 9.75697387e+01] [ 6.85109444e-02 2.42486948e-03 9.97647418e-01 3.02395356e+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:225.10, Y:97.55, Z:30.24 [[ 9.50223986e-01 3.04543596e-01 -6.57843061e-02 2.25103638e+02] [-3.03936567e-01 9.52496945e-01 1.92907442e-02 9.75539912e+01] [ 6.85342232e-02 1.66372831e-03 9.97647379e-01 3.02445546e+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:225.13, Y:97.54, Z:30.25 [[ 9.52278433e-01 2.98070823e-01 -6.57234423e-02 2.25130538e+02] [-2.97434651e-01 9.54543244e-01 1.94890442e-02 9.75410595e+01] [ 6.85449833e-02 9.89432702e-04 9.97647536e-01 3.02510961e+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:225.16, Y:97.53, Z:30.26 [[ 9.56313997e-01 2.84874760e-01 -6.56498997e-02 2.25156552e+02] [-2.84190882e-01 9.58564722e-01 1.97285474e-02 9.75280558e+01] [ 6.85498431e-02 -2.09583090e-04 9.97647671e-01 3.02550167e+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:225.18, Y:97.52, Z:30.26 [[ 9.57869580e-01 2.79600256e-01 -6.56472733e-02 2.25182567e+02] [-2.78903399e-01 9.60116316e-01 1.97370969e-02 9.75173805e+01] [ 6.85475156e-02 -5.96317051e-04 9.97647675e-01 3.02639748e+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:225.21, Y:97.51, Z:30.27 [[ 9.57849854e-01 2.79675226e-01 -6.56157454e-02 2.25208697e+02] [-2.78971516e-01 9.60094412e-01 1.98396788e-02 9.75085328e+01] [ 6.85459772e-02 -6.98509454e-04 9.97647714e-01 3.02672420e+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:225.24, Y:97.50, Z:30.27 [[ 9.58189487e-01 2.78492200e-01 -6.56886680e-02 2.25237174e+02] [-2.77801969e-01 9.60438342e-01 1.96024742e-02 9.74997460e+01] [ 6.85490515e-02 -5.34443408e-04 9.97647604e-01 3.02700206e+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:225.26, Y:97.49, Z:30.27 [[ 9.58194242e-01 2.78499003e-01 -6.55903915e-02 2.25264119e+02] [-2.77786908e-01 9.60436125e-01 1.99219447e-02 9.74924086e+01] [ 6.85436232e-02 -8.68940692e-04 9.97647742e-01 3.02711776e+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:225.29, Y:97.49, Z:30.27 [[ 9.57247911e-01 2.81718683e-01 -6.56583589e-02 2.25293116e+02] [-2.81029269e-01 9.59496961e-01 1.97010635e-02 9.74850796e+01] [ 6.85491535e-02 -4.06881231e-04 9.97647657e-01 3.02690359e+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:225.32, Y:97.48, Z:30.28 [[ 9.57227629e-01 2.81821071e-01 -6.55145085e-02 2.25318746e+02] [-2.81099883e-01 9.59466567e-01 2.01683719e-02 9.74811983e+01] [ 6.85428527e-02 -8.89602131e-04 9.97647777e-01 3.02793202e+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:225.35, Y:97.48, Z:30.28 [[ 9.57774287e-01 2.79909771e-01 -6.57186108e-02 2.25347099e+02] [-2.79229678e-01 9.60026256e-01 1.95032172e-02 9.74757075e+01] [ 6.85507329e-02 -3.29093390e-04 9.97647577e-01 3.02816666e+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:225.37, Y:97.47, Z:30.28 [[ 9.58690566e-01 2.76765144e-01 -6.56768910e-02 2.25373687e+02] [-2.76068337e-01 9.60937339e-01 1.96393378e-02 9.74682471e+01] [ 6.85468611e-02 -6.96737778e-04 9.97647654e-01 3.02806694e+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:225.40, Y:97.46, Z:30.28 [[ 9.61752986e-01 2.65928934e-01 -6.56734136e-02 2.25403060e+02] [-2.65206042e-01 9.63991497e-01 1.96506908e-02 9.74623590e+01] [ 6.85342995e-02 -1.48212449e-03 9.97647660e-01 3.02766625e+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:225.43, Y:97.46, Z:30.27 [[ 9.63689716e-01 2.58856462e-01 -6.55397809e-02 2.25429997e+02] [-2.58087497e-01 9.65912712e-01 2.00867370e-02 9.74603819e+01] [ 6.85052892e-02 -2.44238386e-03 9.97647764e-01 3.02727152e+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:225.46, Y:97.45, Z:30.27 [[ 9.64112957e-01 2.57245094e-01 -6.56594907e-02 2.25457196e+02] [-2.56499022e-01 9.66343807e-01 1.96951477e-02 9.74541255e+01] [ 6.85161224e-02 -2.14675198e-03 9.97647700e-01 3.02719271e+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:225.49, Y:97.45, Z:30.28 [[ 9.65278807e-01 2.52840816e-01 -6.56379999e-02 2.25486863e+02] [-2.52079801e-01 9.67504577e-01 1.97653307e-02 9.74494637e+01] [ 6.85025477e-02 -2.53304090e-03 9.97647726e-01 3.02781173e+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:225.51, Y:97.44, Z:30.28 [[ 9.65343975e-01 2.52616258e-01 -6.55441490e-02 2.25514071e+02] [-2.51833939e-01 9.67562292e-01 2.00718113e-02 9.74435502e+01] [ 6.84885129e-02 -2.86996088e-03 9.97647777e-01 3.02787750e+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:225.54, Y:97.44, Z:30.28 [[ 9.65141197e-01 2.53373792e-01 -6.56063297e-02 2.25543915e+02] [-2.52606994e-01 9.67364948e-01 1.98686455e-02 9.74394143e+01] [ 6.84994578e-02 -2.60343058e-03 9.97647757e-01 3.02784417e+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:225.57, Y:97.43, Z:30.29 [[ 9.65149369e-01 2.53355204e-01 -6.55578811e-02 2.25571639e+02] [-2.52577625e-01 9.67369353e-01 2.00269517e-02 9.74341200e+01] [ 6.84926174e-02 -2.77054592e-03 9.97647776e-01 3.02850816e+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:225.60, Y:97.43, Z:30.29 [[ 9.64778038e-01 2.54767563e-01 -6.55501798e-02 2.25598855e+02] [-2.53991526e-01 9.66998561e-01 2.00521271e-02 9.74318866e+01] [ 6.84955611e-02 -2.69666161e-03 9.97647777e-01 3.02882776e+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:225.63, Y:97.43, Z:30.29 [[ 9.64863131e-01 2.54418430e-01 -6.56536401e-02 2.25626966e+02] [-2.53664588e-01 9.67091341e-01 1.97133366e-02 9.74269401e+01] [ 6.85085030e-02 -2.36666807e-03 9.97647725e-01 3.02884896e+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:225.66, Y:97.42, Z:30.29 [[ 9.64405432e-01 2.56150482e-01 -6.56436893e-02 2.25656339e+02] [-2.55398427e-01 9.66634234e-01 1.97459285e-02 9.74240384e+01] [ 6.85113664e-02 -2.27778570e-03 9.97647736e-01 3.02862036e+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:225.68, Y:97.42, Z:30.29 [[ 9.63698243e-01 2.58805887e-01 -6.56140951e-02 2.25684863e+02] [-2.58053375e-01 9.65926868e-01 1.98429283e-02 9.74241765e+01] [ 6.85138840e-02 -2.19065650e-03 9.97647758e-01 3.02919269e+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:225.71, Y:97.42, Z:30.30 [[ 9.62994555e-01 2.61416615e-01 -6.55960410e-02 2.25713474e+02] [-2.60666116e-01 9.65223850e-01 1.99021339e-02 9.74204932e+01] [ 6.85176117e-02 -2.06698139e-03 9.97647766e-01 3.02979120e+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:225.74, Y:97.42, Z:30.30 [[ 9.60108652e-01 2.71831520e-01 -6.55667648e-02 2.25741465e+02] [-2.71098650e-01 9.62343802e-01 1.99982251e-02 9.74202045e+01] [ 6.85339176e-02 -1.42540752e-03 9.97647769e-01 3.03040910e+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:225.77, Y:97.41, Z:30.31 [[ 9.60140479e-01 2.71717045e-01 -6.55752096e-02 2.25768542e+02] [-2.70985802e-01 9.62376161e-01 1.99704822e-02 9.74120846e+01] [ 6.85343389e-02 -1.40451752e-03 9.97647769e-01 3.03060321e+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:225.80, Y:97.41, Z:30.31 [[ 9.58623009e-01 2.77022492e-01 -6.55779416e-02 2.25799054e+02] [-2.76304237e-01 9.60862897e-01 1.99615030e-02 9.74063301e+01] [ 6.85411962e-02 -1.01609291e-03 9.97647770e-01 3.03112756e+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:225.83, Y:97.40, Z:30.31 [[ 9.54787786e-01 2.89999286e-01 -6.54270393e-02 2.25826999e+02] [-2.89277441e-01 9.57026670e-01 2.04576457e-02 9.74048439e+01] [ 6.85481242e-02 -6.06143748e-04 9.97647627e-01 3.03069739e+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:225.85, Y:97.40, Z:30.31 [[ 9.53356180e-01 2.94641931e-01 -6.55601057e-02 2.25854500e+02] [-2.93961071e-01 9.55607711e-01 2.00197569e-02 9.74005931e+01] [ 6.85484024e-02 1.86159917e-04 9.97647774e-01 3.03077945e+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:225.88, Y:97.40, Z:30.31 [[ 9.51452024e-01 3.00729391e-01 -6.55810975e-02 2.25883295e+02] [-3.00067702e-01 9.53709258e-01 1.99505958e-02 9.73957509e+01] [ 6.85450303e-02 6.96734481e-04 9.97647780e-01 3.03064932e+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:225.91, Y:97.39, Z:30.31 [[ 9.51235149e-01 3.01422565e-01 -6.55448634e-02 2.25911703e+02] [-3.00754284e-01 9.53490457e-01 2.00701208e-02 9.73854450e+01] [ 6.85459890e-02 6.21494057e-04 9.97647764e-01 3.03090507e+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:225.94, Y:97.38, Z:30.31 [[ 9.51010108e-01 3.02154044e-01 -6.54424021e-02 2.25936288e+02] [-3.01464219e-01 9.53259058e-01 2.04081737e-02 9.73757362e+01] [ 6.85499748e-02 3.20163154e-04 9.97647632e-01 3.03082221e+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:225.96, Y:97.37, Z:30.31 [[ 9.52294799e-01 2.98044673e-01 -6.56047908e-02 2.25964269e+02] [-2.97382060e-01 9.54551743e-01 1.98716114e-02 9.73662838e+01] [ 6.85457953e-02 5.86055695e-04 9.97647799e-01 3.03119756e+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:225.99, Y:97.37, Z:30.30 [[ 9.55343759e-01 2.88144602e-01 -6.55056575e-02 2.25986151e+02] [-2.87436121e-01 9.57586794e-01 2.01991927e-02 9.73667334e+01] [ 6.85476410e-02 -4.68480568e-04 9.97647734e-01 3.02954327e+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:226.02, Y:97.35, Z:30.31 [[ 9.53983503e-01 2.92475404e-01 -6.61333044e-02 2.26018490e+02] [-2.91921826e-01 9.56270875e-01 1.81013845e-02 9.73473414e+01] [ 6.85355626e-02 2.03733278e-03 9.97646594e-01 3.03140088e+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:226.05, Y:97.34, Z:30.32 [[ 9.54429664e-01 2.91160266e-01 -6.54959180e-02 2.26045794e+02] [-2.90457243e-01 9.56674251e-01 2.02229462e-02 9.73371551e+01] [ 6.85463767e-02 -2.77615998e-04 9.97647892e-01 3.03176610e+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:226.07, Y:97.32, Z:30.33 [[ 9.55271690e-01 2.88384529e-01 -6.55008475e-02 2.26071908e+02] [-2.87676115e-01 9.57514570e-01 2.02064490e-02 9.73244144e+01] [ 6.85452431e-02 -4.59619319e-04 9.97647903e-01 3.03271253e+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:226.10, Y:97.32, Z:30.33 [[ 9.55668195e-01 2.87075038e-01 -6.54692567e-02 2.26097424e+02] [-2.86356295e-01 9.57907867e-01 2.03123417e-02 9.73156047e+01] [ 6.85446823e-02 -6.64325138e-04 9.97647826e-01 3.03293839e+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:226.13, Y:97.31, Z:30.34 [[ 9.56325433e-01 2.84861695e-01 -6.55399177e-02 2.26125423e+02] [-2.84154035e-01 9.58568456e-01 2.00748609e-02 9.73077602e+01] [ 6.85430566e-02 -5.74667919e-04 9.97647994e-01 3.03373670e+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:226.15, Y:97.30, Z:30.34 [[ 9.56407080e-01 2.84601720e-01 -6.54779193e-02 2.26151310e+02] [-2.83879168e-01 9.58645504e-01 2.02833837e-02 9.72999968e+01] [ 6.85427989e-02 -8.11354506e-04 9.97647847e-01 3.03357744e+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:226.18, Y:97.29, Z:30.32 [[ 9.54853406e-01 2.89758018e-01 -6.55382600e-02 2.26175479e+02] [-2.89061502e-01 9.57099910e-01 2.00800840e-02 9.72868822e+01] [ 6.85450282e-02 -2.28948707e-04 9.97647997e-01 3.03231978e+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:226.20, Y:97.28, Z:30.34 [[ 9.57060100e-01 2.82341912e-01 -6.57191746e-02 2.26204333e+02] [-2.81669861e-01 9.59313833e-01 1.94694555e-02 9.72816206e+01] [ 6.85423566e-02 -1.22328282e-04 9.97648200e-01 3.03372894e+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:226.23, Y:97.27, Z:30.34 [[ 9.57207705e-01 2.81879071e-01 -6.55560696e-02 2.26231902e+02] [-2.81168194e-01 9.59449663e-01 2.00197744e-02 9.72742207e+01] [ 6.85409043e-02 -7.30800620e-04 9.97648039e-01 3.03392433e+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:226.26, Y:97.27, Z:30.34 [[ 9.57114434e-01 2.82189978e-01 -6.55803039e-02 2.26259755e+02] [-2.81485445e-01 9.59358342e-01 1.99378029e-02 9.72681750e+01] [ 6.85412598e-02 -6.22857945e-04 9.97648088e-01 3.03407099e+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:226.29, Y:97.26, Z:30.34 [[ 9.56654941e-01 2.83745750e-01 -6.55718966e-02 2.26285987e+02] [-2.83042915e-01 9.58899398e-01 1.99662669e-02 9.72603636e+01] [ 6.85421956e-02 -5.41167151e-04 9.97648072e-01 3.03401049e+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:226.31, Y:97.25, Z:30.35 [[ 9.56895459e-01 2.82897621e-01 -6.57268294e-02 2.26312938e+02] [-2.82228820e-01 9.59150110e-01 1.94411851e-02 9.72515276e+01] [ 6.85417607e-02 -5.31762051e-05 9.97648247e-01 3.03455303e+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:226.34, Y:97.24, Z:30.35 [[ 9.58086373e-01 2.78828111e-01 -6.57676699e-02 2.26343053e+02] [-2.78159235e-01 9.60341004e-01 1.93027249e-02 9.72427736e+01] [ 6.85415325e-02 -1.99792975e-04 9.97648244e-01 3.03507680e+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:226.37, Y:97.23, Z:30.32 [[ 9.59243040e-01 2.74864511e-01 -6.55918449e-02 2.26369668e+02] [-2.74145418e-01 9.61482332e-01 1.99001377e-02 9.72332407e+01] [ 6.85352416e-02 -1.10736481e-03 9.97648081e-01 3.03239285e+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:226.40, Y:97.22, Z:30.36 [[ 9.59656086e-01 2.73378235e-01 -6.57612223e-02 2.26396839e+02] [-2.72695114e-01 9.61906423e-01 1.93237690e-02 9.72246519e+01] [ 6.85388399e-02 -6.11408504e-04 9.97648261e-01 3.03556631e+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:226.42, Y:97.22, Z:30.36 [[ 9.59420246e-01 2.74248692e-01 -6.55777950e-02 2.26424933e+02] [-2.73524903e-01 9.61658054e-01 1.99478177e-02 9.72172948e+01] [ 6.85340777e-02 -1.20118015e-03 9.97648053e-01 3.03574214e+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:226.45, Y:97.21, Z:30.36 [[ 9.58186381e-01 2.78533365e-01 -6.55593134e-02 2.26450234e+02] [-2.77815276e-01 9.60426073e-01 2.00107684e-02 9.72103794e+01] [ 6.85385406e-02 -9.60667013e-04 9.97648007e-01 3.03615720e+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:226.48, Y:97.20, Z:30.37 [[ 9.57701699e-01 2.80186477e-01 -6.55972131e-02 2.26477872e+02] [-2.79481099e-01 9.59945331e-01 1.98815908e-02 9.72032962e+01] [ 6.85402912e-02 -7.07452031e-04 9.97648098e-01 3.03663690e+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:226.50, Y:97.20, Z:30.37 [[ 9.56242376e-01 2.85130680e-01 -6.55821117e-02 2.26503991e+02] [-2.84433368e-01 9.58488565e-01 1.99331219e-02 9.71977182e+01] [ 6.85432487e-02 -4.07154955e-04 9.97648063e-01 3.03724741e+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:226.53, Y:97.19, Z:30.38 [[ 9.55499414e-01 2.87592439e-01 -6.56617008e-02 2.26530588e+02] [-2.86919595e-01 9.57752884e-01 1.96611297e-02 9.71908992e+01] [ 6.85420755e-02 5.34306674e-05 9.97648225e-01 3.03764544e+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:226.56, Y:97.18, Z:30.38 [[ 9.54529660e-01 2.90790024e-01 -6.56832627e-02 2.26558452e+02] [-2.90129804e-01 9.56786827e-01 1.95873501e-02 9.71836435e+01] [ 6.85406865e-02 3.59965489e-04 9.97648257e-01 3.03778465e+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:226.58, Y:97.18, Z:30.38 [[ 9.53279186e-01 2.94882936e-01 -6.55960949e-02 2.26584554e+02] [-2.94211852e-01 9.55533326e-01 1.98859010e-02 9.71756201e+01] [ 6.85432676e-02 3.42333070e-04 9.97648086e-01 3.03780701e+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:226.61, Y:97.17, Z:30.38 [[ 9.51904262e-01 2.99268732e-01 -6.57000896e-02 2.26611463e+02] [-2.98632629e-01 9.54168311e-01 1.95291601e-02 9.71668972e+01] [ 6.85334105e-02 1.03029973e-03 9.97648290e-01 3.03776605e+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:226.63, Y:97.15, Z:30.36 [[ 9.46532232e-01 3.15849992e-01 -6.56925936e-02 2.26634381e+02] [-3.15251749e-01 9.48806588e-01 1.95548945e-02 9.71471037e+01] [ 6.85059789e-02 2.20036707e-03 9.97648279e-01 3.03573510e+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:226.66, Y:97.15, Z:30.38 [[ 9.51209403e-01 3.01444851e-01 -6.58154471e-02 2.26664517e+02] [-3.00841349e-01 9.53482269e-01 1.91323003e-02 9.71469597e+01] [ 6.85211952e-02 1.60118395e-03 9.97648376e-01 3.03827893e+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:226.69, Y:97.13, Z:30.38 [[ 9.52341399e-01 2.97873883e-01 -6.57039488e-02 2.26690060e+02] [-2.97235374e-01 9.54604766e-01 1.95159789e-02 9.71333618e+01] [ 6.85346031e-02 9.43663108e-04 9.97648294e-01 3.03804365e+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:226.72, Y:97.13, Z:30.36 [[ 9.57318004e-01 2.81472498e-01 -6.56922562e-02 2.26719106e+02] [-2.80792441e-01 9.59569256e-01 1.95562802e-02 9.71325192e+01] [ 6.85408244e-02 -2.75690146e-04 9.97648274e-01 3.03608648e+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:226.74, Y:97.11, Z:30.39 [[ 9.55990958e-01 2.85914378e-01 -6.58350776e-02 2.26741871e+02] [-2.85278709e-01 9.58255007e-01 1.90630732e-02 9.71060167e+01] [ 6.85371995e-02 5.57220316e-04 9.97648406e-01 3.03866937e+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:226.77, Y:97.09, Z:30.39 [[ 9.59251921e-01 2.74797851e-01 -6.57411083e-02 2.26765491e+02] [-2.74113689e-01 9.61501850e-01 1.93875596e-02 9.70933454e+01] [ 6.85378569e-02 -5.77016082e-04 9.97648349e-01 3.03920271e+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:226.79, Y:97.08, Z:30.40 [[ 9.60785300e-01 2.69381669e-01 -6.57656702e-02 2.26792420e+02] [-2.68690632e-01 9.63033100e-01 1.93026821e-02 9.70844415e+01] [ 6.85343059e-02 -8.75113747e-04 9.97648376e-01 3.03955365e+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:226.82, Y:97.07, Z:30.40 [[ 9.62917208e-01 2.61668602e-01 -6.57266532e-02 2.26816775e+02] [-2.60950358e-01 9.65156512e-01 1.94375543e-02 9.70729562e+01] [ 6.85227050e-02 -1.56536185e-03 9.97648329e-01 3.03976447e+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:226.84, Y:97.06, Z:30.40 [[ 9.63608864e-01 2.59105725e-01 -6.57432966e-02 2.26842852e+02] [-2.58385451e-01 9.65847491e-01 1.93799757e-02 9.70635842e+01] [ 6.85194607e-02 -1.68760499e-03 9.97648353e-01 3.04019141e+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:226.87, Y:97.04, Z:30.38 [[ 9.59599296e-01 2.73575335e-01 -6.57702629e-02 2.26866747e+02] [-2.72895227e-01 9.61850416e-01 1.92865745e-02 9.70420259e+01] [ 6.85374858e-02 -5.58992478e-04 9.97648385e-01 3.03779968e+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:226.90, Y:97.05, Z:30.41 [[ 9.64215531e-01 2.56810471e-01 -6.58543186e-02 2.26898496e+02] [-2.56111113e-01 9.66460698e-01 1.89951733e-02 9.70482323e+01] [ 6.85237702e-02 -1.44941832e-03 9.97648431e-01 3.04072757e+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:226.92, Y:97.04, Z:30.41 [[ 9.62772651e-01 2.62190266e-01 -6.57653923e-02 2.26924946e+02] [-2.61482390e-01 9.65015200e-01 1.93034401e-02 9.70446249e+01] [ 6.85257774e-02 -1.38833223e-03 9.97648380e-01 3.04100761e+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:226.96, Y:97.03, Z:30.40 [[ 9.59837671e-01 2.72724997e-01 -6.58234068e-02 2.26964273e+02] [-2.72055544e-01 9.62091936e-01 1.91020227e-02 9.70273303e+01] [ 6.85377680e-02 -4.27218258e-04 9.97648431e-01 3.03953936e+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:226.98, Y:97.04, Z:30.41 [[ 9.59884244e-01 2.72765248e-01 -6.49719827e-02 2.26980808e+02] [-2.71895318e-01 9.62074267e-01 2.20463425e-02 9.70352399e+01] [ 6.85213487e-02 -3.49635895e-03 9.97643524e-01 3.04102590e+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:227.01, Y:97.03, Z:30.38 [[ 9.62195655e-01 2.64282977e-01 -6.58333467e-02 2.27011848e+02] [-2.63597727e-01 9.64444693e-01 1.90439585e-02 9.70333319e+01] [ 6.85256159e-02 -9.70493645e-04 9.97648885e-01 3.03804935e+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:227.03, Y:97.01, Z:30.39 [[ 9.52870734e-01 2.96137157e-01 -6.58798113e-02 2.27032738e+02] [-2.95538282e-01 9.55144282e-01 1.88818446e-02 9.70081463e+01] [ 6.85163408e-02 1.47804918e-03 9.97648899e-01 3.03923316e+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:227.06, Y:97.01, Z:30.42 [[ 9.56429684e-01 2.84432425e-01 -6.58821369e-02 2.27062341e+02] [-2.83806280e-01 9.58695874e-01 1.88737266e-02 9.70141044e+01] [ 6.85292326e-02 6.46371795e-04 9.97648899e-01 3.04164673e+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:227.09, Y:97.01, Z:30.42 [[ 9.54957184e-01 2.89336551e-01 -6.58873003e-02 2.27088732e+02] [-2.88723287e-01 9.57226894e-01 1.88556959e-02 9.70089813e+01] [ 6.85247379e-02 1.01681567e-03 9.97648899e-01 3.04173061e+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:227.12, Y:97.00, Z:30.42 [[ 9.53305016e-01 2.94730667e-01 -6.59043354e-02 2.27115105e+02] [-2.94134359e-01 9.55579240e-01 1.87961414e-02 9.70007532e+01] [ 6.85166140e-02 1.46627354e-03 9.97648898e-01 3.04153929e+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:227.14, Y:96.99, Z:30.42 [[ 9.53048835e-01 2.95552447e-01 -6.59292824e-02 2.27142108e+02] [-2.94964128e-01 9.55325148e-01 1.87089271e-02 9.69913984e+01] [ 6.85133707e-02 1.61625210e-03 9.97648889e-01 3.04179442e+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:227.17, Y:96.99, Z:30.40 [[ 9.56478561e-01 2.84266322e-01 -6.58894599e-02 2.27166703e+02] [-2.83641543e-01 9.58745128e-01 1.88481851e-02 9.69883829e+01] [ 6.85291029e-02 6.61103122e-04 9.97648899e-01 3.04039573e+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:227.20, Y:96.97, Z:30.42 [[ 9.53896033e-01 2.92727686e-01 -6.62786514e-02 2.27196158e+02] [-2.92217524e-01 9.56192063e-01 1.74830493e-02 9.69711553e+01] [ 6.84928930e-02 2.69077205e-03 9.97647976e-01 3.04197550e+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:227.22, Y:96.96, Z:30.42 [[ 9.55399233e-01 2.87871752e-01 -6.58950670e-02 2.27223852e+02] [-2.87257096e-01 9.57668505e-01 1.88254029e-02 9.69628381e+01] [ 6.85249320e-02 9.43050157e-04 9.97648958e-01 3.04249764e+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:227.25, Y:96.96, Z:30.41 [[ 9.58492187e-01 2.77400206e-01 -6.58927404e-02 2.27245786e+02] [-2.76760195e-01 9.60754439e-01 1.88335463e-02 9.69630272e+01] [ 6.85311724e-02 1.84680687e-04 9.97648958e-01 3.04066099e+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:227.28, Y:96.94, Z:30.43 [[ 9.56673289e-01 2.83461870e-01 -6.65250816e-02 2.27277756e+02] [-2.82989567e-01 9.58979035e-01 1.66167534e-02 9.69431394e+01] [ 6.85063745e-02 2.92909988e-03 9.97646379e-01 3.04310392e+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:227.30, Y:96.92, Z:30.41 [[ 9.52455690e-01 2.97465876e-01 -6.58954628e-02 2.27302243e+02] [-2.96874814e-01 9.54731038e-01 1.88146190e-02 9.69212699e+01] [ 6.85091507e-02 1.64261234e-03 9.97649136e-01 3.04141158e+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:227.33, Y:96.93, Z:30.41 [[ 9.57458249e-01 2.80950895e-01 -6.58809277e-02 2.27332175e+02] [-2.80317082e-01 9.59722059e-01 1.88653782e-02 9.69262299e+01] [ 6.85276245e-02 4.04737475e-04 9.97649137e-01 3.04133560e+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:227.36, Y:96.92, Z:30.44 [[ 9.55954397e-01 2.86025312e-01 -6.58840758e-02 2.27358118e+02] [-2.85404273e-01 9.58221745e-01 1.88543777e-02 9.69184466e+01] [ 6.85243834e-02 7.79671508e-04 9.97649137e-01 3.04400249e+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:227.39, Y:96.91, Z:30.44 [[ 9.55926888e-01 2.86106191e-01 -6.59320332e-02 2.27385676e+02] [-2.85496899e-01 9.58197435e-01 1.86867729e-02 9.69098125e+01] [ 6.85223065e-02 9.60202386e-04 9.97649122e-01 3.04437084e+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:227.41, Y:96.91, Z:30.42 [[ 9.60929614e-01 2.68835034e-01 -6.58938659e-02 2.27406810e+02] [-2.68175778e-01 9.63186147e-01 1.88201709e-02 9.69126800e+01] [ 6.85275801e-02 -4.13720790e-04 9.97649137e-01 3.04241113e+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:227.44, Y:96.88, Z:30.40 [[ 9.56062557e-01 2.85481812e-01 -6.66672479e-02 2.27443718e+02] [-2.85049815e-01 9.58377352e-01 1.61075892e-02 9.68841020e+01] [ 6.84908043e-02 3.60362376e-03 9.97645239e-01 3.03983941e+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:227.47, Y:96.87, Z:30.45 [[ 9.59332580e-01 2.74485739e-01 -6.58679009e-02 2.27467614e+02] [-2.73834626e-01 9.61591166e-01 1.88951350e-02 9.68746902e+01] [ 6.85244367e-02 -8.98065619e-05 9.97649434e-01 3.04542420e+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:227.50, Y:96.87, Z:30.46 [[ 9.59351425e-01 2.74419388e-01 -6.58698858e-02 2.27495772e+02] [-2.73768595e-01 9.61610104e-01 1.88882155e-02 9.68667066e+01] [ 6.85244402e-02 -8.73303763e-05 9.97649434e-01 3.04562516e+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:227.53, Y:96.87, Z:30.43 [[ 9.64883140e-01 2.54286272e-01 -6.58712271e-02 2.27526589e+02] [-2.53588681e-01 9.67127806e-01 1.88835381e-02 9.68683972e+01] [ 6.85077199e-02 -1.51620991e-03 9.97649434e-01 3.04306739e+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:227.55, Y:96.85, Z:30.46 [[ 9.62676335e-01 2.62516986e-01 -6.58718907e-02 2.27550086e+02] [-2.61838747e-01 9.64926925e-01 1.88812229e-02 9.68467102e+01] [ 6.85182027e-02 -9.28693144e-04 9.97649434e-01 3.04580016e+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:227.51, Y:96.87, Z:30.42 [[ 9.70780514e-01 2.30760939e-01 -6.58375510e-02 2.27514318e+02] [-2.30001049e-01 9.73004871e-01 1.90010342e-02 9.68701738e+01] [ 6.84449543e-02 -3.30312793e-03 9.97649426e-01 3.04227474e+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:227.60, Y:96.84, Z:30.43 [[ 9.70344591e-01 2.31617512e-01 -6.91715485e-02 2.27597196e+02] [-2.31694575e-01 9.72763268e-01 7.01777338e-03 9.68441635e+01] [ 6.89129808e-02 9.21701407e-03 9.97580096e-01 3.04276870e+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:227.62, Y:96.82, Z:30.46 [[ 9.64003419e-01 2.57636904e-01 -6.57315361e-02 2.27618640e+02] [-2.56941935e-01 9.66240805e-01 1.89617545e-02 9.68189556e+01] [ 6.83977401e-02 -1.39000806e-03 9.97657164e-01 3.04631854e+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:227.65, Y:96.81, Z:30.47 [[ 9.63154877e-01 2.60798189e-01 -6.57037868e-02 2.27647194e+02] [-2.60104002e-01 9.65392512e-01 1.90579615e-02 9.68133988e+01] [ 6.84002256e-02 -1.26595062e-03 9.97657159e-01 3.04676002e+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:227.67, Y:96.81, Z:30.47 [[ 9.62391572e-01 2.63596825e-01 -6.57204408e-02 2.27674934e+02] [-2.62913088e-01 9.64632417e-01 1.90002163e-02 9.68085444e+01] [ 6.84044644e-02 -1.00688406e-03 9.97657163e-01 3.04702664e+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:227.70, Y:96.81, Z:30.47 [[ 9.59543987e-01 2.73783226e-01 -6.57121152e-02 2.27702199e+02] [-2.73121301e-01 9.61791375e-01 1.90291036e-02 9.68072676e+01] [ 6.84111950e-02 -3.11883533e-04 9.97657161e-01 3.04736440e+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:227.73, Y:96.80, Z:30.48 [[ 9.57723220e-01 2.80079848e-01 -6.57382095e-02 2.27730699e+02] [-2.79438919e-01 9.59976679e-01 1.89384606e-02 9.68023182e+01] [ 6.84114292e-02 2.32010682e-04 9.97657167e-01 3.04766405e+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:227.76, Y:96.80, Z:30.48 [[ 9.53961554e-01 2.92630865e-01 -6.57611594e-02 2.27758018e+02] [-2.92025078e-01 9.56224714e-01 1.88586676e-02 9.67982393e+01] [ 6.84010741e-02 1.21346386e-03 9.97657166e-01 3.04795550e+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:227.78, Y:96.78, Z:30.45 [[ 9.45393617e-01 3.19234096e-01 -6.57305235e-02 2.27783900e+02] [-3.18684539e-01 9.47671085e-01 1.89652126e-02 9.67788535e+01] [ 6.83452590e-02 3.01771062e-03 9.97657165e-01 3.04517180e+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:227.81, Y:96.79, Z:30.48 [[ 9.50170876e-01 3.04715941e-01 -6.57533444e-02 2.27813336e+02] [-3.04137056e-01 9.52441064e-01 1.88857595e-02 9.67875453e+01] [ 6.83809772e-02 2.05332996e-03 9.97657168e-01 3.04828578e+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:227.84, Y:96.78, Z:30.48 [[ 9.48946733e-01 3.08502604e-01 -6.57741705e-02 2.27839932e+02] [-3.07937801e-01 9.51220466e-01 1.88131711e-02 9.67782688e+01] [ 6.83696495e-02 2.40165618e-03 9.97657167e-01 3.04845137e+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:227.87, Y:96.77, Z:30.49 [[ 9.48833746e-01 3.08855517e-01 -6.57479444e-02 2.27866334e+02] [-3.08285226e-01 9.51106110e-01 1.89046708e-02 9.67692491e+01] [ 6.83720836e-02 2.33173028e-03 9.97657166e-01 3.04864606e+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:227.90, Y:96.76, Z:30.48 [[ 9.49138009e-01 3.07917944e-01 -6.57539407e-02 2.27895087e+02] [-3.07346857e-01 9.51410171e-01 1.88837410e-02 9.67579122e+01] [ 6.83736107e-02 2.28599061e-03 9.97657167e-01 3.04841605e+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:227.92, Y:96.75, Z:30.49 [[ 9.48994674e-01 3.08362512e-01 -6.57394071e-02 2.27921562e+02] [-3.07788977e-01 9.51266225e-01 1.89344970e-02 9.67485030e+01] [ 6.83743667e-02 2.26512810e-03 9.97657163e-01 3.04862629e+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:227.95, Y:96.74, Z:30.49 [[ 9.49030029e-01 3.08245001e-01 -6.57801194e-02 2.27947497e+02] [-3.07681031e-01 9.51303966e-01 1.87922182e-02 9.67368439e+01] [ 6.83694958e-02 2.40491560e-03 9.97657170e-01 3.04870880e+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:227.97, Y:96.72, Z:30.49 [[ 9.49341025e-01 3.07288320e-01 -6.57685826e-02 2.27974390e+02] [-3.06719267e-01 9.51613696e-01 1.88325617e-02 9.67227543e+01] [ 6.83733102e-02 2.29396803e-03 9.97657170e-01 3.04892504e+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:228.00, Y:96.71, Z:30.49 [[ 9.49326000e-01 3.07344942e-01 -6.57208682e-02 2.28000622e+02] [-3.06764477e-01 9.51595804e-01 1.89995008e-02 9.67110573e+01] [ 6.83791029e-02 2.12410769e-03 9.97657149e-01 3.04918813e+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:228.02, Y:96.70, Z:30.50 [[ 9.49295506e-01 3.07436695e-01 -6.57321923e-02 2.28024625e+02] [-3.06859190e-01 9.51566057e-01 1.89598732e-02 9.66979608e+01] [ 6.83774838e-02 2.17200484e-03 9.97657157e-01 3.04953509e+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:228.05, Y:96.69, Z:30.50 [[ 9.49311108e-01 3.07378953e-01 -6.57768915e-02 2.28051604e+02] [-3.06812139e-01 9.51584335e-01 1.88033313e-02 9.66869014e+01] [ 6.83720078e-02 2.33093744e-03 9.97657173e-01 3.04995115e+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:228.08, Y:96.65, Z:30.47 [[ 9.39497464e-01 3.36187167e-01 -6.57472758e-02 2.28082738e+02] [-3.35682706e-01 9.41785347e-01 1.89071865e-02 9.66467956e+01] [ 6.82761743e-02 4.30696972e-03 9.97657163e-01 3.04682479e+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:228.10, Y:96.65, Z:30.48 [[ 9.44234605e-01 3.22789950e-01 -6.50204412e-02 2.28102156e+02] [-3.22077268e-01 9.46470377e-01 2.14490037e-02 9.66500108e+01] [ 6.84634443e-02 6.88714500e-04 9.97653388e-01 3.04812588e+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:228.13, Y:96.65, Z:30.51 [[ 9.52204983e-01 2.98288684e-01 -6.57991684e-02 2.28131303e+02] [-2.97706487e-01 9.54474055e-01 1.87116346e-02 9.66485987e+01] [ 6.83850680e-02 1.77152753e-03 9.97657428e-01 3.05088416e+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:228.16, Y:96.64, Z:30.51 [[ 9.52978080e-01 2.95825445e-01 -6.57273578e-02 2.28158512e+02] [-2.95219969e-01 9.55241086e-01 1.89641021e-02 9.66358860e+01] [ 6.83955366e-02 1.33165490e-03 9.97657395e-01 3.05095017e+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:228.19, Y:96.62, Z:30.51 [[ 9.55671709e-01 2.87013556e-01 -6.56871646e-02 2.28185034e+02] [-2.86377494e-01 9.57926361e-01 1.91054400e-02 9.66214546e+01] [ 6.84069868e-02 5.52797009e-04 9.97657345e-01 3.05105695e+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:228.21, Y:96.61, Z:30.51 [[ 9.57628013e-01 2.80416473e-01 -6.56901149e-02 2.28211528e+02] [-2.79765590e-01 9.59878426e-01 1.90950646e-02 9.66083106e+01] [ 6.84090947e-02 9.18650053e-05 9.97657350e-01 3.05100964e+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:228.24, Y:96.60, Z:30.52 [[ 9.58861902e-01 2.76147773e-01 -6.57743204e-02 2.28239138e+02] [-2.75507179e-01 9.61115185e-01 1.87988321e-02 9.66000261e+01] [ 6.84079537e-02 9.58134920e-05 9.97657428e-01 3.05183279e+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:228.27, Y:96.59, Z:30.52 [[ 9.60579673e-01 2.70113670e-01 -6.57669881e-02 2.28267472e+02] [-2.69457154e-01 9.62828372e-01 1.88246440e-02 9.65867682e+01] [ 6.84071158e-02 -3.61184898e-04 9.97657424e-01 3.05212604e+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:228.30, Y:96.58, Z:30.52 [[ 9.61426517e-01 2.67090934e-01 -6.57380072e-02 2.28297534e+02] [-2.66420371e-01 9.63671089e-01 1.89266756e-02 9.65752095e+01] [ 6.84049604e-02 -6.82663538e-04 9.97657404e-01 3.05205401e+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:228.33, Y:96.56, Z:30.52 [[ 9.62163248e-01 2.64442843e-01 -6.56648093e-02 2.28327122e+02] [-2.63748465e-01 9.64400686e-01 1.91849961e-02 9.65639338e+01] [ 6.84005220e-02 -1.14010551e-03 9.97657290e-01 3.05231102e+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:228.36, Y:96.57, Z:30.50 [[ 9.68482876e-01 2.40271169e-01 -6.56557977e-02 2.28362872e+02] [-2.39518847e-01 9.70701520e-01 1.92166946e-02 9.65748166e+01] [ 6.83494003e-02 -2.88523868e-03 9.97657273e-01 3.04979643e+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:228.39, Y:96.55, Z:30.53 [[ 9.61611123e-01 2.66409536e-01 -6.58027931e-02 2.28386169e+02] [-2.65752922e-01 9.63859800e-01 1.86994585e-02 9.65504344e+01] [ 6.84063811e-02 -4.94322697e-04 9.97657418e-01 3.05292647e+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:228.41, Y:96.54, Z:30.53 [[ 9.59560746e-01 2.73755630e-01 -6.55822342e-02 2.28414923e+02] [-2.73063061e-01 9.61798963e-01 1.94761088e-02 9.65426145e+01] [ 6.84086193e-02 -7.80423860e-04 9.97657081e-01 3.05282771e+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:228.45, Y:96.54, Z:30.53 [[ 9.58959726e-01 2.75837342e-01 -6.56506225e-02 2.28445091e+02] [-2.75166170e-01 9.61204253e-01 1.92344065e-02 9.65354460e+01] [ 6.84092251e-02 -3.80190801e-04 9.97657273e-01 3.05299448e+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:228.47, Y:96.53, Z:30.54 [[ 9.57576445e-01 2.80599178e-01 -6.56616624e-02 2.28474804e+02] [-2.79941844e-01 9.59825037e-01 1.91953826e-02 9.65270965e+01] [ 6.84099161e-02 4.00615157e-07 9.97657298e-01 3.05367173e+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:228.51, Y:96.52, Z:30.54 [[ 9.57178899e-01 2.81934381e-01 -6.57385716e-02 2.28505183e+02] [-2.81298844e-01 9.59433615e-01 1.89235114e-02 9.65184096e+01] [ 6.84069838e-02 3.78998402e-04 9.97657427e-01 3.05394263e+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:228.53, Y:96.50, Z:30.52 [[ 9.53739825e-01 2.93355558e-01 -6.57484839e-02 2.28533147e+02] [-2.92749431e-01 9.56002613e-01 1.88884836e-02 9.65032695e+01] [ 6.83967640e-02 1.23313223e-03 9.97657437e-01 3.05203415e+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:228.57, Y:96.50, Z:30.54 [[ 9.56737449e-01 2.83409706e-01 -6.58209158e-02 2.28566442e+02] [-2.82797643e-01 9.58998602e-01 1.86326220e-02 9.65037777e+01] [ 6.84028322e-02 7.87472650e-04 9.97657473e-01 3.05409178e+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:228.59, Y:96.50, Z:30.54 [[ 9.55172058e-01 2.88674824e-01 -6.56748434e-02 2.28590739e+02] [-2.88039760e-01 9.57426996e-01 1.91479647e-02 9.64961204e+01] [ 6.84064034e-02 6.27365245e-04 9.97657341e-01 3.05388576e+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:228.62, Y:96.49, Z:30.55 [[ 9.54721190e-01 2.90087937e-01 -6.60033203e-02 2.28624087e+02] [-2.89535753e-01 9.56998046e-01 1.79941019e-02 9.64872243e+01] [ 6.83849204e-02 1.93097067e-03 9.97657143e-01 3.05459836e+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:228.65, Y:96.48, Z:30.54 [[ 9.52210212e-01 2.98310289e-01 -6.56253269e-02 2.28651312e+02] [-2.97686296e-01 9.54468266e-01 1.93183472e-02 9.64777087e+01] [ 6.84001537e-02 1.14063299e-03 9.97657315e-01 3.05427805e+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:228.68, Y:96.47, Z:30.55 [[ 9.51658231e-01 3.00030591e-01 -6.57894874e-02 2.28680951e+02] [-2.99450373e-01 9.53927760e-01 1.87430903e-02 9.64692016e+01] [ 6.83819188e-02 1.86367032e-03 9.97657476e-01 3.05461447e+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:228.71, Y:96.46, Z:30.55 [[ 9.50203535e-01 3.04634056e-01 -6.56607537e-02 2.28710812e+02] [-3.04033532e-01 9.52467912e-01 1.91960344e-02 9.64588531e+01] [ 6.83875268e-02 1.72293114e-03 9.97657345e-01 3.05521844e+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:228.74, Y:96.45, Z:30.55 [[ 9.49110035e-01 3.08026000e-01 -6.56515505e-02 2.28741891e+02] [-3.07431331e-01 9.51375975e-01 1.92284020e-02 9.64464315e+01] [ 6.83821556e-02 1.93347423e-03 9.97657327e-01 3.05538131e+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:228.77, Y:96.44, Z:30.55 [[ 9.48625634e-01 3.09521088e-01 -6.56208978e-02 2.28772094e+02] [-3.08922541e-01 9.50890622e-01 1.93361940e-02 9.64359860e+01] [ 6.83832562e-02 1.92896520e-03 9.97657260e-01 3.05525147e+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:228.80, Y:96.42, Z:30.55 [[ 9.47985626e-01 3.11468426e-01 -6.56557095e-02 2.28801268e+02] [-3.10882995e-01 9.50253963e-01 1.92137994e-02 9.64220072e+01] [ 6.83740900e-02 2.19683793e-03 9.97657335e-01 3.05520033e+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:228.83, Y:96.41, Z:30.55 [[ 9.47584083e-01 3.12680750e-01 -6.56898305e-02 2.28832606e+02] [-3.12106519e-01 9.49855223e-01 1.90938837e-02 9.64084324e+01] [ 6.83661185e-02 2.40916398e-03 9.97657391e-01 3.05537663e+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:228.86, Y:96.39, Z:30.56 [[ 9.48008022e-01 3.11408999e-01 -6.56142248e-02 2.28862662e+02] [-3.10813349e-01 9.50273787e-01 1.93595283e-02 9.63932104e+01] [ 6.83802092e-02 2.04078886e-03 9.97657247e-01 3.05570480e+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:228.89, Y:96.39, Z:30.55 [[ 9.50763976e-01 3.02899579e-01 -6.55721533e-02 2.28892201e+02] [-3.02273456e-01 9.53021627e-01 1.95073198e-02 9.63865177e+01] [ 6.84004392e-02 1.27386443e-03 9.97657134e-01 3.05458041e+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:228.92, Y:96.37, Z:30.56 [[ 9.50208957e-01 3.04587435e-01 -6.57984190e-02 2.28921887e+02] [-3.04020265e-01 9.52481784e-01 1.87117599e-02 9.63702479e+01] [ 6.83711624e-02 2.22397094e-03 9.97657475e-01 3.05610682e+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:228.95, Y:96.36, Z:30.56 [[ 9.50757878e-01 3.02898662e-01 -6.56647435e-02 2.28952752e+02] [-3.02295041e-01 9.53021404e-01 1.91810159e-02 9.63583444e+01] [ 6.83898101e-02 1.61362432e-03 9.97657371e-01 3.05640182e+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:228.98, Y:96.35, Z:30.57 [[ 9.52539710e-01 2.97257745e-01 -6.56196143e-02 2.28982600e+02] [-2.96629812e-01 9.54796703e-01 1.93393312e-02 9.63465392e+01] [ 6.84021574e-02 1.04325297e-03 9.97657284e-01 3.05702640e+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:229.01, Y:96.34, Z:30.57 [[ 9.53303490e-01 2.94791925e-01 -6.56519336e-02 2.29012750e+02] [-2.94165957e-01 9.55560962e-01 1.92259713e-02 9.63368915e+01] [ 6.84020860e-02 9.84378308e-04 9.97657349e-01 3.05728658e+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:229.04, Y:96.33, Z:30.57 [[ 9.54529686e-01 2.90787460e-01 -6.56942319e-02 2.29043702e+02] [-2.90162225e-01 9.56787295e-01 1.90776229e-02 9.63291711e+01] [ 6.84029400e-02 8.51827102e-04 9.97657412e-01 3.05724231e+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:229.08, Y:96.32, Z:30.57 [[ 9.54939630e-01 2.89425091e-01 -6.57527217e-02 2.29076320e+02] [-2.88810748e-01 9.57200177e-01 1.88725301e-02 9.63204554e+01] [ 6.84007006e-02 9.67965843e-04 9.97657460e-01 3.05710373e+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:229.11, Y:96.31, Z:30.57 [[ 9.55181170e-01 2.88636100e-01 -6.57125075e-02 2.29107358e+02] [-2.88010195e-01 9.57438571e-01 1.90134306e-02 9.63120182e+01] [ 6.84036517e-02 7.64601223e-04 9.97657434e-01 3.05739627e+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:229.14, Y:96.30, Z:30.58 [[ 9.55652786e-01 2.87082103e-01 -6.56629237e-02 2.29136715e+02] [-2.86440601e-01 9.57905863e-01 1.91869445e-02 9.63038243e+01] [ 6.84071280e-02 4.72470356e-04 9.97657377e-01 3.05785329e+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:229.17, Y:96.30, Z:30.57 [[ 9.59014936e-01 2.75625960e-01 -6.57318947e-02 2.29169187e+02] [-2.74974074e-01 9.61264959e-01 1.89456500e-02 9.63005302e+01] [ 6.84076801e-02 -9.45944654e-05 9.97657446e-01 3.05670086e+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:229.20, Y:96.28, Z:30.57 [[ 9.53241969e-01 2.94964728e-01 -6.57689744e-02 2.29196773e+02] [-2.94367415e-01 9.55507081e-01 1.88160454e-02 9.62801801e+01] [ 6.83927904e-02 1.42399886e-03 9.97657455e-01 3.05671493e+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:229.23, Y:96.27, Z:30.56 [[ 9.51745472e-01 2.99759697e-01 -6.57622955e-02 2.29226931e+02] [-2.99172185e-01 9.54013146e-01 1.88393592e-02 9.62696736e+01] [ 6.83853750e-02 1.74397480e-03 9.97657456e-01 3.05647397e+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:229.26, Y:96.27, Z:30.60 [[ 9.56388083e-01 2.84600320e-01 -6.57608694e-02 2.29258586e+02] [-2.83976510e-01 9.58646041e-01 1.88443357e-02 9.62693396e+01] [ 6.84045012e-02 6.52044069e-04 9.97657456e-01 3.05956433e+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:229.29, Y:96.26, Z:30.60 [[ 9.56339904e-01 2.84798591e-01 -6.56029743e-02 2.29289710e+02] [-2.84137436e-01 9.58587374e-01 1.93949380e-02 9.62603175e+01] [ 6.84098339e-02 9.21077917e-05 9.97657299e-01 3.05979681e+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:229.32, Y:96.26, Z:30.59 [[ 9.57873736e-01 2.79596468e-01 -6.56027535e-02 2.29321733e+02] [-2.78923054e-01 9.60117564e-01 1.93957076e-02 9.62579939e+01] [ 6.84093272e-02 -2.80518564e-04 9.97657299e-01 3.05866073e+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:229.35, Y:96.24, Z:30.60 [[ 9.54627358e-01 2.90452698e-01 -6.57558891e-02 2.29350455e+02] [-2.89841521e-01 9.56888772e-01 1.88618879e-02 9.62439824e+01] [ 6.83995582e-02 1.05271269e-03 9.97657452e-01 3.06035766e+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:229.38, Y:96.24, Z:30.60 [[ 9.52124331e-01 2.98579431e-01 -6.56474004e-02 2.29383135e+02] [-2.97961512e-01 9.54383980e-01 1.92394542e-02 9.62381471e+01] [ 6.83973326e-02 1.24204623e-03 9.97657387e-01 3.06009698e+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:229.41, Y:96.23, Z:30.60 [[ 9.50144453e-01 3.04827603e-01 -6.56174561e-02 2.29412779e+02] [-3.04217370e-01 9.52406230e-01 1.93433537e-02 9.62297210e+01] [ 6.83908621e-02 1.58298964e-03 9.97657348e-01 3.06009208e+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:229.44, Y:96.23, Z:30.60 [[ 9.47705617e-01 3.12332963e-01 -6.55910320e-02 2.29441677e+02] [-3.11734322e-01 9.49970528e-01 1.94346969e-02 9.62253137e+01] [ 6.83796438e-02 2.02860451e-03 9.97657310e-01 3.05965932e+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:229.47, Y:96.22, Z:30.60 [[ 9.46779527e-01 3.15122438e-01 -6.56229851e-02 2.29472212e+02] [-3.14538158e-01 9.49048126e-01 1.93235887e-02 9.62175731e+01] [ 6.83686674e-02 2.34575469e-03 9.97657367e-01 3.05968258e+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:229.50, Y:96.21, Z:30.60 [[ 9.45596256e-01 3.18643637e-01 -6.56806949e-02 2.29502364e+02] [-3.18081707e-01 9.47870424e-01 1.91229339e-02 9.62095979e+01] [ 6.83501893e-02 2.80925290e-03 9.97657436e-01 3.05981083e+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:229.53, Y:96.21, Z:30.59 [[ 9.48056117e-01 3.11241574e-01 -6.57136351e-02 2.29533836e+02] [-3.10669801e-01 9.50327812e-01 1.90085170e-02 9.62082844e+01] [ 6.83657358e-02 2.39410112e-03 9.97657453e-01 3.05905705e+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:229.56, Y:96.19, Z:30.60 [[ 9.43851262e-01 3.23764670e-01 -6.57360884e-02 2.29557772e+02] [-3.23228435e-01 9.46131605e-01 1.89305490e-02 9.61896578e+01] [ 6.83240337e-02 3.38015036e-03 9.97657457e-01 3.06049918e+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:229.59, Y:96.19, Z:30.58 [[ 9.49803770e-01 3.05878579e-01 -6.56589140e-02 2.29585633e+02] [-3.05280813e-01 9.52068812e-01 1.91990342e-02 9.61943712e+01] [ 6.83843775e-02 1.80909156e-03 9.97657408e-01 3.05780825e+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:229.61, Y:96.16, Z:30.60 [[ 9.43285996e-01 3.25320945e-01 -6.61650447e-02 2.29612154e+02] [-3.24892798e-01 9.45590164e-01 1.74330607e-02 9.61637046e+01] [ 6.82363552e-02 5.05218449e-03 9.97656391e-01 3.06048010e+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:229.64, Y:96.15, Z:30.61 [[ 9.43927644e-01 3.23540851e-01 -6.57413220e-02 2.29642369e+02] [-3.23005727e-01 9.46208136e-01 1.89066968e-02 9.61480694e+01] [ 6.83220625e-02 3.38826971e-03 9.97657564e-01 3.06064092e+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:229.67, Y:96.14, Z:30.61 [[ 9.45344820e-01 3.19377754e-01 -6.57344738e-02 2.29671990e+02] [-3.18830934e-01 9.47622537e-01 1.89304768e-02 9.61389053e+01] [ 6.83374419e-02 3.06235552e-03 9.97657565e-01 3.06133247e+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:229.70, Y:96.12, Z:30.62 [[ 9.45958879e-01 3.17539048e-01 -6.58084448e-02 2.29700839e+02] [-3.17005613e-01 9.48239807e-01 1.86737697e-02 9.61195400e+01] [ 6.83318380e-02 3.19702813e-03 9.97657526e-01 3.06157077e+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:229.73, Y:96.11, Z:30.62 [[ 9.47108067e-01 3.14111948e-01 -6.57266616e-02 2.29731657e+02] [-3.13550601e-01 9.49382241e-01 1.89573295e-02 9.61084835e+01] [ 6.83544491e-02 2.65399455e-03 9.97657569e-01 3.06209486e+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:229.76, Y:96.09, Z:30.62 [[ 9.48705737e-01 3.09277020e-01 -6.56136347e-02 2.29760709e+02] [-3.08677060e-01 9.50970096e-01 1.93481023e-02 9.60944750e+01] [ 6.83805279e-02 1.89776822e-03 9.97657507e-01 3.06249541e+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:229.79, Y:96.08, Z:30.63 [[ 9.49733009e-01 3.06099077e-01 -6.56549024e-02 2.29790168e+02] [-3.05501382e-01 9.51997926e-01 1.92055702e-02 9.60830871e+01] [ 6.83821383e-02 1.81749946e-03 9.97657546e-01 3.06284722e+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:229.82, Y:96.07, Z:30.63 [[ 9.51255229e-01 3.01341846e-01 -6.56245513e-02 2.29818446e+02] [-3.00725596e-01 9.53515194e-01 1.93103572e-02 9.60678305e+01] [ 6.83930254e-02 1.36590409e-03 9.97657521e-01 3.06336647e+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:229.85, Y:96.06, Z:30.64 [[ 9.52332702e-01 2.97917713e-01 -6.56312528e-02 2.29849792e+02] [-2.97294934e-01 9.54590869e-01 1.92871627e-02 9.60584213e+01] [ 6.83969821e-02 1.14404327e-03 9.97657528e-01 3.06378035e+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:229.88, Y:96.05, Z:30.64 [[ 9.51720424e-01 2.99871586e-01 -6.56145265e-02 2.29884286e+02] [-2.99249458e-01 9.53978791e-01 1.93449762e-02 9.60466634e+01] [ 6.83958754e-02 1.22410254e-03 9.97657509e-01 3.06364064e+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:229.91, Y:96.04, Z:30.64 [[ 9.51032095e-01 3.02098210e-01 -6.53806222e-02 2.29911165e+02] [-3.01425309e-01 9.53276657e-01 2.01593063e-02 9.60380298e+01] [ 6.84159113e-02 5.35226929e-04 9.97656743e-01 3.06364882e+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:229.94, Y:96.03, Z:30.64 [[ 9.50088639e-01 3.05005086e-01 -6.56008854e-02 2.29943568e+02] [-3.04391975e-01 9.52349468e-01 1.93911125e-02 9.60258509e+01] [ 6.83893563e-02 1.54510743e-03 9.97657511e-01 3.06396847e+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:229.97, Y:96.01, Z:30.64 [[ 9.47843313e-01 3.11935510e-01 -6.54926815e-02 2.29974517e+02] [-3.11313017e-01 9.50101839e-01 1.97661888e-02 9.60136351e+01] [ 6.83904933e-02 1.65347435e-03 9.97657259e-01 3.06410820e+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:229.99, Y:96.00, Z:30.64 [[ 9.44771624e-01 3.21123548e-01 -6.54694289e-02 2.29991856e+02] [-3.20517442e-01 9.47034676e-01 1.98466848e-02 9.59977110e+01] [ 6.83750572e-02 2.23350927e-03 9.97657187e-01 3.06386668e+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:230.03, Y:95.99, Z:30.64 [[ 9.44097798e-01 3.22949091e-01 -6.62059890e-02 2.30032090e+02] [-3.22522576e-01 9.46403161e-01 1.73275482e-02 9.59867756e+01] [ 6.82534732e-02 4.99402600e-03 9.97655513e-01 3.06401718e+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:230.06, Y:95.98, Z:30.63 [[ 9.45774906e-01 3.18163981e-01 -6.54332275e-02 2.30061248e+02] [-3.17543178e-01 9.48033786e-01 1.99567512e-02 9.59806377e+01] [ 6.83824298e-02 1.90328051e-03 9.97657366e-01 3.06278212e+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:230.09, Y:95.96, Z:30.64 [[ 9.42673895e-01 3.27197937e-01 -6.56310657e-02 2.30091048e+02] [-3.26645474e-01 9.44950201e-01 1.92834711e-02 9.59645396e+01] [ 6.83276006e-02 3.26006581e-03 9.97657612e-01 3.06425977e+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:230.12, Y:95.95, Z:30.65 [[ 9.42419582e-01 3.27956894e-01 -6.54950884e-02 2.30120790e+02] [-3.27374198e-01 9.44688441e-01 1.97454805e-02 9.59512930e+01] [ 6.83481194e-02 2.83287452e-03 9.97657511e-01 3.06475652e+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:230.15, Y:95.94, Z:30.65 [[ 9.42079823e-01 3.28930324e-01 -6.55015153e-02 2.30151002e+02] [-3.28351487e-01 9.44349659e-01 1.97236457e-02 9.59390062e+01] [ 6.83440388e-02 2.92627126e-03 9.97657521e-01 3.06501134e+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:230.18, Y:95.93, Z:30.65 [[ 9.43605336e-01 3.24545625e-01 -6.54148907e-02 2.30180368e+02] [-3.23935857e-01 9.45867243e-01 2.00179554e-02 9.59291720e+01] [ 6.83705422e-02 2.30117911e-03 9.97657343e-01 3.06538147e+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:230.21, Y:95.92, Z:30.65 [[ 9.44267149e-01 3.22597858e-01 -6.54994078e-02 2.30211988e+02] [-3.22003293e-01 9.46532921e-01 1.97308918e-02 9.59180073e+01] [ 6.83624892e-02 2.45979207e-03 9.97657516e-01 3.06546693e+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:230.24, Y:95.91, Z:30.66 [[ 9.46617192e-01 3.15645662e-01 -6.54500429e-02 2.30240880e+02] [-3.15022876e-01 9.48875461e-01 1.98984218e-02 9.59053591e+01] [ 6.83847902e-02 1.78207256e-03 9.97657429e-01 3.06555897e+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:230.27, Y:95.89, Z:30.66 [[ 9.48442745e-01 3.10091872e-01 -6.55697392e-02 2.30271353e+02] [-3.09483890e-01 9.50704881e-01 1.94923173e-02 9.58921107e+01] [ 6.83818803e-02 1.80543112e-03 9.97657586e-01 3.06577832e+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:230.30, Y:95.88, Z:30.66 [[ 9.48921638e-01 3.08625406e-01 -6.55597736e-02 2.30303692e+02] [-3.08011596e-01 9.51182206e-01 1.95260933e-02 9.58807378e+01] [ 6.83855385e-02 1.66443807e-03 9.97657580e-01 3.06592371e+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:230.32, Y:95.88, Z:30.65 [[ 9.52507280e-01 2.97394048e-01 -6.54725966e-02 2.30322678e+02] [-2.96733292e-01 9.54754670e-01 1.98210387e-02 9.58811794e+01] [ 6.84049263e-02 5.48215501e-04 9.97657489e-01 3.06485192e+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:230.36, Y:95.86, Z:30.66 [[ 9.51213423e-01 3.01302452e-01 -6.64067546e-02 2.30361553e+02] [-3.00871428e-01 9.53519573e-01 1.66375215e-02 9.58633671e+01] [ 6.83330663e-02 4.15406134e-03 9.97653916e-01 3.06606075e+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:230.40, Y:95.86, Z:30.64 [[ 9.55513626e-01 2.87555193e-01 -6.56180040e-02 2.30395719e+02] [-2.86906353e-01 9.57763995e-01 1.93099503e-02 9.58607175e+01] [ 6.83992382e-02 3.75301638e-04 9.97657959e-01 3.06434616e+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:230.42, Y:95.85, Z:30.66 [[ 9.53197264e-01 2.95147741e-01 -6.55956251e-02 2.30421554e+02] [-2.94511614e-01 9.55451257e-01 1.93856752e-02 9.58460996e+01] [ 6.83950607e-02 8.40300841e-04 9.97657962e-01 3.06646466e+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:230.45, Y:95.83, Z:30.67 [[ 9.54382059e-01 2.91267863e-01 -6.57108606e-02 2.30453812e+02] [-2.90649441e-01 9.56641046e-01 1.89950430e-02 9.58317339e+01] [ 6.83943520e-02 9.70296652e-04 9.97657893e-01 3.06703221e+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:230.49, Y:95.82, Z:30.67 [[ 9.56306047e-01 2.84924605e-01 -6.55493197e-02 2.30485841e+02] [-2.84253644e-01 9.58549929e-01 1.95422498e-02 9.58225791e+01] [ 6.84003636e-02 -5.57386970e-05 9.97657951e-01 3.06707230e+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:230.52, Y:95.82, Z:30.68 [[ 9.58782867e-01 2.76482927e-01 -6.55179710e-02 2.30515593e+02] [-2.75784959e-01 9.61018522e-01 1.96483403e-02 9.58159422e+01] [ 6.83964142e-02 -7.69621039e-04 9.97657926e-01 3.06793524e+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:230.55, Y:95.81, Z:30.68 [[ 9.60205812e-01 2.71496245e-01 -6.55331091e-02 2.30545642e+02] [-2.70790157e-01 9.62438902e-01 1.95971926e-02 9.58096737e+01] [ 6.83921778e-02 -1.07161728e-03 9.97657938e-01 3.06820849e+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:230.58, Y:95.80, Z:30.68 [[ 9.61036316e-01 2.68521177e-01 -6.56169010e-02 2.30578288e+02] [-2.67827483e-01 9.63273275e-01 1.93141722e-02 9.58013403e+01] [ 6.83932713e-02 -9.87611417e-04 9.97657950e-01 3.06843716e+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:230.61, Y:95.80, Z:30.69 [[ 9.62000272e-01 2.65066703e-01 -6.55371593e-02 2.30609371e+02] [-2.64346650e-01 9.64228889e-01 1.95831338e-02 9.57958518e+01] [ 6.83836590e-02 -1.51445148e-03 9.97657948e-01 3.06867904e+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:230.64, Y:95.80, Z:30.69 [[ 9.62860629e-01 2.61911305e-01 -6.55886937e-02 2.30640182e+02] [-2.61195774e-01 9.65090692e-01 1.94093787e-02 9.57958930e+01] [ 6.83825735e-02 -1.55703699e-03 9.97657957e-01 3.06874864e+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:230.67, Y:95.79, Z:30.69 [[ 9.62799369e-01 2.62108185e-01 -6.57014053e-02 2.30671605e+02] [-2.61418961e-01 9.65037815e-01 1.90300294e-02 9.57910372e+01] [ 6.83922671e-02 -1.14650715e-03 9.97657849e-01 3.06878853e+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:230.70, Y:95.78, Z:30.70 [[ 9.62237319e-01 2.64157634e-01 -6.57273611e-02 2.30704961e+02] [-2.63479148e-01 9.64479091e-01 1.89425733e-02 9.57834341e+01] [ 6.83964908e-02 -9.09461882e-04 9.97657804e-01 3.06962199e+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:230.73, Y:95.76, Z:30.69 [[ 9.57086743e-01 2.82286499e-01 -6.55690429e-02 2.30733911e+02] [-2.81613964e-01 9.59330132e-01 1.94749309e-02 9.57644018e+01] [ 6.83998686e-02 -1.74040020e-04 9.97657971e-01 3.06867413e+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:230.77, Y:95.78, Z:30.70 [[ 9.60819524e-01 2.69310856e-01 -6.55553660e-02 2.30772358e+02] [-2.68604896e-01 9.63052618e-01 1.95208612e-02 9.57784718e+01] [ 6.83904467e-02 -1.14753229e-03 9.97657972e-01 3.07041172e+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:230.80, Y:95.77, Z:30.70 [[ 9.60579860e-01 2.70186490e-01 -6.54644374e-02 2.30802359e+02] [-2.69461772e-01 9.62806984e-01 1.98258523e-02 9.57745485e+01] [ 6.83862950e-02 -1.40415109e-03 9.97657929e-01 3.07009275e+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:230.84, Y:95.78, Z:30.70 [[ 9.60344320e-01 2.70987324e-01 -6.56098889e-02 2.30836750e+02] [-2.70297643e-01 9.62582551e-01 1.93395139e-02 9.57784604e+01] [ 6.83956973e-02 -8.38394035e-04 9.97657920e-01 3.07013868e+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:230.85, Y:95.79, Z:30.68 [[ 9.63057425e-01 2.61181430e-01 -6.56098794e-02 2.30854098e+02] [-2.60468962e-01 9.65288507e-01 1.93395455e-02 9.57869197e+01] [ 6.83835927e-02 -1.53575579e-03 9.97657920e-01 3.06753947e+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:230.90, Y:95.77, Z:30.70 [[ 9.59186126e-01 2.74733189e-01 -6.69600616e-02 2.30898210e+02] [-2.74366617e-01 9.61511399e-01 1.47915180e-02 9.57724680e+01] [ 6.84465835e-02 4.18378668e-03 9.97646010e-01 3.07013523e+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:230.93, Y:95.77, Z:30.70 [[ 9.58816061e-01 2.76375833e-01 -6.54840484e-02 2.30930362e+02] [-2.75673344e-01 9.61049261e-01 1.97110643e-02 9.57703298e+01] [ 6.83810582e-02 -8.47078452e-04 9.97658916e-01 3.07045747e+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:230.96, Y:95.76, Z:30.71 [[ 9.58437956e-01 2.77677643e-01 -6.55119101e-02 2.30961270e+02] [-2.76984523e-01 9.60674083e-01 1.96183466e-02 9.57648110e+01] [ 6.83831705e-02 -6.57182810e-04 9.97658915e-01 3.07058881e+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:230.99, Y:95.76, Z:30.71 [[ 9.57521419e-01 2.80804280e-01 -6.55872570e-02 2.30994945e+02] [-2.80135605e-01 9.59765037e-01 1.93679118e-02 9.57620341e+01] [ 6.83869487e-02 -1.71864476e-04 9.97658857e-01 3.07110792e+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:231.02, Y:95.75, Z:30.71 [[ 9.56849306e-01 2.83105512e-01 -6.55032409e-02 2.31024771e+02] [-2.82423124e-01 9.59088723e-01 1.96468763e-02 9.57528828e+01] [ 6.83855586e-02 -2.99470025e-04 9.97658923e-01 3.07075102e+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:231.06, Y:95.75, Z:30.72 [[ 9.55000916e-01 2.89285457e-01 -6.54765257e-02 2.31055938e+02] [-2.88611482e-01 9.57242875e-01 1.97355101e-02 9.57522412e+01] [ 6.83861338e-02 4.98469317e-05 9.97658927e-01 3.07190056e+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:231.08, Y:95.73, Z:30.70 [[ 9.49843899e-01 3.05794225e-01 -6.54710615e-02 2.31083553e+02] [-3.05157962e-01 9.52096851e-01 1.97536186e-02 9.57326385e+01] [ 6.83753339e-02 1.21616159e-03 9.97658927e-01 3.07032899e+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:231.12, Y:95.75, Z:30.72 [[ 9.50175512e-01 3.04762585e-01 -6.54695623e-02 2.31116179e+02] [-3.04123533e-01 9.52427674e-01 1.97585860e-02 9.57456668e+01] [ 6.83767007e-02 1.13671007e-03 9.97658927e-01 3.07235992e+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:231.14, Y:95.74, Z:30.73 [[ 9.47310423e-01 3.13554018e-01 -6.54739631e-02 2.31143633e+02] [-3.12936870e-01 9.49568686e-01 1.97439995e-02 9.57392325e+01] [ 6.83628355e-02 1.78552056e-03 9.97658927e-01 3.07257651e+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:231.17, Y:95.72, Z:30.70 [[ 9.42226221e-01 3.28520458e-01 -6.54527115e-02 2.31165935e+02] [-3.27934275e-01 9.44492721e-01 1.98144255e-02 9.57177684e+01] [ 6.83290537e-02 2.79451629e-03 9.97658925e-01 3.07048256e+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:231.20, Y:95.73, Z:30.73 [[ 9.46082944e-01 3.17198313e-01 -6.56680563e-02 2.31201166e+02] [-3.16634346e-01 9.48355327e-01 1.91014439e-02 9.57279352e+01] [ 6.83355968e-02 2.72121180e-03 9.97658680e-01 3.07343986e+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:231.23, Y:95.72, Z:30.74 [[ 9.46112530e-01 3.17164703e-01 -6.54036036e-02 2.31229984e+02] [-3.16540041e-01 9.48368760e-01 1.99774430e-02 9.57192520e+01] [ 6.83628742e-02 1.80195020e-03 9.97658895e-01 3.07365907e+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:231.26, Y:95.72, Z:30.72 [[ 9.48726289e-01 3.09258178e-01 -6.54049560e-02 2.31259578e+02] [-3.08615018e-01 9.50977314e-01 1.99729627e-02 9.57162209e+01] [ 6.83754314e-02 1.23607687e-03 9.97658896e-01 3.07214824e+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:231.29, Y:95.71, Z:30.72 [[ 9.48179779e-01 3.10916165e-01 -6.54694225e-02 2.31286464e+02] [-3.10291674e-01 9.50436029e-01 1.97593693e-02 9.57062912e+01] [ 6.83680053e-02 1.57918227e-03 9.97658921e-01 3.07243436e+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:231.31, Y:95.68, Z:30.72 [[ 9.42736396e-01 3.27049834e-01 -6.54713137e-02 2.31309615e+02] [-3.26464367e-01 9.45003086e-01 1.97531010e-02 9.56825165e+01] [ 6.83308419e-02 2.75208379e-03 9.97658921e-01 3.07230111e+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:231.34, Y:95.68, Z:30.72 [[ 9.44168003e-01 3.22893430e-01 -6.54722485e-02 2.31340989e+02] [-3.22298197e-01 9.46432147e-01 1.97500022e-02 9.56803487e+01] [ 6.83421867e-02 2.45426754e-03 9.97658921e-01 3.07152863e+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:231.37, Y:95.67, Z:30.73 [[ 9.44218825e-01 3.22744810e-01 -6.54721260e-02 2.31365015e+02] [-3.22149193e-01 9.46482868e-01 1.97504081e-02 9.56741784e+01] [ 6.83425873e-02 2.44308541e-03 9.97658921e-01 3.07335965e+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:231.40, Y:95.66, Z:30.72 [[ 9.47524088e-01 3.12839725e-01 -6.57982487e-02 2.31398284e+02] [-3.12295287e-01 9.49801627e-01 1.86687793e-02 9.56633197e+01] [ 6.83356195e-02 2.85936494e-03 9.97658292e-01 3.07190709e+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:231.42, Y:95.64, Z:30.74 [[ 9.44229194e-01 3.22716277e-01 -6.54632217e-02 2.31417258e+02] [-3.22118690e-01 9.46492676e-01 1.97778525e-02 9.56378021e+01] [ 6.83430948e-02 2.41210147e-03 9.97658961e-01 3.07432146e+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:231.45, Y:95.64, Z:30.72 [[ 9.50697376e-01 3.03082961e-01 -6.56903224e-02 2.31449343e+02] [-3.02490357e-01 9.52962510e-01 1.90273211e-02 9.56383314e+01] [ 6.83672713e-02 1.78146483e-03 9.97658630e-01 3.07173596e+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:231.48, Y:95.61, Z:30.74 [[ 9.46120676e-01 3.17049235e-01 -6.58441335e-02 2.31475337e+02] [-3.16525313e-01 9.48403269e-01 1.85193138e-02 9.56064409e+01] [ 6.83183257e-02 3.31982922e-03 9.97658050e-01 3.07387006e+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:231.51, Y:95.60, Z:30.75 [[ 9.48240950e-01 3.10737309e-01 -6.54326072e-02 2.31505078e+02] [-3.10104452e-01 9.50494732e-01 1.98744188e-02 9.56013831e+01] [ 6.83690719e-02 1.44520506e-03 9.97659051e-01 3.07528359e+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:231.53, Y:95.59, Z:30.75 [[ 9.49249926e-01 3.07639061e-01 -6.54429945e-02 2.31534620e+02] [-3.07001203e-01 9.51502300e-01 1.98402446e-02 9.55867335e+01] [ 6.83727940e-02 1.25772733e-03 9.97659050e-01 3.07540792e+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:231.56, Y:95.57, Z:30.76 [[ 9.49914395e-01 3.05587872e-01 -6.54117414e-02 2.31564972e+02] [-3.04938075e-01 9.52163352e-01 1.99429816e-02 9.55718944e+01] [ 6.83769962e-02 1.00240520e-03 9.97659051e-01 3.07558713e+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:231.59, Y:95.56, Z:30.76 [[ 9.50421457e-01 3.04011048e-01 -6.53937010e-02 2.31594907e+02] [-3.03353445e-01 9.52668147e-01 2.00022184e-02 9.55616955e+01] [ 6.83793913e-02 8.26866875e-04 9.97659048e-01 3.07579917e+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:231.63, Y:95.55, Z:30.76 [[ 9.50904451e-01 3.02493757e-01 -6.54083564e-02 2.31627117e+02] [-3.01835876e-01 9.53151057e-01 1.99541256e-02 9.55522134e+01] [ 6.83800425e-02 7.68121670e-04 9.97659050e-01 3.07579721e+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:231.66, Y:95.54, Z:30.76 [[ 9.51657519e-01 3.00122886e-01 -6.53775212e-02 2.31657396e+02] [-2.99452461e-01 9.53900420e-01 2.00552335e-02 9.55432381e+01] [ 6.83826795e-02 4.91745827e-04 9.97659044e-01 3.07587011e+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:231.68, Y:95.53, Z:30.76 [[ 9.52327495e-01 2.97982545e-01 -6.54121168e-02 2.31683427e+02] [-2.97314861e-01 9.54571210e-01 1.99418969e-02 9.55316223e+01] [ 6.83828607e-02 4.56777669e-04 9.97659048e-01 3.07585318e+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:231.72, Y:95.52, Z:30.77 [[ 9.52449456e-01 2.97538686e-01 -6.56564098e-02 2.31718139e+02] [-2.96925062e-01 9.54708925e-01 1.91409449e-02 9.55212975e+01] [ 6.83779320e-02 1.26425093e-03 9.97658689e-01 3.07655308e+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:231.76, Y:95.50, Z:30.76 [[ 9.50600726e-01 3.03457632e-01 -6.53584428e-02 2.31756623e+02] [-3.02790902e-01 9.52844699e-01 2.01159100e-02 9.55043988e+01] [ 6.83807721e-02 6.67743201e-04 9.97659072e-01 3.07601099e+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:231.78, Y:95.50, Z:30.77 [[ 9.51806104e-01 2.99794330e-01 -6.47186227e-02 2.31779606e+02] [-2.98976484e-01 9.54002194e-01 2.22008222e-02 9.55014246e+01] [ 6.83973887e-02 -1.78153185e-03 9.97656566e-01 3.07722483e+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:231.81, Y:95.49, Z:30.76 [[ 9.46781992e-01 3.15191676e-01 -6.52538698e-02 2.31811974e+02] [-3.14529505e-01 9.49027324e-01 2.04530683e-02 9.54851189e+01] [ 6.83743423e-02 1.15967067e-03 9.97659062e-01 3.07642411e+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:231.84, Y:95.48, Z:30.78 [[ 9.48077723e-01 3.11304505e-01 -6.51009726e-02 2.31840449e+02] [-3.10598701e-01 9.50310149e-01 2.09539326e-02 9.54846179e+01] [ 6.83891686e-02 3.54320762e-04 9.97658657e-01 3.07816704e+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:231.87, Y:95.47, Z:30.78 [[ 9.47495851e-01 3.13019139e-01 -6.53500642e-02 2.31870587e+02] [-3.12373578e-01 9.49745882e-01 2.01372167e-02 9.54749182e+01] [ 6.83692886e-02 1.33370418e-03 9.97659191e-01 3.07846531e+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:231.90, Y:95.46, Z:30.79 [[ 9.46854206e-01 3.14949930e-01 -6.53731900e-02 2.31902096e+02] [-3.14314187e-01 9.49107018e-01 2.00614303e-02 9.54628849e+01] [ 6.83644995e-02 1.55247133e-03 9.97659203e-01 3.07871340e+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:231.93, Y:95.45, Z:30.79 [[ 9.46939308e-01 3.14713333e-01 -6.52798980e-02 2.31931655e+02] [-3.14055978e-01 9.49185988e-01 2.03666839e-02 9.54542698e+01] [ 6.83724315e-02 1.21552871e-03 9.97659127e-01 3.07897920e+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:231.96, Y:95.44, Z:30.79 [[ 9.46288709e-01 3.16647717e-01 -6.53598002e-02 2.31961049e+02] [-3.16012986e-01 9.48541812e-01 2.01052995e-02 9.54413450e+01] [ 6.83628004e-02 1.62912777e-03 9.97659197e-01 3.07894679e+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:231.99, Y:95.42, Z:30.77 [[ 9.40366430e-01 3.33826623e-01 -6.53510812e-02 2.31989879e+02] [-3.33231047e-01 9.42630202e-01 2.01338275e-02 9.54230443e+01] [ 6.83231105e-02 2.84383369e-03 9.97659193e-01 3.07728221e+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:232.02, Y:95.42, Z:30.79 [[ 9.43810986e-01 3.23950980e-01 -6.53956015e-02 2.32023166e+02] [-3.23341784e-01 9.46071120e-01 1.99881724e-02 9.54239032e+01] [ 6.83440780e-02 2.28007376e-03 9.97659204e-01 3.07892783e+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:232.05, Y:95.41, Z:30.79 [[ 9.43145841e-01 3.25910263e-01 -6.52566001e-02 2.32054135e+02] [-3.25274383e-01 9.45398705e-01 2.04417563e-02 9.54132808e+01] [ 6.83556834e-02 1.94674290e-03 9.97659116e-01 3.07921474e+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:232.08, Y:95.40, Z:30.80 [[ 9.42593720e-01 3.27501898e-01 -6.52655041e-02 2.32084707e+02] [-3.26871835e-01 9.44848203e-01 2.04126467e-02 9.54018024e+01] [ 6.83511749e-02 2.09262249e-03 9.97659129e-01 3.07958072e+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:232.11, Y:95.39, Z:30.80 [[ 9.42053546e-01 3.29061316e-01 -6.52209049e-02 2.32114096e+02] [-3.28424910e-01 9.44306325e-01 2.05582927e-02 9.53889000e+01] [ 6.83534518e-02 2.05315725e-03 9.97659055e-01 3.07968069e+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:232.14, Y:95.38, Z:30.80 [[ 9.41970530e-01 3.29294098e-01 -6.52450610e-02 2.32143851e+02] [-3.28663701e-01 9.44224954e-01 2.04794597e-02 9.53781265e+01] [ 6.83497799e-02 2.15263568e-03 9.97659097e-01 3.07986392e+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:232.17, Y:95.36, Z:30.80 [[ 9.41452763e-01 3.30765000e-01 -6.52779416e-02 2.32174469e+02] [-3.30145535e-01 9.43710173e-01 2.03724244e-02 9.53612839e+01] [ 6.83419425e-02 2.37154572e-03 9.97659138e-01 3.07974205e+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:232.20, Y:95.35, Z:30.80 [[ 9.41142126e-01 3.31705443e-01 -6.49846047e-02 2.32204592e+02] [-3.31022322e-01 9.43381908e-01 2.13259943e-02 9.53473243e+01] [ 6.83792488e-02 1.44056318e-03 9.97658360e-01 3.07993606e+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:232.23, Y:95.34, Z:30.78 [[ 9.45058087e-01 3.20371019e-01 -6.50201779e-02 2.32233364e+02] [-3.19668986e-01 9.47291857e-01 2.12102912e-02 9.53402853e+01] [ 6.83882476e-02 7.39977170e-04 9.97658509e-01 3.07805079e+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:232.26, Y:95.32, Z:30.79 [[ 9.40160507e-01 3.34402489e-01 -6.53696950e-02 2.32263851e+02] [-3.33812577e-01 9.42425738e-01 2.00721724e-02 9.53165391e+01] [ 6.83182675e-02 2.95016251e-03 9.97659216e-01 3.07942539e+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:232.30, Y:95.31, Z:30.79 [[ 9.47462153e-01 3.13182265e-01 -6.50564152e-02 2.32299425e+02] [-3.12471967e-01 9.49692974e-01 2.10837696e-02 9.53091789e+01] [ 6.83866831e-02 3.52232232e-04 9.97658828e-01 3.07908264e+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:232.32, Y:95.28, Z:30.82 [[ 9.43653181e-01 3.24539723e-01 -6.47506143e-02 2.32318536e+02] [-3.23788584e-01 9.45872057e-01 2.20681709e-02 9.52839557e+01] [ 6.84077948e-02 1.40810060e-04 9.97657433e-01 3.08159707e+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:232.35, Y:95.27, Z:30.81 [[ 9.44313090e-01 3.22552105e-01 -6.50609465e-02 2.32346934e+02] [-3.21865106e-01 9.46551131e-01 2.10668220e-02 9.52728469e+01] [ 6.83786603e-02 1.04717259e-03 9.97658891e-01 3.08140624e+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:232.38, Y:95.26, Z:30.82 [[ 9.46721950e-01 3.15381033e-01 -6.52100690e-02 2.32377036e+02] [-3.14710209e-01 9.48964560e-01 2.05851613e-02 9.52573920e+01] [ 6.83742138e-02 1.03385042e-03 9.97659209e-01 3.08220708e+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:232.40, Y:95.23, Z:30.81 [[ 9.44085529e-01 3.23212511e-01 -6.50860006e-02 2.32402147e+02] [-3.22532706e-01 9.46325673e-01 2.09851063e-02 9.52341731e+01] [ 6.83752022e-02 1.18062871e-03 9.97658979e-01 3.08113764e+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:232.44, Y:95.23, Z:30.83 [[ 9.50422177e-01 3.04025915e-01 -6.53140740e-02 2.32435018e+02] [-3.03351340e-01 9.52663593e-01 2.02495330e-02 9.52292366e+01] [ 6.83787232e-02 5.67506618e-04 9.97659275e-01 3.08278013e+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:232.47, Y:95.22, Z:30.83 [[ 9.51599822e-01 3.00363440e-01 -6.51120856e-02 2.32466288e+02] [-2.99635646e-01 9.53824754e-01 2.09002091e-02 9.52181923e+01] [ 6.83831777e-02 -3.78733377e-04 9.97659059e-01 3.08276803e+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:232.49, Y:95.21, Z:30.83 [[ 9.53146682e-01 2.95443809e-01 -6.49950667e-02 2.32494092e+02] [-2.94678625e-01 9.55359450e-01 2.12797946e-02 9.52090349e+01] [ 6.83806347e-02 -1.13010877e-03 9.97658665e-01 3.08299515e+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:232.52, Y:95.20, Z:30.83 [[ 9.53021568e-01 2.95810949e-01 -6.51595935e-02 2.32523692e+02] [-2.95083089e-01 9.55246349e-01 2.07456972e-02 9.51999300e+01] [ 6.83802682e-02 -5.43602780e-04 9.97659182e-01 3.08336979e+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:232.55, Y:95.19, Z:30.84 [[ 9.52303195e-01 2.98093407e-01 -6.52606016e-02 2.32554230e+02] [-2.97393335e-01 9.54536704e-01 2.04177545e-02 9.51903504e+01] [ 6.83800376e-02 -3.58248823e-05 9.97659345e-01 3.08366430e+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:232.58, Y:95.18, Z:30.84 [[ 9.50284709e-01 3.04475614e-01 -6.52194144e-02 2.32583284e+02] [-3.03781364e-01 9.52520089e-01 2.05514515e-02 9.51806066e+01] [ 6.83802182e-02 2.82712537e-04 9.97659293e-01 3.08408872e+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:232.61, Y:95.17, Z:30.84 [[ 9.48249783e-01 3.10746275e-01 -6.52618008e-02 2.32613949e+02] [-3.10076265e-01 9.50492494e-01 2.04139351e-02 9.51682629e+01] [ 6.83744060e-02 8.78625967e-04 9.97659345e-01 3.08420461e+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:232.64, Y:95.16, Z:30.84 [[ 9.46166244e-01 3.17049709e-01 -6.51837405e-02 2.32643836e+02] [-3.16377204e-01 9.48408320e-01 2.06669816e-02 9.51612631e+01] [ 6.83732623e-02 1.06824915e-03 9.97659238e-01 3.08401798e+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:232.67, Y:95.15, Z:30.84 [[ 9.44194019e-01 3.22852925e-01 -6.52965836e-02 2.32674461e+02] [-3.22219478e-01 9.46447296e-01 2.03008327e-02 9.51498067e+01] [ 6.83539582e-02 1.87190620e-03 9.97659377e-01 3.08426325e+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:232.70, Y:95.14, Z:30.84 [[ 9.42998602e-01 3.26361901e-01 -6.51271478e-02 2.32704004e+02] [-3.25698996e-01 9.45243620e-01 2.08485546e-02 9.51420178e+01] [ 6.83651949e-02 1.55168885e-03 9.97659156e-01 3.08449047e+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:232.73, Y:95.13, Z:30.85 [[ 9.42592210e-01 3.27535064e-01 -6.51207207e-02 2.32733142e+02] [-3.26873526e-01 9.44837644e-01 2.08692382e-02 9.51304521e+01] [ 6.83639155e-02 1.61505822e-03 9.97659144e-01 3.08502265e+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:232.76, Y:95.12, Z:30.85 [[ 9.43616185e-01 3.24568541e-01 -6.51441295e-02 2.32762904e+02] [-3.23905134e-01 9.45861023e-01 2.07939673e-02 9.51185415e+01] [ 6.83663606e-02 1.47899393e-03 9.97659187e-01 3.08542722e+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:232.79, Y:95.11, Z:30.86 [[ 9.45261146e-01 3.19747180e-01 -6.51391329e-02 2.32793542e+02] [-3.19071215e-01 9.47502244e-01 2.08100325e-02 9.51081589e+01] [ 6.83734238e-02 1.11310716e-03 9.97659178e-01 3.08555169e+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:232.82, Y:95.10, Z:30.86 [[ 9.46458926e-01 3.16176356e-01 -6.51767872e-02 2.32824355e+02] [-3.15500299e-01 9.48699924e-01 2.06885150e-02 9.50987908e+01] [ 6.83744324e-02 9.82466203e-04 9.97659246e-01 3.08554299e+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:232.85, Y:95.09, Z:30.86 [[ 9.47159334e-01 3.14066579e-01 -6.52026024e-02 2.32853777e+02] [-3.13391258e-01 9.49400517e-01 2.06052724e-02 9.50899060e+01] [ 6.83748118e-02 9.17449516e-04 9.97659282e-01 3.08563561e+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:232.88, Y:95.08, Z:30.86 [[ 9.47656243e-01 3.12559602e-01 -6.52237688e-02 2.32883923e+02] [-3.11885399e-01 9.49897742e-01 2.05372110e-02 9.50802320e+01] [ 6.83750132e-02 8.80124979e-04 9.97659302e-01 3.08568148e+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:232.92, Y:95.07, Z:30.86 [[ 9.47727433e-01 3.12342937e-01 -6.52273196e-02 2.32915552e+02] [-3.11669009e-01 9.49969011e-01 2.05257609e-02 9.50709638e+01] [ 6.83750087e-02 8.76507430e-04 9.97659306e-01 3.08560872e+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:232.95, Y:95.06, Z:30.86 [[ 9.48098711e-01 3.11217466e-01 -6.52113739e-02 2.32945392e+02] [-3.10537346e-01 9.50338434e-01 2.05771169e-02 9.50625481e+01] [ 6.83768332e-02 7.41428993e-04 9.97659290e-01 3.08586852e+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:232.98, Y:95.05, Z:30.86 [[ 9.49189377e-01 3.07880498e-01 -6.51853151e-02 2.32976693e+02] [-3.07186761e-01 9.51424946e-01 2.06607201e-02 9.50538973e+01] [ 6.83799677e-02 4.13129747e-04 9.97659265e-01 3.08591821e+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:233.01, Y:95.05, Z:30.86 [[ 9.50668527e-01 3.03290861e-01 -6.51460408e-02 2.33006244e+02] [-3.02577682e-01 9.52898028e-01 2.07868976e-02 9.50478182e+01] [ 6.83820098e-02 -4.97113714e-05 9.97659210e-01 3.08591261e+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:233.04, Y:95.04, Z:30.86 [[ 9.51397362e-01 3.00963442e-01 -6.52998249e-02 2.33038007e+02] [-3.00278676e-01 9.53635630e-01 2.02928827e-02 9.50354941e+01] [ 6.83796555e-02 3.01549877e-04 9.97659327e-01 3.08625509e+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:233.07, Y:95.03, Z:30.86 [[ 9.54482064e-01 2.91049848e-01 -6.52225054e-02 2.33067783e+02] [-2.90324848e-01 9.56707654e-01 2.05413429e-02 9.50275935e+01] [ 6.83774249e-02 -6.70629442e-04 9.97659300e-01 3.08637864e+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:233.10, Y:95.02, Z:30.87 [[ 9.54368064e-01 2.91399567e-01 -6.53290950e-02 2.33098599e+02] [-2.90698787e-01 9.56601385e-01 2.01991353e-02 9.50177513e+01] [ 6.83799220e-02 -2.86320970e-04 9.97659313e-01 3.08659114e+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:233.13, Y:95.01, Z:30.87 [[ 9.55909321e-01 2.86306588e-01 -6.53139203e-02 2.33132094e+02] [-2.85590587e-01 9.58137801e-01 2.02477567e-02 9.50050209e+01] [ 6.83768021e-02 -7.01978483e-04 9.97659321e-01 3.08692480e+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:233.16, Y:95.00, Z:30.87 [[ 9.56602170e-01 2.84043539e-01 -6.50504096e-02 2.33162774e+02] [-2.83265075e-01 9.58809794e-01 2.10873635e-02 9.50002315e+01] [ 6.83606991e-02 -1.74570853e-03 9.97659144e-01 3.08706516e+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:233.19, Y:94.99, Z:30.87 [[ 9.56385387e-01 2.84768101e-01 -6.50701197e-02 2.33192924e+02] [-2.83995571e-01 9.58595054e-01 2.10246904e-02 9.49927414e+01] [ 6.83630561e-02 -1.62808087e-03 9.97659181e-01 3.08727391e+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:233.22, Y:94.99, Z:30.88 [[ 9.56073317e-01 2.85818691e-01 -6.50498925e-02 2.33224057e+02] [-2.85044225e-01 9.58282344e-01 2.10888390e-02 9.49863450e+01] [ 6.83637478e-02 -1.62038002e-03 9.97659146e-01 3.08753929e+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:233.25, Y:94.98, Z:30.88 [[ 9.54845542e-01 2.89880803e-01 -6.51084514e-02 2.33253171e+02] [-2.89128406e-01 9.57062084e-01 2.09029154e-02 9.49843205e+01] [ 6.83721841e-02 -1.13435283e-03 9.97659239e-01 3.08778265e+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:233.29, Y:94.98, Z:30.88 [[ 9.51931205e-01 2.99261561e-01 -6.53414055e-02 2.33288027e+02] [-2.98581587e-01 9.54171064e-01 2.01647321e-02 9.49763076e+01] [ 6.83814077e-02 3.14302824e-04 9.97659203e-01 3.08847732e+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:233.32, Y:94.97, Z:30.88 [[ 9.49817058e-01 3.05983095e-01 -6.49761660e-02 2.33315608e+02] [-3.05240085e-01 9.52036857e-01 2.13146449e-02 9.49689516e+01] [ 6.83816259e-02 -4.11682887e-04 9.97659152e-01 3.08840609e+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:233.35, Y:94.97, Z:30.89 [[ 9.48012680e-01 3.11487476e-01 -6.51729283e-02 2.33350507e+02] [-3.10799884e-01 9.50250044e-01 2.06950481e-02 9.49719235e+01] [ 6.83768263e-02 6.36570552e-04 9.97659363e-01 3.08923333e+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:233.38, Y:94.96, Z:30.90 [[ 9.46267071e-01 3.16763067e-01 -6.51136673e-02 2.33382899e+02] [-3.16075125e-01 9.48504341e-01 2.08813565e-02 9.49632147e+01] [ 6.83750386e-02 8.21470416e-04 9.97659350e-01 3.08956176e+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:233.41, Y:94.96, Z:30.90 [[ 9.44620905e-01 3.21679976e-01 -6.49102320e-02 2.33413682e+02] [-3.20959793e-01 9.46848318e-01 2.15191709e-02 9.49623369e+01] [ 6.83824304e-02 5.06115901e-04 9.97659054e-01 3.08996138e+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:233.44, Y:94.96, Z:30.89 [[ 9.44650329e-01 3.21565890e-01 -6.50471748e-02 2.33444856e+02] [-3.20874976e-01 9.46886729e-01 2.10896413e-02 9.49588929e+01] [ 6.83740159e-02 9.49674037e-04 9.97659307e-01 3.08947100e+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:233.47, Y:94.94, Z:30.88 [[ 9.38460648e-01 3.39186165e-01 -6.51487366e-02 2.33471529e+02] [-3.38559284e-01 9.40715777e-01 2.07711046e-02 9.49362501e+01] [ 6.83317157e-02 2.56384538e-03 9.97659362e-01 3.08787618e+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:233.51, Y:94.95, Z:30.89 [[ 9.45296492e-01 3.19640817e-01 -6.51482269e-02 2.33506560e+02] [-3.18967169e-01 9.47538094e-01 2.07727030e-02 9.49497390e+01] [ 6.83702306e-02 1.14378222e-03 9.97659362e-01 3.08906018e+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:233.54, Y:94.94, Z:30.91 [[ 9.43451552e-01 3.25046063e-01 -6.51477306e-02 2.33535185e+02] [-3.24385149e-01 9.45696942e-01 2.07742594e-02 9.49355746e+01] [ 6.83626009e-02 1.53344898e-03 9.97659362e-01 3.09062954e+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:233.56, Y:94.92, Z:30.89 [[ 9.39723808e-01 3.35716531e-01 -6.49120647e-02 2.33559504e+02] [-3.35030113e-01 9.41961816e-01 2.15118651e-02 9.49163536e+01] [ 6.83665751e-02 1.53228459e-03 9.97659092e-01 3.08872230e+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:233.59, Y:94.92, Z:30.91 [[ 9.41875579e-01 3.29586435e-01 -6.51396580e-02 2.33591536e+02] [-3.28934624e-01 9.44123620e-01 2.07991414e-02 9.49154014e+01] [ 6.83550046e-02 1.83648554e-03 9.97659371e-01 3.09055055e+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:233.63, Y:94.91, Z:30.90 [[ 9.43674912e-01 3.24400273e-01 -6.51315875e-02 2.33625113e+02] [-3.23734364e-01 9.45918816e-01 2.08243833e-02 9.49066522e+01] [ 6.83646298e-02 1.43388496e-03 9.97659371e-01 3.09032489e+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:233.65, Y:94.90, Z:30.91 [[ 9.44763705e-01 3.21274468e-01 -6.48402504e-02 2.33654873e+02] [-3.20538621e-01 9.46986089e-01 2.17333561e-02 9.48958260e+01] [ 6.83851876e-02 2.50918400e-04 9.97658961e-01 3.09051366e+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:233.69, Y:94.88, Z:30.91 [[ 9.43979467e-01 3.23538847e-01 -6.50029344e-02 2.33686325e+02] [-3.22843388e-01 9.46214410e-01 2.12234971e-02 9.48818930e+01] [ 6.83733390e-02 9.51222123e-04 9.97659352e-01 3.09101720e+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:233.72, Y:94.87, Z:30.91 [[ 9.43507915e-01 3.24937137e-01 -6.48742785e-02 2.33716414e+02] [-3.24217389e-01 9.45735407e-01 2.16246518e-02 9.48725406e+01] [ 6.83805546e-02 6.30339010e-04 9.97659111e-01 3.09062758e+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:233.74, Y:94.86, Z:30.91 [[ 9.42779038e-01 3.27083514e-01 -6.46843162e-02 2.33744393e+02] [-3.26328501e-01 9.44995422e-01 2.22117658e-02 9.48628415e+01] [ 6.83914851e-02 1.67548790e-04 9.97658547e-01 3.09093523e+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:233.77, Y:94.85, Z:30.91 [[ 9.40986717e-01 3.32173979e-01 -6.48417014e-02 2.33768333e+02] [-3.31464442e-01 9.43217550e-01 2.17250507e-02 9.48469508e+01] [ 6.83763272e-02 1.04973421e-03 9.97659048e-01 3.09083937e+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:233.85, Y:94.81, Z:30.90 [[ 9.38787906e-01 3.38295029e-01 -6.50672065e-02 2.33846717e+02] [-3.37648265e-01 9.41037460e-01 2.10273042e-02 9.48136898e+01] [ 6.83441112e-02 2.22965045e-03 9.97659316e-01 3.08981379e+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:233.99, Y:95.26, Z:31.12 [[ 9.71931669e-01 -2.26539574e-01 6.34716710e-02 2.33992614e+02] [-2.25357763e-01 -9.73947724e-01 -2.52924763e-02 9.52574717e+01] [ 6.75478363e-02 1.02787249e-02 -9.97663088e-01 3.11153248e+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:234.02, Y:95.30, Z:31.12 [[ 9.86108863e-01 -1.52306173e-01 6.62732235e-02 2.34017904e+02] [-1.51719506e-01 -9.88326877e-01 -1.38266261e-02 9.52962564e+01] [ 6.76054885e-02 3.57961781e-03 -9.97705710e-01 3.11163101e+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:234.03, Y:95.34, Z:31.12 [[ 9.94755007e-01 -7.73121014e-02 6.69724898e-02 2.34032965e+02] [-7.68456372e-02 -9.96997578e-01 -9.51727230e-03 9.53425416e+01] [ 6.75072104e-02 4.32081063e-03 -9.97709430e-01 3.11243669e+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:234.05, Y:95.37, Z:31.13 [[ 9.97740223e-01 -1.79854330e-03 6.71655578e-02 2.34051216e+02] [-1.31229416e-03 -9.99972618e-01 -7.28297963e-03 9.53749196e+01] [ 6.71768174e-02 7.17838076e-03 -9.97715263e-01 3.11276674e+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:234.10, Y:95.43, Z:31.16 [[ 9.93938254e-01 8.70169608e-02 6.71922320e-02 2.34096281e+02] [ 8.71735592e-02 -9.96192956e-01 6.03465950e-04 9.54283029e+01] [ 6.69889400e-02 5.25757812e-03 -9.97739866e-01 3.11596402e+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:234.21, Y:94.98, Z:30.94 [[ 9.96855469e-01 -4.30129607e-02 -6.65511746e-02 2.34211496e+02] [ 4.22305284e-02 9.99021746e-01 -1.31199767e-02 9.49807768e+01] [ 6.70503997e-02 1.02682293e-02 9.97696751e-01 3.09391896e+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:234.24, Y:94.98, Z:30.94 [[ 9.96822411e-01 -4.30003299e-02 -6.70526081e-02 2.34237610e+02] [ 4.29714875e-02 9.99074543e-01 -1.87305433e-03 9.49820248e+01] [ 6.70710957e-02 -1.01424777e-03 9.97747683e-01 3.09417162e+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:234.26, Y:94.97, Z:30.92 [[ 9.97202126e-01 -3.30681006e-02 -6.70404469e-02 2.34264402e+02] [ 3.29981405e-02 9.99453099e-01 -2.15093714e-03 9.49743569e+01] [ 6.70749098e-02 -6.72909930e-05 9.97747940e-01 3.09237228e+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:234.29, Y:94.99, Z:30.95 [[ 9.96611044e-01 -4.77179130e-02 -6.70031941e-02 2.34294141e+02] [ 4.76248085e-02 9.98860829e-01 -2.98708137e-03 9.49864930e+01] [ 6.70694033e-02 -2.14056013e-04 9.97748290e-01 3.09482429e+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:234.32, Y:94.98, Z:30.92 [[ 9.97079616e-01 -3.65835010e-02 -6.70364595e-02 2.34322226e+02] [ 3.65149618e-02 9.99330578e-01 -2.24783822e-03 9.49777327e+01] [ 6.70738176e-02 -2.06560089e-04 9.97747994e-01 3.09196347e+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:234.35, Y:94.99, Z:30.95 [[ 9.95897613e-01 -6.08196071e-02 -6.69994057e-02 2.34349217e+02] [ 6.07512111e-02 9.98148250e-01 -3.05970339e-03 9.49938987e+01] [ 6.70614295e-02 -1.02314373e-03 9.97748324e-01 3.09481459e+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:234.38, Y:94.98, Z:30.93 [[ 9.96637657e-01 -4.71562373e-02 -6.70050067e-02 2.34378725e+02] [ 4.70651907e-02 9.98887500e-01 -2.93761156e-03 9.49844668e+01] [ 6.70689904e-02 -2.25869120e-04 9.97748315e-01 3.09318447e+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:234.41, Y:95.00, Z:30.96 [[ 9.95682585e-01 -6.42450899e-02 -6.69981943e-02 2.34408029e+02] [ 6.41826977e-02 9.97933395e-01 -3.08555039e-03 9.50020150e+01] [ 6.70579669e-02 -1.22789606e-03 9.97748326e-01 3.09587923e+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:234.44, Y:95.00, Z:30.96 [[ 9.96189288e-01 -5.58139628e-02 -6.70201737e-02 2.34435361e+02] [ 5.57649674e-02 9.98440530e-01 -2.60308828e-03 9.49991551e+01] [ 6.70609465e-02 -1.14420914e-03 9.97748225e-01 3.09581517e+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:234.47, Y:95.02, Z:30.97 [[ 9.95884950e-01 -6.10275382e-02 -6.69985493e-02 2.34465309e+02] [ 6.09586175e-02 9.98135559e-01 -3.07448725e-03 9.50172972e+01] [ 6.70612628e-02 -1.02230336e-03 9.97748336e-01 3.09656996e+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:234.49, Y:95.01, Z:30.95 [[ 9.97178410e-01 -3.38090723e-02 -6.70236164e-02 2.34493800e+02] [ 3.37144068e-02 9.99428272e-01 -2.54334530e-03 9.50130365e+01] [ 6.70712853e-02 2.76507553e-04 9.97748148e-01 3.09508766e+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:234.52, Y:95.03, Z:30.97 [[ 9.96741521e-01 -4.49255041e-02 -6.69928270e-02 2.34524988e+02] [ 4.48124435e-02 9.98990324e-01 -3.19020492e-03 9.50273256e+01] [ 6.70685075e-02 1.77697435e-04 9.97748357e-01 3.09719426e+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:234.55, Y:95.04, Z:30.97 [[ 9.97054670e-01 -3.72208293e-02 -6.70566622e-02 2.34550027e+02] [ 3.71826174e-02 9.99306833e-01 -1.81826584e-03 9.50377583e+01] [ 6.70778581e-02 -6.80431767e-04 9.97747512e-01 3.09748032e+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:234.58, Y:95.04, Z:30.96 [[ 9.97608935e-01 -1.68500230e-02 -6.70260304e-02 2.34577471e+02] [ 1.67225067e-02 9.99857135e-01 -2.46312689e-03 9.50366448e+01] [ 6.70579585e-02 1.33639415e-03 9.97748187e-01 3.09566848e+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:234.61, Y:95.05, Z:30.97 [[ 9.97450735e-01 -2.45872083e-02 -6.69888091e-02 2.34606813e+02] [ 2.44253398e-02 9.99696425e-01 -3.23443636e-03 9.50499299e+01] [ 6.70479987e-02 1.58996650e-03 9.97748484e-01 3.09740449e+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:234.63, Y:95.05, Z:30.97 [[ 9.97529265e-01 -2.10560630e-02 -6.70224454e-02 2.34634814e+02] [ 2.09332021e-02 9.99777663e-01 -2.53496852e-03 9.50521946e+01] [ 6.70609203e-02 1.12571089e-03 9.97748248e-01 3.09696693e+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:234.66, Y:95.06, Z:30.97 [[ 9.97561379e-01 -1.94950244e-02 -6.70167144e-02 2.34662341e+02] [ 1.93607275e-02 9.99809044e-01 -2.65288650e-03 9.50561620e+01] [ 6.70556352e-02 1.34892477e-03 9.97748326e-01 3.09704037e+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:234.69, Y:95.06, Z:30.97 [[ 9.97554563e-01 -1.98625182e-02 -6.70102619e-02 2.34690040e+02] [ 1.97201937e-02 9.99801660e-01 -2.78478905e-03 9.50560622e+01] [ 6.70522840e-02 1.45652367e-03 9.97748400e-01 3.09722460e+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:234.72, Y:95.06, Z:30.97 [[ 9.97519511e-01 -2.15410376e-02 -6.70135037e-02 2.34716740e+02] [ 2.14069216e-02 9.99767149e-01 -2.71885133e-03 9.50567241e+01] [ 6.70564664e-02 1.27755443e-03 9.97748364e-01 3.09735693e+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:234.75, Y:95.07, Z:30.95 [[ 9.96874248e-01 -4.18556450e-02 -6.70062541e-02 2.34745562e+02] [ 4.17574849e-02 9.99123667e-01 -2.86546587e-03 9.50667778e+01] [ 6.70674702e-02 5.84964937e-05 9.97748441e-01 3.09506610e+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:234.78, Y:95.06, Z:30.98 [[ 9.97408761e-01 -2.62511929e-02 -6.69823688e-02 2.34775579e+02] [ 2.60857150e-02 9.99654117e-01 -3.34404995e-03 9.50554045e+01] [ 6.70469860e-02 1.58810174e-03 9.97748555e-01 3.09782059e+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:234.80, Y:95.05, Z:30.98 [[ 9.97393886e-01 -2.67642804e-02 -6.70008243e-02 2.34803595e+02] [ 2.66247366e-02 9.99641072e-01 -2.97495557e-03 9.50537586e+01] [ 6.70563984e-02 1.18332320e-03 9.97748485e-01 3.09781620e+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:234.83, Y:95.05, Z:30.98 [[ 9.97340598e-01 -2.86710431e-02 -6.70052459e-02 2.34833015e+02] [ 2.85416984e-02 9.99588433e-01 -2.88706572e-03 9.50524572e+01] [ 6.70604440e-02 9.66944329e-04 9.97748446e-01 3.09776141e+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:234.86, Y:95.05, Z:30.96 [[ 9.97583605e-01 -1.83433477e-02 -6.70109866e-02 2.34859274e+02] [ 1.81983485e-02 9.99830549e-01 -2.77365410e-03 9.50453916e+01] [ 6.70505096e-02 1.54746257e-03 9.97748382e-01 3.09640836e+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:234.89, Y:95.05, Z:30.99 [[ 9.97410675e-01 -2.61907182e-02 -6.69775533e-02 2.34887777e+02] [ 2.60195178e-02 9.99655560e-01 -3.42730061e-03 9.50481460e+01] [ 6.70442470e-02 1.67570257e-03 9.97748596e-01 3.09886238e+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:234.92, Y:95.05, Z:30.99 [[ 9.97419937e-01 -2.58044476e-02 -6.69895528e-02 2.34917403e+02] [ 2.56478346e-02 9.99665928e-01 -3.19699850e-03 9.50465183e+01] [ 6.70496702e-02 1.47061307e-03 9.97748555e-01 3.09920169e+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:234.94, Y:95.05, Z:31.00 [[ 9.97425993e-01 -2.55312522e-02 -6.70040579e-02 2.34944802e+02] [ 2.53925177e-02 9.99673289e-01 -2.92151982e-03 9.50451086e+01] [ 6.70567570e-02 1.21259809e-03 9.97748426e-01 3.09970208e+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:234.97, Y:95.05, Z:31.00 [[ 9.97423765e-01 -2.56473155e-02 -6.69928972e-02 2.34972720e+02] [ 2.54947542e-02 9.99670052e-01 -3.13136942e-03 9.50456028e+01] [ 6.70511043e-02 1.41533483e-03 9.97748539e-01 3.09986941e+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:235.00, Y:95.04, Z:30.98 [[ 9.97645680e-01 -1.46884652e-02 -6.69876616e-02 2.35002792e+02] [ 1.45046932e-02 9.99889588e-01 -3.22893589e-03 9.50367977e+01] [ 6.70276934e-02 2.24969846e-03 9.97748579e-01 3.09789426e+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:235.03, Y:95.04, Z:31.00 [[ 9.97230532e-01 -3.23539361e-02 -6.69663291e-02 2.35031873e+02] [ 3.21834554e-02 9.99475411e-01 -3.62330184e-03 9.50363879e+01] [ 6.70484274e-02 1.45805936e-03 9.97748657e-01 3.10011596e+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:235.06, Y:95.03, Z:31.00 [[ 9.97100223e-01 -3.61035855e-02 -6.69901260e-02 2.35060478e+02] [ 3.59710584e-02 9.99347760e-01 -3.18385771e-03 9.50346765e+01] [ 6.70613811e-02 7.64919497e-04 9.97748559e-01 3.10014921e+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:235.09, Y:95.03, Z:31.00 [[ 9.96747279e-01 -4.47994983e-02 -6.69915423e-02 2.35089377e+02] [ 4.46883269e-02 9.98995987e-01 -3.15787253e-03 9.50302344e+01] [ 6.70657530e-02 1.53860910e-04 9.97748546e-01 3.09986582e+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:235.12, Y:95.03, Z:31.01 [[ 9.96590780e-01 -4.81514591e-02 -6.69944415e-02 2.35118686e+02] [ 4.80514056e-02 9.98840038e-01 -3.10499574e-03 9.50284199e+01] [ 6.70662406e-02 -1.24766963e-04 9.97748517e-01 3.10060837e+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:235.15, Y:95.03, Z:31.01 [[ 9.96223859e-01 -5.52125462e-02 -6.70044543e-02 2.35145793e+02] [ 5.51406342e-02 9.98474318e-01 -2.92359592e-03 9.50263191e+01] [ 6.70636460e-02 -7.82112098e-04 9.97748393e-01 3.10059744e+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:235.18, Y:95.03, Z:31.01 [[ 9.96279881e-01 -5.42251110e-02 -6.69778746e-02 2.35175744e+02] [ 5.41188909e-02 9.98528708e-01 -3.40064188e-03 9.50250227e+01] [ 6.70637308e-02 -2.36777198e-04 9.97748666e-01 3.10080184e+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:235.20, Y:95.03, Z:31.01 [[ 9.96258733e-01 -5.45851195e-02 -6.70000073e-02 2.35203198e+02] [ 5.45067243e-02 9.98508900e-01 -2.99891778e-03 9.50268584e+01] [ 6.70637999e-02 -6.64252903e-04 9.97748468e-01 3.10099571e+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:235.23, Y:95.03, Z:31.01 [[ 9.96418633e-01 -5.15935534e-02 -6.69926318e-02 2.35231292e+02] [ 5.14995873e-02 9.98668111e-01 -3.13001681e-03 9.50277047e+01] [ 6.70648937e-02 -3.31285820e-04 9.97748561e-01 3.10135963e+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:235.26, Y:95.03, Z:31.02 [[ 9.96694330e-01 -4.59725829e-02 -6.69845792e-02 2.35256475e+02] [ 4.58564100e-02 9.98942684e-01 -3.27167062e-03 9.50330601e+01] [ 6.70641625e-02 1.89183234e-04 9.97748647e-01 3.10150950e+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:235.29, Y:95.03, Z:31.02 [[ 9.96991611e-01 -3.90796305e-02 -6.69366156e-02 2.35289067e+02] [ 3.88919313e-02 9.99234989e-01 -4.10544982e-03 9.50329866e+01] [ 6.70458478e-02 1.48980477e-03 9.97748783e-01 3.10175813e+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:235.32, Y:95.04, Z:31.02 [[ 9.97243796e-01 -3.19034290e-02 -6.69849417e-02 2.35315373e+02] [ 3.17564462e-02 9.99490326e-01 -3.25819100e-03 9.50354680e+01] [ 6.70547487e-02 1.12200707e-03 9.97748667e-01 3.10219327e+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:235.34, Y:95.04, Z:31.02 [[ 9.97352342e-01 -2.83379383e-02 -6.69721442e-02 2.35344993e+02] [ 2.81679775e-02 9.99597143e-01 -3.48090774e-03 9.50369840e+01] [ 6.70438058e-02 1.58522164e-03 9.97748774e-01 3.10203466e+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:235.37, Y:95.04, Z:31.02 [[ 9.97439575e-01 -2.50592336e-02 -6.69800659e-02 2.35372486e+02] [ 2.48910926e-02 9.99684577e-01 -3.34380870e-03 9.50403448e+01] [ 6.70427321e-02 1.66804011e-03 9.97748711e-01 3.10196643e+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:235.40, Y:95.04, Z:31.02 [[ 9.97490454e-01 -2.29767895e-02 -6.69691116e-02 2.35399092e+02] [ 2.27914004e-02 9.99734006e-01 -3.53108270e-03 9.50418168e+01] [ 6.70324312e-02 1.99590145e-03 9.97748801e-01 3.10181792e+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:235.43, Y:95.04, Z:31.03 [[ 9.97515861e-01 -2.19228518e-02 -6.69439772e-02 2.35428416e+02] [ 2.17065477e-02 9.99756555e-01 -3.95687931e-03 9.50419268e+01] [ 6.70144261e-02 2.49392724e-03 9.97748890e-01 3.10259880e+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:235.46, Y:95.04, Z:31.03 [[ 9.97535352e-01 -2.09604233e-02 -6.69617917e-02 2.35457743e+02] [ 2.07619699e-02 9.99777754e-01 -3.65829476e-03 9.50414211e+01] [ 6.70235891e-02 2.25901965e-03 9.97748834e-01 3.10272548e+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:235.48, Y:95.04, Z:31.02 [[ 9.97525573e-01 -2.14044983e-02 -6.69669905e-02 2.35484439e+02] [ 2.12128524e-02 9.99768602e-01 -3.57164901e-03 9.50441184e+01] [ 6.70279438e-02 2.14225034e-03 9.97748799e-01 3.10224260e+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:235.51, Y:95.05, Z:31.02 [[ 9.97549417e-01 -2.03573999e-02 -6.69383057e-02 2.35514377e+02] [ 2.01316336e-02 9.99789153e-01 -4.04563900e-03 9.50450475e+01] [ 6.70065507e-02 2.68814738e-03 9.97748914e-01 3.10243009e+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:235.54, Y:95.05, Z:31.02 [[ 9.97458925e-01 -2.43303873e-02 -6.69606294e-02 2.35542073e+02] [ 2.41382276e-02 9.99701867e-01 -3.67743134e-03 9.50450913e+01] [ 6.70301395e-02 2.05177580e-03 9.97748841e-01 3.10210899e+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:235.57, Y:95.04, Z:31.03 [[ 9.97464883e-01 -2.41562168e-02 -6.69349234e-02 2.35571975e+02] [ 2.39355098e-02 9.99705108e-01 -4.09745421e-03 9.50420311e+01] [ 6.70141638e-02 2.48494517e-03 9.97748930e-01 3.10280306e+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:235.60, Y:95.04, Z:31.02 [[ 9.97142830e-01 -3.49682423e-02 -6.69581889e-02 2.35598111e+02] [ 3.47972504e-02 9.99387474e-01 -3.71865859e-03 9.50438614e+01] [ 6.70472102e-02 1.37807289e-03 9.97748852e-01 3.10229295e+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:235.63, Y:95.04, Z:31.02 [[ 9.97318607e-01 -2.95919813e-02 -6.69321373e-02 2.35627538e+02] [ 2.93806385e-02 9.99559723e-01 -4.13994276e-03 9.50395957e+01] [ 6.70251777e-02 2.16233302e-03 9.97748941e-01 3.10243387e+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:235.66, Y:95.04, Z:31.04 [[ 9.96918655e-01 -4.09071493e-02 -6.69313081e-02 2.35656669e+02] [ 4.07203544e-02 9.99161950e-01 -4.15330546e-03 9.50431316e+01] [ 6.70451162e-02 1.41504111e-03 9.97748941e-01 3.10358848e+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:235.68, Y:95.04, Z:31.04 [[ 9.96604935e-01 -4.79124760e-02 -6.69552003e-02 2.35683545e+02] [ 4.77672139e-02 9.98851382e-01 -3.76971075e-03 9.50403795e+01] [ 6.70589105e-02 5.58648962e-04 9.97748861e-01 3.10392675e+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:235.71, Y:95.04, Z:31.04 [[ 9.96422722e-01 -5.15705499e-02 -6.69495096e-02 2.35709975e+02] [ 5.14273732e-02 9.98669272e-01 -3.86142269e-03 9.50402972e+01] [ 6.70595537e-02 4.04571893e-04 9.97748893e-01 3.10415911e+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:235.74, Y:95.04, Z:31.04 [[ 9.96085053e-01 -5.77519774e-02 -6.69273974e-02 2.35739400e+02] [ 5.75989071e-02 9.98330902e-01 -4.21610976e-03 9.50427416e+01] [ 6.70591777e-02 3.44658969e-04 9.97748940e-01 3.10427373e+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:235.77, Y:95.05, Z:31.04 [[ 9.95733050e-01 -6.35136131e-02 -6.69456093e-02 2.35766901e+02] [ 6.33931661e-02 9.97980916e-01 -3.92412694e-03 9.50461439e+01] [ 6.70596759e-02 -3.36511242e-04 9.97748910e-01 3.10411854e+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:235.79, Y:95.05, Z:31.04 [[ 9.95833161e-01 -6.19156453e-02 -6.69534806e-02 2.35794555e+02] [ 6.18000924e-02 9.98081322e-01 -3.79767833e-03 9.50488315e+01] [ 6.70601541e-02 -3.55877269e-04 9.97748871e-01 3.10421790e+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:235.82, Y:95.05, Z:31.05 [[ 9.95955149e-01 -5.99348771e-02 -6.69413996e-02 2.35822593e+02] [ 5.98019275e-02 9.98202289e-01 -3.98996593e-03 9.50506842e+01] [ 6.70601964e-02 -2.93976099e-05 9.97748931e-01 3.10479587e+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:235.85, Y:95.05, Z:31.05 [[ 9.96366392e-01 -5.26612925e-02 -6.69387832e-02 2.35850991e+02] [ 5.25091585e-02 9.98612305e-01 -4.03135349e-03 9.50538704e+01] [ 6.70581889e-02 5.01805954e-04 9.97748940e-01 3.10502849e+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:235.88, Y:95.06, Z:31.05 [[ 9.96745776e-01 -4.49080835e-02 -6.69411850e-02 2.35879233e+02] [ 4.47410226e-02 9.98990637e-01 -3.99350067e-03 9.50590300e+01] [ 6.70529575e-02 9.85487852e-04 9.97748931e-01 3.10502476e+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:235.91, Y:95.06, Z:31.05 [[ 9.96929194e-01 -4.06384624e-02 -6.69380202e-02 2.35908145e+02] [ 4.04584700e-02 9.99173042e-01 -4.04293636e-03 9.50624400e+01] [ 6.70469640e-02 1.32231140e-03 9.97748944e-01 3.10515816e+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:235.93, Y:95.07, Z:31.05 [[ 9.97146914e-01 -3.48841672e-02 -6.69412157e-02 2.35934786e+02] [ 3.46945643e-02 9.99389985e-01 -3.99320007e-03 9.50650991e+01] [ 6.70396800e-02 1.65931082e-03 9.97748930e-01 3.10530892e+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:235.96, Y:95.06, Z:31.06 [[ 9.97308457e-01 -2.99747585e-02 -6.69130389e-02 2.35964198e+02] [ 2.97449248e-02 9.99547711e-01 -4.42867721e-03 9.50635001e+01] [ 6.70155234e-02 2.42643393e-03 9.97748983e-01 3.10565141e+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:235.99, Y:95.06, Z:31.06 [[ 9.97363388e-01 -2.80302478e-02 -6.69371144e-02 2.35991932e+02] [ 2.78210817e-02 9.99604694e-01 -4.05513275e-03 9.50646140e+01] [ 6.70243201e-02 2.18217801e-03 9.97748956e-01 3.10583719e+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:236.02, Y:95.07, Z:31.06 [[ 9.97416166e-01 -2.60983069e-02 -6.69318364e-02 2.36020664e+02] [ 2.58793595e-02 9.99656516e-01 -4.13631344e-03 9.50671937e+01] [ 6.70167972e-02 2.39347283e-03 9.97748977e-01 3.10602505e+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:236.05, Y:95.07, Z:31.06 [[ 9.97471370e-01 -2.38772913e-02 -6.69383392e-02 2.36049466e+02] [ 2.36599398e-02 9.99711909e-01 -4.03804373e-03 9.50688278e+01] [ 6.70154724e-02 2.44407594e-03 9.97748943e-01 3.10615268e+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:236.08, Y:95.07, Z:31.06 [[ 9.97547436e-01 -2.04508557e-02 -6.69393485e-02 2.36075959e+02] [ 2.02268294e-02 9.99787324e-01 -4.02281273e-03 9.50696247e+01] [ 6.70073820e-02 2.65897574e-03 9.97748937e-01 3.10610721e+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:236.11, Y:95.07, Z:31.06 [[ 9.97598708e-01 -1.78843700e-02 -6.69101384e-02 2.36106651e+02] [ 1.76252494e-02 9.99834711e-01 -4.46102695e-03 9.50708262e+01] [ 6.69788615e-02 3.27100684e-03 9.97749033e-01 3.10613271e+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:236.14, Y:95.07, Z:31.07 [[ 9.97596772e-01 -1.78840825e-02 -6.69390727e-02 2.36135602e+02] [ 1.76540816e-02 9.99836049e-01 -4.02598306e-03 9.50713755e+01] [ 6.70000989e-02 2.83455986e-03 9.97748942e-01 3.10654866e+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:236.16, Y:95.07, Z:31.07 [[ 9.97613577e-01 -1.68980700e-02 -6.69448072e-02 2.36163215e+02] [ 1.66715384e-02 9.99853253e-01 -3.94111581e-03 9.50700924e+01] [ 6.70015805e-02 2.81563771e-03 9.97748896e-01 3.10663042e+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:236.19, Y:95.07, Z:31.07 [[ 9.97580088e-01 -1.89002408e-02 -6.69085140e-02 2.36190580e+02] [ 1.86424306e-02 9.99816198e-01 -4.47550420e-03 9.50720747e+01] [ 6.69808042e-02 3.21733655e-03 9.97749077e-01 3.10737249e+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:236.22, Y:95.07, Z:31.08 [[ 9.97565363e-01 -1.96085264e-02 -6.69242294e-02 2.36219606e+02] [ 1.93678343e-02 9.99803421e-01 -4.24347248e-03 9.50732575e+01] [ 6.69942817e-02 2.93696378e-03 9.97749037e-01 3.10751194e+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:236.25, Y:95.07, Z:31.07 [[ 9.97519698e-01 -2.17938446e-02 -6.69289236e-02 2.36249069e+02] [ 2.15626745e-02 9.99758783e-01 -4.17450439e-03 9.50735061e+01] [ 6.70037577e-02 2.72098377e-03 9.97749013e-01 3.10713441e+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:236.28, Y:95.07, Z:31.06 [[ 9.97624244e-01 -1.63369624e-02 -6.69251197e-02 2.36276972e+02] [ 1.60898945e-02 9.99861605e-01 -4.22909391e-03 9.50677208e+01] [ 6.69849482e-02 3.14222850e-03 9.97749038e-01 3.10603431e+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:236.31, Y:95.07, Z:31.08 [[ 9.97414663e-01 -2.62564891e-02 -6.68923599e-02 2.36307716e+02] [ 2.60004256e-02 9.99650902e-01 -4.69586127e-03 9.50660801e+01] [ 6.69923047e-02 2.94449106e-03 9.97749147e-01 3.10758314e+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:236.34, Y:95.07, Z:31.08 [[ 9.97288271e-01 -3.05358973e-02 -6.69601603e-02 2.36337306e+02] [ 3.03542309e-02 9.99532248e-01 -3.72901731e-03 9.50658979e+01] [ 6.70427085e-02 1.68638105e-03 9.97748681e-01 3.10778554e+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:236.36, Y:95.07, Z:31.08 [[ 9.96943805e-01 -4.02314535e-02 -6.69662521e-02 2.36361763e+02] [ 4.00775227e-02 9.99189939e-01 -3.64102181e-03 9.50655837e+01] [ 6.70584890e-02 9.46052643e-04 9.97748598e-01 3.10839411e+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:236.39, Y:95.06, Z:31.09 [[ 9.96815936e-01 -4.33865666e-02 -6.68998900e-02 2.36394548e+02] [ 4.31762877e-02 9.99056941e-01 -4.58653716e-03 9.50648950e+01] [ 6.70357936e-02 1.68344443e-03 9.97749151e-01 3.10871085e+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:236.42, Y:95.06, Z:31.09 [[ 9.96390107e-01 -5.21760788e-02 -6.69657529e-02 2.36420601e+02] [ 5.20471809e-02 9.98637886e-01 -3.66923212e-03 9.50645226e+01] [ 6.70659841e-02 1.70607926e-04 9.97748528e-01 3.10910468e+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:236.45, Y:95.06, Z:31.09 [[ 9.95854069e-01 -6.15946743e-02 -6.69385544e-02 2.36449435e+02] [ 6.14617287e-02 9.98101242e-01 -4.04562599e-03 9.50638474e+01] [ 6.70606433e-02 -8.53061694e-05 9.97748898e-01 3.10920970e+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:236.48, Y:95.07, Z:31.09 [[ 9.95512468e-01 -6.68857060e-02 -6.69419803e-02 2.36476507e+02] [ 6.67679510e-02 9.97760523e-01 -3.99733319e-03 9.50652329e+01] [ 6.70594298e-02 -4.90183837e-04 9.97748863e-01 3.10915316e+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:236.50, Y:95.07, Z:31.09 [[ 9.94818807e-01 -7.65250528e-02 -6.69287577e-02 2.36504718e+02] [ 7.64166023e-02 9.97067203e-01 -4.18276533e-03 9.50693880e+01] [ 6.70525556e-02 -9.53374644e-04 9.97748989e-01 3.10943482e+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:236.53, Y:95.08, Z:31.09 [[ 9.94057142e-01 -8.58604257e-02 -6.69207399e-02 2.36534202e+02] [ 8.57655495e-02 9.96306090e-01 -4.29475346e-03 9.50771437e+01] [ 6.70422901e-02 -1.47026367e-03 9.97749051e-01 3.10941969e+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:236.56, Y:95.08, Z:31.10 [[ 9.93907872e-01 -8.75530010e-02 -6.69448610e-02 2.36562712e+02] [ 8.74845216e-02 9.96158010e-01 -3.95950600e-03 9.50809772e+01] [ 6.70343261e-02 -1.92125495e-03 9.97748820e-01 3.10950331e+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:236.59, Y:95.09, Z:31.10 [[ 9.93713739e-01 -8.97455979e-02 -6.69233377e-02 2.36591638e+02] [ 8.96623726e-02 9.95963140e-01 -4.25226867e-03 9.50866509e+01] [ 6.70347999e-02 -1.77496744e-03 9.97749059e-01 3.10959627e+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:236.62, Y:95.10, Z:31.09 [[ 9.93624392e-01 -9.07302115e-02 -6.69223093e-02 2.36619690e+02] [ 9.06482776e-02 9.95873832e-01 -4.26619529e-03 9.50970164e+01] [ 6.70332494e-02 -1.82739637e-03 9.97749069e-01 3.10942307e+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:236.65, Y:95.09, Z:31.08 [[ 9.95049808e-01 -7.34737257e-02 -6.69140580e-02 2.36646026e+02] [ 7.33453835e-02 9.97297000e-01 -4.37600722e-03 9.50887575e+01] [ 6.70547109e-02 -5.53492108e-04 9.97749147e-01 3.10788207e+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:236.68, Y:95.11, Z:31.10 [[ 9.94018113e-01 -8.63801134e-02 -6.68316261e-02 2.36675701e+02] [ 8.62081066e-02 9.96262196e-01 -5.45882288e-03 9.51125481e+01] [ 6.70533563e-02 -3.35259121e-04 9.97749335e-01 3.10986580e+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:236.71, Y:95.12, Z:31.10 [[ 9.94412457e-01 -8.16226586e-02 -6.69448107e-02 2.36707271e+02] [ 8.15424075e-02 9.96662105e-01 -3.93495750e-03 9.51228781e+01] [ 6.70425377e-02 -1.54587028e-03 9.97748921e-01 3.10980169e+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:236.73, Y:95.13, Z:31.10 [[ 9.94764865e-01 -7.71638544e-02 -6.69970331e-02 2.36734793e+02] [ 7.71187087e-02 9.97016576e-01 -3.26372650e-03 9.51340450e+01] [ 6.70489942e-02 -1.92008422e-03 9.97747837e-01 3.10989564e+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:236.76, Y:95.14, Z:31.10 [[ 9.94800517e-01 -7.67160111e-02 -6.69819833e-02 2.36758111e+02] [ 7.66564110e-02 9.97051553e-01 -3.46333202e-03 9.51410413e+01] [ 6.70501835e-02 -1.68927395e-03 9.97748174e-01 3.11029288e+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:236.79, Y:95.15, Z:31.11 [[ 9.94915870e-01 -7.52617951e-02 -6.69184160e-02 2.36786693e+02] [ 7.51432752e-02 9.97163519e-01 -4.28999189e-03 9.51464646e+01] [ 6.70514757e-02 -7.60287936e-04 9.97749228e-01 3.11082009e+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:236.81, Y:95.15, Z:31.11 [[ 9.95062290e-01 -7.33034245e-02 -6.69152267e-02 2.36814994e+02] [ 7.31777360e-02 9.97309512e-01 -4.33080839e-03 9.51546184e+01] [ 6.70526551e-02 -5.87280673e-04 9.97749265e-01 3.11080397e+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:236.84, Y:95.16, Z:31.11 [[ 9.95231051e-01 -7.09957723e-02 -6.68936072e-02 2.36842920e+02] [ 7.08464319e-02 9.97476604e-01 -4.60511845e-03 9.51608050e+01] [ 6.70517521e-02 -1.56016513e-04 9.97749487e-01 3.11088452e+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:236.87, Y:95.17, Z:31.11 [[ 9.95233470e-01 -7.09393362e-02 -6.69174898e-02 2.36871254e+02] [ 7.08102694e-02 9.97480527e-01 -4.30166073e-03 9.51657135e+01] [ 6.70540499e-02 -4.57288741e-04 9.97749240e-01 3.11120500e+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:236.90, Y:95.17, Z:31.10 [[ 9.95303967e-01 -6.99426586e-02 -6.69181420e-02 2.36896932e+02] [ 6.98118967e-02 9.97550934e-01 -4.29340443e-03 9.51722796e+01] [ 6.70545472e-02 -3.98439961e-04 9.97749232e-01 3.11013338e+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:236.93, Y:95.17, Z:31.11 [[ 9.95707415e-01 -6.40192611e-02 -6.68451865e-02 2.36926655e+02] [ 6.38139218e-02 9.97948242e-01 -5.20477204e-03 9.51741050e+01] [ 6.70412420e-02 9.16776603e-04 9.97749784e-01 3.11107988e+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:236.96, Y:95.18, Z:31.11 [[ 9.96163967e-01 -5.64255553e-02 -6.68842896e-02 2.36957037e+02] [ 5.62357309e-02 9.98406367e-01 -4.71896959e-03 9.51778013e+01] [ 6.70439711e-02 9.39580549e-04 9.97749579e-01 3.11112316e+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:236.99, Y:95.18, Z:31.11 [[ 9.96122947e-01 -5.71021281e-02 -6.69210104e-02 2.36985469e+02] [ 5.69443407e-02 9.98368247e-01 -4.26453538e-03 9.51805593e+01] [ 6.70553258e-02 4.37228733e-04 9.97749163e-01 3.11132462e+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:237.01, Y:95.19, Z:31.12 [[ 9.96220323e-01 -5.53802301e-02 -6.69185930e-02 2.37011573e+02] [ 5.52165648e-02 9.98465167e-01 -4.29427324e-03 9.51853557e+01] [ 6.70537020e-02 5.83027449e-04 9.97749198e-01 3.11193193e+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:237.04, Y:95.19, Z:31.12 [[ 9.96280513e-01 -5.42878796e-02 -6.69176095e-02 2.37038416e+02] [ 5.41209410e-02 9.98525102e-01 -4.30636419e-03 9.51885056e+01] [ 6.70526963e-02 6.68702728e-04 9.97749211e-01 3.11217166e+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:237.07, Y:95.19, Z:31.13 [[ 9.96170122e-01 -5.63170352e-02 -6.68840690e-02 2.37066366e+02] [ 5.61268329e-02 9.98412486e-01 -4.72096034e-03 9.51921454e+01] [ 6.70437600e-02 9.48888671e-04 9.97749585e-01 3.11263191e+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:237.09, Y:95.19, Z:31.11 [[ 9.95965805e-01 -5.98166593e-02 -6.68885848e-02 2.37092918e+02] [ 5.96380571e-02 9.98209164e-01 -4.66554786e-03 9.51930474e+01] [ 6.70478758e-02 6.57620895e-04 9.97749543e-01 3.11122391e+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:237.12, Y:95.20, Z:31.13 [[ 9.95791084e-01 -6.27304547e-02 -6.68207093e-02 2.37123052e+02] [ 6.25029649e-02 9.98029669e-01 -5.49170778e-03 9.51953611e+01] [ 6.70335478e-02 1.29210119e-03 9.97749885e-01 3.11307852e+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:237.15, Y:95.19, Z:31.13 [[ 9.95618745e-01 -6.53464206e-02 -6.68816826e-02 2.37148004e+02] [ 6.51747271e-02 9.97862571e-01 -4.74819498e-03 9.51918527e+01] [ 6.70490053e-02 3.68396518e-04 9.97749615e-01 3.11300541e+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:237.18, Y:95.20, Z:31.13 [[ 9.95053442e-01 -7.35125049e-02 -6.68173542e-02 2.37176551e+02] [ 7.33069573e-02 9.97294115e-01 -5.52623336e-03 9.51976492e+01] [ 6.70428014e-02 6.00720597e-04 9.97749920e-01 3.11336148e+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:237.20, Y:95.20, Z:31.14 [[ 9.94612325e-01 -7.92630080e-02 -6.68109129e-02 2.37204815e+02] [ 7.90652010e-02 9.96853696e-01 -5.60386117e-03 9.51998844e+01] [ 6.70448844e-02 2.91251129e-04 9.97749918e-01 3.11366996e+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:237.24, Y:95.20, Z:31.14 [[ 9.94268856e-01 -8.34632645e-02 -6.68081255e-02 2.37236590e+02] [ 8.32726760e-02 9.96510854e-01 -5.63734812e-03 9.51989639e+01] [ 6.70455336e-02 4.17482758e-05 9.97749916e-01 3.11410718e+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:237.26, Y:95.20, Z:31.14 [[ 9.93988988e-01 -8.66665559e-02 -6.68939391e-02 2.37262696e+02] [ 8.65527247e-02 9.96236636e-01 -4.60344928e-03 9.52016988e+01] [ 6.70411579e-02 -1.21407480e-03 9.97749472e-01 3.11422376e+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:237.29, Y:95.21, Z:31.14 [[ 9.93463335e-01 -9.24998247e-02 -6.68908422e-02 2.37290392e+02] [ 9.23966620e-02 9.95711463e-01 -4.64099217e-03 9.52064159e+01] [ 6.70332693e-02 -1.56983497e-03 9.97749506e-01 3.11411066e+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:237.32, Y:95.21, Z:31.14 [[ 9.93273196e-01 -9.45460301e-02 -6.68536240e-02 2.37317226e+02] [ 9.44176935e-02 9.95519691e-01 -5.08380068e-03 9.52102890e+01] [ 6.70347522e-02 -1.26256202e-03 9.97749842e-01 3.11428027e+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:237.35, Y:95.21, Z:31.14 [[ 9.93544266e-01 -9.16745557e-02 -6.68249070e-02 2.37348144e+02] [ 9.15167997e-02 9.95788757e-01 -5.42463041e-03 9.52134908e+01] [ 6.70407917e-02 -7.25991188e-04 9.97749971e-01 3.11439064e+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:237.38, Y:95.22, Z:31.15 [[ 9.93473347e-01 -9.24201238e-02 -6.68522942e-02 2.37375651e+02] [ 9.22858483e-02 9.95719492e-01 -5.10061923e-03 9.52210986e+01] [ 6.70375323e-02 -1.10219142e-03 9.97749846e-01 3.11452625e+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:237.40, Y:95.23, Z:31.14 [[ 9.93845480e-01 -8.83540412e-02 -6.68186058e-02 2.37404654e+02] [ 8.81840730e-02 9.96089041e-01 -5.49472458e-03 9.52277461e+01] [ 6.70427621e-02 -4.31429636e-04 9.97750010e-01 3.11438533e+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:237.43, Y:95.22, Z:31.14 [[ 9.94818141e-01 -7.66334394e-02 -6.68145299e-02 2.37434100e+02] [ 7.64338485e-02 9.97059251e-01 -5.54221612e-03 9.52233773e+01] [ 6.70427643e-02 4.06605483e-04 9.97750020e-01 3.11381252e+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:237.46, Y:95.23, Z:31.15 [[ 9.94463020e-01 -8.10962974e-02 -6.68333221e-02 2.37460319e+02] [ 8.09214404e-02 9.96706264e-01 -5.32380556e-03 9.52346783e+01] [ 6.70449317e-02 -1.13920941e-04 9.97749951e-01 3.11455423e+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:237.49, Y:95.24, Z:31.14 [[ 9.94363560e-01 -8.23303169e-02 -6.68044179e-02 2.37487907e+02] [ 8.21358047e-02 9.96605087e-01 -5.65773171e-03 9.52401148e+01] [ 6.70434256e-02 1.38807624e-04 9.97750049e-01 3.11412009e+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:237.52, Y:95.24, Z:31.15 [[ 9.94819259e-01 -7.66381144e-02 -6.67925313e-02 2.37518141e+02] [ 7.64215775e-02 9.97058756e-01 -5.79474853e-03 9.52410373e+01] [ 6.70401768e-02 6.60336823e-04 9.97750058e-01 3.11504519e+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:237.55, Y:95.24, Z:31.15 [[ 9.94994515e-01 -7.42958942e-02 -6.68283996e-02 2.37545081e+02] [ 7.41018799e-02 9.97236160e-01 -5.38076860e-03 9.52426086e+01] [ 6.70434656e-02 4.01725198e-04 9.97749975e-01 3.11488403e+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:237.58, Y:95.25, Z:31.15 [[ 9.95053007e-01 -7.35407993e-02 -6.67926946e-02 2.37576234e+02] [ 7.33175810e-02 9.97291834e-01 -5.79044151e-03 9.52464609e+01] [ 6.70376426e-02 8.64717442e-04 9.97750072e-01 3.11538882e+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:237.61, Y:95.24, Z:31.15 [[ 9.95483843e-01 -6.73997846e-02 -6.68519878e-02 2.37606586e+02] [ 6.72081734e-02 9.97725870e-01 -5.11365609e-03 9.52433523e+01] [ 6.70446170e-02 5.97562027e-04 9.97749799e-01 3.11519794e+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:237.64, Y:95.25, Z:31.17 [[ 9.95287873e-01 -7.02223157e-02 -6.68646097e-02 2.37635422e+02] [ 7.00466918e-02 9.97531331e-01 -4.97030005e-03 9.52508536e+01] [ 6.70485691e-02 2.63234654e-04 9.97749678e-01 3.11667321e+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:237.66, Y:95.25, Z:31.16 [[ 9.95324081e-01 -6.96692283e-02 -6.69042005e-02 2.37660038e+02] [ 6.95224044e-02 9.97570136e-01 -4.52315762e-03 9.52545181e+01] [ 6.70567573e-02 -1.49333190e-04 9.97749151e-01 3.11578984e+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:237.69, Y:95.26, Z:31.17 [[ 9.95966886e-01 -5.99285834e-02 -6.67721979e-02 2.37686680e+02] [ 5.96611160e-02 9.98200691e-01 -5.99437249e-03 9.52552087e+01] [ 6.70112883e-02 1.98649266e-03 9.97750240e-01 3.11653893e+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:237.72, Y:95.26, Z:31.16 [[ 9.96283723e-01 -5.44402385e-02 -6.67458121e-02 2.37716746e+02] [ 5.41409921e-02 9.98513519e-01 -6.28541172e-03 9.52576819e+01] [ 6.69887750e-02 2.64836891e-03 9.97750214e-01 3.11613263e+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:237.75, Y:95.25, Z:31.15 [[ 9.96980014e-01 -3.96672524e-02 -6.67634705e-02 2.37747110e+02] [ 3.93480086e-02 9.99207006e-01 -6.09043205e-03 9.52510877e+01] [ 6.69521181e-02 3.44502942e-03 9.97750242e-01 3.11497461e+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:237.77, Y:95.26, Z:31.17 [[ 9.96622953e-01 -4.78008950e-02 -6.67664868e-02 2.37773223e+02] [ 4.75020564e-02 9.98852775e-01 -6.05718477e-03 9.52576538e+01] [ 6.69794294e-02 2.86518396e-03 9.97750243e-01 3.11693953e+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:237.80, Y:95.26, Z:31.17 [[ 9.96684783e-01 -4.65009086e-02 -6.67615783e-02 2.37801112e+02] [ 4.61955576e-02 9.98913723e-01 -6.11109483e-03 9.52570644e+01] [ 6.69732282e-02 3.00674688e-03 9.97750242e-01 3.11724877e+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:237.83, Y:95.26, Z:31.17 [[ 9.96671695e-01 -4.67915482e-02 -6.67539050e-02 2.37828414e+02] [ 4.64812324e-02 9.98899953e-01 -6.19509255e-03 9.52563426e+01] [ 6.69703506e-02 3.07166961e-03 9.97750238e-01 3.11711617e+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:237.86, Y:95.25, Z:31.17 [[ 9.96719749e-01 -4.57889263e-02 -6.67316768e-02 2.37859636e+02] [ 4.54601513e-02 9.98945408e-01 -6.43782900e-03 9.52547367e+01] [ 6.69560834e-02 3.38307918e-03 9.97750188e-01 3.11720633e+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:237.89, Y:95.25, Z:31.17 [[ 9.96702349e-01 -4.60866577e-02 -6.67865750e-02 2.37889244e+02] [ 4.57985463e-02 9.98933629e-01 -5.83939957e-03 9.52499364e+01] [ 6.69844741e-02 2.76141522e-03 9.97750197e-01 3.11729768e+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:237.92, Y:95.24, Z:31.17 [[ 9.96571153e-01 -4.88399734e-02 -6.67876843e-02 2.37917318e+02] [ 4.85588399e-02 9.98803325e-01 -5.82725432e-03 9.52424925e+01] [ 6.69923641e-02 2.56414108e-03 9.97750193e-01 3.11733056e+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:237.95, Y:95.24, Z:31.18 [[ 9.96585325e-01 -4.85870184e-02 -6.67607028e-02 2.37948347e+02] [ 4.82856348e-02 9.98814810e-01 -6.12154269e-03 9.52402745e+01] [ 6.69790062e-02 2.87705670e-03 9.97750237e-01 3.11765867e+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:237.98, Y:95.24, Z:31.17 [[ 9.96319911e-01 -5.36805238e-02 -6.68209277e-02 2.37976244e+02] [ 5.34343985e-02 9.98556399e-01 -5.46648222e-03 9.52374884e+01] [ 6.70179086e-02 1.87582900e-03 9.97750009e-01 3.11747989e+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:238.00, Y:95.24, Z:31.17 [[ 9.96146747e-01 -5.68643190e-02 -6.67690642e-02 2.38002638e+02] [ 5.65880268e-02 9.98379443e-01 -6.02357378e-03 9.52384919e+01] [ 6.70033875e-02 2.22203384e-03 9.97750274e-01 3.11746728e+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:238.03, Y:95.23, Z:31.18 [[ 9.95921289e-01 -6.07162388e-02 -6.67407201e-02 2.38033495e+02] [ 6.04283060e-02 9.98152492e-01 -6.32640145e-03 9.52337782e+01] [ 6.70015313e-02 2.26756923e-03 9.97750296e-01 3.11821631e+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:238.06, Y:95.23, Z:31.19 [[ 9.95385062e-01 -6.88872137e-02 -6.68066639e-02 2.38059543e+02] [ 6.86647070e-02 9.97623942e-01 -5.62384148e-03 9.52312582e+01] [ 6.70353382e-02 1.01062780e-03 9.97750090e-01 3.11858474e+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:238.09, Y:95.23, Z:31.19 [[ 9.95443714e-01 -6.81103825e-02 -6.67292142e-02 2.38088259e+02] [ 6.78310040e-02 9.97676000e-01 -6.44616407e-03 9.52272144e+01] [ 6.70131863e-02 1.89048390e-03 9.97750299e-01 3.11874234e+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:238.12, Y:95.23, Z:31.19 [[ 9.94991739e-01 -7.44104114e-02 -6.67422696e-02 2.38117018e+02] [ 7.41544298e-02 9.97226819e-01 -6.30803816e-03 9.52313167e+01] [ 6.70265650e-02 1.32721091e-03 9.97750309e-01 3.11921250e+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:238.15, Y:95.23, Z:31.19 [[ 9.94851532e-01 -7.62508988e-02 -6.67549915e-02 2.38147186e+02] [ 7.60080690e-02 9.97088090e-01 -6.17360753e-03 9.52315609e+01] [ 6.70313502e-02 1.06790491e-03 9.97750298e-01 3.11892795e+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:238.17, Y:95.23, Z:31.19 [[ 9.94749994e-01 -7.75421742e-02 -6.67806845e-02 2.38173974e+02] [ 7.73204512e-02 9.96988822e-01 -5.90234146e-03 9.52333811e+01] [ 6.70372764e-02 7.07841469e-04 9.97750221e-01 3.11890050e+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:238.20, Y:95.23, Z:31.19 [[ 9.94912739e-01 -7.54252568e-02 -6.67807738e-02 2.38200545e+02] [ 7.51988331e-02 9.97151096e-01 -5.90140642e-03 9.52348766e+01] [ 6.70356369e-02 8.49548167e-04 9.97750220e-01 3.11926193e+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:238.23, Y:95.24, Z:31.20 [[ 9.94745753e-01 -7.76380558e-02 -6.67324525e-02 2.38230033e+02] [ 7.73828277e-02 9.96980880e-01 -6.40494978e-03 9.52404481e+01] [ 6.70282471e-02 1.20735071e-03 9.97750348e-01 3.11959011e+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:238.26, Y:95.24, Z:31.20 [[ 9.95079385e-01 -7.32100486e-02 -6.67630679e-02 2.38259028e+02] [ 7.29662883e-02 9.97315841e-01 -6.08557875e-03 9.52439776e+01] [ 6.70293907e-02 1.18418070e-03 9.97750299e-01 3.11975616e+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:238.29, Y:95.25, Z:31.20 [[ 9.95184090e-01 -7.17624017e-02 -6.67741336e-02 2.38286373e+02] [ 7.15231580e-02 9.97421075e-01 -5.96972045e-03 9.52486437e+01] [ 6.70303296e-02 1.16507391e-03 9.97750258e-01 3.11972359e+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:238.31, Y:95.26, Z:31.18 [[ 9.94407309e-01 -8.18171520e-02 -6.67836642e-02 2.38312610e+02] [ 8.16072140e-02 9.96647281e-01 -5.87017838e-03 9.52629480e+01] [ 6.70400387e-02 3.87319508e-04 9.97750211e-01 3.11809335e+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:238.34, Y:95.26, Z:31.20 [[ 9.95476655e-01 -6.76271909e-02 -6.67292518e-02 2.38344863e+02] [ 6.73475075e-02 9.97708830e-01 -6.43457074e-03 9.52570260e+01] [ 6.70115157e-02 1.91141617e-03 9.97750371e-01 3.12000514e+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:238.37, Y:95.26, Z:31.20 [[ 9.95596203e-01 -6.57635478e-02 -6.68083532e-02 2.38370161e+02] [ 6.55345704e-02 9.97834498e-01 -5.61557354e-03 9.52607234e+01] [ 6.70329796e-02 1.21258696e-03 9.97750023e-01 3.11975933e+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:238.40, Y:95.27, Z:31.19 [[ 9.95203195e-01 -7.15107372e-02 -6.67593863e-02 2.38395933e+02] [ 7.12608204e-02 9.97438938e-01 -6.12045233e-03 9.52681124e+01] [ 6.70260894e-02 1.33376508e-03 9.97750332e-01 3.11904651e+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:238.43, Y:95.27, Z:31.20 [[ 9.95402696e-01 -6.87150426e-02 -6.67211856e-02 2.38425188e+02] [ 6.84326195e-02 9.97634488e-01 -6.51191084e-03 9.52706353e+01] [ 6.70108220e-02 1.91606809e-03 9.97750409e-01 3.12024668e+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:238.45, Y:95.28, Z:31.20 [[ 9.95093373e-01 -7.30203002e-02 -6.67623831e-02 2.38454348e+02] [ 7.27758210e-02 9.97329731e-01 -6.08994471e-03 9.52754467e+01] [ 6.70287992e-02 1.20137637e-03 9.97750318e-01 3.12045199e+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:238.48, Y:95.28, Z:31.21 [[ 9.94736735e-01 -7.77118907e-02 -6.67809090e-02 2.38481067e+02] [ 7.74905357e-02 9.96975615e-01 -5.90254949e-03 9.52776731e+01] [ 6.70376361e-02 6.96594399e-04 9.97750204e-01 3.12125002e+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:238.51, Y:95.28, Z:31.22 [[ 9.93990069e-01 -8.67701130e-02 -6.67434633e-02 2.38508088e+02] [ 8.65438684e-02 9.96228253e-01 -6.27915176e-03 9.52818601e+01] [ 6.70365665e-02 4.65176986e-04 9.97750411e-01 3.12172395e+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:238.54, Y:95.28, Z:31.22 [[ 9.93572048e-01 -9.14153307e-02 -6.67669343e-02 2.38535259e+02] [ 9.12154779e-02 9.95812849e-01 -6.04208963e-03 9.52846695e+01] [ 6.70397107e-02 -8.69264593e-05 9.97750304e-01 3.12173601e+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:238.57, Y:95.29, Z:31.22 [[ 9.92589987e-01 -1.01533111e-01 -6.67543693e-02 2.38567725e+02] [ 1.01347594e-01 9.94831953e-01 -6.16853527e-03 9.52907577e+01] [ 6.70356901e-02 -6.42568362e-04 9.97750371e-01 3.12172998e+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:238.59, Y:95.30, Z:31.22 [[ 9.91852186e-01 -1.08472993e-01 -6.68045672e-02 2.38594388e+02] [ 1.08336171e-01 9.94098100e-01 -5.67818047e-03 9.52964069e+01] [ 6.70262225e-02 -1.60543528e-03 9.97749923e-01 3.12218443e+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:238.62, Y:95.30, Z:31.22 [[ 9.91036103e-01 -1.15720388e-01 -6.67550363e-02 2.38620474e+02] [ 1.15567552e-01 9.93280524e-01 -6.15970215e-03 9.53004426e+01] [ 6.70192805e-02 -1.61022894e-03 9.97750381e-01 3.12248523e+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:238.65, Y:95.31, Z:31.22 [[ 9.89981882e-01 -1.24420135e-01 -6.67495510e-02 2.38647855e+02] [ 1.24283399e-01 9.92227308e-01 -6.21341101e-03 9.53083064e+01] [ 6.70038007e-02 -2.14469673e-03 9.97750415e-01 3.12249317e+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:238.67, Y:95.32, Z:31.22 [[ 9.90062521e-01 -1.23767363e-01 -6.67670859e-02 2.38671584e+02] [ 1.23640691e-01 9.92308658e-01 -6.04206765e-03 9.53152186e+01] [ 6.70013682e-02 -2.27310390e-03 9.97750294e-01 3.12219961e+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:238.70, Y:95.32, Z:31.22 [[ 9.89977117e-01 -1.24494606e-01 -6.66813382e-02 2.38699463e+02] [ 1.24313542e-01 9.92219175e-01 -6.87408353e-03 9.53207087e+01] [ 6.70182886e-02 -1.48420794e-03 9.97750643e-01 3.12240416e+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:238.73, Y:95.33, Z:31.23 [[ 9.89714801e-01 -1.26564318e-01 -6.66789739e-02 2.38726268e+02] [ 1.26386403e-01 9.91957111e-01 -6.89694085e-03 9.53282610e+01] [ 6.70155889e-02 -1.60131126e-03 9.97750644e-01 3.12301262e+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:238.76, Y:95.34, Z:31.23 [[ 9.89042654e-01 -1.31715203e-01 -6.66763433e-02 2.38759096e+02] [ 1.31547257e-01 9.91285731e-01 -6.92228025e-03 9.53376996e+01] [ 6.70070772e-02 -1.92465966e-03 9.97750644e-01 3.12338077e+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:238.79, Y:95.34, Z:31.24 [[ 9.88940020e-01 -1.32387832e-01 -6.68662825e-02 2.38787471e+02] [ 1.32348450e-01 9.91190449e-01 -5.03806293e-03 9.53411125e+01] [ 6.69441988e-02 -3.86730678e-03 9.97749226e-01 3.12361593e+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:238.82, Y:95.36, Z:31.24 [[ 9.88936964e-01 -1.32416582e-01 -6.68545430e-02 2.38815506e+02] [ 1.32369374e-01 9.91187053e-01 -5.15499725e-03 9.53551403e+01] [ 6.69479646e-02 -3.75152669e-03 9.97749415e-01 3.12367697e+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:238.84, Y:95.37, Z:31.24 [[ 9.88615928e-01 -1.34787153e-01 -6.68653206e-02 2.38841661e+02] [ 1.34752500e-01 9.90866425e-01 -5.04891558e-03 9.53658020e+01] [ 6.69351301e-02 -4.01883073e-03 9.97749236e-01 3.12365531e+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:238.87, Y:95.38, Z:31.24 [[ 9.89447433e-01 -1.28595977e-01 -6.67596595e-02 2.38871369e+02] [ 1.28480028e-01 9.91693671e-01 -6.04530141e-03 9.53769793e+01] [ 6.69825332e-02 -2.59577497e-03 9.97750772e-01 3.12377808e+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:238.90, Y:95.39, Z:31.25 [[ 9.90394115e-01 -1.21057400e-01 -6.68176853e-02 2.38895653e+02] [ 1.20961184e-01 9.92642008e-01 -5.49879357e-03 9.53948837e+01] [ 6.69917109e-02 -2.63637350e-03 9.97750049e-01 3.12477348e+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:238.92, Y:95.41, Z:31.25 [[ 9.91035966e-01 -1.15710595e-01 -6.67740406e-02 2.38922109e+02] [ 1.15575332e-01 9.93281206e-01 -5.89822454e-03 9.54050080e+01] [ 6.70078866e-02 -1.87207925e-03 9.97750690e-01 3.12510926e+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:238.95, Y:95.42, Z:31.24 [[ 9.90717067e-01 -1.18431126e-01 -6.67365144e-02 2.38945833e+02] [ 1.18279093e-01 9.92960792e-01 -6.23869467e-03 9.54213662e+01] [ 6.70055978e-02 -1.71275309e-03 9.97751129e-01 3.12388169e+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:238.98, Y:95.43, Z:31.25 [[ 9.93053744e-01 -9.69938994e-02 -6.66066516e-02 2.38977693e+02] [ 9.67149881e-02 9.95284557e-01 -7.40690538e-03 9.54347210e+01] [ 6.70109963e-02 9.13593596e-04 9.97751819e-01 3.12525815e+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:239.00, Y:95.44, Z:31.25 [[ 9.93240200e-01 -9.49558340e-02 -6.67629713e-02 2.39003348e+02] [ 9.47669558e-02 9.95481418e-01 -5.99760680e-03 9.54440572e+01] [ 6.70308051e-02 -3.69859378e-04 9.97750838e-01 3.12507581e+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:239.03, Y:95.46, Z:31.26 [[ 9.93882625e-01 -8.80162873e-02 -6.67117782e-02 2.39031467e+02] [ 8.77810088e-02 9.96118878e-01 -6.45562060e-03 9.54552028e+01] [ 6.70210614e-02 5.60101961e-04 9.97751404e-01 3.12574753e+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:239.05, Y:95.46, Z:31.26 [[ 9.94041829e-01 -8.61645557e-02 -6.67571119e-02 2.39053076e+02] [ 8.59522600e-02 9.96280880e-01 -6.05115518e-03 9.54616623e+01] [ 6.70302293e-02 2.77176720e-04 9.97750907e-01 3.12584274e+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:239.09, Y:95.47, Z:31.26 [[ 9.93708874e-01 -9.00478835e-02 -6.65886870e-02 2.39085533e+02] [ 8.97445116e-02 9.95936283e-01 -7.53937243e-03 9.54732987e+01] [ 6.69969940e-02 1.51597209e-03 9.97752026e-01 3.12641030e+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:239.11, Y:95.48, Z:31.26 [[ 9.93922582e-01 -8.75462356e-02 -6.67349881e-02 2.39108401e+02] [ 8.73242247e-02 9.96160386e-01 -6.24219806e-03 9.54791649e+01] [ 6.70252324e-02 3.76680518e-04 9.97751210e-01 3.12634408e+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:239.14, Y:95.49, Z:31.27 [[ 9.93618296e-01 -9.10457404e-02 -6.65834439e-02 2.39140940e+02] [ 9.07422330e-02 9.95845605e-01 -7.57481985e-03 9.54866557e+01] [ 6.69964851e-02 1.48454921e-03 9.97752107e-01 3.12650657e+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:239.17, Y:95.49, Z:31.26 [[ 9.94149479e-01 -8.49627284e-02 -6.66944340e-02 2.39165208e+02] [ 8.47111689e-02 9.96383717e-01 -6.59597280e-03 9.54887593e+01] [ 6.70136599e-02 9.07619468e-04 9.97751645e-01 3.12616261e+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:239.19, Y:95.49, Z:31.26 [[ 9.94548456e-01 -8.02525006e-02 -6.65800662e-02 2.39193859e+02] [ 7.99232530e-02 9.96772059e-01 -7.59840658e-03 9.54907269e+01] [ 6.69749408e-02 2.23568806e-03 9.97752153e-01 3.12595100e+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:239.22, Y:95.49, Z:31.26 [[ 9.94783408e-01 -7.72877675e-02 -6.65775657e-02 2.39221903e+02] [ 7.69504335e-02 9.97005799e-01 -7.62025308e-03 9.54944053e+01] [ 6.69671714e-02 2.45732878e-03 9.97752153e-01 3.12574679e+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:239.25, Y:95.50, Z:31.26 [[ 9.95224865e-01 -7.13793654e-02 -6.65766828e-02 2.39250453e+02] [ 7.10283261e-02 9.97445132e-01 -7.62795913e-03 9.54996546e+01] [ 6.69510671e-02 2.86270426e-03 9.97752153e-01 3.12550849e+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:239.28, Y:95.50, Z:31.26 [[ 9.95439665e-01 -6.83209161e-02 -6.65742067e-02 2.39278307e+02] [ 6.79616180e-02 9.97658611e-01 -7.64950925e-03 9.55028890e+01] [ 6.69409520e-02 3.09013413e-03 9.97752154e-01 3.12555222e+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:239.31, Y:95.51, Z:31.26 [[ 9.95584753e-01 -6.61739478e-02 -6.65733332e-02 2.39306155e+02] [ 6.58093584e-02 9.97802835e-01 -7.65710358e-03 9.55057629e+01] [ 6.69337614e-02 3.24214723e-03 9.97752154e-01 3.12600270e+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:239.34, Y:95.51, Z:31.26 [[ 9.95613727e-01 -6.57395065e-02 -6.65704512e-02 2.39339421e+02] [ 6.53722834e-02 9.97831374e-01 -7.68207790e-03 9.55085304e+01] [ 6.69311008e-02 3.29651980e-03 9.97752154e-01 3.12626368e+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:239.36, Y:95.51, Z:31.27 [[ 9.95809129e-01 -6.25538136e-02 -6.67173146e-02 2.39361998e+02] [ 6.22647725e-02 9.98039115e-01 -6.40499157e-03 9.55090164e+01] [ 6.69871463e-02 2.22401065e-03 9.97751360e-01 3.12672983e+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:239.39, Y:95.51, Z:31.27 [[ 9.95592586e-01 -6.60634888e-02 -6.65659014e-02 2.39389410e+02] [ 6.56949714e-02 9.97809947e-01 -7.71235458e-03 9.55090219e+01] [ 6.69296236e-02 3.30531805e-03 9.97752224e-01 3.12727788e+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:239.42, Y:95.51, Z:31.28 [[ 9.95194712e-01 -7.18093443e-02 -6.65650285e-02 2.39421296e+02] [ 7.14531301e-02 9.97414083e-01 -7.71988153e-03 9.55116621e+01] [ 6.69472565e-02 2.92650564e-03 9.97752224e-01 3.12786662e+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:239.44, Y:95.51, Z:31.29 [[ 9.94755542e-01 -7.75640848e-02 -6.66725134e-02 2.39444738e+02] [ 7.72828230e-02 9.96986080e-01 -6.79134894e-03 9.55116882e+01] [ 6.69983325e-02 1.60309195e-03 9.97751800e-01 3.12856413e+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:239.48, Y:95.51, Z:31.29 [[ 9.93956386e-01 -8.72952823e-02 -6.65600193e-02 2.39476535e+02] [ 8.69711896e-02 9.96180628e-01 -7.75690549e-03 9.55123480e+01] [ 6.69829430e-02 1.92122169e-03 9.97752271e-01 3.12877163e+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:239.50, Y:95.51, Z:31.29 [[ 9.93625755e-01 -9.09025578e-02 -6.66677181e-02 2.39503623e+02] [ 9.06486694e-02 9.95859515e-01 -6.82976180e-03 9.55123270e+01] [ 6.70125242e-02 7.42887281e-04 9.97751858e-01 3.12869504e+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:239.53, Y:95.51, Z:31.29 [[ 9.93156804e-01 -9.59116938e-02 -6.66371498e-02 2.39531858e+02] [ 9.56515452e-02 9.95389622e-01 -7.09096625e-03 9.55130422e+01] [ 6.70100340e-02 6.68495030e-04 9.97752078e-01 3.12906414e+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:239.56, Y:95.52, Z:31.29 [[ 9.92706242e-01 -1.00487287e-01 -6.66079746e-02 2.39560198e+02] [ 1.00220762e-01 9.94938155e-01 -7.33936707e-03 9.55164190e+01] [ 6.70083285e-02 6.10333556e-04 9.97752229e-01 3.12929578e+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:239.59, Y:95.52, Z:31.30 [[ 9.92403523e-01 -1.03411922e-01 -6.66424900e-02 2.39586829e+02] [ 1.03171616e-01 9.94638608e-01 -7.04678096e-03 9.55159716e+01] [ 6.70139146e-02 1.17636882e-04 9.97752034e-01 3.12969273e+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:239.62, Y:95.52, Z:31.30 [[ 9.91887481e-01 -1.08283720e-01 -6.65872480e-02 2.39616049e+02] [ 1.08023071e-01 9.94119997e-01 -7.51314220e-03 9.55159079e+01] [ 6.70092658e-02 2.59232671e-04 9.97752320e-01 3.13000204e+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:239.64, Y:95.52, Z:31.30 [[ 9.91614981e-01 -1.10750134e-01 -6.65893197e-02 2.39643733e+02] [ 1.10496210e-01 9.93848279e-01 -7.49569776e-03 9.55168416e+01] [ 6.70098304e-02 7.49787336e-05 9.97752312e-01 3.12999006e+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:239.67, Y:95.51, Z:31.29 [[ 9.91684595e-01 -1.10136875e-01 -6.65697657e-02 2.39673145e+02] [ 1.09870557e-01 9.93916389e-01 -7.65973851e-03 9.55100878e+01] [ 6.70084009e-02 2.81987471e-04 9.97752371e-01 3.12873120e+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:239.70, Y:95.52, Z:31.29 [[ 9.89846600e-01 -1.25606340e-01 -6.65338645e-02 2.39700829e+02] [ 1.25354721e-01 9.92080055e-01 -7.95985151e-03 9.55234036e+01] [ 6.70067277e-02 -4.61302087e-04 9.97752417e-01 3.12915592e+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:239.73, Y:95.53, Z:31.30 [[ 9.89063538e-01 -1.31631899e-01 -6.65308975e-02 2.39728032e+02] [ 1.31392224e-01 9.91298305e-01 -7.98457359e-03 9.55324590e+01] [ 6.70029906e-02 -8.44391962e-04 9.97752417e-01 3.12963440e+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:239.75, Y:95.54, Z:31.32 [[ 9.89420061e-01 -1.28926369e-01 -6.65276911e-02 2.39754789e+02] [ 1.28678792e-01 9.91653966e-01 -8.01120073e-03 9.55388688e+01] [ 6.70053038e-02 -6.34260229e-04 9.97752418e-01 3.13161541e+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:239.78, Y:95.54, Z:31.31 [[ 9.90295893e-01 -1.22014563e-01 -6.65318794e-02 2.39783965e+02] [ 1.21753725e-01 9.92528290e-01 -7.97649335e-03 9.55378076e+01] [ 6.70080209e-02 -2.01415569e-04 9.97752416e-01 3.13077920e+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:239.81, Y:95.56, Z:31.32 [[ 9.89319992e-01 -1.29694538e-01 -6.65227742e-02 2.39809683e+02] [ 1.29445972e-01 9.91553786e-01 -8.05172161e-03 9.55556928e+01] [ 6.70051729e-02 -6.45375978e-04 9.97752419e-01 3.13188567e+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:239.84, Y:95.56, Z:31.32 [[ 9.88985313e-01 -1.32215809e-01 -6.65359318e-02 2.39836792e+02] [ 1.31980223e-01 9.91220522e-01 -7.94339384e-03 9.55644607e+01] [ 6.70020233e-02 -9.25527283e-04 9.97752410e-01 3.13158997e+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:239.86, Y:95.57, Z:31.32 [[ 9.88320303e-01 -1.37114236e-01 -6.65031174e-02 2.39863751e+02] [ 1.36871596e-01 9.90554751e-01 -8.21286153e-03 9.55748973e+01] [ 6.70010791e-02 -9.85450035e-04 9.97752416e-01 3.13167522e+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:239.89, Y:95.58, Z:31.30 [[ 9.88211078e-01 -1.37893437e-01 -6.65151515e-02 2.39892021e+02] [ 1.37659193e-01 9.90446417e-01 -8.11425246e-03 9.55767356e+01] [ 6.69985957e-02 -1.13782791e-03 9.97752421e-01 3.13038298e+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:239.92, Y:95.59, Z:31.32 [[ 9.87134293e-01 -1.45402195e-01 -6.65138251e-02 2.39918641e+02] [ 1.45184220e-01 9.89371278e-01 -8.12511070e-03 9.55883390e+01] [ 6.69882770e-02 -1.63618244e-03 9.97752421e-01 3.13218249e+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:239.94, Y:95.60, Z:31.33 [[ 9.86286150e-01 -1.51050161e-01 -6.65092422e-02 2.39944747e+02] [ 1.50842474e-01 9.88524113e-01 -8.16253228e-03 9.55961471e+01] [ 6.69789414e-02 -1.98182607e-03 9.97752421e-01 3.13281107e+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:239.98, Y:95.61, Z:31.33 [[ 9.84815852e-01 -1.60360637e-01 -6.64996476e-02 2.39976250e+02] [ 1.60168832e-01 9.87055235e-01 -8.24066481e-03 9.56098369e+01] [ 6.69603035e-02 -2.53563352e-03 9.97752418e-01 3.13250785e+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:240.00, Y:95.62, Z:31.33 [[ 9.84613484e-01 -1.61552136e-01 -6.66122710e-02 2.40000734e+02] [ 1.61424028e-01 9.86857869e-01 -7.33682511e-03 9.56208343e+01] [ 6.69221236e-02 -3.52888414e-03 9.97751961e-01 3.13290833e+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:240.03, Y:95.63, Z:31.33 [[ 9.84711201e-01 -1.61001084e-01 -6.65018971e-02 2.40028221e+02] [ 1.60812301e-01 9.86950798e-01 -8.21742236e-03 9.56286173e+01] [ 6.69571143e-02 -2.60253526e-03 9.97752460e-01 3.13301731e+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:240.06, Y:95.64, Z:31.33 [[ 9.85362476e-01 -1.56975496e-01 -6.64792030e-02 2.40055332e+02] [ 1.56765406e-01 9.87600165e-01 -8.39777158e-03 9.56392595e+01] [ 6.69731162e-02 -2.14679026e-03 9.97752471e-01 3.13303789e+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:240.08, Y:95.65, Z:31.33 [[ 9.85654096e-01 -1.55141661e-01 -6.64610309e-02 2.40082905e+02] [ 1.54917705e-01 9.87890451e-01 -8.54177286e-03 9.56474974e+01] [ 6.69814026e-02 -1.87675698e-03 9.97752459e-01 3.13313036e+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:240.11, Y:95.66, Z:31.33 [[ 9.86390274e-01 -1.50393142e-01 -6.64539679e-02 2.40110195e+02] [ 1.50154653e-01 9.88625136e-01 -8.59771074e-03 9.56623066e+01] [ 6.69910998e-02 -1.49767420e-03 9.97752449e-01 3.13334449e+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:240.14, Y:95.68, Z:31.34 [[ 9.87235632e-01 -1.44736119e-01 -6.64624892e-02 2.40139169e+02] [ 1.44489362e-01 9.89469585e-01 -8.53025081e-03 9.56783863e+01] [ 6.69972470e-02 -1.18175509e-03 9.97752460e-01 3.13366907e+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:240.17, Y:95.69, Z:31.34 [[ 9.87906287e-01 -1.40065373e-01 -6.65045892e-02 2.40165201e+02] [ 1.39830478e-01 9.90141529e-01 -8.19694161e-03 9.56871858e+01] [ 6.69970633e-02 -1.20155832e-03 9.97752449e-01 3.13379693e+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:240.19, Y:95.70, Z:31.34 [[ 9.88876737e-01 -1.33072380e-01 -6.64420097e-02 2.40192944e+02] [ 1.32788505e-01 9.91106296e-01 -8.69043366e-03 9.57022306e+01] [ 6.70075508e-02 -2.28967467e-04 9.97752442e-01 3.13435366e+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:240.22, Y:95.71, Z:31.34 [[ 9.89891850e-01 -1.25279181e-01 -6.64774547e-02 2.40220728e+02] [ 1.24996487e-01 9.92121528e-01 -8.41141161e-03 9.57089375e+01] [ 6.70074887e-02 1.69395223e-05 9.97752472e-01 3.13383713e+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:240.23, Y:95.73, Z:31.33 [[ 9.87922760e-01 -1.39974573e-01 -6.64510298e-02 2.40228535e+02] [ 1.39711089e-01 9.90154800e-01 -8.61883598e-03 9.57264917e+01] [ 6.70032240e-02 -7.69201535e-04 9.97752462e-01 3.13277304e+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:240.28, Y:95.73, Z:31.34 [[ 9.91308810e-01 -1.13895130e-01 -6.58387662e-02 2.40277151e+02] [ 1.13260958e-01 9.93476280e-01 -1.32980102e-02 9.57302091e+01] [ 6.69238311e-02 5.72547298e-03 9.97741660e-01 3.13407115e+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:240.30, Y:95.74, Z:31.34 [[ 9.91572378e-01 -1.11232123e-01 -6.64201276e-02 2.40304768e+02] [ 1.10894237e-01 9.93793570e-01 -8.76400319e-03 9.57376600e+01] [ 6.69827344e-02 1.32453413e-03 9.97753256e-01 3.13431751e+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:240.33, Y:95.75, Z:31.35 [[ 9.92184380e-01 -1.05618729e-01 -6.64442615e-02 2.40331781e+02] [ 1.05280879e-01 9.94405548e-01 -8.57569830e-03 9.57459731e+01] [ 6.69782966e-02 1.51336365e-03 9.97753285e-01 3.13487400e+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:240.36, Y:95.75, Z:31.35 [[ 9.92183229e-01 -1.05638628e-01 -6.64298170e-02 2.40360802e+02] [ 1.05293273e-01 9.94403257e-01 -8.68850153e-03 9.57501579e+01] [ 6.69758677e-02 1.62597264e-03 9.97753271e-01 3.13526898e+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:240.39, Y:95.75, Z:31.34 [[ 9.92214458e-01 -1.05317944e-01 -6.64725452e-02 2.40387545e+02] [ 1.04994205e-01 9.94437737e-01 -8.35487312e-03 9.57518814e+01] [ 6.69827254e-02 1.31059388e-03 9.97753275e-01 3.13447716e+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:240.42, Y:95.75, Z:31.35 [[ 9.91717667e-01 -1.09948998e-01 -6.63873939e-02 2.40416629e+02] [ 1.09591388e-01 9.93935835e-01 -9.01577480e-03 9.57542026e+01] [ 6.69760851e-02 1.66561652e-03 9.97753191e-01 3.13479866e+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:240.45, Y:95.76, Z:31.36 [[ 9.91253323e-01 -1.14051197e-01 -6.64016121e-02 2.40446157e+02] [ 1.13710161e-01 9.93474053e-01 -8.90535599e-03 9.57572903e+01] [ 6.69839452e-02 1.27692573e-03 9.97753236e-01 3.13555360e+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:240.47, Y:95.76, Z:31.34 [[ 9.90232524e-01 -1.22573906e-01 -6.64468697e-02 2.40474271e+02] [ 1.22275563e-01 9.92459328e-01 -8.55386640e-03 9.57629913e+01] [ 6.69942964e-02 3.45488333e-04 9.97753299e-01 3.13436439e+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:240.49, Y:95.76, Z:31.34 [[ 9.89410585e-01 -1.29062064e-01 -6.64054066e-02 2.40494788e+02] [ 1.28756772e-01 9.91636491e-01 -8.87487609e-03 9.57594558e+01] [ 6.69954342e-02 2.30750565e-04 9.97753255e-01 3.13399078e+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:240.52, Y:95.76, Z:31.34 [[ 9.89480960e-01 -1.28645693e-01 -6.61643123e-02 2.40522841e+02] [ 1.28214981e-01 9.91688318e-01 -1.07330954e-02 9.57628270e+01] [ 6.69951421e-02 2.13693748e-03 9.97751013e-01 3.13417473e+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:240.56, Y:95.76, Z:31.37 [[ 9.89532731e-01 -1.28240591e-01 -6.61764690e-02 2.40562429e+02] [ 1.27815312e-01 9.91740930e-01 -1.06383420e-02 9.57561348e+01] [ 6.69941801e-02 2.06862164e-03 9.97751222e-01 3.13654573e+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:240.60, Y:95.75, Z:31.35 [[ 9.89401092e-01 -1.29091674e-01 -6.64892339e-02 2.40599655e+02] [ 1.28833179e-01 9.91632551e-01 -8.17905012e-03 9.57516444e+01] [ 6.69887359e-02 -4.73658225e-04 9.97753619e-01 3.13522079e+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:240.63, Y:95.76, Z:31.35 [[ 9.88683717e-01 -1.34393769e-01 -6.66545019e-02 2.40626147e+02] [ 1.34235009e-01 9.90925675e-01 -6.87527960e-03 9.57576741e+01] [ 6.69736520e-02 -2.14989068e-03 9.97752428e-01 3.13543506e+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:240.65, Y:95.77, Z:31.36 [[ 9.87424584e-01 -1.43397207e-01 -6.65577356e-02 2.40650258e+02] [ 1.43208244e-01 9.89663194e-01 -7.62643125e-03 9.57655047e+01] [ 6.69633501e-02 -2.00109070e-03 9.97753429e-01 3.13615813e+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:240.68, Y:95.77, Z:31.36 [[ 9.87613650e-01 -1.42138601e-01 -6.64522123e-02 2.40678999e+02] [ 1.41891990e-01 9.89846161e-01 -8.44038279e-03 9.57664200e+01] [ 6.69771715e-02 -1.09319941e-03 9.97753909e-01 3.13621276e+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:240.71, Y:95.77, Z:31.37 [[ 9.87870091e-01 -1.40340260e-01 -6.64627303e-02 2.40708778e+02] [ 1.40095048e-01 9.90102773e-01 -8.35917019e-03 9.57719299e+01] [ 6.69780617e-02 -1.05332516e-03 9.97753892e-01 3.13689613e+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:240.74, Y:95.78, Z:31.37 [[ 9.88292619e-01 -1.37317774e-01 -6.64945769e-02 2.40736888e+02] [ 1.37082248e-01 9.90526439e-01 -8.11363247e-03 9.57779002e+01] [ 6.69787824e-02 -1.09658298e-03 9.97753797e-01 3.13706208e+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:240.76, Y:95.78, Z:31.37 [[ 9.89759927e-01 -1.26312515e-01 -6.64863585e-02 2.40762173e+02] [ 1.26047898e-01 9.91990457e-01 -8.17687464e-03 9.57783892e+01] [ 6.69866747e-02 -2.87322903e-04 9.97753829e-01 3.13717988e+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:240.79, Y:95.79, Z:31.38 [[ 9.89942413e-01 -1.24923211e-01 -6.63943516e-02 2.40794137e+02] [ 1.24608177e-01 9.92166278e-01 -8.88144419e-03 9.57887122e+01] [ 6.69837352e-02 5.18839177e-04 9.97753933e-01 3.13817013e+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:240.82, Y:95.79, Z:31.38 [[ 9.90752943e-01 -1.18250920e-01 -6.65231260e-02 2.40824754e+02] [ 1.17987056e-01 9.92983746e-01 -7.89527071e-03 9.57939932e+01] [ 6.69900058e-02 -2.66051181e-05 9.97753646e-01 3.13810365e+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:240.85, Y:95.80, Z:31.38 [[ 9.91070032e-01 -1.15556833e-01 -6.65342821e-02 2.40851982e+02] [ 1.15292601e-01 9.93300868e-01 -7.81041974e-03 9.57978460e+01] [ 6.69911076e-02 6.97624981e-05 9.97753570e-01 3.13827007e+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:240.88, Y:95.80, Z:31.39 [[ 9.91390615e-01 -1.12787291e-01 -6.65107212e-02 2.40882461e+02] [ 1.12504858e-01 9.93619060e-01 -7.98882077e-03 9.58000070e+01] [ 6.69873577e-02 4.37262720e-04 9.97753729e-01 3.13908138e+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:240.91, Y:95.80, Z:31.39 [[ 9.91555693e-01 -1.11301084e-01 -6.65535604e-02 2.40910614e+02] [ 1.11036957e-01 9.93786710e-01 -7.66617051e-03 9.58020556e+01] [ 6.69932969e-02 2.11530203e-04 9.97753403e-01 3.13890727e+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:240.94, Y:95.80, Z:31.38 [[ 9.92088062e-01 -1.06459472e-01 -6.65406464e-02 2.40939484e+02] [ 1.06177963e-01 9.94316839e-01 -7.76301240e-03 9.58015294e+01] [ 6.69889314e-02 6.36441619e-04 9.97753516e-01 3.13819861e+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:240.97, Y:95.80, Z:31.38 [[ 9.92418031e-01 -1.03379977e-01 -6.64757997e-02 2.40966734e+02] [ 1.03059421e-01 9.94641048e-01 -8.24271438e-03 9.58037150e+01] [ 6.69716907e-02 1.32926093e-03 9.97753991e-01 3.13836269e+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:241.00, Y:95.80, Z:31.38 [[ 9.93098416e-01 -9.66503887e-02 -6.64397428e-02 2.40996274e+02] [ 9.62969465e-02 9.95316276e-01 -8.50936273e-03 9.58043616e+01] [ 6.69509906e-02 2.05269029e-03 9.97754154e-01 3.13798825e+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:241.02, Y:95.81, Z:31.39 [[ 9.93455217e-01 -9.28986780e-02 -6.64572547e-02 2.41024439e+02] [ 9.25454685e-02 9.95673191e-01 -8.38049574e-03 9.58056522e+01] [ 6.69482439e-02 2.17532945e-03 9.97754078e-01 3.13858687e+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:241.05, Y:95.80, Z:31.39 [[ 9.94043814e-01 -8.64026959e-02 -6.64188988e-02 2.41053474e+02] [ 8.60163034e-02 9.96256085e-01 -8.66074688e-03 9.58047621e+01] [ 6.69185439e-02 2.89605371e-03 9.97754239e-01 3.13862240e+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:241.08, Y:95.80, Z:31.39 [[ 9.94364576e-01 -8.26242897e-02 -6.64252760e-02 2.41081983e+02] [ 8.22325991e-02 9.96575936e-01 -8.61412016e-03 9.58033772e+01] [ 6.69095671e-02 3.10325285e-03 9.97754218e-01 3.13864185e+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:241.11, Y:95.80, Z:31.39 [[ 9.94390183e-01 -8.23185964e-02 -6.64214715e-02 2.41111276e+02] [ 8.19243753e-02 9.96601081e-01 -8.64189789e-03 9.58042356e+01] [ 6.69070992e-02 3.15188087e-03 9.97754231e-01 3.13873622e+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:241.14, Y:95.80, Z:31.39 [[ 9.94299183e-01 -8.34084866e-02 -6.64240918e-02 2.41141343e+02] [ 8.30179523e-02 9.96510745e-01 -8.62294095e-03 9.58000611e+01] [ 6.69115476e-02 3.05939106e-03 9.97754221e-01 3.13899654e+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:241.17, Y:95.79, Z:31.38 [[ 9.93737736e-01 -8.98438335e-02 -6.64334083e-02 2.41167010e+02] [ 8.94721130e-02 9.95952580e-01 -8.55567555e-03 9.57935907e+01] [ 6.69331991e-02 2.55816024e-03 9.97754180e-01 3.13778553e+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:241.20, Y:95.79, Z:31.39 [[ 9.93989595e-01 -8.71370430e-02 -6.62708087e-02 2.41201845e+02] [ 8.66814516e-02 9.96188614e-01 -9.72478153e-03 9.57905749e+01] [ 6.68656138e-02 3.92188177e-03 9.97754283e-01 3.13918371e+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:241.23, Y:95.79, Z:31.39 [[ 9.93264309e-01 -9.48983691e-02 -6.64854247e-02 2.41229032e+02] [ 9.45645745e-02 9.95485312e-01 -8.15691251e-03 9.57852250e+01] [ 6.69593414e-02 1.81480417e-03 9.97754054e-01 3.13947696e+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:241.26, Y:95.79, Z:31.40 [[ 9.92675512e-01 -1.00928002e-01 -6.63992899e-02 2.41261423e+02] [ 1.00565838e-01 9.94891639e-01 -8.78292844e-03 9.57854570e+01] [ 6.69465418e-02 2.04109773e-03 9.97754476e-01 3.13999946e+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:241.29, Y:95.78, Z:31.40 [[ 9.91549355e-01 -1.11392196e-01 -6.64955301e-02 2.41288700e+02] [ 1.11099579e-01 9.93776319e-01 -8.09394128e-03 9.57784472e+01] [ 6.69832850e-02 6.37916857e-04 9.97753894e-01 3.14045199e+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:241.32, Y:95.77, Z:31.40 [[ 9.90280532e-01 -1.22180095e-01 -6.64567008e-02 2.41319017e+02] [ 1.21893191e-01 9.92507929e-01 -8.37025021e-03 9.57749794e+01] [ 6.69814804e-02 1.88276520e-04 9.97754201e-01 3.14023377e+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:241.35, Y:95.77, Z:31.41 [[ 9.89387601e-01 -1.29209591e-01 -6.64609454e-02 2.41346014e+02] [ 1.28940537e-01 9.91617255e-01 -8.34010442e-03 9.57715644e+01] [ 6.69814418e-02 -3.17914103e-04 9.97754171e-01 3.14054413e+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:241.37, Y:95.77, Z:31.41 [[ 9.89014136e-01 -1.32046883e-01 -6.64428989e-02 2.41374560e+02] [ 1.31775523e-01 9.91243399e-01 -8.46962795e-03 9.57735642e+01] [ 6.69794729e-02 -3.78965964e-04 9.97754282e-01 3.14089960e+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:241.40, Y:95.78, Z:31.41 [[ 9.88826594e-01 -1.33440165e-01 -6.64506593e-02 2.41402587e+02] [ 1.33175685e-01 9.91056730e-01 -8.41399254e-03 9.57762938e+01] [ 6.69791377e-02 -5.29632475e-04 9.97754236e-01 3.14112881e+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:241.43, Y:95.78, Z:31.41 [[ 9.88621168e-01 -1.34938923e-01 -6.64806257e-02 2.41429171e+02] [ 1.34692124e-01 9.90853557e-01 -8.20129296e-03 9.57798196e+01] [ 6.69792381e-02 -8.46444871e-04 9.97754010e-01 3.14098293e+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:241.46, Y:95.78, Z:31.41 [[ 9.88460013e-01 -1.36128523e-01 -6.64517025e-02 2.41460331e+02] [ 1.35870538e-01 9.90690925e-01 -8.40758682e-03 9.57839042e+01] [ 6.69776110e-02 -7.18265207e-04 9.97754220e-01 3.14095107e+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:241.49, Y:95.79, Z:31.41 [[ 9.88992057e-01 -1.32169393e-01 -6.65279080e-02 2.41485670e+02] [ 1.31939048e-01 9.91226639e-01 -7.86365708e-03 9.57850899e+01] [ 6.69835695e-02 -1.00053446e-03 9.97753577e-01 3.14128009e+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:241.52, Y:95.79, Z:31.42 [[ 9.89123778e-01 -1.31226119e-01 -6.64368769e-02 2.41516740e+02] [ 1.30950653e-01 9.91352421e-01 -8.50320299e-03 9.57903606e+01] [ 6.69782011e-02 -2.89232136e-04 9.97754397e-01 3.14150133e+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:241.54, Y:95.80, Z:31.42 [[ 9.89650547e-01 -1.27170098e-01 -6.64797753e-02 2.41543288e+02] [ 1.26905445e-01 9.91880873e-01 -8.20616687e-03 9.57965819e+01] [ 6.69835967e-02 -3.15407957e-04 9.97754027e-01 3.14242453e+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:241.57, Y:95.81, Z:31.40 [[ 9.89251012e-01 -1.30260628e-01 -6.64424817e-02 2.41568933e+02] [ 1.29985648e-01 9.91479752e-01 -8.46357209e-03 9.58064396e+01] [ 6.69788455e-02 -2.63971808e-04 9.97754361e-01 3.14049460e+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:241.60, Y:95.81, Z:31.42 [[ 9.90235025e-01 -1.22591608e-01 -6.63768999e-02 2.41596376e+02] [ 1.22269110e-01 9.92456947e-01 -8.91481246e-03 9.58071104e+01] [ 6.69690966e-02 7.11915068e-04 9.97754796e-01 3.14243967e+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:241.63, Y:95.81, Z:31.42 [[ 9.89882644e-01 -1.25387581e-01 -6.64101348e-02 2.41625604e+02] [ 1.25086593e-01 9.92107791e-01 -8.68765830e-03 9.58137374e+01] [ 6.69753366e-02 2.92744673e-04 9.97754588e-01 3.14227812e+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:241.65, Y:95.82, Z:31.43 [[ 9.89193827e-01 -1.30694198e-01 -6.64424446e-02 2.41651096e+02] [ 1.30419954e-01 9.91422686e-01 -8.46717212e-03 9.58152085e+01] [ 6.69791572e-02 -2.89746174e-04 9.97754333e-01 3.14309531e+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:241.68, Y:95.82, Z:31.44 [[ 9.88049817e-01 -1.39108311e-01 -6.63809982e-02 2.41680724e+02] [ 1.38824911e-01 9.90277076e-01 -8.88573778e-03 9.58208490e+01] [ 6.69716608e-02 -4.35784548e-04 9.97754783e-01 3.14353717e+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:241.71, Y:95.83, Z:31.44 [[ 9.86261024e-01 -1.51258112e-01 -6.64091594e-02 2.41710448e+02] [ 1.51015034e-01 9.88493232e-01 -8.69425642e-03 9.58253663e+01] [ 6.69600814e-02 -1.45397523e-03 9.97754596e-01 3.14360018e+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:241.74, Y:95.83, Z:31.44 [[ 9.84611575e-01 -1.61640279e-01 -6.64264066e-02 2.41737553e+02] [ 1.61428630e-01 9.86847116e-01 -8.57709847e-03 9.58329841e+01] [ 6.69391124e-02 -2.27801339e-03 9.97754462e-01 3.14367583e+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:241.76, Y:95.85, Z:31.42 [[ 9.81537184e-01 -1.79365938e-01 -6.64275232e-02 2.41761617e+02] [ 1.79195147e-01 9.83776227e-01 -8.56942777e-03 9.58486636e+01] [ 6.68868816e-02 -3.49227778e-03 9.97754453e-01 3.14200313e+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:241.80, Y:95.85, Z:31.44 [[ 9.82927860e-01 -1.71645616e-01 -6.62616423e-02 2.41797067e+02] [ 1.71380823e-01 9.85157081e-01 -9.70257874e-03 9.58471671e+01] [ 6.69435312e-02 -1.81903983e-03 9.97755108e-01 3.14366439e+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:241.82, Y:95.85, Z:31.44 [[ 9.82687073e-01 -1.72936797e-01 -6.64754210e-02 2.41824541e+02] [ 1.72772700e-01 9.84927142e-01 -8.25338562e-03 9.58543399e+01] [ 6.69007606e-02 -3.37464260e-03 9.97753928e-01 3.14404972e+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:241.85, Y:95.87, Z:31.44 [[ 9.82549557e-01 -1.73724671e-01 -6.64538000e-02 2.41850523e+02] [ 1.73552556e-01 9.84788796e-01 -8.39866470e-03 9.58672774e+01] [ 6.69020130e-02 -3.28112256e-03 9.97754156e-01 3.14376849e+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:241.88, Y:95.88, Z:31.44 [[ 9.82906578e-01 -1.71694698e-01 -6.64498959e-02 2.41878049e+02] [ 1.71516169e-01 9.85145279e-01 -8.42514808e-03 9.58761471e+01] [ 6.69093545e-02 -3.11609813e-03 9.97754192e-01 3.14358088e+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:241.90, Y:95.89, Z:31.44 [[ 9.84136276e-01 -1.64503152e-01 -6.64417303e-02 2.41902194e+02] [ 1.64304528e-01 9.86373207e-01 -8.48043950e-03 9.58894096e+01] [ 6.69314017e-02 -2.57076901e-03 9.97754268e-01 3.14390721e+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:241.93, Y:95.91, Z:31.44 [[ 9.85090742e-01 -1.58713620e-01 -6.63793430e-02 2.41930874e+02] [ 1.58473630e-01 9.87323105e-01 -8.89914253e-03 9.59052605e+01] [ 6.69502742e-02 -1.75291250e-03 9.97754774e-01 3.14395244e+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:241.96, Y:95.91, Z:31.44 [[ 9.85998763e-01 -1.52945679e-01 -6.64383835e-02 2.41957885e+02] [ 1.52719240e-01 9.88233027e-01 -8.50397348e-03 9.59127669e+01] [ 6.69572509e-02 -1.76151208e-03 9.97754290e-01 3.14365972e+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:241.98, Y:95.93, Z:31.44 [[ 9.87439084e-01 -1.43384285e-01 -6.63701879e-02 2.41984392e+02] [ 1.43106053e-01 9.89666870e-01 -8.95230335e-03 9.59256526e+01] [ 6.69679958e-02 -6.58121429e-04 9.97754907e-01 3.14365721e+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:242.01, Y:95.94, Z:31.44 [[ 9.87954577e-01 -1.39809544e-01 -6.63253023e-02 2.42012423e+02] [ 1.39503599e-01 9.90178407e-01 -9.24492111e-03 9.59350266e+01] [ 6.69664104e-02 -1.19056241e-04 9.97755223e-01 3.14366580e+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:242.04, Y:95.94, Z:31.44 [[ 9.89338967e-01 -1.29640021e-01 -6.63466081e-02 2.42037474e+02] [ 1.29320497e-01 9.91561032e-01 -9.10652189e-03 9.59448475e+01] [ 6.69672809e-02 4.29460648e-04 9.97755080e-01 3.14435046e+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:242.07, Y:95.95, Z:31.44 [[ 9.90383973e-01 -1.21427330e-01 -6.62947205e-02 2.42071913e+02] [ 1.21067026e-01 9.92599442e-01 -9.44054229e-03 9.59476169e+01] [ 6.69504424e-02 1.32365714e-03 9.97755424e-01 3.14392931e+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:242.09, Y:95.96, Z:31.45 [[ 9.90782218e-01 -1.18021870e-01 -6.64938723e-02 2.42091785e+02] [ 1.17740018e-01 9.93010964e-01 -8.15555496e-03 9.59577548e+01] [ 6.69916781e-02 2.51389095e-04 9.97753503e-01 3.14463971e+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:242.12, Y:95.97, Z:31.45 [[ 9.90856856e-01 -1.17519255e-01 -6.62715243e-02 2.42121215e+02] [ 1.17140957e-01 9.93069100e-01 -9.57909011e-03 9.59650531e+01] [ 6.69379305e-02 1.72839737e-03 9.97755645e-01 3.14479893e+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:242.15, Y:95.97, Z:31.45 [[ 9.91455147e-01 -1.12326624e-01 -6.63281300e-02 2.42149142e+02] [ 1.11961019e-01 9.93669866e-01 -9.21559977e-03 9.59681700e+01] [ 6.69434213e-02 1.71068882e-03 9.97755307e-01 3.14504535e+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:242.18, Y:95.97, Z:31.45 [[ 9.91524961e-01 -1.11724044e-01 -6.63022688e-02 2.42175216e+02] [ 1.11346053e-01 9.93737418e-01 -9.38084996e-03 9.59721624e+01] [ 6.69351119e-02 1.91885094e-03 9.97755486e-01 3.14497395e+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:242.20, Y:95.98, Z:31.45 [[ 9.90946102e-01 -1.16816761e-01 -6.61790518e-02 2.42202973e+02] [ 1.16398000e-01 9.93150665e-01 -1.01618105e-02 9.59760100e+01] [ 6.69128391e-02 2.36669717e-03 9.97756018e-01 3.14532089e+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:242.23, Y:95.98, Z:31.46 [[ 9.90484697e-01 -1.20681388e-01 -6.61518520e-02 2.42233583e+02] [ 1.20259754e-01 9.92688674e-01 -1.03338183e-02 9.59771855e+01] [ 6.69152937e-02 2.28008343e-03 9.97756055e-01 3.14572070e+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:242.26, Y:95.98, Z:31.46 [[ 9.90100838e-01 -1.23750298e-01 -6.62283548e-02 2.42262748e+02] [ 1.23367897e-01 9.92312131e-01 -9.84870714e-03 9.59812472e+01] [ 6.69379803e-02 1.58076032e-03 9.97755886e-01 3.14609040e+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:242.29, Y:95.98, Z:31.44 [[ 9.88703533e-01 -1.34451742e-01 -6.62423810e-02 2.42288649e+02] [ 1.34099201e-01 9.90919846e-01 -9.76031313e-03 9.59837530e+01] [ 6.69531811e-02 7.67005723e-04 9.97755823e-01 3.14446179e+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:242.31, Y:95.98, Z:31.46 [[ 9.89278731e-01 -1.30214458e-01 -6.61194913e-02 2.42314727e+02] [ 1.29800834e-01 9.91484151e-01 -1.05319445e-02 9.59817784e+01] [ 6.69278391e-02 1.83666361e-03 9.97756128e-01 3.14602803e+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:242.34, Y:95.99, Z:31.46 [[ 9.89287035e-01 -1.30197214e-01 -6.60291434e-02 2.42342629e+02] [ 1.29745812e-01 9.91485184e-01 -1.10975065e-02 9.59862685e+01] [ 6.69117818e-02 2.41161447e-03 9.97755981e-01 3.14621249e+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:242.38, Y:95.99, Z:31.47 [[ 9.88688183e-01 -1.34670383e-01 -6.60270078e-02 2.42375896e+02] [ 1.34228041e-01 9.90888179e-01 -1.11108008e-02 9.59856857e+01] [ 6.69216773e-02 2.12244159e-03 9.97755974e-01 3.14710413e+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:242.40, Y:95.99, Z:31.47 [[ 9.87983852e-01 -1.39659640e-01 -6.62049317e-02 2.42403583e+02] [ 1.39302151e-01 9.90199345e-01 -1.00084329e-02 9.59878023e+01] [ 6.69538541e-02 6.65680651e-04 9.97755851e-01 3.14728031e+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:242.43, Y:95.99, Z:31.47 [[ 9.86534231e-01 -1.49577526e-01 -6.61572023e-02 2.42432845e+02] [ 1.49222609e-01 9.88749958e-01 -1.03021446e-02 9.59857099e+01] [ 6.69539003e-02 2.91267957e-04 9.97756028e-01 3.14728775e+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:242.46, Y:95.98, Z:31.47 [[ 9.84588690e-01 -1.61902958e-01 -6.61252178e-02 2.42463202e+02] [ 1.61562615e-01 9.86806623e-01 -1.04980863e-02 9.59845019e+01] [ 6.69524741e-02 -3.47066059e-04 9.97756105e-01 3.14729325e+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:242.49, Y:95.99, Z:31.47 [[ 9.82825747e-01 -1.72267897e-01 -6.61613328e-02 2.42491200e+02] [ 1.71965842e-01 9.85049308e-01 -1.02766296e-02 9.59884706e+01] [ 6.69425085e-02 -1.27735314e-03 9.97756017e-01 3.14664632e+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:242.52, Y:95.99, Z:31.48 [[ 9.81983094e-01 -1.77040947e-01 -6.60734945e-02 2.42522022e+02] [ 1.76713569e-01 9.84202919e-01 -1.08134121e-02 9.59889935e+01] [ 6.69441428e-02 -1.05749517e-03 9.97756164e-01 3.14769484e+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:242.55, Y:95.99, Z:31.48 [[ 9.81744037e-01 -1.78329235e-01 -6.61613911e-02 2.42549241e+02] [ 1.78040948e-01 9.83969423e-01 -1.02760130e-02 9.59929395e+01] [ 6.69332994e-02 -1.69102232e-03 9.97756019e-01 3.14818344e+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:242.58, Y:96.00, Z:31.49 [[ 9.82506936e-01 -1.74079786e-01 -6.61539849e-02 2.42575657e+02] [ 1.73778827e-01 9.84730618e-01 -1.03212682e-02 9.59976530e+01] [ 6.69405786e-02 -1.35544429e-03 9.97756043e-01 3.14850978e+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:242.60, Y:96.00, Z:31.48 [[ 9.83195961e-01 -1.70152973e-01 -6.61337200e-02 2.42603412e+02] [ 1.69834805e-01 9.85417191e-01 -1.04450520e-02 9.60042830e+01] [ 6.69465613e-02 -9.62274552e-04 9.97756098e-01 3.14831678e+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:242.63, Y:96.02, Z:31.47 [[ 9.84332342e-01 -1.63457249e-01 -6.61178429e-02 2.42628038e+02] [ 1.63117476e-01 9.86550334e-01 -1.05417316e-02 9.60183980e+01] [ 6.69517025e-02 -4.08408301e-04 9.97756134e-01 3.14723784e+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:242.66, Y:96.02, Z:31.48 [[ 9.86633208e-01 -1.48966210e-01 -6.60604301e-02 2.42655528e+02] [ 1.48570534e-01 9.88841850e-01 -1.08900314e-02 9.60202734e+01] [ 6.69455646e-02 9.29833251e-04 9.97756196e-01 3.14766223e+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:242.69, Y:96.03, Z:31.48 [[ 9.88318565e-01 -1.37344803e-01 -6.60516426e-02 2.42685293e+02] [ 1.36919607e-01 9.90521714e-01 -1.09432547e-02 9.60258960e+01] [ 6.69285854e-02 1.77165681e-03 9.97756196e-01 3.14825102e+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:242.71, Y:96.03, Z:31.47 [[ 9.88221748e-01 -1.38009321e-01 -6.61150838e-02 2.42713444e+02] [ 1.37611292e-01 9.90430029e-01 -1.05589243e-02 9.60326513e+01] [ 6.69395944e-02 1.33637655e-03 9.97756135e-01 3.14749951e+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:242.74, Y:96.03, Z:31.48 [[ 9.89873667e-01 -1.25608482e-01 -6.61258892e-02 2.42735664e+02] [ 1.25187160e-01 9.92077649e-01 -1.04935321e-02 9.60349346e+01] [ 6.69200933e-02 2.10915880e-03 9.97756109e-01 3.14827256e+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:242.77, Y:96.04, Z:31.49 [[ 9.90276264e-01 -1.22476720e-01 -6.59725214e-02 2.42765704e+02] [ 1.21986549e-01 9.92466019e-01 -1.14229234e-02 9.60442351e+01] [ 6.68745278e-02 3.26408966e-03 9.97756054e-01 3.14878176e+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:242.79, Y:96.05, Z:31.49 [[ 9.90496993e-01 -1.20622930e-01 -6.60743127e-02 2.42794944e+02] [ 1.20169738e-01 9.92694554e-01 -1.08054411e-02 9.60488943e+01] [ 6.68949943e-02 2.76262408e-03 9.97756197e-01 3.14880995e+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:242.82, Y:96.05, Z:31.49 [[ 9.90870077e-01 -1.17499638e-01 -6.61084354e-02 2.42823323e+02] [ 1.17053290e-01 9.93069080e-01 -1.05985719e-02 9.60501392e+01] [ 6.68955715e-02 2.76359787e-03 9.97756155e-01 3.14876483e+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:242.85, Y:96.06, Z:31.49 [[ 9.90581781e-01 -1.19934236e-01 -6.60569066e-02 2.42851808e+02] [ 1.19472517e-01 9.92777557e-01 -1.09105683e-02 9.60557077e+01] [ 6.68883650e-02 2.91582525e-03 9.97756205e-01 3.14914965e+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:242.88, Y:96.06, Z:31.49 [[ 9.90384552e-01 -1.21545485e-01 -6.60691577e-02 2.42881040e+02] [ 1.21092274e-01 9.92582104e-01 -1.08364578e-02 9.60607416e+01] [ 6.68961860e-02 2.73179587e-03 9.97756201e-01 3.14885622e+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:242.91, Y:96.06, Z:31.49 [[ 9.90343254e-01 -1.21867075e-01 -6.60958042e-02 2.42908775e+02] [ 1.21425302e-01 9.92543163e-01 -1.06754563e-02 9.60639495e+01] [ 6.69039252e-02 2.54666309e-03 9.97756172e-01 3.14859229e+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:242.94, Y:96.07, Z:31.49 [[ 9.89573264e-01 -1.27987266e-01 -6.60606930e-02 2.42937650e+02] [ 1.27544991e-01 9.91773032e-01 -1.08870451e-02 9.60664632e+01] [ 6.69106169e-02 2.34781826e-03 9.97756211e-01 3.14916524e+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:242.97, Y:96.07, Z:31.50 [[ 9.88932072e-01 -1.32844301e-01 -6.60738205e-02 2.42965620e+02] [ 1.32418104e-01 9.91135022e-01 -1.08080544e-02 9.60709296e+01] [ 6.69238659e-02 1.93906158e-03 9.97756201e-01 3.14950920e+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:242.99, Y:96.07, Z:31.50 [[ 9.87712685e-01 -1.41628182e-01 -6.60689852e-02 2.42992026e+02] [ 1.41219637e-01 9.89918972e-01 -1.08371200e-02 9.60727031e+01] [ 6.69377835e-02 1.37372277e-03 9.97756206e-01 3.14991583e+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:243.02, Y:96.08, Z:31.50 [[ 9.86211458e-01 -1.51754146e-01 -6.60124153e-02 2.43017604e+02] [ 1.51345567e-01 9.88417733e-01 -1.11760417e-02 9.60770002e+01] [ 6.69438526e-02 1.03125401e-03 9.97756211e-01 3.15028919e+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:243.05, Y:96.08, Z:31.50 [[ 9.85223239e-01 -1.58070626e-01 -6.59457904e-02 2.43049318e+02] [ 1.57649502e-01 9.87427295e-01 -1.15746207e-02 9.60764516e+01] [ 6.69462809e-02 1.00726425e-03 9.97756073e-01 3.14991968e+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:243.08, Y:96.08, Z:31.50 [[ 9.84654361e-01 -1.61561854e-01 -6.59814817e-02 2.43079652e+02] [ 1.61162846e-01 9.86862433e-01 -1.13611473e-02 9.60792300e+01] [ 6.69501736e-02 5.53039850e-04 9.97756167e-01 3.14990742e+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:243.11, Y:96.09, Z:31.50 [[ 9.83810928e-01 -1.66599252e-01 -6.60359531e-02 2.43108019e+02] [ 1.66233419e-01 9.86024683e-01 -1.10352065e-02 9.60852467e+01] [ 6.69515369e-02 -1.20825525e-04 9.97756221e-01 3.14993969e+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:243.13, Y:96.09, Z:31.50 [[ 9.84011324e-01 -1.65395226e-01 -6.60767323e-02 2.43134626e+02] [ 1.65043015e-01 9.86227325e-01 -1.07919301e-02 9.60905406e+01] [ 6.69516127e-02 -2.86121701e-04 9.97756183e-01 3.14965015e+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:243.16, Y:96.10, Z:31.50 [[ 9.84451450e-01 -1.62792607e-01 -6.59841595e-02 2.43162886e+02] [ 1.62397539e-01 9.86660207e-01 -1.13435445e-02 9.60966426e+01] [ 6.69505896e-02 4.51503747e-04 9.97756190e-01 3.14979547e+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:243.19, Y:96.10, Z:31.50 [[ 9.84651093e-01 -1.61575527e-01 -6.59967730e-02 2.43190645e+02] [ 1.61182759e-01 9.86860243e-01 -1.12684798e-02 9.61018876e+01] [ 6.69503020e-02 4.57978987e-04 9.97756206e-01 3.15027921e+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:243.22, Y:96.11, Z:31.51 [[ 9.84785607e-01 -1.60742074e-01 -6.60249463e-02 2.43217739e+02] [ 1.60358668e-01 9.86996387e-01 -1.11009190e-02 9.61091018e+01] [ 6.69507682e-02 3.44352757e-04 9.97756221e-01 3.15067294e+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:243.24, Y:96.12, Z:31.51 [[ 9.84414015e-01 -1.63013464e-01 -6.59974022e-02 2.43244864e+02] [ 1.62624207e-01 9.86623780e-01 -1.12642543e-02 9.61170623e+01] [ 6.69508316e-02 3.55914538e-04 9.97756212e-01 3.15117823e+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:243.27, Y:96.13, Z:31.52 [[ 9.83525114e-01 -1.68284883e-01 -6.60193001e-02 2.43272685e+02] [ 1.67916183e-01 9.85738393e-01 -1.11344185e-02 9.61251252e+01] [ 6.69515131e-02 -1.34728712e-04 9.97756221e-01 3.15204514e+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:243.30, Y:96.14, Z:31.52 [[ 9.82682308e-01 -1.73122737e-01 -6.60605703e-02 2.43299492e+02] [ 1.72781286e-01 9.84900001e-01 -1.08910898e-02 9.61353310e+01] [ 6.69485510e-02 -7.11548973e-04 9.97756175e-01 3.15196617e+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:243.34, Y:96.15, Z:31.52 [[ 9.82048391e-01 -1.76710838e-01 -6.59866490e-02 2.43342149e+02] [ 1.76348260e-01 9.84262676e-01 -1.13258805e-02 9.61498848e+01] [ 6.69496015e-02 -5.14068027e-04 9.97756226e-01 3.15184654e+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:243.36, Y:96.15, Z:31.53 [[ 9.82000476e-01 -1.76713212e-01 -6.66896212e-02 2.43358010e+02] [ 1.76642147e-01 9.84250194e-01 -7.00770487e-03 9.61466603e+01] [ 6.68776266e-02 -4.89862834e-03 9.97749160e-01 3.15302988e+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:243.39, Y:96.16, Z:31.53 [[ 9.81461077e-01 -1.79914563e-01 -6.60674189e-02 2.43385872e+02] [ 1.79596154e-01 9.83681396e-01 -1.07764724e-02 9.61557387e+01] [ 6.69281351e-02 -1.28876617e-03 9.97756966e-01 3.15338114e+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:243.41, Y:96.17, Z:31.51 [[ 9.79863116e-01 -1.88415358e-01 -6.60902918e-02 2.43405958e+02] [ 1.88125497e-01 9.82087378e-01 -1.06386187e-02 9.61715897e+01] [ 6.69109205e-02 -2.00887892e-03 9.97756931e-01 3.15099860e+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:243.44, Y:96.18, Z:31.51 [[ 9.80158602e-01 -1.86990017e-01 -6.57559784e-02 2.43441166e+02] [ 1.86561414e-01 9.82361805e-01 -1.26539959e-02 9.61809948e+01] [ 6.69623325e-02 1.35394655e-04 9.97755495e-01 3.15106656e+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:243.47, Y:96.19, Z:31.53 [[ 9.82149780e-01 -1.76124722e-01 -6.60446166e-02 2.43468178e+02] [ 1.75788978e-01 9.84367450e-01 -1.09068373e-02 9.61898594e+01] [ 6.69331345e-02 -8.97767809e-04 9.97757059e-01 3.15282026e+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:243.50, Y:96.20, Z:31.53 [[ 9.82588377e-01 -1.73663849e-01 -6.60374790e-02 2.43495982e+02] [ 1.73319651e-01 9.84804750e-01 -1.09499788e-02 9.61986173e+01] [ 6.69356385e-02 -6.86270931e-04 9.97757059e-01 3.15340620e+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:243.52, Y:96.21, Z:31.54 [[ 9.83139406e-01 -1.70497130e-01 -6.60881037e-02 2.43521189e+02] [ 1.70166346e-01 9.85357863e-01 -1.06440922e-02 9.62102494e+01] [ 6.69352198e-02 -7.81344620e-04 9.97757017e-01 3.15378962e+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:243.55, Y:96.22, Z:31.54 [[ 9.83947194e-01 -1.65794081e-01 -6.60321248e-02 2.43548992e+02] [ 1.65430063e-01 9.86160387e-01 -1.09811482e-02 9.62218753e+01] [ 6.69388751e-02 -1.18828664e-04 9.97757071e-01 3.15388114e+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:243.58, Y:96.24, Z:31.52 [[ 9.82689248e-01 -1.73079285e-01 -6.60711902e-02 2.43577409e+02] [ 1.72747459e-01 9.84907525e-01 -1.07462853e-02 9.62361599e+01] [ 6.69339718e-02 -8.53371162e-04 9.97757042e-01 3.15200267e+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:243.61, Y:96.24, Z:31.54 [[ 9.84950794e-01 -1.59725192e-01 -6.60287515e-02 2.43605949e+02] [ 1.59346205e-01 9.87161468e-01 -1.10010182e-02 9.62402291e+01] [ 6.69381791e-02 3.14030641e-04 9.97757075e-01 3.15409108e+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:243.63, Y:96.25, Z:31.54 [[ 9.86128798e-01 -1.52270748e-01 -6.60576527e-02 2.43632268e+02] [ 1.51886664e-01 9.88338608e-01 -1.08276063e-02 9.62517480e+01] [ 6.69360562e-02 6.44137931e-04 9.97757059e-01 3.15400160e+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:243.66, Y:96.26, Z:31.54 [[ 9.87133446e-01 -1.45628687e-01 -6.60291277e-02 2.43659606e+02] [ 1.45218322e-01 9.89338505e-01 -1.09982559e-02 9.62619021e+01] [ 6.69268200e-02 1.26810711e-03 9.97757081e-01 3.15371234e+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:243.69, Y:96.27, Z:31.54 [[ 9.87386569e-01 -1.43901425e-01 -6.60313826e-02 2.43686596e+02] [ 1.43488103e-01 9.89591077e-01 -1.09847803e-02 9.62677275e+01] [ 6.69247926e-02 1.37150669e-03 9.97757080e-01 3.15366571e+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:243.71, Y:96.27, Z:31.53 [[ 9.87755510e-01 -1.41353951e-01 -6.60160035e-02 2.43714489e+02] [ 1.40928817e-01 9.89957767e-01 -1.10765000e-02 9.62738128e+01] [ 6.69187624e-02 1.63731666e-03 9.97757084e-01 3.15343347e+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:243.74, Y:96.28, Z:31.53 [[ 9.87761974e-01 -1.41318176e-01 -6.59958736e-02 2.43742556e+02] [ 1.40884951e-01 9.89962661e-01 -1.11964624e-02 9.62789546e+01] [ 6.69157142e-02 1.76161439e-03 9.97757077e-01 3.15343809e+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:243.77, Y:96.28, Z:31.53 [[ 9.87890422e-01 -1.40415418e-01 -6.60001794e-02 2.43769904e+02] [ 1.39981894e-01 9.90091047e-01 -1.11708244e-02 9.62828078e+01] [ 6.69147427e-02 1.79672031e-03 9.97757079e-01 3.15319764e+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:243.80, Y:96.30, Z:31.51 [[ 9.85940895e-01 -1.53511474e-01 -6.59907430e-02 2.43798957e+02] [ 1.53103433e-01 9.88146393e-01 -1.12269413e-02 9.62965513e+01] [ 6.69319790e-02 9.65691285e-04 9.97757073e-01 3.15100406e+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:243.83, Y:96.29, Z:31.53 [[ 9.87879665e-01 -1.40485846e-01 -6.60113179e-02 2.43826460e+02] [ 1.40056897e-01 9.90081185e-01 -1.11046370e-02 9.62904949e+01] [ 6.69166082e-02 1.72470474e-03 9.97757081e-01 3.15315331e+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:243.85, Y:96.29, Z:31.53 [[ 9.88010167e-01 -1.39561754e-01 -6.60183884e-02 2.43853565e+02] [ 1.39133551e-01 9.90211832e-01 -1.10626329e-02 9.62933089e+01] [ 6.69161098e-02 1.74462093e-03 9.97757080e-01 3.15341901e+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:243.88, Y:96.30, Z:31.54 [[ 9.87851083e-01 -1.40698474e-01 -6.59861972e-02 2.43882860e+02] [ 1.40260050e-01 9.90050743e-01 -1.12536716e-02 9.62958123e+01] [ 6.69130580e-02 1.86172440e-03 9.97757073e-01 3.15447742e+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:243.91, Y:96.30, Z:31.55 [[ 9.87616797e-01 -1.42323309e-01 -6.60086276e-02 2.43911646e+02] [ 1.41897381e-01 9.89818904e-01 -1.11207527e-02 9.62983356e+01] [ 6.69193298e-02 1.61659082e-03 9.97757080e-01 3.15509070e+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:243.94, Y:96.30, Z:31.54 [[ 9.85504209e-01 -1.56281380e-01 -6.60120082e-02 2.43943874e+02] [ 1.55887988e-01 9.87712361e-01 -1.11007375e-02 9.63013805e+01] [ 6.69357151e-02 6.49344311e-04 9.97757079e-01 3.15378496e+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:243.97, Y:96.30, Z:31.56 [[ 9.85931710e-01 -1.53522865e-01 -6.61013814e-02 2.43971071e+02] [ 1.53158720e-01 9.88145050e-01 -1.05719507e-02 9.62983079e+01] [ 6.69407890e-02 2.99218458e-04 9.97756905e-01 3.15609022e+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:244.00, Y:96.30, Z:31.57 [[ 9.84185501e-01 -1.64365666e-01 -6.60517116e-02 2.43999187e+02] [ 1.64006229e-01 9.86399467e-01 -1.08650123e-02 9.62977225e+01] [ 6.69392081e-02 -1.39704601e-04 9.97757046e-01 3.15664751e+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:244.03, Y:96.30, Z:31.57 [[ 9.82349640e-01 -1.75006630e-01 -6.60444063e-02 2.44027315e+02] [ 1.74668284e-01 9.84566913e-01 -1.09079751e-02 9.63008472e+01] [ 6.69341052e-02 -8.20417772e-04 9.97757061e-01 3.15687783e+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:244.06, Y:96.30, Z:31.57 [[ 9.81525269e-01 -1.79571726e-01 -6.60465159e-02 2.44055926e+02] [ 1.79244526e-01 9.83744218e-01 -1.08955835e-02 9.63047666e+01] [ 6.69294169e-02 -1.14418592e-03 9.97757057e-01 3.15682852e+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:244.08, Y:96.31, Z:31.56 [[ 9.80195359e-01 -1.86695541e-01 -6.60441818e-02 2.44084990e+02] [ 1.86383545e-01 9.82416491e-01 -1.09092587e-02 9.63067105e+01] [ 6.69196033e-02 -1.61634402e-03 9.97757062e-01 3.15627201e+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:244.11, Y:96.31, Z:31.56 [[ 9.80132710e-01 -1.87037024e-01 -6.60077496e-02 2.44112004e+02] [ 1.86711463e-01 9.82351834e-01 -1.11221999e-02 9.63115970e+01] [ 6.69230971e-02 -1.42317160e-03 9.97757122e-01 3.15645476e+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:244.14, Y:96.32, Z:31.57 [[ 9.79648083e-01 -1.89560034e-01 -6.60047512e-02 2.44138456e+02] [ 1.89239010e-01 9.81867865e-01 -1.11396927e-02 9.63154483e+01] [ 6.69195847e-02 -1.57769516e-03 9.97757125e-01 3.15668523e+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:244.17, Y:96.32, Z:31.57 [[ 9.79291698e-01 -1.91403885e-01 -6.59721370e-02 2.44166737e+02] [ 1.91074249e-01 9.81510199e-01 -1.13296122e-02 9.63222902e+01] [ 6.69208571e-02 -1.51058139e-03 9.97757143e-01 3.15701837e+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:244.19, Y:96.33, Z:31.57 [[ 9.79202691e-01 -1.91848933e-01 -6.60005788e-02 2.44193174e+02] [ 1.91531455e-01 9.81422980e-01 -1.11640735e-02 9.63318630e+01] [ 6.69163003e-02 -1.70929613e-03 9.97757128e-01 3.15745285e+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:244.22, Y:96.34, Z:31.58 [[ 9.78867178e-01 -1.93555249e-01 -6.59955582e-02 2.44220930e+02] [ 1.93239674e-01 9.81087733e-01 -1.11932603e-02 9.63396366e+01] [ 6.69139468e-02 -1.79624507e-03 9.97757133e-01 3.15761918e+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:244.25, Y:96.35, Z:31.58 [[ 9.78507738e-01 -1.95361209e-01 -6.60045775e-02 2.44247157e+02] [ 1.95053262e-01 9.80729374e-01 -1.11408957e-02 9.63473431e+01] [ 6.69091269e-02 -1.97295556e-03 9.97757123e-01 3.15771045e+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:244.27, Y:96.36, Z:31.58 [[ 9.77434407e-01 -2.00668158e-01 -6.59868931e-02 2.44274832e+02] [ 2.00365356e-01 9.79656730e-01 -1.12434168e-02 9.63587033e+01] [ 6.69006997e-02 -2.23178486e-03 9.97757143e-01 3.15786070e+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:244.30, Y:96.37, Z:31.58 [[ 9.76831378e-01 -2.03591474e-01 -6.59618826e-02 2.44302266e+02] [ 2.03285550e-01 9.79053263e-01 -1.13882838e-02 9.63707440e+01] [ 6.68987539e-02 -2.28466463e-03 9.97757153e-01 3.15830603e+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:244.33, Y:96.38, Z:31.58 [[ 9.76816911e-01 -2.03666408e-01 -6.59448037e-02 2.44328563e+02] [ 2.03353990e-01 9.79037896e-01 -1.14871103e-02 9.63802664e+01] [ 6.69020004e-02 -2.18933532e-03 9.97757149e-01 3.15845718e+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:244.35, Y:96.40, Z:31.59 [[ 9.77922374e-01 -1.98295630e-01 -6.59293030e-02 2.44354501e+02] [ 1.97964977e-01 9.80140729e-01 -1.15766757e-02 9.63954570e+01] [ 6.69155993e-02 -1.73060278e-03 9.97757139e-01 3.15891608e+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:244.38, Y:96.41, Z:31.59 [[ 9.78854586e-01 -1.93645930e-01 -6.59162650e-02 2.44382207e+02] [ 1.93299678e-01 9.81070573e-01 -1.16518719e-02 9.64058137e+01] [ 6.69248454e-02 -1.33610457e-03 9.97757125e-01 3.15884763e+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:244.41, Y:96.42, Z:31.59 [[ 9.80522957e-01 -1.85014433e-01 -6.59119935e-02 2.44409396e+02] [ 1.84647018e-01 9.82735539e-01 -1.16764545e-02 9.64225552e+01] [ 6.69343710e-02 -7.21421432e-04 9.97757120e-01 3.15862915e+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:244.44, Y:96.43, Z:31.59 [[ 9.81588184e-01 -1.79259642e-01 -6.59592159e-02 2.44435599e+02] [ 1.78897495e-01 9.83801614e-01 -1.14048893e-02 9.64328917e+01] [ 6.69352194e-02 -6.05033937e-04 9.97757140e-01 3.15913349e+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:244.46, Y:96.45, Z:31.59 [[ 9.83674015e-01 -1.67464790e-01 -6.58860916e-02 2.44463668e+02] [ 1.67047983e-01 9.85877859e-01 -1.18244686e-02 9.64482910e+01] [ 6.69358211e-02 6.25283737e-04 9.97757087e-01 3.15918712e+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:244.49, Y:96.46, Z:31.59 [[ 9.84420816e-01 -1.62993619e-01 -6.59449555e-02 2.44488941e+02] [ 1.62589428e-01 9.86626949e-01 -1.14865504e-02 9.64579852e+01] [ 6.69353047e-02 5.85646769e-04 9.97757146e-01 3.15905502e+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:244.52, Y:96.47, Z:31.59 [[ 9.86048840e-01 -1.52879624e-01 -6.58445622e-02 2.44518121e+02] [ 1.52414390e-01 9.88243072e-01 -1.20617027e-02 9.64691798e+01] [ 6.69144209e-02 1.85776916e-03 9.97756989e-01 3.15942542e+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:244.54, Y:96.48, Z:31.60 [[ 9.86722237e-01 -1.48428158e-01 -6.59417030e-02 2.44543498e+02] [ 1.47990177e-01 9.88921909e-01 -1.15049950e-02 9.64764962e+01] [ 6.69188601e-02 1.59351014e-03 9.97757148e-01 3.15979429e+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:244.57, Y:96.49, Z:31.60 [[ 9.87069956e-01 -1.46133324e-01 -6.58631401e-02 2.44569252e+02] [ 1.45660249e-01 9.89262445e-01 -1.19543912e-02 9.64866036e+01] [ 6.69028659e-02 2.20617897e-03 9.97757054e-01 3.15977945e+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:244.60, Y:96.49, Z:31.60 [[ 9.87130308e-01 -1.45767482e-01 -6.57692677e-02 2.44597447e+02] [ 1.45257636e-01 9.89314972e-01 -1.24942473e-02 9.64926342e+01] [ 6.68877762e-02 2.77996181e-03 9.97756632e-01 3.15980783e+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:244.63, Y:96.50, Z:31.60 [[ 9.87126185e-01 -1.45787417e-01 -6.57869530e-02 2.44629586e+02] [ 1.45284370e-01 9.89312322e-01 -1.23927541e-02 9.64971770e+01] [ 6.68905509e-02 2.67539607e-03 9.97756732e-01 3.15972040e+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:244.66, Y:96.50, Z:31.59 [[ 9.86832698e-01 -1.47688804e-01 -6.59487871e-02 2.44657853e+02] [ 1.47252063e-01 9.89032587e-01 -1.14617669e-02 9.64983759e+01] [ 6.69182741e-02 1.59975143e-03 9.97757178e-01 3.15941677e+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:244.69, Y:96.50, Z:31.58 [[ 9.87797989e-01 -1.41088894e-01 -6.59473766e-02 2.44688329e+02] [ 1.40636916e-01 9.89994798e-01 -1.14698768e-02 9.64963518e+01] [ 6.69058320e-02 2.05528558e-03 9.97757178e-01 3.15808550e+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:244.71, Y:96.50, Z:31.60 [[ 9.85646068e-01 -1.55413333e-01 -6.59433371e-02 2.44712104e+02] [ 1.54991742e-01 9.87848910e-01 -1.14930541e-02 9.65035056e+01] [ 6.69282275e-02 1.10741084e-03 9.97757178e-01 3.15967639e+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:244.75, Y:96.50, Z:31.58 [[ 9.87634519e-01 -1.42277016e-01 -6.58430500e-02 2.44745751e+02] [ 1.41787895e-01 9.89823512e-01 -1.20668219e-02 9.64955303e+01] [ 6.68898304e-02 2.58186241e-03 9.97757027e-01 3.15772896e+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:244.77, Y:96.51, Z:31.60 [[ 9.84395494e-01 -1.63149280e-01 -6.59380349e-02 2.44770940e+02] [ 1.62742972e-01 9.86601205e-01 -1.15233669e-02 9.65056412e+01] [ 6.69345737e-02 6.12598687e-04 9.97757179e-01 3.16002931e+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:244.80, Y:96.51, Z:31.60 [[ 9.84274214e-01 -1.63896173e-01 -6.58962560e-02 2.44798911e+02] [ 1.63475548e-01 9.86477266e-01 -1.17621534e-02 9.65077603e+01] [ 6.69329304e-02 8.04757698e-04 9.97757152e-01 3.16045349e+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:244.83, Y:96.52, Z:31.59 [[ 9.80899423e-01 -1.83022312e-01 -6.58722606e-02 2.44828862e+02] [ 1.82635446e-01 9.83108694e-01 -1.18991304e-02 9.65179726e+01] [ 6.69373985e-02 -3.58759620e-04 9.97757113e-01 3.15865176e+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:244.86, Y:96.51, Z:31.61 [[ 9.83150498e-01 -1.70492974e-01 -6.59336391e-02 2.44856910e+02] [ 1.70101441e-01 9.85358882e-01 -1.15487351e-02 9.65125161e+01] [ 6.69372751e-02 1.38737699e-04 9.97757176e-01 3.16088384e+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:244.89, Y:96.51, Z:31.61 [[ 9.82822109e-01 -1.72382213e-01 -6.59171818e-02 2.44885386e+02] [ 1.71988630e-01 9.85030132e-01 -1.16425852e-02 9.65145673e+01] [ 6.69373849e-02 1.05584339e-04 9.97757173e-01 3.16144993e+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:244.91, Y:96.52, Z:31.62 [[ 9.82174578e-01 -1.76052900e-01 -6.58670955e-02 2.44914902e+02] [ 1.75648417e-01 9.84380696e-01 -1.19280594e-02 9.65168685e+01] [ 6.69382668e-02 1.45985611e-04 9.97757108e-01 3.16152353e+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:244.94, Y:96.52, Z:31.62 [[ 9.81855294e-01 -1.77810726e-01 -6.59054388e-02 2.44944991e+02] [ 1.77424850e-01 9.84064687e-01 -1.17096237e-02 9.65204250e+01] [ 6.69373116e-02 -1.96106562e-04 9.97757164e-01 3.16156574e+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:244.97, Y:96.52, Z:31.61 [[ 9.81852421e-01 -1.77811511e-01 -6.59461216e-02 2.44973846e+02] [ 1.77441186e-01 9.84064470e-01 -1.14780341e-02 9.65232859e+01] [ 6.69361617e-02 -4.31822520e-04 9.97757167e-01 3.16145576e+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:245.00, Y:96.53, Z:31.62 [[ 9.82090788e-01 -1.76492457e-01 -6.59401010e-02 2.45002561e+02] [ 1.76116861e-01 9.84301945e-01 -1.15122913e-02 9.65284133e+01] [ 6.69368022e-02 -3.07048368e-04 9.97757170e-01 3.16199190e+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:245.03, Y:96.53, Z:31.63 [[ 9.83134979e-01 -1.70569520e-01 -6.59670595e-02 2.45029294e+02] [ 1.70190882e-01 9.85345643e-01 -1.13590582e-02 9.65343805e+01] [ 6.69378638e-02 -5.95046506e-05 9.97757144e-01 3.16252882e+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:245.06, Y:96.54, Z:31.63 [[ 9.83814884e-01 -1.66617748e-01 -6.59302603e-02 2.45056514e+02] [ 1.66216244e-01 9.86021474e-01 -1.15677260e-02 9.65406863e+01] [ 6.69360410e-02 4.21820852e-04 9.97757179e-01 3.16300158e+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:245.08, Y:96.54, Z:31.61 [[ 9.86909591e-01 -1.47175687e-01 -6.59452483e-02 2.45075669e+02] [ 1.46736385e-01 9.89108980e-01 -1.14829874e-02 9.65378610e+01] [ 6.69170539e-02 1.65610311e-03 9.97757167e-01 3.16132366e+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:245.11, Y:96.55, Z:31.63 [[ 9.86096181e-01 -1.52762400e-01 -6.54062068e-02 2.45113213e+02] [ 1.52134721e-01 9.88253374e-01 -1.45015384e-02 9.65502660e+01] [ 6.68531944e-02 4.34935659e-03 9.97753343e-01 3.16335294e+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:245.14, Y:96.56, Z:31.64 [[ 9.86238782e-01 -1.51597738e-01 -6.59635598e-02 2.45141150e+02] [ 1.51176962e-01 9.88441513e-01 -1.13534530e-02 9.65550124e+01] [ 6.69222787e-02 1.22504506e-03 9.97757439e-01 3.16388767e+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:245.17, Y:96.56, Z:31.64 [[ 9.86645802e-01 -1.48920163e-01 -6.59761135e-02 2.45168753e+02] [ 1.48498144e-01 9.88848322e-01 -1.12826023e-02 9.65592613e+01] [ 6.69205761e-02 1.33460170e-03 9.97757413e-01 3.16438635e+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:245.20, Y:96.56, Z:31.64 [[ 9.86841094e-01 -1.47623717e-01 -6.59688763e-02 2.45197091e+02] [ 1.47196084e-01 9.89042514e-01 -1.13233278e-02 9.65630950e+01] [ 6.69176150e-02 1.46396490e-03 9.97757430e-01 3.16422508e+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:245.23, Y:96.57, Z:31.64 [[ 9.87046405e-01 -1.46249163e-01 -6.59588973e-02 2.45225543e+02] [ 1.45814724e-01 9.89246469e-01 -1.13793548e-02 9.65671971e+01] [ 6.69138274e-02 1.61417282e-03 9.97757453e-01 3.16403401e+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:245.25, Y:96.57, Z:31.64 [[ 9.87380756e-01 -1.43976115e-01 -6.59554445e-02 2.45254326e+02] [ 1.43535318e-01 9.89579548e-01 -1.13987232e-02 9.65699745e+01] [ 6.69093028e-02 1.78794425e-03 9.97757460e-01 3.16395320e+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:245.28, Y:96.57, Z:31.64 [[ 9.87955930e-01 -1.39977206e-01 -6.59504485e-02 2.45282922e+02] [ 1.39525646e-01 9.90152526e-01 -1.14266785e-02 9.65707516e+01] [ 6.69004777e-02 2.08727590e-03 9.97757470e-01 3.16397753e+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:245.31, Y:96.57, Z:31.64 [[ 9.88331927e-01 -1.37307490e-01 -6.59291632e-02 2.45310373e+02] [ 1.36842075e-01 9.90525591e-01 -1.15455967e-02 9.65736495e+01] [ 6.68898202e-02 2.38899836e-03 9.97757508e-01 3.16422810e+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:245.34, Y:96.58, Z:31.65 [[ 9.88694029e-01 -1.34698728e-01 -6.58814901e-02 2.45341550e+02] [ 1.34209830e-01 9.90882541e-01 -1.18115183e-02 9.65767424e+01] [ 6.68718148e-02 2.83603406e-03 9.97757544e-01 3.16459219e+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:245.37, Y:96.58, Z:31.65 [[ 9.88860074e-01 -1.33438326e-01 -6.59542866e-02 2.45370563e+02] [ 1.32973649e-01 9.91053945e-01 -1.14055846e-02 9.65796277e+01] [ 6.68861980e-02 2.50834510e-03 9.97757458e-01 3.16500461e+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:245.40, Y:96.58, Z:31.65 [[ 9.89099197e-01 -1.31650893e-01 -6.59607514e-02 2.45399949e+02] [ 1.31184647e-01 9.91292752e-01 -1.13696042e-02 9.65767342e+01] [ 6.68832333e-02 2.59262852e-03 9.97757441e-01 3.16496268e+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:245.43, Y:96.58, Z:31.65 [[ 9.89154322e-01 -1.31235710e-01 -6.59614782e-02 2.45426599e+02] [ 1.30768811e-01 9.91347740e-01 -1.13655727e-02 9.65772192e+01] [ 6.68823313e-02 2.61660132e-03 9.97757439e-01 3.16528260e+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:245.46, Y:96.58, Z:31.65 [[ 9.88896694e-01 -1.33211501e-01 -6.58636826e-02 2.45455217e+02] [ 1.32712993e-01 9.91082991e-01 -1.19066047e-02 9.65752984e+01] [ 6.68624722e-02 3.03343554e-03 9.97757590e-01 3.16499572e+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:245.49, Y:96.58, Z:31.65 [[ 9.88459443e-01 -1.36418808e-01 -6.58622719e-02 2.45487740e+02] [ 1.35926876e-01 9.90647229e-01 -1.19144027e-02 9.65778509e+01] [ 6.68716258e-02 2.82445093e-03 9.97757590e-01 3.16540758e+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:245.52, Y:96.57, Z:31.66 [[ 9.88313195e-01 -1.37424007e-01 -6.59671981e-02 2.45516944e+02] [ 1.36972903e-01 9.90509944e-01 -1.13346997e-02 9.65732727e+01] [ 6.68988255e-02 2.16651464e-03 9.97757412e-01 3.16564272e+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:245.54, Y:96.57, Z:31.65 [[ 9.88213357e-01 -1.38161196e-01 -6.59230193e-02 2.45544103e+02] [ 1.37695494e-01 9.90406933e-01 -1.15783581e-02 9.65673773e+01] [ 6.68902951e-02 2.36458547e-03 9.97757534e-01 3.16541516e+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:245.57, Y:96.57, Z:31.65 [[ 9.88072572e-01 -1.39198646e-01 -6.58508128e-02 2.45572421e+02] [ 1.38708809e-01 9.90260802e-01 -1.19754391e-02 9.65674857e+01] [ 6.68764436e-02 2.69851507e-03 9.97757616e-01 3.16536950e+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:245.60, Y:96.57, Z:31.66 [[ 9.87811273e-01 -1.41041638e-01 -6.58494117e-02 2.45602625e+02] [ 1.40555373e-01 9.90000299e-01 -1.19831382e-02 9.65692804e+01] [ 6.68810587e-02 2.58159044e-03 9.97757616e-01 3.16562898e+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:245.63, Y:96.57, Z:31.66 [[ 9.87593051e-01 -1.42537882e-01 -6.59008210e-02 2.45630300e+02] [ 1.42073736e-01 9.89786918e-01 -1.17008614e-02 9.65699387e+01] [ 6.68955865e-02 2.19291359e-03 9.97757572e-01 3.16586501e+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:245.66, Y:96.57, Z:31.65 [[ 9.86693554e-01 -1.48626834e-01 -6.59233994e-02 2.45659836e+02] [ 1.48184496e-01 9.88891970e-01 -1.15770024e-02 9.65696413e+01] [ 6.69117735e-02 1.65412793e-03 9.97757525e-01 3.16534240e+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:245.69, Y:96.57, Z:31.66 [[ 9.86754155e-01 -1.48234150e-01 -6.59004904e-02 2.45688119e+02] [ 1.47782595e-01 9.88950640e-01 -1.17020100e-02 9.65699902e+01] [ 6.69069696e-02 1.80806153e-03 9.97757580e-01 3.16648049e+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:245.72, Y:96.57, Z:31.67 [[ 9.85372516e-01 -1.57159620e-01 -6.58927738e-02 2.45719837e+02] [ 1.56725149e-01 9.87572429e-01 -1.17441330e-02 9.65688105e+01] [ 6.69195901e-02 1.24529108e-03 9.97757595e-01 3.16708761e+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:245.75, Y:96.57, Z:31.67 [[ 9.84633186e-01 -1.61714288e-01 -6.59240362e-02 2.45749450e+02] [ 1.61301410e-01 9.86837326e-01 -1.15735409e-02 9.65709236e+01] [ 6.69279065e-02 7.62052452e-04 9.97757523e-01 3.16705848e+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:245.77, Y:96.57, Z:31.67 [[ 9.83209632e-01 -1.70144850e-01 -6.59511146e-02 2.45774383e+02] [ 1.69760696e-01 9.85419062e-01 -1.14270653e-02 9.65735715e+01] [ 6.69337418e-02 3.92935674e-05 9.97757422e-01 3.16744561e+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:245.80, Y:96.58, Z:31.68 [[ 9.82166108e-01 -1.76123417e-01 -6.58048554e-02 2.45804327e+02] [ 1.75699855e-01 9.84367996e-01 -1.22151060e-02 9.65802859e+01] [ 6.69275599e-02 4.35359609e-04 9.97757742e-01 3.16792855e+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:245.83, Y:96.58, Z:31.68 [[ 9.81219491e-01 -1.81290394e-01 -6.58946331e-02 2.45833959e+02] [ 1.80910850e-01 9.83429522e-01 -1.17319736e-02 9.65839134e+01] [ 6.69296217e-02 -4.09412882e-04 9.97757615e-01 3.16782655e+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:245.86, Y:96.59, Z:31.68 [[ 9.80531443e-01 -1.84968960e-01 -6.59133836e-02 2.45862604e+02] [ 1.84604454e-01 9.82744068e-01 -1.16315645e-02 9.65897784e+01] [ 6.69274651e-02 -7.62789441e-04 9.97757552e-01 3.16793070e+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:245.89, Y:96.59, Z:31.68 [[ 9.79535459e-01 -1.90160971e-01 -6.59476298e-02 2.45889810e+02] [ 1.89820490e-01 9.81752059e-01 -1.14488391e-02 9.65937086e+01] [ 6.69213437e-02 -1.30366757e-03 9.97757403e-01 3.16845944e+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:245.92, Y:96.60, Z:31.69 [[ 9.79461165e-01 -1.90552658e-01 -6.59204943e-02 2.45917570e+02] [ 1.90203343e-01 9.81676263e-01 -1.15932598e-02 9.65992689e+01] [ 6.69217110e-02 -1.18315067e-03 9.97757528e-01 3.16864773e+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:245.94, Y:96.61, Z:31.68 [[ 9.78100861e-01 -1.97416649e-01 -6.59194431e-02 2.45942280e+02] [ 1.97082500e-01 9.80318293e-01 -1.15988529e-02 9.66077669e+01] [ 6.69118426e-02 -1.64672064e-03 9.97757533e-01 3.16848914e+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:245.97, Y:96.62, Z:31.69 [[ 9.77072764e-01 -2.02476657e-01 -6.58180614e-02 2.45970381e+02] [ 2.02117767e-01 9.79286024e-01 -1.21364077e-02 9.66171396e+01] [ 6.69120469e-02 -1.44484615e-03 9.97757832e-01 3.16862994e+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:246.00, Y:96.63, Z:31.68 [[ 9.75529924e-01 -2.09767805e-01 -6.58698366e-02 2.45996944e+02] [ 2.09443915e-01 9.77748702e-01 -1.18626834e-02 9.66259028e+01] [ 6.68925563e-02 -2.22363378e-03 9.97757707e-01 3.16843862e+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:246.02, Y:96.63, Z:31.69 [[ 9.74311942e-01 -2.15360016e-01 -6.58506160e-02 2.46024976e+02] [ 2.15041972e-01 9.76531513e-01 -1.19646841e-02 9.66335600e+01] [ 6.68819163e-02 -2.50331171e-03 9.97757758e-01 3.16889665e+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:246.05, Y:96.64, Z:31.69 [[ 9.72339511e-01 -2.24102289e-01 -6.58334275e-02 2.46052704e+02] [ 2.23798041e-01 9.74560977e-01 -1.20556906e-02 9.66425656e+01] [ 6.68603972e-02 -3.01116778e-03 9.97757796e-01 3.16933411e+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:246.08, Y:96.65, Z:31.69 [[ 9.71546212e-01 -2.27514544e-01 -6.58413967e-02 2.46080036e+02] [ 2.27220936e-01 9.73769129e-01 -1.20137127e-02 9.66513143e+01] [ 6.68476139e-02 -3.28866672e-03 9.97757777e-01 3.16918248e+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:246.11, Y:96.66, Z:31.69 [[ 9.70547438e-01 -2.31738075e-01 -6.58417500e-02 2.46108905e+02] [ 2.31454264e-01 9.72771627e-01 -1.20118525e-02 9.66619773e+01] [ 6.68325899e-02 -3.58128116e-03 9.97757776e-01 3.16901265e+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:246.13, Y:96.68, Z:31.69 [[ 9.69904771e-01 -2.34400980e-01 -6.58856310e-02 2.46131950e+02] [ 2.34138890e-01 9.72131772e-01 -1.17812254e-02 9.66769081e+01] [ 6.68110460e-02 -3.99972188e-03 9.97757629e-01 3.16943731e+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:246.16, Y:96.70, Z:31.70 [[ 9.69972637e-01 -2.34141200e-01 -6.58101918e-02 2.46158957e+02] [ 2.33851771e-01 9.72196013e-01 -1.21762556e-02 9.66953594e+01] [ 6.68313692e-02 -3.57919513e-03 9.97757865e-01 3.16989993e+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:246.19, Y:96.71, Z:31.70 [[ 9.70404810e-01 -2.32328013e-01 -6.58650113e-02 2.46186191e+02] [ 2.32053799e-01 9.72630280e-01 -1.18900423e-02 9.67065924e+01] [ 6.68246943e-02 -3.74607182e-03 9.97757700e-01 3.17014222e+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:246.21, Y:96.73, Z:31.70 [[ 9.70927674e-01 -2.30139534e-01 -6.58425982e-02 2.46212190e+02] [ 2.29852400e-01 9.73151432e-01 -1.20068320e-02 9.67250871e+01] [ 6.68380654e-02 -3.47631375e-03 9.97757780e-01 3.17038979e+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:246.24, Y:96.74, Z:31.71 [[ 9.71341262e-01 -2.28384175e-01 -6.58545501e-02 2.46236484e+02] [ 2.28097220e-01 9.73565088e-01 -1.19447827e-02 9.67372008e+01] [ 6.68416902e-02 -3.41877945e-03 9.97757736e-01 3.17081000e+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:246.26, Y:96.76, Z:31.71 [[ 9.70764026e-01 -2.30845177e-01 -6.57853282e-02 2.46261574e+02] [ 2.30539615e-01 9.72985159e-01 -1.23031435e-02 9.67576951e+01] [ 6.68482693e-02 -3.22267509e-03 9.97757948e-01 3.17104362e+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:246.29, Y:96.77, Z:31.71 [[ 9.70320783e-01 -2.32683758e-01 -6.58471431e-02 2.46286525e+02] [ 2.32404072e-01 9.72545504e-01 -1.19829160e-02 9.67698016e+01] [ 6.68275729e-02 -3.67587178e-03 9.97757768e-01 3.17129478e+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:246.31, Y:96.79, Z:31.71 [[ 9.68301663e-01 -2.40967100e-01 -6.57780119e-02 2.46313030e+02] [ 2.40682222e-01 9.70525519e-01 -1.23403557e-02 9.67894657e+01] [ 6.68128588e-02 -3.88241118e-03 9.97757971e-01 3.17141219e+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:246.34, Y:96.81, Z:31.71 [[ 9.66242120e-01 -2.49074080e-01 -6.58655346e-02 2.46337430e+02] [ 2.48838560e-01 9.68472022e-01 -1.18875560e-02 9.68062827e+01] [ 6.67498095e-02 -4.90362749e-03 9.97757695e-01 3.17142111e+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:246.36, Y:96.82, Z:31.72 [[ 9.65498068e-01 -2.51967160e-01 -6.57725751e-02 2.46363720e+02] [ 2.51705940e-01 9.67724771e-01 -1.23647799e-02 9.68182812e+01] [ 6.67652686e-02 -4.61717675e-03 9.97758027e-01 3.17156434e+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:246.39, Y:96.84, Z:31.72 [[ 9.64061438e-01 -2.57418156e-01 -6.57376320e-02 2.46389083e+02] [ 2.57157380e-01 9.66288123e-01 -1.25437048e-02 9.68396130e+01] [ 6.67504704e-02 -4.81201518e-03 9.97758097e-01 3.17184679e+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:246.42, Y:96.85, Z:31.73 [[ 9.63783696e-01 -2.58452311e-01 -6.57524942e-02 2.46415184e+02] [ 2.58199093e-01 9.66011278e-01 -1.24675236e-02 9.68536382e+01] [ 6.67399113e-02 -4.96123842e-03 9.97758072e-01 3.17281356e+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:246.44, Y:96.87, Z:31.73 [[ 9.64447211e-01 -2.55959975e-01 -6.57728477e-02 2.46443626e+02] [ 2.55708087e-01 9.66674986e-01 -1.23630664e-02 9.68667362e+01] [ 6.67454168e-02 -4.89512418e-03 9.97758030e-01 3.17302250e+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:246.47, Y:96.88, Z:31.70 [[ 9.70585783e-01 -2.31597416e-01 -6.57713797e-02 2.46471710e+02] [ 2.31289014e-01 9.72806436e-01 -1.23705504e-02 9.68758876e+01] [ 6.68478090e-02 -3.20551725e-03 9.97758034e-01 3.17001464e+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:246.49, Y:96.91, Z:31.73 [[ 9.70818193e-01 -2.30651319e-01 -6.56658681e-02 2.46492486e+02] [ 2.30304474e-01 9.73033015e-01 -1.29073886e-02 9.69091453e+01] [ 6.68721639e-02 -2.59241556e-03 9.97758184e-01 3.17340574e+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:246.52, Y:96.92, Z:31.74 [[ 9.72237064e-01 -2.24604055e-01 -6.56361943e-02 2.46520298e+02] [ 2.24233253e-01 9.74448013e-01 -1.30582657e-02 9.69244521e+01] [ 6.68919985e-02 -2.02208748e-03 9.97758173e-01 3.17355956e+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:246.54, Y:96.94, Z:31.74 [[ 9.74954278e-01 -2.12490473e-01 -6.56654708e-02 2.46543780e+02] [ 2.12102216e-01 9.77162217e-01 -1.29093501e-02 9.69433610e+01] [ 6.69089309e-02 -1.34176577e-03 9.97758184e-01 3.17369966e+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:246.57, Y:96.96, Z:31.74 [[ 9.75715317e-01 -2.08969096e-01 -6.56623005e-02 2.46568378e+02] [ 2.08571787e-01 9.77921644e-01 -1.29254555e-02 9.69554846e+01] [ 6.69136056e-02 -1.08373840e-03 9.97758185e-01 3.17380762e+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:246.59, Y:96.97, Z:31.74 [[ 9.76618838e-01 -2.04705573e-01 -6.56602972e-02 2.46594935e+02] [ 2.04297947e-01 9.78823283e-01 -1.29356239e-02 9.69737009e+01] [ 6.69178220e-02 -7.81089968e-04 9.97758185e-01 3.17385303e+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:246.62, Y:96.98, Z:31.74 [[ 9.77430350e-01 -2.00785840e-01 -6.56883419e-02 2.46619557e+02] [ 2.00378938e-01 9.79634939e-01 -1.27932698e-02 9.69821077e+01] [ 6.69193022e-02 -6.58030013e-04 9.97758174e-01 3.17382232e+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:246.65, Y:97.00, Z:31.74 [[ 9.77908301e-01 -1.98479907e-01 -6.55826352e-02 2.46647769e+02] [ 1.98031823e-01 9.80104956e-01 -1.33293846e-02 9.69955319e+01] [ 6.69234808e-02 4.74670434e-05 9.97758110e-01 3.17364975e+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:246.67, Y:97.01, Z:31.74 [[ 9.77700524e-01 -1.99488499e-01 -6.56203044e-02 2.46673957e+02] [ 1.99055523e-01 9.79900144e-01 -1.31380038e-02 9.70082925e+01] [ 6.69222264e-02 -2.17050749e-04 9.97758171e-01 3.17405646e+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:246.70, Y:97.02, Z:31.74 [[ 9.77461558e-01 -2.00660991e-01 -6.56054094e-02 2.46699544e+02] [ 2.00225582e-01 9.79660716e-01 -1.32135464e-02 9.70181127e+01] [ 6.69224857e-02 -2.20147613e-04 9.97758153e-01 3.17430591e+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:246.73, Y:97.03, Z:31.74 [[ 9.76674432e-01 -2.04458718e-01 -6.56024831e-02 2.46727299e+02] [ 2.04030866e-01 9.78875077e-01 -1.32283624e-02 9.70290521e+01] [ 6.69212897e-02 -4.65128131e-04 9.97758149e-01 3.17421141e+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:246.76, Y:97.04, Z:31.74 [[ 9.75989289e-01 -2.07698402e-01 -6.56222716e-02 2.46755778e+02] [ 2.07284591e-01 9.78192594e-01 -1.31281399e-02 9.70358092e+01] [ 6.69179137e-02 -7.89561763e-04 9.97758172e-01 3.17414602e+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:246.78, Y:97.04, Z:31.74 [[ 9.74710769e-01 -2.13609350e-01 -6.56503055e-02 2.46782601e+02] [ 2.13218455e-01 9.76918241e-01 -1.29861791e-02 9.70423636e+01] [ 6.69089502e-02 -1.34008810e-03 9.97758185e-01 3.17438130e+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:246.81, Y:97.05, Z:31.75 [[ 9.74168280e-01 -2.16069143e-01 -6.56527797e-02 2.46809242e+02] [ 2.15684665e-01 9.76376879e-01 -1.29736584e-02 9.70483639e+01] [ 6.69050634e-02 -1.52177134e-03 9.97758186e-01 3.17466222e+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:246.84, Y:97.04, Z:31.73 [[ 9.77298253e-01 -2.01440498e-01 -6.56494589e-02 2.46837344e+02] [ 2.01021825e-01 9.79500625e-01 -1.29904405e-02 9.70400011e+01] [ 6.69204869e-02 -5.01439227e-04 9.97758186e-01 3.17300248e+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:246.87, Y:97.05, Z:31.73 [[ 9.76812517e-01 -2.03840275e-01 -6.54709807e-02 2.46867667e+02] [ 2.03366506e-01 9.79004125e-01 -1.38919719e-02 9.70528739e+01] [ 6.69281036e-02 2.55247447e-04 9.97757768e-01 3.17294500e+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:246.89, Y:97.07, Z:31.75 [[ 9.74072760e-01 -2.16499629e-01 -6.56518762e-02 2.46889582e+02] [ 2.16115904e-01 9.76281473e-01 -1.29769509e-02 9.70681442e+01] [ 6.69042155e-02 -1.54792018e-03 9.97758202e-01 3.17525159e+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:246.92, Y:97.08, Z:31.76 [[ 9.73831501e-01 -2.17610081e-01 -6.55595915e-02 2.46918037e+02] [ 2.17197567e-01 9.76035108e-01 -1.34419156e-02 9.70756499e+01] [ 6.69135593e-02 -1.14922289e-03 9.97758114e-01 3.17560048e+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:246.94, Y:97.08, Z:31.75 [[ 9.75211576e-01 -2.11314258e-01 -6.56404312e-02 2.46944675e+02] [ 2.10914891e-01 9.77417516e-01 -1.30348557e-02 9.70820657e+01] [ 6.69125581e-02 -1.13280221e-03 9.97758200e-01 3.17549551e+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:246.97, Y:97.09, Z:31.75 [[ 9.75828702e-01 -2.08458981e-01 -6.55987584e-02 2.46973336e+02] [ 2.08039071e-01 9.78030843e-01 -1.32444041e-02 9.70887395e+01] [ 6.69185240e-02 -7.22835070e-04 9.97758181e-01 3.17527913e+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:247.00, Y:97.09, Z:31.75 [[ 9.77517063e-01 -2.00380551e-01 -6.56355511e-02 2.46999292e+02] [ 1.99954853e-01 9.79718075e-01 -1.30594945e-02 9.70949668e+01] [ 6.69212045e-02 -3.58268245e-04 9.97758199e-01 3.17535888e+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:247.02, Y:97.10, Z:31.76 [[ 9.78780109e-01 -1.94135123e-01 -6.55824117e-02 2.47024057e+02] [ 1.93677552e-01 9.80974739e-01 -1.33254658e-02 9.70986701e+01] [ 6.69216301e-02 3.40859916e-04 9.97758177e-01 3.17561193e+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:247.05, Y:97.11, Z:31.76 [[ 9.79293725e-01 -1.91566976e-01 -6.54667366e-02 2.47054520e+02] [ 1.91064767e-01 9.81478915e-01 -1.39066123e-02 9.71078330e+01] [ 6.69182693e-02 1.11027131e-03 9.97757843e-01 3.17649336e+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:247.08, Y:97.11, Z:31.77 [[ 9.80773651e-01 -1.83779437e-01 -6.56366020e-02 2.47082165e+02] [ 1.83316950e-01 9.82967205e-01 -1.30525504e-02 9.71111853e+01] [ 6.69174176e-02 7.69295803e-04 9.97758221e-01 3.17681501e+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:247.11, Y:97.12, Z:31.77 [[ 9.81252778e-01 -1.81205699e-01 -6.56313960e-02 2.47109252e+02] [ 1.80735711e-01 9.83444737e-01 -1.30786750e-02 9.71165023e+01] [ 6.69147815e-02 9.71549113e-04 9.97758221e-01 3.17712028e+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:247.14, Y:97.12, Z:31.77 [[ 9.82138377e-01 -1.76344454e-01 -6.56265310e-02 2.47136973e+02] [ 1.75861991e-01 9.84327624e-01 -1.31030417e-02 9.71193044e+01] [ 6.69086560e-02 1.32778772e-03 9.97758222e-01 3.17732587e+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:247.16, Y:97.12, Z:31.77 [[ 9.82985817e-01 -1.71559609e-01 -6.56215163e-02 2.47161841e+02] [ 1.71064818e-01 9.85172310e-01 -1.31281079e-02 9.71205800e+01] [ 6.69007539e-02 1.67921114e-03 9.97758222e-01 3.17747492e+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:247.19, Y:97.12, Z:31.78 [[ 9.83571838e-01 -1.68229451e-01 -6.54621343e-02 2.47190110e+02] [ 1.67674438e-01 9.85744121e-01 -1.39215905e-02 9.71248820e+01] [ 6.68709355e-02 2.71655776e-03 9.97757936e-01 3.17794166e+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:247.22, Y:97.13, Z:31.78 [[ 9.83550293e-01 -1.68348444e-01 -6.54799418e-02 2.47217909e+02] [ 1.67799579e-01 9.85724073e-01 -1.38330794e-02 9.71304133e+01] [ 6.68739323e-02 2.61802260e-03 9.97757998e-01 3.17801541e+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:247.25, Y:97.13, Z:31.78 [[ 9.83760931e-01 -1.67106880e-01 -6.54959598e-02 2.47246341e+02] [ 1.66560561e-01 9.85935302e-01 -1.37535167e-02 9.71299008e+01] [ 6.68730862e-02 2.62112856e-03 9.97758047e-01 3.17803135e+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:247.28, Y:97.13, Z:31.78 [[ 9.82096336e-01 -1.76645474e-01 -6.54458797e-02 2.47278608e+02] [ 1.76103735e-01 9.84272026e-01 -1.40018896e-02 9.71270016e+01] [ 6.68899191e-02 2.22594066e-03 9.97757878e-01 3.17767244e+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:247.31, Y:97.12, Z:31.77 [[ 9.81754446e-01 -1.78482619e-01 -6.55908791e-02 2.47306922e+02] [ 1.77992951e-01 9.83942118e-01 -1.32822582e-02 9.71249132e+01] [ 6.69082807e-02 1.36520188e-03 9.97758196e-01 3.17737048e+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:247.34, Y:97.12, Z:31.78 [[ 9.79413713e-01 -1.90941676e-01 -6.54985206e-02 2.47335894e+02] [ 1.90449119e-01 9.81600890e-01 -1.37413870e-02 9.71224793e+01] [ 6.69172095e-02 9.84367336e-04 9.97758046e-01 3.17782707e+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:247.36, Y:97.12, Z:31.78 [[ 9.78044672e-01 -1.97847787e-01 -6.54589402e-02 2.47364875e+02] [ 1.97357536e-01 9.80232495e-01 -1.39376456e-02 9.71242818e+01] [ 6.69225126e-02 7.12824910e-04 9.97757921e-01 3.17786977e+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:247.40, Y:97.13, Z:31.76 [[ 9.73852671e-01 -2.17521737e-01 -6.55383053e-02 2.47395700e+02] [ 2.17102163e-01 9.76054924e-01 -1.35438553e-02 9.71257993e+01] [ 6.69150685e-02 -1.03878821e-03 9.97758134e-01 3.17632434e+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:247.42, Y:97.12, Z:31.78 [[ 9.75048147e-01 -2.12078634e-01 -6.56030733e-02 2.47421458e+02] [ 2.11668370e-01 9.77252100e-01 -1.32225295e-02 9.71183016e+01] [ 6.69149571e-02 -9.93492712e-04 9.97758188e-01 3.17828620e+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:247.45, Y:97.12, Z:31.79 [[ 9.73227608e-01 -2.20323574e-01 -6.54640838e-02 2.47451006e+02] [ 2.19885557e-01 9.75426467e-01 -1.39122174e-02 9.71157414e+01] [ 6.69205894e-02 -8.54852403e-04 9.97757939e-01 3.17872126e+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:247.48, Y:97.12, Z:31.79 [[ 9.72530831e-01 -2.23380686e-01 -6.54587841e-02 2.47477638e+02] [ 2.22947813e-01 9.74730728e-01 -1.39384810e-02 9.71178975e+01] [ 6.69182757e-02 -1.03829030e-03 9.97757920e-01 3.17885545e+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:247.51, Y:97.12, Z:31.79 [[ 9.72155328e-01 -2.25013732e-01 -6.54433999e-02 2.47505536e+02] [ 2.24579436e-01 9.74355002e-01 -1.40145521e-02 9.71206459e+01] [ 6.69185707e-02 -1.07292034e-03 9.97757863e-01 3.17929269e+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:247.53, Y:97.13, Z:31.80 [[ 9.72025940e-01 -2.25571507e-01 -6.54451522e-02 2.47531906e+02] [ 2.25139056e-01 9.74225970e-01 -1.40058893e-02 9.71276750e+01] [ 6.69176965e-02 -1.12017211e-03 9.97757870e-01 3.17958325e+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:247.56, Y:97.13, Z:31.80 [[ 9.71965291e-01 -2.25841184e-01 -6.54158401e-02 2.47560581e+02] [ 2.25399586e-01 9.74163630e-01 -1.41508962e-02 9.71334430e+01] [ 6.69215874e-02 -9.90523317e-04 9.97757746e-01 3.17983709e+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:247.59, Y:97.15, Z:31.78 [[ 9.69529655e-01 -2.36073008e-01 -6.54353410e-02 2.47591714e+02] [ 2.35661102e-01 9.71733665e-01 -1.40545110e-02 9.71456269e+01] [ 6.69036144e-02 -1.79429940e-03 9.97757830e-01 3.17793047e+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:247.62, Y:97.15, Z:31.78 [[ 9.69441598e-01 -2.36389500e-01 -6.55971941e-02 2.47619527e+02] [ 2.36032370e-01 9.71654807e-01 -1.32535472e-02 9.71513168e+01] [ 6.68708283e-02 -2.63452127e-03 9.97758163e-01 3.17811313e+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:247.65, Y:97.15, Z:31.80 [[ 9.71662563e-01 -2.27089273e-01 -6.55921151e-02 2.47645108e+02] [ 2.26709261e-01 9.73871957e-01 -1.32786356e-02 9.71493421e+01] [ 6.68937572e-02 -1.96798687e-03 9.97758163e-01 3.18029651e+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:247.67, Y:97.16, Z:31.81 [[ 9.71623501e-01 -2.27295274e-01 -6.54570921e-02 2.47672473e+02] [ 2.26870762e-01 9.73825019e-01 -1.39459263e-02 9.71578121e+01] [ 6.69135972e-02 -1.30011063e-03 9.97757927e-01 3.18068040e+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:247.70, Y:97.17, Z:31.81 [[ 9.71617360e-01 -2.27319703e-01 -6.54634120e-02 2.47698652e+02] [ 2.26897348e-01 9.73819272e-01 -1.39147283e-02 9.71659694e+01] [ 6.69126241e-02 -1.33368297e-03 9.97757948e-01 3.18112836e+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:247.73, Y:97.18, Z:31.81 [[ 9.71853044e-01 -2.26314651e-01 -6.54472211e-02 2.47726157e+02] [ 2.25884652e-01 9.74053530e-01 -1.39944565e-02 9.71765026e+01] [ 6.69162472e-02 -1.18296762e-03 9.97757895e-01 3.18123014e+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:247.75, Y:97.19, Z:31.82 [[ 9.71715578e-01 -2.26898068e-01 -6.54683382e-02 2.47753204e+02] [ 2.26476369e-01 9.73917604e-01 -1.38907851e-02 9.71853267e+01] [ 6.69125594e-02 -1.32913930e-03 9.97757958e-01 3.18174397e+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:247.78, Y:97.19, Z:31.81 [[ 9.71491045e-01 -2.27864333e-01 -6.54445960e-02 2.47780221e+02] [ 2.27436980e-01 9.73692054e-01 -1.40072794e-02 9.71929730e+01] [ 6.69146425e-02 -1.27657480e-03 9.97757887e-01 3.18142877e+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:247.81, Y:97.20, Z:31.81 [[ 9.70445050e-01 -2.32283930e-01 -6.54261458e-02 2.47810276e+02] [ 2.31860473e-01 9.72646884e-01 -1.40982277e-02 9.72010584e+01] [ 6.69113286e-02 -1.48818179e-03 9.97757816e-01 3.18143516e+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:247.83, Y:97.21, Z:31.82 [[ 9.69948314e-01 -2.34303764e-01 -6.55897407e-02 2.47833595e+02] [ 2.33939345e-01 9.72160343e-01 -1.32910187e-02 9.72092969e+01] [ 6.68778805e-02 -2.45241985e-03 9.97758154e-01 3.18168777e+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:247.86, Y:97.22, Z:31.82 [[ 9.69387237e-01 -2.36664092e-01 -6.54101859e-02 2.47860250e+02] [ 2.36245447e-01 9.71590024e-01 -1.41744052e-02 9.72174477e+01] [ 6.69064568e-02 -1.71237106e-03 9.97757783e-01 3.18173312e+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:247.89, Y:97.23, Z:31.82 [[ 9.68203335e-01 -2.41466093e-01 -6.53943988e-02 2.47887338e+02] [ 2.41053119e-01 9.70407269e-01 -1.42522617e-02 9.72271439e+01] [ 6.69006378e-02 -1.96443648e-03 9.97757709e-01 3.18202837e+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:247.92, Y:97.23, Z:31.80 [[ 9.68899820e-01 -2.38644478e-01 -6.54366315e-02 2.47917586e+02] [ 2.38239092e-01 9.71104982e-01 -1.40445485e-02 9.72304125e+01] [ 6.68974928e-02 -1.98180315e-03 9.97757885e-01 3.18017440e+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:247.94, Y:97.24, Z:31.82 [[ 9.66551112e-01 -2.47962979e-01 -6.55233499e-02 2.47943042e+02] [ 2.47607743e-01 9.68764668e-01 -1.36170384e-02 9.72438032e+01] [ 6.68532277e-02 -3.06252517e-03 9.97758120e-01 3.18229163e+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:247.97, Y:97.25, Z:31.83 [[ 9.66066003e-01 -2.49850580e-01 -6.55069838e-02 2.47969348e+02] [ 2.49494207e-01 9.68279408e-01 -1.36977788e-02 9.72529006e+01] [ 6.68514615e-02 -3.11065454e-03 9.97758090e-01 3.18262187e+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:247.99, Y:97.27, Z:31.83 [[ 9.65770171e-01 -2.50994558e-01 -6.54958646e-02 2.47994761e+02] [ 2.50637099e-01 9.67983425e-01 -1.37525987e-02 9.72675093e+01] [ 6.68507388e-02 -3.13384388e-03 9.97758066e-01 3.18291239e+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:248.02, Y:97.28, Z:31.83 [[ 9.66439540e-01 -2.48406860e-01 -6.54877655e-02 2.48021130e+02] [ 2.48040776e-01 9.68651403e-01 -1.37924942e-02 9.72811433e+01] [ 6.68609661e-02 -2.91402445e-03 9.97758047e-01 3.18325895e+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:248.05, Y:97.29, Z:31.83 [[ 9.66491607e-01 -2.48198602e-01 -6.55089837e-02 2.48045937e+02] [ 2.47839101e-01 9.68704504e-01 -1.36880894e-02 9.72916722e+01] [ 6.68562122e-02 -3.00626412e-03 9.97758092e-01 3.18338808e+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:248.07, Y:97.30, Z:31.83 [[ 9.66950112e-01 -2.46413782e-01 -6.54807570e-02 2.48072675e+02] [ 2.46040821e-01 9.69160840e-01 -1.38267910e-02 9.73044411e+01] [ 6.68684974e-02 -2.74112216e-03 9.97758032e-01 3.18325770e+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:248.10, Y:97.31, Z:31.83 [[ 9.67082025e-01 -2.45885795e-01 -6.55174155e-02 2.48099410e+02] [ 2.45523805e-01 9.69294502e-01 -1.36466111e-02 9.73133690e+01] [ 6.68611784e-02 -2.88869289e-03 9.97758106e-01 3.18333773e+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:248.13, Y:97.33, Z:31.83 [[ 9.67143825e-01 -2.45652038e-01 -6.54820373e-02 2.48126774e+02] [ 2.45277782e-01 9.69354328e-01 -1.38201858e-02 9.73301099e+01] [ 6.68702531e-02 -2.69518148e-03 9.97758039e-01 3.18329988e+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:248.15, Y:97.34, Z:31.84 [[ 9.68209729e-01 -2.41391195e-01 -6.55760051e-02 2.48152596e+02] [ 2.41038371e-01 9.70423641e-01 -1.33589569e-02 9.73440909e+01] [ 6.68612402e-02 -2.87206139e-03 9.97758150e-01 3.18353089e+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:248.18, Y:97.35, Z:31.84 [[ 9.69677293e-01 -2.35428075e-01 -6.55711055e-02 2.48179238e+02] [ 2.35060011e-01 9.71888722e-01 -1.33829633e-02 9.73520483e+01] [ 6.68785432e-02 -2.43598912e-03 9.97758150e-01 3.18425630e+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:248.21, Y:97.37, Z:31.84 [[ 9.71002203e-01 -2.29932583e-01 -6.54654809e-02 2.48208436e+02] [ 2.29517157e-01 9.73205359e-01 -1.38997927e-02 9.73690114e+01] [ 6.69073720e-02 -1.52872172e-03 9.97758020e-01 3.18408157e+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:248.23, Y:97.38, Z:31.84 [[ 9.71914252e-01 -2.26016218e-01 -6.55694737e-02 2.48234813e+02] [ 2.25626216e-01 9.74121913e-01 -1.33906191e-02 9.73784906e+01] [ 6.68991583e-02 -1.77965866e-03 9.97758155e-01 3.18403961e+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:248.26, Y:97.39, Z:31.84 [[ 9.73769953e-01 -2.17882807e-01 -6.55679885e-02 2.48262536e+02] [ 2.17473872e-01 9.75974186e-01 -1.33978877e-02 9.73908626e+01] [ 6.69118335e-02 -1.21286385e-03 9.97758155e-01 3.18375826e+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:248.29, Y:97.40, Z:31.84 [[ 9.74839574e-01 -2.13046295e-01 -6.55673774e-02 2.48293291e+02] [ 2.12626223e-01 9.77041711e-01 -1.34008775e-02 9.73997006e+01] [ 6.69170699e-02 -8.77638140e-04 9.97758155e-01 3.18352569e+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:248.32, Y:97.41, Z:31.84 [[ 9.77418513e-01 -2.00891933e-01 -6.55399189e-02 2.48318552e+02] [ 2.00435471e-01 9.79613405e-01 -1.35351076e-02 9.74106763e+01] [ 6.69228770e-02 9.29401925e-05 9.97758147e-01 3.18391122e+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:248.35, Y:97.42, Z:31.84 [[ 9.78421284e-01 -1.95985106e-01 -6.54341550e-02 2.48345230e+02] [ 1.95483181e-01 9.80606407e-01 -1.40499458e-02 9.74185649e+01] [ 6.69187318e-02 9.55489262e-04 9.97757972e-01 3.18402539e+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:248.38, Y:97.43, Z:31.84 [[ 9.79639361e-01 -1.89827278e-01 -6.53630400e-02 2.48375500e+02] [ 1.89288563e-01 9.81815977e-01 -1.43954018e-02 9.74297257e+01] [ 6.69071169e-02 1.72982628e-03 9.97757709e-01 3.18401142e+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:248.40, Y:97.43, Z:31.84 [[ 9.80722301e-01 -1.84082883e-01 -6.55535010e-02 2.48402452e+02] [ 1.83593256e-01 9.82910024e-01 -1.34685478e-02 9.74337504e+01] [ 6.69125223e-02 1.17372453e-03 9.97758155e-01 3.18427798e+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:248.43, Y:97.44, Z:31.84 [[ 9.81051535e-01 -1.82348179e-01 -6.54753913e-02 2.48434262e+02] [ 1.81829264e-01 9.83232584e-01 -1.38493574e-02 9.74386602e+01] [ 6.69029433e-02 1.68159110e-03 9.97758071e-01 3.18444793e+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:248.46, Y:97.44, Z:31.85 [[ 9.81697766e-01 -1.78806003e-01 -6.55584509e-02 2.48460653e+02] [ 1.78306231e-01 9.83883193e-01 -1.34443641e-02 9.74404665e+01] [ 6.69057910e-02 1.50882190e-03 9.97758156e-01 3.18465964e+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:248.49, Y:97.44, Z:31.85 [[ 9.81370433e-01 -1.80660149e-01 -6.53757193e-02 2.48489983e+02] [ 1.80105295e-01 9.83542913e-01 -1.43325037e-02 9.74441112e+01] [ 6.68891377e-02 2.29098212e-03 9.97757784e-01 3.18522122e+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:248.52, Y:97.45, Z:31.85 [[ 9.81314296e-01 -1.80918825e-01 -6.55029065e-02 2.48520324e+02] [ 1.80405802e-01 9.83496664e-01 -1.37134226e-02 9.74469892e+01] [ 6.69029063e-02 1.64007331e-03 9.97758143e-01 3.18518189e+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:248.55, Y:97.45, Z:31.86 [[ 9.82182547e-01 -1.76122075e-01 -6.55626386e-02 2.48545575e+02] [ 1.75617766e-01 9.84366917e-01 -1.34228876e-02 9.74466624e+01] [ 6.69017593e-02 1.66976177e-03 9.97758170e-01 3.18592526e+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:248.57, Y:97.45, Z:31.86 [[ 9.82456558e-01 -1.74654960e-01 -6.53816285e-02 2.48573141e+02] [ 1.74089014e-01 9.84626088e-01 -1.42996849e-02 9.74494520e+01] [ 6.68739681e-02 2.66659598e-03 9.97757867e-01 3.18597201e+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:248.60, Y:97.45, Z:31.85 [[ 9.82962093e-01 -1.71785634e-01 -6.53851632e-02 2.48603404e+02] [ 1.71214493e-01 9.85130248e-01 -1.42825674e-02 9.74492036e+01] [ 6.68664419e-02 2.84433474e-03 9.97757881e-01 3.18509314e+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:248.63, Y:97.45, Z:31.86 [[ 9.83407084e-01 -1.69211409e-01 -6.54064631e-02 2.48631491e+02] [ 1.68641471e-01 9.85575472e-01 -1.41789909e-02 9.74486970e+01] [ 6.68622527e-02 2.91347797e-03 9.97757962e-01 3.18619432e+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:248.66, Y:97.44, Z:31.86 [[ 9.83488256e-01 -1.68749417e-01 -6.53795387e-02 2.48663299e+02] [ 1.68169775e-01 9.85654177e-01 -1.43098116e-02 9.74438901e+01] [ 6.68563877e-02 3.07866936e-03 9.97757859e-01 3.18584209e+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:248.69, Y:97.44, Z:31.86 [[ 9.83184086e-01 -1.70472270e-01 -6.54847963e-02 2.48692771e+02] [ 1.69930445e-01 9.85359458e-01 -1.37979309e-02 9.74447125e+01] [ 6.68782280e-02 2.43804555e-03 9.97758166e-01 3.18600942e+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:248.72, Y:97.44, Z:31.87 [[ 9.82899576e-01 -1.72080000e-01 -6.55507195e-02 2.48720792e+02] [ 1.71563083e-01 9.85080946e-01 -1.34773124e-02 9.74375069e+01] [ 6.68919407e-02 2.00076115e-03 9.97758220e-01 3.18675101e+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:248.75, Y:97.42, Z:31.88 [[ 9.82689738e-01 -1.73301547e-01 -6.54786439e-02 2.48752759e+02] [ 1.72764005e-01 9.84866181e-01 -1.38276801e-02 9.74246915e+01] [ 6.68840602e-02 2.27596655e-03 9.97758158e-01 3.18758960e+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:248.78, Y:97.42, Z:31.88 [[ 9.82303205e-01 -1.75475749e-01 -6.54879736e-02 2.48782358e+02] [ 1.74946046e-01 9.84481553e-01 -1.37823211e-02 9.74227753e+01] [ 6.68901651e-02 2.08155614e-03 9.97758174e-01 3.18785228e+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:248.81, Y:97.42, Z:31.88 [[ 9.81185678e-01 -1.81627049e-01 -6.54696954e-02 2.48810652e+02] [ 1.81105086e-01 9.83365924e-01 -1.38710663e-02 9.74168820e+01] [ 6.69000284e-02 1.75319675e-03 9.97758143e-01 3.18819233e+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:248.84, Y:97.42, Z:31.89 [[ 9.80970879e-01 -1.82788537e-01 -6.54559839e-02 2.48840830e+02] [ 1.82264720e-01 9.83150709e-01 -1.39375711e-02 9.74158721e+01] [ 6.69007252e-02 1.74203484e-03 9.97758116e-01 3.18867689e+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:248.87, Y:97.41, Z:31.88 [[ 9.80173024e-01 -1.87003215e-01 -6.55029832e-02 2.48872289e+02] [ 1.86503988e-01 9.82358542e-01 -1.37097292e-02 9.74098809e+01] [ 6.69111785e-02 1.22133912e-03 9.97758188e-01 3.18838056e+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:248.90, Y:97.42, Z:31.87 [[ 9.78292737e-01 -1.96580151e-01 -6.55710625e-02 2.48902951e+02] [ 1.96124443e-01 9.80487732e-01 -1.33794986e-02 9.74164834e+01] [ 6.69217662e-02 2.28978117e-04 9.97758200e-01 3.18688406e+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:248.94, Y:97.41, Z:31.88 [[ 9.78076130e-01 -1.97632220e-01 -6.56398461e-02 2.48935562e+02] [ 1.97201239e-01 9.80276222e-01 -1.30460543e-02 9.74093061e+01] [ 6.69235010e-02 -1.84224653e-04 9.97758092e-01 3.18830215e+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:248.96, Y:97.41, Z:31.89 [[ 9.77439226e-01 -2.00718420e-01 -6.57622627e-02 2.48959159e+02] [ 2.00334243e-01 9.79648463e-01 -1.24531114e-02 9.74068602e+01] [ 6.69234684e-02 -1.00227357e-03 9.97757608e-01 3.18864734e+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:248.99, Y:97.41, Z:31.89 [[ 9.76580079e-01 -2.04954844e-01 -6.54588547e-02 2.48988397e+02] [ 2.04481937e-01 9.78771408e-01 -1.39164520e-02 9.74119194e+01] [ 6.69214997e-02 2.05376337e-04 9.97758223e-01 3.18897363e+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:249.02, Y:97.41, Z:31.89 [[ 9.74613128e-01 -2.14100952e-01 -6.54983417e-02 2.49016315e+02] [ 2.13661397e-01 9.76811344e-01 -1.37260972e-02 9.74148973e+01] [ 6.69182937e-02 -6.16832617e-04 9.97758268e-01 3.18902131e+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:249.04, Y:97.42, Z:31.89 [[ 9.73493948e-01 -2.19144632e-01 -6.54611641e-02 2.49043535e+02] [ 2.18704412e-01 9.75692073e-01 -1.39053216e-02 9.74191611e+01] [ 6.69172155e-02 -7.79898997e-04 9.97758226e-01 3.18908534e+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:249.07, Y:97.42, Z:31.89 [[ 9.71990675e-01 -2.25725591e-01 -6.54376460e-02 2.49071540e+02] [ 2.25292630e-01 9.74190285e-01 -1.40185737e-02 9.74209658e+01] [ 6.69130698e-02 -1.11669646e-03 9.97758184e-01 3.18927551e+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:249.10, Y:97.43, Z:31.90 [[ 9.71344004e-01 -2.28486482e-01 -6.54580332e-02 2.49099224e+02] [ 2.28066377e-01 9.73546069e-01 -1.39204942e-02 9.74261929e+01] [ 6.69070556e-02 -1.40718791e-03 9.97758220e-01 3.18956105e+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:249.12, Y:97.43, Z:31.90 [[ 9.70224155e-01 -2.33207236e-01 -6.54176992e-02 2.49124911e+02] [ 2.32784786e-01 9.72425849e-01 -1.41142529e-02 9.74324369e+01] [ 6.69054075e-02 -1.53425601e-03 9.97758143e-01 3.19003031e+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:249.16, Y:97.45, Z:31.88 [[ 9.67055174e-01 -2.46026272e-01 -6.53862644e-02 2.49156621e+02] [ 2.45622803e-01 9.69260513e-01 -1.42651959e-02 9.74467609e+01] [ 6.68859372e-02 -2.26512610e-03 9.97758057e-01 3.18836506e+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:249.18, Y:97.45, Z:31.90 [[ 9.69419961e-01 -2.36500045e-01 -6.55184590e-02 2.49180267e+02] [ 2.36117755e-01 9.71628856e-01 -1.36298058e-02 9.74494434e+01] [ 6.68830751e-02 -2.25706561e-03 9.97758267e-01 3.19010172e+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:249.21, Y:97.46, Z:31.90 [[ 9.68390365e-01 -2.40734468e-01 -6.53224123e-02 2.49207978e+02] [ 2.40298436e-01 9.70589715e-01 -1.45693991e-02 9.74588337e+01] [ 6.69086181e-02 -1.58800785e-03 9.97757844e-01 3.18998705e+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:249.23, Y:97.47, Z:31.90 [[ 9.67960857e-01 -2.42452023e-01 -6.53360243e-02 2.49231907e+02] [ 2.42024289e-01 9.70161776e-01 -1.45042023e-02 9.74662565e+01] [ 6.69030866e-02 -1.77340474e-03 9.97757903e-01 3.19018227e+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:249.26, Y:97.48, Z:31.91 [[ 9.66226607e-01 -2.49305562e-01 -6.52141135e-02 2.49261854e+02] [ 2.48853966e-01 9.68423470e-01 -1.50892797e-02 9.74782374e+01] [ 6.69167195e-02 -1.64912723e-03 9.97757201e-01 3.19091470e+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:249.29, Y:97.49, Z:31.91 [[ 9.65734473e-01 -2.51167199e-01 -6.53602759e-02 2.49288640e+02] [ 2.50767330e-01 9.67940494e-01 -1.43856047e-02 9.74865219e+01] [ 6.68780498e-02 -2.49754747e-03 9.97758031e-01 3.19122874e+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:249.31, Y:97.50, Z:31.92 [[ 9.65215299e-01 -2.53160549e-01 -6.53388278e-02 2.49314482e+02] [ 2.52758261e-01 9.67420971e-01 -1.44888460e-02 9.75001184e+01] [ 6.68781565e-02 -2.53007270e-03 9.97757942e-01 3.19159061e+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:249.34, Y:97.51, Z:31.92 [[ 9.65436658e-01 -2.52309407e-01 -6.53607039e-02 2.49339631e+02] [ 2.51912307e-01 9.67643174e-01 -1.43832583e-02 9.75109880e+01] [ 6.68748704e-02 -2.57904091e-03 9.97758037e-01 3.19198400e+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:249.37, Y:97.53, Z:31.92 [[ 9.67167065e-01 -2.45610459e-01 -6.52944924e-02 2.49366733e+02] [ 2.45176554e-01 9.69366959e-01 -1.47022501e-02 9.75263220e+01] [ 6.69053500e-02 -1.78914652e-03 9.97757723e-01 3.19203543e+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:249.39, Y:97.53, Z:31.92 [[ 9.67176501e-01 -2.45546607e-01 -6.53948048e-02 2.49393617e+02] [ 2.45145180e-01 9.69382107e-01 -1.42187138e-02 9.75318124e+01] [ 6.68839106e-02 -2.27921536e-03 9.97758161e-01 3.19221403e+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:249.43, Y:97.53, Z:31.90 [[ 9.71110307e-01 -2.29494085e-01 -6.54005807e-02 2.49427360e+02] [ 2.29058051e-01 9.73309317e-01 -1.41909516e-02 9.75317225e+01] [ 6.69117339e-02 -1.19955018e-03 9.97758178e-01 3.19046736e+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:249.45, Y:97.56, Z:31.92 [[ 9.69792452e-01 -2.34967777e-01 -6.55190312e-02 2.49446916e+02] [ 2.34582571e-01 9.72000761e-01 -1.36212533e-02 9.75589524e+01] [ 6.68851038e-02 -2.15983407e-03 9.97758347e-01 3.19200913e+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:249.47, Y:97.57, Z:31.92 [[ 9.70931851e-01 -2.30247777e-01 -6.54010778e-02 2.49471106e+02] [ 2.29813740e-01 9.73131227e-01 -1.41866444e-02 9.75743340e+01] [ 6.69102744e-02 -1.25580137e-03 9.97758206e-01 3.19197267e+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:249.50, Y:97.58, Z:31.92 [[ 9.71163162e-01 -2.29295646e-01 -6.53117140e-02 2.49496561e+02] [ 2.28830701e-01 9.73356533e-01 -1.46140317e-02 9.75841807e+01] [ 6.69225174e-02 -7.52716131e-04 9.97757892e-01 3.19236761e+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:249.53, Y:97.60, Z:31.92 [[ 9.71278189e-01 -2.28814437e-01 -6.52888474e-02 2.49525105e+02] [ 2.28341039e-01 9.73469868e-01 -1.47236327e-02 9.75969166e+01] [ 6.69257054e-02 -6.07379991e-04 9.97757777e-01 3.19243171e+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:249.55, Y:97.61, Z:31.93 [[ 9.70577895e-01 -2.31745250e-01 -6.53658122e-02 2.49552705e+02] [ 2.31303576e-01 9.72775781e-01 -1.43504467e-02 9.76056559e+01] [ 6.69119269e-02 -1.19111978e-03 9.97758175e-01 3.19263107e+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:249.58, Y:97.62, Z:31.93 [[ 9.69083772e-01 -2.37904400e-01 -6.54074892e-02 2.49576753e+02] [ 2.37490292e-01 9.71286866e-01 -1.41487065e-02 9.76167688e+01] [ 6.68954747e-02 -1.82236185e-03 9.97758325e-01 3.19288994e+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:249.61, Y:97.63, Z:31.93 [[ 9.67434382e-01 -2.44568754e-01 -6.52444673e-02 2.49607064e+02] [ 2.44116714e-01 9.69630827e-01 -1.49361579e-02 9.76290181e+01] [ 6.69159643e-02 -1.47751220e-03 9.97757521e-01 3.19305466e+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:249.63, Y:97.65, Z:31.93 [[ 9.64572839e-01 -2.55568543e-01 -6.54519604e-02 2.49628129e+02] [ 2.55209565e-01 9.66785417e-01 -1.39296938e-02 9.76469185e+01] [ 6.68379923e-02 -3.26776206e-03 9.97758490e-01 3.19329267e+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:249.65, Y:97.66, Z:31.94 [[ 9.63721672e-01 -2.58806600e-01 -6.52662449e-02 2.49654195e+02] [ 2.58394448e-01 9.65925725e-01 -1.48257920e-02 9.76559650e+01] [ 6.68793577e-02 -2.57649827e-03 9.97757743e-01 3.19376976e+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:249.68, Y:97.67, Z:31.93 [[ 9.62840191e-01 -2.62076870e-01 -6.52263840e-02 2.49684343e+02] [ 2.61659240e-01 9.65043478e-01 -1.50175749e-02 9.76675246e+01] [ 6.68820555e-02 -2.60756141e-03 9.97757481e-01 3.19311899e+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:249.71, Y:97.68, Z:31.93 [[ 9.62582855e-01 -2.62969626e-01 -6.54310543e-02 2.49710177e+02] [ 2.62620900e-01 9.64797098e-01 -1.40293698e-02 9.76784597e+01] [ 6.68169895e-02 -3.67913150e-03 9.97758465e-01 3.19294790e+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:249.74, Y:97.70, Z:31.94 [[ 9.62268881e-01 -2.64120354e-01 -6.54143597e-02 2.49737747e+02] [ 2.63768801e-01 9.64482723e-01 -1.41102033e-02 9.76964698e+01] [ 6.68178117e-02 -3.67645763e-03 9.97758420e-01 3.19351307e+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:249.77, Y:97.71, Z:31.94 [[ 9.62509636e-01 -2.63237440e-01 -6.54312735e-02 2.49767731e+02] [ 2.62889415e-01 9.64723985e-01 -1.40281033e-02 9.77080426e+01] [ 6.68158409e-02 -3.69900460e-03 9.97758468e-01 3.19375457e+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:249.80, Y:97.72, Z:31.94 [[ 9.63070083e-01 -2.61178737e-01 -6.54345680e-02 2.49796335e+02] [ 2.60827062e-01 9.65283847e-01 -1.40120984e-02 9.77240110e+01] [ 6.68225937e-02 -3.57247337e-03 9.97758477e-01 3.19426480e+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:249.83, Y:97.74, Z:31.95 [[ 9.63031258e-01 -2.61321667e-01 -6.54353322e-02 2.49825130e+02] [ 2.60970572e-01 9.65245112e-01 -1.40083852e-02 9.77408752e+01] [ 6.68218291e-02 -3.58618327e-03 9.97758479e-01 3.19468056e+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:249.86, Y:97.75, Z:31.95 [[ 9.63121451e-01 -2.60997662e-01 -6.54010025e-02 2.49855599e+02] [ 2.60634511e-01 9.65333470e-01 -1.41754827e-02 9.77520145e+01] [ 6.68335445e-02 -3.39304688e-03 9.97758370e-01 3.19456760e+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:249.89, Y:97.77, Z:31.93 [[ 9.62390539e-01 -2.63678561e-01 -6.54069384e-02 2.49891971e+02] [ 2.63323534e-01 9.64603853e-01 -1.41464912e-02 9.77701900e+01] [ 6.68219113e-02 -3.60873682e-03 9.97758392e-01 3.19335165e+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:249.92, Y:97.78, Z:31.93 [[ 9.63555360e-01 -2.59317623e-01 -6.56919957e-02 2.49918054e+02] [ 2.59047241e-01 9.65780500e-01 -1.27495884e-02 9.77805317e+01] [ 6.67502414e-02 -4.73239599e-03 9.97758493e-01 3.19330685e+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:249.95, Y:97.79, Z:31.93 [[ 9.64121705e-01 -2.57256296e-01 -6.54869133e-02 2.49947727e+02] [ 2.56913224e-01 9.66336630e-01 -1.37518640e-02 9.77935085e+01] [ 6.68201567e-02 -3.56598344e-03 9.97758663e-01 3.19349120e+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:249.97, Y:97.81, Z:31.94 [[ 9.66423179e-01 -2.48482469e-01 -6.54423510e-02 2.49974844e+02] [ 2.48104567e-01 9.68632529e-01 -1.39695097e-02 9.78097304e+01] [ 6.68607682e-02 -2.73608820e-03 9.97758564e-01 3.19377820e+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:250.00, Y:97.83, Z:31.94 [[ 9.68466063e-01 -2.40406274e-01 -6.54087746e-02 2.49998386e+02] [ 2.39998933e-01 9.70670273e-01 -1.41326817e-02 9.78269377e+01] [ 6.68879385e-02 -2.01101349e-03 9.97758468e-01 3.19408945e+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:250.03, Y:97.84, Z:31.95 [[ 9.68236706e-01 -2.41373743e-01 -6.52410748e-02 2.50034283e+02] [ 2.40913494e-01 9.70431437e-01 -1.49504034e-02 9.78428134e+01] [ 6.69206248e-02 -1.24192592e-03 9.97757529e-01 3.19463249e+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:250.06, Y:97.86, Z:31.95 [[ 9.71439802e-01 -2.28049154e-01 -6.55613774e-02 2.50057046e+02] [ 2.27664364e-01 9.73647714e-01 -1.33815454e-02 9.78566634e+01] [ 6.68853354e-02 -1.92662351e-03 9.97758809e-01 3.19490544e+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:250.09, Y:97.87, Z:31.95 [[ 9.72370435e-01 -2.24141522e-01 -6.52404485e-02 2.50086108e+02] [ 2.23643348e-01 9.74556604e-01 -1.49358497e-02 9.78674662e+01] [ 6.69282540e-02 -6.74136690e-05 9.97757788e-01 3.19527502e+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:250.12, Y:97.88, Z:31.96 [[ 9.74421296e-01 -2.15064973e-01 -6.51935259e-02 2.50115308e+02] [ 2.14531234e-01 9.76599424e-01 -1.51629382e-02 9.78782114e+01] [ 6.69289768e-02 7.89042365e-04 9.97757430e-01 3.19567764e+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:250.15, Y:97.89, Z:31.96 [[ 9.75108572e-01 -2.11937973e-01 -6.51580283e-02 2.50151054e+02] [ 2.11385766e-01 9.77282408e-01 -1.53347265e-02 9.78918078e+01] [ 6.69278057e-02 1.17954353e-03 9.97757124e-01 3.19575330e+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:250.18, Y:97.90, Z:31.96 [[ 9.76401207e-01 -2.05778878e-01 -6.55418747e-02 2.50183787e+02] [ 2.05337954e-01 9.78598466e-01 -1.34672414e-02 9.78979668e+01] [ 6.69104519e-02 -3.08803694e-04 9.97758937e-01 3.19580890e+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:250.22, Y:97.90, Z:31.96 [[ 9.77533480e-01 -2.00330537e-01 -6.55436567e-02 2.50216645e+02] [ 1.99877948e-01 9.79728367e-01 -1.34585629e-02 9.79038889e+01] [ 6.69111409e-02 5.54642589e-05 9.97758937e-01 3.19590654e+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:250.25, Y:97.91, Z:31.96 [[ 9.79746805e-01 -1.89208866e-01 -6.55454337e-02 2.50246672e+02] [ 1.88731943e-01 9.81936532e-01 -1.34499033e-02 9.79051741e+01] [ 6.69062968e-02 8.06982691e-04 9.97758937e-01 3.19575700e+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:250.28, Y:97.91, Z:31.96 [[ 9.80555434e-01 -1.85037229e-01 -6.53625622e-02 2.50277513e+02] [ 1.84491701e-01 9.82729475e-01 -1.43384677e-02 9.79065818e+01] [ 6.68868668e-02 2.00081213e-03 9.97758560e-01 3.19591180e+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:250.31, Y:97.91, Z:31.96 [[ 9.80456847e-01 -1.85554068e-01 -6.53762877e-02 2.50313668e+02] [ 1.85014171e-01 9.82632225e-01 -1.42711705e-02 9.79118877e+01] [ 6.68889208e-02 1.89672721e-03 9.97758625e-01 3.19609190e+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:250.35, Y:97.91, Z:31.96 [[ 9.81605997e-01 -1.79305272e-01 -6.55689481e-02 2.50346727e+02] [ 1.78814724e-01 9.83792553e-01 -1.33231642e-02 9.79107339e+01] [ 6.68951564e-02 1.35340450e-03 9.97759092e-01 3.19575805e+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:250.38, Y:97.91, Z:31.96 [[ 9.81887899e-01 -1.77754489e-01 -6.55705437e-02 2.50379174e+02] [ 1.77261013e-01 9.84073796e-01 -1.33153064e-02 9.79132385e+01] [ 6.68931094e-02 1.45103725e-03 9.97759092e-01 3.19575401e+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:250.41, Y:97.91, Z:31.96 [[ 9.81665806e-01 -1.78976489e-01 -6.55718107e-02 2.50413148e+02] [ 1.78486150e-01 9.83852409e-01 -1.33090640e-02 9.79105186e+01] [ 6.68949935e-02 1.36139299e-03 9.97759092e-01 3.19576418e+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:250.45, Y:97.91, Z:31.96 [[ 9.80555924e-01 -1.84959917e-01 -6.55736920e-02 2.50445774e+02] [ 1.84483542e-01 9.82745612e-01 -1.32997888e-02 9.79091675e+01] [ 6.69021859e-02 9.43919673e-04 9.97759092e-01 3.19589326e+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:250.48, Y:97.91, Z:31.96 [[ 9.79822627e-01 -1.88805571e-01 -6.55749589e-02 2.50478140e+02] [ 1.88338210e-01 9.82014257e-01 -1.32935391e-02 9.79111490e+01] [ 6.69054388e-02 6.75040059e-04 9.97759092e-01 3.19588462e+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:250.51, Y:97.91, Z:31.96 [[ 9.78272800e-01 -1.96677631e-01 -6.55762087e-02 2.50511410e+02] [ 1.96228319e-01 9.80468201e-01 -1.32873712e-02 9.79056798e+01] [ 6.69087160e-02 1.30764617e-04 9.97759092e-01 3.19575127e+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:250.54, Y:97.91, Z:31.96 [[ 9.77323819e-01 -2.01339991e-01 -6.55771390e-02 2.50543768e+02] [ 2.00901461e-01 9.79521399e-01 -1.32827784e-02 9.79065872e+01] [ 6.69085654e-02 -1.92967290e-04 9.97759093e-01 3.19598645e+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:250.58, Y:97.91, Z:31.97 [[ 9.75610137e-01 -2.09485891e-01 -6.55783642e-02 2.50576025e+02] [ 2.09066116e-01 9.77811376e-01 -1.32767263e-02 9.79053636e+01] [ 6.69045575e-02 -7.57305131e-04 9.97759093e-01 3.19680216e+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:250.61, Y:97.91, Z:31.97 [[ 9.75466693e-01 -2.10152441e-01 -6.55795955e-02 2.50605134e+02] [ 2.09734578e-01 9.77668296e-01 -1.32706420e-02 9.79075785e+01] [ 6.69039492e-02 -8.09239547e-04 9.97759093e-01 3.19735861e+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:250.64, Y:97.91, Z:31.98 [[ 9.73477800e-01 -2.19217698e-01 -6.54566509e-02 2.50638323e+02] [ 2.18779499e-01 9.75675634e-01 -1.38775972e-02 9.79071379e+01] [ 6.69066743e-02 -8.11040513e-04 9.97758908e-01 3.19770043e+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:250.67, Y:97.91, Z:31.98 [[ 9.72760016e-01 -2.22344781e-01 -6.55800959e-02 2.50668966e+02] [ 2.21954718e-01 9.74966706e-01 -1.32674839e-02 9.79082353e+01] [ 6.68883659e-02 -1.64973388e-03 9.97759102e-01 3.19783415e+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:250.70, Y:97.91, Z:31.98 [[ 9.71347193e-01 -2.28437830e-01 -6.55803952e-02 2.50702978e+02] [ 2.28061707e-01 9.73556301e-01 -1.32660045e-02 9.79064969e+01] [ 6.68766642e-02 -2.07048064e-03 9.97759102e-01 3.19786615e+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:250.73, Y:97.91, Z:31.99 [[ 9.70605357e-01 -2.31549370e-01 -6.56515875e-02 2.50732062e+02] [ 2.31204114e-01 9.72819559e-01 -1.29137059e-02 9.79107491e+01] [ 6.68573089e-02 -2.64480498e-03 9.97759042e-01 3.19887311e+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:250.76, Y:97.91, Z:31.99 [[ 9.69173608e-01 -2.37490360e-01 -6.55808339e-02 2.50762793e+02] [ 2.37135029e-01 9.71386152e-01 -1.32635640e-02 9.79135383e+01] [ 6.68542825e-02 -2.69681676e-03 9.97759105e-01 3.19936312e+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:250.79, Y:97.91, Z:31.99 [[ 9.69855312e-01 -2.34672056e-01 -6.56483006e-02 2.50792171e+02] [ 2.34332817e-01 9.72070441e-01 -1.29301352e-02 9.79136860e+01] [ 6.68491139e-02 -2.84319089e-03 9.97759045e-01 3.19923262e+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:250.82, Y:97.92, Z:32.00 [[ 9.69089525e-01 -2.37833586e-01 -6.55795513e-02 2.50821205e+02] [ 2.37478623e-01 9.71302125e-01 -1.32697001e-02 9.79173239e+01] [ 6.68535379e-02 -2.71421420e-03 9.97759108e-01 3.19988967e+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:250.85, Y:97.92, Z:31.99 [[ 9.68807958e-01 -2.38975371e-01 -6.55889606e-02 2.50849699e+02] [ 2.38626155e-01 9.71021474e-01 -1.32232574e-02 9.79234909e+01] [ 6.68483220e-02 -2.84044445e-03 9.97759106e-01 3.19947850e+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:250.88, Y:97.93, Z:32.00 [[ 9.67237243e-01 -2.45249021e-01 -6.56127554e-02 2.50882388e+02] [ 2.44922086e-01 9.69454178e-01 -1.31060620e-02 9.79307527e+01] [ 6.68228087e-02 -3.39334161e-03 9.97759088e-01 3.19996832e+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:250.91, Y:97.94, Z:32.00 [[ 9.67014564e-01 -2.46088412e-01 -6.57520054e-02 2.50911541e+02] [ 2.45810039e-01 9.69238481e-01 -1.24174317e-02 9.79373033e+01] [ 6.67851598e-02 -4.15466570e-03 9.97758729e-01 3.20032725e+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:250.94, Y:97.95, Z:32.01 [[ 9.67048357e-01 -2.45944991e-01 -6.57916169e-02 2.50939094e+02] [ 2.45679548e-01 9.69274051e-01 -1.22218427e-02 9.79457776e+01] [ 6.67760080e-02 -4.34454182e-03 9.97758533e-01 3.20079214e+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:250.97, Y:97.95, Z:32.00 [[ 9.67887863e-01 -2.42608511e-01 -6.58346003e-02 2.50965115e+02] [ 2.42349675e-01 9.70114615e-01 -1.20112190e-02 9.79534274e+01] [ 6.67811319e-02 -4.32948092e-03 9.97758255e-01 3.19959515e+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:251.00, Y:97.96, Z:32.01 [[ 9.67244506e-01 -2.45216434e-01 -6.56274789e-02 2.50996512e+02] [ 2.44895041e-01 9.69462130e-01 -1.30229561e-02 9.79627527e+01] [ 6.68167983e-02 -3.47546141e-03 9.97759208e-01 3.20077896e+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:251.02, Y:97.97, Z:32.01 [[ 9.66430060e-01 -2.48363423e-01 -6.57917080e-02 2.51022800e+02] [ 2.48103716e-01 9.68656406e-01 -1.22193442e-02 9.79730811e+01] [ 6.67643976e-02 -4.51402566e-03 9.97758557e-01 3.20086155e+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:251.05, Y:97.98, Z:32.00 [[ 9.66043767e-01 -2.49894633e-01 -6.56666824e-02 2.51047025e+02] [ 2.49597032e-01 9.68264792e-01 -1.28302144e-02 9.79815723e+01] [ 6.67889383e-02 -3.99566037e-03 9.97759125e-01 3.20036353e+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:251.08, Y:97.99, Z:32.01 [[ 9.63517105e-01 -2.59525062e-01 -6.54334002e-02 2.51077530e+02] [ 2.59172702e-01 9.65730022e-01 -1.39655237e-02 9.79937733e+01] [ 6.68154024e-02 -3.50253012e-03 9.97759207e-01 3.20109424e+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:251.11, Y:98.00, Z:32.01 [[ 9.63276978e-01 -2.60363721e-01 -6.56368546e-02 2.51105693e+02] [ 2.60080411e-01 9.65499781e-01 -1.29750710e-02 9.80003167e+01] [ 6.67506065e-02 -4.57227295e-03 9.97759215e-01 3.20075762e+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:251.13, Y:98.01, Z:32.02 [[ 9.61588342e-01 -2.66538914e-01 -6.56114880e-02 2.51133608e+02] [ 2.66261516e-01 9.63811830e-01 -1.30981491e-02 9.80136162e+01] [ 6.67282947e-02 -4.87478682e-03 9.97759275e-01 3.20150546e+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:251.17, Y:98.02, Z:32.01 [[ 9.62007820e-01 -2.65022129e-01 -6.56065992e-02 2.51165629e+02] [ 2.64739617e-01 9.64230653e-01 -1.31218417e-02 9.80224442e+01] [ 6.67374724e-02 -4.74535158e-03 9.97759285e-01 3.20094973e+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:251.19, Y:98.04, Z:32.02 [[ 9.60770344e-01 -2.69449702e-01 -6.57054404e-02 2.51191241e+02] [ 2.69209889e-01 9.62998526e-01 -1.26441323e-02 9.80354210e+01] [ 6.66811999e-02 -5.54044700e-03 9.97758949e-01 3.20161193e+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:251.22, Y:98.05, Z:32.01 [[ 9.61201165e-01 -2.67939785e-01 -6.55788951e-02 2.51222801e+02] [ 2.67654969e-01 9.63423645e-01 -1.32551182e-02 9.80458136e+01] [ 6.67318316e-02 -4.81168206e-03 9.97759345e-01 3.20092759e+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:251.25, Y:98.05, Z:32.01 [[ 9.61157572e-01 -2.68079460e-01 -6.56469682e-02 2.51253699e+02] [ 2.67817237e-01 9.63383006e-01 -1.29271987e-02 9.80522620e+01] [ 6.67086900e-02 -5.15631467e-03 9.97759171e-01 3.20113105e+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:251.28, Y:98.06, Z:32.01 [[ 9.60795355e-01 -2.69374744e-01 -6.56470289e-02 2.51283606e+02] [ 2.69115540e-01 9.63021143e-01 -1.29269068e-02 9.80630718e+01] [ 6.67016590e-02 -5.24652357e-03 9.97759171e-01 3.20140190e+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:251.31, Y:98.08, Z:32.02 [[ 9.59757664e-01 -2.73052764e-01 -6.56308906e-02 2.51307949e+02] [ 2.72796805e-01 9.61983775e-01 -1.30046116e-02 9.80813834e+01] [ 6.66867971e-02 -5.42262161e-03 9.97759223e-01 3.20202082e+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:251.34, Y:98.09, Z:32.02 [[ 9.60354492e-01 -2.70977359e-01 -6.55020640e-02 2.51340463e+02] [ 2.70674524e-01 9.62574510e-01 -1.36240533e-02 9.80897332e+01] [ 6.67424271e-02 -4.64581916e-03 9.97759422e-01 3.20190913e+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:251.37, Y:98.10, Z:32.02 [[ 9.60485328e-01 -2.70495375e-01 -6.55758154e-02 2.51367959e+02] [ 2.70215531e-01 9.62708420e-01 -1.32689584e-02 9.81047573e+01] [ 6.67195815e-02 -4.97496396e-03 9.97759363e-01 3.20193277e+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:251.40, Y:98.11, Z:32.03 [[ 9.61839791e-01 -2.65656181e-01 -6.55057940e-02 2.51399800e+02] [ 2.65342278e-01 9.64058271e-01 -1.36060918e-02 9.81122348e+01] [ 6.67659450e-02 -4.29457608e-03 9.97759423e-01 3.20259909e+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:251.42, Y:98.13, Z:32.03 [[ 9.62064283e-01 -2.64821297e-01 -6.55896096e-02 2.51424701e+02] [ 2.64532868e-01 9.64286298e-01 -1.32021603e-02 9.81326606e+01] [ 6.67433750e-02 -4.64928062e-03 9.97759343e-01 3.20269418e+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:251.45, Y:98.15, Z:32.03 [[ 9.63613400e-01 -2.59149002e-01 -6.55058085e-02 2.51452185e+02] [ 2.58820140e-01 9.65829706e-01 -1.36056570e-02 9.81481443e+01] [ 6.67933482e-02 -3.84362912e-03 9.97759428e-01 3.20308467e+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:251.48, Y:98.16, Z:32.03 [[ 9.64572878e-01 -2.55564280e-01 -6.54680169e-02 2.51484173e+02] [ 2.55214859e-01 9.66786055e-01 -1.37876577e-02 9.81590227e+01] [ 6.68171986e-02 -3.40921004e-03 9.97759410e-01 3.20264991e+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:251.51, Y:98.17, Z:32.03 [[ 9.67224346e-01 -2.45330207e-01 -6.54992622e-02 2.51514690e+02] [ 2.44967534e-01 9.69435371e-01 -1.36370614e-02 9.81708625e+01] [ 6.68428846e-02 -2.85509497e-03 9.97759429e-01 3.20287246e+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:251.54, Y:98.18, Z:32.03 [[ 9.68925991e-01 -2.38511296e-01 -6.55346155e-02 2.51542237e+02] [ 2.38144583e-01 9.71136352e-01 -1.34663718e-02 9.81803207e+01] [ 6.68549292e-02 -2.55879604e-03 9.97759425e-01 3.20333396e+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:251.57, Y:98.20, Z:32.03 [[ 9.71283963e-01 -2.28740104e-01 -6.54631770e-02 2.51573241e+02] [ 2.28327842e-01 9.73486322e-01 -1.38122020e-02 9.81958847e+01] [ 6.68869119e-02 -1.53149564e-03 9.97759388e-01 3.20345958e+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:251.60, Y:98.21, Z:32.04 [[ 9.73508294e-01 -2.19071859e-01 -6.54913932e-02 2.51599964e+02] [ 2.18646916e-01 9.75708209e-01 -1.36754594e-02 9.82091332e+01] [ 6.68963982e-02 -1.00631793e-03 9.97759420e-01 3.20429855e+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:251.63, Y:98.22, Z:32.05 [[ 9.74418777e-01 -2.15027206e-01 -6.53555506e-02 2.51631410e+02] [ 2.14549517e-01 9.76608057e-01 -1.43250731e-02 9.82170251e+01] [ 6.69070377e-02 -6.33816465e-05 9.97759212e-01 3.20457436e+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:251.66, Y:98.23, Z:32.04 [[ 9.74547889e-01 -2.14427501e-01 -6.54007599e-02 2.51664509e+02] [ 2.13962982e-01 9.76739877e-01 -1.41086874e-02 9.82254188e+01] [ 6.69048207e-02 -2.43750082e-04 9.97759333e-01 3.20433174e+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:251.69, Y:98.23, Z:32.05 [[ 9.75578104e-01 -2.09662021e-01 -6.54919770e-02 2.51692955e+02] [ 2.09216137e-01 9.77773851e-01 -1.36712840e-02 9.82314661e+01] [ 6.69026916e-02 -3.64573153e-04 9.97759438e-01 3.20484891e+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:251.73, Y:98.24, Z:32.05 [[ 9.75659607e-01 -2.09307227e-01 -6.54126672e-02 2.51725762e+02] [ 2.08835031e-01 9.77849928e-01 -1.40515916e-02 9.82399263e+01] [ 6.69048716e-02 4.91139075e-05 9.97759358e-01 3.20494738e+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:251.76, Y:98.24, Z:32.05 [[ 9.76073572e-01 -2.07340823e-01 -6.54993557e-02 2.51756477e+02] [ 2.06892139e-01 9.78268738e-01 -1.36351955e-02 9.82447713e+01] [ 6.69031048e-02 -2.42347813e-04 9.97759448e-01 3.20506459e+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:251.79, Y:98.25, Z:32.05 [[ 9.76208646e-01 -2.06729495e-01 -6.54186250e-02 2.51788516e+02] [ 2.06253379e-01 9.78398118e-01 -1.40237918e-02 9.82486947e+01] [ 6.69045910e-02 1.97334351e-04 9.97759358e-01 3.20530262e+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:251.82, Y:98.26, Z:32.05 [[ 9.75379846e-01 -2.10593543e-01 -6.54562206e-02 2.51821070e+02] [ 2.10138279e-01 9.77573678e-01 -1.38422661e-02 9.82564282e+01] [ 6.69033702e-02 -2.53390120e-04 9.97759427e-01 3.20481251e+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:251.85, Y:98.26, Z:32.06 [[ 9.75338367e-01 -2.10765153e-01 -6.55219020e-02 2.51851828e+02] [ 2.10331599e-01 9.77536548e-01 -1.35246658e-02 9.82603916e+01] [ 6.69005822e-02 -5.90201020e-04 9.97759472e-01 3.20610780e+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:251.89, Y:98.27, Z:32.06 [[ 9.74215396e-01 -2.15895387e-01 -6.55251377e-02 2.51885258e+02] [ 2.15474460e-01 9.76416030e-01 -1.35090157e-02 9.82654892e+01] [ 6.68963290e-02 -9.58302595e-04 9.97759471e-01 3.20634043e+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:251.92, Y:98.27, Z:32.06 [[ 9.73381286e-01 -2.19569135e-01 -6.57135264e-02 2.51916800e+02] [ 2.19219136e-01 9.75594550e-01 -1.25795563e-02 9.82716772e+01] [ 6.68718405e-02 -2.16095774e-03 9.97759233e-01 3.20595034e+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:251.95, Y:98.27, Z:32.06 [[ 9.71414130e-01 -2.28129434e-01 -6.56623914e-02 2.51946116e+02] [ 2.27782066e-01 9.73627619e-01 -1.28292585e-02 9.82728871e+01] [ 6.68574493e-02 -2.49419216e-03 9.97759420e-01 3.20613670e+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:251.98, Y:98.28, Z:32.06 [[ 9.69895832e-01 -2.34540342e-01 -6.55202556e-02 2.51978650e+02] [ 2.34160770e-01 9.72103837e-01 -1.35227140e-02 9.82759232e+01] [ 6.68641139e-02 -2.22664963e-03 9.97759606e-01 3.20587256e+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:252.01, Y:98.28, Z:32.06 [[ 9.66646518e-01 -2.47590661e-01 -6.55238427e-02 2.52010331e+02] [ 2.47242068e-01 9.68859624e-01 -1.35051660e-02 9.82779989e+01] [ 6.68271586e-02 -3.14552864e-03 9.97759609e-01 3.20588322e+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:252.04, Y:98.28, Z:32.06 [[ 9.65466837e-01 -2.52168830e-01 -6.54573677e-02 2.52042223e+02] [ 2.51808711e-01 9.67678193e-01 -1.38306597e-02 9.82831737e+01] [ 6.68293286e-02 -3.12969206e-03 9.97759513e-01 3.20604661e+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:252.07, Y:98.29, Z:32.06 [[ 9.63536941e-01 -2.59446349e-01 -6.54534660e-02 2.52070050e+02] [ 2.59101630e-01 9.65750759e-01 -1.38497891e-02 9.82884521e+01] [ 6.68050116e-02 -3.61431628e-03 9.97759504e-01 3.20637566e+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:252.10, Y:98.29, Z:32.07 [[ 9.63578356e-01 -2.59321870e-01 -6.53369634e-02 2.52103506e+02] [ 2.58938437e-01 9.65786215e-01 -1.44177769e-02 9.82939765e+01] [ 6.68403834e-02 -3.02559344e-03 9.97759094e-01 3.20674808e+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:252.13, Y:98.30, Z:32.07 [[ 9.63648286e-01 -2.59042099e-01 -6.54153790e-02 2.52134742e+02] [ 2.58683947e-01 9.65860056e-01 -1.40345352e-02 9.82989559e+01] [ 6.68176371e-02 -3.39755266e-03 9.97759420e-01 3.20682335e+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:252.17, Y:98.31, Z:32.08 [[ 9.64074711e-01 -2.57450647e-01 -6.54149563e-02 2.52166441e+02] [ 2.57088704e-01 9.66285865e-01 -1.40365895e-02 9.83052307e+01] [ 6.68232766e-02 -3.28512540e-03 9.97759419e-01 3.20793908e+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:252.20, Y:98.31, Z:32.09 [[ 9.64418860e-01 -2.56137946e-01 -6.54951551e-02 2.52195284e+02] [ 2.55799387e-01 9.66633563e-01 -1.36465471e-02 9.83127557e+01] [ 6.68052137e-02 -3.59263311e-03 9.97759568e-01 3.20854440e+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:252.23, Y:98.32, Z:32.09 [[ 9.65010454e-01 -2.53902365e-01 -6.54859697e-02 2.52226018e+02] [ 2.53555647e-01 9.67223905e-01 -1.36912912e-02 9.83245508e+01] [ 6.68158465e-02 -3.39209823e-03 9.97759558e-01 3.20867815e+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:252.26, Y:98.33, Z:32.09 [[ 9.65058058e-01 -2.53721490e-01 -6.54854924e-02 2.52257571e+02] [ 2.53374199e-01 9.67271420e-01 -1.36936234e-02 9.83342476e+01] [ 6.68166118e-02 -3.37719256e-03 9.97759558e-01 3.20853438e+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:252.29, Y:98.34, Z:32.09 [[ 9.64970745e-01 -2.54056186e-01 -6.54745424e-02 2.52287960e+02] [ 2.53706039e-01 9.67183675e-01 -1.37471749e-02 9.83423644e+01] [ 6.68184634e-02 -3.34566519e-03 9.97759540e-01 3.20900669e+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:252.32, Y:98.35, Z:32.09 [[ 9.64517324e-01 -2.55754248e-01 -6.55446072e-02 2.52317316e+02] [ 2.55431222e-01 9.66734307e-01 -1.34041136e-02 9.83533777e+01] [ 6.67923795e-02 -3.81363929e-03 9.97759607e-01 3.20932185e+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:252.35, Y:98.36, Z:32.10 [[ 9.64333540e-01 -2.56447001e-01 -6.55420393e-02 2.52348798e+02] [ 2.56124715e-01 9.66550631e-01 -1.34166972e-02 9.83632389e+01] [ 6.67903712e-02 -3.84876503e-03 9.97759607e-01 3.20973052e+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:252.38, Y:98.38, Z:32.10 [[ 9.64823712e-01 -2.54594569e-01 -6.55500529e-02 2.52378048e+02] [ 2.54270687e-01 9.67040570e-01 -1.33774018e-02 9.83760525e+01] [ 6.67953743e-02 -3.76062250e-03 9.97759608e-01 3.20987663e+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:252.41, Y:98.39, Z:32.10 [[ 9.65246477e-01 -2.52997337e-01 -6.55102053e-02 2.52407857e+02] [ 2.52656553e-01 9.67460822e-01 -1.35729035e-02 9.83898380e+01] [ 6.68124655e-02 -3.45038537e-03 9.97759585e-01 3.21049963e+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:252.44, Y:98.40, Z:32.11 [[ 9.66136732e-01 -2.49561693e-01 -6.55650626e-02 2.52438778e+02] [ 2.49231268e-01 9.68352619e-01 -1.33033633e-02 9.83989873e+01] [ 6.68101100e-02 -3.48799580e-03 9.97759612e-01 3.21065972e+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:252.47, Y:98.41, Z:32.11 [[ 9.67776666e-01 -2.43132391e-01 -6.55359906e-02 2.52466229e+02] [ 2.42777569e-01 9.69988786e-01 -1.34464440e-02 9.84147254e+01] [ 6.68384421e-02 -2.89751374e-03 9.97759604e-01 3.21104683e+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:252.50, Y:98.42, Z:32.11 [[ 9.69002342e-01 -2.38221183e-01 -6.54609059e-02 2.52498552e+02] [ 2.37830277e-01 9.71208478e-01 -1.38149094e-02 9.84246672e+01] [ 6.68671909e-02 -2.18190581e-03 9.97759499e-01 3.21139700e+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:252.53, Y:98.44, Z:32.12 [[ 9.71503961e-01 -2.27775298e-01 -6.55627075e-02 2.52527375e+02] [ 2.27394412e-01 9.73711722e-01 -1.33140576e-02 9.84374974e+01] [ 6.68717902e-02 -1.97393356e-03 9.97759624e-01 3.21155598e+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:252.56, Y:98.45, Z:32.12 [[ 9.72609575e-01 -2.23024020e-01 -6.55049672e-02 2.52559073e+02] [ 2.22613219e-01 9.74812006e-01 -1.35981066e-02 9.84469486e+01] [ 6.68877329e-02 -1.35662298e-03 9.97759586e-01 3.21193496e+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:252.59, Y:98.46, Z:32.12 [[ 9.75433956e-01 -2.10313098e-01 -6.55514923e-02 2.52587593e+02] [ 2.09889003e-01 9.77633819e-01 -1.33686907e-02 9.84567778e+01] [ 6.68969665e-02 -7.18262519e-04 9.97759630e-01 3.21193449e+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:252.62, Y:98.47, Z:32.12 [[ 9.77192759e-01 -2.02025881e-01 -6.54206089e-02 2.52619481e+02] [ 2.01539498e-01 9.79380048e-01 -1.40197192e-02 9.84664135e+01] [ 6.69039852e-02 5.15131354e-04 9.97759285e-01 3.21233362e+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:252.65, Y:98.47, Z:32.13 [[ 9.77707663e-01 -1.99510158e-01 -6.54478600e-02 2.52648165e+02] [ 1.99027213e-01 9.79895605e-01 -1.38842627e-02 9.84742759e+01] [ 6.69021218e-02 5.48844879e-04 9.97759392e-01 3.21269900e+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:252.68, Y:98.48, Z:32.13 [[ 9.78289412e-01 -1.96646405e-01 -6.54218468e-02 2.52680728e+02] [ 1.96148385e-01 9.80474080e-01 -1.40138990e-02 9.84809794e+01] [ 6.69002079e-02 8.77259382e-04 9.97759286e-01 3.21305248e+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:252.71, Y:98.49, Z:32.13 [[ 9.77732015e-01 -1.99398524e-01 -6.54242751e-02 2.52714972e+02] [ 1.98907468e-01 9.79918247e-01 -1.40017132e-02 9.84867894e+01] [ 6.69023619e-02 6.76546334e-04 9.97759298e-01 3.21273142e+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:252.75, Y:98.49, Z:32.13 [[ 9.77296157e-01 -2.01486577e-01 -6.55391618e-02 2.52746355e+02] [ 2.01038815e-01 9.79491274e-01 -1.34253080e-02 9.84872141e+01] [ 6.69000565e-02 -5.54134629e-05 9.97759680e-01 3.21340275e+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:252.78, Y:98.49, Z:32.14 [[ 9.76933005e-01 -2.03255396e-01 -6.54915892e-02 2.52778143e+02] [ 2.02795530e-01 9.79125753e-01 -1.36650532e-02 9.84918030e+01] [ 6.69019973e-02 6.84400054e-05 9.97759549e-01 3.21379033e+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:252.81, Y:98.50, Z:32.14 [[ 9.76042187e-01 -2.07491540e-01 -6.54897642e-02 2.52811814e+02] [ 2.07040570e-01 9.78236789e-01 -1.36743080e-02 9.84979664e+01] [ 6.69017999e-02 -2.12336600e-04 9.97759542e-01 3.21402259e+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:252.84, Y:98.50, Z:32.14 [[ 9.76501499e-01 -2.05310397e-01 -6.55169000e-02 2.52841759e+02] [ 2.04863796e-01 9.78696888e-01 -1.35360870e-02 9.85003248e+01] [ 6.69002856e-02 -2.04031563e-04 9.97759646e-01 3.21426104e+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:252.88, Y:98.50, Z:32.14 [[ 9.77052878e-01 -2.02676079e-01 -6.54987100e-02 2.52877206e+02] [ 2.02217368e-01 9.79245833e-01 -1.36284254e-02 9.85027241e+01] [ 6.69014946e-02 7.07154736e-05 9.97759583e-01 3.21438847e+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:252.91, Y:98.50, Z:32.15 [[ 9.79656331e-01 -1.89642821e-01 -6.56435290e-02 2.52905447e+02] [ 1.89204290e-01 9.81853124e-01 -1.28910806e-02 9.85033375e+01] [ 6.68970049e-02 2.08791465e-04 9.97759864e-01 3.21465251e+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:252.94, Y:98.51, Z:32.15 [[ 9.80703423e-01 -1.84207849e-01 -6.54848439e-02 2.52937458e+02] [ 1.83703162e-01 9.82886309e-01 -1.36986283e-02 9.85091325e+01] [ 6.68875514e-02 1.40451877e-03 9.97759532e-01 3.21454264e+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:252.97, Y:98.51, Z:32.15 [[ 9.83118458e-01 -1.70842175e-01 -6.55061029e-02 2.52971787e+02] [ 1.70315095e-01 9.85295944e-01 -1.35893955e-02 9.85094421e+01] [ 6.68645394e-02 2.20330736e-03 9.97759630e-01 3.21454285e+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:253.00, Y:98.51, Z:32.15 [[ 9.84438754e-01 -1.63049108e-01 -6.55387525e-02 2.53001111e+02] [ 1.62515964e-01 9.86614630e-01 -1.34214146e-02 9.85089452e+01] [ 6.68498417e-02 2.56146711e-03 9.97759759e-01 3.21465672e+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:253.04, Y:98.50, Z:32.14 [[ 9.85393997e-01 -1.57214776e-01 -6.54384027e-02 2.53039024e+02] [ 1.56634358e-01 9.87558282e-01 -1.39397917e-02 9.85044552e+01] [ 6.68157778e-02 3.48628488e-03 9.97759238e-01 3.21430128e+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:253.07, Y:98.50, Z:32.14 [[ 9.85508186e-01 -1.56435416e-01 -6.55864034e-02 2.53073548e+02] [ 1.55904473e-01 9.87684355e-01 -1.31685559e-02 9.84996633e+01] [ 6.68386930e-02 2.75250601e-03 9.97759998e-01 3.21442412e+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:253.11, Y:98.50, Z:32.15 [[ 9.85573769e-01 -1.56013233e-01 -6.56065384e-02 2.53107635e+02] [ 1.55488368e-01 9.87751347e-01 -1.30630990e-02 9.84984597e+01] [ 6.68409630e-02 2.67359412e-03 9.97760060e-01 3.21476725e+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:253.14, Y:98.50, Z:32.14 [[ 9.85684615e-01 -1.55266939e-01 -6.57116266e-02 2.53138639e+02] [ 1.54777142e-01 9.87870187e-01 -1.25112088e-02 9.84964216e+01] [ 6.68571340e-02 2.16144829e-03 9.97760218e-01 3.21426584e+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:253.18, Y:98.49, Z:32.14 [[ 9.85178316e-01 -1.58481097e-01 -6.56309955e-02 2.53176068e+02] [ 1.57970088e-01 9.87359150e-01 -1.29368114e-02 9.84855651e+01] [ 6.68516040e-02 2.37733193e-03 9.97760097e-01 3.21435782e+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:253.21, Y:98.48, Z:32.15 [[ 9.84487066e-01 -1.62687803e-01 -6.57107038e-02 2.53210009e+02] [ 1.62214225e-01 9.86676197e-01 -1.25151053e-02 9.84776210e+01] [ 6.68712423e-02 1.66174841e-03 9.97760230e-01 3.21455342e+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:253.24, Y:98.48, Z:32.15 [[ 9.84501017e-01 -1.62594979e-01 -6.57314205e-02 2.53242090e+02] [ 1.62128518e-01 9.86691670e-01 -1.24053373e-02 9.84835523e+01] [ 6.68736906e-02 1.55612935e-03 9.97760236e-01 3.21476892e+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:253.28, Y:98.48, Z:32.15 [[ 9.84394820e-01 -1.63236260e-01 -6.57324995e-02 2.53276009e+02] [ 1.62771608e-01 9.86585857e-01 -1.23996169e-02 9.84837242e+01] [ 6.68748215e-02 1.50673399e-03 9.97760236e-01 3.21497497e+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:253.31, Y:98.48, Z:32.15 [[ 9.84296824e-01 -1.63825417e-01 -6.57342819e-02 2.53308817e+02] [ 1.63362708e-01 9.86488271e-01 -1.23901608e-02 9.84766056e+01] [ 6.68759214e-02 1.45706568e-03 9.97760236e-01 3.21511806e+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:253.34, Y:98.47, Z:32.16 [[ 9.84585945e-01 -1.62077834e-01 -6.57365371e-02 2.53335923e+02] [ 1.61612034e-01 9.86776738e-01 -1.23781844e-02 9.84744695e+01] [ 6.68735149e-02 1.56357090e-03 9.97760236e-01 3.21565715e+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:253.37, Y:98.47, Z:32.16 [[ 9.83590575e-01 -1.68075159e-01 -6.55768401e-02 2.53371277e+02] [ 1.67566168e-01 9.85772113e-01 -1.32257202e-02 9.84727741e+01] [ 6.68667353e-02 2.02023386e-03 9.97759870e-01 3.21605899e+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:253.40, Y:98.47, Z:32.16 [[ 9.82511181e-01 -1.74212247e-01 -6.57409519e-02 2.53404034e+02] [ 1.73775233e-01 9.84707868e-01 -1.23524434e-02 9.84705117e+01] [ 6.68875795e-02 7.12264541e-04 9.97760264e-01 3.21644328e+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:253.44, Y:98.47, Z:32.17 [[ 9.81891887e-01 -1.77669071e-01 -6.57421007e-02 2.53435879e+02] [ 1.77240200e-01 9.84090179e-01 -1.23463266e-02 9.84707320e+01] [ 6.68897160e-02 4.70614813e-04 9.97760264e-01 3.21661591e+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:253.47, Y:98.47, Z:32.17 [[ 9.80414343e-01 -1.85649079e-01 -6.57429520e-02 2.53469650e+02] [ 1.85238405e-01 9.82616107e-01 -1.23417917e-02 9.84650191e+01] [ 6.68913258e-02 -7.80500342e-05 9.97760264e-01 3.21705489e+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:253.50, Y:98.47, Z:32.17 [[ 9.80124067e-01 -1.87175120e-01 -6.57441038e-02 2.53502372e+02] [ 1.86768287e-01 9.82326544e-01 -1.23356529e-02 9.84661983e+01] [ 6.68911056e-02 -1.88443366e-04 9.97760264e-01 3.21744950e+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:253.53, Y:98.47, Z:32.18 [[ 9.80292261e-01 -1.86291822e-01 -6.57452675e-02 2.53534315e+02] [ 1.85883420e-01 9.82494447e-01 -1.23294477e-02 9.84650417e+01] [ 6.68912355e-02 -1.34493003e-04 9.97760264e-01 3.21768617e+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:253.57, Y:98.47, Z:32.18 [[ 9.80723995e-01 -1.84005241e-01 -6.57458467e-02 2.53565304e+02] [ 1.83591912e-01 9.82925262e-01 -1.23263583e-02 9.84671202e+01] [ 6.68913682e-02 1.83496855e-05 9.97760264e-01 3.21797924e+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:253.59, Y:98.47, Z:32.18 [[ 9.81746053e-01 -1.78471551e-01 -6.57464341e-02 2.53590874e+02] [ 1.78046024e-01 9.83944994e-01 -1.23232244e-02 9.84664702e+01] [ 6.68902197e-02 3.92385706e-04 9.97760264e-01 3.21827244e+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:253.62, Y:98.47, Z:32.19 [[ 9.82905326e-01 -1.72057188e-01 -6.55243758e-02 2.53623742e+02] [ 1.71538630e-01 9.85084869e-01 -1.35018280e-02 9.84669592e+01] [ 6.68701577e-02 2.03105702e-03 9.97759619e-01 3.21874905e+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:253.65, Y:98.47, Z:32.19 [[ 9.84233013e-01 -1.64232106e-01 -6.56748930e-02 2.53654571e+02] [ 1.63749524e-01 9.86420176e-01 -1.27015983e-02 9.84672704e+01] [ 6.68690497e-02 1.74709995e-03 9.97760231e-01 3.21895323e+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:253.68, Y:98.47, Z:32.19 [[ 9.84944002e-01 -1.59886448e-01 -6.57391569e-02 2.53683420e+02] [ 1.59417001e-01 9.87133960e-01 -1.23598145e-02 9.84699096e+01] [ 6.68695211e-02 1.69378594e-03 9.97760291e-01 3.21919945e+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:253.71, Y:98.47, Z:32.19 [[ 9.85855522e-01 -1.54166779e-01 -6.57380680e-02 2.53712391e+02] [ 1.53684243e-01 9.88042633e-01 -1.23656035e-02 9.84708752e+01] [ 6.68583790e-02 2.08779324e-03 9.97760291e-01 3.21924877e+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:253.74, Y:98.47, Z:32.19 [[ 9.85960030e-01 -1.53498693e-01 -6.57340935e-02 2.53741689e+02] [ 1.53013270e-01 9.88146502e-01 -1.23866956e-02 9.84731771e+01] [ 6.68562561e-02 2.15459814e-03 9.97760291e-01 3.21938260e+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:253.77, Y:98.47, Z:32.19 [[ 9.85754204e-01 -1.54815228e-01 -6.57335155e-02 2.53770375e+02] [ 1.54332521e-01 9.87941277e-01 -1.23897618e-02 9.84700697e+01] [ 6.68589771e-02 2.06844058e-03 9.97760291e-01 3.21911708e+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:253.80, Y:98.47, Z:32.19 [[ 9.85647425e-01 -1.55494201e-01 -6.57320815e-02 2.53797442e+02] [ 1.55012494e-01 9.87834719e-01 -1.23973649e-02 9.84714985e+01] [ 6.68601507e-02 2.03013689e-03 9.97760291e-01 3.21944834e+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:253.83, Y:98.47, Z:32.20 [[ 9.84841030e-01 -1.60545847e-01 -6.56747875e-02 2.53826473e+02] [ 1.60055147e-01 9.87026365e-01 -1.27005756e-02 9.84715075e+01] [ 6.68617715e-02 1.99646016e-03 9.97760251e-01 3.21972933e+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:253.86, Y:98.47, Z:32.20 [[ 9.84280654e-01 -1.63942070e-01 -6.56855498e-02 2.53856979e+02] [ 1.63462711e-01 9.86468490e-01 -1.26436080e-02 9.84737658e+01] [ 6.68695444e-02 1.70772070e-03 9.97760266e-01 3.21976266e+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:253.89, Y:98.47, Z:32.20 [[ 9.83373841e-01 -1.69280223e-01 -6.57274318e-02 2.53885158e+02] [ 1.68827544e-01 9.85567326e-01 -1.24220107e-02 9.84713004e+01] [ 6.68816100e-02 1.11887952e-03 9.97760291e-01 3.22024445e+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:253.92, Y:98.47, Z:32.20 [[ 9.82143776e-01 -1.76278530e-01 -6.57227692e-02 2.53915108e+02] [ 1.75839835e-01 9.84340101e-01 -1.24466309e-02 9.84697454e+01] [ 6.68876311e-02 6.67700160e-04 9.97760291e-01 3.22015327e+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:253.94, Y:98.47, Z:32.21 [[ 9.81660704e-01 -1.78950576e-01 -6.57187511e-02 2.53944673e+02] [ 1.78516441e-01 9.83857934e-01 -1.24678107e-02 9.84702292e+01] [ 6.68890366e-02 5.07282259e-04 9.97760292e-01 3.22054405e+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:253.98, Y:98.47, Z:32.20 [[ 9.80408304e-01 -1.85698922e-01 -6.56922277e-02 2.53975055e+02] [ 1.85270549e-01 9.82606673e-01 -1.26075181e-02 9.84664897e+01] [ 6.68908238e-02 1.89680327e-04 9.97760283e-01 3.22041790e+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:254.00, Y:98.47, Z:32.21 [[ 9.79758959e-01 -1.89086432e-01 -6.57168479e-02 2.54001784e+02] [ 1.88674355e-01 9.81960432e-01 -1.24778547e-02 9.84679545e+01] [ 6.68907374e-02 -1.73793942e-04 9.97760291e-01 3.22057259e+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:254.03, Y:98.47, Z:32.21 [[ 9.78229086e-01 -1.96848684e-01 -6.57149142e-02 2.54030466e+02] [ 1.96453391e-01 9.80433636e-01 -1.24880302e-02 9.84659485e+01] [ 6.68873645e-02 -6.93763340e-04 9.97760291e-01 3.22067808e+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:254.06, Y:98.47, Z:32.21 [[ 9.77294908e-01 -2.01436824e-01 -6.57104942e-02 2.54057254e+02] [ 2.01050319e-01 9.79501015e-01 -1.25112447e-02 9.84670293e+01] [ 6.68837211e-02 -9.83940066e-04 9.97760292e-01 3.22086145e+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:254.09, Y:98.47, Z:32.21 [[ 9.74755365e-01 -2.13387819e-01 -6.57085831e-02 2.54086251e+02] [ 2.13027680e-01 9.76965928e-01 -1.25212735e-02 9.84663572e+01] [ 6.68669341e-02 -1.79256845e-03 9.97760292e-01 3.22081972e+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:254.12, Y:98.47, Z:32.21 [[ 9.71784810e-01 -2.26532918e-01 -6.57047992e-02 2.54116567e+02] [ 2.26201328e-01 9.73999836e-01 -1.25410979e-02 9.84663962e+01] [ 6.68374352e-02 -2.67526437e-03 9.97760292e-01 3.22080473e+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:254.14, Y:98.47, Z:32.21 [[ 9.70436072e-01 -2.32245046e-01 -6.56967940e-02 2.54144861e+02] [ 2.31923661e-01 9.72652602e-01 -1.25829898e-02 9.84704017e+01] [ 6.68224947e-02 -3.02565379e-03 9.97760292e-01 3.22073517e+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:254.17, Y:98.48, Z:32.21 [[ 9.68205124e-01 -2.41375750e-01 -6.57007187e-02 2.54172958e+02] [ 2.41076646e-01 9.70424771e-01 -1.25624642e-02 9.84767028e+01] [ 6.67898791e-02 -3.67586672e-03 9.97760292e-01 3.22126682e+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:254.20, Y:98.48, Z:32.22 [[ 9.68094599e-01 -2.41819663e-01 -6.56970237e-02 2.54198480e+02] [ 2.41520271e-01 9.70314206e-01 -1.25817579e-02 9.84826528e+01] [ 6.67892719e-02 -3.68683114e-03 9.97760292e-01 3.22176338e+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:254.23, Y:98.49, Z:32.23 [[ 9.67522512e-01 -2.44127509e-01 -6.55892432e-02 2.54226405e+02] [ 2.43795140e-01 9.69737629e-01 -1.31476682e-02 9.84948130e+01] [ 6.68140647e-02 -3.26967376e-03 9.97760086e-01 3.22256362e+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:254.25, Y:98.51, Z:32.23 [[ 9.68117460e-01 -2.41741022e-01 -6.56495371e-02 2.54252311e+02] [ 2.41424604e-01 9.70334751e-01 -1.28308627e-02 9.85063836e+01] [ 6.68037732e-02 -3.42763126e-03 9.97760245e-01 3.22306109e+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:254.28, Y:98.52, Z:32.23 [[ 9.68402010e-01 -2.40605271e-01 -6.56250766e-02 2.54280690e+02] [ 2.40277568e-01 9.70617714e-01 -1.29593452e-02 9.85170391e+01] [ 6.68149486e-02 -3.21837791e-03 9.97760194e-01 3.22268217e+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:254.30, Y:98.53, Z:32.23 [[ 9.69932489e-01 -2.34334929e-01 -6.57123188e-02 2.54304406e+02] [ 2.34023874e-01 9.72150481e-01 -1.25007823e-02 9.85321429e+01] [ 6.68116322e-02 -3.25333650e-03 9.97760303e-01 3.22315954e+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:254.33, Y:98.55, Z:32.23 [[ 9.71125815e-01 -2.29364052e-01 -6.56260844e-02 2.54328932e+02] [ 2.29011133e-01 9.73337623e-01 -1.29527374e-02 9.85466913e+01] [ 6.68472293e-02 -2.45036628e-03 9.97760214e-01 3.22328737e+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:254.36, Y:98.56, Z:32.24 [[ 9.71480320e-01 -2.27865069e-01 -6.56010566e-02 2.54355859e+02] [ 2.27499927e-01 9.73690202e-01 -1.30833695e-02 9.85563051e+01] [ 6.68563489e-02 -2.21399959e-03 9.97760155e-01 3.22358341e+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:254.38, Y:98.57, Z:32.23 [[ 9.71805598e-01 -2.26475347e-01 -6.55957059e-02 2.54381949e+02] [ 2.26105166e-01 9.74014656e-01 -1.31112475e-02 9.85688524e+01] [ 6.68605532e-02 -2.08994428e-03 9.97760141e-01 3.22315079e+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:254.41, Y:98.59, Z:32.22 [[ 9.69761466e-01 -2.35075806e-01 -6.55901290e-02 2.54411613e+02] [ 2.34723242e-01 9.71973420e-01 -1.31403841e-02 9.85854296e+01] [ 6.68408484e-02 -2.65248959e-03 9.97760124e-01 3.22182636e+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:254.44, Y:98.59, Z:32.24 [[ 9.73377713e-01 -2.19589072e-01 -6.56998261e-02 2.54436325e+02] [ 2.19239933e-01 9.75590039e-01 -1.25669499e-02 9.85887920e+01] [ 6.68556607e-02 -2.17163657e-03 9.97760294e-01 3.22374964e+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:254.46, Y:98.60, Z:32.24 [[ 9.74149839e-01 -2.16180046e-01 -6.55612606e-02 2.54463571e+02] [ 2.15774143e-01 9.76352784e-01 -1.32950889e-02 9.86000526e+01] [ 6.68850523e-02 -1.19501617e-03 9.97759972e-01 3.22402034e+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:254.49, Y:98.61, Z:32.25 [[ 9.76980196e-01 -2.03007266e-01 -6.55572029e-02 2.54489621e+02] [ 2.02570231e-01 9.79177194e-01 -1.33163200e-02 9.86134074e+01] [ 6.68954276e-02 -2.70156831e-04 9.97759956e-01 3.22450575e+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:254.52, Y:98.62, Z:32.25 [[ 9.78038357e-01 -1.97850595e-01 -6.55447439e-02 2.54518558e+02] [ 1.97397586e-01 9.80232176e-01 -1.33818266e-02 9.86215711e+01] [ 6.68966694e-02 1.49565455e-04 9.97759898e-01 3.22469326e+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:254.55, Y:98.63, Z:32.24 [[ 9.79229845e-01 -1.91879662e-01 -6.55065337e-02 2.54548877e+02] [ 1.91399826e-01 9.81418164e-01 -1.35828352e-02 9.86318351e+01] [ 6.68955719e-02 7.62778491e-04 9.97759691e-01 3.22410770e+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:254.58, Y:98.64, Z:32.24 [[ 9.81019206e-01 -1.82477258e-01 -6.56000572e-02 2.54579132e+02] [ 1.82009383e-01 9.83209661e-01 -1.30899621e-02 9.86420322e+01] [ 6.68872304e-02 9.01678284e-04 9.97760134e-01 3.22430870e+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:254.61, Y:98.65, Z:32.24 [[ 9.81940480e-01 -1.77437898e-01 -6.56405840e-02 2.54610463e+02] [ 1.76973102e-01 9.84131464e-01 -1.28756445e-02 9.86497227e+01] [ 6.68835913e-02 1.02649871e-03 9.97760258e-01 3.22446379e+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:254.64, Y:98.66, Z:32.24 [[ 9.83504191e-01 -1.68553283e-01 -6.56452304e-02 2.54641074e+02] [ 1.68070339e-01 9.85691235e-01 -1.28510580e-02 9.86559610e+01] [ 6.68720163e-02 1.60605322e-03 9.97760269e-01 3.22432609e+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:254.67, Y:98.66, Z:32.24 [[ 9.83923358e-01 -1.66055377e-01 -6.57300319e-02 2.54670428e+02] [ 1.65596871e-01 9.86115549e-01 -1.24016385e-02 9.86613300e+01] [ 6.68767653e-02 1.31757421e-03 9.97760373e-01 3.22442876e+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:254.70, Y:98.66, Z:32.24 [[ 9.84708608e-01 -1.61333797e-01 -6.57294654e-02 2.54696870e+02] [ 1.60864580e-01 9.86898532e-01 -1.24046405e-02 9.86618386e+01] [ 6.68696006e-02 1.64141340e-03 9.97760373e-01 3.22442337e+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:254.73, Y:98.67, Z:32.25 [[ 9.84410013e-01 -1.63187079e-01 -6.56269980e-02 2.54726950e+02] [ 1.62685886e-01 9.86592977e-01 -1.29460558e-02 9.86662552e+01] [ 6.68597643e-02 2.06764065e-03 9.97760240e-01 3.22458066e+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:254.76, Y:98.67, Z:32.25 [[ 9.84723700e-01 -1.61243943e-01 -6.57238564e-02 2.54755107e+02] [ 1.60772559e-01 9.86913156e-01 -1.24341340e-02 9.86667338e+01] [ 6.68686674e-02 1.67759386e-03 9.97760376e-01 3.22485403e+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:254.78, Y:98.67, Z:32.25 [[ 9.84639080e-01 -1.61760437e-01 -6.57224718e-02 2.54783560e+02] [ 1.61289714e-01 9.86828677e-01 -1.24414483e-02 9.86709499e+01] [ 6.68693541e-02 1.64997749e-03 9.97760376e-01 3.22530801e+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:254.81, Y:98.67, Z:32.26 [[ 9.84380782e-01 -1.63326582e-01 -6.57183615e-02 2.54812709e+02] [ 1.62857896e-01 9.86570817e-01 -1.24631224e-02 9.86710893e+01] [ 6.68713767e-02 1.56570410e-03 9.97760376e-01 3.22595578e+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:254.84, Y:98.67, Z:32.26 [[ 9.83678165e-01 -1.67507938e-01 -6.57142116e-02 2.54842353e+02] [ 1.67047104e-01 9.85869865e-01 -1.24849651e-02 9.86660906e+01] [ 6.68769917e-02 1.30381879e-03 9.97760376e-01 3.22610430e+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:254.87, Y:98.66, Z:32.26 [[ 9.83723227e-01 -1.67244976e-01 -6.57094488e-02 2.54867517e+02] [ 1.66781885e-01 9.85914450e-01 -1.25099821e-02 9.86634832e+01] [ 6.68761268e-02 1.34721417e-03 9.97760376e-01 3.22613681e+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:254.90, Y:98.66, Z:32.26 [[ 9.82486837e-01 -1.74408872e-01 -6.55832399e-02 2.54899250e+02] [ 1.73917565e-01 9.84672123e-01 -1.31715962e-02 9.86615139e+01] [ 6.68752313e-02 1.53484250e-03 9.97760165e-01 3.22639665e+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:254.93, Y:98.66, Z:32.26 [[ 9.82036467e-01 -1.76881056e-01 -6.57074503e-02 2.54926813e+02] [ 1.76438814e-01 9.84231985e-01 -1.25197829e-02 9.86635249e+01] [ 6.68858866e-02 7.01538738e-04 9.97760385e-01 3.22646041e+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:254.95, Y:98.67, Z:32.27 [[ 9.81329024e-01 -1.80765457e-01 -6.57053769e-02 2.54954996e+02] [ 1.80331178e-01 9.83526130e-01 -1.25306549e-02 9.86660015e+01] [ 6.68880646e-02 4.47967344e-04 9.97760385e-01 3.22662972e+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:254.98, Y:98.66, Z:32.27 [[ 9.80046805e-01 -1.87594471e-01 -6.57006498e-02 2.54982655e+02] [ 1.87173844e-01 9.82246565e-01 -1.25553912e-02 9.86639372e+01] [ 6.68895596e-02 7.42783464e-06 9.97760385e-01 3.22684341e+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:255.01, Y:98.66, Z:32.27 [[ 9.79680842e-01 -1.89497075e-01 -6.56986110e-02 2.55007116e+02] [ 1.89080005e-01 9.81881279e-01 -1.25660508e-02 9.86571351e+01] [ 6.68894660e-02 -1.11574430e-04 9.97760386e-01 3.22707325e+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:255.04, Y:98.66, Z:32.27 [[ 9.78854370e-01 -1.93778850e-01 -6.55276975e-02 2.55039726e+02] [ 1.93311548e-01 9.81045106e-01 -1.34590319e-02 9.86593200e+01] [ 6.68937027e-02 5.07171607e-04 9.97759979e-01 3.22724565e+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:255.07, Y:98.66, Z:32.27 [[ 9.78781615e-01 -1.94087564e-01 -6.57005896e-02 2.55067593e+02] [ 1.93681596e-01 9.80984111e-01 -1.25543911e-02 9.86646936e+01] [ 6.68878857e-02 -4.36987862e-04 9.97760402e-01 3.22742445e+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:255.09, Y:98.66, Z:32.28 [[ 9.79589347e-01 -1.89970440e-01 -6.56958349e-02 2.55093228e+02] [ 1.89553550e-01 9.81789802e-01 -1.25792228e-02 9.86627339e+01] [ 6.68891812e-02 -1.30406104e-04 9.97760402e-01 3.22757507e+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:255.12, Y:98.67, Z:32.28 [[ 9.79793207e-01 -1.88960663e-01 -6.55678254e-02 2.55123421e+02] [ 1.88496933e-01 9.81984463e-01 -1.32446211e-02 9.86675976e+01] [ 6.68892982e-02 6.17655747e-04 9.97760212e-01 3.22776263e+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:255.15, Y:98.66, Z:32.28 [[ 9.82500010e-01 -1.74295974e-01 -6.56859405e-02 2.55147759e+02] [ 1.73840560e-01 9.84692811e-01 -1.26304191e-02 9.86631766e+01] [ 6.68819046e-02 9.90506254e-04 9.97760407e-01 3.22810951e+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:255.18, Y:98.67, Z:32.28 [[ 9.83142816e-01 -1.70737128e-01 -6.54143462e-02 2.55177801e+02] [ 1.70180013e-01 9.85313002e-01 -1.40375050e-02 9.86657908e+01] [ 6.68503291e-02 2.66865788e-03 9.97759446e-01 3.22846904e+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:255.21, Y:98.66, Z:32.29 [[ 9.84628117e-01 -1.61924579e-01 -6.54820713e-02 2.55205815e+02] [ 1.61371435e-01 9.86798852e-01 -1.36852248e-02 9.86635130e+01] [ 6.68336070e-02 2.90792135e-03 9.97759897e-01 3.22911387e+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:255.23, Y:98.66, Z:32.29 [[ 9.85777787e-01 -1.54786689e-01 -6.54464405e-02 2.55234470e+02] [ 1.54205599e-01 9.87941426e-01 -1.38697950e-02 9.86632051e+01] [ 6.68041094e-02 3.58032824e-03 9.97759687e-01 3.22937111e+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:255.27, Y:98.67, Z:32.29 [[ 9.85647001e-01 -1.55629168e-01 -6.54182781e-02 2.55267675e+02] [ 1.55040252e-01 9.87808725e-01 -1.40158171e-02 9.86688176e+01] [ 6.68020158e-02 3.67218181e-03 9.97759493e-01 3.22940792e+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:255.30, Y:98.67, Z:32.29 [[ 9.86556578e-01 -1.49637845e-01 -6.56858788e-02 2.55296851e+02] [ 1.49128109e-01 9.88737300e-01 -1.26237510e-02 9.86668588e+01] [ 6.68350694e-02 2.65843366e-03 9.97760495e-01 3.22932931e+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:255.32, Y:98.66, Z:32.30 [[ 9.87029478e-01 -1.46488164e-01 -6.56812645e-02 2.55321713e+02] [ 1.45969878e-01 9.89208183e-01 -1.26477141e-02 9.86626775e+01] [ 6.68251847e-02 2.89618043e-03 9.97760496e-01 3.22956740e+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:255.36, Y:98.67, Z:32.29 [[ 9.86636288e-01 -1.49198820e-01 -6.54870053e-02 2.55357223e+02] [ 1.48619878e-01 9.88800154e-01 -1.36523609e-02 9.86670693e+01] [ 6.67904771e-02 3.73724391e-03 9.97760024e-01 3.22917880e+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:255.38, Y:98.66, Z:32.29 [[ 9.85439100e-01 -1.56777474e-01 -6.58073272e-02 2.55381002e+02] [ 1.56325663e-01 9.87632767e-01 -1.19918201e-02 9.86584843e+01] [ 6.68735199e-02 1.52983433e-03 9.97760288e-01 3.22941926e+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:255.41, Y:98.66, Z:32.30 [[ 9.84607088e-01 -1.62031090e-01 -6.55347928e-02 2.55414001e+02] [ 1.61496182e-01 9.86782164e-01 -1.34143168e-02 9.86612656e+01] [ 6.68421011e-02 2.62421254e-03 9.97760115e-01 3.22951206e+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:255.43, Y:98.66, Z:32.29 [[ 9.82241055e-01 -1.75734271e-01 -6.57265184e-02 2.55433268e+02] [ 1.75296644e-01 9.84437411e-01 -1.24124875e-02 9.86624103e+01] [ 6.68849430e-02 6.70416737e-04 9.97760470e-01 3.22925857e+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:255.47, Y:98.66, Z:32.31 [[ 9.82555698e-01 -1.74139099e-01 -6.52677183e-02 2.55467625e+02] [ 1.73540331e-01 9.84715887e-01 -1.47775478e-02 9.86599111e+01] [ 6.68435080e-02 3.19318237e-03 9.97758362e-01 3.23051340e+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:255.50, Y:98.66, Z:32.31 [[ 9.81445753e-01 -1.80194194e-01 -6.55308063e-02 2.55496896e+02] [ 1.79699003e-01 9.83630062e-01 -1.34227415e-02 9.86552097e+01] [ 6.68767711e-02 1.39787204e-03 9.97760264e-01 3.23050116e+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:255.52, Y:98.66, Z:32.30 [[ 9.79360874e-01 -1.91210029e-01 -6.55057506e-02 2.55516723e+02] [ 1.90730773e-01 9.81548837e-01 -1.35518682e-02 9.86625768e+01] [ 6.68883464e-02 7.78206996e-04 9.97760163e-01 3.23034399e+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:255.55, Y:98.66, Z:32.31 [[ 9.79139190e-01 -1.92454866e-01 -6.51733903e-02 2.55552782e+02] [ 1.91865264e-01 9.81302831e-01 -1.52471003e-02 9.86562641e+01] [ 6.68892110e-02 2.42452372e-03 9.97757463e-01 3.23088736e+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:255.58, Y:98.66, Z:32.31 [[ 9.78084121e-01 -1.97646570e-01 -6.54773619e-02 2.55584461e+02] [ 1.97174181e-01 9.80273241e-01 -1.36643934e-02 9.86601775e+01] [ 6.68864263e-02 4.54481060e-04 9.97760492e-01 3.23117305e+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:255.63, Y:98.66, Z:32.29 [[ 9.79021816e-01 -1.92895830e-01 -6.56314136e-02 2.55630998e+02] [ 1.92466655e-01 9.81219240e-01 -1.28603825e-02 9.86586156e+01] [ 6.68795199e-02 -4.12636468e-05 9.97761058e-01 3.22949747e+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:255.64, Y:98.67, Z:32.31 [[ 9.76086569e-01 -2.07005124e-01 -6.63617917e-02 2.55638734e+02] [ 2.06866598e-01 9.78327507e-01 -9.02778102e-03 9.86650167e+01] [ 6.67923632e-02 -4.91614226e-03 9.97754785e-01 3.23090848e+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:255.67, Y:98.66, Z:32.30 [[ 9.76757581e-01 -2.04096256e-01 -6.54931041e-02 2.55673912e+02] [ 2.03647349e-01 9.78950818e-01 -1.35297496e-02 9.86625276e+01] [ 6.68758991e-02 -1.22211547e-04 9.97761294e-01 3.22958194e+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:255.70, Y:98.68, Z:32.32 [[ 9.72967398e-01 -2.21407492e-01 -6.56746896e-02 2.55697454e+02] [ 2.21061056e-01 9.75178735e-01 -1.25874634e-02 9.86773548e+01] [ 6.68315194e-02 -2.27092470e-03 9.97761690e-01 3.23208268e+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:255.72, Y:98.68, Z:32.32 [[ 9.72609463e-01 -2.22986189e-01 -6.56352939e-02 2.55723418e+02] [ 2.22629572e-01 9.74819186e-01 -1.27916959e-02 9.86841460e+01] [ 6.68349154e-02 -2.17103289e-03 9.97761685e-01 3.23225598e+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:255.75, Y:98.69, Z:32.33 [[ 9.72189017e-01 -2.24846371e-01 -6.55181221e-02 2.55752504e+02] [ 2.24453186e-01 9.74392777e-01 -1.33971673e-02 9.86942628e+01] [ 6.68526894e-02 -1.68117237e-03 9.97761440e-01 3.23261375e+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:255.78, Y:98.70, Z:32.32 [[ 9.72440339e-01 -2.23729133e-01 -6.56129723e-02 2.55782599e+02] [ 2.23366441e-01 9.74649089e-01 -1.29068736e-02 9.87012256e+01] [ 6.68372673e-02 -2.10457156e-03 9.97761670e-01 3.23245158e+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:255.81, Y:98.71, Z:32.32 [[ 9.73576906e-01 -2.18702511e-01 -6.57055500e-02 2.55807171e+02] [ 2.18360641e-01 9.75788994e-01 -1.24285674e-02 9.87110632e+01] [ 6.68329114e-02 -2.24733984e-03 9.97761651e-01 3.23238231e+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:255.84, Y:98.73, Z:32.31 [[ 9.71361122e-01 -2.28370388e-01 -6.56089618e-02 2.55835715e+02] [ 2.28016897e-01 9.73571359e-01 -1.29268995e-02 9.87301436e+01] [ 6.68271271e-02 -2.40326429e-03 9.97761675e-01 3.23059011e+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:255.86, Y:98.73, Z:32.33 [[ 9.75489791e-01 -2.10023929e-01 -6.56476765e-02 2.55864195e+02] [ 2.09642276e-01 9.77695318e-01 -1.27272141e-02 9.87328006e+01] [ 6.68564454e-02 -1.34726083e-03 9.97761695e-01 3.23309940e+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:255.89, Y:98.74, Z:32.34 [[ 9.75926370e-01 -2.07986695e-01 -6.56449249e-02 2.55890904e+02] [ 2.07599483e-01 9.78130927e-01 -1.27414052e-02 9.87418171e+01] [ 6.68593740e-02 -1.19317922e-03 9.97761695e-01 3.23356220e+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:255.92, Y:98.75, Z:32.34 [[ 9.76577052e-01 -2.04911886e-01 -6.56382563e-02 2.55917262e+02] [ 2.04515427e-01 9.78779966e-01 -1.27757315e-02 9.87534820e+01] [ 6.68633094e-02 -9.47549796e-04 9.97761695e-01 3.23405957e+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:255.95, Y:98.76, Z:32.34 [[ 9.76374818e-01 -2.05889754e-01 -6.55867615e-02 2.55948087e+02] [ 2.05477751e-01 9.78574910e-01 -1.30399054e-02 9.87627625e+01] [ 6.68663422e-02 -7.44784961e-04 9.97761664e-01 3.23396572e+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:255.98, Y:98.77, Z:32.34 [[ 9.75912851e-01 -2.08035837e-01 -6.56901663e-02 2.55975006e+02] [ 2.07664211e-01 9.78120157e-01 -1.25113526e-02 9.87690720e+01] [ 6.68556855e-02 -1.43150680e-03 9.97761629e-01 3.23425509e+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:256.00, Y:98.78, Z:32.34 [[ 9.74875288e-01 -2.12865156e-01 -6.56246825e-02 2.56003596e+02] [ 2.12481981e-01 9.77080552e-01 -1.28453443e-02 9.87766804e+01] [ 6.68549272e-02 -1.42145383e-03 9.97761694e-01 3.23436900e+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:256.04, Y:98.78, Z:32.33 [[ 9.75434703e-01 -2.10290899e-01 -6.56115649e-02 2.56036416e+02] [ 2.09897409e-01 9.77638150e-01 -1.29121852e-02 9.87771097e+01] [ 6.68596840e-02 -1.17670395e-03 9.97761694e-01 3.23252543e+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:256.06, Y:98.79, Z:32.34 [[ 9.72754313e-01 -2.22333526e-01 -6.57027413e-02 2.56062731e+02] [ 2.21998594e-01 9.74967522e-01 -1.24481347e-02 9.87903795e+01] [ 6.68256765e-02 -2.47693946e-03 9.97761592e-01 3.23438360e+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:256.09, Y:98.80, Z:32.35 [[ 9.71542215e-01 -2.27558449e-01 -6.57485900e-02 2.56090089e+02] [ 2.27251176e-01 9.73759571e-01 -1.22148164e-02 9.87996186e+01] [ 6.68029035e-02 -3.07423461e-03 9.97761455e-01 3.23453915e+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:256.12, Y:98.81, Z:32.34 [[ 9.70738361e-01 -2.30972913e-01 -6.57156597e-02 2.56115888e+02] [ 2.30662137e-01 9.72955119e-01 -1.23820252e-02 9.88085056e+01] [ 6.67982999e-02 -3.13840765e-03 9.97761563e-01 3.23416257e+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:256.14, Y:98.82, Z:32.34 [[ 9.70355348e-01 -2.32592411e-01 -6.56602602e-02 2.56143360e+02] [ 2.32266425e-01 9.72569784e-01 -1.26618903e-02 9.88168975e+01] [ 6.68042446e-02 -2.96414099e-03 9.97761698e-01 3.23437512e+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:256.17, Y:98.83, Z:32.34 [[ 9.70069838e-01 -2.33784507e-01 -6.56453670e-02 2.56169798e+02] [ 2.33456169e-01 9.72283902e-01 -1.27369973e-02 9.88301939e+01] [ 6.68036462e-02 -2.96953895e-03 9.97761722e-01 3.23418000e+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:256.20, Y:98.84, Z:32.34 [[ 9.70075775e-01 -2.33756147e-01 -6.56586186e-02 2.56195817e+02] [ 2.33432262e-01 9.72290516e-01 -1.26701100e-02 9.88391782e+01] [ 6.68009682e-02 -3.03587311e-03 9.97761702e-01 3.23449009e+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:256.22, Y:98.85, Z:32.35 [[ 9.70832961e-01 -2.30594610e-01 -6.56466910e-02 2.56220873e+02] [ 2.30259450e-01 9.73046004e-01 -1.27302755e-02 9.88501343e+01] [ 6.68127833e-02 -2.75679989e-03 9.97761721e-01 3.23475762e+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:256.25, Y:98.86, Z:32.35 [[ 9.70984734e-01 -2.29965950e-01 -6.56072347e-02 2.56248938e+02] [ 2.29615962e-01 9.73195437e-01 -1.29287503e-02 9.88602826e+01] [ 6.68218337e-02 -2.51084914e-03 9.97761764e-01 3.23480319e+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:256.27, Y:98.87, Z:32.35 [[ 9.72230326e-01 -2.24626518e-01 -6.56591201e-02 2.56272029e+02] [ 2.24281963e-01 9.74441953e-01 -1.26681087e-02 9.88737693e+01] [ 6.68265944e-02 -2.40983686e-03 9.97761695e-01 3.23512315e+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:256.30, Y:98.89, Z:32.35 [[ 9.72545331e-01 -2.23280491e-01 -6.55850779e-02 2.56299498e+02] [ 2.22907853e-01 9.74752310e-01 -1.30392866e-02 9.88856827e+01] [ 6.68406245e-02 -1.93813162e-03 9.97761782e-01 3.23538995e+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:256.32, Y:98.90, Z:32.36 [[ 9.72999956e-01 -2.21283288e-01 -6.56109189e-02 2.56323783e+02] [ 2.20914846e-01 9.75207654e-01 -1.29097588e-02 9.89006536e+01] [ 6.68409842e-02 -1.93323126e-03 9.97761768e-01 3.23589266e+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:256.35, Y:98.91, Z:32.36 [[ 9.72815907e-01 -2.22109028e-01 -6.55499157e-02 2.56351750e+02] [ 2.21721912e-01 9.75020391e-01 -1.32147978e-02 9.89095415e+01] [ 6.68476304e-02 -1.67828711e-03 9.97761784e-01 3.23618597e+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:256.38, Y:98.92, Z:32.37 [[ 9.72854091e-01 -2.21927976e-01 -6.55964230e-02 2.56376691e+02] [ 2.21556098e-01 9.75061204e-01 -1.29824552e-02 9.89201315e+01] [ 6.68416972e-02 -1.90325287e-03 9.97761778e-01 3.23687605e+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:256.40, Y:98.93, Z:32.37 [[ 9.72554222e-01 -2.23247738e-01 -6.55647205e-02 2.56404910e+02] [ 2.22868198e-01 9.74760017e-01 -1.31406381e-02 9.89300737e+01] [ 6.68434858e-02 -1.83230799e-03 9.97761791e-01 3.23749099e+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:256.43, Y:98.94, Z:32.38 [[ 9.74344251e-01 -2.15268288e-01 -6.56722470e-02 2.56428854e+02] [ 2.14906841e-01 9.76553226e-01 -1.26034366e-02 9.89395527e+01] [ 6.68455649e-02 -1.83332913e-03 9.97761650e-01 3.23766849e+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:256.45, Y:98.95, Z:32.38 [[ 9.75134565e-01 -2.11694126e-01 -6.55604894e-02 2.56454945e+02] [ 2.11287126e-01 9.77335438e-01 -1.31602354e-02 9.89500532e+01] [ 6.68605341e-02 -1.01908701e-03 9.97761810e-01 3.23771096e+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:256.48, Y:98.96, Z:32.38 [[ 9.77294644e-01 -2.01488661e-01 -6.55553059e-02 2.56482758e+02] [ 2.01056947e-01 9.79490803e-01 -1.31860054e-02 9.89649659e+01] [ 6.68676498e-02 -2.93737263e-04 9.97761811e-01 3.23776835e+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:256.51, Y:98.97, Z:32.38 [[ 9.78549948e-01 -1.95285499e-01 -6.56016191e-02 2.56508467e+02] [ 1.94855279e-01 9.80746432e-01 -1.29559740e-02 9.89733672e+01] [ 6.68686677e-02 -1.04754132e-04 9.97761780e-01 3.23781078e+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:256.54, Y:98.98, Z:32.38 [[ 9.80423023e-01 -1.85672002e-01 -6.55484894e-02 2.56536244e+02] [ 1.85202626e-01 9.82611436e-01 -1.32194300e-02 9.89839826e+01] [ 6.68631733e-02 8.20881166e-04 9.97761816e-01 3.23763142e+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:256.56, Y:98.99, Z:32.38 [[ 9.80660147e-01 -1.84408147e-01 -6.55691424e-02 2.56564846e+02] [ 1.83942792e-01 9.82849425e-01 -1.31170850e-02 9.89925499e+01] [ 6.68634912e-02 8.02431413e-04 9.97761810e-01 3.23763790e+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:256.59, Y:99.00, Z:32.37 [[ 9.81914585e-01 -1.77566773e-01 -6.56794353e-02 2.56588713e+02] [ 1.77122702e-01 9.84108499e-01 -1.25702360e-02 9.89972378e+01] [ 6.68677468e-02 7.09578974e-04 9.97761595e-01 3.23730441e+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:256.62, Y:99.00, Z:32.37 [[ 9.81969657e-01 -1.77323097e-01 -6.55142184e-02 2.56616532e+02] [ 1.76823880e-01 9.84151451e-01 -1.33879233e-02 9.90015796e+01] [ 6.68499011e-02 1.56205619e-03 9.97761821e-01 3.23716336e+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:256.64, Y:99.01, Z:32.37 [[ 9.81488500e-01 -1.79977738e-01 -6.54854090e-02 2.56644969e+02] [ 1.79474917e-01 9.83669499e-01 -1.35303995e-02 9.90067680e+01] [ 6.68511701e-02 1.52694317e-03 9.97761790e-01 3.23725190e+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:256.67, Y:99.01, Z:32.37 [[ 9.80868047e-01 -1.83314407e-01 -6.55263500e-02 2.56673115e+02] [ 1.82832517e-01 9.83053729e-01 -1.33280414e-02 9.90120321e+01] [ 6.68591447e-02 1.09270249e-03 9.97761826e-01 3.23745678e+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:256.70, Y:99.01, Z:32.38 [[ 9.79828274e-01 -1.88789216e-01 -6.55376707e-02 2.56701810e+02] [ 1.88323277e-01 9.82017410e-01 -1.32721406e-02 9.90143609e+01] [ 6.68647706e-02 6.62149705e-04 9.97761827e-01 3.23787107e+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:256.73, Y:99.02, Z:32.38 [[ 9.79385508e-01 -1.91051675e-01 -6.55994228e-02 2.56728454e+02] [ 1.90611169e-01 9.81579961e-01 -1.29677855e-02 9.90165138e+01] [ 6.68685960e-02 1.96478525e-04 9.97761771e-01 3.23771112e+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:256.76, Y:99.01, Z:32.38 [[ 9.78485417e-01 -1.95634002e-01 -6.55257633e-02 2.56756123e+02] [ 1.95179510e-01 9.80676946e-01 -1.33298965e-02 9.90138217e+01] [ 6.68673865e-02 2.53823000e-04 9.97761839e-01 3.23779720e+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:256.78, Y:99.02, Z:32.38 [[ 9.77527247e-01 -2.00397393e-01 -6.54321502e-02 2.56783876e+02] [ 1.99922832e-01 9.79714615e-01 -1.37889307e-02 9.90162270e+01] [ 6.68680996e-02 3.97674665e-04 9.97761745e-01 3.23783682e+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:256.81, Y:99.01, Z:32.39 [[ 9.76174840e-01 -2.06885904e-01 -6.54286207e-02 2.56811948e+02] [ 2.06424726e-01 9.78365076e-01 -1.38061839e-02 9.90149892e+01] [ 6.68693823e-02 -2.88356933e-05 9.97761738e-01 3.23854634e+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:256.84, Y:99.02, Z:32.39 [[ 9.76145964e-01 -2.07013031e-01 -6.54573249e-02 2.56839765e+02] [ 2.06561544e-01 9.78338169e-01 -1.36658814e-02 9.90207700e+01] [ 6.68684149e-02 -1.81071140e-04 9.97761786e-01 3.23873502e+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:256.87, Y:99.02, Z:32.39 [[ 9.75063181e-01 -2.12055453e-01 -6.54544015e-02 2.56866959e+02] [ 2.11614344e-01 9.77257501e-01 -1.36801574e-02 9.90206068e+01] [ 6.68667568e-02 -5.12072457e-04 9.97761783e-01 3.23916313e+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:256.89, Y:99.02, Z:32.40 [[ 9.74471603e-01 -2.14758057e-01 -6.54528270e-02 2.56894886e+02] [ 2.14322518e-01 9.76667037e-01 -1.36878313e-02 9.90215888e+01] [ 6.68651906e-02 -6.89611778e-04 9.97761781e-01 3.23976397e+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:256.93, Y:99.02, Z:32.40 [[ 9.71712064e-01 -2.26931639e-01 -6.54041023e-02 2.56925301e+02] [ 2.26507643e-01 9.73909844e-01 -1.39249372e-02 9.90214433e+01] [ 6.68577079e-02 -1.28349957e-03 9.97761695e-01 3.23975174e+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:256.97, Y:99.01, Z:32.38 [[ 9.75061697e-01 -2.12047484e-01 -6.55022985e-02 2.56969726e+02] [ 2.11622006e-01 9.77259076e-01 -1.34471079e-02 9.90071747e+01] [ 6.68641411e-02 -7.49967924e-04 9.97761807e-01 3.23800432e+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:256.98, Y:99.02, Z:32.41 [[ 9.69386439e-01 -2.36509191e-01 -6.59798034e-02 2.56982018e+02] [ 2.36297375e-01 9.71617285e-01 -1.11086662e-02 9.90249181e+01] [ 6.67344191e-02 -4.82226394e-03 9.97759121e-01 3.24070876e+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:257.01, Y:99.03, Z:32.41 [[ 9.67508447e-01 -2.44213698e-01 -6.54757623e-02 2.57010003e+02] [ 2.43853568e-01 9.69717260e-01 -1.35599971e-02 9.90283847e+01] [ 6.68045138e-02 -2.84708652e-03 9.97762021e-01 3.24094553e+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:257.04, Y:99.03, Z:32.41 [[ 9.66476981e-01 -2.48276033e-01 -6.54313068e-02 2.57036774e+02] [ 2.47910602e-01 9.68684964e-01 -1.37758096e-02 9.90308140e+01] [ 6.68025264e-02 -2.90711180e-03 9.97761981e-01 3.24142130e+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:257.06, Y:99.04, Z:32.42 [[ 9.66204566e-01 -2.49350988e-01 -6.53668153e-02 2.57064362e+02] [ 2.48966665e-01 9.68409530e-01 -1.40919315e-02 9.90355891e+01] [ 6.68156839e-02 -2.65846947e-03 9.97761794e-01 3.24211223e+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:257.09, Y:99.04, Z:32.42 [[ 9.66097210e-01 -2.49770034e-01 -6.53537315e-02 2.57093623e+02] [ 2.49382370e-01 9.68301633e-01 -1.41555730e-02 9.90435013e+01] [ 6.68177629e-02 -2.62240885e-03 9.97761750e-01 3.24195819e+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:257.12, Y:99.05, Z:32.42 [[ 9.66852503e-01 -2.46825066e-01 -6.53729671e-02 2.57119753e+02] [ 2.46436988e-01 9.69056792e-01 -1.40622026e-02 9.90506673e+01] [ 6.68210218e-02 -2.51424133e-03 9.97761810e-01 3.24198542e+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:257.15, Y:99.06, Z:32.40 [[ 9.71048212e-01 -2.29780280e-01 -6.53176298e-02 2.57152769e+02] [ 2.29335341e-01 9.73241950e-01 -1.43320399e-02 9.90574707e+01] [ 6.68630775e-02 -1.06253920e-03 9.97761595e-01 3.24023206e+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:257.18, Y:99.06, Z:32.41 [[ 9.73277262e-01 -2.20090882e-01 -6.55085886e-02 2.57183593e+02] [ 2.19686823e-01 9.75478436e-01 -1.33985495e-02 9.90626751e+01] [ 6.68511142e-02 -1.35087013e-03 9.97762048e-01 3.24085802e+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:257.20, Y:99.08, Z:32.43 [[ 9.74246061e-01 -2.15727225e-01 -6.56229957e-02 2.57201114e+02] [ 2.15350956e-01 9.76452317e-01 -1.28389114e-02 9.90829805e+01] [ 6.68474289e-02 -1.62371604e-03 9.97761888e-01 3.24255286e+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:257.23, Y:99.09, Z:32.42 [[ 9.76015144e-01 -2.07662799e-01 -6.53498368e-02 2.57228754e+02] [ 2.07178921e-01 9.78200428e-01 -1.41710172e-02 9.90905988e+01] [ 6.68680314e-02 2.92018666e-04 9.97761786e-01 3.24201269e+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:257.26, Y:99.10, Z:32.42 [[ 9.78445595e-01 -1.95891716e-01 -6.53502404e-02 2.57255181e+02] [ 1.95381686e-01 9.80624921e-01 -1.41690095e-02 9.91029668e+01] [ 6.68596659e-02 1.09536474e-03 9.97761788e-01 3.24189050e+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:257.28, Y:99.11, Z:32.42 [[ 9.79232889e-01 -1.91926696e-01 -6.53229890e-02 2.57281436e+02] [ 1.91398872e-01 9.81408112e-01 -1.43034756e-02 9.91122885e+01] [ 6.68537301e-02 1.50368732e-03 9.97761654e-01 3.24206678e+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:257.31, Y:99.12, Z:32.42 [[ 9.80056715e-01 -1.87688188e-01 -6.52838386e-02 2.57308826e+02] [ 1.87138243e-01 9.82226650e-01 -1.44943605e-02 9.91213097e+01] [ 6.68439464e-02 1.98819246e-03 9.97761461e-01 3.24234504e+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:257.34, Y:99.13, Z:32.43 [[ 9.80285679e-01 -1.86470247e-01 -6.53363230e-02 2.57336055e+02] [ 1.85934712e-01 9.82458944e-01 -1.42375099e-02 9.91262125e+01] [ 6.68451269e-02 1.80853668e-03 9.97761724e-01 3.24253854e+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:257.36, Y:99.13, Z:32.43 [[ 9.79798061e-01 -1.89032387e-01 -6.52879527e-02 2.57364247e+02] [ 1.88486750e-01 9.81969061e-01 -1.44743987e-02 9.91313838e+01] [ 6.68468797e-02 1.87607376e-03 9.97761482e-01 3.24251874e+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:257.39, Y:99.14, Z:32.43 [[ 9.79212606e-01 -1.92039341e-01 -6.52959785e-02 2.57392710e+02] [ 1.91502991e-01 9.81385874e-01 -1.44350816e-02 9.91375928e+01] [ 6.68526545e-02 1.63063861e-03 9.97761526e-01 3.24265487e+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:257.42, Y:99.14, Z:32.43 [[ 9.78181134e-01 -1.97216848e-01 -6.53236949e-02 2.57418665e+02] [ 1.96701054e-01 9.80359230e-01 -1.42995161e-02 9.91429266e+01] [ 6.68607927e-02 1.13827724e-03 9.97761664e-01 3.24276258e+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:257.45, Y:99.15, Z:32.43 [[ 9.77988080e-01 -1.98172531e-01 -6.53219975e-02 2.57445651e+02] [ 1.97658311e-01 9.80166556e-01 -1.43078192e-02 9.91467720e+01] [ 6.68618541e-02 1.08144088e-03 9.97761656e-01 3.24274684e+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:257.47, Y:99.15, Z:32.43 [[ 9.77373893e-01 -2.01212319e-01 -6.52217474e-02 2.57473733e+02] [ 2.00672174e-01 9.79546688e-01 -1.47974649e-02 9.91507720e+01] [ 6.68651789e-02 1.37446604e-03 9.97761073e-01 3.24346399e+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:257.50, Y:99.17, Z:32.43 [[ 9.75536017e-01 -2.09926519e-01 -6.52712475e-02 2.57504625e+02] [ 2.09421960e-01 9.77717022e-01 -1.45556610e-02 9.91657296e+01] [ 6.68724290e-02 5.30338966e-04 9.97761393e-01 3.24265301e+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:257.53, Y:99.16, Z:32.44 [[ 9.76620758e-01 -2.04743366e-01 -6.55137283e-02 2.57529855e+02] [ 2.04306789e-01 9.78815634e-01 -1.33675170e-02 9.91590178e+01] [ 6.68627719e-02 -3.29904904e-04 9.97762126e-01 3.24410682e+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:257.56, Y:99.16, Z:32.44 [[ 9.75924417e-01 -2.08117861e-01 -6.52570975e-02 2.57560362e+02] [ 2.07604687e-01 9.78103487e-01 -1.46240404e-02 9.91607447e+01] [ 6.68717186e-02 7.24278834e-04 9.97761319e-01 3.24376944e+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:257.59, Y:99.16, Z:32.44 [[ 9.75487571e-01 -2.10140109e-01 -6.53079892e-02 2.57585531e+02] [ 2.09648258e-01 9.77671226e-01 -1.43729544e-02 9.91629212e+01] [ 6.68700761e-02 3.28932263e-04 9.97761637e-01 3.24374112e+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:257.62, Y:99.17, Z:32.44 [[ 9.73869077e-01 -2.17570136e-01 -6.51326053e-02 2.57618196e+02] [ 2.17037489e-01 9.76044441e-01 -1.52308135e-02 9.91676629e+01] [ 6.68860875e-02 6.96601141e-04 9.97760375e-01 3.24379924e+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:257.65, Y:99.17, Z:32.44 [[ 9.72007710e-01 -2.25675356e-01 -6.53578263e-02 2.57650397e+02] [ 2.25235390e-01 9.74202054e-01 -1.41201174e-02 9.91746792e+01] [ 6.68582911e-02 -9.96032538e-04 9.97761984e-01 3.24439443e+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:257.68, Y:99.18, Z:32.45 [[ 9.72308766e-01 -2.24323906e-01 -6.55320493e-02 2.57675297e+02] [ 2.23938806e-01 9.74513009e-01 -1.32591685e-02 9.91759035e+01] [ 6.68361830e-02 -1.78316314e-03 9.97762369e-01 3.24475459e+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:257.71, Y:99.19, Z:32.42 [[ 9.68712870e-01 -2.39424573e-01 -6.53548018e-02 2.57705552e+02] [ 2.39014975e-01 9.70913046e-01 -1.41314685e-02 9.91905646e+01] [ 6.68372505e-02 -1.93144092e-03 9.97762021e-01 3.24196475e+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:257.73, Y:99.20, Z:32.43 [[ 9.68841676e-01 -2.38856434e-01 -6.55241241e-02 2.57730146e+02] [ 2.38501809e-01 9.71051013e-01 -1.32972290e-02 9.91969955e+01] [ 6.68033958e-02 -2.74471258e-03 9.97762383e-01 3.24254100e+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:257.76, Y:99.19, Z:32.45 [[ 9.72211049e-01 -2.24810903e-01 -6.53125883e-02 2.57760740e+02] [ 2.24354496e-01 9.74402148e-01 -1.43357841e-02 9.91874579e+01] [ 6.68635669e-02 -7.15765094e-04 9.97761871e-01 3.24497695e+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:257.79, Y:99.19, Z:32.45 [[ 9.72934838e-01 -2.21661098e-01 -6.53005206e-02 2.57789483e+02] [ 2.21193585e-01 9.75123667e-01 -1.43955645e-02 9.91920503e+01] [ 6.68670198e-02 -4.38109967e-04 9.97761800e-01 3.24516402e+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:257.82, Y:99.20, Z:32.46 [[ 9.73780235e-01 -2.17907770e-01 -6.53319087e-02 2.57816621e+02] [ 2.17442261e-01 9.75969307e-01 -1.42398894e-02 9.91989838e+01] [ 6.68649202e-02 -3.39395171e-04 9.97761979e-01 3.24556471e+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:257.84, Y:99.20, Z:32.45 [[ 9.76627499e-01 -2.04779042e-01 -6.53014017e-02 2.57836149e+02] [ 2.04273995e-01 9.78807965e-01 -1.43910721e-02 9.92022317e+01] [ 6.68645221e-02 7.15338571e-04 9.97761807e-01 3.24494726e+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:257.87, Y:99.22, Z:32.47 [[ 9.76355486e-01 -2.06205936e-01 -6.48774062e-02 2.57867162e+02] [ 2.05567942e-01 9.78504870e-01 -1.64329152e-02 9.92161708e+01] [ 6.68714226e-02 2.70765205e-03 9.97757927e-01 3.24655629e+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:257.90, Y:99.22, Z:32.47 [[ 9.77387777e-01 -2.01158502e-01 -6.51796818e-02 2.57898450e+02] [ 2.00606672e-01 9.79557468e-01 -1.49709918e-02 9.92226523e+01] [ 6.68587864e-02 1.55698539e-03 9.97761233e-01 3.24684169e+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:257.92, Y:99.23, Z:32.47 [[ 9.80392837e-01 -1.85901828e-01 -6.53482724e-02 2.57924611e+02] [ 1.85370880e-01 9.82566750e-01 -1.41499008e-02 9.92269702e+01] [ 6.68395320e-02 1.75879459e-03 9.97762188e-01 3.24738281e+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:257.95, Y:99.23, Z:32.48 [[ 9.82803073e-01 -1.72746288e-01 -6.52444606e-02 2.57952157e+02] [ 1.72152806e-01 9.84961254e-01 -1.46540121e-02 9.92288705e+01] [ 6.67946919e-02 3.16999115e-03 9.97761705e-01 3.24755746e+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:257.98, Y:99.24, Z:32.48 [[ 9.82889979e-01 -1.72245897e-01 -6.52582522e-02 2.57981248e+02] [ 1.71655769e-01 9.85048994e-01 -1.45868382e-02 9.92365200e+01] [ 6.67950987e-02 3.13530160e-03 9.97761788e-01 3.24796570e+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:258.02, Y:99.23, Z:32.46 [[ 9.85827228e-01 -1.54513479e-01 -6.53472452e-02 2.58016912e+02] [ 1.53913244e-01 9.87983006e-01 -1.41524634e-02 9.92262734e+01] [ 6.67487141e-02 3.89407724e-03 9.97762219e-01 3.24558338e+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:258.04, Y:99.24, Z:32.49 [[ 9.83408300e-01 -1.69168252e-01 -6.54997521e-02 2.58038098e+02] [ 1.68649665e-01 9.85584867e-01 -1.34075176e-02 9.92392135e+01] [ 6.68236908e-02 2.13855288e-03 9.97762507e-01 3.24851293e+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:258.07, Y:99.23, Z:32.48 [[ 9.82930860e-01 -1.71967042e-01 -6.53778365e-02 2.58068183e+02] [ 1.71415237e-01 9.85099392e-01 -1.40001886e-02 9.92348887e+01] [ 6.68112380e-02 2.55446011e-03 9.97762363e-01 3.24833655e+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:258.10, Y:99.23, Z:32.48 [[ 9.81907956e-01 -1.77713521e-01 -6.53809596e-02 2.58100543e+02] [ 1.77175420e-01 9.84079921e-01 -1.39850055e-02 9.92324684e+01] [ 6.68254141e-02 2.14808925e-03 9.97762371e-01 3.24807139e+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:258.13, Y:99.23, Z:32.48 [[ 9.81249501e-01 -1.81289401e-01 -6.54489928e-02 2.58129242e+02] [ 1.80781268e-01 9.83428544e-01 -1.36540301e-02 9.92334673e+01] [ 6.68397386e-02 1.56605829e-03 9.97762495e-01 3.24813046e+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:258.16, Y:99.23, Z:32.49 [[ 9.79722035e-01 -1.89383761e-01 -6.54104400e-02 2.58159594e+02] [ 1.88881131e-01 9.81902407e-01 -1.38412823e-02 9.92290372e+01] [ 6.68479826e-02 1.20581133e-03 9.97762443e-01 3.24852973e+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:258.19, Y:99.23, Z:32.49 [[ 9.78852554e-01 -1.93804194e-01 -6.54798612e-02 2.58189011e+02] [ 1.93333958e-01 9.81040072e-01 -1.35040202e-02 9.92307002e+01] [ 6.68555034e-02 5.58963933e-04 9.97762511e-01 3.24879837e+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:258.19, Y:99.23, Z:32.48 [[ 9.76662591e-01 -2.04556277e-01 -6.54745217e-02 2.58191571e+02] [ 2.04108388e-01 9.78854794e-01 -1.35299227e-02 9.92304160e+01] [ 6.68576800e-02 -1.49729740e-04 9.97762511e-01 3.24814560e+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:258.25, Y:99.23, Z:32.49 [[ 9.78512219e-01 -1.95864344e-01 -6.44282304e-02 2.58245294e+02] [ 1.95058601e-01 9.80614659e-01 -1.86288201e-02 9.92292375e+01] [ 6.68279888e-02 5.66124755e-03 9.97748450e-01 3.24895127e+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:258.27, Y:99.23, Z:32.49 [[ 9.78154925e-01 -1.97296542e-01 -6.54753143e-02 2.58274067e+02] [ 1.96837917e-01 9.80343819e-01 -1.34473252e-02 9.92319692e+01] [ 6.68414305e-02 2.65542879e-04 9.97763576e-01 3.24917524e+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:258.31, Y:99.23, Z:32.49 [[ 9.78065804e-01 -1.97732930e-01 -6.54902449e-02 2.58306028e+02] [ 1.97280234e-01 9.80255917e-01 -1.33733473e-02 9.92315377e+01] [ 6.68415512e-02 1.60082847e-04 9.97763590e-01 3.24874227e+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:258.36, Y:99.23, Z:32.48 [[ 9.79302382e-01 -1.91486776e-01 -6.55717886e-02 2.58356723e+02] [ 1.91047121e-01 9.81495178e-01 -1.29696948e-02 9.92343546e+01] [ 6.68419194e-02 1.73951546e-04 9.97763563e-01 3.24786692e+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:258.36, Y:99.23, Z:32.49 [[ 9.77462402e-01 -2.00348152e-01 -6.65422476e-02 2.58361513e+02] [ 2.00257911e-01 9.79709797e-01 -8.09213896e-03 9.92331074e+01] [ 6.68133370e-02 -5.41584989e-03 9.97750794e-01 3.24858609e+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:258.39, Y:99.23, Z:32.49 [[ 9.76500545e-01 -2.05318806e-01 -6.55047618e-02 2.58391124e+02] [ 2.04893265e-01 9.78695013e-01 -1.32220404e-02 9.92349113e+01] [ 6.68239172e-02 -5.10154881e-04 9.97764654e-01 3.24903940e+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:258.42, Y:99.24, Z:32.49 [[ 9.76078941e-01 -2.07302751e-01 -6.55398362e-02 2.58419466e+02] [ 2.06893295e-01 9.78276491e-01 -1.30488544e-02 9.92374254e+01] [ 6.68211444e-02 -8.23040695e-04 9.97764630e-01 3.24916707e+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:258.45, Y:99.24, Z:32.50 [[ 9.74928981e-01 -2.12648235e-01 -6.55302188e-02 2.58447523e+02] [ 2.12247638e-01 9.77128153e-01 -1.30963007e-02 9.92384641e+01] [ 6.68163269e-02 -1.14067106e-03 9.97764640e-01 3.24968451e+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:258.48, Y:99.24, Z:32.50 [[ 9.74162178e-01 -2.16136309e-01 -6.55221062e-02 2.58475197e+02] [ 2.15740899e-01 9.76362281e-01 -1.31362562e-02 9.92419344e+01] [ 6.68125350e-02 -1.33895418e-03 9.97764648e-01 3.24995669e+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:258.50, Y:99.24, Z:32.51 [[ 9.72978171e-01 -2.21410161e-01 -6.55058805e-02 2.58504421e+02] [ 2.21021308e-01 9.75179429e-01 -1.32160119e-02 9.92432004e+01] [ 6.68061464e-02 -1.61930429e-03 9.97764660e-01 3.25101493e+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:258.53, Y:99.25, Z:32.51 [[ 9.72543835e-01 -2.23306350e-01 -6.55191815e-02 2.58530547e+02] [ 2.22926185e-01 9.74746621e-01 -1.31506974e-02 9.92479659e+01] [ 6.68012350e-02 -1.81631146e-03 9.97764650e-01 3.25144088e+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:258.56, Y:99.25, Z:32.51 [[ 9.72286824e-01 -2.24428702e-01 -6.54987825e-02 2.58557963e+02] [ 2.24044345e-01 9.74488866e-01 -1.32507345e-02 9.92547455e+01] [ 6.68016794e-02 -1.79111720e-03 9.97764665e-01 3.25135653e+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:258.59, Y:99.26, Z:32.51 [[ 9.72211213e-01 -2.24759964e-01 -6.54852310e-02 2.58586567e+02] [ 2.24371891e-01 9.74412597e-01 -1.33170733e-02 9.92624585e+01] [ 6.68027790e-02 -1.74603710e-03 9.97764672e-01 3.25129461e+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:258.61, Y:99.27, Z:32.51 [[ 9.72160001e-01 -2.24966879e-01 -6.55349955e-02 2.58614225e+02] [ 2.24595662e-01 9.74364340e-01 -1.30737074e-02 9.92682843e+01] [ 6.67961138e-02 -2.00914028e-03 9.97764623e-01 3.25148361e+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:258.64, Y:99.27, Z:32.51 [[ 9.72919826e-01 -2.21658334e-01 -6.55331607e-02 2.58640286e+02] [ 2.21279017e-01 9.75122782e-01 -1.30826729e-02 9.92749569e+01] [ 6.68027614e-02 -1.77272158e-03 9.97764626e-01 3.25122741e+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:258.67, Y:99.29, Z:32.50 [[ 9.70001523e-01 -2.34114555e-01 -6.54783982e-02 2.58666288e+02] [ 2.33745497e-01 9.72206164e-01 -1.33498271e-02 9.92933345e+01] [ 6.67838911e-02 -2.35592816e-03 9.97764682e-01 3.24963939e+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:258.70, Y:99.29, Z:32.52 [[ 9.72754686e-01 -2.22403318e-01 -6.54605667e-02 2.58697359e+02] [ 2.22001865e-01 9.74953654e-01 -1.34366992e-02 9.92929189e+01] [ 6.68093852e-02 -1.46175578e-03 9.97764686e-01 3.25153728e+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:258.72, Y:99.30, Z:32.52 [[ 9.72961984e-01 -2.21449703e-01 -6.56125508e-02 2.58722883e+02] [ 2.21095726e-01 9.75169423e-01 -1.26994474e-02 9.92999327e+01] [ 6.67956422e-02 -2.15057503e-03 9.97764360e-01 3.25189970e+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:258.75, Y:99.31, Z:32.52 [[ 9.72656049e-01 -2.22830140e-01 -6.54747233e-02 2.58749546e+02] [ 2.22434410e-01 9.74856033e-01 -1.33659579e-02 9.93082223e+01] [ 6.68067673e-02 -1.56335168e-03 9.97764708e-01 3.25221848e+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:258.78, Y:99.31, Z:32.53 [[ 9.72454548e-01 -2.23706700e-01 -6.54787373e-02 2.58777468e+02] [ 2.23314258e-01 9.74655124e-01 -1.33465621e-02 9.93148602e+01] [ 6.68049022e-02 -1.64341060e-03 9.97764704e-01 3.25275329e+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:258.80, Y:99.32, Z:32.53 [[ 9.72011872e-01 -2.25625078e-01 -6.54694186e-02 2.58804017e+02] [ 2.25233953e-01 9.74212674e-01 -1.33915113e-02 9.93236889e+01] [ 6.68025981e-02 -1.72922797e-03 9.97764713e-01 3.25343616e+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:258.83, Y:99.35, Z:32.51 [[ 9.68289629e-01 -2.41102503e-01 -6.54582109e-02 2.58828763e+02] [ 2.40742894e-01 9.70495790e-01 -1.34454744e-02 9.93461530e+01] [ 6.67686556e-02 -2.73948572e-03 9.97764723e-01 3.25121972e+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:258.86, Y:99.34, Z:32.54 [[ 9.72464965e-01 -2.23677122e-01 -6.54250422e-02 2.58858080e+02] [ 2.23267229e-01 9.74662326e-01 -1.36049836e-02 9.93409148e+01] [ 6.68104474e-02 -1.37689789e-03 9.97764736e-01 3.25364498e+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:258.89, Y:99.35, Z:32.54 [[ 9.72953504e-01 -2.21528921e-01 -6.54707323e-02 2.58887270e+02] [ 2.21128928e-01 9.75152718e-01 -1.33855871e-02 9.93492057e+01] [ 6.68092572e-02 -1.45391892e-03 9.97764706e-01 3.25372635e+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:258.92, Y:99.35, Z:32.51 [[ 9.77240504e-01 -2.01775631e-01 -6.54797072e-02 2.58916828e+02] [ 2.01334059e-01 9.79431761e-01 -1.33425161e-02 9.93506879e+01] [ 6.68250995e-02 -1.44448071e-04 9.97764694e-01 3.25096749e+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:258.94, Y:99.37, Z:32.54 [[ 9.75528592e-01 -2.09917070e-01 -6.54124642e-02 2.58942032e+02] [ 2.09472190e-01 9.77719124e-01 -1.36644303e-02 9.93702848e+01] [ 6.68234144e-02 -3.72049676e-04 9.97764748e-01 3.25354307e+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:258.97, Y:99.38, Z:32.53 [[ 9.76188935e-01 -2.06805294e-01 -6.54731558e-02 2.58968927e+02] [ 2.06372885e-01 9.78382012e-01 -1.33742295e-02 9.93789724e+01] [ 6.68236194e-02 -4.56109235e-04 9.97764700e-01 3.25349120e+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:259.00, Y:99.39, Z:32.54 [[ 9.77139097e-01 -2.02290427e-01 -6.54046515e-02 2.58996556e+02] [ 2.01825969e-01 9.79325558e-01 -1.37014745e-02 9.93892130e+01] [ 6.68241240e-02 1.87889282e-04 9.97764752e-01 3.25420615e+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:259.02, Y:99.40, Z:32.55 [[ 9.77649406e-01 -1.99808964e-01 -6.54065572e-02 2.59022439e+02] [ 1.99339565e-01 9.79834811e-01 -1.36923735e-02 9.93959704e+01] [ 6.68234806e-02 3.48226174e-04 9.97764752e-01 3.25454253e+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:259.05, Y:99.40, Z:32.55 [[ 9.77889628e-01 -1.98654252e-01 -6.53327092e-02 2.59050838e+02] [ 1.98158741e-01 9.80069318e-01 -1.40444078e-02 9.94043884e+01] [ 6.68205651e-02 7.87633306e-04 9.97764698e-01 3.25504091e+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:259.08, Y:99.41, Z:32.55 [[ 9.78007507e-01 -1.98058695e-01 -6.53763673e-02 2.59078912e+02] [ 1.97575757e-01 9.80189969e-01 -1.38363928e-02 9.94110417e+01] [ 6.68216773e-02 6.15310814e-04 9.97764744e-01 3.25529273e+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:259.11, Y:99.42, Z:32.56 [[ 9.78342241e-01 -1.96395682e-01 -6.53849807e-02 2.59105545e+02] [ 1.95911775e-01 9.80524484e-01 -1.37953625e-02 9.94179359e+01] [ 6.68209241e-02 6.86898278e-04 9.97764748e-01 3.25563689e+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:259.13, Y:99.42, Z:32.56 [[ 9.78550357e-01 -1.95370315e-01 -6.53424807e-02 2.59132500e+02] [ 1.94870623e-01 9.80729071e-01 -1.39974773e-02 9.94237178e+01] [ 6.68179620e-02 9.63906476e-04 9.97764717e-01 3.25576557e+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:259.17, Y:99.42, Z:32.53 [[ 9.82496574e-01 -1.74445116e-01 -6.53405261e-02 2.59166552e+02] [ 1.73898430e-01 9.84663976e-01 -1.40067627e-02 9.94177636e+01] [ 6.67818736e-02 2.39898146e-03 9.97764715e-01 3.25293709e+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:259.19, Y:99.43, Z:32.56 [[ 9.80443674e-01 -1.85618700e-01 -6.53903697e-02 2.59189747e+02] [ 1.85112496e-01 9.82620857e-01 -1.37700787e-02 9.94312859e+01] [ 6.68099252e-02 1.39621201e-03 9.97764744e-01 3.25565388e+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:259.22, Y:99.44, Z:32.56 [[ 9.80892797e-01 -1.83275353e-01 -6.52645781e-02 2.59217968e+02] [ 1.82724238e-01 9.83059230e-01 -1.43667186e-02 9.94363117e+01] [ 6.67920113e-02 2.16679045e-03 9.97764568e-01 3.25562971e+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:259.25, Y:99.44, Z:32.55 [[ 9.81447085e-01 -1.80282193e-01 -6.52682979e-02 2.59248526e+02] [ 1.79725644e-01 9.83612117e-01 -1.43490727e-02 9.94380769e+01] [ 6.67855710e-02 2.35246870e-03 9.97764578e-01 3.25547958e+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:259.28, Y:99.44, Z:32.55 [[ 9.81698646e-01 -1.78898319e-01 -6.52928721e-02 2.59277144e+02] [ 1.78346457e-01 9.83864815e-01 -1.42325874e-02 9.94401518e+01] [ 6.67855455e-02 2.32735938e-03 9.97764639e-01 3.25548118e+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:259.31, Y:99.44, Z:32.55 [[ 9.81446083e-01 -1.80277417e-01 -6.52965429e-02 2.59307325e+02] [ 1.79729755e-01 9.83613310e-01 -1.42151943e-02 9.94380930e+01] [ 6.67892272e-02 2.21571514e-03 9.97764646e-01 3.25546776e+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:259.34, Y:99.44, Z:32.56 [[ 9.81301999e-01 -1.81059247e-01 -6.52988256e-02 2.59336408e+02] [ 1.80514031e-01 9.83469837e-01 -1.42043790e-02 9.94374612e+01] [ 6.67912595e-02 2.15143127e-03 9.97764651e-01 3.25592559e+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:259.37, Y:99.44, Z:32.56 [[ 9.81192929e-01 -1.81655183e-01 -6.52827003e-02 2.59365299e+02] [ 1.81106204e-01 9.83359854e-01 -1.42807742e-02 9.94407816e+01] [ 6.67905633e-02 2.18909261e-03 9.97764616e-01 3.25609004e+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:259.39, Y:99.44, Z:32.56 [[ 9.81006583e-01 -1.82667793e-01 -6.52576496e-02 2.59394313e+02] [ 1.82113156e-01 9.83172138e-01 -1.43995285e-02 9.94436825e+01] [ 6.67898330e-02 2.24175574e-03 9.97764548e-01 3.25629731e+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:259.42, Y:99.44, Z:32.57 [[ 9.80683766e-01 -1.84390706e-01 -6.52642263e-02 2.59423157e+02] [ 1.83841947e-01 9.82850797e-01 -1.43683604e-02 9.94431791e+01] [ 6.67943889e-02 2.09251535e-03 9.97764567e-01 3.25653936e+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:259.45, Y:99.45, Z:32.56 [[ 9.80200514e-01 -1.86941469e-01 -6.52674430e-02 2.59453238e+02] [ 1.86399363e-01 9.82369210e-01 -1.43531178e-02 9.94459956e+01] [ 6.67999194e-02 1.90312365e-03 9.97764576e-01 3.25649513e+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:259.48, Y:99.44, Z:32.57 [[ 9.79097865e-01 -1.92621712e-01 -6.53012043e-02 2.59483067e+02] [ 1.92102857e-01 9.81272158e-01 -1.41930945e-02 9.94449218e+01] [ 6.68121518e-02 1.35188058e-03 9.97764656e-01 3.25666689e+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:259.51, Y:99.44, Z:32.57 [[ 9.77528594e-01 -2.00431860e-01 -6.53063309e-02 2.59511383e+02] [ 1.99932002e-01 9.79707324e-01 -1.41688025e-02 9.94447840e+01] [ 6.68209701e-02 7.93584160e-04 9.97764666e-01 3.25735757e+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:259.54, Y:99.45, Z:32.58 [[ 9.76820507e-01 -2.03855588e-01 -6.53038705e-02 2.59538568e+02] [ 2.03362587e-01 9.79000803e-01 -1.41804634e-02 9.94478719e+01] [ 6.68233083e-02 5.71403423e-04 9.97764661e-01 3.25785150e+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:259.58, Y:99.45, Z:32.57 [[ 9.77817608e-01 -1.99029162e-01 -6.52695749e-02 2.59581273e+02] [ 1.98514542e-01 9.79992986e-01 -1.43431035e-02 9.94462729e+01] [ 6.68184214e-02 1.06797941e-03 9.97764580e-01 3.25715328e+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:259.60, Y:99.45, Z:32.58 [[ 9.73783079e-01 -2.17747947e-01 -6.58205657e-02 2.59595066e+02] [ 2.17451837e-01 9.76000720e-01 -1.17172203e-02 9.94541251e+01] [ 6.67923202e-02 -2.90277207e-03 9.97762677e-01 3.25823025e+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:259.62, Y:99.46, Z:32.59 [[ 9.72235025e-01 -2.24730476e-01 -6.52324306e-02 2.59623680e+02] [ 2.24263386e-01 9.74420813e-01 -1.44917967e-02 9.94569750e+01] [ 6.68205865e-02 -5.39813397e-04 9.97764861e-01 3.25857057e+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:259.65, Y:99.46, Z:32.59 [[ 9.71400789e-01 -2.28310302e-01 -6.52296968e-02 2.59653019e+02] [ 2.27850397e-01 9.73588111e-01 -1.45047356e-02 9.94626984e+01] [ 6.68184378e-02 -7.72700713e-04 9.97764852e-01 3.25869211e+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:259.68, Y:99.47, Z:32.59 [[ 9.69631365e-01 -2.35715685e-01 -6.52160430e-02 2.59679960e+02] [ 2.35268142e-01 9.71821299e-01 -1.45693110e-02 9.94685834e+01] [ 6.68125547e-02 -1.21639638e-03 9.97764803e-01 3.25850319e+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:259.71, Y:99.48, Z:32.59 [[ 9.68479038e-01 -2.40415072e-01 -6.51839341e-02 2.59707845e+02] [ 2.39967934e-01 9.70669189e-01 -1.47212577e-02 9.94757816e+01] [ 6.68112487e-02 -1.38482446e-03 9.97764671e-01 3.25888880e+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:259.73, Y:99.48, Z:32.59 [[ 9.66601188e-01 -2.47847871e-01 -6.52194427e-02 2.59733852e+02] [ 2.47428899e-01 9.68796752e-01 -1.45530893e-02 9.94836489e+01] [ 6.67913365e-02 -2.07014145e-03 9.97764818e-01 3.25936270e+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:259.76, Y:99.49, Z:32.60 [[ 9.65510459e-01 -2.52068192e-01 -6.52010781e-02 2.59761832e+02] [ 2.51652939e-01 9.67706806e-01 -1.46402500e-02 9.94905438e+01] [ 6.67858684e-02 -2.27272847e-03 9.97764743e-01 3.25980415e+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:259.79, Y:99.50, Z:32.60 [[ 9.64297949e-01 -2.56661495e-01 -6.52253195e-02 2.59790879e+02] [ 2.56264492e-01 9.66497563e-01 -1.45248102e-02 9.94999433e+01] [ 6.67680719e-02 -2.70868868e-03 9.97764846e-01 3.26046201e+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:259.82, Y:99.51, Z:32.61 [[ 9.64106091e-01 -2.57366266e-01 -6.52843773e-02 2.59818043e+02] [ 2.56989876e-01 9.66309128e-01 -1.42433303e-02 9.95090833e+01] [ 6.67506424e-02 -3.04534254e-03 9.97765041e-01 3.26066656e+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:259.84, Y:99.52, Z:32.60 [[ 9.64815401e-01 -2.54689955e-01 -6.53013744e-02 2.59844860e+02] [ 2.54312918e-01 9.67018286e-01 -1.41623929e-02 9.95235960e+01] [ 6.67546424e-02 -2.94288835e-03 9.97765081e-01 3.26027724e+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:259.87, Y:99.53, Z:32.60 [[ 9.65575194e-01 -2.51803242e-01 -6.52661645e-02 2.59871021e+02] [ 2.51408321e-01 9.67775032e-01 -1.43298156e-02 9.95340667e+01] [ 6.67712585e-02 -2.57194229e-03 9.97764994e-01 3.26047034e+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:259.90, Y:99.55, Z:32.61 [[ 9.68438729e-01 -2.40553471e-01 -6.52721704e-02 2.59896046e+02] [ 2.40134909e-01 9.70634174e-01 -1.43012531e-02 9.95505626e+01] [ 6.67956153e-02 -1.82423933e-03 9.97765011e-01 3.26084845e+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:259.92, Y:99.57, Z:32.61 [[ 9.71923019e-01 -2.26073244e-01 -6.52421178e-02 2.59921225e+02] [ 2.25612363e-01 9.74110068e-01 -1.44442689e-02 9.95685761e+01] [ 6.68184665e-02 -6.80710877e-04 9.97764917e-01 3.26113661e+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:259.95, Y:99.58, Z:32.61 [[ 9.73728922e-01 -2.18168221e-01 -6.52274092e-02 2.59947444e+02] [ 2.17684899e-01 9.75911176e-01 -1.45141897e-02 9.95798037e+01] [ 6.68226926e-02 -6.61356626e-05 9.97764864e-01 3.26140337e+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:259.97, Y:99.60, Z:32.62 [[ 9.76568341e-01 -2.05090732e-01 -6.52078817e-02 2.59972150e+02] [ 2.04572014e-01 9.78742528e-01 -1.46066552e-02 9.95964875e+01] [ 6.68174166e-02 9.24689306e-04 9.97764791e-01 3.26155004e+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:260.00, Y:99.60, Z:32.61 [[ 9.77657553e-01 -1.99857803e-01 -6.51350002e-02 2.60001131e+02] [ 1.99304447e-01 9.79823546e-01 -1.49517745e-02 9.96048865e+01] [ 6.68090357e-02 1.63602009e-03 9.97764439e-01 3.26147115e+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:260.03, Y:99.62, Z:32.61 [[ 9.78723761e-01 -1.94551635e-01 -6.51878862e-02 2.60026858e+02] [ 1.94003247e-01 9.80890733e-01 -1.47007036e-02 9.96157448e+01] [ 6.68022394e-02 1.74126635e-03 9.97764716e-01 3.26143982e+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:260.05, Y:99.62, Z:32.62 [[ 9.78854531e-01 -1.93897755e-01 -6.51725982e-02 2.60054749e+02] [ 1.93343080e-01 9.81019979e-01 -1.47734166e-02 9.96237193e+01] [ 6.68001532e-02 1.86035493e-03 9.97764641e-01 3.26179694e+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:260.08, Y:99.63, Z:32.62 [[ 9.78746240e-01 -1.94448237e-01 -6.51588949e-02 2.60081963e+02] [ 1.93890442e-01 9.80910961e-01 -1.48385912e-02 9.96305202e+01] [ 6.68004121e-02 1.88952839e-03 9.97764569e-01 3.26184132e+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:260.11, Y:99.63, Z:32.62 [[ 9.78597393e-01 -1.95180420e-01 -6.52054182e-02 2.60110533e+02] [ 1.94639021e-01 9.80766029e-01 -1.46166878e-02 9.96338108e+01] [ 6.68041504e-02 1.61233374e-03 9.97764805e-01 3.26156328e+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:260.14, Y:99.64, Z:32.62 [[ 9.78742197e-01 -1.94462472e-01 -6.51771382e-02 2.60137448e+02] [ 1.93910500e-01 9.80908308e-01 -1.47515696e-02 9.96398687e+01] [ 6.68014231e-02 1.79945217e-03 9.97764668e-01 3.26154626e+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:260.16, Y:99.65, Z:32.62 [[ 9.78964707e-01 -1.93349054e-01 -6.51478769e-02 2.60164420e+02] [ 1.92785370e-01 9.81127959e-01 -1.48905830e-02 9.96471481e+01] [ 6.67974836e-02 2.01779771e-03 9.97764514e-01 3.26192770e+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:260.20, Y:99.67, Z:32.59 [[ 9.75701201e-01 -2.09185796e-01 -6.51802848e-02 2.60196547e+02] [ 2.08667583e-01 9.77875606e-01 -1.47356695e-02 9.96666744e+01] [ 6.68207032e-02 7.76597881e-04 9.97764697e-01 3.25942971e+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:260.22, Y:99.66, Z:32.62 [[ 9.79252918e-01 -1.91796151e-01 -6.54061075e-02 2.60222188e+02] [ 1.91311433e-01 9.81434410e-01 -1.36541315e-02 9.96561629e+01] [ 6.68106144e-02 8.57911970e-04 9.97765306e-01 3.26206572e+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:260.25, Y:99.66, Z:32.63 [[ 9.77723894e-01 -1.99524521e-01 -6.51609745e-02 2.60248554e+02] [ 1.98979352e-01 9.79891652e-01 -1.48178601e-02 9.96586414e+01] [ 6.68072214e-02 1.52208744e-03 9.97764741e-01 3.26274811e+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:260.28, Y:99.66, Z:32.63 [[ 9.76585591e-01 -2.05050450e-01 -6.50760879e-02 2.60279274e+02] [ 2.04490754e-01 9.78750168e-01 -1.52197147e-02 9.96623146e+01] [ 6.68140413e-02 1.55589580e-03 9.97764232e-01 3.26315388e+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:260.31, Y:99.66, Z:32.64 [[ 9.73385174e-01 -2.19713604e-01 -6.51708158e-02 2.60308151e+02] [ 2.19216796e-01 9.75564413e-01 -1.47672547e-02 9.96642559e+01] [ 6.68228954e-02 8.76893994e-05 9.97764849e-01 3.26379608e+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:260.34, Y:99.67, Z:32.64 [[ 9.71422876e-01 -2.28222586e-01 -6.52077194e-02 2.60336588e+02] [ 2.27756704e-01 9.73608747e-01 -1.45908053e-02 9.96692468e+01] [ 6.68167573e-02 -6.77653182e-04 9.97765033e-01 3.26400768e+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:260.36, Y:99.67, Z:32.64 [[ 9.68122626e-01 -2.41841898e-01 -6.52002848e-02 2.60364803e+02] [ 2.41404368e-01 9.70314383e-01 -1.46263407e-02 9.96708863e+01] [ 6.68020361e-02 -1.57954216e-03 9.97764999e-01 3.26402318e+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:260.39, Y:99.68, Z:32.64 [[ 9.68162483e-01 -2.41678783e-01 -6.52132933e-02 2.60392509e+02] [ 2.41245069e-01 9.70354937e-01 -1.45641334e-02 9.96765310e+01] [ 6.67998831e-02 -1.63193782e-03 9.97765059e-01 3.26421222e+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:260.44, Y:99.68, Z:32.64 [[ 9.68973620e-01 -2.38405190e-01 -6.52157111e-02 2.60440093e+02] [ 2.37964847e-01 9.71164741e-01 -1.45525661e-02 9.96773660e+01] [ 6.68046065e-02 -1.41799407e-03 9.97765069e-01 3.26366814e+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:260.45, Y:99.68, Z:32.64 [[ 9.65525863e-01 -2.51802905e-01 -6.59932189e-02 2.60451295e+02] [ 2.51646759e-01 9.67758838e-01 -1.08046228e-02 9.96819282e+01] [ 6.65861563e-02 -6.17483694e-03 9.97761572e-01 3.26427701e+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:260.48, Y:99.69, Z:32.64 [[ 9.65344626e-01 -2.52690258e-01 -6.52486481e-02 2.60478030e+02] [ 2.52295407e-01 9.67543729e-01 -1.43582818e-02 9.96898089e+01] [ 6.67591182e-02 -2.60124411e-03 9.97765731e-01 3.26424288e+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:260.50, Y:99.70, Z:32.64 [[ 9.65339104e-01 -2.52721090e-01 -6.52109259e-02 2.60504557e+02] [ 2.52314180e-01 9.67536148e-01 -1.45381306e-02 9.96998434e+01] [ 6.67680202e-02 -2.41941532e-03 9.97765593e-01 3.26441317e+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:260.53, Y:99.71, Z:32.65 [[ 9.65830001e-01 -2.50829934e-01 -6.52438011e-02 2.60531881e+02] [ 2.50429291e-01 9.68028071e-01 -1.43813746e-02 9.97070839e+01] [ 6.67651102e-02 -2.44899575e-03 9.97765715e-01 3.26453656e+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:260.56, Y:99.72, Z:32.65 [[ 9.65265990e-01 -2.52990915e-01 -6.52469513e-02 2.60560268e+02] [ 2.52596207e-01 9.67465123e-01 -1.43663294e-02 9.97160203e+01] [ 6.67587006e-02 -2.61380321e-03 9.97765726e-01 3.26499855e+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:260.59, Y:99.72, Z:32.66 [[ 9.65286089e-01 -2.52892554e-01 -6.53308647e-02 2.60587332e+02] [ 2.52524656e-01 9.67489667e-01 -1.39657502e-02 9.97239385e+01] [ 6.67387708e-02 -3.01670977e-03 9.97765922e-01 3.26554235e+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:260.61, Y:99.73, Z:32.66 [[ 9.66804533e-01 -2.47021698e-01 -6.53397016e-02 2.60609859e+02] [ 2.46643260e-01 9.69006314e-01 -1.39235854e-02 9.97348945e+01] [ 6.67540111e-02 -2.65421158e-03 9.97765933e-01 3.26639129e+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:260.64, Y:99.75, Z:32.67 [[ 9.67458843e-01 -2.44479408e-01 -6.52166037e-02 2.60638338e+02] [ 2.44055712e-01 9.69652663e-01 -1.45093762e-02 9.97458915e+01] [ 6.67846972e-02 -1.87926033e-03 9.97765640e-01 3.26710615e+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:260.66, Y:99.76, Z:32.68 [[ 9.71185799e-01 -2.29192575e-01 -6.53368812e-02 2.60662152e+02] [ 2.28772792e-01 9.73380075e-01 -1.39369978e-02 9.97608916e+01] [ 6.67918748e-02 -1.41188636e-03 9.97765931e-01 3.26750393e+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:260.69, Y:99.78, Z:32.67 [[ 9.75539447e-01 -2.09900397e-01 -6.53039937e-02 2.60688040e+02] [ 2.09426756e-01 9.77722772e-01 -1.40931057e-02 9.97776801e+01] [ 6.68073502e-02 7.19769199e-05 9.97765891e-01 3.26739866e+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:260.71, Y:99.79, Z:32.67 [[ 9.77410389e-01 -2.01015307e-01 -6.52822954e-02 2.60713998e+02] [ 2.00514942e-01 9.79587786e-01 -1.41960637e-02 9.97885253e+01] [ 6.68033653e-02 7.85304446e-04 9.97765851e-01 3.26746690e+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:260.74, Y:99.80, Z:32.67 [[ 9.80019067e-01 -1.87894733e-01 -6.52548704e-02 2.60741584e+02] [ 1.87356572e-01 9.82187497e-01 -1.43260463e-02 9.97998262e+01] [ 6.67843064e-02 1.81386965e-03 9.97765787e-01 3.26682010e+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:260.77, Y:99.81, Z:32.67 [[ 9.80893698e-01 -1.83255586e-01 -6.53065395e-02 2.60770196e+02] [ 1.82723528e-01 9.83063509e-01 -1.40800873e-02 9.98064889e+01] [ 6.67807305e-02 1.87802759e-03 9.97765908e-01 3.26677089e+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:260.80, Y:99.81, Z:32.67 [[ 9.81622322e-01 -1.79308336e-01 -6.53156807e-02 2.60796334e+02] [ 1.78770442e-01 9.83790680e-01 -1.40366555e-02 9.98130982e+01] [ 6.67738473e-02 2.10218129e-03 9.97765922e-01 3.26672822e+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:260.82, Y:99.82, Z:32.67 [[ 9.82238642e-01 -1.75923290e-01 -6.52552432e-02 2.60820948e+02] [ 1.75358995e-01 9.84400380e-01 -1.43217949e-02 9.98154135e+01] [ 6.67568235e-02 2.62432650e-03 9.97765824e-01 3.26677930e+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:260.85, Y:99.82, Z:32.67 [[ 9.81926169e-01 -1.77704468e-01 -6.51315597e-02 2.60852771e+02] [ 1.77105320e-01 9.84079011e-01 -1.49065801e-02 9.98202418e+01] [ 6.67435667e-02 3.10201535e-03 9.97765340e-01 3.26701458e+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:260.88, Y:99.82, Z:32.67 [[ 9.81603805e-01 -1.79416693e-01 -6.52964092e-02 2.60881494e+02] [ 1.78873368e-01 9.83770749e-01 -1.41220058e-02 9.98181245e+01] [ 6.67704210e-02 2.18242600e-03 9.97765979e-01 3.26736319e+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:260.91, Y:99.82, Z:32.68 [[ 9.80153023e-01 -1.87195837e-01 -6.52515897e-02 2.60910598e+02] [ 1.86655540e-01 9.82320833e-01 -1.43349580e-02 9.98173138e+01] [ 6.67814404e-02 1.87088168e-03 9.97765874e-01 3.26785333e+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:260.94, Y:99.82, Z:32.68 [[ 9.79403765e-01 -1.91053881e-01 -6.53198196e-02 2.60938344e+02] [ 1.90543728e-01 9.81578722e-01 -1.40107498e-02 9.98187224e+01] [ 6.67933531e-02 1.27589923e-03 9.97766015e-01 3.26801296e+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:260.98, Y:99.80, Z:32.66 [[ 9.80585003e-01 -1.84908754e-01 -6.52824968e-02 2.60977366e+02] [ 1.84373180e-01 9.82753903e-01 -1.41879310e-02 9.98036028e+01] [ 6.67801012e-02 1.87613079e-03 9.97765954e-01 3.26557523e+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:261.00, Y:99.82, Z:32.68 [[ 9.76743129e-01 -2.04176380e-01 -6.54588839e-02 2.60998970e+02] [ 2.03739679e-01 9.78934072e-01 -1.33501226e-02 9.98188468e+01] [ 6.68057115e-02 -2.96931455e-04 9.97765959e-01 3.26813257e+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:261.03, Y:99.82, Z:32.68 [[ 9.76022145e-01 -2.07634592e-01 -6.53348952e-02 2.61029787e+02] [ 2.07166267e-01 9.78206457e-01 -1.39379344e-02 9.98153571e+01] [ 6.68050136e-02 6.85462396e-05 9.97766047e-01 3.26818599e+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:261.06, Y:99.83, Z:32.66 [[ 9.72635699e-01 -2.22959796e-01 -6.53354892e-02 2.61059992e+02] [ 2.22526074e-01 9.74827143e-01 -1.39351182e-02 9.98292870e+01] [ 6.67977794e-02 -9.85056431e-04 9.97766048e-01 3.26597205e+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:261.09, Y:99.82, Z:32.69 [[ 9.74401182e-01 -2.15103383e-01 -6.53671993e-02 2.61089772e+02] [ 2.14662074e-01 9.76591099e-01 -1.37847529e-02 9.98178434e+01] [ 6.68021720e-02 -5.99979033e-04 9.97766060e-01 3.26875349e+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:261.12, Y:99.82, Z:32.69 [[ 9.74057230e-01 -2.16649984e-01 -6.53857597e-02 2.61118237e+02] [ 2.16218053e-01 9.76249021e-01 -1.36968202e-02 9.98202643e+01] [ 6.68001997e-02 -7.96094843e-04 9.97766055e-01 3.26881842e+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:261.13, Y:99.82, Z:32.68 [[ 9.72118100e-01 -2.25189349e-01 -6.53923326e-02 2.61131091e+02] [ 2.24778758e-01 9.74313993e-01 -1.36657378e-02 9.98213749e+01] [ 6.67900433e-02 -1.41409621e-03 9.97766050e-01 3.26838351e+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:261.18, Y:99.82, Z:32.69 [[ 9.74538098e-01 -2.14682617e-01 -6.47060199e-02 2.61175820e+02] [ 2.14029949e-01 9.76680252e-01 -1.69371011e-02 9.98232051e+01] [ 6.68331930e-02 2.65682408e-03 9.97760625e-01 3.26949496e+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:261.20, Y:99.82, Z:32.70 [[ 9.75552586e-01 -2.09798681e-01 -6.54344355e-02 2.61203715e+02] [ 2.09369149e-01 9.77744423e-01 -1.34313900e-02 9.98242096e+01] [ 6.67960423e-02 -5.96924859e-04 9.97766472e-01 3.26963611e+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:261.23, Y:99.83, Z:32.70 [[ 9.76050464e-01 -2.07474782e-01 -6.54194607e-02 2.61231538e+02] [ 2.07035201e-01 9.78240299e-01 -1.35034546e-02 9.98295889e+01] [ 6.67975791e-02 -3.64078041e-04 9.97766481e-01 3.26979428e+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:261.26, Y:99.83, Z:32.70 [[ 9.77730974e-01 -1.99404954e-01 -6.54202405e-02 2.61258936e+02] [ 1.98947549e-01 9.79917155e-01 -1.34997056e-02 9.98340676e+01] [ 6.67983241e-02 1.83883805e-04 9.97766481e-01 3.26975745e+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:261.28, Y:99.84, Z:32.70 [[ 9.79513287e-01 -1.90463771e-01 -6.54008616e-02 2.61284810e+02] [ 1.89980199e-01 9.81693822e-01 -1.35927478e-02 9.98405481e+01] [ 6.67925478e-02 8.89408326e-04 9.97766488e-01 3.27014428e+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:261.31, Y:99.85, Z:32.70 [[ 9.80219074e-01 -1.86803966e-01 -6.53823029e-02 2.61311977e+02] [ 1.86306320e-01 9.82396440e-01 -1.36817149e-02 9.98462920e+01] [ 6.67871402e-02 1.22994160e-03 9.97766488e-01 3.27039052e+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:261.34, Y:99.85, Z:32.71 [[ 9.80818927e-01 -1.83632492e-01 -6.53707953e-02 2.61339904e+02] [ 1.83124138e-01 9.82993820e-01 -1.37367912e-02 9.98510338e+01] [ 6.67816090e-02 1.50233428e-03 9.97766486e-01 3.27052301e+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:261.37, Y:99.85, Z:32.70 [[ 9.81194092e-01 -1.81617641e-01 -6.53696198e-02 2.61369399e+02] [ 1.81104446e-01 9.83367849e-01 -1.37424131e-02 9.98538444e+01] [ 6.67782470e-02 1.64524577e-03 9.97766485e-01 3.27041915e+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:261.40, Y:99.86, Z:32.70 [[ 9.81418275e-01 -1.80401547e-01 -6.53716422e-02 2.61397731e+02] [ 1.79886302e-01 9.83591546e-01 -1.37327436e-02 9.98566008e+01] [ 6.67764028e-02 1.71810256e-03 9.97766486e-01 3.27043141e+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:261.42, Y:99.86, Z:32.71 [[ 9.81218661e-01 -1.81489752e-01 -6.53560173e-02 2.61424300e+02] [ 1.80971947e-01 9.83391331e-01 -1.38074088e-02 9.98579365e+01] [ 6.67764440e-02 1.72048148e-03 9.97766479e-01 3.27080639e+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:261.45, Y:99.86, Z:32.71 [[ 9.81053534e-01 -1.82392722e-01 -6.53211928e-02 2.61453612e+02] [ 1.81865850e-01 9.83224058e-01 -1.39736814e-02 9.98608886e+01] [ 6.67740661e-02 1.82923534e-03 9.97766445e-01 3.27111939e+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:261.48, Y:99.86, Z:32.71 [[ 9.80990555e-01 -1.82713124e-01 -6.53715928e-02 2.61481903e+02] [ 1.82202969e-01 9.83165030e-01 -1.37332203e-02 9.98587300e+01] [ 6.67803036e-02 1.56126113e-03 9.97766482e-01 3.27149534e+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:261.51, Y:99.86, Z:32.72 [[ 9.80891099e-01 -1.83258898e-01 -6.53362756e-02 2.61511579e+02] [ 1.82738747e-01 9.83063222e-01 -1.39015066e-02 9.98594842e+01] [ 6.67772643e-02 1.69639500e-03 9.97766465e-01 3.27161420e+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:261.54, Y:99.86, Z:32.72 [[ 9.80940234e-01 -1.82986617e-01 -6.53617297e-02 2.61538061e+02] [ 1.82473927e-01 9.83114117e-01 -1.37803864e-02 9.98621283e+01] [ 6.67796655e-02 1.59092402e-03 9.97766478e-01 3.27183462e+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:261.57, Y:99.86, Z:32.72 [[ 9.80866961e-01 -1.83382271e-01 -6.53524831e-02 2.61567704e+02] [ 1.82867531e-01 9.83040362e-01 -1.38243452e-02 9.98617484e+01] [ 6.67792685e-02 1.60899627e-03 9.97766476e-01 3.27224706e+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:261.60, Y:99.86, Z:32.72 [[ 9.80769236e-01 -1.83898086e-01 -6.53697216e-02 2.61595240e+02] [ 1.83389941e-01 9.82944187e-01 -1.37424858e-02 9.98642699e+01] [ 6.67820047e-02 1.49005795e-03 9.97766477e-01 3.27219552e+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:261.63, Y:99.86, Z:32.72 [[ 9.80115983e-01 -1.87356630e-01 -6.53464049e-02 2.61625499e+02] [ 1.86848783e-01 9.82291007e-01 -1.38531620e-02 9.98648659e+01] [ 6.67846676e-02 1.36780925e-03 9.97766474e-01 3.27186841e+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:261.65, Y:99.88, Z:32.70 [[ 9.76028391e-01 -2.07597216e-01 -6.53603584e-02 2.61654110e+02] [ 2.07138915e-01 9.78214388e-01 -1.37869775e-02 9.98816780e+01] [ 6.67985811e-02 -8.21922977e-05 9.97766477e-01 3.26968716e+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:261.68, Y:99.87, Z:32.72 [[ 9.77679905e-01 -1.99674636e-01 -6.53608695e-02 2.61684713e+02] [ 1.99198784e-01 9.79862149e-01 -1.37845538e-02 9.98694894e+01] [ 6.67970678e-02 4.57075512e-04 9.97766477e-01 3.27201770e+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:261.71, Y:99.87, Z:32.72 [[ 9.76536956e-01 -2.05195677e-01 -6.53475968e-02 2.61713281e+02] [ 2.04727955e-01 9.78720958e-01 -1.38474195e-02 9.98730562e+01] [ 6.67984931e-02 1.44037086e-04 9.97766476e-01 3.27239964e+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:261.74, Y:99.88, Z:32.73 [[ 9.74535835e-01 -2.14500686e-01 -6.53403535e-02 2.61741409e+02] [ 2.14051520e-01 9.76723731e-01 -1.38816799e-02 9.98758485e+01] [ 6.67971037e-02 -4.58007441e-04 9.97766474e-01 3.27318471e+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:261.77, Y:99.88, Z:32.73 [[ 9.73546734e-01 -2.18942740e-01 -6.53516063e-02 2.61768385e+02] [ 2.18507125e-01 9.75737367e-01 -1.38285029e-02 9.98806289e+01] [ 6.67936546e-02 -8.17097782e-04 9.97766476e-01 3.27347963e+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:261.80, Y:99.89, Z:32.74 [[ 9.71251739e-01 -2.28901493e-01 -6.53771049e-02 2.61795774e+02] [ 2.28496438e-01 9.73448236e-01 -1.37080381e-02 9.98854551e+01] [ 6.67790178e-02 -1.62447976e-03 9.97766468e-01 3.27370730e+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:261.82, Y:99.89, Z:32.74 [[ 9.69771430e-01 -2.35091239e-01 -6.53871779e-02 2.61822769e+02] [ 2.34703402e-01 9.71971041e-01 -1.36605038e-02 9.98910112e+01] [ 6.67659081e-02 -2.09902681e-03 9.97766459e-01 3.27368558e+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:261.85, Y:99.90, Z:32.73 [[ 9.67074677e-01 -2.45953401e-01 -6.53719727e-02 2.61850138e+02] [ 2.45585425e-01 9.69277683e-01 -1.37321437e-02 9.98970042e+01] [ 6.67410617e-02 -2.77439526e-03 9.97766472e-01 3.27343780e+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:261.88, Y:99.90, Z:32.74 [[ 9.65313935e-01 -2.52774189e-01 -6.53774865e-02 2.61877485e+02] [ 2.52423528e-01 9.67519769e-01 -1.37061871e-02 9.99046369e+01] [ 6.67185810e-02 -3.27204240e-03 9.97766468e-01 3.27350948e+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:261.90, Y:99.91, Z:32.74 [[ 9.64683161e-01 -2.55168755e-01 -6.53858283e-02 2.61904011e+02] [ 2.54826221e-01 9.66890279e-01 -1.36669469e-02 9.99117266e+01] [ 6.67082996e-02 -3.47774995e-03 9.97766460e-01 3.27363681e+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:261.93, Y:99.92, Z:32.74 [[ 9.64351785e-01 -2.56422947e-01 -6.53674804e-02 2.61931193e+02] [ 2.56077455e-01 9.66558424e-01 -1.37531436e-02 9.99192751e+01] [ 6.67081105e-02 -3.47626949e-03 9.97766477e-01 3.27381946e+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:261.96, Y:99.93, Z:32.74 [[ 9.64459673e-01 -2.56016457e-01 -6.53690563e-02 2.61957963e+02] [ 2.55670536e-01 9.66666246e-01 -1.37457475e-02 9.99306699e+01] [ 6.67091978e-02 -3.45572256e-03 9.97766476e-01 3.27388212e+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:261.98, Y:99.94, Z:32.74 [[ 9.64939927e-01 -2.54198835e-01 -6.53749894e-02 2.61984625e+02] [ 2.53850637e-01 9.67146149e-01 -1.37179241e-02 9.99399476e+01] [ 6.67142496e-02 -3.35851007e-03 9.97766470e-01 3.27400563e+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:262.01, Y:99.95, Z:32.74 [[ 9.66060615e-01 -2.49914830e-01 -6.53411457e-02 2.62011228e+02] [ 2.49546153e-01 9.68263480e-01 -1.38762944e-02 9.99542001e+01] [ 6.67353369e-02 -2.90029002e-03 9.97766497e-01 3.27401374e+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:262.04, Y:99.97, Z:32.74 [[ 9.67236485e-01 -2.45320173e-01 -6.53574388e-02 2.62035782e+02] [ 2.44946167e-01 9.69438462e-01 -1.38001374e-02 9.99675354e+01] [ 6.67454670e-02 -2.66105768e-03 9.97766486e-01 3.27432481e+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:262.06, Y:99.98, Z:32.75 [[ 9.67418655e-01 -2.44608297e-01 -6.53293782e-02 2.62061430e+02] [ 2.44223833e-01 9.69618813e-01 -1.39311730e-02 9.99774713e+01] [ 6.67522747e-02 -2.47771451e-03 9.97766503e-01 3.27487734e+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:262.09, Y:99.99, Z:32.76 [[ 9.66867975e-01 -2.46777036e-01 -6.53254459e-02 2.62086968e+02] [ 2.46396268e-01 9.69068774e-01 -1.39495261e-02 9.99937888e+01] [ 6.67472725e-02 -2.60859608e-03 9.97766504e-01 3.27586277e+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:262.11, Y:100.00, Z:32.76 [[ 9.66292887e-01 -2.49016978e-01 -6.53345343e-02 2.62112104e+02] [ 2.48644171e-01 9.68495053e-01 -1.39071455e-02 1.00004000e+02] [ 6.67392886e-02 -2.80667536e-03 9.97766501e-01 3.27628339e+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:262.14, Y:100.01, Z:32.76 [[ 9.66265773e-01 -2.49127510e-01 -6.53141618e-02 2.62139712e+02] [ 2.48748552e-01 9.68466882e-01 -1.40020307e-02 1.00010067e+02] [ 6.67428936e-02 -2.71712021e-03 9.97766507e-01 3.27647270e+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:262.17, Y:100.02, Z:32.77 [[ 9.65182866e-01 -2.53291006e-01 -6.53123389e-02 2.62166580e+02] [ 2.52920968e-01 9.67385492e-01 -1.40105160e-02 1.00021865e+02] [ 6.67309467e-02 -2.99615000e-03 9.97766508e-01 3.27651350e+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:262.19, Y:100.03, Z:32.76 [[ 9.64465797e-01 -2.56007511e-01 -6.53137154e-02 2.62193995e+02] [ 2.55644108e-01 9.66669527e-01 -1.40041118e-02 1.00030950e+02] [ 6.67219362e-02 -3.19057970e-03 9.97766507e-01 3.27646388e+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:262.22, Y:100.05, Z:32.76 [[ 9.64056149e-01 -2.57541398e-01 -6.53312307e-02 2.62219861e+02] [ 2.57187005e-01 9.66261354e-01 -1.39226904e-02 1.00045935e+02] [ 6.67127126e-02 -3.38008825e-03 9.97766500e-01 3.27646944e+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:262.25, Y:100.06, Z:32.77 [[ 9.64051941e-01 -2.57554864e-01 -6.53402426e-02 2.62246638e+02] [ 2.57203331e-01 9.66257610e-01 -1.38808348e-02 1.00058367e+02] [ 6.67105831e-02 -3.42388232e-03 9.97766493e-01 3.27655516e+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:262.27, Y:100.08, Z:32.77 [[ 9.64642828e-01 -2.55332109e-01 -6.53431564e-02 2.62271625e+02] [ 2.54976406e-01 9.66847832e-01 -1.38673156e-02 1.00077404e+02] [ 6.67176600e-02 -3.28395667e-03 9.97766490e-01 3.27665617e+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:262.30, Y:100.09, Z:32.77 [[ 9.65057538e-01 -2.53765285e-01 -6.53232584e-02 2.62298302e+02] [ 2.53399774e-01 9.67260920e-01 -1.39595150e-02 1.00089220e+02] [ 6.67270753e-02 -3.08116375e-03 9.97766508e-01 3.27710420e+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:262.32, Y:100.11, Z:32.78 [[ 9.66065131e-01 -2.49903836e-01 -6.53164284e-02 2.62322472e+02] [ 2.49527383e-01 9.68266665e-01 -1.39911130e-02 1.00105812e+02] [ 6.67401531e-02 -2.78191101e-03 9.97766512e-01 3.27769949e+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:262.35, Y:100.12, Z:32.78 [[ 9.66701415e-01 -2.47441066e-01 -6.52785788e-02 2.62348572e+02] [ 2.47047215e-01 9.68899892e-01 -1.41659052e-02 1.00117358e+02] [ 6.67536346e-02 -2.43269046e-03 9.97766523e-01 3.27792773e+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:262.37, Y:100.14, Z:32.78 [[ 9.67848351e-01 -2.42926420e-01 -6.52405044e-02 2.62373096e+02] [ 2.42510488e-01 9.70042776e-01 -1.43414357e-02 1.00137727e+02] [ 6.67699936e-02 -1.94117172e-03 9.97766506e-01 3.27783350e+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:262.40, Y:100.16, Z:32.78 [[ 9.69465321e-01 -2.36389681e-01 -6.52449951e-02 2.62398447e+02] [ 2.35960343e-01 9.71657158e-01 -1.43207355e-02 1.00155801e+02] [ 6.67810406e-02 -1.51177498e-03 9.97766509e-01 3.27774226e+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:262.43, Y:100.17, Z:32.78 [[ 9.69809953e-01 -2.34972412e-01 -6.52427801e-02 2.62425430e+02] [ 2.34539185e-01 9.72001026e-01 -1.43309303e-02 1.00167967e+02] [ 6.67834225e-02 -1.40370963e-03 9.97766508e-01 3.27812067e+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:262.45, Y:100.18, Z:32.79 [[ 9.70136369e-01 -2.33618871e-01 -6.52506675e-02 2.62449245e+02] [ 2.33185024e-01 9.72327315e-01 -1.42946727e-02 1.00180975e+02] [ 6.67845116e-02 -1.34769656e-03 9.97766512e-01 3.27895274e+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:262.48, Y:100.20, Z:32.79 [[ 9.71877462e-01 -2.26300244e-01 -6.51337048e-02 2.62476556e+02] [ 2.25813886e-01 9.74057551e-01 -1.48315758e-02 1.00200378e+02] [ 6.68003663e-02 -2.93620695e-04 9.97766318e-01 3.27943844e+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:262.50, Y:100.22, Z:32.79 [[ 9.73008333e-01 -2.21366327e-01 -6.52053183e-02 2.62500582e+02] [ 2.20890995e-01 9.75190681e-01 -1.45018884e-02 1.00216955e+02] [ 6.67978485e-02 -2.92809467e-04 9.97766487e-01 3.27942350e+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:262.53, Y:100.23, Z:32.80 [[ 9.73367688e-01 -2.19786221e-01 -6.51871218e-02 2.62525792e+02] [ 2.19301742e-01 9.75548055e-01 -1.45855698e-02 1.00227272e+02] [ 6.67988771e-02 -9.85270313e-05 9.97766456e-01 3.27950556e+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:262.55, Y:100.24, Z:32.80 [[ 9.73188397e-01 -2.20608464e-01 -6.50864806e-02 2.62551104e+02] [ 2.20095100e-01 9.75362397e-01 -1.50446343e-02 1.00238991e+02] [ 6.68018794e-02 3.16048127e-04 9.97766210e-01 3.27963651e+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:262.58, Y:100.25, Z:32.79 [[ 9.73925323e-01 -2.17335323e-01 -6.50755098e-02 2.62578248e+02] [ 2.16811314e-01 9.76096823e-01 -1.50946019e-02 1.00253330e+02] [ 6.68005885e-02 5.91908226e-04 9.97766171e-01 3.27888712e+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:262.60, Y:100.27, Z:32.79 [[ 9.73735920e-01 -2.18180656e-01 -6.50811724e-02 2.62602982e+02] [ 2.17660268e-01 9.75908266e-01 -1.50686268e-02 1.00268760e+02] [ 6.68009370e-02 5.07277772e-04 9.97766194e-01 3.27875276e+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:262.63, Y:100.28, Z:32.79 [[ 9.73689483e-01 -2.18404605e-01 -6.50247616e-02 2.62630840e+02] [ 2.17867437e-01 9.75858010e-01 -1.53272494e-02 1.00277686e+02] [ 6.68024763e-02 7.57203373e-04 9.97765932e-01 3.27906626e+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:262.66, Y:100.29, Z:32.80 [[ 9.73355998e-01 -2.19880877e-01 -6.50422974e-02 2.62659551e+02] [ 2.19352365e-01 9.75526561e-01 -1.52469247e-02 1.00287121e+02] [ 6.68029958e-02 5.73503847e-04 9.97766020e-01 3.27959386e+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:262.68, Y:100.30, Z:32.80 [[ 9.73275961e-01 -2.20192581e-01 -6.51853578e-02 2.62684011e+02] [ 2.19708653e-01 9.75456413e-01 -1.45909246e-02 1.00295796e+02] [ 6.67982886e-02 -1.20790982e-04 9.97766493e-01 3.28004743e+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:262.71, Y:100.30, Z:32.80 [[ 9.72822982e-01 -2.22220744e-01 -6.50644750e-02 2.62711219e+02] [ 2.21704283e-01 9.74996331e-01 -1.51448073e-02 1.00304612e+02] [ 6.68031148e-02 3.08143860e-04 9.97766129e-01 3.28020375e+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:262.74, Y:100.31, Z:32.80 [[ 9.71982257e-01 -2.25867638e-01 -6.50715191e-02 2.62738358e+02] [ 2.25361490e-01 9.74158000e-01 -1.51125525e-02 1.00313665e+02] [ 6.68033774e-02 2.45184150e-05 9.97766159e-01 3.28031766e+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:262.77, Y:100.32, Z:32.80 [[ 9.71384884e-01 -2.28407771e-01 -6.51252480e-02 2.62766199e+02] [ 2.27923805e-01 9.73565472e-01 -1.48664400e-02 1.00322289e+02] [ 6.67993032e-02 -4.02559239e-04 9.97766351e-01 3.28046793e+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:262.79, Y:100.33, Z:32.81 [[ 9.69771306e-01 -2.35163689e-01 -6.51279766e-02 2.62790947e+02] [ 2.34695752e-01 9.71955382e-01 -1.48539401e-02 1.00333134e+02] [ 6.67945948e-02 -8.80334512e-04 9.97766359e-01 3.28068157e+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:262.82, Y:100.34, Z:32.81 [[ 9.68752465e-01 -2.39319345e-01 -6.51530008e-02 2.62819138e+02] [ 2.38868539e-01 9.70940060e-01 -1.47384363e-02 1.00341557e+02] [ 6.67868515e-02 -1.28510556e-03 9.97766438e-01 3.28107951e+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:262.85, Y:100.34, Z:32.79 [[ 9.69775334e-01 -2.35141553e-01 -6.51479148e-02 2.62851278e+02] [ 2.34679748e-01 9.71960649e-01 -1.47618836e-02 1.00342907e+02] [ 6.67923418e-02 -9.73185654e-04 9.97766424e-01 3.27875721e+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:262.87, Y:100.36, Z:32.81 [[ 9.64805402e-01 -2.54733343e-01 -6.52798601e-02 2.62871869e+02] [ 2.54356945e-01 9.67006839e-01 -1.41533711e-02 1.00361548e+02] [ 6.67314067e-02 -2.94913686e-03 9.97766617e-01 3.28140814e+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:262.90, Y:100.37, Z:32.81 [[ 9.62003050e-01 -2.65154404e-01 -6.51404102e-02 2.62900936e+02] [ 2.64758405e-01 9.64201258e-01 -1.47960001e-02 1.00374230e+02] [ 6.67316900e-02 -3.01267386e-03 9.97766408e-01 3.28143567e+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:262.93, Y:100.39, Z:32.81 [[ 9.60805459e-01 -2.69439313e-01 -6.52328675e-02 2.62927811e+02] [ 2.69081949e-01 9.63010083e-01 -1.43695804e-02 1.00389787e+02] [ 6.66916390e-02 -3.74661588e-03 9.97766600e-01 3.28132113e+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:262.96, Y:100.40, Z:32.82 [[ 9.60386199e-01 -2.70920853e-01 -6.52705195e-02 2.62955014e+02] [ 2.70578643e-01 9.62593202e-01 -1.41959478e-02 1.00402316e+02] [ 6.66749366e-02 -4.02721621e-03 9.97766623e-01 3.28164423e+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:262.98, Y:100.42, Z:32.82 [[ 9.60816270e-01 -2.69384047e-01 -6.53018453e-02 2.62983780e+02] [ 2.69048081e-01 9.63024238e-01 -1.40515575e-02 1.00420792e+02] [ 6.66725253e-02 -4.06837114e-03 9.97766617e-01 3.28171784e+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:263.01, Y:100.43, Z:32.82 [[ 9.60948216e-01 -2.68898278e-01 -6.53623952e-02 2.63012754e+02] [ 2.68580109e-01 9.63158891e-01 -1.37723024e-02 1.00433981e+02] [ 6.66577205e-02 -4.32056989e-03 9.97766546e-01 3.28191300e+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:263.04, Y:100.45, Z:32.82 [[ 9.61035059e-01 -2.68583974e-01 -6.53778610e-02 2.63043664e+02] [ 2.68269916e-01 9.63246353e-01 -1.37009494e-02 1.00447904e+02] [ 6.66548416e-02 -4.37182056e-03 9.97766515e-01 3.28209349e+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:263.06, Y:100.46, Z:32.82 [[ 9.63132497e-01 -2.60949273e-01 -6.54314121e-02 2.63060784e+02] [ 2.60634413e-01 9.65343825e-01 -1.34537244e-02 1.00464943e+02] [ 6.66745492e-02 -4.09595853e-03 9.97766369e-01 3.28208088e+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:263.10, Y:100.49, Z:32.83 [[ 9.63841789e-01 -2.58434976e-01 -6.49643729e-02 2.63100997e+02] [ 2.57969382e-01 9.66027121e-01 -1.56012560e-02 1.00492195e+02] [ 6.67892563e-02 -1.72167665e-03 9.97765619e-01 3.28288428e+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:263.13, Y:100.51, Z:32.80 [[ 9.64455917e-01 -2.55966237e-01 -6.56206504e-02 2.63134720e+02] [ 2.55700557e-01 9.66674457e-01 -1.25586677e-02 1.00512123e+02] [ 6.66484015e-02 -4.66695550e-03 9.97765609e-01 3.28006019e+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:263.15, Y:100.53, Z:32.83 [[ 9.67146099e-01 -2.45557687e-01 -6.58015640e-02 2.63153126e+02] [ 2.45325156e-01 9.69370043e-01 -1.17170149e-02 1.00527742e+02] [ 6.66632680e-02 -4.81071374e-03 9.97763933e-01 3.28292595e+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:263.19, Y:100.55, Z:32.83 [[ 9.67984346e-01 -2.42343420e-01 -6.53909180e-02 2.63187028e+02] [ 2.41975098e-01 9.70186929e-01 -1.36152098e-02 1.00553743e+02] [ 6.67409704e-02 -2.64366385e-03 9.97766833e-01 3.28292979e+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:263.21, Y:100.57, Z:32.83 [[ 9.68534881e-01 -2.40041174e-01 -6.57298957e-02 2.63214975e+02] [ 2.39773951e-01 9.70754061e-01 -1.20418406e-02 1.00567573e+02] [ 6.66981007e-02 -4.09737417e-03 9.97764789e-01 3.28310928e+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:263.26, Y:100.57, Z:32.80 [[ 9.74449569e-01 -2.14806217e-01 -6.56226086e-02 2.63255067e+02] [ 2.14447969e-01 9.76654929e-01 -1.25386697e-02 1.00568734e+02] [ 6.67840284e-02 -1.85433381e-03 9.97765732e-01 3.27994492e+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:263.28, Y:100.61, Z:32.83 [[ 9.70496493e-01 -2.31945075e-01 -6.58637892e-02 2.63283292e+02] [ 2.31701465e-01 9.72719911e-01 -1.14195364e-02 1.00606238e+02] [ 6.67157244e-02 -4.17811641e-03 9.97763276e-01 3.28301179e+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:263.32, Y:100.62, Z:32.83 [[ 9.71437849e-01 -2.27897847e-01 -6.61141237e-02 2.63324950e+02] [ 2.27724033e-01 9.73671720e-01 -1.02541353e-02 1.00622504e+02] [ 6.67103479e-02 -5.09451982e-03 9.97759378e-01 3.28263637e+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:263.33, Y:100.64, Z:32.84 [[ 9.71880913e-01 -2.25830055e-01 -6.66954094e-02 2.63326158e+02] [ 2.25836909e-01 9.74135978e-01 -7.53575759e-03 1.00635114e+02] [ 6.66721984e-02 -7.73842612e-03 9.97744925e-01 3.28381173e+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:263.35, Y:100.66, Z:32.85 [[ 9.72969919e-01 -2.21432847e-01 -6.55517481e-02 2.63353683e+02] [ 2.21073511e-01 9.75173446e-01 -1.27770265e-02 1.00655727e+02] [ 6.67535775e-02 -2.06009267e-03 9.97767366e-01 3.28458101e+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:263.38, Y:100.67, Z:32.85 [[ 9.73601068e-01 -2.18638255e-01 -6.55612191e-02 2.63382567e+02] [ 2.18275514e-01 9.75804106e-01 -1.27336464e-02 1.00667477e+02] [ 6.67589691e-02 -1.91291705e-03 9.97767298e-01 3.28507906e+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:263.41, Y:100.68, Z:32.86 [[ 9.73762058e-01 -2.17925560e-01 -6.55431501e-02 2.63411504e+02] [ 2.17555652e-01 9.75963772e-01 -1.28161651e-02 1.00684908e+02] [ 6.67607100e-02 -1.77938752e-03 9.97767429e-01 3.28571957e+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:263.44, Y:100.69, Z:32.84 [[ 9.76005675e-01 -2.07645209e-01 -6.55468477e-02 2.63436473e+02] [ 2.07253228e-01 9.78203595e-01 -1.27994437e-02 1.00686063e+02] [ 6.67759053e-02 -1.09246605e-03 9.97767400e-01 3.28383137e+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:263.47, Y:100.70, Z:32.83 [[ 9.76899524e-01 -2.03518219e-01 -6.51740374e-02 2.63466449e+02] [ 2.03004638e-01 9.79070733e-01 -1.44781242e-02 1.00697170e+02] [ 6.67565546e-02 9.13040726e-04 9.97768875e-01 3.28293385e+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:263.50, Y:100.72, Z:32.86 [[ 9.74054910e-01 -2.16722888e-01 -6.51783920e-02 2.63501755e+02] [ 2.16240057e-01 9.76233164e-01 -1.44584940e-02 1.00721657e+02] [ 6.67627944e-02 -1.08120905e-05 9.97768876e-01 3.28552750e+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:263.53, Y:100.74, Z:32.86 [[ 9.74466568e-01 -2.14736634e-01 -6.55979185e-02 2.63530989e+02] [ 2.14376245e-01 9.76670303e-01 -1.25676157e-02 1.00737729e+02] [ 6.67662664e-02 -1.81591410e-03 9.97766991e-01 3.28595464e+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:263.56, Y:100.75, Z:32.86 [[ 9.74714836e-01 -2.13597153e-01 -6.56296051e-02 2.63559897e+02] [ 2.13243796e-01 9.76920010e-01 -1.24248891e-02 1.00748131e+02] [ 6.67687954e-02 -1.88438239e-03 9.97766695e-01 3.28639341e+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:263.59, Y:100.76, Z:32.87 [[ 9.74817999e-01 -2.13142769e-01 -6.55745998e-02 2.63589709e+02] [ 2.12771730e-01 9.77019755e-01 -1.26723475e-02 1.00760375e+02] [ 6.67686987e-02 -1.59918857e-03 9.97767199e-01 3.28673417e+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:263.62, Y:100.77, Z:32.87 [[ 9.73870971e-01 -2.17449801e-01 -6.55050870e-02 2.63619318e+02] [ 2.17067504e-01 9.76070237e-01 -1.29843073e-02 1.00773249e+02] [ 6.67610008e-02 -1.57398579e-03 9.97767754e-01 3.28719131e+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:263.65, Y:100.78, Z:32.87 [[ 9.73374251e-01 -2.19644021e-01 -6.55673095e-02 2.63649128e+02] [ 2.19285478e-01 9.75578013e-01 -1.27051093e-02 1.00781337e+02] [ 6.67566268e-02 -2.01113253e-03 9.97767262e-01 3.28728200e+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:263.68, Y:100.79, Z:32.87 [[ 9.71622477e-01 -2.27271083e-01 -6.55562113e-02 2.63683587e+02] [ 2.26926476e-01 9.73828366e-01 -1.27548973e-02 1.00794481e+02] [ 6.67393175e-02 -2.48349508e-03 9.97767356e-01 3.28706886e+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:263.71, Y:100.80, Z:32.87 [[ 9.70914222e-01 -2.30220826e-01 -6.57567065e-02 2.63706563e+02] [ 2.29943022e-01 9.73131755e-01 -1.18656518e-02 1.00802098e+02] [ 6.67216594e-02 -3.59976573e-03 9.97765134e-01 3.28741735e+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:263.74, Y:100.82, Z:32.87 [[ 9.69510552e-01 -2.36144285e-01 -6.54611834e-02 2.63738002e+02] [ 2.35791802e-01 9.71714344e-01 -1.31703864e-02 1.00815906e+02] [ 6.67196824e-02 -2.66638182e-03 9.97768197e-01 3.28710181e+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:263.77, Y:100.82, Z:32.88 [[ 9.68642848e-01 -2.39631524e-01 -6.56335759e-02 2.63771996e+02] [ 2.39339399e-01 9.70856850e-01 -1.23947196e-02 1.00823362e+02] [ 6.66909723e-02 -3.70264414e-03 9.97766809e-01 3.28764491e+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:263.80, Y:100.83, Z:32.88 [[ 9.67959560e-01 -2.42374641e-01 -6.56416392e-02 2.63797647e+02] [ 2.42091248e-01 9.70174777e-01 -1.23583862e-02 1.00831767e+02] [ 6.66792221e-02 -3.92884828e-03 9.97766729e-01 3.28770145e+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:263.83, Y:100.84, Z:32.88 [[ 9.67432420e-01 -2.44513796e-01 -6.54791348e-02 2.63829554e+02] [ 2.44186639e-01 9.69640070e-01 -1.30774872e-02 1.00842725e+02] [ 6.66888188e-02 -3.33754484e-03 9.97768241e-01 3.28841456e+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:263.86, Y:100.85, Z:32.89 [[ 9.67085516e-01 -2.45873078e-01 -6.55136257e-02 2.63857355e+02] [ 2.45559243e-01 9.69295397e-01 -1.29264077e-02 1.00852128e+02] [ 6.66803114e-02 -3.58653469e-03 9.97767945e-01 3.28869496e+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:263.90, Y:100.88, Z:32.86 [[ 9.60717000e-01 -2.69711895e-01 -6.54090136e-02 2.63899843e+02] [ 2.69421642e-01 9.62929285e-01 -1.33854689e-02 1.00883956e+02] [ 6.65944749e-02 -4.76295636e-03 9.97768756e-01 3.28617238e+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:263.93, Y:100.89, Z:32.86 [[ 9.60351462e-01 -2.70827716e-01 -6.61620514e-02 2.63930035e+02] [ 2.70767281e-01 9.62592372e-01 -1.00501506e-02 1.00891307e+02] [ 6.64089453e-02 -8.26284200e-03 9.97758276e-01 3.28621671e+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:263.95, Y:100.88, Z:32.89 [[ 9.65890205e-01 -2.50367882e-01 -6.61213721e-02 2.63948362e+02] [ 2.50247611e-01 9.68127826e-01 -1.02296364e-02 1.00881126e+02] [ 6.65751127e-02 -6.66600986e-03 9.97759149e-01 3.28936756e+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:263.98, Y:100.89, Z:32.89 [[ 9.65218375e-01 -2.53112726e-01 -6.54785211e-02 2.63976302e+02] [ 2.52808583e-01 9.67428608e-01 -1.30272073e-02 1.00890421e+02] [ 6.66431465e-02 -3.97943232e-03 9.97768939e-01 3.28940451e+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:264.00, Y:100.89, Z:32.87 [[ 9.66925065e-01 -2.46529756e-01 -6.54140511e-02 2.63999562e+02] [ 2.46191639e-01 9.69129815e-01 -1.33070858e-02 1.00893601e+02] [ 6.66752998e-02 -3.23743764e-03 9.97769474e-01 3.28722445e+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:264.03, Y:100.91, Z:32.90 [[ 9.64332859e-01 -2.56584128e-01 -6.50132537e-02 2.64033279e+02] [ 2.56151971e-01 9.66519511e-01 -1.50400688e-02 1.00910020e+02] [ 6.66956211e-02 -2.14964050e-03 9.97771053e-01 3.28982374e+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:264.06, Y:100.92, Z:32.90 [[ 9.64277274e-01 -2.56723879e-01 -6.52854360e-02 2.64063586e+02] [ 2.56371420e-01 9.66478918e-01 -1.38634602e-02 1.00919886e+02] [ 6.66560789e-02 -3.36910039e-03 9.97770322e-01 3.29008274e+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:264.09, Y:100.93, Z:32.90 [[ 9.65815695e-01 -2.50879467e-01 -6.52651318e-02 2.64086803e+02] [ 2.50507756e-01 9.68014063e-01 -1.39512425e-02 1.00933980e+02] [ 6.66776457e-02 -2.87509272e-03 9.97770427e-01 3.29030575e+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:264.12, Y:100.94, Z:32.89 [[ 9.68566480e-01 -2.40111301e-01 -6.50041222e-02 2.64119875e+02] [ 2.39639474e-01 9.70744875e-01 -1.50767918e-02 1.00940252e+02] [ 6.67225266e-02 -9.74678452e-04 9.97771093e-01 3.28857565e+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:264.16, Y:100.96, Z:32.92 [[ 9.69356872e-01 -2.36899090e-01 -6.50082742e-02 2.64155003e+02] [ 2.36421246e-01 9.71533955e-01 -1.50588680e-02 1.00961379e+02] [ 6.67251778e-02 -7.71919987e-04 9.97771093e-01 3.29169591e+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:264.18, Y:100.97, Z:32.92 [[ 9.70966669e-01 -2.30064296e-01 -6.55297522e-02 2.64179155e+02] [ 2.29723572e-01 9.73171865e-01 -1.27906510e-02 1.00970840e+02] [ 6.67143833e-02 -2.63443294e-03 9.97768636e-01 3.29177693e+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:264.20, Y:100.99, Z:32.92 [[ 9.74056169e-01 -2.16693684e-01 -6.52566258e-02 2.64200689e+02] [ 2.16243227e-01 9.76239518e-01 -1.39738894e-02 1.00985796e+02] [ 6.67341505e-02 -4.99950176e-04 9.97770667e-01 3.29220903e+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:264.23, Y:100.99, Z:32.92 [[ 9.75251830e-01 -2.11323717e-01 -6.50088817e-02 2.64232788e+02] [ 2.10789736e-01 9.77415647e-01 -1.50445902e-02 1.00993992e+02] [ 6.67199769e-02 9.69059085e-04 9.97771269e-01 3.29247930e+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:264.27, Y:101.01, Z:32.93 [[ 9.75364972e-01 -2.10783725e-01 -6.50645280e-02 2.64268295e+02] [ 2.10264593e-01 9.77532427e-01 -1.48038777e-02 1.01009193e+02] [ 6.67231024e-02 7.58417212e-04 9.97771243e-01 3.29305900e+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:264.29, Y:101.02, Z:32.94 [[ 9.75427603e-01 -2.10384792e-01 -6.54158286e-02 2.64294266e+02] [ 2.09966913e-01 9.77618342e-01 -1.32767383e-02 1.01021100e+02] [ 6.67449378e-02 -7.84662606e-04 9.97769762e-01 3.29431162e+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:264.32, Y:101.03, Z:32.95 [[ 9.75993900e-01 -2.07778356e-01 -6.52997891e-02 2.64318769e+02] [ 2.07320935e-01 9.78175928e-01 -1.37798022e-02 1.01030875e+02] [ 6.67378265e-02 -8.90104305e-05 9.97770542e-01 3.29454524e+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:264.36, Y:101.04, Z:32.94 [[ 9.73964736e-01 -2.17178665e-01 -6.50086115e-02 2.64355902e+02] [ 2.16658085e-01 9.76131708e-01 -1.50387358e-02 1.01042390e+02] [ 6.67230596e-02 5.62557123e-04 9.97771375e-01 3.29425790e+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:264.38, Y:101.05, Z:32.95 [[ 9.73904216e-01 -2.17370835e-01 -6.52724983e-02 2.64379912e+02] [ 2.16927241e-01 9.76088892e-01 -1.38941177e-02 1.01049687e+02] [ 6.67319365e-02 -6.27843170e-04 9.97770742e-01 3.29457666e+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:264.42, Y:101.06, Z:32.95 [[ 9.71189628e-01 -2.29268456e-01 -6.50129434e-02 2.64415029e+02] [ 2.28776243e-01 9.73363186e-01 -1.50179334e-02 1.01061004e+02] [ 6.67243441e-02 -2.88155763e-04 9.97771406e-01 3.29458313e+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:264.44, Y:101.07, Z:32.95 [[ 9.70203295e-01 -2.33339623e-01 -6.52547769e-02 2.64440324e+02] [ 2.32927028e-01 9.72393904e-01 -1.39676656e-02 1.01071541e+02] [ 6.67125571e-02 -1.64812607e-03 9.97770875e-01 3.29451609e+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:264.47, Y:101.08, Z:32.95 [[ 9.68238833e-01 -2.41425276e-01 -6.50184525e-02 2.64473700e+02] [ 2.40962044e-01 9.70418731e-01 -1.49926924e-02 1.01082156e+02] [ 6.67147390e-02 -1.15047220e-03 9.97771427e-01 3.29474397e+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:264.50, Y:101.09, Z:32.95 [[ 9.66856635e-01 -2.46847671e-01 -6.52263426e-02 2.64500603e+02] [ 2.46457439e-01 9.69051191e-01 -1.40896973e-02 1.01094023e+02] [ 6.66856740e-02 -2.45280006e-03 9.97771018e-01 3.29461808e+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:264.53, Y:101.11, Z:32.95 [[ 9.65678508e-01 -2.51465346e-01 -6.50399769e-02 2.64531590e+02] [ 2.51031112e-01 9.67864358e-01 -1.48984668e-02 1.01106626e+02] [ 6.66963236e-02 -1.93992855e-03 9.97771435e-01 3.29458997e+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:264.56, Y:101.12, Z:32.94 [[ 9.64519535e-01 -2.55851538e-01 -6.51310745e-02 2.64556351e+02] [ 2.55453873e-01 9.66712456e-01 -1.45033325e-02 1.01121372e+02] [ 6.66737209e-02 -2.64923774e-03 9.97771315e-01 3.29412930e+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:264.59, Y:101.13, Z:32.95 [[ 9.63097545e-01 -2.61202493e-01 -6.49336360e-02 2.64589166e+02] [ 2.60759309e-01 9.65281658e-01 -1.53591388e-02 1.01132545e+02] [ 6.66910932e-02 -2.13970122e-03 9.97771377e-01 3.29460892e+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:264.62, Y:101.14, Z:32.94 [[ 9.62460691e-01 -2.63522337e-01 -6.50030551e-02 2.64617164e+02] [ 2.63104735e-01 9.64649763e-01 -1.50576747e-02 1.01144268e+02] [ 6.66732153e-02 -2.61019159e-03 9.97771451e-01 3.29435747e+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:264.65, Y:101.16, Z:32.95 [[ 9.59770158e-01 -2.73187263e-01 -6.48842232e-02 2.64647769e+02] [ 2.72756860e-01 9.61956940e-01 -1.55737241e-02 1.01162865e+02] [ 6.66703719e-02 -2.75042135e-03 9.97771265e-01 3.29509449e+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:264.68, Y:101.18, Z:32.96 [[ 9.59242706e-01 -2.75009225e-01 -6.49873698e-02 2.64677840e+02] [ 2.74613293e-01 9.61435793e-01 -1.51246880e-02 1.01175452e+02] [ 6.66406121e-02 -3.33814899e-03 9.97771460e-01 3.29556439e+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:264.71, Y:101.20, Z:32.96 [[ 9.57064003e-01 -2.82505746e-01 -6.49538136e-02 2.64708491e+02] [ 2.82117097e-01 9.59258434e-01 -1.52708759e-02 1.01195667e+02] [ 6.66216038e-02 -3.70937573e-03 9.97771418e-01 3.29625717e+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:264.74, Y:101.21, Z:32.98 [[ 9.59676798e-01 -2.73448614e-01 -6.51636349e-02 2.64735805e+02] [ 2.73101172e-01 9.61878211e-01 -1.43547109e-02 1.01214009e+02] [ 6.66047563e-02 -4.02038209e-03 9.97771338e-01 3.29814768e+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:264.76, Y:101.23, Z:32.99 [[ 9.61693637e-01 -2.66260394e-01 -6.51977766e-02 2.64763668e+02] [ 2.65906569e-01 9.63894131e-01 -1.42056388e-02 1.01225877e+02] [ 6.66261532e-02 -3.67504462e-03 9.97771241e-01 3.29877779e+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:264.79, Y:101.24, Z:32.99 [[ 9.64727997e-01 -2.55071836e-01 -6.51018481e-02 2.64791038e+02] [ 2.54664289e-01 9.66918948e-01 -1.46235716e-02 1.01237524e+02] [ 6.66782717e-02 -2.47134693e-03 9.97771467e-01 3.29862658e+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:264.82, Y:101.24, Z:32.99 [[ 9.65684327e-01 -2.51460258e-01 -6.49732141e-02 2.64823053e+02] [ 2.51006836e-01 9.67866224e-01 -1.51835396e-02 1.01244104e+02] [ 6.67034362e-02 -1.64621465e-03 9.97771488e-01 3.29873907e+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:264.85, Y:101.25, Z:32.98 [[ 9.66078931e-01 -2.49922715e-01 -6.50394952e-02 2.64853020e+02] [ 2.49485259e-01 9.68264045e-01 -1.48944474e-02 1.01250672e+02] [ 6.66978655e-02 -1.83718346e-03 9.97771527e-01 3.29842838e+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:264.89, Y:101.26, Z:32.99 [[ 9.65370822e-01 -2.52659852e-01 -6.49782669e-02 2.64889061e+02] [ 2.52210621e-01 9.67553580e-01 -1.51615253e-02 1.01258751e+02] [ 6.67006635e-02 -1.75171497e-03 9.97771493e-01 3.29893417e+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:264.91, Y:101.26, Z:32.98 [[ 9.64415724e-01 -2.56232317e-01 -6.51714044e-02 2.64912475e+02] [ 2.55847691e-01 9.66610995e-01 -1.43228268e-02 1.01263369e+02] [ 6.66653672e-02 -2.86079398e-03 9.97771289e-01 3.29821352e+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:264.95, Y:101.27, Z:32.99 [[ 9.63666789e-01 -2.59123376e-01 -6.48181742e-02 2.64949980e+02] [ 2.58642242e-01 9.65843084e-01 -1.58533009e-02 1.01268649e+02] [ 6.67121461e-02 -1.48741828e-03 9.97771155e-01 3.29861941e+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:264.98, Y:101.27, Z:32.98 [[ 9.63016146e-01 -2.61434127e-01 -6.52081204e-02 2.64980636e+02] [ 2.61073261e-01 9.65215329e-01 -1.41464275e-02 1.01273961e+02] [ 6.66382363e-02 -3.40085850e-03 9.97771407e-01 3.29840998e+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:265.01, Y:101.28, Z:32.98 [[ 9.62307897e-01 -2.64044477e-01 -6.51461852e-02 2.65011350e+02] [ 2.63671359e-01 9.64504844e-01 -1.44159935e-02 1.01277222e+02] [ 6.66402746e-02 -3.30455877e-03 9.97771594e-01 3.29818252e+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:265.04, Y:101.28, Z:32.98 [[ 9.62162712e-01 -2.64585292e-01 -6.50963877e-02 2.65039940e+02] [ 2.64198766e-01 9.64357244e-01 -1.46327950e-02 1.01283478e+02] [ 6.66477953e-02 -3.11925558e-03 9.97771688e-01 3.29828557e+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:265.07, Y:101.29, Z:32.99 [[ 9.62193834e-01 -2.64493821e-01 -6.50080367e-02 2.65073483e+02] [ 2.64081136e-01 9.64383550e-01 -1.50173668e-02 1.01291421e+02] [ 6.66646820e-02 -2.71777844e-03 9.97771734e-01 3.29874795e+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:265.11, Y:101.30, Z:32.99 [[ 9.62869376e-01 -2.62005206e-01 -6.50833088e-02 2.65107652e+02] [ 2.61608964e-01 9.65062156e-01 -1.46896148e-02 1.01298463e+02] [ 6.66581939e-02 -2.88219677e-03 9.97771706e-01 3.29916946e+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:265.13, Y:101.31, Z:33.00 [[ 9.62171316e-01 -2.64516545e-01 -6.52484185e-02 2.65132750e+02] [ 2.64174730e-01 9.64373674e-01 -1.39688273e-02 1.01306667e+02] [ 6.66188430e-02 -3.79657838e-03 9.97771274e-01 3.29971726e+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:265.17, Y:101.31, Z:33.00 [[ 9.62917165e-01 -2.61842910e-01 -6.50294018e-02 2.65168951e+02] [ 2.61430534e-01 9.65106921e-01 -1.49233486e-02 1.01313445e+02] [ 6.66678988e-02 -2.63072270e-03 9.97771753e-01 3.29981937e+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:265.19, Y:101.33, Z:33.00 [[ 9.60756914e-01 -2.69605749e-01 -6.52601867e-02 2.65192386e+02] [ 2.69279148e-01 9.62961617e-01 -1.39163663e-02 1.01326352e+02] [ 6.65949872e-02 -4.20296228e-03 9.97771238e-01 3.30016041e+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:265.23, Y:101.33, Z:33.00 [[ 9.63351222e-01 -2.60276027e-01 -6.48907798e-02 2.65231560e+02] [ 2.59819655e-01 9.65532372e-01 -1.55237286e-02 1.01326782e+02] [ 6.66946029e-02 -1.90509712e-03 9.97771617e-01 3.29982745e+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:265.25, Y:101.34, Z:33.01 [[ 9.61843809e-01 -2.65710521e-01 -6.52258100e-02 2.65254863e+02] [ 2.65365619e-01 9.64045410e-01 -1.40547232e-02 1.01336368e+02] [ 6.66151306e-02 -3.79023899e-03 9.97771546e-01 3.30067314e+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:265.29, Y:101.34, Z:33.01 [[ 9.63006543e-01 -2.61534488e-01 -6.49469764e-02 2.65294406e+02] [ 2.61097530e-01 9.65191521e-01 -1.52776949e-02 1.01343013e+02] [ 6.66819150e-02 -2.24497501e-03 9.97771759e-01 3.30056110e+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:265.33, Y:101.35, Z:33.01 [[ 9.62925463e-01 -2.61708972e-01 -6.54443799e-02 2.65325985e+02] [ 2.61418784e-01 9.65136423e-01 -1.31112496e-02 1.01351484e+02] [ 6.65940864e-02 -4.48323417e-03 9.97770078e-01 3.30067124e+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:265.36, Y:101.36, Z:33.01 [[ 9.63578413e-01 -2.59291097e-01 -6.54581563e-02 2.65356346e+02] [ 2.58999425e-01 9.65789295e-01 -1.30512464e-02 1.01358651e+02] [ 6.66028586e-02 -4.37772555e-03 9.97769961e-01 3.30067155e+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:265.38, Y:101.36, Z:33.00 [[ 9.64369516e-01 -2.56333688e-01 -6.54559212e-02 2.65384436e+02] [ 2.56034571e-01 9.66579385e-01 -1.30610638e-02 1.01364442e+02] [ 6.66163347e-02 -4.16328695e-03 9.97769979e-01 3.30037421e+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:265.42, Y:101.37, Z:33.01 [[ 9.63506782e-01 -2.59602712e-01 -6.52772023e-02 2.65421080e+02] [ 2.59258585e-01 9.65708823e-01 -1.38367563e-02 1.01371394e+02] [ 6.66308297e-02 -3.59186651e-03 9.97771232e-01 3.30057155e+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:265.45, Y:101.37, Z:32.99 [[ 9.64872034e-01 -2.54394444e-01 -6.56157402e-02 2.65447231e+02] [ 2.54138031e-01 9.67088909e-01 -1.23654317e-02 1.01374491e+02] [ 6.66019517e-02 -4.74439576e-03 9.97768345e-01 3.29907888e+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:265.47, Y:101.38, Z:33.00 [[ 9.64592677e-01 -2.55527521e-01 -6.53196306e-02 2.65473824e+02] [ 2.55185958e-01 9.66795479e-01 -1.36612168e-02 1.01384730e+02] [ 6.66415404e-02 -3.49114282e-03 9.97770874e-01 3.30029237e+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:265.51, Y:101.39, Z:33.01 [[ 9.63648756e-01 -2.59095178e-01 -6.51978797e-02 2.65510297e+02] [ 2.58726120e-01 9.65846508e-01 -1.41886363e-02 1.01392675e+02] [ 6.66473517e-02 -3.19553271e-03 9.97771476e-01 3.30103044e+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:265.54, Y:101.40, Z:33.01 [[ 9.63940445e-01 -2.57902860e-01 -6.56119904e-02 2.65540651e+02] [ 2.57652943e-01 9.66158104e-01 -1.23886746e-02 1.01399086e+02] [ 6.65866309e-02 -4.96317793e-03 9.97768304e-01 3.30099565e+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:265.57, Y:101.41, Z:33.01 [[ 9.64206225e-01 -2.56922224e-01 -6.55539982e-02 2.65572437e+02] [ 2.56652807e-01 9.66420972e-01 -1.26428764e-02 1.01407590e+02] [ 6.66009946e-02 -4.63427757e-03 9.97768927e-01 3.30140026e+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:265.60, Y:101.41, Z:33.02 [[ 9.65042567e-01 -2.53758305e-01 -6.55710885e-02 2.65601603e+02] [ 2.53486707e-01 9.67257224e-01 -1.25679112e-02 1.01414271e+02] [ 6.66133208e-02 -4.49282999e-03 9.97768751e-01 3.30224248e+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:265.63, Y:101.42, Z:33.03 [[ 9.65258892e-01 -2.52939806e-01 -6.55494162e-02 2.65632643e+02] [ 2.52659880e-01 9.67472290e-01 -1.26630774e-02 1.01422598e+02] [ 6.66202401e-02 -4.33855962e-03 9.97768972e-01 3.30263484e+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:265.67, Y:101.43, Z:33.03 [[ 9.66237771e-01 -2.49163890e-01 -6.55890644e-02 2.65665172e+02] [ 2.48887067e-01 9.68451981e-01 -1.24895473e-02 1.01428576e+02] [ 6.66318035e-02 -4.25639752e-03 9.97768553e-01 3.30347222e+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:265.70, Y:101.43, Z:33.04 [[ 9.67235645e-01 -2.45242398e-01 -6.56610518e-02 2.65702510e+02] [ 2.44977955e-01 9.69452211e-01 -1.21742574e-02 1.01433551e+02] [ 6.66408959e-02 -4.31013445e-03 9.97767715e-01 3.30357016e+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:265.74, Y:101.44, Z:33.05 [[ 9.66577151e-01 -2.47815246e-01 -6.56979106e-02 2.65736724e+02] [ 2.47567097e-01 9.68796173e-01 -1.20211265e-02 1.01442570e+02] [ 6.66269028e-02 -4.64529478e-03 9.97767146e-01 3.30467128e+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:265.76, Y:101.45, Z:33.05 [[ 9.67545801e-01 -2.43855810e-01 -6.62530480e-02 2.65761805e+02] [ 2.43756280e-01 9.69787950e-01 -9.70613292e-03 1.01448634e+02] [ 6.66183045e-02 -6.75846836e-03 9.97755644e-01 3.30500851e+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:265.79, Y:101.46, Z:33.05 [[ 9.67647284e-01 -2.43552684e-01 -6.58849239e-02 2.65792578e+02] [ 2.43346452e-01 9.69874067e-01 -1.12605171e-02 1.01458085e+02] [ 6.66426082e-02 -5.13665371e-03 9.97763688e-01 3.30507645e+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:265.82, Y:101.47, Z:33.05 [[ 9.67340430e-01 -2.44724110e-01 -6.60500065e-02 2.65822432e+02] [ 2.44567961e-01 9.69574596e-01 -1.05647715e-02 1.01466135e+02] [ 6.66258626e-02 -5.93398486e-03 9.97760383e-01 3.30524010e+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:265.85, Y:101.47, Z:33.05 [[ 9.67673644e-01 -2.43406851e-01 -6.60365336e-02 2.65852806e+02] [ 2.43243803e-01 9.69907026e-01 -1.06213613e-02 1.01473414e+02] [ 6.66346100e-02 -5.78496616e-03 9.97760674e-01 3.30511493e+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:265.88, Y:101.48, Z:33.05 [[ 9.68825035e-01 -2.38806355e-01 -6.59513271e-02 2.65883447e+02] [ 2.38608439e-01 9.71053811e-01 -1.09776606e-02 1.01478303e+02] [ 6.66638226e-02 -5.10111086e-03 9.97762453e-01 3.30482095e+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:265.91, Y:101.48, Z:33.05 [[ 9.69239760e-01 -2.37139955e-01 -6.58705557e-02 2.65913608e+02] [ 2.36915451e-01 9.71464410e-01 -1.13123751e-02 1.01484421e+02] [ 6.66735166e-02 -4.64134866e-03 9.97764050e-01 3.30483763e+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:265.94, Y:101.49, Z:33.05 [[ 9.68930849e-01 -2.38431112e-01 -6.57542023e-02 2.65941367e+02] [ 2.38177245e-01 9.71150161e-01 -1.17883459e-02 1.01493756e+02] [ 6.66679126e-02 -4.23906273e-03 9.97766215e-01 3.30537870e+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:265.97, Y:101.50, Z:33.05 [[ 9.69616110e-01 -2.35637383e-01 -6.57238431e-02 2.65973446e+02] [ 2.35368703e-01 9.71833148e-01 -1.19124791e-02 1.01497053e+02] [ 6.66796347e-02 -3.91880402e-03 9.97766741e-01 3.30490087e+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:266.00, Y:101.50, Z:33.05 [[ 9.69675656e-01 -2.35368862e-01 -6.58074578e-02 2.66004719e+02] [ 2.35122763e-01 9.71896810e-01 -1.15705261e-02 1.01504792e+02] [ 6.66813999e-02 -4.25317382e-03 9.97765254e-01 3.30488434e+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:266.04, Y:101.51, Z:33.05 [[ 9.70638739e-01 -2.31361521e-01 -6.58200987e-02 2.66035860e+02] [ 2.31109743e-01 9.72859496e-01 -1.15190231e-02 1.01513944e+02] [ 6.66987668e-02 -4.03085603e-03 9.97765016e-01 3.30531344e+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:266.06, Y:101.52, Z:33.06 [[ 9.70237874e-01 -2.33027715e-01 -6.58525006e-02 2.66062287e+02] [ 2.32788697e-01 9.72460669e-01 -1.13872341e-02 1.01522952e+02] [ 6.66925079e-02 -4.28139199e-03 9.97764391e-01 3.30584784e+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:266.09, Y:101.53, Z:33.06 [[ 9.70107367e-01 -2.33606936e-01 -6.57228788e-02 2.66092697e+02] [ 2.33333644e-01 9.72323771e-01 -1.19119911e-02 1.01531129e+02] [ 6.66866411e-02 -3.77944844e-03 9.97766810e-01 3.30641399e+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:266.12, Y:101.54, Z:33.06 [[ 9.69906943e-01 -2.34422443e-01 -6.57772069e-02 2.66123055e+02] [ 2.34165837e-01 9.72126342e-01 -1.16934308e-02 1.01539498e+02] [ 6.66849581e-02 -4.06123503e-03 9.97765816e-01 3.30612937e+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:266.15, Y:101.55, Z:33.06 [[ 9.69581109e-01 -2.35765170e-01 -6.57818927e-02 2.66152570e+02] [ 2.35512913e-01 9.71801096e-01 -1.16746394e-02 1.01550409e+02] [ 6.66793887e-02 -4.17297533e-03 9.97765727e-01 3.30598040e+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:266.18, Y:101.56, Z:33.07 [[ 9.66897060e-01 -2.46541512e-01 -6.57826677e-02 2.66175631e+02] [ 2.46314188e-01 9.69119753e-01 -1.16715447e-02 1.01563660e+02] [ 6.66288029e-02 -4.91802210e-03 9.97765712e-01 3.30681103e+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:266.21, Y:101.57, Z:33.07 [[ 9.66537119e-01 -2.48007303e-01 -6.55619935e-02 2.66207099e+02] [ 2.47723682e-01 9.68749439e-01 -1.25499795e-02 1.01571919e+02] [ 6.66256309e-02 -4.11123736e-03 9.97769574e-01 3.30733211e+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:266.24, Y:101.58, Z:33.07 [[ 9.66563763e-01 -2.47885445e-01 -6.56300067e-02 2.66239577e+02] [ 2.47619793e-01 9.68779445e-01 -1.22810494e-02 1.01580466e+02] [ 6.66252949e-02 -4.38087135e-03 9.97768449e-01 3.30653596e+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:266.27, Y:101.59, Z:33.07 [[ 9.65941256e-01 -2.50289988e-01 -6.56689513e-02 2.66267697e+02] [ 2.50040308e-01 9.68159479e-01 -1.21271180e-02 1.01592544e+02] [ 6.66133139e-02 -4.70580122e-03 9.97767770e-01 3.30699086e+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:266.30, Y:101.61, Z:33.07 [[ 9.64717657e-01 -2.54965907e-01 -6.56675664e-02 2.66298995e+02] [ 2.54726603e-01 9.66936998e-01 -1.21325848e-02 1.01605539e+02] [ 6.65897950e-02 -5.02275736e-03 9.97767794e-01 3.30675454e+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:266.33, Y:101.62, Z:33.07 [[ 9.64596500e-01 -2.55396300e-01 -6.57747815e-02 2.66325858e+02] [ 2.55186818e-01 9.66820866e-01 -1.17090444e-02 1.01617775e+02] [ 6.65828778e-02 -5.49035399e-03 9.97765792e-01 3.30695468e+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:266.37, Y:101.63, Z:33.05 [[ 9.64748429e-01 -2.54864636e-01 -6.56085774e-02 2.66366272e+02] [ 2.54609661e-01 9.66964923e-01 -1.23595611e-02 1.01631262e+02] [ 6.65912080e-02 -4.78071046e-03 9.97768889e-01 3.30502325e+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:266.37, Y:101.65, Z:33.07 [[ 9.63034627e-01 -2.61092637e-01 -6.62943586e-02 2.66372058e+02] [ 2.61035627e-01 9.65280692e-01 -9.67403194e-03 1.01646254e+02] [ 6.65184828e-02 -7.98876172e-03 9.97753212e-01 3.30698438e+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:266.40, Y:101.66, Z:33.08 [[ 9.63018274e-01 -2.61412489e-01 -6.52634211e-02 2.66404714e+02] [ 2.61083940e-01 9.65219382e-01 -1.36645459e-02 1.01658975e+02] [ 6.65656020e-02 -3.88002369e-03 9.97774507e-01 3.30754006e+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:266.44, Y:101.67, Z:33.07 [[ 9.61572296e-01 -2.66605798e-01 -6.55749070e-02 2.66436215e+02] [ 2.66370969e-01 9.63790046e-01 -1.24601099e-02 1.01670489e+02] [ 6.65223802e-02 -5.48595504e-03 9.97769852e-01 3.30718798e+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:266.46, Y:101.68, Z:33.08 [[ 9.60115601e-01 -2.71773449e-01 -6.57055977e-02 2.66463750e+02] [ 2.71585010e-01 9.62340200e-01 -1.19550049e-02 1.01680526e+02] [ 6.64801909e-02 -6.36646863e-03 9.97767434e-01 3.30769597e+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:266.49, Y:101.69, Z:33.09 [[ 9.58483958e-01 -2.77505316e-01 -6.55690655e-02 2.66493818e+02] [ 2.77294386e-01 9.60703960e-01 -1.24789796e-02 1.01691681e+02] [ 6.64554441e-02 -6.22103198e-03 9.97770000e-01 3.30860222e+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:266.53, Y:101.70, Z:33.07 [[ 9.60792188e-01 -2.69381436e-01 -6.56659239e-02 2.66526023e+02] [ 2.69176921e-01 9.63014614e-01 -1.21094258e-02 1.01702184e+02] [ 6.64992988e-02 -6.04110945e-03 9.97768184e-01 3.30708607e+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:266.55, Y:101.71, Z:33.09 [[ 9.60975067e-01 -2.68748484e-01 -6.55833348e-02 2.66552007e+02] [ 2.68521139e-01 9.63193685e-01 -1.24227117e-02 1.01714935e+02] [ 6.65080389e-02 -5.67259556e-03 9.97769764e-01 3.30882709e+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:266.58, Y:101.73, Z:33.10 [[ 9.63427818e-01 -2.59847654e-01 -6.54678329e-02 2.66578360e+02] [ 2.59570489e-01 9.65638620e-01 -1.28536387e-02 1.01727054e+02] [ 6.65582557e-02 -4.60996438e-03 9.97771891e-01 3.30972240e+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:266.60, Y:101.74, Z:33.11 [[ 9.63373830e-01 -2.60055673e-01 -6.54363047e-02 2.66603021e+02] [ 2.59770910e-01 9.65583134e-01 -1.29725305e-02 1.01739715e+02] [ 6.65577723e-02 -4.50105204e-03 9.97772421e-01 3.31077497e+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:266.63, Y:101.75, Z:33.12 [[ 9.66570385e-01 -2.47992047e-01 -6.51278371e-02 2.66632766e+02] [ 2.47601307e-01 9.68758930e-01 -1.41325166e-02 1.01746228e+02] [ 6.65979255e-02 -2.46566558e-03 9.97776847e-01 3.31183867e+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:266.66, Y:101.75, Z:33.12 [[ 9.67311756e-01 -2.45039821e-01 -6.52951227e-02 2.66663467e+02] [ 2.44684397e-01 9.69508653e-01 -1.35099373e-02 1.01754477e+02] [ 6.66146591e-02 -2.90837655e-03 9.97774538e-01 3.31188497e+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:266.69, Y:101.76, Z:33.12 [[ 9.68829144e-01 -2.38990078e-01 -6.52214141e-02 2.66691507e+02] [ 2.38602649e-01 9.71019493e-01 -1.37811294e-02 1.01756869e+02] [ 6.66248176e-02 -2.21044235e-03 9.97775650e-01 3.31190333e+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:266.72, Y:101.76, Z:33.12 [[ 9.69800756e-01 -2.35066109e-01 -6.50416656e-02 2.66720162e+02] [ 2.34625464e-01 9.71978574e-01 -1.44410337e-02 1.01761657e+02] [ 6.66137030e-02 -1.25550556e-03 9.97778051e-01 3.31230845e+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:266.74, Y:101.76, Z:33.12 [[ 9.72980728e-01 -2.21576408e-01 -6.49029919e-02 2.66743974e+02] [ 2.21071663e-01 9.75142993e-01 -1.49486834e-02 1.01762433e+02] [ 6.66019734e-02 1.96568513e-04 9.97779604e-01 3.31233322e+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:266.78, Y:101.77, Z:33.13 [[ 9.72426378e-01 -2.24113598e-01 -6.44983265e-02 2.66781561e+02] [ 2.23516427e-01 9.74561789e-01 -1.64233549e-02 1.01774161e+02] [ 6.65383016e-02 1.55406798e-03 9.97782661e-01 3.31307481e+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:266.81, Y:101.78, Z:33.13 [[ 9.73914835e-01 -2.17428793e-01 -6.49200664e-02 2.66806406e+02] [ 2.16919171e-01 9.76076098e-01 -1.48836869e-02 1.01780047e+02] [ 6.66030672e-02 4.13036506e-04 9.97779465e-01 3.31284222e+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:266.84, Y:101.79, Z:33.13 [[ 9.73931265e-01 -2.17467919e-01 -6.45414234e-02 2.66839417e+02] [ 2.16867178e-01 9.76065741e-01 -1.62571677e-02 1.01789999e+02] [ 6.65320847e-02 1.83644753e-03 9.97782596e-01 3.31312425e+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:266.87, Y:101.80, Z:33.13 [[ 9.72298920e-01 -2.24608229e-01 -6.46989487e-02 2.66867946e+02] [ 2.24061152e-01 9.74448857e-01 -1.56852027e-02 1.01797099e+02] [ 6.65688422e-02 7.54184623e-04 9.97781549e-01 3.31329494e+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:266.90, Y:101.81, Z:33.13 [[ 9.71559882e-01 -2.27809458e-01 -6.46084046e-02 2.66897575e+02] [ 2.27247624e-01 9.73705337e-01 -1.60135536e-02 1.01807648e+02] [ 6.65575873e-02 8.76019755e-04 9.97782201e-01 3.31348123e+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:266.93, Y:101.82, Z:33.13 [[ 9.68869660e-01 -2.39013696e-01 -6.45293421e-02 2.66928739e+02] [ 2.38457680e-01 9.71016112e-01 -1.62986135e-02 1.01815327e+02] [ 6.65546228e-02 4.03714903e-04 9.97782701e-01 3.31292089e+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:266.95, Y:101.82, Z:33.13 [[ 9.66789095e-01 -2.47298596e-01 -6.45155073e-02 2.66954925e+02] [ 2.46757646e-01 9.68939313e-01 -1.63484730e-02 1.01821176e+02] [ 6.65545657e-02 -1.14169283e-04 9.97782780e-01 3.31281750e+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:266.99, Y:101.83, Z:33.14 [[ 9.64528493e-01 -2.56043953e-01 -6.42361284e-02 2.66986651e+02] [ 2.55455466e-01 9.66665085e-01 -1.73527594e-02 1.01829343e+02] [ 6.65378917e-02 3.27760796e-04 9.97783845e-01 3.31375706e+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:267.02, Y:101.84, Z:33.14 [[ 9.63078591e-01 -2.61432690e-01 -6.42851165e-02 2.67019469e+02] [ 2.60867919e-01 9.65221683e-01 -1.71764831e-02 1.01841862e+02] [ 6.65398825e-02 -2.27621426e-04 9.97783740e-01 3.31360418e+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:267.05, Y:101.85, Z:33.14 [[ 9.62641678e-01 -2.62985535e-01 -6.44950264e-02 2.67047761e+02] [ 2.62474778e-01 9.64799125e-01 -1.64207002e-02 1.01851452e+02] [ 6.65431517e-02 -1.12106728e-03 9.97782918e-01 3.31415543e+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:267.08, Y:101.86, Z:33.15 [[ 9.62361230e-01 -2.64041415e-01 -6.43660980e-02 2.67079401e+02] [ 2.63502026e-01 9.64511080e-01 -1.68836841e-02 1.01860069e+02] [ 6.65398066e-02 -7.12394236e-04 9.97783517e-01 3.31463300e+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:267.11, Y:101.87, Z:33.14 [[ 9.61274730e-01 -2.67958328e-01 -6.44145056e-02 2.67109905e+02] [ 2.67439350e-01 9.63429800e-01 -1.67097311e-02 1.01869508e+02] [ 6.65363658e-02 -1.16433130e-03 9.97783321e-01 3.31428932e+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:267.13, Y:101.88, Z:33.13 [[ 9.60968911e-01 -2.69050571e-01 -6.44247099e-02 2.67134922e+02] [ 2.68536502e-01 9.63125203e-01 -1.66730452e-02 1.01875349e+02] [ 6.65349542e-02 -1.27810819e-03 9.97783276e-01 3.31313656e+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:267.17, Y:101.89, Z:33.14 [[ 9.58911312e-01 -2.76372106e-01 -6.40902012e-02 2.67171765e+02] [ 2.75794116e-01 9.61050556e-01 -1.78727572e-02 1.01888673e+02] [ 6.65334551e-02 -5.37311289e-04 9.97784050e-01 3.31372811e+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:267.20, Y:101.90, Z:33.15 [[ 9.58090228e-01 -2.79109798e-01 -6.45045403e-02 2.67200483e+02] [ 2.78637735e-01 9.60256499e-01 -1.63849857e-02 1.01896235e+02] [ 6.65141141e-02 -2.27510437e-03 9.97782890e-01 3.31452582e+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:267.23, Y:101.90, Z:33.15 [[ 9.57608531e-01 -2.80789835e-01 -6.43659125e-02 2.67228328e+02] [ 2.80288095e-01 9.59767449e-01 -1.68827345e-02 1.01902984e+02] [ 6.65168079e-02 -1.87394846e-03 9.97783545e-01 3.31479480e+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:267.26, Y:101.91, Z:33.14 [[ 9.57340840e-01 -2.81734092e-01 -6.42216365e-02 2.67260731e+02] [ 2.81199694e-01 9.59491501e-01 -1.74009205e-02 1.01912731e+02] [ 6.65225469e-02 -1.40049271e-03 9.97783939e-01 3.31417812e+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:267.29, Y:101.92, Z:33.15 [[ 9.57385727e-01 -2.81563100e-01 -6.43023347e-02 2.67289935e+02] [ 2.81047780e-01 9.59541226e-01 -1.71108792e-02 1.01923092e+02] [ 6.65185332e-02 -1.69031684e-03 9.97783758e-01 3.31504088e+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:267.32, Y:101.94, Z:33.15 [[ 9.58001963e-01 -2.79474400e-01 -6.42362678e-02 2.67318887e+02] [ 2.78938487e-01 9.60152266e-01 -1.73478416e-02 1.01935893e+02] [ 6.65248757e-02 -1.29870107e-03 9.97783922e-01 3.31530645e+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:267.35, Y:101.94, Z:33.16 [[ 9.57653429e-01 -2.80668064e-01 -6.42288736e-02 2.67349179e+02] [ 2.80133052e-01 9.59803941e-01 -1.73743661e-02 1.01943325e+02] [ 6.65235557e-02 -1.35400907e-03 9.97783936e-01 3.31600337e+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:267.38, Y:101.95, Z:33.17 [[ 9.57900049e-01 -2.79824967e-01 -6.42299399e-02 2.67379013e+02] [ 2.79288318e-01 9.60050155e-01 -1.73705424e-02 1.01952807e+02] [ 6.65246751e-02 -1.29942847e-03 9.97783934e-01 3.31702762e+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:267.41, Y:101.96, Z:33.17 [[ 9.58291673e-01 -2.78486889e-01 -6.42037501e-02 2.67409664e+02] [ 2.77940943e-01 9.60439391e-01 -1.74645099e-02 1.01960682e+02] [ 6.65274477e-02 -1.10875641e-03 9.97783979e-01 3.31716961e+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:267.44, Y:101.97, Z:33.17 [[ 9.58102538e-01 -2.79149529e-01 -6.41487877e-02 2.67443256e+02] [ 2.78591857e-01 9.60247176e-01 -1.76617731e-02 1.01967781e+02] [ 6.65289679e-02 -9.49540295e-04 9.97784042e-01 3.31727309e+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:267.47, Y:101.97, Z:33.18 [[ 9.59637384e-01 -2.73798484e-01 -6.42688273e-02 2.67470467e+02] [ 2.73257709e-01 9.61786533e-01 -1.72304719e-02 1.01972826e+02] [ 6.65305697e-02 -1.02694751e-03 9.97783859e-01 3.31757476e+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:267.50, Y:101.98, Z:33.18 [[ 9.60779836e-01 -2.69824922e-01 -6.40048231e-02 2.67501400e+02] [ 2.69212025e-01 9.62909371e-01 -1.81777081e-02 1.01979392e+02] [ 6.65356427e-02 2.33907333e-04 9.97784022e-01 3.31803046e+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:267.53, Y:101.99, Z:33.19 [[ 9.61954706e-01 -2.65597482e-01 -6.40400046e-02 2.67532213e+02] [ 2.64983639e-01 9.64083929e-01 -1.80512994e-02 1.01988216e+02] [ 6.65343189e-02 3.94978905e-04 9.97784059e-01 3.31884433e+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:267.56, Y:102.00, Z:33.20 [[ 9.66075907e-01 -2.50195868e-01 -6.40263208e-02 2.67561027e+02] [ 2.49544829e-01 9.68194067e-01 -1.81004991e-02 1.01997396e+02] [ 6.65185740e-02 1.50901885e-03 9.97784046e-01 3.31965446e+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:267.59, Y:102.01, Z:33.20 [[ 9.69225004e-01 -2.37706352e-01 -6.40201653e-02 2.67592091e+02] [ 2.37026568e-01 9.71334122e-01 -1.81226379e-02 1.02005298e+02] [ 6.64928372e-02 2.39043378e-03 9.97784039e-01 3.32017465e+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:267.62, Y:102.01, Z:33.21 [[ 9.69800280e-01 -2.35335827e-01 -6.40661048e-02 2.67621162e+02] [ 2.34661798e-01 9.71911199e-01 -1.79572020e-02 1.02012162e+02] [ 6.64925377e-02 2.38103215e-03 9.97784081e-01 3.32053757e+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:267.66, Y:102.02, Z:33.21 [[ 9.70737380e-01 -2.31474646e-01 -6.39408071e-02 2.67656795e+02] [ 2.30762470e-01 9.72835948e-01 -1.84092378e-02 1.02019460e+02] [ 6.64651875e-02 3.11539668e-03 9.97783881e-01 3.32083731e+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:267.69, Y:102.03, Z:33.21 [[ 9.71108261e-01 -2.29845325e-01 -6.41862251e-02 2.67687580e+02] [ 2.29188087e-01 9.73224442e-01 -1.75215748e-02 1.02027268e+02] [ 6.64948552e-02 2.30462790e-03 9.97784106e-01 3.32131604e+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:267.72, Y:102.04, Z:33.22 [[ 9.71151697e-01 -2.29650234e-01 -6.42273480e-02 2.67719000e+02] [ 2.29002405e-01 9.73270821e-01 -1.73726179e-02 1.02035851e+02] [ 6.65002295e-02 2.16323012e-03 9.97784065e-01 3.32152356e+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:267.75, Y:102.05, Z:33.22 [[ 9.71728852e-01 -2.27194311e-01 -6.42322608e-02 2.67747429e+02] [ 2.26542302e-01 9.73846700e-01 -1.73548054e-02 1.02047457e+02] [ 6.64952883e-02 2.31284089e-03 9.97784059e-01 3.32181638e+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:267.78, Y:102.05, Z:33.22 [[ 9.70357747e-01 -2.32999930e-01 -6.41628879e-02 2.67776973e+02] [ 2.32343977e-01 9.72474316e-01 -1.76062837e-02 1.02052858e+02] [ 6.64990234e-02 2.17653322e-03 9.97784116e-01 3.32160076e+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:267.81, Y:102.06, Z:33.22 [[ 9.70041015e-01 -2.34351129e-01 -6.40310646e-02 2.67812102e+02] [ 2.33666598e-01 9.72148595e-01 -1.80839876e-02 1.02062711e+02] [ 6.64857124e-02 2.58028869e-03 9.97784041e-01 3.32182492e+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:267.84, Y:102.07, Z:33.22 [[ 9.67008248e-01 -2.46511564e-01 -6.42424933e-02 2.67844763e+02] [ 2.45904391e-01 9.69139386e-01 -1.73170582e-02 1.02070078e+02] [ 6.65287856e-02 9.48226860e-04 9.97784056e-01 3.32155916e+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:267.87, Y:102.08, Z:33.21 [[ 9.65714226e-01 -2.51517848e-01 -6.43024515e-02 2.67874704e+02] [ 2.50936206e-01 9.67852587e-01 -1.70994245e-02 1.02081753e+02] [ 6.65361044e-02 3.77344218e-04 9.97783947e-01 3.32145032e+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:267.91, Y:102.09, Z:33.21 [[ 9.63137784e-01 -2.61205987e-01 -6.43198403e-02 2.67905883e+02] [ 2.60650065e-01 9.65283018e-01 -1.70363888e-02 1.02091183e+02] [ 6.65368563e-02 -3.56580765e-04 9.97783904e-01 3.32129796e+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:267.94, Y:102.10, Z:33.21 [[ 9.62173239e-01 -2.64733951e-01 -6.43318975e-02 2.67936138e+02] [ 2.64188818e-01 9.64321273e-01 -1.69926525e-02 1.02098528e+02] [ 6.65351493e-02 -6.45892486e-04 9.97783873e-01 3.32129934e+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:267.97, Y:102.11, Z:33.21 [[ 9.61197845e-01 -2.68258078e-01 -6.43141278e-02 2.67968900e+02] [ 2.67716502e-01 9.63346732e-01 -1.70571913e-02 1.02106860e+02] [ 6.65325342e-02 -8.22617787e-04 9.97783917e-01 3.32133955e+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:268.00, Y:102.11, Z:33.21 [[ 9.60254678e-01 -2.71598845e-01 -6.43818292e-02 2.67999133e+02] [ 2.71081219e-01 9.62409659e-01 -1.68113180e-02 1.02114287e+02] [ 6.65276289e-02 -1.30955800e-03 9.97783724e-01 3.32118746e+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:268.03, Y:102.12, Z:33.21 [[ 9.60680365e-01 -2.70101851e-01 -6.43290437e-02 2.68028999e+02] [ 2.69568041e-01 9.62831229e-01 -1.70027898e-02 1.02122481e+02] [ 6.65304972e-02 -1.00680800e-03 9.97783884e-01 3.32126884e+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:268.06, Y:102.13, Z:33.21 [[ 9.61066250e-01 -2.68735576e-01 -6.42872638e-02 2.68061595e+02] [ 2.68188571e-01 9.63213694e-01 -1.71543063e-02 1.02130336e+02] [ 6.65323452e-02 -7.54684526e-04 9.97783983e-01 3.32141216e+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:268.09, Y:102.14, Z:33.22 [[ 9.61620517e-01 -2.66722280e-01 -6.43832795e-02 2.68089910e+02] [ 2.66194103e-01 9.63772935e-01 -1.68056650e-02 1.02137052e+02] [ 6.65333075e-02 -9.77777077e-04 9.97783726e-01 3.32179369e+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:268.12, Y:102.14, Z:33.22 [[ 9.61542319e-01 -2.67034926e-01 -6.42550867e-02 2.68121165e+02] [ 2.66476343e-01 9.63686714e-01 -1.72706942e-02 1.02144945e+02] [ 6.65336518e-02 -5.15957165e-04 9.97784048e-01 3.32247268e+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:268.15, Y:102.15, Z:33.23 [[ 9.61802248e-01 -2.66089563e-01 -6.42866970e-02 2.68151311e+02] [ 2.65536537e-01 9.63948142e-01 -1.71559783e-02 1.02152770e+02] [ 6.65340689e-02 -5.69808377e-04 9.97783991e-01 3.32290353e+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:268.18, Y:102.16, Z:33.24 [[ 9.62488586e-01 -2.63602611e-01 -6.42603019e-02 2.68183212e+02] [ 2.63037651e-01 9.64631315e-01 -1.72516598e-02 1.02160025e+02] [ 6.65350821e-02 -2.98353210e-04 9.97784042e-01 3.32381511e+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:268.21, Y:102.17, Z:33.24 [[ 9.62800636e-01 -2.62427118e-01 -6.43967596e-02 2.68214139e+02] [ 2.61892610e-01 9.64951539e-01 -1.67567481e-02 1.02168599e+02] [ 6.65371774e-02 -7.31627718e-04 9.97783678e-01 3.32405213e+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:268.25, Y:102.17, Z:33.25 [[ 9.63299500e-01 -2.60575666e-01 -6.44545993e-02 2.68247555e+02] [ 2.60051063e-01 9.65453079e-01 -1.65468325e-02 1.02174671e+02] [ 6.65395932e-02 -8.21931534e-04 9.97783447e-01 3.32456148e+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:268.28, Y:102.18, Z:33.25 [[ 9.62805478e-01 -2.62352248e-01 -6.46290088e-02 2.68280866e+02] [ 2.61874184e-01 9.64970841e-01 -1.59119009e-02 1.02180511e+02] [ 6.65396319e-02 -1.60460357e-03 9.97782493e-01 3.32458471e+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:268.31, Y:102.19, Z:33.25 [[ 9.61792251e-01 -2.66038750e-01 -6.46455653e-02 2.68312277e+02] [ 2.65573008e-01 9.63960419e-01 -1.58520367e-02 1.02188759e+02] [ 6.65330223e-02 -1.92175116e-03 9.97782373e-01 3.32476672e+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:268.35, Y:102.20, Z:33.24 [[ 9.60012086e-01 -2.72363370e-01 -6.47687394e-02 2.68345878e+02] [ 2.71941935e-01 9.62190327e-01 -1.54064549e-02 1.02195194e+02] [ 6.65160085e-02 -2.82295343e-03 9.97781365e-01 3.32433967e+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:268.37, Y:102.20, Z:33.25 [[ 9.58102637e-01 -2.79003747e-01 -6.47784390e-02 2.68374471e+02] [ 2.78599754e-01 9.60284275e-01 -1.53716605e-02 1.02203555e+02] [ 6.64944672e-02 -3.31962873e-03 9.97781272e-01 3.32468707e+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:268.41, Y:102.21, Z:33.25 [[ 9.56862898e-01 -2.83232508e-01 -6.47513819e-02 2.68411363e+02] [ 2.82831590e-01 9.59044843e-01 -1.54687263e-02 1.02207597e+02] [ 6.64807250e-02 -3.51228608e-03 9.97781528e-01 3.32462709e+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:268.44, Y:102.21, Z:33.24 [[ 9.56504851e-01 -2.84376439e-01 -6.50269972e-02 2.68438645e+02] [ 2.84045284e-01 9.58701555e-01 -1.44777101e-02 1.02213025e+02] [ 6.64586030e-02 -4.62261196e-03 9.97778475e-01 3.32407643e+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:268.47, Y:102.22, Z:33.25 [[ 9.56564633e-01 -2.84216338e-01 -6.48473303e-02 2.68471178e+02] [ 2.83841039e-01 9.58752080e-01 -1.51233137e-02 1.02223430e+02] [ 6.64708056e-02 -3.93990660e-03 9.97780592e-01 3.32487693e+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:268.50, Y:102.23, Z:33.25 [[ 9.57327396e-01 -2.81611544e-01 -6.49553294e-02 2.68501961e+02] [ 2.81256448e-01 9.59519477e-01 -1.47371849e-02 1.02231839e+02] [ 6.64760651e-02 -4.16079442e-03 9.97779345e-01 3.32539039e+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:268.53, Y:102.24, Z:33.26 [[ 9.57971557e-01 -2.79403863e-01 -6.49921384e-02 2.68532260e+02] [ 2.79052609e-01 9.60164729e-01 -1.46059576e-02 1.02240319e+02] [ 6.64841200e-02 -4.14413386e-03 9.97778877e-01 3.32553598e+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:268.56, Y:102.25, Z:33.26 [[ 9.59398259e-01 -2.74467914e-01 -6.49795810e-02 2.68561928e+02] [ 2.74102347e-01 9.61588926e-01 -1.46506346e-02 1.02247347e+02] [ 6.65047746e-02 -3.75526232e-03 9.97779040e-01 3.32615132e+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:268.59, Y:102.26, Z:33.27 [[ 9.59384531e-01 -2.74507262e-01 -6.50160412e-02 2.68592159e+02] [ 2.74150572e-01 9.61577146e-01 -1.45208993e-02 1.02255558e+02] [ 6.65040316e-02 -3.89305874e-03 9.97778562e-01 3.32673314e+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:268.62, Y:102.26, Z:33.27 [[ 9.59845452e-01 -2.72918626e-01 -6.49009426e-02 2.68624060e+02] [ 2.72530886e-01 9.62031251e-01 -1.49260643e-02 1.02262765e+02] [ 6.65103360e-02 -3.36079645e-03 9.97780076e-01 3.32682871e+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:268.66, Y:102.27, Z:33.27 [[ 9.60672194e-01 -2.69963989e-01 -6.50260042e-02 2.68656130e+02] [ 2.69599301e-01 9.62863634e-01 -1.44858361e-02 1.02270856e+02] [ 6.65218288e-02 -3.61482531e-03 9.97778422e-01 3.32703902e+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:268.68, Y:102.28, Z:33.27 [[ 9.62313039e-01 -2.64028542e-01 -6.51348212e-02 2.68681364e+02] [ 2.63676291e-01 9.64508135e-01 -1.41021884e-02 1.02282110e+02] [ 6.65464451e-02 -3.60378831e-03 9.97776820e-01 3.32701256e+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:268.71, Y:102.29, Z:33.27 [[ 9.62692575e-01 -2.62715812e-01 -6.48336925e-02 2.68712675e+02] [ 2.62289816e-01 9.64870220e-01 -1.51495987e-02 1.02292920e+02] [ 6.65361383e-02 -2.42081112e-03 9.97781079e-01 3.32741973e+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:268.74, Y:102.30, Z:33.28 [[ 9.62943893e-01 -2.61746101e-01 -6.50233651e-02 2.68739265e+02] [ 2.61362416e-01 9.65131974e-01 -1.44900002e-02 1.02302148e+02] [ 6.65488298e-02 -3.04160664e-03 9.97778534e-01 3.32820267e+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:268.77, Y:102.31, Z:33.28 [[ 9.62911075e-01 -2.61902403e-01 -6.48798366e-02 2.68768875e+02] [ 2.61485675e-01 9.65091032e-01 -1.49847449e-02 1.02313247e+02] [ 6.65394892e-02 -2.53617105e-03 9.97780569e-01 3.32844462e+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:268.80, Y:102.33, Z:33.29 [[ 9.62148310e-01 -2.64694627e-01 -6.48643546e-02 2.68802059e+02] [ 2.64280621e-01 9.64328578e-01 -1.50381564e-02 1.02326849e+02] [ 6.65310701e-02 -2.67345517e-03 9.97780772e-01 3.32860921e+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:268.83, Y:102.34, Z:33.28 [[ 9.62446685e-01 -2.63556789e-01 -6.50707045e-02 2.68829044e+02] [ 2.63188215e-01 9.64638112e-01 -1.43274613e-02 1.02337804e+02] [ 6.65457812e-02 -3.33642498e-03 9.97777795e-01 3.32846600e+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:268.86, Y:102.35, Z:33.28 [[ 9.62059577e-01 -2.64990985e-01 -6.49703670e-02 2.68859565e+02] [ 2.64602353e-01 9.64245984e-01 -1.46723100e-02 1.02354085e+02] [ 6.65354454e-02 -3.07567563e-03 9.97779322e-01 3.32800854e+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:268.89, Y:102.37, Z:33.28 [[ 9.61026081e-01 -2.68694062e-01 -6.50566926e-02 2.68886905e+02] [ 2.68333804e-01 9.63218695e-01 -1.43776230e-02 1.02365697e+02] [ 6.65270045e-02 -3.63963911e-03 9.97777987e-01 3.32779112e+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:268.91, Y:102.38, Z:33.28 [[ 9.60722731e-01 -2.69787525e-01 -6.50117289e-02 2.68909838e+02] [ 2.69419388e-01 9.62913314e-01 -1.45307550e-02 1.02381945e+02] [ 6.65208757e-02 -3.55539353e-03 9.97778699e-01 3.32775406e+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:268.94, Y:102.40, Z:33.28 [[ 9.57423013e-01 -2.81329500e-01 -6.47679426e-02 2.68942177e+02] [ 2.80931459e-01 9.59604890e-01 -1.53612923e-02 1.02403647e+02] [ 6.64732191e-02 -3.48809785e-03 9.97782113e-01 3.32782036e+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:268.94, Y:102.42, Z:33.27 [[ 9.55527534e-01 -2.87604066e-01 -6.51999480e-02 2.68939988e+02] [ 2.87320555e-01 9.57733809e-01 -1.38870635e-02 1.02415972e+02] [ 6.64381704e-02 -5.46381368e-03 9.97775584e-01 3.32743058e+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:268.99, Y:102.42, Z:33.28 [[ 9.51085923e-01 -3.02285342e-01 -6.37113802e-02 2.68987947e+02] [ 3.01696057e-01 9.53216678e-01 -1.89064691e-02 1.02424583e+02] [ 6.64458987e-02 -1.23979557e-03 9.97789259e-01 3.32808556e+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:269.03, Y:102.45, Z:33.27 [[ 9.46824835e-01 -3.15197022e-01 -6.46031629e-02 2.69027716e+02] [ 3.14838077e-01 9.49011701e-01 -1.59303548e-02 1.02445808e+02] [ 6.63303579e-02 -5.25628003e-03 9.97783872e-01 3.32663832e+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:269.04, Y:102.44, Z:33.30 [[ 9.48628476e-01 -3.09567025e-01 -6.53626100e-02 2.69043857e+02] [ 3.09369502e-01 9.50847804e-01 -1.33777796e-02 1.02439217e+02] [ 6.62912136e-02 -7.53065543e-03 9.97771900e-01 3.33017164e+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:269.08, Y:102.46, Z:33.31 [[ 9.45091248e-01 -3.20371188e-01 -6.45355413e-02 2.69077066e+02] [ 3.20009828e-01 9.47276714e-01 -1.61411533e-02 1.02456724e+02] [ 6.63041759e-02 -5.39714474e-03 9.97784860e-01 3.33069519e+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:269.10, Y:102.47, Z:33.32 [[ 9.43473605e-01 -3.25025615e-01 -6.49300108e-02 2.69104010e+02] [ 3.24764600e-01 9.45678599e-01 -1.48304298e-02 1.02466846e+02] [ 6.62231912e-02 -7.09484990e-03 9.97779611e-01 3.33160690e+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:269.13, Y:102.48, Z:33.31 [[ 9.42787489e-01 -3.27036840e-01 -6.47970406e-02 2.69134345e+02] [ 3.26750284e-01 9.44987310e-01 -1.52720530e-02 1.02476512e+02] [ 6.62269050e-02 -6.77415093e-03 9.97781593e-01 3.33125455e+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:269.16, Y:102.48, Z:33.31 [[ 9.42630612e-01 -3.27468227e-01 -6.49006139e-02 2.69162609e+02] [ 3.27206179e-01 9.44835036e-01 -1.49288799e-02 1.02484491e+02] [ 6.62091076e-02 -7.16346272e-03 9.97780055e-01 3.33147812e+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:269.19, Y:102.49, Z:33.31 [[ 9.44010253e-01 -3.23498460e-01 -6.47563837e-02 2.69194638e+02] [ 3.23194436e-01 9.46207157e-01 -1.54069363e-02 1.02494644e+02] [ 6.62570738e-02 -6.38459702e-03 9.97782159e-01 3.33072301e+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:269.22, Y:102.50, Z:33.31 [[ 9.45058211e-01 -3.20389905e-01 -6.49252361e-02 2.69223626e+02] [ 3.20116801e-01 9.47261706e-01 -1.48490155e-02 1.02502509e+02] [ 6.62586646e-02 -6.75047487e-03 9.97779645e-01 3.33124436e+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:269.23, Y:102.51, Z:33.31 [[ 9.47438478e-01 -3.13315408e-01 -6.47594469e-02 2.69227519e+02] [ 3.12988597e-01 9.49632113e-01 -1.53943979e-02 1.02512805e+02] [ 6.63209525e-02 -5.68372356e-03 9.97782154e-01 3.33093986e+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:269.27, Y:102.52, Z:33.32 [[ 9.50023442e-01 -3.05652071e-01 -6.35001698e-02 2.69269708e+02] [ 3.05030727e-01 9.52142897e-01 -1.94977001e-02 1.02524850e+02] [ 6.64207480e-02 -8.46230742e-04 9.97791345e-01 3.33156806e+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:269.31, Y:102.54, Z:33.32 [[ 9.48579754e-01 -3.09931272e-01 -6.43355090e-02 2.69307156e+02] [ 3.09502995e-01 9.50750540e-01 -1.67722187e-02 1.02538248e+02] [ 6.63652549e-02 -4.00224567e-03 9.97787370e-01 3.33209510e+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:269.32, Y:102.54, Z:33.32 [[ 9.52583160e-01 -2.97301682e-01 -6.47845141e-02 2.69324617e+02] [ 2.96944246e-01 9.54772214e-01 -1.53014351e-02 1.02540676e+02] [ 6.64035964e-02 -4.66149932e-03 9.97781957e-01 3.33229789e+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:269.36, Y:102.55, Z:33.32 [[ 9.52445971e-01 -2.97899902e-01 -6.40493661e-02 2.69355259e+02] [ 2.97382114e-01 9.54594589e-01 -1.76931955e-02 1.02551942e+02] [ 6.64119795e-02 -2.19532315e-03 9.97789872e-01 3.33191350e+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:269.39, Y:102.56, Z:33.32 [[ 9.54087489e-01 -2.92573684e-01 -6.41693282e-02 2.69385750e+02] [ 2.92070074e-01 9.56240375e-01 -1.73036872e-02 1.02560500e+02] [ 6.64239060e-02 -2.23270893e-03 9.97788996e-01 3.33187474e+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:269.42, Y:102.57, Z:33.32 [[ 9.54006912e-01 -2.92841290e-01 -6.41466295e-02 2.69417088e+02] [ 2.92333339e-01 9.56158591e-01 -1.73771984e-02 1.02568760e+02] [ 6.64231121e-02 -2.17423103e-03 9.97789178e-01 3.33225674e+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:269.45, Y:102.58, Z:33.34 [[ 9.51387423e-01 -3.01234026e-01 -6.41874899e-02 2.69451753e+02] [ 3.00753985e-01 9.53545836e-01 -1.72446770e-02 1.02580972e+02] [ 6.64003972e-02 -2.89827454e-03 9.97788849e-01 3.33436466e+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:269.48, Y:102.59, Z:33.35 [[ 9.51535308e-01 -3.00695211e-01 -6.45209115e-02 2.69479818e+02] [ 3.00287219e-01 9.53711913e-01 -1.61608647e-02 1.02590676e+02] [ 6.63938565e-02 -3.99717175e-03 9.97785487e-01 3.33471314e+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:269.50, Y:102.60, Z:33.34 [[ 9.54610873e-01 -2.90806974e-01 -6.44157298e-02 2.69499068e+02] [ 2.90353372e-01 9.56777195e-01 -1.65020994e-02 1.02596426e+02] [ 6.64304269e-02 -2.95024080e-03 9.97786698e-01 3.33425975e+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:269.54, Y:102.61, Z:33.35 [[ 9.51481014e-01 -3.01028401e-01 -6.37634856e-02 2.69539407e+02] [ 3.00457336e-01 9.53614044e-01 -1.85915179e-02 1.02610579e+02] [ 6.64023302e-02 -1.46873074e-03 9.97791849e-01 3.33515827e+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:269.57, Y:102.62, Z:33.35 [[ 9.52033102e-01 -2.99132812e-01 -6.44401596e-02 2.69565589e+02] [ 2.98702854e-01 9.54204680e-01 -1.64326794e-02 1.02616990e+02] [ 6.64046555e-02 -3.60400489e-03 9.97786266e-01 3.33506740e+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:269.60, Y:102.63, Z:33.35 [[ 9.51837473e-01 -2.99804832e-01 -6.42065996e-02 2.69595112e+02] [ 2.99326296e-01 9.53996235e-01 -1.71741800e-02 1.02627011e+02] [ 6.64017565e-02 -2.87169555e-03 9.97788835e-01 3.33532433e+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:269.63, Y:102.64, Z:33.35 [[ 9.50362638e-01 -3.04444632e-01 -6.42208866e-02 2.69625315e+02] [ 3.03979700e-01 9.52524513e-01 -1.71287855e-02 1.02637761e+02] [ 6.63867355e-02 -3.24328799e-03 9.97788696e-01 3.33530381e+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:269.66, Y:102.65, Z:33.35 [[ 9.49903507e-01 -3.05865884e-01 -6.42603213e-02 2.69656269e+02] [ 3.05412663e-01 9.52068270e-01 -1.70033899e-02 1.02648055e+02] [ 6.63809698e-02 -3.47433610e-03 9.97788302e-01 3.33522794e+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:269.68, Y:102.66, Z:33.35 [[ 9.49973751e-01 -3.05648221e-01 -6.42575871e-02 2.69684768e+02] [ 3.05193921e-01 9.52138258e-01 -1.70119995e-02 1.02657578e+02] [ 6.63817944e-02 -3.45007204e-03 9.97788331e-01 3.33547801e+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:269.72, Y:102.67, Z:33.36 [[ 9.50016456e-01 -3.05528366e-01 -6.41961953e-02 2.69715231e+02] [ 3.05060744e-01 9.52177467e-01 -1.72050498e-02 1.02668043e+02] [ 6.63828014e-02 -3.23865870e-03 9.97788973e-01 3.33567319e+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:269.74, Y:102.67, Z:33.36 [[ 9.51347642e-01 -3.01370379e-01 -6.41370259e-02 2.69738110e+02] [ 3.00880794e-01 9.53503181e-01 -1.73905871e-02 1.02674465e+02] [ 6.63958660e-02 -2.75310522e-03 9.97789562e-01 3.33578495e+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:269.77, Y:102.69, Z:33.36 [[ 9.52639010e-01 -2.97349017e-01 -6.37375797e-02 2.69772157e+02] [ 2.96766448e-01 9.54768151e-01 -1.86401103e-02 1.02690892e+02] [ 6.63972296e-02 -1.15787896e-03 9.97792597e-01 3.33554007e+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:269.80, Y:102.70, Z:33.35 [[ 9.54277993e-01 -2.91964178e-01 -6.41126453e-02 2.69799327e+02] [ 2.91448332e-01 9.56427123e-01 -1.74650283e-02 1.02703458e+02] [ 6.64182356e-02 -2.01903141e-03 9.97789828e-01 3.33533419e+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:269.83, Y:102.71, Z:33.36 [[ 9.54378343e-01 -2.91659865e-01 -6.40039172e-02 2.69829630e+02] [ 2.91120533e-01 9.56520691e-01 -1.78045790e-02 1.02713298e+02] [ 6.64139522e-02 -1.64054990e-03 9.97790808e-01 3.33562627e+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:269.86, Y:102.72, Z:33.36 [[ 9.53949575e-01 -2.93062657e-01 -6.39881771e-02 2.69859796e+02] [ 2.92523178e-01 9.56091750e-01 -1.78537269e-02 1.02722378e+02] [ 6.64108289e-02 -1.68646970e-03 9.97790939e-01 3.33588592e+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:269.89, Y:102.73, Z:33.37 [[ 9.53676020e-01 -2.93950152e-01 -6.39949777e-02 2.69886949e+02] [ 2.93414085e-01 9.55819111e-01 -1.78325899e-02 1.02727937e+02] [ 6.64095152e-02 -1.77051453e-03 9.97790881e-01 3.33656848e+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:269.92, Y:102.74, Z:33.37 [[ 9.53806608e-01 -2.93562963e-01 -6.38258691e-02 2.69915614e+02] [ 2.92990833e-01 9.55938999e-01 -1.83576438e-02 1.02737594e+02] [ 6.64027617e-02 -1.19075258e-03 9.97792190e-01 3.33709132e+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:269.94, Y:102.74, Z:33.38 [[ 9.55187498e-01 -2.89055315e-01 -6.37484860e-02 2.69937814e+02] [ 2.88457085e-01 9.57312193e-01 -1.85977086e-02 1.02743762e+02] [ 6.64029695e-02 -6.24403698e-04 9.97792692e-01 3.33771475e+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:269.97, Y:102.75, Z:33.38 [[ 9.55633404e-01 -2.87679327e-01 -6.32882480e-02 2.69968973e+02] [ 2.86983515e-01 9.57726300e-01 -2.00199014e-02 1.02754078e+02] [ 6.63721313e-02 9.69002682e-04 9.97794468e-01 3.33803871e+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:270.00, Y:102.76, Z:33.37 [[ 9.57514355e-01 -2.81332683e-01 -6.33891296e-02 2.69997724e+02] [ 2.80643614e-01 9.59609688e-01 -1.97080923e-02 1.02757483e+02] [ 6.63733534e-02 1.08102686e-03 9.97794272e-01 3.33658319e+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:270.03, Y:102.77, Z:33.39 [[ 9.54596267e-01 -2.91132690e-01 -6.31484249e-02 2.70031791e+02] [ 2.90415882e-01 9.56681951e-01 -2.04513900e-02 1.02771021e+02] [ 6.63670265e-02 1.18351503e-03 9.97794577e-01 3.33881389e+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:270.06, Y:102.78, Z:33.39 [[ 9.56130074e-01 -2.85962132e-01 -6.35683982e-02 2.70058865e+02] [ 2.85320025e-01 9.58240903e-01 -1.91534537e-02 1.02775667e+02] [ 6.63910017e-02 1.75856122e-04 9.97793668e-01 3.33867794e+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:270.09, Y:102.79, Z:33.39 [[ 9.54373974e-01 -2.91811691e-01 -6.33739250e-02 2.70090218e+02] [ 2.91142601e-01 9.56475706e-01 -1.97537366e-02 1.02790621e+02] [ 6.63799909e-02 4.01602724e-04 9.97794335e-01 3.33891576e+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:270.11, Y:102.80, Z:33.39 [[ 9.55979786e-01 -2.86453581e-01 -6.36159919e-02 2.70111446e+02] [ 2.85822518e-01 9.58094122e-01 -1.90037423e-02 1.02795968e+02] [ 6.63937979e-02 -1.56895144e-05 9.97793497e-01 3.33879047e+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:270.14, Y:102.81, Z:33.39 [[ 9.55958436e-01 -2.86643848e-01 -6.30775217e-02 2.70142936e+02] [ 2.85902970e-01 9.58035664e-01 -2.06677998e-02 1.02808087e+02] [ 6.63548131e-02 1.72350675e-03 9.97794602e-01 3.33909038e+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:270.17, Y:102.82, Z:33.39 [[ 9.57048276e-01 -2.82967248e-01 -6.31516798e-02 2.70170482e+02] [ 2.82233513e-01 9.59128000e-01 -2.04383084e-02 1.02819946e+02] [ 6.63539162e-02 1.73692741e-03 9.97794639e-01 3.33906704e+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:270.21, Y:102.83, Z:33.40 [[ 9.55619397e-01 -2.87797446e-01 -6.29618827e-02 2.70206131e+02] [ 2.87035490e-01 9.57689171e-01 -2.10256724e-02 1.02833375e+02] [ 6.63490481e-02 2.02024550e-03 9.97794429e-01 3.33958609e+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:270.23, Y:102.84, Z:33.39 [[ 9.56458289e-01 -2.84920392e-01 -6.33080750e-02 2.70231463e+02] [ 2.84223079e-01 9.58550564e-01 -1.99513647e-02 1.02841998e+02] [ 6.63685416e-02 1.08903211e-03 9.97794583e-01 3.33935455e+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:270.26, Y:102.85, Z:33.39 [[ 9.56169851e-01 -2.85957825e-01 -6.29868086e-02 2.70260750e+02] [ 2.85197008e-01 9.58239977e-01 -2.09478616e-02 1.02848950e+02] [ 6.63466830e-02 2.06606431e-03 9.97794492e-01 3.33905154e+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:270.29, Y:102.86, Z:33.40 [[ 9.56474487e-01 -2.84970708e-01 -6.28351183e-02 2.70293988e+02] [ 2.84176773e-01 9.58532615e-01 -2.14193144e-02 1.02860079e+02] [ 6.63333875e-02 2.63074655e-03 9.97794047e-01 3.34008296e+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:270.32, Y:102.87, Z:33.41 [[ 9.58396346e-01 -2.78385476e-01 -6.30711555e-02 2.70321087e+02] [ 2.77625674e-01 9.60466646e-01 -2.06835032e-02 1.02866464e+02] [ 6.63357280e-02 2.31282184e-03 9.97794679e-01 3.34062856e+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:270.36, Y:102.88, Z:33.41 [[ 9.57783159e-01 -2.80554837e-01 -6.27726432e-02 2.70360488e+02] [ 2.79738600e-01 9.59832854e-01 -2.16149946e-02 1.02876659e+02] [ 6.63154366e-02 3.14254645e-03 9.97793760e-01 3.34094849e+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:270.39, Y:102.88, Z:33.41 [[ 9.57953858e-01 -2.79829883e-01 -6.34006580e-02 2.70387924e+02] [ 2.79141458e-01 9.60048942e-01 -1.96488018e-02 1.02883977e+02] [ 6.63660565e-02 1.12489339e-03 9.97794709e-01 3.34100738e+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:270.42, Y:102.89, Z:33.41 [[ 9.58897428e-01 -2.76617102e-01 -6.32352802e-02 2.70421054e+02] [ 2.75887508e-01 9.60978356e-01 -2.01663773e-02 1.02889621e+02] [ 6.63461004e-02 1.89166345e-03 9.97794877e-01 3.34108485e+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:270.44, Y:102.89, Z:33.42 [[ 9.58258640e-01 -2.78807518e-01 -6.32988729e-02 2.70442048e+02] [ 2.78095799e-01 9.60345784e-01 -1.99675281e-02 1.02894457e+02] [ 6.63559027e-02 1.53090565e-03 9.97794844e-01 3.34208081e+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:270.48, Y:102.90, Z:33.42 [[ 9.57747628e-01 -2.80689757e-01 -6.27115745e-02 2.70476796e+02] [ 2.79861836e-01 9.59792787e-01 -2.17981333e-02 1.02902911e+02] [ 6.63086297e-02 3.32653410e-03 9.97793616e-01 3.34242385e+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:270.50, Y:102.91, Z:33.43 [[ 9.58565169e-01 -2.77825924e-01 -6.29727953e-02 2.70503502e+02] [ 2.77045085e-01 9.60627727e-01 -2.09855130e-02 1.02909259e+02] [ 6.63237327e-02 2.66967835e-03 9.97794586e-01 3.34311247e+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:270.53, Y:102.92, Z:33.43 [[ 9.58827327e-01 -2.76965550e-01 -6.27713397e-02 2.70530086e+02] [ 2.76141814e-01 9.60873873e-01 -2.16124711e-02 1.02918077e+02] [ 6.63012502e-02 3.38883633e-03 9.97793897e-01 3.34312468e+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:270.56, Y:102.93, Z:33.44 [[ 9.61448102e-01 -2.67786125e-01 -6.25151035e-02 2.70563526e+02] [ 2.66890807e-01 9.63466099e-01 -2.24136782e-02 1.02930263e+02] [ 6.62332549e-02 4.86488193e-03 9.97792308e-01 3.34360767e+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:270.59, Y:102.94, Z:33.44 [[ 9.63294564e-01 -2.61019484e-01 -6.27089451e-02 2.70593986e+02] [ 2.60149538e-01 9.65322143e-01 -2.18031533e-02 1.02942613e+02] [ 6.62253811e-02 4.68915596e-03 9.97793671e-01 3.34393316e+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:270.62, Y:102.96, Z:33.44 [[ 9.65141654e-01 -2.54105638e-01 -6.27049705e-02 2.70623685e+02] [ 2.53220364e-01 9.67162614e-01 -2.18156963e-02 1.02957891e+02] [ 6.61893947e-02 5.17706173e-03 9.97793647e-01 3.34400177e+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:270.65, Y:102.97, Z:33.44 [[ 9.65040035e-01 -2.54483968e-01 -6.27346824e-02 2.70653361e+02] [ 2.53605539e-01 9.67063792e-01 -2.17221480e-02 1.02966092e+02] [ 6.61963783e-02 5.05287954e-03 9.97793820e-01 3.34419175e+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:270.68, Y:102.98, Z:33.44 [[ 9.64793598e-01 -2.55400717e-01 -6.27995772e-02 2.70684722e+02] [ 2.54537550e-01 9.66823502e-01 -2.15163330e-02 1.02977667e+02] [ 6.62113940e-02 4.77396984e-03 9.97794198e-01 3.34432520e+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:270.72, Y:102.99, Z:33.44 [[ 9.64174881e-01 -2.57728585e-01 -6.27915203e-02 2.70717223e+02] [ 2.56868656e-01 9.66206208e-01 -2.15419741e-02 1.02986450e+02] [ 6.62215393e-02 4.64105686e-03 9.97794151e-01 3.34445096e+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:270.75, Y:102.99, Z:33.45 [[ 9.62297058e-01 -2.64646451e-01 -6.28221971e-02 2.70748144e+02] [ 2.63807505e-01 9.64336949e-01 -2.14440896e-02 1.02994164e+02] [ 6.62568681e-02 4.06261725e-03 9.97794329e-01 3.34507369e+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:270.78, Y:103.00, Z:33.45 [[ 9.62166160e-01 -2.65130405e-01 -6.27865355e-02 2.70778810e+02] [ 2.64285058e-01 9.64203637e-01 -2.15581488e-02 1.03002982e+02] [ 6.62547266e-02 4.14897811e-03 9.97794116e-01 3.34481775e+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:270.82, Y:103.01, Z:33.45 [[ 9.60747780e-01 -2.70232288e-01 -6.27551903e-02 2.70816615e+02] [ 2.69391196e-01 9.62787244e-01 -2.16588661e-02 1.03013042e+02] [ 6.62728217e-02 3.90301171e-03 9.97793906e-01 3.34461521e+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:270.84, Y:103.02, Z:33.45 [[ 9.58910586e-01 -2.76586797e-01 -6.31682860e-02 2.70842630e+02] [ 2.75846924e-01 9.60986728e-01 -2.03219954e-02 1.03022559e+02] [ 6.63246801e-02 2.06219917e-03 9.97795963e-01 3.34472271e+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:270.87, Y:103.03, Z:33.45 [[ 9.57920131e-01 -2.80066346e-01 -6.28638568e-02 2.70872056e+02] [ 2.79269322e-01 9.59976406e-01 -2.13060249e-02 1.03032380e+02] [ 6.63149198e-02 2.85352355e-03 9.97794663e-01 3.34501777e+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:270.90, Y:103.04, Z:33.45 [[ 9.57595714e-01 -2.81165577e-01 -6.28996621e-02 2.70903548e+02] [ 2.80378475e-01 9.59655595e-01 -2.11907778e-02 1.03044048e+02] [ 6.63201300e-02 2.65648658e-03 9.97794860e-01 3.34493881e+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:270.93, Y:103.06, Z:33.45 [[ 9.57330131e-01 -2.82049369e-01 -6.29854954e-02 2.70934860e+02] [ 2.81282382e-01 9.59397124e-01 -2.09136140e-02 1.03055043e+02] [ 6.63267748e-02 2.30452269e-03 9.97795294e-01 3.34498680e+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:270.96, Y:103.06, Z:33.45 [[ 9.55834616e-01 -2.87043846e-01 -6.31349104e-02 2.70963810e+02] [ 2.86319614e-01 9.57916347e-01 -2.04291625e-02 1.03061120e+02] [ 6.63420281e-02 1.45013744e-03 9.97795887e-01 3.34547455e+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:271.00, Y:103.07, Z:33.46 [[ 9.55040917e-01 -2.89717090e-01 -6.29353174e-02 2.70996712e+02] [ 2.88955990e-01 9.57110356e-01 -2.10761217e-02 1.03070717e+02] [ 6.63421567e-02 1.94302166e-03 9.97795041e-01 3.34629475e+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:271.03, Y:103.08, Z:33.47 [[ 9.54130736e-01 -2.92665818e-01 -6.30972071e-02 2.71027189e+02] [ 2.91945917e-01 9.56214052e-01 -2.05491687e-02 1.03078552e+02] [ 6.63484754e-02 1.18562148e-03 9.97795808e-01 3.34661117e+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:271.06, Y:103.09, Z:33.47 [[ 9.52850033e-01 -2.96827553e-01 -6.30096708e-02 2.71059130e+02] [ 2.96097878e-01 9.54930351e-01 -2.08343753e-02 1.03086599e+02] [ 6.63540637e-02 1.19500540e-03 9.97795425e-01 3.34653857e+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:271.09, Y:103.09, Z:33.47 [[ 9.52218078e-01 -2.98848452e-01 -6.30105947e-02 2.71090755e+02] [ 2.98123392e-01 9.54300004e-01 -2.08313571e-02 1.03094526e+02] [ 6.63564296e-02 1.05106264e-03 9.97795430e-01 3.34660536e+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:271.12, Y:103.10, Z:33.46 [[ 9.51178833e-01 -3.02139752e-01 -6.30110937e-02 2.71122208e+02] [ 3.01422004e-01 9.53263289e-01 -2.08297240e-02 1.03102813e+02] [ 6.63596501e-02 8.19862511e-04 9.97795432e-01 3.34641885e+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:271.15, Y:103.11, Z:33.47 [[ 9.51326694e-01 -3.01678231e-01 -6.29902107e-02 2.71152443e+02] [ 3.00954940e-01 9.53409352e-01 -2.08981476e-02 1.03110446e+02] [ 6.63599721e-02 9.23750595e-04 9.97795320e-01 3.34693358e+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:271.18, Y:103.12, Z:33.47 [[ 9.51000334e-01 -3.02691256e-01 -6.30584462e-02 2.71183694e+02] [ 3.01985154e-01 9.53088465e-01 -2.06722889e-02 1.03120881e+02] [ 6.63575988e-02 6.16639043e-04 9.97795715e-01 3.34721187e+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:271.21, Y:103.13, Z:33.48 [[ 9.50862692e-01 -3.03126449e-01 -6.30436057e-02 2.71213593e+02] [ 3.02418039e-01 9.52950129e-01 -2.07214985e-02 1.03126884e+02] [ 6.63586465e-02 6.37776197e-04 9.97795632e-01 3.34751062e+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:271.25, Y:103.14, Z:33.47 [[ 9.50902464e-01 -3.03011518e-01 -6.29962243e-02 2.71245756e+02] [ 3.02292506e-01 9.52986550e-01 -2.08776409e-02 1.03137824e+02] [ 6.63607201e-02 8.09313655e-04 9.97795370e-01 3.34736727e+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:271.28, Y:103.15, Z:33.48 [[ 9.53827570e-01 -2.93662697e-01 -6.30490786e-02 2.71279049e+02] [ 2.92934806e-01 9.55908253e-01 -2.07029504e-02 1.03146470e+02] [ 6.63488188e-02 1.27777530e-03 9.97795671e-01 3.34801933e+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:271.31, Y:103.16, Z:33.49 [[ 9.54497924e-01 -2.91433121e-01 -6.32491071e-02 2.71306488e+02] [ 2.90744350e-01 9.56590922e-01 -2.00382296e-02 1.03159958e+02] [ 6.63433255e-02 7.37128066e-04 9.97796582e-01 3.34874411e+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:271.34, Y:103.17, Z:33.49 [[ 9.55617937e-01 -2.87757209e-01 -6.31676181e-02 2.71336853e+02] [ 2.87042459e-01 9.57702543e-01 -2.03092629e-02 1.03170632e+02] [ 6.63399253e-02 1.27610749e-03 9.97796265e-01 3.34856941e+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:271.36, Y:103.18, Z:33.49 [[ 9.57948522e-01 -2.79888163e-01 -6.32237784e-02 2.71362800e+02] [ 2.79168589e-01 9.60031234e-01 -2.01228415e-02 1.03178536e+02] [ 6.63289472e-02 1.62655330e-03 9.97796485e-01 3.34875685e+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:271.40, Y:103.18, Z:33.49 [[ 9.59936280e-01 -2.73033100e-01 -6.30496977e-02 2.71397023e+02] [ 2.72260693e-01 9.62000836e-01 -2.07003947e-02 1.03184634e+02] [ 6.63057548e-02 2.70510554e-03 9.97795685e-01 3.34877015e+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:271.43, Y:103.19, Z:33.49 [[ 9.61007505e-01 -2.69221849e-01 -6.31202989e-02 2.71431180e+02] [ 2.68456645e-01 9.63074339e-01 -2.04657455e-02 1.03194414e+02] [ 6.62993660e-02 2.72267134e-03 9.97796062e-01 3.34891585e+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:271.46, Y:103.20, Z:33.49 [[ 9.60798021e-01 -2.69910261e-01 -6.33688714e-02 2.71462788e+02] [ 2.69201165e-01 9.62883787e-01 -1.96353100e-02 1.03201134e+02] [ 6.63166305e-02 1.80659296e-03 9.97796994e-01 3.34910441e+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:271.49, Y:103.21, Z:33.50 [[ 9.60827725e-01 -2.69810481e-01 -6.33434015e-02 2.71494171e+02] [ 2.69095556e-01 9.62911566e-01 -1.97204790e-02 1.03208856e+02] [ 6.63148859e-02 1.90255518e-03 9.97796931e-01 3.34952681e+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:271.53, Y:103.22, Z:33.50 [[ 9.60950667e-01 -2.69357993e-01 -6.34041577e-02 2.71525635e+02] [ 2.68655490e-01 9.63038581e-01 -1.95171342e-02 1.03217927e+02] [ 6.63177462e-02 1.72112808e-03 9.97797071e-01 3.34973098e+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:271.56, Y:103.22, Z:33.51 [[ 9.59762156e-01 -2.73558958e-01 -6.34200334e-02 2.71555709e+02] [ 2.72869113e-01 9.61854254e-01 -1.94638749e-02 1.03224482e+02] [ 6.63253462e-02 1.37532227e-03 9.97797102e-01 3.35059183e+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:271.59, Y:103.23, Z:33.50 [[ 9.58735149e-01 -2.77151008e-01 -6.33579719e-02 2.71589935e+02] [ 2.76455241e-01 9.60825432e-01 -1.96720482e-02 1.03231937e+02] [ 6.63280787e-02 1.34464067e-03 9.97796962e-01 3.35030885e+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:271.62, Y:103.24, Z:33.51 [[ 9.56233222e-01 -2.85629338e-01 -6.35130387e-02 2.71621229e+02] [ 2.84986689e-01 9.58340146e-01 -1.91507501e-02 1.03240779e+02] [ 6.63371108e-02 2.12212897e-04 9.97797245e-01 3.35099962e+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:271.65, Y:103.25, Z:33.51 [[ 9.54854358e-01 -2.90204275e-01 -6.35187649e-02 2.71653401e+02] [ 2.89573003e-01 9.56964714e-01 -1.91314688e-02 1.03249546e+02] [ 6.63372507e-02 -1.25553110e-04 9.97797251e-01 3.35118100e+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:271.69, Y:103.26, Z:33.51 [[ 9.50805882e-01 -3.03194480e-01 -6.35710726e-02 2.71686090e+02] [ 3.02603822e-01 9.52927926e-01 -1.89550546e-02 1.03258259e+02] [ 6.63257183e-02 -1.21427207e-03 9.97797286e-01 3.35088932e+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:271.72, Y:103.27, Z:33.51 [[ 9.48794546e-01 -3.09423842e-01 -6.36065691e-02 2.71716943e+02] [ 3.08855137e-01 9.50922572e-01 -1.88352557e-02 1.03267739e+02] [ 6.63129995e-02 -1.77442773e-03 9.97797293e-01 3.35090161e+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:271.75, Y:103.28, Z:33.50 [[ 9.44880899e-01 -3.21179545e-01 -6.35907834e-02 2.71747839e+02] [ 3.20633721e-01 9.47014910e-01 -1.88885681e-02 1.03275868e+02] [ 6.62880416e-02 -2.54190231e-03 9.97797291e-01 3.35031094e+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:271.78, Y:103.28, Z:33.50 [[ 9.42900915e-01 -3.26942722e-01 -6.36106991e-02 2.71778794e+02] [ 3.26414468e-01 9.45039341e-01 -1.88212588e-02 1.03284023e+02] [ 6.62680867e-02 -3.01687040e-03 9.97797294e-01 3.35041362e+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:271.81, Y:103.29, Z:33.50 [[ 9.42825102e-01 -3.27155335e-01 -6.36412865e-02 2.71811678e+02] [ 3.26634527e-01 9.44965359e-01 -1.87178311e-02 1.03294986e+02] [ 6.62624494e-02 -3.13980051e-03 9.97797289e-01 3.35029859e+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:271.84, Y:103.31, Z:33.50 [[ 9.43113260e-01 -3.26306143e-01 -6.37313055e-02 2.71840946e+02] [ 3.25803939e-01 9.45258035e-01 -1.84130638e-02 1.03305134e+02] [ 6.62508244e-02 -3.39830576e-03 9.97797214e-01 3.35032112e+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:271.87, Y:103.32, Z:33.50 [[ 9.44864425e-01 -3.21209738e-01 -6.36829886e-02 2.71873523e+02] [ 3.20684955e-01 9.47003732e-01 -1.85766324e-02 1.03316138e+02] [ 6.62750231e-02 -2.86977726e-03 9.97797267e-01 3.35011583e+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:271.91, Y:103.32, Z:33.50 [[ 9.46151146e-01 -3.17384856e-01 -6.37562735e-02 2.71906366e+02] [ 3.16868124e-01 9.48292501e-01 -1.83282401e-02 1.03324531e+02] [ 6.62767019e-02 -2.86104540e-03 9.97797180e-01 3.35019008e+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:271.93, Y:103.33, Z:33.50 [[ 9.47389833e-01 -3.13652958e-01 -6.38304473e-02 2.71933708e+02] [ 3.13144692e-01 9.49533374e-01 -1.80768654e-02 1.03331544e+02] [ 6.62790024e-02 -2.86232723e-03 9.97797024e-01 3.35012654e+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:271.96, Y:103.34, Z:33.51 [[ 9.47103544e-01 -3.14558736e-01 -6.36213663e-02 2.71962690e+02] [ 3.14004935e-01 9.49235494e-01 -1.87850468e-02 1.03340479e+02] [ 6.63006597e-02 -2.18603857e-03 9.97797296e-01 3.35057420e+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:272.00, Y:103.35, Z:33.51 [[ 9.46686918e-01 -3.15816282e-01 -6.35920975e-02 2.71999024e+02] [ 3.15258657e-01 9.48817878e-01 -1.88842406e-02 1.03351632e+02] [ 6.63012696e-02 -2.17049571e-03 9.97797289e-01 3.35081375e+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:272.02, Y:103.36, Z:33.51 [[ 9.45137873e-01 -3.20350937e-01 -6.39505930e-02 2.72024362e+02] [ 3.19885344e-01 9.47291488e-01 -1.76693010e-02 1.03357021e+02] [ 6.62402295e-02 -3.75693185e-03 9.97796631e-01 3.35101924e+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:272.06, Y:103.36, Z:33.51 [[ 9.44866888e-01 -3.21216172e-01 -6.36139482e-02 2.72055424e+02] [ 3.20675838e-01 9.47002251e-01 -1.88080880e-02 1.03364642e+02] [ 6.62840142e-02 -2.62831653e-03 9.97797335e-01 3.35128830e+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:272.09, Y:103.37, Z:33.53 [[ 9.43945137e-01 -3.23913783e-01 -6.36194979e-02 2.72085553e+02] [ 3.23380815e-01 9.46082349e-01 -1.87892970e-02 1.03372915e+02] [ 6.62753963e-02 -2.83725956e-03 9.97797335e-01 3.35256127e+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:272.12, Y:103.38, Z:33.53 [[ 9.42575576e-01 -3.27876669e-01 -6.36252552e-02 2.72120060e+02] [ 3.27353998e-01 9.44715330e-01 -1.87697812e-02 1.03381954e+02] [ 6.62619273e-02 -3.13604435e-03 9.97797335e-01 3.35310338e+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:272.15, Y:103.39, Z:33.53 [[ 9.42604114e-01 -3.27745532e-01 -6.38776224e-02 2.72145218e+02] [ 3.27280390e-01 9.44757478e-01 -1.79123782e-02 1.03394219e+02] [ 6.62195633e-02 -4.02161182e-03 9.97796971e-01 3.35335615e+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:272.19, Y:103.40, Z:33.54 [[ 9.43779998e-01 -3.24392060e-01 -6.36325929e-02 2.72186394e+02] [ 3.23863202e-01 9.45918220e-01 -1.87442857e-02 1.03404345e+02] [ 6.62717265e-02 -2.91777342e-03 9.97797347e-01 3.35356266e+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:272.21, Y:103.41, Z:33.54 [[ 9.44380105e-01 -3.22489952e-01 -6.43929169e-02 2.72214928e+02] [ 3.22131385e-01 9.46557020e-01 -1.61610481e-02 1.03409352e+02] [ 6.61633431e-02 -5.48080722e-03 9.97793753e-01 3.35386284e+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:272.25, Y:103.42, Z:33.54 [[ 9.45988099e-01 -3.17787625e-01 -6.41680793e-02 2.72246352e+02] [ 3.17366503e-01 9.48151921e-01 -1.69244890e-02 1.03417495e+02] [ 6.62194808e-02 -4.35443380e-03 9.97795580e-01 3.35383458e+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:272.28, Y:103.43, Z:33.53 [[ 9.47191780e-01 -3.14183597e-01 -6.41591717e-02 2.72275659e+02] [ 3.13752207e-01 9.49353514e-01 -1.69545554e-02 1.03425458e+02] [ 6.62365783e-02 -4.07086627e-03 9.97795642e-01 3.35332798e+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:272.31, Y:103.43, Z:33.54 [[ 9.47274946e-01 -3.13936924e-01 -6.41387947e-02 2.72308462e+02] [ 3.13500326e-01 9.49435492e-01 -1.70232937e-02 1.03434026e+02] [ 6.62398885e-02 -3.98179344e-03 9.97795782e-01 3.35367928e+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:272.32, Y:103.45, Z:33.54 [[ 9.48222977e-01 -3.11038655e-01 -6.42506099e-02 2.72323494e+02] [ 3.10620934e-01 9.50388099e-01 -1.66462234e-02 1.03448015e+02] [ 6.62406339e-02 -4.17325292e-03 9.97794950e-01 3.35418198e+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:272.36, Y:103.46, Z:33.55 [[ 9.48859931e-01 -3.09231909e-01 -6.35645941e-02 2.72355669e+02] [ 3.08655194e-01 9.50985245e-01 -1.89482326e-02 1.03457208e+02] [ 6.63083892e-02 -1.64032345e-03 9.97797829e-01 3.35450717e+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:272.39, Y:103.47, Z:33.55 [[ 9.49738853e-01 -3.06520569e-01 -6.35708403e-02 2.72388252e+02] [ 3.05939189e-01 9.51862895e-01 -1.89272535e-02 1.03465128e+02] [ 6.63123167e-02 -1.47286326e-03 9.97797829e-01 3.35453420e+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:272.42, Y:103.47, Z:33.55 [[ 9.49768104e-01 -3.06428616e-01 -6.35771408e-02 2.72418931e+02] [ 3.05848448e-01 9.51892477e-01 -1.89060664e-02 1.03472675e+02] [ 6.63119618e-02 -1.48859098e-03 9.97797829e-01 3.35459504e+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:272.45, Y:103.48, Z:33.55 [[ 9.49588665e-01 -3.06983582e-01 -6.35802445e-02 2.72450638e+02] [ 3.06405354e-01 9.51713567e-01 -1.88956230e-02 1.03481929e+02] [ 6.63108274e-02 -1.53825797e-03 9.97797829e-01 3.35500245e+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:272.48, Y:103.49, Z:33.56 [[ 9.48304539e-01 -3.10926463e-01 -6.35864513e-02 2.72482154e+02] [ 3.10358470e-01 9.50432199e-01 -1.88747133e-02 1.03492196e+02] [ 6.63032586e-02 -1.83561745e-03 9.97797829e-01 3.35555850e+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:272.51, Y:103.50, Z:33.55 [[ 9.47822543e-01 -3.12391401e-01 -6.35927680e-02 2.72512331e+02] [ 3.11828124e-01 9.49951457e-01 -1.88534071e-02 1.03501391e+02] [ 6.62996848e-02 -1.96032931e-03 9.97797830e-01 3.35545176e+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:272.54, Y:103.51, Z:33.55 [[ 9.45745968e-01 -3.18621841e-01 -6.35978462e-02 2.72543198e+02] [ 3.18073737e-01 9.47878839e-01 -1.88362614e-02 1.03509357e+02] [ 6.62846968e-02 -2.41448638e-03 9.97797830e-01 3.35496341e+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:272.57, Y:103.52, Z:33.55 [[ 9.44625537e-01 -3.21927825e-01 -6.36008679e-02 2.72574503e+02] [ 3.21387871e-01 9.46760485e-01 -1.88260530e-02 1.03518483e+02] [ 6.62754188e-02 -2.65697707e-03 9.97797830e-01 3.35518818e+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:272.60, Y:103.53, Z:33.55 [[ 9.43420099e-01 -3.25442370e-01 -6.36064468e-02 2.72604193e+02] [ 3.24911638e-01 9.45557358e-01 -1.88071848e-02 1.03528399e+02] [ 6.62641986e-02 -2.92339863e-03 9.97797830e-01 3.35510769e+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:272.63, Y:103.54, Z:33.55 [[ 9.41932407e-01 -3.29722470e-01 -6.36115761e-02 2.72633639e+02] [ 3.29202617e-01 9.44072338e-01 -1.87898200e-02 1.03541017e+02] [ 6.62493553e-02 -3.24235694e-03 9.97797830e-01 3.35515105e+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:272.68, Y:103.56, Z:33.56 [[ 9.37622969e-01 -3.41783676e-01 -6.36167210e-02 2.72675175e+02] [ 3.41292506e-01 9.39769665e-01 -1.87723850e-02 1.03557510e+02] [ 6.62011593e-02 -4.11049076e-03 9.97797830e-01 3.35611358e+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:272.71, Y:103.57, Z:33.56 [[ 9.39438894e-01 -3.36632441e-01 -6.42896871e-02 2.72707833e+02] [ 3.36283634e-01 9.41616236e-01 -1.64979304e-02 1.03569748e+02] [ 6.60899518e-02 -6.12077212e-03 9.97794896e-01 3.35616855e+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:272.73, Y:103.59, Z:33.57 [[ 9.40008883e-01 -3.34966536e-01 -6.46584791e-02 2.72734324e+02] [ 3.34698281e-01 9.42201775e-01 -1.52602980e-02 1.03585117e+02] [ 6.60330229e-02 -7.29626616e-03 9.97790762e-01 3.35672246e+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:272.76, Y:103.59, Z:33.56 [[ 9.39547149e-01 -3.36276667e-01 -6.45690130e-02 2.72762569e+02] [ 3.35990896e-01 9.41736673e-01 -1.55613542e-02 1.03594738e+02] [ 6.60399278e-02 -7.07397462e-03 9.97791906e-01 3.35605433e+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:272.79, Y:103.61, Z:33.57 [[ 9.37938560e-01 -3.40762360e-01 -6.44381223e-02 2.72790466e+02] [ 3.40457145e-01 9.40123906e-01 -1.59991827e-02 1.03606232e+02] [ 6.60317385e-02 -6.93216874e-03 9.97793443e-01 3.35707359e+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:272.82, Y:103.62, Z:33.57 [[ 9.36123878e-01 -3.45693715e-01 -6.45595955e-02 2.72821676e+02] [ 3.45427670e-01 9.38315796e-01 -1.55946361e-02 1.03618357e+02] [ 6.59682559e-02 -7.70215940e-03 9.97791995e-01 3.35743071e+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:272.85, Y:103.63, Z:33.58 [[ 9.35497897e-01 -3.47358254e-01 -6.46987447e-02 2.72851350e+02] [ 3.47127912e-01 9.37695731e-01 -1.51304322e-02 1.03628739e+02] [ 6.59234172e-02 -8.30425267e-03 9.97790129e-01 3.35751712e+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:272.88, Y:103.64, Z:33.58 [[ 9.35720400e-01 -3.46760957e-01 -6.46851763e-02 2.72879590e+02] [ 3.46526117e-01 9.37917561e-01 -1.51755754e-02 1.03637820e+02] [ 6.59316599e-02 -8.21500746e-03 9.97790324e-01 3.35796209e+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:272.90, Y:103.65, Z:33.58 [[ 9.39037597e-01 -3.37690623e-01 -6.46021211e-02 2.72902529e+02] [ 3.37415690e-01 9.41228940e-01 -1.54510132e-02 1.03646371e+02] [ 6.60230482e-02 -7.28868701e-03 9.97791477e-01 3.35778443e+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:272.93, Y:103.66, Z:33.58 [[ 9.41514025e-01 -3.30788767e-01 -6.42661155e-02 2.72930458e+02] [ 3.30422091e-01 9.43687956e-01 -1.65614819e-02 1.03657531e+02] [ 6.61255113e-02 -5.64207678e-03 9.97795362e-01 3.35828294e+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:272.96, Y:103.67, Z:33.59 [[ 9.42008752e-01 -3.29380117e-01 -6.42514610e-02 2.72961034e+02] [ 3.29006902e-01 9.44181429e-01 -1.66098840e-02 1.03666889e+02] [ 6.61360018e-02 -5.49251803e-03 9.97795501e-01 3.35909961e+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:272.99, Y:103.68, Z:33.60 [[ 9.44426360e-01 -3.22379146e-01 -6.42692456e-02 2.72988112e+02] [ 3.21993801e-01 9.46597091e-01 -1.65511249e-02 1.03676366e+02] [ 6.61728184e-02 -5.06298006e-03 9.97795332e-01 3.35994456e+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:273.02, Y:103.69, Z:33.61 [[ 9.45263197e-01 -3.19958446e-01 -6.40631067e-02 2.73020572e+02] [ 3.19521873e-01 9.47422324e-01 -1.72253233e-02 1.03685536e+02] [ 6.62062051e-02 -4.18709970e-03 9.97797177e-01 3.36052596e+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:273.05, Y:103.69, Z:33.60 [[ 9.46014786e-01 -3.17692887e-01 -6.42437182e-02 2.73050208e+02] [ 3.17290996e-01 9.48182287e-01 -1.66365585e-02 1.03694009e+02] [ 6.62000719e-02 -4.64552304e-03 9.97795555e-01 3.36038735e+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:273.08, Y:103.70, Z:33.60 [[ 9.48017576e-01 -3.11689119e-01 -6.41293108e-02 2.73083095e+02] [ 3.11248452e-01 9.50176388e-01 -1.70068628e-02 1.03701096e+02] [ 6.62350109e-02 -3.83734382e-03 9.97796672e-01 3.36016643e+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:273.11, Y:103.71, Z:33.60 [[ 9.49888919e-01 -3.05910716e-01 -6.42625573e-02 2.73112484e+02] [ 3.05486031e-01 9.52052273e-01 -1.65756908e-02 1.03711521e+02] [ 6.62519952e-02 -3.88624864e-03 9.97795355e-01 3.36001917e+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:273.14, Y:103.72, Z:33.60 [[ 9.51930312e-01 -2.99504749e-01 -6.42307330e-02 2.73141802e+02] [ 2.99058534e-01 9.54088993e-01 -1.66789559e-02 1.03719916e+02] [ 6.62772618e-02 -3.33154508e-03 9.97795683e-01 3.36006103e+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:273.17, Y:103.73, Z:33.61 [[ 9.51881007e-01 -2.99691013e-01 -6.40924682e-02 2.73173277e+02] [ 2.99214955e-01 9.54031991e-01 -1.71280825e-02 1.03729773e+02] [ 6.62793975e-02 -2.87352863e-03 9.97796965e-01 3.36059976e+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:273.20, Y:103.74, Z:33.61 [[ 9.52314757e-01 -2.98285894e-01 -6.42038142e-02 2.73203186e+02] [ 2.97830821e-01 9.54471367e-01 -1.67693888e-02 1.03739061e+02] [ 6.62827744e-02 -3.15213828e-03 9.97795900e-01 3.36066139e+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:273.24, Y:103.75, Z:33.61 [[ 9.53165726e-01 -2.95541875e-01 -6.42658454e-02 2.73236431e+02] [ 2.95094051e-01 9.55324524e-01 -1.65697012e-02 1.03747958e+02] [ 6.62917787e-02 -3.17079737e-03 9.97795243e-01 3.36065689e+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:273.27, Y:103.76, Z:33.61 [[ 9.51604738e-01 -3.00514230e-01 -6.43398827e-02 2.73265235e+02] [ 3.00093740e-01 9.53769895e-01 -1.63320389e-02 1.03758574e+02] [ 6.62734532e-02 -3.76635036e-03 9.97794390e-01 3.36078330e+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:273.29, Y:103.77, Z:33.61 [[ 9.52042263e-01 -2.99135497e-01 -6.42921828e-02 2.73290650e+02] [ 2.98701552e-01 9.54204189e-01 -1.64847812e-02 1.03766912e+02] [ 6.62790534e-02 -3.50996642e-03 9.97794953e-01 3.36072040e+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:273.32, Y:103.78, Z:33.62 [[ 9.50163866e-01 -3.05139178e-01 -6.38647775e-02 2.73321385e+02] [ 3.04627216e-01 9.52304486e-01 -1.78444920e-02 1.03777684e+02] [ 6.62637677e-02 -2.49975784e-03 9.97799010e-01 3.36159160e+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:273.35, Y:103.79, Z:33.62 [[ 9.49338956e-01 -3.07631196e-01 -6.41762746e-02 2.73350463e+02] [ 3.07191829e-01 9.51498413e-01 -1.68508490e-02 1.03787110e+02] [ 6.62474702e-02 -3.71725972e-03 9.97796299e-01 3.36180503e+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:273.39, Y:103.80, Z:33.61 [[ 9.47534127e-01 -3.13155333e-01 -6.41312304e-02 2.73394161e+02] [ 3.12718825e-01 9.49693697e-01 -1.69946376e-02 1.03799957e+02] [ 6.62269867e-02 -3.95204394e-03 9.97796757e-01 3.36095343e+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:273.42, Y:103.81, Z:33.61 [[ 9.45315215e-01 -3.19620971e-01 -6.49736845e-02 2.73421111e+02] [ 3.19379563e-01 9.47518226e-01 -1.43494304e-02 1.03806674e+02] [ 6.61501292e-02 -7.18653207e-03 9.97783801e-01 3.36141187e+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:273.45, Y:103.82, Z:33.62 [[ 9.44855641e-01 -3.21019094e-01 -6.47654082e-02 2.73449947e+02] [ 3.20736296e-01 9.47049733e-01 -1.50010526e-02 1.03817253e+02] [ 6.61516869e-02 -6.59878795e-03 9.97787758e-01 3.36165798e+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:273.48, Y:103.83, Z:33.61 [[ 9.43377966e-01 -3.25333023e-01 -6.47799129e-02 2.73479654e+02] [ 3.25063354e-01 9.45573974e-01 -1.49557613e-02 1.03829106e+02] [ 6.61198027e-02 -6.94864006e-03 9.97787496e-01 3.36148050e+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:273.51, Y:103.84, Z:33.62 [[ 9.44386219e-01 -3.22384462e-01 -6.48299861e-02 2.73514463e+02] [ 3.22118612e-01 9.46583627e-01 -1.47998758e-02 1.03835636e+02] [ 6.61382534e-02 -6.90614639e-03 9.97786569e-01 3.36186846e+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:273.53, Y:103.84, Z:33.63 [[ 9.44758969e-01 -3.21239582e-01 -6.50816483e-02 2.73526903e+02] [ 3.21025298e-01 9.46966998e-01 -1.40093661e-02 1.03844069e+02] [ 6.61305360e-02 -7.65738129e-03 9.97781598e-01 3.36303713e+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:273.56, Y:103.86, Z:33.64 [[ 9.43211234e-01 -3.25948624e-01 -6.41097694e-02 2.73560328e+02] [ 3.25538344e-01 9.45375304e-01 -1.70388436e-02 1.03856180e+02] [ 6.61615803e-02 -4.79895949e-03 9.97797382e-01 3.36356896e+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:273.60, Y:103.86, Z:33.63 [[ 9.44771619e-01 -3.21331072e-01 -6.44432287e-02 2.73597803e+02] [ 3.20981077e-01 9.46950520e-01 -1.59956844e-02 1.03862418e+02] [ 6.61644593e-02 -5.57278826e-03 9.97793169e-01 3.36301724e+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:273.63, Y:103.87, Z:33.63 [[ 9.42289915e-01 -3.28522802e-01 -6.45173292e-02 2.73626845e+02] [ 3.28204704e-01 9.44474941e-01 -1.57720609e-02 1.03871528e+02] [ 6.61164824e-02 -6.31303705e-03 9.97791940e-01 3.36311459e+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:273.65, Y:103.88, Z:33.63 [[ 9.40242588e-01 -3.34287421e-01 -6.47749623e-02 2.73652789e+02] [ 3.34036052e-01 9.42441025e-01 -1.49943299e-02 1.03882534e+02] [ 6.60589977e-02 -7.53886519e-03 9.97787239e-01 3.36334405e+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:273.68, Y:103.89, Z:33.63 [[ 9.39076804e-01 -3.37572438e-01 -6.46498635e-02 2.73683059e+02] [ 3.37302809e-01 9.41270692e-01 -1.53720119e-02 1.03892298e+02] [ 6.60421893e-02 -7.37108071e-03 9.97789605e-01 3.36307516e+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:273.71, Y:103.90, Z:33.63 [[ 9.36789741e-01 -3.43847428e-01 -6.47605318e-02 2.73707363e+02] [ 3.43615452e-01 9.38990030e-01 -1.50381227e-02 1.03899847e+02] [ 6.59803135e-02 -8.16516025e-03 9.97787517e-01 3.36300002e+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:273.73, Y:103.91, Z:33.64 [[ 9.35330052e-01 -3.47868861e-01 -6.43812759e-02 2.73734078e+02] [ 3.47568046e-01 9.37515201e-01 -1.61771591e-02 1.03911317e+02] [ 6.59859547e-02 -7.24589124e-03 9.97794243e-01 3.36357323e+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:273.76, Y:103.92, Z:33.64 [[ 9.35989205e-01 -3.46107070e-01 -6.42969954e-02 2.73764575e+02] [ 3.45784871e-01 9.38169975e-01 -1.64292871e-02 1.03920363e+02] [ 6.60078030e-02 -6.85529290e-03 9.97795558e-01 3.36395312e+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:273.79, Y:103.93, Z:33.65 [[ 9.36409012e-01 -3.44959061e-01 -6.43537756e-02 2.73793774e+02] [ 3.44645747e-01 9.38591980e-01 -1.62605001e-02 1.03930847e+02] [ 6.60111446e-02 -6.95277623e-03 9.97794662e-01 3.36497928e+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:273.82, Y:103.94, Z:33.65 [[ 9.38144251e-01 -3.40234029e-01 -6.42352756e-02 2.73823569e+02] [ 3.39884624e-01 9.40320133e-01 -1.66279555e-02 1.03944984e+02] [ 6.60591193e-02 -6.23316164e-03 9.97796242e-01 3.36501776e+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:273.85, Y:103.96, Z:33.66 [[ 9.41703215e-01 -3.30359651e-01 -6.36989526e-02 2.73852446e+02] [ 3.29875191e-01 9.43847495e-01 -1.82828984e-02 1.03955023e+02] [ 6.61620288e-02 -3.79563995e-03 9.97801673e-01 3.36557156e+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:273.88, Y:103.97, Z:33.66 [[ 9.47795326e-01 -3.12429772e-01 -6.38095477e-02 2.73878637e+02] [ 3.11927462e-01 9.49936445e-01 -1.79445945e-02 1.03968798e+02] [ 6.62214405e-02 -2.89614747e-03 9.97800748e-01 3.36630580e+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:273.91, Y:103.99, Z:33.67 [[ 9.50997471e-01 -3.02424858e-01 -6.43662522e-02 2.73905089e+02] [ 3.02010434e-01 9.53165125e-01 -1.63077496e-02 1.03986944e+02] [ 6.62835356e-02 -3.93065110e-03 9.97793086e-01 3.36669213e+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:273.93, Y:104.00, Z:33.67 [[ 9.51271187e-01 -3.01583751e-01 -6.42679526e-02 2.73931141e+02] [ 3.01147998e-01 9.53433012e-01 -1.65944386e-02 1.03999587e+02] [ 6.62798007e-02 -3.56835397e-03 9.97794696e-01 3.36747395e+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:273.97, Y:104.01, Z:33.67 [[ 9.53372027e-01 -2.94897087e-01 -6.41676443e-02 2.73965097e+02] [ 2.94426440e-01 9.55524937e-01 -1.68868460e-02 1.04014815e+02] [ 6.62936660e-02 -2.79320443e-03 9.97796246e-01 3.36727755e+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:273.99, Y:104.02, Z:33.67 [[ 9.51794522e-01 -2.99866819e-01 -6.45529134e-02 2.73990921e+02] [ 2.99483500e-01 9.53971252e-01 -1.57633482e-02 1.04024261e+02] [ 6.63085287e-02 -4.32906400e-03 9.97789777e-01 3.36726627e+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:274.02, Y:104.03, Z:33.68 [[ 9.48750988e-01 -3.09417728e-01 -6.42824403e-02 2.74017598e+02] [ 3.09003109e-01 9.50917092e-01 -1.65457605e-02 1.04030610e+02] [ 6.62468228e-02 -4.16566722e-03 9.97794571e-01 3.36786035e+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:274.05, Y:104.04, Z:33.68 [[ 9.47195547e-01 -3.14187794e-01 -6.40829679e-02 2.74049848e+02] [ 3.13745010e-01 9.49352892e-01 -1.71217720e-02 1.04044056e+02] [ 6.62168027e-02 -3.88804526e-03 9.97797684e-01 3.36756118e+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:274.08, Y:104.06, Z:33.68 [[ 9.43707575e-01 -3.24473813e-01 -6.42865312e-02 2.74078917e+02] [ 3.24094320e-01 9.45880227e-01 -1.65368963e-02 1.04055692e+02] [ 6.61731485e-02 -5.22890528e-03 9.97794454e-01 3.36812447e+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:274.11, Y:104.07, Z:33.68 [[ 9.42237217e-01 -3.28726244e-01 -6.42501631e-02 2.74105113e+02] [ 3.28349424e-01 9.44409720e-01 -1.66414009e-02 1.04066094e+02] [ 6.61489438e-02 -5.41635676e-03 9.97795059e-01 3.36844485e+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:274.13, Y:104.08, Z:33.69 [[ 9.39248743e-01 -3.37226908e-01 -6.39516354e-02 2.74134516e+02] [ 3.36812015e-01 9.41409504e-01 -1.74875029e-02 1.04077702e+02] [ 6.61019339e-02 -5.11456407e-03 9.97799767e-01 3.36862616e+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:274.16, Y:104.09, Z:33.69 [[ 9.37301288e-01 -3.42549336e-01 -6.42358832e-02 2.74159847e+02] [ 3.42201504e-01 9.39478434e-01 -1.66854291e-02 1.04090601e+02] [ 6.60638096e-02 -6.34234166e-03 9.97795243e-01 3.36853665e+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:274.20, Y:104.10, Z:33.68 [[ 9.37133952e-01 -3.43030300e-01 -6.41106031e-02 2.74195043e+02] [ 3.42659248e-01 9.39305188e-01 -1.70412604e-02 1.04102940e+02] [ 6.60650907e-02 -5.99814733e-03 9.97797287e-01 3.36813301e+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:274.22, Y:104.12, Z:33.68 [[ 9.34916523e-01 -3.48954677e-01 -6.45114641e-02 2.74215749e+02] [ 3.48675422e-01 9.37108587e-01 -1.59043080e-02 1.04116079e+02] [ 6.60041296e-02 -7.62436168e-03 9.97790220e-01 3.36830110e+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:274.24, Y:104.13, Z:33.70 [[ 9.31151839e-01 -3.58992325e-01 -6.38808520e-02 2.74238724e+02] [ 3.58615460e-01 9.33318172e-01 -1.76675071e-02 1.04130614e+02] [ 6.59636595e-02 -6.45752937e-03 9.97801130e-01 3.36954554e+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:274.24, Y:104.14, Z:33.68 [[ 9.30928844e-01 -3.59575633e-01 -6.38502292e-02 2.74237424e+02] [ 3.59194265e-01 9.33093942e-01 -1.77531471e-02 1.04142507e+02] [ 6.59618612e-02 -6.40771945e-03 9.97801570e-01 3.36833806e+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:274.29, Y:104.15, Z:33.70 [[ 9.27015518e-01 -3.69837121e-01 -6.21508929e-02 2.74290758e+02] [ 3.69160715e-01 9.29094178e-01 -2.24583066e-02 1.04153634e+02] [ 6.60499482e-02 -2.12446938e-03 9.97814056e-01 3.37036455e+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:274.29, Y:104.16, Z:33.69 [[ 9.27913865e-01 -3.67295288e-01 -6.37967967e-02 2.74290864e+02] [ 3.66923707e-01 9.30079346e-01 -1.78718424e-02 1.04164509e+02] [ 6.59003264e-02 -6.82502683e-03 9.97802869e-01 3.36930432e+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:274.35, Y:104.18, Z:33.70 [[ 9.23774940e-01 -3.77863274e-01 -6.21225159e-02 2.74345584e+02] [ 3.77202258e-01 9.25857615e-01 -2.24974122e-02 1.04178949e+02] [ 6.60175502e-02 -2.65020775e-03 9.97814943e-01 3.37029534e+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:274.36, Y:104.19, Z:33.70 [[ 9.26670636e-01 -3.70414811e-01 -6.38310268e-02 2.74363585e+02] [ 3.70055616e-01 9.28839094e-01 -1.77982946e-02 1.04189363e+02] [ 6.58815050e-02 -7.12787298e-03 9.97801995e-01 3.36973489e+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:274.37, Y:104.21, Z:33.70 [[ 9.27925233e-01 -3.67406188e-01 -6.29877300e-02 2.74372689e+02] [ 3.66883222e-01 9.30049890e-01 -2.00973384e-02 1.04205367e+02] [ 6.59656179e-02 -4.46031393e-03 9.97811928e-01 3.37016142e+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:274.41, Y:104.23, Z:33.71 [[ 9.32953741e-01 -3.54623112e-01 -6.19658433e-02 2.74412255e+02] [ 3.53885564e-01 9.35009142e-01 -2.28672821e-02 1.04228333e+02] [ 6.60478967e-02 -5.94701067e-04 9.97816277e-01 3.37074196e+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:274.44, Y:104.24, Z:33.72 [[ 9.32972184e-01 -3.54402337e-01 -6.29435300e-02 2.74438936e+02] [ 3.53841642e-01 9.35086817e-01 -2.02172236e-02 1.04242099e+02] [ 6.60226964e-02 -3.40993473e-03 9.97812295e-01 3.37151454e+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:274.46, Y:104.26, Z:33.72 [[ 9.32714112e-01 -3.55089702e-01 -6.28942628e-02 2.74463247e+02] [ 3.54521561e-01 9.34826352e-01 -2.03507945e-02 1.04255743e+02] [ 6.60215718e-02 -3.31589900e-03 9.97812686e-01 3.37186630e+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:274.49, Y:104.27, Z:33.72 [[ 9.32395637e-01 -3.55949859e-01 -6.27540836e-02 2.74491240e+02] [ 3.55358095e-01 9.34500332e-01 -2.07305084e-02 1.04267257e+02] [ 6.60227335e-02 -2.97113604e-03 9.97813696e-01 3.37232791e+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:274.52, Y:104.28, Z:33.73 [[ 9.32230647e-01 -3.56403802e-01 -6.26286702e-02 2.74520116e+02] [ 3.55790358e-01 9.34328288e-01 -2.10682790e-02 1.04278325e+02] [ 6.60245529e-02 -2.64218162e-03 9.97814500e-01 3.37253873e+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:274.55, Y:104.29, Z:33.73 [[ 9.32701262e-01 -3.55168822e-01 -6.26375629e-02 2.74549364e+02] [ 3.54554207e-01 9.34798615e-01 -2.10443378e-02 1.04287316e+02] [ 6.60277997e-02 -2.58033109e-03 9.97814447e-01 3.37294182e+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:274.57, Y:104.30, Z:33.74 [[ 9.35446057e-01 -3.47889482e-01 -6.25586279e-02 2.74573975e+02] [ 3.47244310e-01 9.37533748e-01 -2.12570108e-02 1.04298052e+02] [ 6.60459153e-02 -1.83834067e-03 9.97814891e-01 3.37354653e+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:274.61, Y:104.31, Z:33.74 [[ 9.37367008e-01 -3.42734216e-01 -6.22603304e-02 2.74613153e+02] [ 3.42024137e-01 9.39432210e-01 -2.20593037e-02 1.04308877e+02] [ 6.60498379e-02 -6.16872293e-04 9.97816135e-01 3.37368460e+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:274.63, Y:104.32, Z:33.74 [[ 9.41423267e-01 -3.31289501e-01 -6.30039527e-02 2.74634025e+02] [ 3.30687409e-01 9.43527139e-01 -2.00592849e-02 1.04315621e+02] [ 6.60913697e-02 -1.95033641e-03 9.97811669e-01 3.37353472e+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:274.67, Y:104.32, Z:33.74 [[ 9.42749029e-01 -3.27629351e-01 -6.23159488e-02 2.74668203e+02] [ 3.26896880e-01 9.44806294e-01 -2.18973891e-02 1.04324230e+02] [ 6.60507280e-02 2.72853036e-04 9.97816229e-01 3.37428643e+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:274.68, Y:104.33, Z:33.74 [[ 9.43654899e-01 -3.24950052e-01 -6.26330185e-02 2.74680996e+02] [ 3.24267772e-01 9.45731075e-01 -2.10510422e-02 1.04332142e+02] [ 6.60745292e-02 -4.44950227e-04 9.97814591e-01 3.37376223e+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:274.72, Y:104.34, Z:33.75 [[ 9.47516491e-01 -3.13731509e-01 -6.15226724e-02 2.74721750e+02] [ 3.12831738e-01 9.49505311e-01 -2.39993348e-02 1.04344653e+02] [ 6.59454517e-02 3.49352095e-03 9.97817114e-01 3.37451344e+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:274.75, Y:104.36, Z:33.75 [[ 9.47432284e-01 -3.13823933e-01 -6.23426543e-02 2.74754257e+02] [ 3.13066979e-01 9.49480498e-01 -2.18139876e-02 1.04356994e+02] [ 6.60388859e-02 1.14984964e-03 9.97816388e-01 3.37480643e+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:274.78, Y:104.37, Z:33.75 [[ 9.48468117e-01 -3.10641196e-01 -6.25322163e-02 2.74781356e+02] [ 3.09910610e-01 9.50526884e-01 -2.13086170e-02 1.04367592e+02] [ 6.60578870e-02 8.31146490e-04 9.97815446e-01 3.37535327e+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:274.81, Y:104.38, Z:33.76 [[ 9.46083405e-01 -3.17868144e-01 -6.23380674e-02 2.74814681e+02] [ 3.17119218e-01 9.48134521e-01 -2.18250467e-02 1.04384526e+02] [ 6.60423607e-02 8.79715367e-04 9.97816432e-01 3.37580490e+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:274.84, Y:104.40, Z:33.75 [[ 9.45838083e-01 -3.18520231e-01 -6.27310424e-02 2.74843711e+02] [ 3.17841895e-01 9.47916020e-01 -2.07785761e-02 1.04395849e+02] [ 6.60821569e-02 -2.85384755e-04 9.97814145e-01 3.37537351e+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:274.87, Y:104.41, Z:33.75 [[ 9.45500547e-01 -3.19528268e-01 -6.26929242e-02 2.74874845e+02] [ 3.18845429e-01 9.47576712e-01 -2.08798318e-02 1.04407988e+02] [ 6.60780514e-02 -2.47459935e-04 9.97814427e-01 3.37510185e+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:274.90, Y:104.42, Z:33.75 [[ 9.43387396e-01 -3.25691109e-01 -6.28133994e-02 2.74902839e+02] [ 3.25043045e-01 9.45475680e-01 -2.05610757e-02 1.04424229e+02] [ 6.60851011e-02 -1.01999896e-03 9.97813469e-01 3.37479169e+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:274.92, Y:104.44, Z:33.76 [[ 9.42289660e-01 -3.28854142e-01 -6.28104315e-02 2.74923579e+02] [ 3.28212564e-01 9.44379920e-01 -2.05689238e-02 1.04437623e+02] [ 6.60810860e-02 -1.23328852e-03 9.97813494e-01 3.37560529e+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:274.95, Y:104.45, Z:33.76 [[ 9.36787459e-01 -3.44302799e-01 -6.23284732e-02 2.74954300e+02] [ 3.43610711e-01 9.38858172e-01 -2.18406070e-02 1.04452797e+02] [ 6.60373786e-02 -9.56724223e-04 9.97816691e-01 3.37601421e+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:274.98, Y:104.46, Z:33.77 [[ 9.34461224e-01 -3.50518143e-01 -6.26039308e-02 2.74982280e+02] [ 3.49888169e-01 9.36553426e-01 -2.11175284e-02 1.04464457e+02] [ 6.60340027e-02 -2.17086330e-03 9.97815012e-01 3.37667337e+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:275.01, Y:104.48, Z:33.78 [[ 9.35121113e-01 -3.48756886e-01 -6.25870471e-02 2.75009435e+02] [ 3.48120006e-01 9.37211096e-01 -2.11618167e-02 1.04476459e+02] [ 6.60376043e-02 -1.99894164e-03 9.97815133e-01 3.37768868e+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:275.04, Y:104.49, Z:33.78 [[ 9.35800585e-01 -3.46934278e-01 -6.25609419e-02 2.75041079e+02] [ 3.46288746e-01 9.37887722e-01 -2.12303094e-02 1.04485885e+02] [ 6.60406613e-02 -1.79681409e-03 9.97815315e-01 3.37803255e+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:275.07, Y:104.50, Z:33.78 [[ 9.35921854e-01 -3.46600044e-01 -6.25994640e-02 2.75070449e+02] [ 3.45960525e-01 9.38011124e-01 -2.11292682e-02 1.04498234e+02] [ 6.60423989e-02 -1.88159955e-03 9.97815044e-01 3.37815358e+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:275.10, Y:104.50, Z:33.78 [[ 9.37811959e-01 -3.41462000e-01 -6.25494342e-02 2.75095885e+02] [ 3.40802312e-01 9.39894569e-01 -2.12598971e-02 1.04504204e+02] [ 6.60493205e-02 -1.37920603e-03 9.97815406e-01 3.37784154e+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:275.13, Y:104.52, Z:33.78 [[ 9.38166300e-01 -3.40557504e-01 -6.21657455e-02 2.75131552e+02] [ 3.39829351e-01 9.40223658e-01 -2.22594814e-02 1.04517793e+02] [ 6.60303381e-02 -2.42649588e-04 9.97817586e-01 3.37771252e+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:275.15, Y:104.52, Z:33.78 [[ 9.40766687e-01 -3.33216450e-01 -6.26485285e-02 2.75154969e+02] [ 3.32555817e-01 9.42849742e-01 -2.09998479e-02 1.04524193e+02] [ 6.60656437e-02 -1.07817519e-03 9.97814696e-01 3.37794807e+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:275.17, Y:104.54, Z:33.78 [[ 9.39050898e-01 -3.38104980e-01 -6.21967320e-02 2.75169740e+02] [ 3.37376972e-01 9.41108387e-01 -2.21761569e-02 1.04535329e+02] [ 6.60317352e-02 -1.59205085e-04 9.97817511e-01 3.37752287e+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:275.21, Y:104.54, Z:33.79 [[ 9.40829723e-01 -3.33297710e-01 -6.12541419e-02 2.75209895e+02] [ 3.32398671e-01 9.42817458e-01 -2.46244610e-02 1.04543648e+02] [ 6.59587508e-02 2.80662942e-03 9.97818403e-01 3.37922781e+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:275.24, Y:104.56, Z:33.79 [[ 9.40783622e-01 -3.33309430e-01 -6.18950782e-02 2.75240331e+02] [ 3.32519597e-01 9.42816947e-01 -2.29547980e-02 1.04555295e+02] [ 6.60067792e-02 1.01417154e-03 9.97818659e-01 3.37932260e+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:275.28, Y:104.56, Z:33.78 [[ 9.41290232e-01 -3.31877024e-01 -6.18897421e-02 2.75279007e+02] [ 3.31083182e-01 9.43321984e-01 -2.29687023e-02 1.04564613e+02] [ 6.60047388e-02 1.12956235e-03 9.97818670e-01 3.37835317e+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:275.30, Y:104.57, Z:33.79 [[ 9.41465910e-01 -3.31265689e-01 -6.24898628e-02 2.75304848e+02] [ 3.30573600e-01 9.43537382e-01 -2.14080483e-02 1.04572169e+02] [ 6.60532734e-02 -5.02551242e-04 9.97815971e-01 3.37907099e+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:275.32, Y:104.59, Z:33.78 [[ 9.38892322e-01 -3.38552461e-01 -6.21565655e-02 2.75321856e+02] [ 3.37818981e-01 9.40947514e-01 -2.22735723e-02 1.04586418e+02] [ 6.60268384e-02 -8.51816150e-05 9.97817844e-01 3.37823859e+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:275.36, Y:104.59, Z:33.81 [[ 9.43962766e-01 -3.24288304e-01 -6.14116698e-02 2.75362177e+02] [ 3.23397740e-01 9.45953586e-01 -2.42015658e-02 1.04593608e+02] [ 6.59408740e-02 2.98498173e-03 9.97819067e-01 3.38110496e+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:275.38, Y:104.60, Z:33.80 [[ 9.43148138e-01 -3.26527822e-01 -6.20577998e-02 2.75383881e+02] [ 3.25751472e-01 9.45187029e-01 -2.25268625e-02 1.04602755e+02] [ 6.60118747e-02 1.03074882e-03 9.97818305e-01 3.37991611e+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:275.43, Y:104.61, Z:33.81 [[ 9.46314485e-01 -3.17338706e-01 -6.15226849e-02 2.75428081e+02] [ 3.16452345e-01 9.48307002e-01 -2.39111592e-02 1.04610495e+02] [ 6.59303292e-02 3.15847840e-03 9.97819230e-01 3.38126932e+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:275.46, Y:104.62, Z:33.81 [[ 9.47244210e-01 -3.14376309e-01 -6.24174836e-02 2.75459510e+02] [ 3.13635581e-01 9.49298045e-01 -2.15857368e-02 1.04618136e+02] [ 6.60388394e-02 8.70620452e-04 9.97816673e-01 3.38148291e+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:275.48, Y:104.63, Z:33.81 [[ 9.46295706e-01 -3.17225205e-01 -6.23907576e-02 2.75482126e+02] [ 3.16486098e-01 9.48349942e-01 -2.16549738e-02 1.04627157e+02] [ 6.60377748e-02 7.46201351e-04 9.97816845e-01 3.38095661e+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:275.52, Y:104.64, Z:33.82 [[ 9.48398977e-01 -3.10978319e-01 -6.19020635e-02 2.75522504e+02] [ 3.10143068e-01 9.50413620e-01 -2.29178399e-02 1.04635551e+02] [ 6.59595156e-02 2.53676005e-03 9.97819075e-01 3.38155168e+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:275.55, Y:104.65, Z:33.82 [[ 9.48327868e-01 -3.11079227e-01 -6.24817456e-02 2.75552723e+02] [ 3.10342153e-01 9.50383533e-01 -2.14216575e-02 1.04646273e+02] [ 6.60454548e-02 9.24035263e-04 9.97816188e-01 3.38159214e+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:275.58, Y:104.66, Z:33.81 [[ 9.48670870e-01 -3.10009271e-01 -6.25925914e-02 2.75584258e+02] [ 3.09288732e-01 9.50733282e-01 -2.11354275e-02 1.04659838e+02] [ 6.60610383e-02 6.91381183e-04 9.97815344e-01 3.38139356e+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:275.60, Y:104.68, Z:33.82 [[ 9.47332629e-01 -3.14037758e-01 -6.27787913e-02 2.75604105e+02] [ 3.13357926e-01 9.49410488e-01 -2.06527201e-02 1.04678249e+02] [ 6.60885769e-02 -1.07236253e-04 9.97813754e-01 3.38167622e+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:275.64, Y:104.69, Z:33.82 [[ 9.48331206e-01 -3.11096752e-01 -6.23436804e-02 2.75636921e+02] [ 3.10336486e-01 9.50377354e-01 -2.17749999e-02 1.04689843e+02] [ 6.60241537e-02 1.30239321e-03 9.97817175e-01 3.38168055e+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:275.66, Y:104.72, Z:33.82 [[ 9.47670186e-01 -3.13042607e-01 -6.26541714e-02 2.75658044e+02] [ 3.12339314e-01 9.49739034e-01 -2.09742936e-02 1.04715439e+02] [ 6.60709597e-02 3.07351828e-04 9.97814880e-01 3.38182330e+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:275.69, Y:104.73, Z:33.82 [[ 9.42219699e-01 -3.29102657e-01 -6.25578083e-02 2.75692054e+02] [ 3.28418110e-01 9.44293990e-01 -2.12227508e-02 1.04730504e+02] [ 6.60574261e-02 -5.48623322e-04 9.97815672e-01 3.38169161e+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:275.72, Y:104.74, Z:33.82 [[ 9.39710138e-01 -3.36122163e-01 -6.29821274e-02 2.75723117e+02] [ 3.35525975e-01 9.41815796e-01 -2.01327380e-02 1.04744300e+02] [ 6.60846219e-02 -2.21320171e-03 9.97811568e-01 3.38184451e+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:275.75, Y:104.76, Z:33.82 [[ 9.36665371e-01 -3.44505551e-01 -6.30389347e-02 2.75753468e+02] [ 3.43937955e-01 9.38779616e-01 -1.99879087e-02 1.04758734e+02] [ 6.60656124e-02 -2.95950037e-03 9.97810892e-01 3.38209464e+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:275.78, Y:104.77, Z:33.82 [[ 9.30838759e-01 -3.59907056e-01 -6.32938892e-02 2.75778389e+02] [ 3.59418516e-01 9.32976080e-01 -1.93381942e-02 1.04772342e+02] [ 6.60116371e-02 -4.74825503e-03 9.97807556e-01 3.38234884e+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:275.80, Y:104.79, Z:33.84 [[ 9.25467156e-01 -3.73556941e-01 -6.29742343e-02 2.75795188e+02] [ 3.73044784e-01 9.27594585e-01 -2.01463489e-02 1.04786221e+02] [ 6.59403672e-02 -4.84742534e-03 9.97811791e-01 3.38353158e+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:275.82, Y:104.80, Z:33.84 [[ 9.20323740e-01 -3.86150291e-01 -6.23872300e-02 2.75822808e+02] [ 3.85566645e-01 9.22426535e-01 -2.16252285e-02 1.04797580e+02] [ 6.58982247e-02 -4.15222380e-03 9.97817710e-01 3.38437932e+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:275.85, Y:104.81, Z:33.85 [[ 9.18611655e-01 -3.90211142e-01 -6.23529647e-02 2.75853585e+02] [ 3.89630942e-01 9.20715124e-01 -2.17114946e-02 1.04808225e+02] [ 6.58813848e-02 -4.35021238e-03 9.97817979e-01 3.38488827e+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:275.88, Y:104.82, Z:33.85 [[ 9.17816037e-01 -3.92070581e-01 -6.24049831e-02 2.75883270e+02] [ 3.91503515e-01 9.19923514e-01 -2.15806860e-02 1.04820354e+02] [ 6.58689634e-02 -4.62467051e-03 9.97817565e-01 3.38505368e+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:275.91, Y:104.83, Z:33.85 [[ 9.17675520e-01 -3.92405030e-01 -6.23693298e-02 2.75913133e+02] [ 3.91832652e-01 9.19781263e-01 -2.16702918e-02 1.04830054e+02] [ 6.58696724e-02 -4.55204362e-03 9.97817852e-01 3.38479176e+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:275.94, Y:104.84, Z:33.85 [[ 9.17869012e-01 -3.91949839e-01 -6.23843030e-02 2.75942000e+02] [ 3.91378970e-01 9.19975288e-01 -2.16326407e-02 1.04839427e+02] [ 6.58709272e-02 -4.55997377e-03 9.97817733e-01 3.38467815e+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:275.97, Y:104.85, Z:33.85 [[ 9.18607050e-01 -3.90241843e-01 -6.22285460e-02 2.75970674e+02] [ 3.89640597e-01 9.20703631e-01 -2.20233814e-02 1.04850747e+02] [ 6.58884932e-02 -4.01593439e-03 9.97818911e-01 3.38524707e+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:276.00, Y:104.86, Z:33.86 [[ 9.18163714e-01 -3.91272961e-01 -6.22965837e-02 2.75998535e+02] [ 3.90685588e-01 9.20264748e-01 -2.18532432e-02 1.04864281e+02] [ 6.58799331e-02 -4.27352249e-03 9.97818406e-01 3.38586656e+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:276.03, Y:104.88, Z:33.85 [[ 9.19094669e-01 -3.89077957e-01 -6.23163994e-02 2.76034748e+02] [ 3.88488919e-01 9.21195396e-01 -2.18037046e-02 1.04877836e+02] [ 6.58889210e-02 -4.16956204e-03 9.97818252e-01 3.38520246e+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:276.06, Y:104.89, Z:33.86 [[ 9.18147800e-01 -3.91240661e-01 -6.27324715e-02 2.76056402e+02] [ 3.90726607e-01 9.20272337e-01 -2.07736677e-02 1.04887584e+02] [ 6.58584616e-02 -5.43794840e-03 9.97814157e-01 3.38571709e+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:276.09, Y:104.90, Z:33.85 [[ 9.20670093e-01 -3.85355314e-01 -6.21921418e-02 2.76092323e+02] [ 3.84737202e-01 9.22761352e-01 -2.21081858e-02 1.04901526e+02] [ 6.59080117e-02 -3.57328510e-03 9.97819305e-01 3.38521973e+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:276.11, Y:104.92, Z:33.85 [[ 9.19449636e-01 -3.88176916e-01 -6.26980792e-02 2.76112433e+02] [ 3.87649925e-01 9.21570622e-01 -2.08596550e-02 1.04915321e+02] [ 6.58779444e-02 -5.12550347e-03 9.97814525e-01 3.38549642e+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:276.14, Y:104.93, Z:33.85 [[ 9.20698529e-01 -3.85292736e-01 -6.21588782e-02 2.76143419e+02] [ 3.84669183e-01 9.22787827e-01 -2.21866269e-02 1.04930738e+02] [ 6.59078023e-02 -3.48341014e-03 9.97819637e-01 3.38543357e+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:276.17, Y:104.94, Z:33.86 [[ 9.19781108e-01 -3.87426430e-01 -6.24777942e-02 2.76172928e+02] [ 3.86860751e-01 9.21889720e-01 -2.14033297e-02 1.04941048e+02] [ 6.58898519e-02 -4.48382809e-03 9.97816828e-01 3.38554827e+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:276.20, Y:104.95, Z:33.86 [[ 9.18292218e-01 -3.90949623e-01 -6.24323210e-02 2.76200635e+02] [ 3.90384444e-01 9.20400505e-01 -2.15150300e-02 1.04954358e+02] [ 6.58740327e-02 -4.61552225e-03 9.97817272e-01 3.38625423e+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:276.22, Y:104.97, Z:33.87 [[ 9.16086426e-01 -3.96089118e-01 -6.24425341e-02 2.76221757e+02] [ 3.95537464e-01 9.18198396e-01 -2.14900170e-02 1.04968187e+02] [ 6.58465965e-02 -5.01164876e-03 9.97817172e-01 3.38683673e+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:276.25, Y:104.98, Z:33.87 [[ 9.15627320e-01 -3.97224175e-01 -6.19642337e-02 2.76249274e+02] [ 3.96595873e-01 9.17713627e-01 -2.26585993e-02 1.04981465e+02] [ 6.58659651e-02 -3.82792686e-03 9.97821137e-01 3.38722810e+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:276.28, Y:105.00, Z:33.87 [[ 9.16425151e-01 -3.95381605e-01 -6.19542464e-02 2.76284970e+02] [ 3.94747457e-01 9.18509622e-01 -2.26830346e-02 1.05003917e+02] [ 6.58740260e-02 -3.66897775e-03 9.97821202e-01 3.38718304e+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:276.29, Y:105.01, Z:33.88 [[ 9.19412983e-01 -3.88280529e-01 -6.25939070e-02 2.76289532e+02] [ 3.87736447e-01 9.21528425e-01 -2.11142072e-02 1.05011071e+02] [ 6.58803001e-02 -4.85726291e-03 9.97815711e-01 3.38829366e+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:276.33, Y:105.02, Z:33.89 [[ 9.20175505e-01 -3.86728340e-01 -6.09773014e-02 2.76331845e+02] [ 3.85916437e-01 9.22193559e-01 -2.50508275e-02 1.05024852e+02] [ 6.59207396e-02 -4.80985060e-04 9.97824747e-01 3.38934697e+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:276.36, Y:105.04, Z:33.89 [[ 9.23215355e-01 -3.79245518e-01 -6.20180992e-02 2.76356099e+02] [ 3.78586139e-01 9.25292163e-01 -2.25155113e-02 1.05043218e+02] [ 6.59237679e-02 -2.69252691e-03 9.97821030e-01 3.38914384e+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:276.39, Y:105.05, Z:33.89 [[ 9.21545144e-01 -3.83331472e-01 -6.17375938e-02 2.76386279e+02] [ 3.82635466e-01 9.23608111e-01 -2.31982169e-02 1.05053850e+02] [ 6.59139491e-02 -2.24478889e-03 9.97822786e-01 3.38933935e+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:276.42, Y:105.06, Z:33.89 [[ 9.22648134e-01 -3.80669909e-01 -6.17320137e-02 2.76415755e+02] [ 3.79967042e-01 9.24708743e-01 -2.32117892e-02 1.05064812e+02] [ 6.59201625e-02 -2.03981668e-03 9.97822816e-01 3.38906288e+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:276.45, Y:105.08, Z:33.89 [[ 9.25064388e-01 -3.74779770e-01 -6.16117105e-02 2.76445522e+02] [ 3.74044202e-01 9.27112954e-01 -2.35054125e-02 1.05076259e+02] [ 6.59303680e-02 -1.30148306e-03 9.97823378e-01 3.38911812e+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:276.47, Y:105.09, Z:33.90 [[ 9.26037785e-01 -3.72383895e-01 -6.15163112e-02 2.76473387e+02] [ 3.71627562e-01 9.28078371e-01 -2.37379971e-02 1.05087728e+02] [ 6.59316057e-02 -8.78874497e-04 9.97823757e-01 3.38968964e+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:276.50, Y:105.10, Z:33.91 [[ 9.30681609e-01 -3.60638035e-01 -6.14162006e-02 2.76500634e+02] [ 3.59839864e-01 9.32705827e-01 -2.39815011e-02 1.05102918e+02] [ 6.59318896e-02 2.19144771e-04 9.97824102e-01 3.39086402e+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:276.53, Y:105.12, Z:33.91 [[ 9.33082119e-01 -3.54383414e-01 -6.14015884e-02 2.76529216e+02] [ 3.53569338e-01 9.35099944e-01 -2.40170348e-02 1.05115655e+02] [ 6.59278607e-02 7.00146750e-04 9.97824146e-01 3.39134910e+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:276.56, Y:105.12, Z:33.92 [[ 9.35212841e-01 -3.48727638e-01 -6.13675494e-02 2.76558565e+02] [ 3.47895928e-01 9.37223357e-01 -2.40998481e-02 1.05124180e+02] [ 6.59193838e-02 1.18896688e-03 9.97824244e-01 3.39194195e+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:276.60, Y:105.14, Z:33.92 [[ 9.36479838e-01 -3.45323132e-01 -6.12980235e-02 2.76596268e+02] [ 3.44473070e-01 9.38482465e-01 -2.42686456e-02 1.05138471e+02] [ 6.59076449e-02 1.61157903e-03 9.97824426e-01 3.39189774e+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:276.63, Y:105.15, Z:33.92 [[ 9.36852276e-01 -3.44173621e-01 -6.20671547e-02 2.76627769e+02] [ 3.43443388e-01 9.38905967e-01 -2.24103484e-02 1.05147347e+02] [ 6.59882727e-02 -3.21367919e-04 9.97820347e-01 3.39182177e+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:276.65, Y:105.15, Z:33.92 [[ 9.36511728e-01 -3.45091779e-01 -6.21083527e-02 2.76646528e+02] [ 3.44370155e-01 9.38568815e-01 -2.23109054e-02 1.05154616e+02] [ 6.59922730e-02 -4.93838498e-04 9.97820012e-01 3.39233403e+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:276.68, Y:105.17, Z:33.93 [[ 9.37795414e-01 -3.41735103e-01 -6.12933952e-02 2.76678482e+02] [ 3.40876876e-01 9.39794452e-01 -2.42763933e-02 1.05165395e+02] [ 6.58992885e-02 1.87278924e-03 9.97824522e-01 3.39253641e+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:276.70, Y:105.18, Z:33.92 [[ 9.38772397e-01 -3.39017822e-01 -6.14272248e-02 2.76704974e+02] [ 3.38175045e-01 9.40778395e-01 -2.39510235e-02 1.05181535e+02] [ 6.59092298e-02 1.71140526e-03 9.97824155e-01 3.39219870e+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:276.73, Y:105.20, Z:33.92 [[ 9.39413139e-01 -3.37266318e-01 -6.12730362e-02 2.76731578e+02] [ 3.36395382e-01 9.41406615e-01 -2.43255583e-02 1.05200037e+02] [ 6.58870331e-02 2.23978272e-03 9.97824575e-01 3.39183541e+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:276.75, Y:105.21, Z:33.92 [[ 9.37897383e-01 -3.41375078e-01 -6.17377924e-02 2.76753982e+02] [ 3.40585624e-01 9.39926859e-01 -2.32149400e-02 1.05212180e+02] [ 6.59540112e-02 7.46226899e-04 9.97822385e-01 3.39200707e+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:276.78, Y:105.22, Z:33.93 [[ 9.33546380e-01 -3.53174324e-01 -6.13111147e-02 2.76777415e+02] [ 3.52343464e-01 9.35556977e-01 -2.42327461e-02 1.05221650e+02] [ 6.59184248e-02 1.01982190e-03 9.97824494e-01 3.39297876e+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:276.82, Y:105.24, Z:33.92 [[ 9.31808596e-01 -3.57804766e-01 -6.08973706e-02 2.76817099e+02] [ 3.56919371e-01 9.33794754e-01 -2.52174369e-02 1.05237965e+02] [ 6.58885644e-02 1.76237320e-03 9.97825431e-01 3.39227983e+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:276.84, Y:105.25, Z:33.92 [[ 9.28965638e-01 -3.64964521e-01 -6.18364180e-02 2.76843756e+02] [ 3.64242193e-01 9.31020686e-01 -2.29805890e-02 1.05250753e+02] [ 6.59580839e-02 -1.17525495e-03 9.97821703e-01 3.39207940e+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:276.87, Y:105.26, Z:33.92 [[ 9.25523991e-01 -3.73643676e-01 -6.16096183e-02 2.76874005e+02] [ 3.72904621e-01 9.27571533e-01 -2.35200986e-02 1.05262020e+02] [ 6.59354642e-02 -1.20609579e-03 9.97823161e-01 3.39234927e+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:276.89, Y:105.27, Z:33.93 [[ 9.23752956e-01 -3.77993865e-01 -6.16531837e-02 2.76893796e+02] [ 3.77271374e-01 9.25806667e-01 -2.34163655e-02 1.05273999e+02] [ 6.59301710e-02 -1.62904446e-03 9.97822910e-01 3.39322138e+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:276.93, Y:105.29, Z:33.93 [[ 9.22920208e-01 -3.80111641e-01 -6.11017982e-02 2.76926689e+02] [ 3.79306755e-01 9.24940546e-01 -2.47259499e-02 1.05290612e+02] [ 6.59141520e-02 -3.56245926e-04 9.97825234e-01 3.39283321e+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:276.96, Y:105.30, Z:33.93 [[ 9.22016270e-01 -3.82229974e-01 -6.15324700e-02 2.76955424e+02] [ 3.81497656e-01 9.24065813e-01 -2.37046604e-02 1.05304032e+02] [ 6.59206837e-02 -1.61841049e-03 9.97823554e-01 3.39340381e+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:276.98, Y:105.32, Z:33.94 [[ 9.21347431e-01 -3.83844875e-01 -6.14981506e-02 2.76980791e+02] [ 3.83110718e-01 9.23396125e-01 -2.37859897e-02 1.05321029e+02] [ 6.59172842e-02 -1.64544015e-03 9.97823734e-01 3.39434999e+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:277.00, Y:105.33, Z:33.95 [[ 9.19860896e-01 -3.87410363e-01 -6.13933525e-02 2.77003040e+02] [ 3.86667599e-01 9.21905934e-01 -2.40336747e-02 1.05330618e+02] [ 6.59097905e-02 -1.63118268e-03 9.97824252e-01 3.39545930e+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:277.03, Y:105.34, Z:33.96 [[ 9.19821189e-01 -3.87578875e-01 -6.09228720e-02 2.77032880e+02] [ 3.86762704e-01 9.21836442e-01 -2.51432958e-02 1.05343421e+02] [ 6.59059338e-02 -4.35358485e-04 9.97825746e-01 3.39575856e+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:277.07, Y:105.36, Z:33.96 [[ 9.21298750e-01 -3.84052255e-01 -6.09301206e-02 2.77067334e+02] [ 3.83229499e-01 9.23311337e-01 -2.51262002e-02 1.05358257e+02] [ 6.59072450e-02 -2.01482778e-04 9.97825734e-01 3.39582265e+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:277.09, Y:105.37, Z:33.95 [[ 9.22666313e-01 -3.80656780e-01 -6.15409732e-02 2.77093917e+02] [ 3.79922142e-01 9.24715139e-01 -2.36870749e-02 1.05365116e+02] [ 6.59245153e-02 -1.52551223e-03 9.97823447e-01 3.39496107e+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:277.13, Y:105.38, Z:33.95 [[ 9.25069440e-01 -3.74831825e-01 -6.12179210e-02 2.77133351e+02] [ 3.74033899e-01 9.27092780e-01 -2.44462586e-02 1.05377908e+02] [ 6.59179283e-02 -2.83090931e-04 9.97825008e-01 3.39527229e+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:277.15, Y:105.38, Z:33.95 [[ 9.27704848e-01 -3.68140208e-01 -6.19395014e-02 2.77154782e+02] [ 3.67440642e-01 9.29768808e-01 -2.27450606e-02 1.05380243e+02] [ 6.59627877e-02 -1.65838717e-03 9.97820706e-01 3.39518779e+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:277.19, Y:105.39, Z:33.95 [[ 9.29111092e-01 -3.64719265e-01 -6.10936647e-02 2.77188416e+02] [ 3.63880437e-01 9.31117230e-01 -2.47331966e-02 1.05391491e+02] [ 6.59060371e-02 7.49097944e-04 9.97825552e-01 3.39479507e+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:277.23, Y:105.40, Z:33.95 [[ 9.31880966e-01 -3.57510235e-01 -6.15166342e-02 2.77225851e+02] [ 3.56720989e-01 9.33909203e-01 -2.37431473e-02 1.05403944e+02] [ 6.59393690e-02 1.81512493e-04 9.97823615e-01 3.39547835e+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:277.24, Y:105.42, Z:33.97 [[ 9.34778751e-01 -3.49753909e-01 -6.21360607e-02 2.77239595e+02] [ 3.49044331e-01 9.36841218e-01 -2.22842288e-02 1.05416392e+02] [ 6.60056190e-02 -8.57416166e-04 9.97818883e-01 3.39653972e+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:277.27, Y:105.43, Z:33.97 [[ 9.40307023e-01 -3.34804859e-01 -6.10607049e-02 2.77267411e+02] [ 3.33898073e-01 9.42282931e-01 -2.47982871e-02 1.05434854e+02] [ 6.58390470e-02 2.92995182e-03 9.97825954e-01 3.39697345e+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:277.30, Y:105.45, Z:33.96 [[ 9.43464602e-01 -3.25762962e-01 -6.12620354e-02 2.77300052e+02] [ 3.24867641e-01 9.45446556e-01 -2.43274781e-02 1.05453388e+02] [ 6.58449717e-02 3.05006159e-03 9.97825204e-01 3.39636449e+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:277.32, Y:105.46, Z:33.97 [[ 9.41375393e-01 -3.31660909e-01 -6.17528253e-02 2.77324697e+02] [ 3.30852951e-01 9.43397644e-01 -2.31777759e-02 1.05463164e+02] [ 6.59446321e-02 1.38788340e-03 9.97822319e-01 3.39713078e+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:277.36, Y:105.48, Z:33.98 [[ 9.39470137e-01 -3.37092464e-01 -6.13557848e-02 2.77355377e+02] [ 3.36235537e-01 9.41469387e-01 -2.41051315e-02 1.05476780e+02] [ 6.58902513e-02 2.01605589e-03 9.97824840e-01 3.39781061e+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:277.38, Y:105.49, Z:33.97 [[ 9.32149793e-01 -3.56807480e-01 -6.15238696e-02 2.77376140e+02] [ 3.56018726e-01 9.34177918e-01 -2.37125421e-02 1.05488560e+02] [ 6.59350528e-02 1.99991560e-04 9.97823897e-01 3.39732733e+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:277.41, Y:105.50, Z:33.98 [[ 9.32110182e-01 -3.57007932e-01 -6.09585552e-02 2.77414612e+02] [ 3.56133120e-01 9.34099945e-01 -2.50298361e-02 1.05496610e+02] [ 6.58772331e-02 1.62120460e-03 9.97826419e-01 3.39782044e+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:277.44, Y:105.51, Z:33.97 [[ 9.27276929e-01 -3.69295522e-01 -6.14679918e-02 2.77438143e+02] [ 3.68525500e-01 9.29311853e-01 -2.38418796e-02 1.05510313e+02] [ 6.59276327e-02 -5.44497498e-04 9.97824258e-01 3.39731144e+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:277.48, Y:105.52, Z:33.98 [[ 9.23546087e-01 -3.78585789e-01 -6.11181272e-02 2.77479268e+02] [ 3.77782166e-01 9.25566151e-01 -2.46563529e-02 1.05523149e+02] [ 6.59034146e-02 -3.18060188e-04 9.97825956e-01 3.39756244e+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:277.50, Y:105.54, Z:33.99 [[ 9.18881026e-01 -3.89619713e-01 -6.20817145e-02 2.77504446e+02] [ 3.88991004e-01 9.20968958e-01 -2.24093193e-02 1.05538019e+02] [ 6.59064445e-02 -3.55773011e-03 9.97819464e-01 3.39870250e+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:277.52, Y:105.55, Z:33.99 [[ 9.15331294e-01 -3.97930971e-01 -6.18026357e-02 2.77520217e+02] [ 3.97277141e-01 9.17408893e-01 -2.30606943e-02 1.05553497e+02] [ 6.58748521e-02 -3.44459933e-03 9.97821947e-01 3.39874251e+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:277.55, Y:105.57, Z:33.99 [[ 9.13361646e-01 -4.02555478e-01 -6.09884543e-02 2.77546206e+02] [ 4.01784953e-01 9.15393989e-01 -2.49538871e-02 1.05568092e+02] [ 6.58737884e-02 -1.71231991e-03 9.97826494e-01 3.39876259e+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:277.59, Y:105.57, Z:33.99 [[ 9.14620780e-01 -3.99708829e-01 -6.08414416e-02 2.77587656e+02] [ 3.98909235e-01 9.16641459e-01 -2.52953959e-02 1.05573305e+02] [ 6.58805809e-02 -1.13451820e-03 9.97826870e-01 3.39861521e+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:277.62, Y:105.58, Z:33.99 [[ 9.15034738e-01 -3.98622049e-01 -6.17405146e-02 2.77619693e+02] [ 3.97960505e-01 9.17109200e-01 -2.31980913e-02 1.05578474e+02] [ 6.58700646e-02 -3.34322701e-03 9.97822608e-01 3.39926262e+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:277.63, Y:105.61, Z:33.98 [[ 9.09527883e-01 -4.11059438e-01 -6.15562252e-02 2.77629757e+02] [ 4.10397160e-01 9.11600739e-01 -2.36276228e-02 1.05610397e+02] [ 6.58270577e-02 -3.77251826e-03 9.97823916e-01 3.39761154e+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:277.67, Y:105.61, Z:34.00 [[ 9.17609489e-01 -3.92814673e-01 -6.07409166e-02 2.77674675e+02] [ 3.91985131e-01 9.19617571e-01 -2.55182148e-02 1.05605134e+02] [ 6.58823435e-02 -3.93780128e-04 9.97827321e-01 3.39967065e+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:277.71, Y:105.62, Z:34.00 [[ 9.23071901e-01 -3.79677331e-01 -6.15092675e-02 2.77705708e+02] [ 3.78937624e-01 9.25117914e-01 -2.37302093e-02 1.05622161e+02] [ 6.59131478e-02 -1.40348626e-03 9.97824377e-01 3.40017612e+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:277.73, Y:105.64, Z:34.01 [[ 9.27053251e-01 -3.69813434e-01 -6.17275790e-02 2.77732642e+02] [ 3.69086006e-01 9.29105183e-01 -2.32181022e-02 1.05639324e+02] [ 6.59377796e-02 -1.25836846e-03 9.97822943e-01 3.40053112e+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:277.76, Y:105.66, Z:34.01 [[ 9.30285741e-01 -3.61647751e-01 -6.14763770e-02 2.77757636e+02] [ 3.60863251e-01 9.32314809e-01 -2.38078004e-02 1.05657147e+02] [ 6.59253741e-02 -3.65080612e-05 9.97824556e-01 3.40068896e+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:277.79, Y:105.67, Z:34.02 [[ 9.31577584e-01 -3.58290517e-01 -6.15719930e-02 2.77787574e+02] [ 3.57513510e-01 9.33610146e-01 -2.35836010e-02 1.05669384e+02] [ 6.59340180e-02 -4.28653045e-05 9.97823984e-01 3.40154209e+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:277.82, Y:105.68, Z:34.02 [[ 9.30848707e-01 -3.60202209e-01 -6.14414675e-02 2.77815566e+02] [ 3.59409170e-01 9.32874239e-01 -2.38894040e-02 1.05681467e+02] [ 6.59221783e-02 1.54794012e-04 9.97824755e-01 3.40181338e+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:277.85, Y:105.69, Z:34.02 [[ 9.31123381e-01 -3.59422116e-01 -6.18465187e-02 2.77849771e+02] [ 3.58689341e-01 9.33174734e-01 -2.29536908e-02 1.05693852e+02] [ 6.59636727e-02 -8.10968865e-04 9.97821696e-01 3.40189167e+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:277.88, Y:105.70, Z:34.02 [[ 9.32350505e-01 -3.56215989e-01 -6.19088487e-02 2.77877903e+02] [ 3.55485777e-01 9.34403349e-01 -2.28088503e-02 1.05703268e+02] [ 6.59727128e-02 -7.41872092e-04 9.97821152e-01 3.40210184e+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:277.91, Y:105.71, Z:34.02 [[ 9.33172150e-01 -3.54121065e-01 -6.15468100e-02 2.77907373e+02] [ 3.53330667e-01 9.35199533e-01 -2.36489410e-02 1.05712545e+02] [ 6.59331362e-02 3.22157713e-04 9.97823991e-01 3.40242482e+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:277.94, Y:105.72, Z:34.03 [[ 9.36591504e-01 -3.44981888e-01 -6.15130122e-02 2.77939298e+02] [ 3.44166548e-01 9.38608752e-01 -2.37275833e-02 1.05720739e+02] [ 6.59222381e-02 1.05233187e-03 9.97824209e-01 3.40292067e+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:277.97, Y:105.73, Z:34.03 [[ 9.38036313e-01 -3.41047017e-01 -6.14394629e-02 2.77968419e+02] [ 3.40212023e-01 9.40045018e-01 -2.38986108e-02 1.05730173e+02] [ 6.59064110e-02 1.51532079e-03 9.97824658e-01 3.40311718e+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:278.00, Y:105.74, Z:34.03 [[ 9.40521544e-01 -3.34156290e-01 -6.13090396e-02 2.77998618e+02] [ 3.33286931e-01 9.42514804e-01 -2.42005333e-02 1.05739363e+02] [ 6.58714379e-02 2.32762132e-03 9.97825404e-01 3.40327612e+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:278.03, Y:105.75, Z:34.04 [[ 9.41448947e-01 -3.31533531e-01 -6.13139326e-02 2.78029682e+02] [ 3.30659354e-01 9.43440127e-01 -2.41892171e-02 1.05751503e+02] [ 6.58655610e-02 2.49888766e-03 9.97825377e-01 3.40356402e+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:278.06, Y:105.76, Z:34.04 [[ 9.44405995e-01 -3.23000614e-01 -6.13833824e-02 2.78057423e+02] [ 3.22118849e-01 9.46394251e-01 -2.40285087e-02 1.05761569e+02] [ 6.58541032e-02 2.91992317e-03 9.97824990e-01 3.40370594e+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:278.09, Y:105.78, Z:34.04 [[ 9.44944333e-01 -3.21460400e-01 -6.11834828e-02 2.78086871e+02] [ 3.20545654e-01 9.46916447e-01 -2.44893120e-02 1.05776905e+02] [ 6.58079902e-02 3.52893710e-03 9.97826065e-01 3.40395209e+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:278.11, Y:105.79, Z:34.04 [[ 9.47349901e-01 -3.14279221e-01 -6.12922172e-02 2.78113382e+02] [ 3.13365617e-01 9.49323161e-01 -2.42389303e-02 1.05793164e+02] [ 6.58039135e-02 3.75587479e-03 9.97825505e-01 3.40407267e+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:278.14, Y:105.81, Z:34.04 [[ 9.49150972e-01 -3.08820574e-01 -6.11742191e-02 2.78138956e+02] [ 3.07878252e-01 9.51109999e-01 -2.45102274e-02 1.05811859e+02] [ 6.57526740e-02 4.42969454e-03 9.97826119e-01 3.40420628e+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:278.17, Y:105.83, Z:34.04 [[ 9.49919519e-01 -3.06470778e-01 -6.10620091e-02 2.78167492e+02] [ 3.05507174e-01 9.51867596e-01 -2.47678611e-02 1.05827923e+02] [ 6.57135735e-02 4.87259291e-03 9.97826630e-01 3.40415796e+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:278.20, Y:105.84, Z:34.04 [[ 9.50041726e-01 -3.06102117e-01 -6.10099410e-02 2.78195471e+02] [ 3.05130143e-01 9.51985405e-01 -2.48874275e-02 1.05842948e+02] [ 6.56986677e-02 5.02812260e-03 9.97826840e-01 3.40412869e+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:278.22, Y:105.86, Z:34.05 [[ 9.46609921e-01 -3.16581398e-01 -6.08759048e-02 2.78224259e+02] [ 3.15611317e-01 9.48554016e-01 -2.51947510e-02 1.05856836e+02] [ 6.57202734e-02 4.63647676e-03 9.97827314e-01 3.40474589e+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:278.25, Y:105.87, Z:34.05 [[ 9.42612256e-01 -3.28286758e-01 -6.09092682e-02 2.78252212e+02] [ 3.27345757e-01 9.44570712e-01 -2.51182451e-02 1.05869258e+02] [ 6.57790981e-02 3.73837518e-03 9.97827207e-01 3.40476483e+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:278.28, Y:105.88, Z:34.05 [[ 9.38168853e-01 -3.40793403e-01 -6.08198897e-02 2.78279620e+02] [ 3.39865280e-01 9.40133144e-01 -2.53231873e-02 1.05881562e+02] [ 6.58087693e-02 3.08685678e-03 9.97827479e-01 3.40455873e+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:278.31, Y:105.89, Z:34.05 [[ 9.33596402e-01 -3.53026093e-01 -6.14030674e-02 2.78309015e+02] [ 3.52208785e-01 9.35613135e-01 -2.40215275e-02 1.05889026e+02] [ 6.59297424e-02 7.99711941e-04 9.97823947e-01 3.40483451e+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:278.34, Y:105.90, Z:34.05 [[ 9.31902579e-01 -3.57482370e-01 -6.13509397e-02 2.78337557e+02] [ 3.56667054e-01 9.33919686e-01 -2.41377775e-02 1.05900371e+02] [ 6.59256803e-02 6.12198178e-04 9.97824348e-01 3.40520660e+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:278.37, Y:105.91, Z:34.06 [[ 9.30355390e-01 -3.61484592e-01 -6.13819075e-02 2.78366818e+02] [ 3.60682613e-01 9.32378049e-01 -2.40671181e-02 1.05905361e+02] [ 6.59310355e-02 2.51586336e-04 9.97824150e-01 3.40638960e+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:278.39, Y:105.92, Z:34.06 [[ 9.29247790e-01 -3.64430343e-01 -6.07377104e-02 2.78394239e+02] [ 3.63538553e-01 9.31229197e-01 -2.55323840e-02 1.05919019e+02] [ 6.58655047e-02 1.64541204e-03 9.97827153e-01 3.40611461e+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:278.42, Y:105.93, Z:34.04 [[ 9.28517526e-01 -3.66222695e-01 -6.11239889e-02 2.78419255e+02] [ 3.65390692e-01 9.30527055e-01 -2.46787789e-02 1.05925300e+02] [ 6.59154543e-02 5.80542135e-04 9.97825043e-01 3.40360450e+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:278.44, Y:105.94, Z:34.06 [[ 9.29009457e-01 -3.65059989e-01 -6.06022570e-02 2.78441014e+02] [ 3.64150068e-01 9.30981999e-01 -2.58310845e-02 1.05940281e+02] [ 6.58495058e-02 1.92900575e-03 9.97827701e-01 3.40634913e+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:278.48, Y:105.95, Z:34.07 [[ 9.30336538e-01 -3.61706075e-01 -6.03542963e-02 2.78478122e+02] [ 3.60753551e-01 9.32288075e-01 -2.63784133e-02 1.05953844e+02] [ 6.58088230e-02 2.76777506e-03 9.97828411e-01 3.40651851e+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:278.50, Y:105.96, Z:34.06 [[ 9.30896619e-01 -3.60130820e-01 -6.11332675e-02 2.78500161e+02] [ 3.59287112e-01 9.32901289e-01 -2.46567580e-02 1.05963803e+02] [ 6.59109625e-02 9.88497516e-04 9.97825019e-01 3.40621289e+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:278.53, Y:105.98, Z:34.07 [[ 9.30684364e-01 -3.60785402e-01 -6.05021312e-02 2.78533515e+02] [ 3.59852362e-01 9.32645587e-01 -2.60477849e-02 1.05978232e+02] [ 6.58247062e-02 2.47043128e-03 9.97828144e-01 3.40666816e+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:278.55, Y:105.99, Z:34.06 [[ 9.35091907e-01 -3.49135547e-01 -6.08892145e-02 2.78554341e+02] [ 3.48233329e-01 9.37069274e-01 -2.51937197e-02 1.05987374e+02] [ 6.58534352e-02 2.35478955e-03 9.97826528e-01 3.40581811e+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:278.59, Y:106.01, Z:34.07 [[ 9.35327699e-01 -3.48626398e-01 -6.01808052e-02 2.78586983e+02] [ 3.47622649e-01 9.37252799e-01 -2.67523006e-02 1.06005678e+02] [ 6.57311863e-02 4.10195686e-03 9.97828936e-01 3.40698814e+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:278.61, Y:106.02, Z:34.07 [[ 9.39624821e-01 -3.36791829e-01 -6.06338128e-02 2.78610391e+02] [ 3.35827505e-01 9.41571310e-01 -2.57556660e-02 1.06024867e+02] [ 6.57653565e-02 3.83816099e-03 9.97827734e-01 3.40746559e+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:278.64, Y:106.04, Z:34.08 [[ 9.41080864e-01 -3.32734909e-01 -6.04507059e-02 2.78639360e+02] [ 3.31736530e-01 9.43009365e-01 -2.61574394e-02 1.06043456e+02] [ 6.57090751e-02 4.56255828e-03 9.97828392e-01 3.40777962e+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:278.67, Y:106.06, Z:34.08 [[ 9.40237594e-01 -3.35070406e-01 -6.06719901e-02 2.78671036e+02] [ 3.34107921e-01 9.42185160e-01 -2.56714316e-02 1.06059164e+02] [ 6.57659857e-02 3.86625267e-03 9.97827584e-01 3.40827030e+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:278.70, Y:106.07, Z:34.09 [[ 9.38226966e-01 -3.40614545e-01 -6.09252958e-02 2.78695270e+02] [ 3.39699507e-01 9.40198657e-01 -2.51143517e-02 1.06072731e+02] [ 6.58361948e-02 2.86666905e-03 9.97826326e-01 3.40877781e+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:278.72, Y:106.08, Z:34.09 [[ 9.37637661e-01 -3.42252218e-01 -6.08197037e-02 2.78721213e+02] [ 3.41325635e-01 9.39603311e-01 -2.53461725e-02 1.06084118e+02] [ 6.58211788e-02 3.00620192e-03 9.97826906e-01 3.40897350e+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:278.75, Y:106.10, Z:34.09 [[ 9.38843071e-01 -3.38983515e-01 -6.05298646e-02 2.78749792e+02] [ 3.38009243e-01 9.40784092e-01 -2.59815910e-02 1.06096499e+02] [ 6.57528647e-02 3.93298292e-03 9.97828188e-01 3.40906805e+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:278.78, Y:106.11, Z:34.09 [[ 9.38816801e-01 -3.39062607e-01 -6.04943158e-02 2.78778273e+02] [ 3.38083507e-01 9.40755252e-01 -2.60595062e-02 1.06110988e+02] [ 6.57461495e-02 4.01297187e-03 9.97828312e-01 3.40913123e+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:278.80, Y:106.12, Z:34.09 [[ 9.45370958e-01 -3.20327407e-01 -6.05318396e-02 2.78797233e+02] [ 3.19315168e-01 9.47292460e-01 -2.59772613e-02 1.06119748e+02] [ 6.56625841e-02 5.22941388e-03 9.97828181e-01 3.40891537e+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:278.83, Y:106.13, Z:34.09 [[ 9.46762655e-01 -3.16343530e-01 -5.97264207e-02 2.78834694e+02] [ 3.15212789e-01 9.48615567e-01 -2.77381460e-02 1.06130526e+02] [ 6.54321954e-02 7.43490918e-03 9.97829319e-01 3.40946155e+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:278.86, Y:106.14, Z:34.10 [[ 9.46720059e-01 -3.16338444e-01 -6.04244835e-02 2.78863401e+02] [ 3.15303509e-01 9.48628911e-01 -2.62085334e-02 1.06143767e+02] [ 6.56111787e-02 5.76009264e-03 9.97828640e-01 3.40955661e+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:278.89, Y:106.16, Z:34.10 [[ 9.47387912e-01 -3.14349115e-01 -6.03388589e-02 2.78890162e+02] [ 3.13298400e-01 9.49287834e-01 -2.63954784e-02 1.06156018e+02] [ 6.55763400e-02 6.10268921e-03 9.97828894e-01 3.40965979e+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:278.92, Y:106.17, Z:34.10 [[ 9.45685962e-01 -3.19451396e-01 -6.02400763e-02 2.78922369e+02] [ 3.18397336e-01 9.47583758e-01 -2.66112328e-02 1.06170358e+02] [ 6.55835134e-02 5.98558944e-03 9.97829131e-01 3.40955531e+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:278.94, Y:106.18, Z:34.09 [[ 9.48978369e-01 -3.09464062e-01 -6.05974333e-02 2.78942168e+02] [ 3.08439227e-01 9.50893327e-01 -2.58287556e-02 1.06177039e+02] [ 6.56147666e-02 5.82030491e-03 9.97828055e-01 3.40919524e+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:278.97, Y:106.19, Z:34.09 [[ 9.50379812e-01 -3.05288985e-01 -5.98067672e-02 2.78974908e+02] [ 3.04148043e-01 9.52226164e-01 -2.75554031e-02 1.06190266e+02] [ 6.53619296e-02 7.99798760e-03 9.97829570e-01 3.40927816e+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:279.00, Y:106.20, Z:34.09 [[ 9.50387492e-01 -3.05215313e-01 -6.00602077e-02 2.79004685e+02] [ 3.04108528e-01 9.52254633e-01 -2.70021557e-02 1.06203168e+02] [ 6.54340825e-02 7.39768966e-03 9.97829472e-01 3.40915001e+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:279.04, Y:106.22, Z:34.09 [[ 9.45479775e-01 -3.20081660e-01 -6.01309144e-02 2.79037292e+02] [ 3.19013985e-01 9.47369660e-01 -2.68478033e-02 1.06216727e+02] [ 6.55596933e-02 6.20145241e-03 9.97829379e-01 3.40947665e+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:279.07, Y:106.23, Z:34.10 [[ 9.44126087e-01 -3.23987190e-01 -6.04833193e-02 2.79074709e+02] [ 3.22976593e-01 9.46047840e-01 -2.60692439e-02 1.06232560e+02] [ 6.56662147e-02 5.07795687e-03 9.97828724e-01 3.40987046e+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:279.09, Y:106.24, Z:34.10 [[ 9.41432940e-01 -3.31627581e-01 -6.10505357e-02 2.79094669e+02] [ 3.30713158e-01 9.43405055e-01 -2.48134696e-02 1.06242881e+02] [ 6.58242149e-02 3.17000218e-03 9.97826199e-01 3.40960923e+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:279.12, Y:106.26, Z:34.09 [[ 9.39378225e-01 -3.37510219e-01 -6.04599250e-02 2.79116010e+02] [ 3.36525202e-01 9.41312609e-01 -2.61028816e-02 1.06255224e+02] [ 6.57216791e-02 4.17419014e-03 9.97829262e-01 3.40878923e+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:279.15, Y:106.26, Z:34.10 [[ 9.34634930e-01 -3.50538492e-01 -5.98357181e-02 2.79150043e+02] [ 3.49493393e-01 9.36536250e-01 -2.74630622e-02 1.06264195e+02] [ 6.56651795e-02 4.75574904e-03 9.97830380e-01 3.40960721e+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:279.17, Y:106.27, Z:34.09 [[ 9.30576135e-01 -3.61117738e-01 -6.01833531e-02 2.79173154e+02] [ 3.60142979e-01 9.32514821e-01 -2.67047374e-02 1.06274301e+02] [ 6.57654231e-02 3.17617927e-03 9.97830056e-01 3.40948994e+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:279.21, Y:106.29, Z:34.10 [[ 9.29233651e-01 -3.64649139e-01 -5.96307627e-02 2.79206158e+02] [ 3.63604412e-01 9.31135289e-01 -2.79088608e-02 1.06288760e+02] [ 6.57012495e-02 4.25184422e-03 9.97830280e-01 3.41021676e+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:279.23, Y:106.30, Z:34.11 [[ 9.26774905e-01 -3.70806268e-01 -5.99248444e-02 2.79234852e+02] [ 3.69815430e-01 9.28705035e-01 -2.72672832e-02 1.06303206e+02] [ 6.57633843e-02 3.10950168e-03 9.97830401e-01 3.41117377e+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:279.27, Y:106.32, Z:34.12 [[ 9.27637307e-01 -3.68631847e-01 -5.99965644e-02 2.79271936e+02] [ 3.67646573e-01 9.29570333e-01 -2.71107543e-02 1.06318412e+02] [ 6.57649138e-02 3.09141584e-03 9.97830356e-01 3.41151198e+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:279.29, Y:106.33, Z:34.11 [[ 9.27112310e-01 -3.69815895e-01 -6.08191559e-02 2.79289782e+02] [ 3.68950556e-01 9.29104494e-01 -2.53046527e-02 1.06330666e+02] [ 6.58654139e-02 1.02099361e-03 9.97827994e-01 3.41132541e+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:279.32, Y:106.35, Z:34.11 [[ 9.30196979e-01 -3.62141866e-01 -5.98903055e-02 2.79323934e+02] [ 3.61128531e-01 9.32115238e-01 -2.73380262e-02 1.06348566e+02] [ 6.57249102e-02 3.80165136e-03 9.97830539e-01 3.41109308e+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:279.35, Y:106.36, Z:34.11 [[ 9.29554054e-01 -3.63645932e-01 -6.07527501e-02 2.79351507e+02] [ 3.62757274e-01 9.31535822e-01 -2.54592206e-02 1.06364700e+02] [ 6.58515050e-02 1.62721968e-03 9.97828107e-01 3.41105209e+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:279.37, Y:106.38, Z:34.12 [[ 9.29333038e-01 -3.64211514e-01 -6.07460175e-02 2.79371233e+02] [ 3.63323104e-01 9.31314878e-01 -2.54738953e-02 1.06375582e+02] [ 6.58515559e-02 1.60330082e-03 9.97828143e-01 3.41188107e+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:279.40, Y:106.39, Z:34.11 [[ 9.25774920e-01 -3.73261609e-01 -6.01379227e-02 2.79402006e+02] [ 3.72306393e-01 9.27722980e-01 -2.67959204e-02 1.06390133e+02] [ 6.57932212e-02 2.41725794e-03 9.97830351e-01 3.41115925e+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:279.42, Y:106.40, Z:34.11 [[ 9.20546530e-01 -3.85940173e-01 -6.03677802e-02 2.79420929e+02] [ 3.85044561e-01 9.22523310e-01 -2.62950148e-02 1.06402239e+02] [ 6.58389870e-02 9.61499186e-04 9.97829797e-01 3.41088081e+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:279.45, Y:106.41, Z:34.11 [[ 9.19782249e-01 -3.87887228e-01 -5.95324483e-02 2.79450384e+02] [ 3.86877553e-01 9.21702512e-01 -2.81111743e-02 1.06413627e+02] [ 6.57751726e-02 2.82439118e-03 9.97830471e-01 3.41085702e+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:279.48, Y:106.42, Z:34.11 [[ 9.18205043e-01 -3.91621429e-01 -5.94319354e-02 2.79481606e+02] [ 3.90605414e-01 9.20122180e-01 -2.83299096e-02 1.06424856e+02] [ 6.57792417e-02 2.79823014e-03 9.97830277e-01 3.41098021e+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:279.51, Y:106.44, Z:34.11 [[ 9.18330615e-01 -3.91326405e-01 -5.94350644e-02 2.79510321e+02] [ 3.90310215e-01 9.20247651e-01 -2.83230906e-02 1.06437386e+02] [ 6.57785516e-02 2.81184841e-03 9.97830284e-01 3.41106808e+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:279.54, Y:106.45, Z:34.11 [[ 9.19251601e-01 -3.89158747e-01 -5.94303242e-02 2.79540317e+02] [ 3.88137371e-01 9.21165891e-01 -2.83334233e-02 1.06449215e+02] [ 6.57713870e-02 2.97841501e-03 9.97830273e-01 3.41145827e+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:279.58, Y:106.46, Z:34.11 [[ 9.22228515e-01 -3.82041667e-01 -5.94872284e-02 2.79579153e+02] [ 3.81013507e-01 9.24139027e-01 -2.82093183e-02 1.06463115e+02] [ 6.57516044e-02 3.35000022e-03 9.97830398e-01 3.41126040e+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:279.60, Y:106.48, Z:34.12 [[ 9.21661557e-01 -3.83266354e-01 -6.03893697e-02 2.79595363e+02] [ 3.82368579e-01 9.23637215e-01 -2.62405117e-02 1.06475170e+02] [ 6.58349745e-02 1.09387341e-03 9.97829925e-01 3.41216570e+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:279.64, Y:106.49, Z:34.12 [[ 9.24167589e-01 -3.77342930e-01 -5.93850184e-02 2.79635856e+02] [ 3.76291204e-01 9.26065287e-01 -2.84255895e-02 1.06487253e+02] [ 6.57205994e-02 3.92394846e-03 9.97830349e-01 3.41217208e+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:279.65, Y:106.50, Z:34.13 [[ 9.23840715e-01 -3.77968735e-01 -6.04811473e-02 2.79649370e+02] [ 3.77073146e-01 9.25817522e-01 -2.60337913e-02 1.06497101e+02] [ 6.58344651e-02 1.24525989e-03 9.97829781e-01 3.41251294e+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:279.69, Y:106.51, Z:34.13 [[ 9.26370777e-01 -3.71928978e-01 -5.92116413e-02 2.79692546e+02] [ 3.70842793e-01 9.28249218e-01 -2.87925862e-02 1.06508579e+02] [ 6.56719569e-02 4.71440004e-03 9.97830130e-01 3.41284376e+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:279.71, Y:106.52, Z:34.12 [[ 9.25409660e-01 -3.74108655e-01 -6.04952562e-02 2.79708473e+02] [ 3.73207606e-01 9.27383706e-01 -2.59912555e-02 1.06518287e+02] [ 6.58258686e-02 1.47526916e-03 9.97830035e-01 3.41240408e+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:279.75, Y:106.53, Z:34.13 [[ 9.28341002e-01 -3.66940782e-01 -5.94764348e-02 2.79750785e+02] [ 3.65881236e-01 9.30233744e-01 -2.82152831e-02 1.06530818e+02] [ 6.56803247e-02 4.43209274e-03 9.97830873e-01 3.41262955e+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:279.76, Y:106.54, Z:34.12 [[ 9.28575612e-01 -3.66158550e-01 -6.06238406e-02 2.79764719e+02] [ 3.65258974e-01 9.30550872e-01 -2.57090692e-02 1.06541602e+02] [ 6.58271632e-02 1.72941286e-03 9.97829541e-01 3.41205372e+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:279.80, Y:106.56, Z:34.13 [[ 9.33154719e-01 -3.54564417e-01 -5.92143939e-02 2.79801864e+02] [ 3.53444632e-01 9.35012846e-01 -2.87727091e-02 1.06560939e+02] [ 6.55679978e-02 5.92037958e-03 9.97830540e-01 3.41278524e+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:279.82, Y:106.57, Z:34.13 [[ 9.33323530e-01 -3.53902289e-01 -6.05008958e-02 2.79821302e+02] [ 3.52959262e-01 9.35277925e-01 -2.59800282e-02 1.06573781e+02] [ 6.57795438e-02 2.89342014e-03 9.97829985e-01 3.41277765e+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:279.84, Y:106.58, Z:34.13 [[ 9.33317373e-01 -3.54036412e-01 -5.98071845e-02 2.79842705e+02] [ 3.52997254e-01 9.35220626e-01 -2.74830732e-02 1.06583715e+02] [ 6.56629211e-02 4.53865781e-03 9.97831540e-01 3.41314994e+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:279.87, Y:106.60, Z:34.13 [[ 9.34510772e-01 -3.50953234e-01 -5.93417648e-02 2.79872171e+02] [ 3.49843995e-01 9.36374620e-01 -2.84912281e-02 1.06596502e+02] [ 6.55652111e-02 5.86499954e-03 9.97831050e-01 3.41304631e+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:279.89, Y:106.61, Z:34.13 [[ 9.33653824e-01 -3.53239253e-01 -5.92669080e-02 2.79894883e+02] [ 3.52124368e-01 9.35514523e-01 -2.86532296e-02 1.06609106e+02] [ 6.55664986e-02 5.88287492e-03 9.97830860e-01 3.41291222e+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:279.93, Y:106.62, Z:34.14 [[ 9.35313436e-01 -3.48878455e-01 -5.89287760e-02 2.79930515e+02] [ 3.47709167e-01 9.37141889e-01 -2.93839220e-02 1.06615373e+02] [ 6.54760418e-02 6.99310143e-03 9.97829637e-01 3.41355904e+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:279.97, Y:106.63, Z:34.14 [[ 9.36577945e-01 -3.45405604e-01 -5.93019456e-02 2.79970906e+02] [ 3.44280270e-01 9.38432058e-01 -2.85721493e-02 1.06629223e+02] [ 6.55198274e-02 6.34355505e-03 9.97831104e-01 3.41399833e+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:279.98, Y:106.64, Z:34.14 [[ 9.37546733e-01 -3.42589570e-01 -6.03200685e-02 2.79982620e+02] [ 3.41599531e-01 9.39476242e-01 -2.63467356e-02 1.06641518e+02] [ 6.56953881e-02 4.09598881e-03 9.97831318e-01 3.41383141e+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:280.01, Y:106.65, Z:34.14 [[ 9.39573850e-01 -3.37200362e-01 -5.91345573e-02 2.80012188e+02] [ 3.36036430e-01 9.41404504e-01 -2.89322834e-02 1.06654851e+02] [ 6.54255150e-02 7.31265141e-03 9.97830661e-01 3.41415947e+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:280.04, Y:106.66, Z:34.15 [[ 9.41158069e-01 -3.32781183e-01 -5.89760419e-02 2.80044715e+02] [ 3.31587162e-01 9.42970133e-01 -2.92794029e-02 1.06664058e+02] [ 6.53562804e-02 8.00084797e-03 9.97829917e-01 3.41471523e+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:280.08, Y:106.67, Z:34.15 [[ 9.42944174e-01 -3.27658726e-01 -5.91273541e-02 2.80075646e+02] [ 3.26475334e-01 9.44762339e-01 -2.89478529e-02 1.06673255e+02] [ 6.53463140e-02 7.99258658e-03 9.97830636e-01 3.41508479e+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:280.10, Y:106.69, Z:34.15 [[ 9.43007837e-01 -3.27439133e-01 -5.93281885e-02 2.80104606e+02] [ 3.26282656e-01 9.44842315e-01 -2.85066253e-02 1.06685983e+02] [ 6.53899677e-02 7.52421216e-03 9.97831418e-01 3.41459074e+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:280.13, Y:106.70, Z:34.14 [[ 9.42282015e-01 -3.29535180e-01 -5.92551150e-02 2.80131577e+02] [ 3.28372801e-01 9.44113070e-01 -2.86673192e-02 1.06698099e+02] [ 6.53904187e-02 7.55493121e-03 9.97831156e-01 3.41410806e+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:280.16, Y:106.71, Z:34.14 [[ 9.41943650e-01 -3.30518451e-01 -5.91583802e-02 2.80161294e+02] [ 3.29344779e-01 9.43767957e-01 -2.88800963e-02 1.06710363e+02] [ 6.53771883e-02 7.71991973e-03 9.97830760e-01 3.41406746e+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:280.19, Y:106.72, Z:34.14 [[ 9.41323823e-01 -3.32287476e-01 -5.91142365e-02 2.80193444e+02] [ 3.31111217e-01 9.43146696e-01 -2.89770921e-02 1.06721256e+02] [ 6.53821217e-02 7.70344031e-03 9.97830564e-01 3.41398094e+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:280.22, Y:106.73, Z:34.14 [[ 9.40645391e-01 -3.34158725e-01 -5.93649309e-02 2.80221908e+02] [ 3.33020402e-01 9.42491051e-01 -2.84258954e-02 1.06733529e+02] [ 6.54496771e-02 6.96895436e-03 9.97831536e-01 3.41417489e+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:280.25, Y:106.75, Z:34.15 [[ 9.37858977e-01 -3.41902775e-01 -5.93551295e-02 2.80249382e+02] [ 3.40778354e-01 9.39713177e-01 -2.84474740e-02 1.06748335e+02] [ 6.55030676e-02 6.45277557e-03 9.97831504e-01 3.41467235e+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:280.28, Y:106.76, Z:34.15 [[ 9.36364404e-01 -3.45974472e-01 -5.93579676e-02 2.80278092e+02] [ 3.44858511e-01 9.38223696e-01 -2.84412221e-02 1.06761798e+02] [ 6.55309886e-02 6.16124764e-03 9.97831513e-01 3.41466604e+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:280.32, Y:106.78, Z:34.15 [[ 9.34670585e-01 -3.50538685e-01 -5.92750122e-02 2.80320709e+02] [ 3.49420261e-01 9.36528759e-01 -2.86245383e-02 1.06775769e+02] [ 6.55467617e-02 6.04262370e-03 9.97831203e-01 3.41493296e+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:280.34, Y:106.79, Z:34.14 [[ 9.30760081e-01 -3.60602714e-01 -6.04264448e-02 2.80335068e+02] [ 3.59668063e-01 9.32716076e-01 -2.60692549e-02 1.06787990e+02] [ 6.57613605e-02 2.53075939e-03 9.97832170e-01 3.41440823e+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:280.37, Y:106.80, Z:34.15 [[ 9.27608949e-01 -3.68821048e-01 -5.92677954e-02 2.80365937e+02] [ 3.67738869e-01 9.29488213e-01 -2.86319284e-02 1.06802603e+02] [ 6.56487751e-02 4.76416098e-03 9.97831419e-01 3.41469436e+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:280.39, Y:106.82, Z:34.15 [[ 9.25175813e-01 -3.74867217e-01 -5.93656856e-02 2.80393877e+02] [ 3.73811210e-01 9.27069460e-01 -2.84147037e-02 1.06817186e+02] [ 6.56878550e-02 4.09703778e-03 9.97831809e-01 3.41543802e+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:280.42, Y:106.83, Z:34.16 [[ 9.25714471e-01 -3.73535952e-01 -5.93600049e-02 2.80423072e+02] [ 3.72476416e-01 9.27606170e-01 -2.84273176e-02 1.06827880e+02] [ 6.56813320e-02 4.20537740e-03 9.97831788e-01 3.41626883e+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:280.45, Y:106.84, Z:34.16 [[ 9.25810006e-01 -3.73280875e-01 -5.94745446e-02 2.80450416e+02] [ 3.72237119e-01 9.27709995e-01 -2.81725419e-02 1.06839225e+02] [ 6.56914006e-02 3.94378806e-03 9.97832194e-01 3.41629369e+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:280.48, Y:106.85, Z:34.16 [[ 9.26907465e-01 -3.70572557e-01 -5.93172131e-02 2.80484078e+02] [ 3.69500906e-01 9.28792523e-01 -2.85224440e-02 1.06849013e+02] [ 6.56630190e-02 4.51990228e-03 9.97831618e-01 3.41642609e+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:280.52, Y:106.86, Z:34.16 [[ 9.28107530e-01 -3.67507543e-01 -5.96206176e-02 2.80519516e+02] [ 3.66472846e-01 9.30011961e-01 -2.78461182e-02 1.06857359e+02] [ 6.56815459e-02 3.99485452e-03 9.97832639e-01 3.41568698e+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:280.55, Y:106.87, Z:34.14 [[ 9.27454255e-01 -3.69110217e-01 -5.98853342e-02 2.80546191e+02] [ 3.68116851e-01 9.29380009e-01 -2.72540461e-02 1.06869663e+02] [ 6.57159793e-02 3.23208039e-03 9.97833134e-01 3.41433586e+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:280.57, Y:106.88, Z:34.15 [[ 9.25419587e-01 -3.74232231e-01 -5.95720102e-02 2.80570597e+02] [ 3.73204445e-01 9.27327888e-01 -2.79540792e-02 1.06880813e+02] [ 6.57041038e-02 3.63671340e-03 9.97832524e-01 3.41531545e+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:280.60, Y:106.89, Z:34.15 [[ 9.25078605e-01 -3.75110124e-01 -5.93461884e-02 2.80601079e+02] [ 3.74051787e-01 9.26971064e-01 -2.84588653e-02 1.06893119e+02] [ 6.56874079e-02 4.12813956e-03 9.97831711e-01 3.41531330e+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:280.64, Y:106.91, Z:34.15 [[ 9.24707099e-01 -3.76013780e-01 -5.94173301e-02 2.80635944e+02] [ 3.74967556e-01 9.26605913e-01 -2.82986534e-02 1.06907850e+02] [ 6.56971330e-02 3.88839464e-03 9.97832034e-01 3.41478859e+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:280.67, Y:106.92, Z:34.15 [[ 9.24925936e-01 -3.75412970e-01 -5.98089857e-02 2.80666268e+02] [ 3.74422425e-01 9.26852916e-01 -2.74138516e-02 1.06920831e+02] [ 6.57256483e-02 2.96195693e-03 9.97833336e-01 3.41494363e+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:280.69, Y:106.93, Z:34.16 [[ 9.25361755e-01 -3.74335196e-01 -5.98229367e-02 2.80689503e+02] [ 3.73344443e-01 9.27288594e-01 -2.73822969e-02 1.06928523e+02] [ 6.57232844e-02 3.00396937e-03 9.97833366e-01 3.41580762e+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:280.72, Y:106.94, Z:34.15 [[ 9.25838683e-01 -3.73233834e-01 -5.93231722e-02 2.80720683e+02] [ 3.72168704e-01 9.27727278e-01 -2.85053263e-02 1.06938023e+02] [ 6.56748773e-02 4.31310562e-03 9.97831753e-01 3.41513540e+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:280.75, Y:106.95, Z:34.15 [[ 9.26239518e-01 -3.72227131e-01 -5.93912389e-02 2.80749218e+02] [ 3.71169731e-01 9.28132093e-01 -2.83522283e-02 1.06949211e+02] [ 6.56763835e-02 4.21672410e-03 9.97832066e-01 3.41520375e+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:280.78, Y:106.96, Z:34.15 [[ 9.26761817e-01 -3.70897285e-01 -5.95628927e-02 2.80778405e+02] [ 3.69862167e-01 9.28665774e-01 -2.79617157e-02 1.06960967e+02] [ 6.56849444e-02 3.88378993e-03 9.97832854e-01 3.41471455e+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:280.81, Y:106.97, Z:34.16 [[ 9.27419777e-01 -3.69286073e-01 -5.93325659e-02 2.80807193e+02] [ 3.68214133e-01 9.29304524e-01 -2.84860398e-02 1.06971733e+02] [ 6.56575197e-02 4.57142735e-03 9.97831745e-01 3.41608389e+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:280.84, Y:106.98, Z:34.15 [[ 9.28193788e-01 -3.67288937e-01 -5.96248997e-02 2.80839052e+02] [ 3.66255608e-01 9.30098368e-01 -2.78182600e-02 1.06983689e+02] [ 6.56743611e-02 3.98278218e-03 9.97833160e-01 3.41503330e+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:280.87, Y:106.99, Z:34.16 [[ 9.28714337e-01 -3.65987451e-01 -5.95219718e-02 2.80866864e+02] [ 3.64936395e-01 9.30609702e-01 -2.80536945e-02 1.06991294e+02] [ 6.56590246e-02 4.33213448e-03 9.97832714e-01 3.41623112e+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:280.90, Y:107.00, Z:34.16 [[ 9.28555129e-01 -3.66405587e-01 -5.94333049e-02 2.80900714e+02] [ 3.65342539e-01 9.30444244e-01 -2.82548769e-02 1.07003356e+02] [ 6.56521212e-02 4.52269631e-03 9.97832323e-01 3.41609210e+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:280.94, Y:107.01, Z:34.16 [[ 9.27971345e-01 -3.67829205e-01 -5.97566710e-02 2.80936143e+02] [ 3.66816187e-01 9.29886333e-01 -2.75189500e-02 1.07013070e+02] [ 6.56891852e-02 3.61708281e-03 9.97833577e-01 3.41563903e+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:280.97, Y:107.02, Z:34.16 [[ 9.27344232e-01 -3.69349218e-01 -6.01151516e-02 2.80967058e+02] [ 3.68392055e-01 9.29286992e-01 -2.67016980e-02 1.07024834e+02] [ 6.57264797e-02 2.61572140e-03 9.97834249e-01 3.41577110e+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:280.99, Y:107.04, Z:34.15 [[ 9.27570307e-01 -3.68759520e-01 -6.02473366e-02 2.80986110e+02] [ 3.67820662e-01 9.29521919e-01 -2.64000487e-02 1.07039486e+02] [ 6.57364892e-02 2.32768610e-03 9.97834303e-01 3.41533983e+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:281.02, Y:107.05, Z:34.15 [[ 9.28652808e-01 -3.66139618e-01 -5.95461309e-02 2.81016956e+02] [ 3.65092268e-01 9.30550164e-01 -2.80004959e-02 1.07051600e+02] [ 6.56627528e-02 4.26290717e-03 9.97832767e-01 3.41528210e+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:281.04, Y:107.06, Z:34.15 [[ 9.29412550e-01 -3.64203411e-01 -5.95666683e-02 2.81044427e+02] [ 3.63155106e-01 9.31309276e-01 -2.79535684e-02 1.07064130e+02] [ 6.56557757e-02 4.34845752e-03 9.97832857e-01 3.41543493e+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:281.08, Y:107.08, Z:34.16 [[ 9.30653866e-01 -3.61032370e-01 -5.94895784e-02 2.81077458e+02] [ 3.59966388e-01 9.32541112e-01 -2.81295854e-02 1.07080842e+02] [ 6.56321685e-02 4.76465872e-03 9.97832509e-01 3.41573266e+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:281.10, Y:107.09, Z:34.16 [[ 9.31211981e-01 -3.59504997e-01 -6.00033586e-02 2.81097987e+02] [ 3.58511010e-01 9.33136258e-01 -2.69551527e-02 1.07091701e+02] [ 6.56818216e-02 3.58909646e-03 9.97834163e-01 3.41558912e+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:281.14, Y:107.10, Z:34.15 [[ 9.30588752e-01 -3.61210578e-01 -5.94263683e-02 2.81136648e+02] [ 3.60135259e-01 9.32471308e-01 -2.82816947e-02 1.07103303e+02] [ 6.56290306e-02 4.91709642e-03 9.97831976e-01 3.41524632e+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:281.16, Y:107.12, Z:34.15 [[ 9.28613042e-01 -3.66181044e-01 -5.99104474e-02 2.81162631e+02] [ 3.65187486e-01 9.30537613e-01 -2.71634106e-02 1.07115186e+02] [ 6.56956508e-02 3.34575169e-03 9.97834098e-01 3.41492172e+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:281.19, Y:107.13, Z:34.15 [[ 9.26488078e-01 -3.71569670e-01 -5.96307161e-02 2.81191849e+02] [ 3.70545614e-01 9.28397818e-01 -2.78107874e-02 1.07127471e+02] [ 6.56946718e-02 3.67046263e-03 9.97833021e-01 3.41509366e+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:281.22, Y:107.14, Z:34.15 [[ 9.24596509e-01 -3.76246298e-01 -5.96658899e-02 2.81220442e+02] [ 3.75237151e-01 9.26513984e-01 -2.77293507e-02 1.07138475e+02] [ 6.57143469e-02 3.24960229e-03 9.97833185e-01 3.41533594e+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:281.26, Y:107.15, Z:34.15 [[ 9.23295814e-01 -3.79437047e-01 -5.96017339e-02 2.81259834e+02] [ 3.78424947e-01 9.25212076e-01 -2.78778549e-02 1.07148880e+02] [ 6.57221349e-02 3.18472375e-03 9.97832881e-01 3.41500173e+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:281.29, Y:107.16, Z:34.15 [[ 9.21054493e-01 -3.84736504e-01 -6.03029261e-02 2.81287144e+02] [ 3.83841420e-01 9.23025873e-01 -2.62488503e-02 1.07161351e+02] [ 6.57600519e-02 1.02986072e-03 9.97834934e-01 3.41501992e+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:281.31, Y:107.17, Z:34.16 [[ 9.18792894e-01 -3.90136883e-01 -6.01068202e-02 2.81313506e+02] [ 3.89223549e-01 9.20756163e-01 -2.67042639e-02 1.07171374e+02] [ 6.57620434e-02 1.14069803e-03 9.97834682e-01 3.41580926e+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:281.34, Y:107.18, Z:34.17 [[ 9.19587948e-01 -3.88287325e-01 -5.99246118e-02 2.81344788e+02] [ 3.87342450e-01 9.21536730e-01 -2.71271430e-02 1.07182588e+02] [ 6.57558567e-02 1.73444788e-03 9.97834234e-01 3.41671701e+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:281.38, Y:107.19, Z:34.16 [[ 9.20044621e-01 -3.87165017e-01 -6.01759488e-02 2.81381108e+02] [ 3.86255947e-01 9.22009688e-01 -2.65420063e-02 1.07192379e+02] [ 6.57589441e-02 1.17651205e-03 9.97834845e-01 3.41616742e+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:281.41, Y:107.20, Z:34.16 [[ 9.17528434e-01 -3.93026546e-01 -6.05946063e-02 2.81405871e+02] [ 3.92194265e-01 9.19527074e-01 -2.55659734e-02 1.07201574e+02] [ 6.57664872e-02 -3.07349537e-04 9.97834994e-01 3.41591848e+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:281.44, Y:107.21, Z:34.17 [[ 9.17283554e-01 -3.93672273e-01 -6.01084242e-02 2.81435493e+02] [ 3.92766920e-01 9.19250437e-01 -2.66979532e-02 1.07213041e+02] [ 6.57649391e-02 8.80992745e-04 9.97834754e-01 3.41737898e+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:281.47, Y:107.22, Z:34.15 [[ 9.15770002e-01 -3.97145970e-01 -6.03355808e-02 2.81468809e+02] [ 3.96282922e-01 9.17755455e-01 -2.61681110e-02 1.07221749e+02] [ 6.57658683e-02 5.40108602e-05 9.97835080e-01 3.41500243e+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:281.50, Y:107.24, Z:34.16 [[ 9.11033805e-01 -4.07879838e-01 -6.04271753e-02 2.81496201e+02] [ 4.07054351e-01 9.13035121e-01 -2.59542619e-02 1.07237512e+02] [ 6.57583534e-02 -9.51934634e-04 9.97835123e-01 3.41618876e+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:281.53, Y:107.25, Z:34.16 [[ 9.07606971e-01 -4.15444638e-01 -6.04593980e-02 2.81526448e+02] [ 4.14640838e-01 9.09617092e-01 -2.58789826e-02 1.07246734e+02] [ 6.57461863e-02 -1.58099046e-03 9.97835126e-01 3.41580330e+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:281.56, Y:107.26, Z:34.15 [[ 9.07152949e-01 -4.16434001e-01 -6.04669349e-02 2.81556456e+02] [ 4.15633567e-01 9.09164412e-01 -2.58613604e-02 1.07255316e+02] [ 6.57439351e-02 -1.67187850e-03 9.97835127e-01 3.41494235e+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:281.58, Y:107.27, Z:34.16 [[ 9.05554991e-01 -4.19903481e-01 -6.04253622e-02 2.81581211e+02] [ 4.19104270e-01 9.07566947e-01 -2.59585794e-02 1.07269015e+02] [ 6.57401593e-02 -1.81760611e-03 9.97835121e-01 3.41630341e+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:281.61, Y:107.28, Z:34.16 [[ 9.04930468e-01 -4.21258283e-01 -6.03515337e-02 2.81612271e+02] [ 4.20450567e-01 9.06939068e-01 -2.61313462e-02 1.07282417e+02] [ 6.57432098e-02 -1.72778526e-03 9.97835079e-01 3.41608991e+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:281.64, Y:107.29, Z:34.17 [[ 9.06717494e-01 -4.17378725e-01 -6.04845952e-02 2.81641520e+02] [ 4.16583166e-01 9.08730880e-01 -2.58196487e-02 1.07294472e+02] [ 6.57407914e-02 -1.78573700e-03 9.97835136e-01 3.41714783e+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:281.67, Y:107.31, Z:34.18 [[ 9.09870569e-01 -4.10458465e-01 -6.04929425e-02 2.81668744e+02] [ 4.09648891e-01 9.11878359e-01 -2.58000769e-02 1.07310141e+02] [ 6.57520651e-02 -1.30613613e-03 9.97835137e-01 3.41776694e+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:281.70, Y:107.32, Z:34.18 [[ 9.11384267e-01 -4.07085346e-01 -6.04999138e-02 2.81699132e+02] [ 4.06269425e-01 9.13389486e-01 -2.57837193e-02 1.07322749e+02] [ 6.57561595e-02 -1.08038910e-03 9.97835137e-01 3.41765110e+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:281.73, Y:107.33, Z:34.18 [[ 9.14987730e-01 -3.98919655e-01 -6.05025863e-02 2.81727624e+02] [ 3.98086251e-01 9.16985747e-01 -2.57774465e-02 1.07334792e+02] [ 6.57631394e-02 -4.99200548e-04 9.97835137e-01 3.41777752e+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:281.75, Y:107.35, Z:34.18 [[ 9.14677863e-01 -3.99628593e-01 -6.05094569e-02 2.81750186e+02] [ 3.98797806e-01 9.16676969e-01 -2.57613086e-02 1.07348579e+02] [ 6.57625810e-02 -5.67739951e-04 9.97835137e-01 3.41844477e+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:281.78, Y:107.36, Z:34.19 [[ 9.16736058e-01 -3.94940990e-01 -6.01383016e-02 2.81783700e+02] [ 3.94042502e-01 9.18706208e-01 -2.66347661e-02 1.07359886e+02] [ 6.57685918e-02 7.20003638e-04 9.97834643e-01 3.41853353e+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:281.81, Y:107.37, Z:34.19 [[ 9.17635946e-01 -3.92818024e-01 -6.03180810e-02 2.81812593e+02] [ 3.91942790e-01 9.19616133e-01 -2.62110369e-02 1.07371448e+02] [ 6.57656481e-02 4.10952689e-04 9.97835012e-01 3.41882298e+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:281.85, Y:107.38, Z:34.18 [[ 9.20665952e-01 -3.85668389e-01 -6.02834852e-02 2.81846338e+02] [ 3.84772440e-01 9.22636912e-01 -2.62925461e-02 1.07379513e+02] [ 6.57599725e-02 1.01122830e-03 9.97834958e-01 3.41791763e+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:281.87, Y:107.40, Z:34.19 [[ 9.17983251e-01 -3.91970215e-01 -6.05483443e-02 2.81870757e+02] [ 3.91128915e-01 9.19977900e-01 -2.56678029e-02 1.07397020e+02] [ 6.57641528e-02 -1.19595008e-04 9.97835188e-01 3.41874140e+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:281.91, Y:107.41, Z:34.18 [[ 9.19266079e-01 -3.88976373e-01 -6.03925302e-02 2.81907234e+02] [ 3.88104400e-01 9.21247598e-01 -2.60353290e-02 1.07407969e+02] [ 6.57636012e-02 4.94788043e-04 9.97835109e-01 3.41812902e+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:281.94, Y:107.42, Z:34.18 [[ 9.19150123e-01 -3.89170050e-01 -6.09074968e-02 2.81940474e+02] [ 3.88378728e-01 9.21165546e-01 -2.48193711e-02 1.07418914e+02] [ 6.57648434e-02 -8.42448177e-04 9.97834794e-01 3.41826088e+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:281.97, Y:107.43, Z:34.19 [[ 9.18095560e-01 -3.91613990e-01 -6.11475771e-02 2.81969901e+02] [ 3.90865742e-01 9.20128149e-01 -2.42520376e-02 1.07432481e+02] [ 6.57610441e-02 -1.63480499e-03 9.97834061e-01 3.41856804e+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:282.00, Y:107.45, Z:34.19 [[ 9.17504571e-01 -3.92987939e-01 -6.12032907e-02 2.82000394e+02] [ 3.92251516e-01 9.19541711e-01 -2.41203235e-02 1.07446212e+02] [ 6.57579749e-02 -1.87657650e-03 9.97833837e-01 3.41889931e+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:282.03, Y:107.46, Z:34.19 [[ 9.12252068e-01 -4.05018817e-01 -6.12855895e-02 2.82031123e+02] [ 4.04322261e-01 9.14303583e-01 -2.39262957e-02 1.07458340e+02] [ 6.57242340e-02 -2.95231539e-03 9.97833458e-01 3.41903994e+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:282.06, Y:107.47, Z:34.19 [[ 9.09911999e-01 -4.10234509e-01 -6.13824282e-02 2.82061046e+02] [ 4.09564990e-01 9.11973060e-01 -2.36993162e-02 1.07468867e+02] [ 6.57013982e-02 -3.57580143e-03 9.97832922e-01 3.41905406e+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:282.09, Y:107.48, Z:34.19 [[ 9.04186226e-01 -4.22683051e-01 -6.15329797e-02 2.82086281e+02] [ 4.22065805e-01 9.06264533e-01 -2.33463664e-02 1.07481436e+02] [ 6.56332705e-02 -4.86150364e-03 9.97831970e-01 3.41889098e+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:282.11, Y:107.49, Z:34.19 [[ 9.01014925e-01 -4.29436076e-01 -6.12924276e-02 2.82111002e+02] [ 4.28795477e-01 9.03084872e-01 -2.39197326e-02 1.07492225e+02] [ 6.56242602e-02 -4.72987965e-03 9.97833195e-01 3.41928150e+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:282.14, Y:107.51, Z:34.19 [[ 9.00696834e-01 -4.30222878e-01 -6.04441003e-02 2.82143360e+02] [ 4.29448231e-01 9.02718966e-01 -2.59361901e-02 1.07505600e+02] [ 6.57223781e-02 -2.59696765e-03 9.97834568e-01 3.41904538e+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:282.18, Y:107.51, Z:34.19 [[ 9.03872375e-01 -4.23443101e-01 -6.09152755e-02 2.82178811e+02] [ 4.22728246e-01 9.05916622e-01 -2.48174195e-02 1.07510586e+02] [ 6.56929257e-02 -3.31882768e-03 9.97834367e-01 3.41907796e+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:282.22, Y:107.53, Z:34.18 [[ 9.04293578e-01 -4.22383720e-01 -6.20090107e-02 2.82219686e+02] [ 4.21838143e-01 9.06397227e-01 -2.22856080e-02 1.07529837e+02] [ 6.56178734e-02 -6.00503373e-03 9.97826756e-01 3.41822830e+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:282.25, Y:107.54, Z:34.18 [[ 9.02901860e-01 -4.25226479e-01 -6.28543782e-02 2.82249014e+02] [ 4.24821017e-01 9.05048651e-01 -2.03480678e-02 1.07543564e+02] [ 6.55388074e-02 -8.32955256e-03 9.97815255e-01 3.41815651e+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:282.27, Y:107.55, Z:34.19 [[ 9.01690849e-01 -4.27752159e-01 -6.31007389e-02 2.82265243e+02] [ 4.27391894e-01 9.03849958e-01 -1.97844224e-02 1.07550409e+02] [ 6.54964296e-02 -9.12931164e-03 9.97811041e-01 3.41931767e+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:282.29, Y:107.56, Z:34.19 [[ 9.02335963e-01 -4.26528524e-01 -6.21548700e-02 2.82292912e+02] [ 4.26016583e-01 9.04449399e-01 -2.19352589e-02 1.07560109e+02] [ 6.55719484e-02 -6.68603240e-03 9.97825444e-01 3.41884793e+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:282.30, Y:107.58, Z:34.19 [[ 8.98276428e-01 -4.35013597e-01 -6.21500592e-02 2.82301370e+02] [ 4.34520843e-01 9.00394359e-01 -2.19462105e-02 1.07575687e+02] [ 6.55064626e-02 -7.29173254e-03 9.97825503e-01 3.41914771e+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:282.35, Y:107.58, Z:34.19 [[ 9.02854498e-01 -4.25615135e-01 -6.08729210e-02 2.82347653e+02] [ 4.24903740e-01 9.04897739e-01 -2.48373260e-02 1.07584343e+02] [ 6.56549105e-02 -3.44064032e-03 9.97836457e-01 3.41934329e+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:282.38, Y:107.60, Z:34.19 [[ 9.03127333e-01 -4.24875724e-01 -6.19809568e-02 2.82375195e+02] [ 4.24331318e-01 9.05231052e-01 -2.23534287e-02 1.07597713e+02] [ 6.56045159e-02 -6.11246858e-03 9.97826982e-01 3.41940746e+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:282.40, Y:107.62, Z:34.19 [[ 9.08639875e-01 -4.12951957e-01 -6.20020873e-02 2.82400034e+02] [ 4.12383136e-01 9.10737386e-01 -2.23061043e-02 1.07619150e+02] [ 6.56789683e-02 -5.30039939e-03 9.97826728e-01 3.41935437e+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:282.43, Y:107.63, Z:34.20 [[ 9.09134381e-01 -4.11857958e-01 -6.20298312e-02 2.82427731e+02] [ 4.11290866e-01 9.11232704e-01 -2.22437182e-02 1.07633679e+02] [ 6.56848632e-02 -5.28977398e-03 9.97826396e-01 3.42002374e+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:282.46, Y:107.65, Z:34.21 [[ 9.12603373e-01 -4.04112611e-01 -6.20329081e-02 2.82455525e+02] [ 4.03528167e-01 9.14696968e-01 -2.22368083e-02 1.07649111e+02] [ 6.57274876e-02 -4.73863943e-03 9.97826359e-01 3.42050988e+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:282.48, Y:107.67, Z:34.21 [[ 9.11059711e-01 -4.07569543e-01 -6.21069251e-02 2.82483867e+02] [ 4.07004343e-01 9.13159537e-01 -2.20709001e-02 1.07666650e+02] [ 6.57089576e-02 -5.16988034e-03 9.97825438e-01 3.42095704e+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:282.51, Y:107.68, Z:34.22 [[ 9.11410350e-01 -4.06787033e-01 -6.20925397e-02 2.82509904e+02] [ 4.06217851e-01 9.13508905e-01 -2.21028820e-02 1.07676543e+02] [ 6.57132538e-02 -5.07830259e-03 9.97825626e-01 3.42161600e+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:282.54, Y:107.69, Z:34.22 [[ 9.10870731e-01 -4.08023607e-01 -6.18970698e-02 2.82537486e+02] [ 4.07427805e-01 9.12959323e-01 -2.25357076e-02 1.07690351e+02] [ 6.57046077e-02 -4.69147079e-03 9.97828089e-01 3.42184638e+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:282.57, Y:107.70, Z:34.22 [[ 9.11099352e-01 -4.07510277e-01 -6.19140174e-02 2.82565734e+02] [ 4.06915845e-01 9.13188548e-01 -2.24982305e-02 1.07704049e+02] [ 6.57074318e-02 -4.69567153e-03 9.97827883e-01 3.42202036e+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:282.59, Y:107.72, Z:34.22 [[ 9.12211528e-01 -4.05019449e-01 -6.18819436e-02 2.82594023e+02] [ 4.04414525e-01 9.14297296e-01 -2.25687059e-02 1.07716140e+02] [ 6.57192585e-02 -4.43852315e-03 9.97828281e-01 3.42192965e+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:282.62, Y:107.73, Z:34.22 [[ 9.15005197e-01 -3.98661510e-01 -6.19232593e-02 2.82618910e+02] [ 3.98048234e-01 9.17089061e-01 -2.24779404e-02 1.07731642e+02] [ 6.57502334e-02 -4.08101169e-03 9.97827767e-01 3.42219033e+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:282.65, Y:107.75, Z:34.22 [[ 9.14149292e-01 -4.00641539e-01 -6.17853492e-02 2.82645300e+02] [ 4.00012211e-01 9.16226627e-01 -2.27815621e-02 1.07745334e+02] [ 6.57366222e-02 -3.88914531e-03 9.97829430e-01 3.42208250e+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:282.67, Y:107.76, Z:34.23 [[ 9.14084913e-01 -4.00794735e-01 -6.17442457e-02 2.82671474e+02] [ 4.00159653e-01 9.16159994e-01 -2.28717761e-02 1.07762484e+02] [ 6.57344952e-02 -3.80081042e-03 9.97829910e-01 3.42283760e+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:282.70, Y:107.78, Z:34.23 [[ 9.14922208e-01 -3.98867396e-01 -6.18235623e-02 2.82700630e+02] [ 3.98239689e-01 9.17000518e-01 -2.26980319e-02 1.07778234e+02] [ 6.57457435e-02 -3.85366275e-03 9.97828967e-01 3.42284030e+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:282.73, Y:107.79, Z:34.22 [[ 9.14151668e-01 -4.00640516e-01 -6.17568265e-02 2.82727303e+02] [ 4.00007004e-01 9.16227361e-01 -2.28433587e-02 1.07792539e+02] [ 6.57352692e-02 -3.82086869e-03 9.97829783e-01 3.42173712e+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:282.75, Y:107.81, Z:34.21 [[ 9.12092811e-01 -4.05291141e-01 -6.18530154e-02 2.82753080e+02] [ 4.04682367e-01 9.14177146e-01 -2.26346435e-02 1.07807158e+02] [ 6.57182336e-02 -4.38592908e-03 9.97828581e-01 3.42117275e+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:282.78, Y:107.82, Z:34.22 [[ 9.09577046e-01 -4.10937607e-01 -6.16431668e-02 2.82782098e+02] [ 4.10310860e-01 9.11653371e-01 -2.30895860e-02 1.07819536e+02] [ 6.56855801e-02 -4.29110333e-03 9.97831144e-01 3.42169042e+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:282.81, Y:107.84, Z:34.22 [[ 9.04596406e-01 -4.21828040e-01 -6.13713901e-02 2.82807807e+02] [ 4.21186739e-01 9.06665001e-01 -2.36708006e-02 1.07837091e+02] [ 6.56282989e-02 -4.43629453e-03 9.97834278e-01 3.42216983e+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:282.84, Y:107.85, Z:34.22 [[ 9.01235049e-01 -4.28923724e-01 -6.16427296e-02 2.82836330e+02] [ 4.28338211e-01 9.03323396e-01 -2.30915446e-02 1.07853541e+02] [ 6.55878311e-02 -5.59302719e-03 9.97831125e-01 3.42205992e+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:282.86, Y:107.87, Z:34.23 [[ 8.98504987e-01 -4.34599703e-01 -6.17404787e-02 2.82860302e+02] [ 4.34041715e-01 9.00602124e-01 -2.28823947e-02 1.07865957e+02] [ 6.55482882e-02 -6.23799759e-03 9.97829900e-01 3.42271635e+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:282.89, Y:107.88, Z:34.23 [[ 8.96819198e-01 -4.38108689e-01 -6.14499988e-02 2.82886700e+02] [ 4.37516470e-01 8.98903238e-01 -2.35012154e-02 1.07883396e+02] [ 6.55336896e-02 -5.80904537e-03 9.97833448e-01 3.42289513e+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:282.91, Y:107.90, Z:34.24 [[ 8.92707646e-01 -4.46446885e-01 -6.13044761e-02 2.82911025e+02] [ 4.45853005e-01 8.94789491e-01 -2.38089283e-02 1.07900510e+02] [ 6.54840228e-02 -6.07837261e-03 9.97835105e-01 3.42396474e+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:282.94, Y:107.92, Z:34.24 [[ 8.90544976e-01 -4.50746164e-01 -6.12987834e-02 2.82939443e+02] [ 4.50161505e-01 8.92629364e-01 -2.38209492e-02 1.07915809e+02] [ 6.54542955e-02 -6.38072594e-03 9.97835168e-01 3.42448350e+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:282.97, Y:107.93, Z:34.25 [[ 8.86951398e-01 -4.57777816e-01 -6.12918242e-02 2.82965439e+02] [ 4.57208656e-01 8.89039992e-01 -2.38356262e-02 1.07929741e+02] [ 6.54023038e-02 -6.88211062e-03 9.97835245e-01 3.42463625e+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:282.99, Y:107.94, Z:34.25 [[ 8.86969310e-01 -4.57804053e-01 -6.08349668e-02 2.82989077e+02] [ 4.57170066e-01 8.89033991e-01 -2.47809108e-02 1.07941116e+02] [ 6.54291548e-02 -5.83201848e-03 9.97840174e-01 3.42475791e+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:283.02, Y:107.96, Z:34.25 [[ 8.87889458e-01 -4.56033678e-01 -6.07090982e-02 2.83018935e+02] [ 4.55377822e-01 8.89946063e-01 -2.50408607e-02 1.07957261e+02] [ 6.54472987e-02 -5.41206066e-03 9.97841350e-01 3.42515964e+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:283.05, Y:107.97, Z:34.25 [[ 8.90999489e-01 -4.49878121e-01 -6.10703438e-02 2.83046541e+02] [ 4.49259634e-01 8.93071132e-01 -2.42844292e-02 1.07971365e+02] [ 6.54651945e-02 -5.79902631e-03 9.97838003e-01 3.42534219e+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:283.08, Y:107.99, Z:34.25 [[ 8.90714542e-01 -4.50456680e-01 -6.09621582e-02 2.83076399e+02] [ 4.49824078e-01 8.92780784e-01 -2.45106248e-02 1.07987484e+02] [ 6.54668180e-02 -5.59027666e-03 9.97839088e-01 3.42541066e+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:283.10, Y:108.00, Z:34.25 [[ 8.93180387e-01 -4.45559009e-01 -6.08766470e-02 2.83098319e+02] [ 4.44903114e-01 8.95238414e-01 -2.46860629e-02 1.07998301e+02] [ 6.54982107e-02 -5.03510261e-03 9.97839983e-01 3.42538877e+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:283.13, Y:108.01, Z:34.24 [[ 8.94701292e-01 -4.42534480e-01 -6.06038904e-02 2.83128597e+02] [ 4.41833751e-01 8.96741697e-01 -2.52441227e-02 1.08010534e+02] [ 6.55174303e-02 -4.19089502e-03 9.97842624e-01 3.42440222e+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:283.16, Y:108.02, Z:34.24 [[ 8.95568374e-01 -4.40766148e-01 -6.06835255e-02 2.83158797e+02] [ 4.40072461e-01 8.97611939e-01 -2.50805874e-02 1.08021109e+02] [ 6.55249309e-02 -4.24376755e-03 9.97841908e-01 3.42416775e+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:283.19, Y:108.03, Z:34.24 [[ 8.97410223e-01 -4.36991073e-01 -6.07757576e-02 2.83185716e+02] [ 4.36301581e-01 8.99456136e-01 -2.48915590e-02 1.08033777e+02] [ 6.55425172e-02 -4.17861957e-03 9.97841028e-01 3.42428767e+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:283.21, Y:108.05, Z:34.25 [[ 9.01316442e-01 -4.28907267e-01 -6.05576315e-02 2.83213446e+02] [ 4.28169383e-01 9.03343233e-01 -2.53373981e-02 1.08045965e+02] [ 6.55717208e-02 -3.09191016e-03 9.97843069e-01 3.42524051e+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:283.22, Y:108.05, Z:34.26 [[ 9.10578398e-01 -4.08871292e-01 -6.05908205e-02 2.83216955e+02] [ 4.08093276e-01 9.12590445e-01 -2.52697169e-02 1.08053038e+02] [ 6.56266656e-02 -1.71664809e-03 9.97842770e-01 3.42555924e+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:283.24, Y:108.07, Z:34.26 [[ 9.13941636e-01 -4.01571300e-01 -5.87467180e-02 2.83244266e+02] [ 4.00533449e-01 9.15822916e-01 -2.90059267e-02 1.08067296e+02] [ 6.54495382e-02 2.97969852e-03 9.97851432e-01 3.42632334e+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:283.27, Y:108.08, Z:34.27 [[ 9.17451235e-01 -3.93485970e-01 -5.87539188e-02 2.83272441e+02] [ 3.92432479e-01 9.19323801e-01 -2.89913335e-02 1.08082076e+02] [ 6.54215590e-02 3.54118868e-03 9.97851432e-01 3.42682245e+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:283.31, Y:108.11, Z:34.29 [[ 9.15932805e-01 -3.97006515e-01 -5.87615795e-02 2.83311669e+02] [ 3.95961218e-01 9.17809957e-01 -2.89757980e-02 1.08114058e+02] [ 6.54355433e-02 3.27257742e-03 9.97851432e-01 3.42853453e+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:283.33, Y:108.12, Z:34.27 [[ 9.24932904e-01 -3.75301154e-01 -6.04000550e-02 2.83329952e+02] [ 3.74424551e-01 9.26902256e-01 -2.56605490e-02 1.08115041e+02] [ 6.56153809e-02 1.11902260e-03 9.97844361e-01 3.42729666e+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:283.36, Y:108.13, Z:34.28 [[ 9.23971707e-01 -3.77864585e-01 -5.91154811e-02 2.83355772e+02] [ 3.76826713e-01 9.25852979e-01 -2.82469297e-02 1.08131860e+02] [ 6.54057587e-02 3.82307143e-03 9.97851427e-01 3.42781427e+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:283.38, Y:108.15, Z:34.28 [[ 9.21461863e-01 -3.83991869e-01 -5.88071338e-02 2.83382905e+02] [ 3.82926990e-01 9.23327453e-01 -2.88675345e-02 1.08147580e+02] [ 6.53831396e-02 4.08149336e-03 9.97851886e-01 3.42784414e+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:283.43, Y:108.16, Z:34.29 [[ 9.18466041e-01 -3.91124431e-01 -5.86669474e-02 2.83425717e+02] [ 3.90056080e-01 9.20329588e-01 -2.91496823e-02 1.08162374e+02] [ 6.53940805e-02 3.88959377e-03 9.97851936e-01 3.42856458e+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:283.45, Y:108.18, Z:34.28 [[ 9.15394385e-01 -3.98078933e-01 -5.98855807e-02 2.83445983e+02] [ 3.97183178e-01 9.17350934e-01 -2.66980746e-02 1.08177835e+02] [ 6.55640345e-02 6.53722347e-04 9.97848150e-01 3.42769650e+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:283.47, Y:108.20, Z:34.28 [[ 9.10573118e-01 -4.09072821e-01 -5.92960697e-02 2.83467899e+02] [ 4.08123290e-01 9.12500968e-01 -2.78812448e-02 1.08197516e+02] [ 6.55131804e-02 1.18780499e-03 9.97850997e-01 3.42791838e+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:283.50, Y:108.21, Z:34.28 [[ 9.07971988e-01 -4.14843318e-01 -5.90922279e-02 2.83495563e+02] [ 4.13879351e-01 9.09892031e-01 -2.82908962e-02 1.08212433e+02] [ 6.55038365e-02 1.23028825e-03 9.97851559e-01 3.42809450e+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:283.52, Y:108.23, Z:34.29 [[ 9.00641537e-01 -4.30543225e-01 -5.89690871e-02 2.83520662e+02] [ 4.29596538e-01 9.02569884e-01 -2.85380319e-02 1.08230469e+02] [ 6.55105783e-02 3.69621266e-04 9.97851806e-01 3.42856599e+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:283.55, Y:108.25, Z:34.29 [[ 8.98025342e-01 -4.35984986e-01 -5.88861394e-02 2.83548070e+02] [ 4.35039062e-01 8.99953925e-01 -2.87044949e-02 1.08246111e+02] [ 6.55095411e-02 1.59593018e-04 9.97851930e-01 3.42889028e+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:283.58, Y:108.27, Z:34.29 [[ 8.90679873e-01 -4.50813064e-01 -5.87957945e-02 2.83581580e+02] [ 4.49887267e-01 8.92618092e-01 -2.88857985e-02 1.08267687e+02] [ 6.55042853e-02 -7.23479965e-04 9.97852026e-01 3.42938168e+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:283.61, Y:108.28, Z:34.29 [[ 8.88365277e-01 -4.55276286e-01 -5.94191754e-02 2.83609959e+02] [ 4.54443543e-01 8.90346831e-01 -2.76330876e-02 1.08282939e+02] [ 6.54843640e-02 -2.45438503e-03 9.97850577e-01 3.42936272e+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:283.63, Y:108.29, Z:34.30 [[ 8.90500124e-01 -4.51094106e-01 -5.93602244e-02 2.83629519e+02] [ 4.50244155e-01 8.92474118e-01 -2.77515617e-02 1.08293667e+02] [ 6.54960298e-02 -2.01382495e-03 9.97850798e-01 3.42986343e+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:283.66, Y:108.31, Z:34.31 [[ 8.92503461e-01 -4.47203106e-01 -5.87107702e-02 2.83656798e+02] [ 4.46258392e-01 8.94432395e-01 -2.90540482e-02 1.08306908e+02] [ 6.55058754e-02 -2.69335327e-04 9.97852147e-01 3.43089813e+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:283.69, Y:108.32, Z:34.31 [[ 8.92604639e-01 -4.47002051e-01 -5.87037019e-02 2.83686048e+02] [ 4.46055971e-01 8.94532900e-01 -2.90682232e-02 1.08322137e+02] [ 6.55059481e-02 -2.38705844e-04 9.97852150e-01 3.43142140e+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:283.71, Y:108.33, Z:34.32 [[ 8.94608577e-01 -4.42962925e-01 -5.88161637e-02 2.83711662e+02] [ 4.42022964e-01 8.96539909e-01 -2.88425104e-02 1.08334553e+02] [ 6.55072008e-02 -1.95337831e-04 9.97852077e-01 3.43209438e+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:283.74, Y:108.35, Z:34.32 [[ 8.95037587e-01 -4.42115025e-01 -5.86687595e-02 2.83743679e+02] [ 4.41153845e-01 8.96958341e-01 -2.91379451e-02 1.08348909e+02] [ 6.55057565e-02 1.97607304e-04 9.97852172e-01 3.43165811e+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:283.78, Y:108.36, Z:34.32 [[ 8.95933402e-01 -4.40263787e-01 -5.89163565e-02 2.83775191e+02] [ 4.39331238e-01 8.97868447e-01 -2.86411340e-02 1.08362536e+02] [ 6.55087917e-02 -2.23247263e-04 9.97851967e-01 3.43157520e+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:283.80, Y:108.38, Z:34.32 [[ 8.95902075e-01 -4.40316550e-01 -5.89983615e-02 2.83804682e+02] [ 4.39394925e-01 8.97842507e-01 -2.84768966e-02 1.08378092e+02] [ 6.55100857e-02 -4.11069832e-04 9.97851823e-01 3.43179216e+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:283.83, Y:108.39, Z:34.32 [[ 8.97060196e-01 -4.37924413e-01 -5.92048386e-02 2.83830345e+02] [ 4.37024881e-01 8.99011523e-01 -2.80630465e-02 1.08391088e+02] [ 6.55153253e-02 -6.99745469e-04 9.97851318e-01 3.43188793e+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:283.86, Y:108.40, Z:34.33 [[ 8.98611079e-01 -4.34763172e-01 -5.89840140e-02 2.83864437e+02] [ 4.33827669e-01 9.00544826e-01 -2.85056077e-02 1.08404681e+02] [ 6.55109370e-02 2.65576264e-05 9.97851851e-01 3.43262086e+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:283.89, Y:108.42, Z:34.32 [[ 8.99418866e-01 -4.32994270e-01 -5.96797014e-02 2.83887833e+02] [ 4.32147087e-01 9.01395574e-01 -2.71093095e-02 1.08415631e+02] [ 6.55331944e-02 -1.40778469e-03 9.97849397e-01 3.43222747e+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:283.91, Y:108.43, Z:34.32 [[ 9.01942153e-01 -4.27792738e-01 -5.91077572e-02 2.83914776e+02] [ 4.26858663e-01 9.03876822e-01 -2.82554891e-02 1.08426502e+02] [ 6.55136247e-02 2.54158421e-04 9.97851642e-01 3.43241159e+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:283.94, Y:108.44, Z:34.32 [[ 9.04920687e-01 -4.21473213e-01 -5.89820493e-02 2.83940516e+02] [ 4.20509200e-01 9.06840307e-01 -2.85073822e-02 1.08436984e+02] [ 6.55023976e-02 9.94425563e-04 9.97851916e-01 3.43199915e+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:283.97, Y:108.45, Z:34.32 [[ 9.04645457e-01 -4.22122887e-01 -5.85565144e-02 2.83968405e+02] [ 4.21104959e-01 9.06536626e-01 -2.93591573e-02 1.08449685e+02] [ 6.54767972e-02 1.90118965e-03 9.97852281e-01 3.43188982e+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:284.00, Y:108.47, Z:34.32 [[ 9.03395012e-01 -4.24801028e-01 -5.84939184e-02 2.84004357e+02] [ 4.23780586e-01 9.05284857e-01 -2.94846058e-02 1.08466138e+02] [ 6.54787494e-02 1.84765883e-03 9.97852253e-01 3.43241576e+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:284.03, Y:108.48, Z:34.32 [[ 9.04253385e-01 -4.22868178e-01 -5.92310759e-02 2.84031929e+02] [ 4.21940010e-01 9.06191147e-01 -2.80041737e-02 1.08480925e+02] [ 6.55167505e-02 3.30908054e-04 9.97851415e-01 3.43238344e+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:284.06, Y:108.49, Z:34.33 [[ 9.04154181e-01 -4.23094292e-01 -5.91306780e-02 2.84061472e+02] [ 4.22153454e-01 9.06085497e-01 -2.82051961e-02 1.08493002e+02] [ 6.55109072e-02 5.39626022e-04 9.97851707e-01 3.43303318e+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:284.09, Y:108.51, Z:34.33 [[ 9.03704755e-01 -4.24039252e-01 -5.92319833e-02 2.84089911e+02] [ 4.23113721e-01 9.05643778e-01 -2.80022525e-02 1.08506857e+02] [ 6.55171313e-02 2.43903933e-04 9.97851415e-01 3.43335258e+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:284.12, Y:108.52, Z:34.34 [[ 9.02886883e-01 -4.25784243e-01 -5.91866031e-02 2.84122445e+02] [ 4.24856492e-01 9.04824696e-01 -2.80932548e-02 1.08521172e+02] [ 6.55151654e-02 2.19218685e-04 9.97851550e-01 3.43394178e+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:284.15, Y:108.54, Z:34.34 [[ 9.01776086e-01 -4.28055017e-01 -5.97393687e-02 2.84149252e+02] [ 4.27205153e-01 9.03751900e-01 -2.69862947e-02 1.08535235e+02] [ 6.55411868e-02 -1.18537096e-03 9.97849161e-01 3.43410436e+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:284.18, Y:108.55, Z:34.34 [[ 9.00556972e-01 -4.30648245e-01 -5.94914205e-02 2.84179479e+02] [ 4.29771275e-01 9.02519484e-01 -2.74815028e-02 1.08546537e+02] [ 6.55270271e-02 -8.19044672e-04 9.97850459e-01 3.43399147e+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:284.20, Y:108.56, Z:34.33 [[ 9.01075385e-01 -4.29563776e-01 -5.94820332e-02 2.84203823e+02] [ 4.28683206e-01 9.03036237e-01 -2.75002504e-02 1.08557602e+02] [ 6.55275428e-02 -7.19149995e-04 9.97850502e-01 3.43342581e+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:284.24, Y:108.57, Z:34.33 [[ 9.00797941e-01 -4.30205009e-01 -5.90484556e-02 2.84237980e+02] [ 4.29268746e-01 9.02731194e-01 -2.83678619e-02 1.08570879e+02] [ 6.55088791e-02 2.06055096e-04 9.97851965e-01 3.43344218e+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:284.27, Y:108.59, Z:34.34 [[ 9.00660540e-01 -4.30438091e-01 -5.94444471e-02 2.84266039e+02] [ 4.29554461e-01 9.02619832e-01 -2.75754106e-02 1.08585112e+02] [ 6.55252440e-02 -6.98543286e-04 9.97850667e-01 3.43359511e+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:284.30, Y:108.60, Z:34.35 [[ 8.99488299e-01 -4.32906352e-01 -5.92696443e-02 2.84295471e+02] [ 4.32005178e-01 9.01438768e-01 -2.79226531e-02 1.08599680e+02] [ 6.55158490e-02 -4.88693418e-04 9.97851409e-01 3.43453040e+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:284.33, Y:108.61, Z:34.34 [[ 8.99454830e-01 -4.32946728e-01 -5.94822679e-02 2.84325951e+02] [ 4.32073458e-01 9.01418993e-01 -2.75013800e-02 1.08612114e+02] [ 6.55250785e-02 -9.64460191e-04 9.97850457e-01 3.43414598e+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:284.36, Y:108.62, Z:34.34 [[ 9.00029763e-01 -4.31732557e-01 -5.96106111e-02 2.84355854e+02] [ 4.30873471e-01 9.02000915e-01 -2.72470540e-02 1.08624714e+02] [ 6.55322661e-02 -1.16147135e-03 9.97849775e-01 3.43410086e+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:284.39, Y:108.64, Z:34.34 [[ 9.01357051e-01 -4.28942078e-01 -5.97005949e-02 2.84386842e+02] [ 4.28088682e-01 9.03331253e-01 -2.70689531e-02 1.08639294e+02] [ 6.55404262e-02 -1.15835724e-03 9.97849243e-01 3.43389731e+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:284.41, Y:108.66, Z:34.34 [[ 9.02313023e-01 -4.26906817e-01 -5.98479545e-02 2.84414608e+02] [ 4.26068291e-01 9.04294631e-01 -2.67774350e-02 1.08655511e+02] [ 6.55516535e-02 -1.33768739e-03 9.97848281e-01 3.43398551e+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:284.44, Y:108.67, Z:34.34 [[ 9.04523233e-01 -4.22217695e-01 -5.97489683e-02 2.84442972e+02] [ 4.21356003e-01 9.06494132e-01 -2.69723288e-02 1.08672899e+02] [ 6.55502837e-02 -7.78488468e-04 9.97848964e-01 3.43418941e+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:284.47, Y:108.69, Z:34.35 [[ 9.03336911e-01 -4.24707071e-01 -6.00527158e-02 2.84471354e+02] [ 4.23890498e-01 9.05329356e-01 -2.63742699e-02 1.08685231e+02] [ 6.55688255e-02 -1.63092413e-03 9.97846716e-01 3.43474818e+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:284.50, Y:108.70, Z:34.35 [[ 9.01585085e-01 -4.28415586e-01 -6.00368281e-02 2.84498244e+02] [ 4.27605127e-01 9.03579884e-01 -2.64054711e-02 1.08700358e+02] [ 6.55605856e-02 -1.86527658e-03 9.97846847e-01 3.43540125e+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:284.53, Y:108.71, Z:34.36 [[ 9.00289286e-01 -4.31135032e-01 -6.00148862e-02 2.84527480e+02] [ 4.30327723e-01 9.02285169e-01 -2.64485460e-02 1.08714249e+02] [ 6.55534364e-02 -2.01472674e-03 9.97847026e-01 3.43584334e+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:284.56, Y:108.73, Z:34.36 [[ 8.98894962e-01 -4.34007630e-01 -6.02098422e-02 2.84555460e+02] [ 4.33232237e-01 9.00905288e-01 -2.60670572e-02 1.08730747e+02] [ 6.55566669e-02 -2.65329825e-03 9.97845320e-01 3.43592002e+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:284.58, Y:108.74, Z:34.36 [[ 8.97381788e-01 -4.37103163e-01 -6.03883421e-02 2.84582528e+02] [ 4.36358190e-01 8.99405425e-01 -2.57179320e-02 1.08743310e+02] [ 6.55549918e-02 -3.27214389e-03 9.97843593e-01 3.43602397e+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:284.61, Y:108.76, Z:34.36 [[ 8.97046362e-01 -4.37810907e-01 -6.02447897e-02 2.84608074e+02] [ 4.37048621e-01 8.99062046e-01 -2.59988474e-02 1.08756227e+02] [ 6.55463829e-02 -3.00773074e-03 9.97844991e-01 3.43611219e+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:284.64, Y:108.77, Z:34.36 [[ 8.95490809e-01 -4.41000419e-01 -6.01235494e-02 2.84635770e+02] [ 4.40229382e-01 8.97501969e-01 -2.62356113e-02 1.08770093e+02] [ 6.55309196e-02 -2.97440419e-03 9.97846106e-01 3.43633320e+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:284.66, Y:108.79, Z:34.36 [[ 8.92664812e-01 -4.46715932e-01 -5.99533926e-02 2.84664456e+02] [ 4.45935460e-01 8.94670753e-01 -2.65670666e-02 1.08786757e+02] [ 6.55064788e-02 -3.01985815e-03 9.97847574e-01 3.43624266e+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:284.69, Y:108.80, Z:34.37 [[ 8.93582171e-01 -4.44850371e-01 -6.01585573e-02 2.84692122e+02] [ 4.44092590e-01 8.95598703e-01 -2.61674267e-02 1.08797703e+02] [ 6.55185154e-02 -3.33322354e-03 9.97845787e-01 3.43654579e+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:284.72, Y:108.81, Z:34.37 [[ 8.93729210e-01 -4.44585287e-01 -5.99334789e-02 2.84722289e+02] [ 4.43797588e-01 8.95732080e-01 -2.66034361e-02 1.08809993e+02] [ 6.55118360e-02 -2.82206547e-03 9.97847802e-01 3.43652172e+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:284.75, Y:108.82, Z:34.37 [[ 8.94062991e-01 -4.43893634e-01 -6.00816921e-02 2.84747946e+02] [ 4.43123671e-01 8.96074139e-01 -2.63163487e-02 1.08824335e+02] [ 6.55193102e-02 -3.09514652e-03 9.97846501e-01 3.43657252e+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:284.76, Y:108.84, Z:34.36 [[ 8.92532811e-01 -4.46976858e-01 -5.99739078e-02 2.84764051e+02] [ 4.46199785e-01 8.94540199e-01 -2.65251761e-02 1.08842890e+02] [ 6.55052113e-02 -3.08575476e-03 9.97847456e-01 3.43636272e+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:284.80, Y:108.85, Z:34.37 [[ 8.97492358e-01 -4.37042850e-01 -5.91693832e-02 2.84804775e+02] [ 4.36140596e-01 8.99440480e-01 -2.80749741e-02 1.08852146e+02] [ 6.54893051e-02 -6.09095293e-04 9.97853085e-01 3.43740403e+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:284.82, Y:108.87, Z:34.37 [[ 8.98363671e-01 -4.35102237e-01 -6.02391714e-02 2.84824526e+02] [ 4.34332842e-01 9.00376721e-01 -2.60142821e-02 1.08868303e+02] [ 6.55568199e-02 -2.79356452e-03 9.97844928e-01 3.43720177e+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:284.86, Y:108.88, Z:34.38 [[ 8.99750277e-01 -4.32297602e-01 -5.97346031e-02 2.84856202e+02] [ 4.31456970e-01 9.01729760e-01 -2.69874611e-02 1.08880448e+02] [ 6.55310840e-02 -1.49093529e-03 9.97849415e-01 3.43761043e+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:284.89, Y:108.90, Z:34.38 [[ 8.97009415e-01 -4.37935838e-01 -5.98858221e-02 2.84886150e+02] [ 4.37126992e-01 8.99003465e-01 -2.66976154e-02 1.08896478e+02] [ 6.55294041e-02 -2.22969694e-03 9.97848148e-01 3.43793559e+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:284.90, Y:108.92, Z:34.38 [[ 8.92214347e-01 -4.47578137e-01 -6.02276609e-02 2.84899321e+02] [ 4.46834994e-01 8.94237269e-01 -2.60421544e-02 1.08916200e+02] [ 6.55137180e-02 -3.67664274e-03 9.97844895e-01 3.43798116e+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:284.94, Y:108.93, Z:34.38 [[ 8.90497373e-01 -4.51101895e-01 -5.93423042e-02 2.84935607e+02] [ 4.50252535e-01 8.92470180e-01 -2.77422597e-02 1.08928923e+02] [ 6.54758228e-02 -2.01461353e-03 9.97852122e-01 3.43822667e+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:284.96, Y:108.95, Z:34.38 [[ 8.85957715e-01 -4.59860091e-01 -6.00634960e-02 2.84958996e+02] [ 4.59123517e-01 8.87981335e-01 -2.63580263e-02 1.08945405e+02] [ 6.54562677e-02 -4.22446676e-03 9.97846497e-01 3.43776058e+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:284.98, Y:108.97, Z:34.38 [[ 8.82508477e-01 -4.66487391e-01 -5.97352735e-02 2.84983993e+02] [ 4.65723364e-01 8.84518784e-01 -2.69864512e-02 1.08965398e+02] [ 6.54258107e-02 -4.00434062e-03 9.97849402e-01 3.43801470e+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:285.01, Y:108.99, Z:34.39 [[ 8.80964257e-01 -4.69405242e-01 -5.96715719e-02 2.85007495e+02] [ 4.68639649e-01 8.82973411e-01 -2.71078395e-02 1.08985282e+02] [ 6.54129734e-02 -4.08342680e-03 9.97849923e-01 3.43861669e+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:285.04, Y:109.01, Z:34.39 [[ 8.78571261e-01 -4.73878104e-01 -5.95993506e-02 2.85038896e+02] [ 4.73113209e-01 8.80580159e-01 -2.72484104e-02 1.09006150e+02] [ 6.53944306e-02 -4.25756975e-03 9.97850410e-01 3.43864579e+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:285.07, Y:109.03, Z:34.39 [[ 8.75223927e-01 -4.80037094e-01 -5.95606096e-02 2.85065860e+02] [ 4.79281206e-01 8.77235963e-01 -2.73238191e-02 1.09028092e+02] [ 6.53651554e-02 -4.63182049e-03 9.97850662e-01 3.43859031e+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:285.09, Y:109.04, Z:34.39 [[ 8.75276966e-01 -4.79910157e-01 -5.98036398e-02 2.85085470e+02] [ 4.79186207e-01 8.77302490e-01 -2.68499761e-02 1.09039880e+02] [ 6.53514583e-02 -5.15591371e-03 9.97848988e-01 3.43882802e+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:285.12, Y:109.06, Z:34.39 [[ 8.71515134e-01 -4.86647834e-01 -6.02930898e-02 2.85115776e+02] [ 4.86002536e-01 8.73572540e-01 -2.59336330e-02 1.09055382e+02] [ 6.52909339e-02 -6.70104089e-03 9.97843770e-01 3.43877629e+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:285.14, Y:109.07, Z:34.39 [[ 8.67846153e-01 -4.93124720e-01 -6.05893161e-02 2.85143762e+02] [ 4.92533202e-01 8.69923510e-01 -2.53797755e-02 1.09074084e+02] [ 6.52234652e-02 -7.81650931e-03 9.97840068e-01 3.43891520e+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:285.17, Y:109.09, Z:34.39 [[ 8.66297591e-01 -4.95829822e-01 -6.06734841e-02 2.85168911e+02] [ 4.95255713e-01 8.68381009e-01 -2.52230536e-02 1.09090858e+02] [ 6.51940436e-02 -8.19821909e-03 9.97838928e-01 3.43930139e+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:285.20, Y:109.11, Z:34.39 [[ 8.64464857e-01 -4.99029186e-01 -6.05836868e-02 2.85195392e+02] [ 4.98451127e-01 8.66545914e-01 -2.53900143e-02 1.09107835e+02] [ 6.51689045e-02 -8.24923184e-03 9.97840150e-01 3.43939243e+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:285.21, Y:109.12, Z:34.40 [[ 8.60946747e-01 -5.05072220e-01 -6.06032328e-02 2.85213180e+02] [ 5.04511289e-01 8.63032761e-01 -2.53537622e-02 1.09124358e+02] [ 6.51080563e-02 -8.74677602e-03 9.97839884e-01 3.44029722e+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:285.24, Y:109.14, Z:34.41 [[ 8.60346234e-01 -5.06160491e-01 -6.00492820e-02 2.85235799e+02] [ 5.05530662e-01 8.62405279e-01 -2.63796303e-02 1.09138329e+02] [ 6.51391444e-02 -7.66113768e-03 9.97846781e-01 3.44118604e+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:285.26, Y:109.15, Z:34.42 [[ 8.59333220e-01 -5.07975891e-01 -5.92191814e-02 2.85262574e+02] [ 5.07246218e-01 8.61349868e-01 -2.78869139e-02 1.09154103e+02] [ 6.51743140e-02 -6.07455425e-03 9.97855405e-01 3.44150544e+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:285.29, Y:109.17, Z:34.42 [[ 8.59630825e-01 -5.07413223e-01 -5.97215647e-02 2.85289589e+02] [ 5.06745058e-01 8.61673819e-01 -2.69754792e-02 1.09169992e+02] [ 6.51482235e-02 -7.07465431e-03 9.97850519e-01 3.44182197e+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:285.32, Y:109.19, Z:34.42 [[ 8.58161508e-01 -5.09912532e-01 -5.95653862e-02 2.85317768e+02] [ 5.09230671e-01 8.60198263e-01 -2.72593576e-02 1.09186885e+02] [ 6.51379298e-02 -6.93959016e-03 9.97852139e-01 3.44175909e+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:285.34, Y:109.20, Z:34.42 [[ 8.58134162e-01 -5.09911462e-01 -5.99671709e-02 2.85343492e+02] [ 5.09280055e-01 8.60191776e-01 -2.65317416e-02 1.09200649e+02] [ 6.51121065e-02 -7.77229027e-03 9.97847686e-01 3.44154456e+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:285.36, Y:109.22, Z:34.42 [[ 8.59423234e-01 -5.07778794e-01 -5.96020233e-02 2.85360231e+02] [ 5.07096713e-01 8.61460201e-01 -2.71890956e-02 1.09217711e+02] [ 6.51508171e-02 -6.85704964e-03 9.97851869e-01 3.44227049e+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:285.39, Y:109.24, Z:34.42 [[ 8.60388615e-01 -5.06214685e-01 -5.89756194e-02 2.85390761e+02] [ 5.05451562e-01 8.62390290e-01 -2.83143999e-02 1.09235527e+02] [ 6.51931666e-02 -5.44793162e-03 9.97857791e-01 3.44194683e+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:285.42, Y:109.25, Z:34.42 [[ 8.60620170e-01 -5.05766515e-01 -5.94403549e-02 2.85416294e+02] [ 5.05059456e-01 8.62646896e-01 -2.74823266e-02 1.09249985e+02] [ 6.51756782e-02 -6.36906868e-03 9.97853479e-01 3.44226705e+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:285.44, Y:109.27, Z:34.43 [[ 8.60312833e-01 -5.06317496e-01 -5.91981741e-02 2.85442863e+02] [ 5.05582026e-01 8.62326859e-01 -2.79142150e-02 1.09265699e+02] [ 6.51816310e-02 -5.91457542e-03 9.97855888e-01 3.44260220e+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:285.47, Y:109.28, Z:34.43 [[ 8.60389905e-01 -5.06183882e-01 -5.92206809e-02 2.85469460e+02] [ 5.05450853e-01 8.62405049e-01 -2.78741171e-02 1.09282139e+02] [ 6.51816430e-02 -5.95053471e-03 9.97855673e-01 3.44300740e+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:285.49, Y:109.30, Z:34.43 [[ 8.60041021e-01 -5.06787014e-01 -5.91300668e-02 2.85493732e+02] [ 5.06044364e-01 8.62051710e-01 -2.80348276e-02 1.09299184e+02] [ 6.51808617e-02 -5.81133530e-03 9.97856545e-01 3.44324922e+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:285.52, Y:109.31, Z:34.44 [[ 8.59504885e-01 -5.07724996e-01 -5.88785257e-02 2.85519210e+02] [ 5.06954166e-01 8.61502451e-01 -2.84780669e-02 1.09313158e+02] [ 6.51830206e-02 -5.37167630e-03 9.97858867e-01 3.44352476e+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:285.54, Y:109.33, Z:34.44 [[ 8.58434247e-01 -5.09535117e-01 -5.88609328e-02 2.85542807e+02] [ 5.08766378e-01 8.60432454e-01 -2.85090265e-02 1.09329830e+02] [ 6.51722070e-02 -5.47333895e-03 9.97859021e-01 3.44380194e+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:285.55, Y:109.33, Z:34.43 [[ 8.63376550e-01 -5.01140931e-01 -5.86404289e-02 2.85549358e+02] [ 5.00326426e-01 8.65354543e-01 -2.88960628e-02 1.09334093e+02] [ 6.52257614e-02 -4.39117320e-03 9.97860871e-01 3.44316966e+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:285.60, Y:109.36, Z:34.45 [[ 8.56316432e-01 -5.13340401e-01 -5.66021361e-02 2.85596708e+02] [ 5.12315018e-01 8.58184230e-01 -3.24522836e-02 1.09358559e+02] [ 6.52341289e-02 -1.20870066e-03 9.97869254e-01 3.44452018e+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:285.61, Y:109.36, Z:34.44 [[ 8.62508008e-01 -5.02613167e-01 -5.88212613e-02 2.85607012e+02] [ 5.01824640e-01 8.64497641e-01 -2.85632540e-02 1.09363444e+02] [ 6.52071092e-02 -4.88192295e-03 9.97859810e-01 3.44366170e+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:285.63, Y:109.39, Z:34.44 [[ 8.62720145e-01 -5.02461051e-01 -5.69810777e-02 2.85625973e+02] [ 5.01456821e-01 8.64599064e-01 -3.17728805e-02 1.09385028e+02] [ 6.52304214e-02 -1.16244593e-03 9.97869551e-01 3.44412572e+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:285.65, Y:109.40, Z:34.44 [[ 8.64564633e-01 -4.99326470e-01 -5.65780157e-02 2.85653465e+02] [ 4.98269307e-01 8.66413910e-01 -3.24751360e-02 1.09404481e+02] [ 6.52356748e-02 -1.14234684e-04 9.97869878e-01 3.44428323e+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:285.68, Y:109.42, Z:34.45 [[ 8.63030738e-01 -5.01971786e-01 -5.65886185e-02 2.85679875e+02] [ 5.00921503e-01 8.64883931e-01 -3.24566500e-02 1.09419709e+02] [ 6.52349093e-02 -3.35369212e-04 9.97869878e-01 3.44509418e+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:285.72, Y:109.44, Z:34.46 [[ 8.57658050e-01 -5.11096699e-01 -5.65935804e-02 2.85724650e+02] [ 5.10066701e-01 8.59522593e-01 -3.24479958e-02 1.09444000e+02] [ 6.52275245e-02 -1.03721605e-03 9.97869878e-01 3.44606164e+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:285.73, Y:109.45, Z:34.45 [[ 8.61509319e-01 -5.04339092e-01 -5.86836682e-02 2.85731263e+02] [ 5.03539188e-01 8.63492637e-01 -2.87880603e-02 1.09450683e+02] [ 6.51918596e-02 -4.74834442e-03 9.97861451e-01 3.44535173e+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:285.76, Y:109.47, Z:34.46 [[ 8.61231545e-01 -5.05055630e-01 -5.65600246e-02 2.85757499e+02] [ 5.04010011e-01 8.63086630e-01 -3.24865737e-02 1.09468217e+02] [ 6.52237280e-02 -5.28356553e-04 9.97870526e-01 3.44589102e+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:285.79, Y:109.48, Z:34.46 [[ 8.61343512e-01 -5.04863584e-01 -5.65695694e-02 2.85785863e+02] [ 5.03818643e-01 8.63198979e-01 -3.24699446e-02 1.09484371e+02] [ 6.52236871e-02 -5.33027511e-04 9.97870526e-01 3.44613029e+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:285.82, Y:109.50, Z:34.46 [[ 8.62287348e-01 -5.03248723e-01 -5.65796149e-02 2.85815441e+02] [ 5.02201456e-01 8.64141503e-01 -3.24524307e-02 1.09499156e+02] [ 6.52244377e-02 -4.31044595e-04 9.97870526e-01 3.44627754e+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:285.84, Y:109.51, Z:34.47 [[ 8.63811524e-01 -5.00626876e-01 -5.65896041e-02 2.85844654e+02] [ 4.99575123e-01 8.65663137e-01 -3.24350023e-02 1.09514563e+02] [ 6.52253682e-02 -2.53029647e-04 9.97870526e-01 3.44658996e+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:285.87, Y:109.53, Z:34.47 [[ 8.65697888e-01 -4.97356671e-01 -5.65995509e-02 2.85873446e+02] [ 4.96299059e-01 8.67546161e-01 -3.24176359e-02 1.09530102e+02] [ 6.52258505e-02 -2.64249076e-05 9.97870527e-01 3.44682385e+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:285.90, Y:109.55, Z:34.47 [[ 8.67435384e-01 -4.94318907e-01 -5.66098380e-02 2.85903232e+02] [ 4.93255995e-01 8.69280614e-01 -3.23996619e-02 1.09545662e+02] [ 6.52256002e-02 1.81471221e-04 9.97870527e-01 3.44694307e+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:285.93, Y:109.56, Z:34.47 [[ 8.72157058e-01 -4.85938502e-01 -5.66201279e-02 2.85932065e+02] [ 4.84859028e-01 8.73992649e-01 -3.23816697e-02 1.09559782e+02] [ 6.52210756e-02 7.89121600e-04 9.97870527e-01 3.44719473e+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:285.96, Y:109.58, Z:34.47 [[ 8.72308977e-01 -4.85664625e-01 -5.66296754e-02 2.85961359e+02] [ 4.84585660e-01 8.74144866e-01 -3.23649644e-02 1.09576322e+02] [ 6.52210583e-02 7.90320338e-04 9.97870527e-01 3.44741343e+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:285.99, Y:109.59, Z:34.48 [[ 8.74498814e-01 -4.81709202e-01 -5.66398134e-02 2.85990177e+02] [ 4.80623083e-01 8.76330480e-01 -3.23472127e-02 1.09591207e+02] [ 6.52171449e-02 1.06519744e-03 9.97870527e-01 3.44765724e+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:286.03, Y:109.60, Z:34.48 [[ 8.80385683e-01 -4.70862947e-01 -5.66492329e-02 2.86031832e+02] [ 4.69755330e-01 8.82204429e-01 -3.23307082e-02 1.09601460e+02] [ 6.51995367e-02 1.85221352e-03 9.97870528e-01 3.44765711e+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:286.05, Y:109.62, Z:34.48 [[ 8.79326658e-01 -4.72735150e-01 -5.74987490e-02 2.86047388e+02] [ 4.71728111e-01 8.81204561e-01 -3.08400908e-02 1.09619409e+02] [ 6.52473548e-02 -5.26226452e-06 9.97869121e-01 3.44806711e+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:286.09, Y:109.63, Z:34.49 [[ 8.84673755e-01 -4.62756960e-01 -5.66422468e-02 2.86087950e+02] [ 4.61632070e-01 8.86481771e-01 -3.23403987e-02 1.09631121e+02] [ 6.51780639e-02 2.46282431e-03 9.97870610e-01 3.44855754e+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:286.12, Y:109.65, Z:34.49 [[ 8.84326806e-01 -4.63305623e-01 -5.75673446e-02 2.86116593e+02] [ 4.62286334e-01 8.86198393e-01 -3.07205647e-02 1.09647179e+02] [ 6.52490987e-02 5.54422194e-04 9.97868853e-01 3.44905771e+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:286.14, Y:109.66, Z:34.49 [[ 8.84259199e-01 -4.63416566e-01 -5.77127029e-02 2.86142950e+02] [ 4.62414102e-01 8.86140521e-01 -3.04659796e-02 1.09661624e+02] [ 6.52600043e-02 2.52655044e-04 9.97868262e-01 3.44863265e+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:286.17, Y:109.68, Z:34.48 [[ 8.80819371e-01 -4.69935838e-01 -5.75981190e-02 2.86169154e+02] [ 4.68934178e-01 8.82700577e-01 -3.06663970e-02 1.09679236e+02] [ 6.52531318e-02 1.82991909e-06 9.97868743e-01 3.44849477e+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:286.20, Y:109.70, Z:34.49 [[ 8.77866694e-01 -4.75433649e-01 -5.75579164e-02 2.86197435e+02] [ 4.74439168e-01 8.79751522e-01 -3.07365595e-02 1.09695584e+02] [ 6.52498592e-02 -3.25128100e-04 9.97868904e-01 3.44860459e+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:286.23, Y:109.71, Z:34.49 [[ 8.72226595e-01 -4.85700846e-01 -5.75799878e-02 2.86226637e+02] [ 4.84731088e-01 8.74124361e-01 -3.06980899e-02 1.09712685e+02] [ 6.52421583e-02 -1.13511970e-03 9.97868815e-01 3.44879970e+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:286.25, Y:109.73, Z:34.49 [[ 8.71368836e-01 -4.87216862e-01 -5.77588212e-02 2.86252328e+02] [ 4.86271023e-01 8.73279533e-01 -3.03866778e-02 1.09727362e+02] [ 6.52444982e-02 -1.60843698e-03 9.97868012e-01 3.44866477e+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:286.26, Y:109.75, Z:34.49 [[ 8.66490815e-01 -4.95866275e-01 -5.75352393e-02 2.86264088e+02] [ 4.94913612e-01 8.68397011e-01 -3.07757874e-02 1.09746336e+02] [ 6.52241048e-02 -1.80803595e-03 9.97869003e-01 3.44877407e+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:286.31, Y:109.76, Z:34.49 [[ 8.68997687e-01 -4.91578956e-01 -5.65079633e-02 2.86306597e+02] [ 4.90499864e-01 8.70832819e-01 -3.25589609e-02 1.09759453e+02] [ 6.52142890e-02 5.76513426e-04 9.97871116e-01 3.44859931e+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:286.33, Y:109.77, Z:34.49 [[ 8.68045135e-01 -4.93136489e-01 -5.75677606e-02 2.86333871e+02] [ 4.92180827e-01 8.69950374e-01 -3.07307676e-02 1.09774987e+02] [ 6.52355577e-02 -1.65805472e-03 9.97868515e-01 3.44879204e+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:286.36, Y:109.79, Z:34.49 [[ 8.71131129e-01 -4.87664097e-01 -5.75698330e-02 2.86361786e+02] [ 4.86696700e-01 8.73030448e-01 -3.07271901e-02 1.09788072e+02] [ 6.52447645e-02 -1.25163591e-03 9.97868505e-01 3.44868500e+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:286.39, Y:109.80, Z:34.49 [[ 8.73157121e-01 -4.84036306e-01 -5.74934568e-02 2.86389848e+02] [ 4.83052312e-01 8.75047525e-01 -3.08592570e-02 1.09804028e+02] [ 6.52465079e-02 -8.27367218e-04 9.97868833e-01 3.44891852e+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:286.41, Y:109.82, Z:34.49 [[ 8.76917484e-01 -4.77177856e-01 -5.75935826e-02 2.86409730e+02] [ 4.76190576e-01 8.78806592e-01 -3.06840297e-02 1.09817242e+02] [ 6.52553595e-02 -5.18159192e-04 9.97868463e-01 3.44924990e+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:286.45, Y:109.83, Z:34.50 [[ 8.80928020e-01 -4.69883229e-01 -5.63522341e-02 2.86446633e+02] [ 4.68740355e-01 8.82724976e-01 -3.28496140e-02 1.09831365e+02] [ 6.51790072e-02 2.52357923e-03 9.97870397e-01 3.44950592e+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:286.48, Y:109.85, Z:34.50 [[ 8.86351696e-01 -4.59431669e-01 -5.74735907e-02 2.86476496e+02] [ 4.58391858e-01 8.88212494e-01 -3.09106793e-02 1.09846153e+02] [ 6.52501063e-02 1.05230695e-03 9.97868386e-01 3.44954910e+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:286.50, Y:109.86, Z:34.50 [[ 8.89382584e-01 -4.53531624e-01 -5.75124862e-02 2.86504837e+02] [ 4.52483809e-01 8.91239072e-01 -3.08434735e-02 1.09862149e+02] [ 6.52458655e-02 1.40817935e-03 9.97868225e-01 3.44997306e+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:286.51, Y:109.88, Z:34.51 [[ 8.90173859e-01 -4.51965589e-01 -5.75986752e-02 2.86514056e+02] [ 4.50924122e-01 8.92034350e-01 -3.06945439e-02 1.09881150e+02] [ 6.52528744e-02 1.35084851e-03 9.97867846e-01 3.45051352e+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:286.54, Y:109.90, Z:34.51 [[ 8.93053011e-01 -4.46401807e-01 -5.64069651e-02 2.86542460e+02] [ 4.45218194e-01 8.94823085e-01 -3.27476022e-02 1.09897587e+02] [ 6.50928433e-02 4.13193760e-03 9.97870657e-01 3.45098934e+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:286.59, Y:109.91, Z:34.51 [[ 8.97903811e-01 -4.36561384e-01 -5.64172356e-02 2.86588338e+02] [ 4.35359496e-01 8.99661527e-01 -3.27298987e-02 1.09908320e+02] [ 6.50450262e-02 4.82652153e-03 9.97870658e-01 3.45107929e+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:286.62, Y:109.92, Z:34.51 [[ 9.00047622e-01 -4.31990627e-01 -5.74314900e-02 2.86615375e+02] [ 4.30888538e-01 9.01872581e-01 -3.09986230e-02 1.09923473e+02] [ 6.51870007e-02 3.15366611e-03 9.97868082e-01 3.45147521e+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:286.64, Y:109.94, Z:34.52 [[ 9.01543554e-01 -4.28831730e-01 -5.76417145e-02 2.86642363e+02] [ 4.27746007e-01 9.03379512e-01 -3.06400110e-02 1.09939189e+02] [ 6.52117529e-02 2.96729118e-03 9.97867036e-01 3.45176933e+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:286.67, Y:109.96, Z:34.52 [[ 9.01613074e-01 -4.28691198e-01 -5.75996577e-02 2.86672797e+02] [ 4.27600631e-01 9.03445898e-01 -3.07117267e-02 1.09956029e+02] [ 6.52040214e-02 3.06044431e-03 9.97867260e-01 3.45193159e+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:286.68, Y:109.97, Z:34.52 [[ 8.98665173e-01 -4.34778155e-01 -5.80419081e-02 2.86675884e+02] [ 4.33748468e-01 9.00535903e-01 -2.99558680e-02 1.09974471e+02] [ 6.52929792e-02 1.74470658e-03 9.97864612e-01 3.45188783e+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:286.72, Y:109.99, Z:34.52 [[ 9.01192646e-01 -4.29757703e-01 -5.62150519e-02 2.86720155e+02] [ 4.28521993e-01 9.02926216e-01 -3.30628159e-02 1.09988293e+02] [ 6.49670439e-02 5.70658046e-03 9.97871093e-01 3.45235135e+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:286.73, Y:110.01, Z:34.52 [[ 8.98208045e-01 -4.35788779e-01 -5.75364949e-02 2.86730420e+02] [ 4.34706228e-01 9.00045019e-01 -3.08132858e-02 1.10005583e+02] [ 6.52135198e-02 2.66526849e-03 9.97867773e-01 3.45229651e+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:286.77, Y:110.02, Z:34.53 [[ 9.01673405e-01 -4.28752521e-01 -5.61813733e-02 2.86772257e+02] [ 4.27511814e-01 9.03403112e-01 -3.31129238e-02 1.10017496e+02] [ 6.49516771e-02 5.83884193e-03 9.97871328e-01 3.45282783e+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:286.80, Y:110.03, Z:34.53 [[ 9.02202501e-01 -4.27483596e-01 -5.73447594e-02 2.86797464e+02] [ 4.26363830e-01 9.04015778e-01 -3.11345231e-02 1.10034738e+02] [ 6.51500652e-02 3.63991337e-03 9.97868839e-01 3.45286381e+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:286.82, Y:110.05, Z:34.53 [[ 9.03403662e-01 -4.24962293e-01 -5.71740671e-02 2.86822832e+02] [ 4.23819209e-01 9.05201504e-01 -3.14247551e-02 1.10052942e+02] [ 6.51083875e-02 4.15777091e-03 9.97869536e-01 3.45312326e+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:286.85, Y:110.08, Z:34.54 [[ 9.04614138e-01 -4.22387134e-01 -5.71171727e-02 2.86849075e+02] [ 4.21232876e-01 9.06404579e-01 -3.15214755e-02 1.10080045e+02] [ 6.50855326e-02 4.45514147e-03 9.97869744e-01 3.45382159e+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:286.88, Y:110.10, Z:34.54 [[ 9.03583002e-01 -4.24502094e-01 -5.77557894e-02 2.86877236e+02] [ 4.23420670e-01 9.05421836e-01 -3.04340951e-02 1.10099199e+02] [ 6.52126900e-02 3.04473591e-03 9.97866742e-01 3.45415918e+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:286.89, Y:110.11, Z:34.54 [[ 9.04579429e-01 -4.22332164e-01 -5.80654785e-02 2.86894389e+02] [ 4.21280008e-01 9.06437442e-01 -2.99051650e-02 1.10111026e+02] [ 6.52626369e-02 2.58977187e-03 9.97864761e-01 3.45404267e+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:286.93, Y:110.14, Z:34.56 [[ 8.95322382e-01 -4.41742257e-01 -5.71105072e-02 2.86926187e+02] [ 4.40626031e-01 8.97136760e-01 -3.15330697e-02 1.10135578e+02] [ 6.51654247e-02 3.06788697e-03 9.97869759e-01 3.45553348e+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:286.94, Y:110.15, Z:34.55 [[ 8.93932666e-01 -4.44440451e-01 -5.79402733e-02 2.86944907e+02] [ 4.43419974e-01 8.95807541e-01 -3.01259990e-02 1.10148150e+02] [ 6.52925464e-02 1.23874016e-03 9.97865396e-01 3.45529638e+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:286.98, Y:110.17, Z:34.56 [[ 8.84770130e-01 -4.62517052e-01 -5.70946049e-02 2.86978932e+02] [ 4.61442009e-01 8.86608989e-01 -3.15558735e-02 1.10171268e+02] [ 6.52157195e-02 1.57384509e-03 9.97869948e-01 3.45556739e+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:287.00, Y:110.19, Z:34.55 [[ 8.83012268e-01 -4.65743492e-01 -5.80717999e-02 2.87004220e+02] [ 4.64783172e-01 8.84919574e-01 -2.98990133e-02 1.10188970e+02] [ 6.53141433e-02 -5.89599748e-04 9.97864578e-01 3.45537092e+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:287.03, Y:110.21, Z:34.56 [[ 8.81515828e-01 -4.68578317e-01 -5.80017759e-02 2.87029735e+02] [ 4.67616262e-01 8.83421714e-01 -3.00184442e-02 1.10206957e+02] [ 6.53060204e-02 -6.60839924e-04 9.97865065e-01 3.45559873e+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:287.05, Y:110.23, Z:34.56 [[ 8.79688410e-01 -4.72013762e-01 -5.78904933e-02 2.87054558e+02] [ 4.71046648e-01 8.81590906e-01 -3.02081306e-02 1.10225213e+02] [ 6.52943858e-02 -6.95380392e-04 9.97865802e-01 3.45576369e+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:287.08, Y:110.24, Z:34.56 [[ 8.77983396e-01 -4.75188869e-01 -5.77987439e-02 2.87081360e+02] [ 4.74218350e-01 8.79883501e-01 -3.03641284e-02 1.10241760e+02] [ 6.52848570e-02 -7.50024361e-04 9.97866386e-01 3.45615824e+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:287.11, Y:110.26, Z:34.56 [[ 8.78382170e-01 -4.74456086e-01 -5.77597265e-02 2.87108480e+02] [ 4.73479629e-01 8.80278956e-01 -3.04302747e-02 1.10258044e+02] [ 6.52825007e-02 -6.18643111e-04 9.97866631e-01 3.45638873e+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:287.13, Y:110.27, Z:34.57 [[ 8.79568732e-01 -4.72254074e-01 -5.77488993e-02 2.87134059e+02] [ 4.71271663e-01 8.81462365e-01 -3.04486168e-02 1.10273214e+02] [ 6.52829647e-02 -4.33768547e-04 9.97866698e-01 3.45650037e+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:287.16, Y:110.29, Z:34.57 [[ 8.82477836e-01 -4.66820331e-01 -5.75469259e-02 2.87159425e+02] [ 4.65804022e-01 8.84352105e-01 -3.07890868e-02 1.10288395e+02] [ 6.52647167e-02 3.65097127e-04 9.97867919e-01 3.45656183e+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:287.19, Y:110.31, Z:34.57 [[ 8.83593387e-01 -4.64711466e-01 -5.74976455e-02 2.87186143e+02] [ 4.63685281e-01 8.85461954e-01 -3.08721244e-02 1.10305777e+02] [ 6.52586077e-02 6.17593035e-04 9.97868194e-01 3.45673997e+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:287.21, Y:110.32, Z:34.57 [[ 8.89052722e-01 -4.54171886e-01 -5.75600143e-02 2.87212828e+02] [ 4.53130341e-01 8.90913173e-01 -3.07670565e-02 1.10321388e+02] [ 6.52545071e-02 1.27134640e-03 9.97867843e-01 3.45676003e+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:287.24, Y:110.34, Z:34.57 [[ 8.92934926e-01 -4.46496792e-01 -5.75137575e-02 2.87237084e+02] [ 4.45434264e-01 8.94783166e-01 -3.08448186e-02 1.10336850e+02] [ 6.52344546e-02 1.92381759e-03 9.97868110e-01 3.45696078e+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:287.26, Y:110.35, Z:34.57 [[ 8.95179372e-01 -4.42032732e-01 -5.71047781e-02 2.87263874e+02] [ 4.40917369e-01 8.96993750e-01 -3.15291395e-02 1.10354406e+02] [ 6.51595407e-02 3.04574680e-03 9.97870211e-01 3.45724857e+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:287.29, Y:110.37, Z:34.58 [[ 8.98912027e-01 -4.34377328e-01 -5.72145485e-02 2.87288489e+02] [ 4.33258122e-01 9.00724629e-01 -3.13455422e-02 1.10368899e+02] [ 6.51503458e-02 3.38821705e-03 9.97869707e-01 3.45814032e+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:287.32, Y:110.39, Z:34.58 [[ 8.99806677e-01 -4.32560871e-01 -5.69125378e-02 2.87315385e+02] [ 4.31406291e-01 9.01595384e-01 -3.18492692e-02 1.10385531e+02] [ 6.50888290e-02 4.10575822e-03 9.97871027e-01 3.45849437e+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:287.34, Y:110.40, Z:34.59 [[ 9.01186840e-01 -4.29659319e-01 -5.70539141e-02 2.87342609e+02] [ 4.28513763e-01 9.02982025e-01 -3.16135719e-02 1.10402124e+02] [ 6.51017246e-02 4.04134756e-03 9.97870449e-01 3.45887139e+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:287.37, Y:110.42, Z:34.59 [[ 9.03493124e-01 -4.24800279e-01 -5.69640025e-02 2.87371048e+02] [ 4.23635712e-01 9.05275580e-01 -3.17633213e-02 1.10418024e+02] [ 6.50611881e-02 4.56595667e-03 9.97870830e-01 3.45873902e+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:287.40, Y:110.43, Z:34.59 [[ 9.04879056e-01 -4.21824653e-01 -5.70776280e-02 2.87396475e+02] [ 4.20666027e-01 9.06665962e-01 -3.15741419e-02 1.10433343e+02] [ 6.50690940e-02 4.56016072e-03 9.97870341e-01 3.45862259e+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:287.42, Y:110.45, Z:34.59 [[ 9.04718223e-01 -4.22189079e-01 -5.69325731e-02 2.87421595e+02] [ 4.21016113e-01 9.06495009e-01 -3.18155785e-02 1.10449000e+02] [ 6.50412832e-02 4.81460305e-03 9.97870959e-01 3.45883813e+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:287.45, Y:110.46, Z:34.59 [[ 9.03633371e-01 -4.24534606e-01 -5.67194728e-02 2.87447328e+02] [ 4.23344279e-01 9.05397591e-01 -3.21686864e-02 1.10464324e+02] [ 6.50103947e-02 5.05683421e-03 9.97871774e-01 3.45939439e+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:287.48, Y:110.48, Z:34.59 [[ 9.01578794e-01 -4.28906997e-01 -5.65196187e-02 2.87476954e+02] [ 4.27704672e-01 9.03334103e-01 -3.24994201e-02 1.10482581e+02] [ 6.49953277e-02 5.12708303e-03 9.97872397e-01 3.45946284e+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:287.50, Y:110.50, Z:34.59 [[ 8.97531317e-01 -4.37273784e-01 -5.68258050e-02 2.87503937e+02] [ 4.36119590e-01 8.99319844e-01 -3.19925360e-02 1.10499113e+02] [ 6.50940714e-02 3.93145621e-03 9.97871387e-01 3.45912449e+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:287.53, Y:110.51, Z:34.59 [[ 8.94631408e-01 -4.43176631e-01 -5.68253322e-02 2.87532019e+02] [ 4.42034194e-01 8.96427465e-01 -3.19933196e-02 1.10514400e+02] [ 6.51184801e-02 3.50348865e-03 9.97871389e-01 3.45912992e+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:287.56, Y:110.53, Z:34.59 [[ 8.89172710e-01 -4.54035453e-01 -5.67776365e-02 2.87558523e+02] [ 4.52909946e-01 8.90979210e-01 -3.20722250e-02 1.10528239e+02] [ 6.51496209e-02 2.80259094e-03 9.97871571e-01 3.45939972e+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:287.59, Y:110.55, Z:34.60 [[ 8.85703102e-01 -4.60793740e-01 -5.65609758e-02 2.87585733e+02] [ 4.59659182e-01 8.87503073e-01 -3.24304239e-02 1.10547743e+02] [ 6.51417762e-02 2.72495518e-03 9.97872298e-01 3.45987080e+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:287.61, Y:110.56, Z:34.61 [[ 8.80695143e-01 -4.70262067e-01 -5.68300406e-02 2.87607651e+02] [ 4.69175502e-01 8.82525536e-01 -3.19847898e-02 1.10563873e+02] [ 6.51951954e-02 1.50558618e-03 9.97871394e-01 3.46056455e+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:287.63, Y:110.58, Z:34.61 [[ 8.77377069e-01 -4.76473695e-01 -5.64118447e-02 2.87627968e+02] [ 4.75355487e-01 8.79186772e-01 -3.26769272e-02 1.10579481e+02] [ 6.51662438e-02 1.85430671e-03 9.97872698e-01 3.46082114e+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:287.66, Y:110.60, Z:34.61 [[ 8.77492432e-01 -4.76323280e-01 -5.58852765e-02 2.87656635e+02] [ 4.75149195e-01 8.79265499e-01 -3.35473676e-02 1.10596909e+02] [ 6.51173877e-02 2.88371709e-03 9.97873444e-01 3.46110298e+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:287.69, Y:110.62, Z:34.62 [[ 8.73192221e-01 -4.84160582e-01 -5.58916489e-02 2.87688099e+02] [ 4.83003091e-01 8.74976168e-01 -3.35368301e-02 1.10619139e+02] [ 6.51410720e-02 2.28826002e-03 9.97873441e-01 3.46152103e+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:287.71, Y:110.64, Z:34.60 [[ 8.68285250e-01 -4.92834231e-01 -5.65256219e-02 2.87713629e+02] [ 4.91762486e-01 8.70123124e-01 -3.24870034e-02 1.10636347e+02] [ 6.51949581e-02 4.10805455e-04 9.97872461e-01 3.46013927e+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:287.74, Y:110.65, Z:34.62 [[ 8.68615640e-01 -4.92275022e-01 -5.63220426e-02 2.87740480e+02] [ 4.91180215e-01 8.70439306e-01 -3.28239364e-02 1.10648094e+02] [ 6.51833237e-02 8.47111529e-04 9.97872946e-01 3.46162430e+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:287.76, Y:110.66, Z:34.62 [[ 8.68073417e-01 -4.93241447e-01 -5.62264811e-02 2.87764240e+02] [ 4.92138423e-01 8.69891921e-01 -3.29820959e-02 1.10662249e+02] [ 6.51790983e-02 9.59668927e-04 9.97873120e-01 3.46212010e+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:287.79, Y:110.68, Z:34.62 [[ 8.68556903e-01 -4.92422965e-01 -5.59332664e-02 2.87791624e+02] [ 4.91286940e-01 8.70354582e-01 -3.34670574e-02 1.10681249e+02] [ 6.51617224e-02 1.58876043e-03 9.97873452e-01 3.46235090e+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:287.82, Y:110.70, Z:34.63 [[ 8.70325009e-01 -4.89289514e-01 -5.59477448e-02 2.87820305e+02] [ 4.88148554e-01 8.72119572e-01 -3.34431051e-02 1.10697869e+02] [ 6.51564839e-02 1.79555997e-03 9.97873443e-01 3.46266468e+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:287.85, Y:110.71, Z:34.63 [[ 8.77128889e-01 -4.76974719e-01 -5.60359750e-02 2.87845362e+02] [ 4.75817878e-01 8.78913335e-01 -3.32970899e-02 1.10710017e+02] [ 6.51326358e-02 2.54292071e-03 9.97873375e-01 3.46302292e+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:287.87, Y:110.73, Z:34.63 [[ 8.79184147e-01 -4.73227607e-01 -5.55955768e-02 2.87874762e+02] [ 4.72017078e-01 8.80932542e-01 -3.40255047e-02 1.10728291e+02] [ 6.50777609e-02 3.67262257e-03 9.97873437e-01 3.46348443e+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:287.90, Y:110.74, Z:34.63 [[ 8.89058200e-01 -4.54363801e-01 -5.59379374e-02 2.87901740e+02] [ 4.53151545e-01 8.90805360e-01 -3.34587420e-02 1.10742399e+02] [ 6.50322557e-02 4.39840622e-03 9.97873469e-01 3.46347112e+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:287.93, Y:110.76, Z:34.64 [[ 8.91020866e-01 -4.50527043e-01 -5.57422636e-02 2.87932302e+02] [ 4.49287111e-01 8.92748459e-01 -3.37828483e-02 1.10759746e+02] [ 6.49839066e-02 5.05694215e-03 9.97873499e-01 3.46405845e+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:287.96, Y:110.77, Z:34.64 [[ 8.96189147e-01 -4.40128188e-01 -5.59659805e-02 2.87958051e+02] [ 4.38891120e-01 8.97918832e-01 -3.34119097e-02 1.10774389e+02] [ 6.49584311e-02 5.38041904e-03 9.97873466e-01 3.46411933e+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:287.99, Y:110.79, Z:34.65 [[ 8.97590103e-01 -4.37299459e-01 -5.56883300e-02 2.87987721e+02] [ 4.36028633e-01 8.99295118e-01 -3.38721341e-02 1.10792503e+02] [ 6.48925092e-02 6.12158598e-03 9.97873483e-01 3.46452922e+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:288.02, Y:110.81, Z:34.64 [[ 9.00953661e-01 -4.30293791e-01 -5.59442042e-02 2.88016774e+02] [ 4.29035678e-01 9.02668069e-01 -3.34476225e-02 1.10811007e+02] [ 6.48913511e-02 6.13269829e-03 9.97873490e-01 3.46447837e+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:288.04, Y:110.83, Z:34.64 [[ 9.04185758e-01 -4.23438717e-01 -5.61049628e-02 2.88041877e+02] [ 4.22183924e-01 9.05902740e-01 -3.31807135e-02 1.10826601e+02] [ 6.48756383e-02 6.31491522e-03 9.97873375e-01 3.46436904e+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:288.07, Y:110.84, Z:34.65 [[ 9.03613457e-01 -4.24694928e-01 -5.58295462e-02 2.88069973e+02] [ 4.23414605e-01 9.05311310e-01 -3.36378472e-02 1.10841603e+02] [ 6.48289426e-02 6.75656611e-03 9.97873518e-01 3.46457869e+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:288.10, Y:110.86, Z:34.65 [[ 9.02894769e-01 -4.26219410e-01 -5.58395162e-02 2.88097088e+02] [ 4.24942964e-01 9.04595537e-01 -3.36212887e-02 1.10858997e+02] [ 6.48422229e-02 6.62787612e-03 9.97873518e-01 3.46464315e+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:288.12, Y:110.88, Z:34.65 [[ 9.02113737e-01 -4.27873428e-01 -5.58134000e-02 2.88123752e+02] [ 4.26597453e-01 9.03814861e-01 -3.36646817e-02 1.10876659e+02] [ 6.48492031e-02 6.55951760e-03 9.97873516e-01 3.46460537e+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:288.15, Y:110.89, Z:34.65 [[ 8.99985797e-01 -4.32326360e-01 -5.58523314e-02 2.88151493e+02] [ 4.31062773e-01 9.01696139e-01 -3.35999674e-02 1.10893343e+02] [ 6.48879832e-02 6.16363258e-03 9.97873519e-01 3.46517422e+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:288.18, Y:110.91, Z:34.65 [[ 8.97381096e-01 -4.37713333e-01 -5.58050722e-02 2.88177182e+02] [ 4.36455183e-01 8.99095449e-01 -3.36785686e-02 1.10911188e+02] [ 6.49156450e-02 5.86609781e-03 9.97873513e-01 3.46549863e+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:288.20, Y:110.93, Z:34.66 [[ 8.94658668e-01 -4.43256606e-01 -5.57624307e-02 2.88204123e+02] [ 4.42004704e-01 8.96377605e-01 -3.37495229e-02 1.10930335e+02] [ 6.49438931e-02 5.54704651e-03 9.97873500e-01 3.46578025e+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:288.23, Y:110.95, Z:34.66 [[ 8.92341717e-01 -4.47888545e-01 -5.58758527e-02 2.88231564e+02] [ 4.46657287e-01 8.94075471e-01 -3.35606875e-02 1.10947294e+02] [ 6.49886768e-02 4.99024473e-03 9.97873524e-01 3.46648763e+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:288.26, Y:110.96, Z:34.67 [[ 8.87191636e-01 -4.58012941e-01 -5.58135087e-02 2.88257519e+02] [ 4.56794989e-01 8.88934776e-01 -3.36645545e-02 1.10963851e+02] [ 6.50333705e-02 4.37158005e-03 9.97873514e-01 3.46674030e+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:288.28, Y:110.98, Z:34.67 [[ 8.83918907e-01 -4.64317192e-01 -5.56498940e-02 2.88284170e+02] [ 4.63094575e-01 8.85658897e-01 -3.39371843e-02 1.10979065e+02] [ 6.50444418e-02 4.22655480e-03 9.97873417e-01 3.46666054e+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:288.31, Y:110.99, Z:34.67 [[ 8.79246324e-01 -4.73110480e-01 -5.56091356e-02 2.88312355e+02] [ 4.71901001e-01 8.80995517e-01 -3.40050607e-02 1.10994939e+02] [ 6.50795498e-02 3.65681791e-03 9.97873379e-01 3.46698814e+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:288.34, Y:111.01, Z:34.67 [[ 8.78326828e-01 -4.74805288e-01 -5.56948914e-02 2.88338618e+02] [ 4.73608215e-01 8.80084439e-01 -3.38620755e-02 1.11011735e+02] [ 6.50940998e-02 3.36441133e-03 9.97873458e-01 3.46730883e+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:288.37, Y:111.03, Z:34.67 [[ 8.74638627e-01 -4.81572874e-01 -5.56312715e-02 2.88369134e+02] [ 4.80382670e-01 8.76400966e-01 -3.39681733e-02 1.11033184e+02] [ 6.51134510e-02 2.98557773e-03 9.97873401e-01 3.46741996e+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:288.39, Y:111.05, Z:34.68 [[ 8.72150840e-01 -4.86008508e-01 -5.61127636e-02 2.88393853e+02] [ 4.84878621e-01 8.73952391e-01 -3.31653704e-02 1.11047446e+02] [ 6.51585361e-02 1.71732628e-03 9.97873447e-01 3.46803429e+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:288.42, Y:111.06, Z:34.68 [[ 8.72594232e-01 -4.85254160e-01 -5.57468089e-02 2.88420590e+02] [ 4.84083683e-01 8.74369613e-01 -3.37752542e-02 1.11060521e+02] [ 6.51328983e-02 2.48597142e-03 9.97873502e-01 3.46800672e+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:288.45, Y:111.08, Z:34.68 [[ 8.70590563e-01 -4.88865174e-01 -5.55239927e-02 2.88449054e+02] [ 4.87678365e-01 8.72355329e-01 -3.41466279e-02 1.11077788e+02] [ 6.51297481e-02 2.64988201e-03 9.97873286e-01 3.46844543e+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:288.48, Y:111.09, Z:34.68 [[ 8.71253508e-01 -4.87670966e-01 -5.56269199e-02 2.88475155e+02] [ 4.86492673e-01 8.73023816e-01 -3.39749277e-02 1.11094510e+02] [ 6.51322117e-02 2.53868602e-03 9.97873414e-01 3.46801645e+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:288.50, Y:111.11, Z:34.69 [[ 8.73046630e-01 -4.84447196e-01 -5.56821031e-02 2.88501059e+02] [ 4.83268228e-01 8.74816424e-01 -3.38828132e-02 1.11111327e+02] [ 6.51260521e-02 2.67188459e-03 9.97873468e-01 3.46892741e+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:288.53, Y:111.13, Z:34.70 [[ 8.74465094e-01 -4.81886256e-01 -5.56456255e-02 2.88527700e+02] [ 4.80698236e-01 8.76228868e-01 -3.39437334e-02 1.11129543e+02] [ 6.51153220e-02 2.93385598e-03 9.97873433e-01 3.46962347e+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:288.55, Y:111.14, Z:34.70 [[ 8.78087129e-01 -4.75256027e-01 -5.56300508e-02 2.88554977e+02] [ 4.74053053e-01 8.79840758e-01 -3.39697546e-02 1.11144891e+02] [ 6.50899167e-02 3.45680883e-03 9.97873415e-01 3.47000405e+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:288.58, Y:111.16, Z:34.70 [[ 8.78500944e-01 -4.74491775e-01 -5.56205511e-02 2.88583210e+02] [ 4.73286271e-01 8.80252850e-01 -3.39856608e-02 1.11160819e+02] [ 6.50860652e-02 3.53199187e-03 9.97873403e-01 3.47031287e+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:288.61, Y:111.18, Z:34.71 [[ 8.80673541e-01 -4.70448183e-01 -5.56113400e-02 2.88612467e+02] [ 4.69233667e-01 8.82419226e-01 -3.40011063e-02 1.11177264e+02] [ 6.50682743e-02 3.84916168e-03 9.97873391e-01 3.47050194e+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:288.64, Y:111.19, Z:34.71 [[ 8.82821480e-01 -4.66397705e-01 -5.56723996e-02 2.88640447e+02] [ 4.65181612e-01 8.84565967e-01 -3.38986330e-02 1.11191815e+02] [ 6.50561546e-02 4.02866474e-03 9.97873472e-01 3.47050565e+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:288.67, Y:111.21, Z:34.71 [[ 8.85497460e-01 -4.61304605e-01 -5.56085368e-02 2.88668980e+02] [ 4.60071777e-01 8.87230272e-01 -3.40059454e-02 1.11206916e+02] [ 6.50246765e-02 4.52825998e-03 9.97873382e-01 3.47105348e+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:288.70, Y:111.22, Z:34.71 [[ 8.87551716e-01 -4.57344665e-01 -5.55680458e-02 2.88697808e+02] [ 4.56099867e-01 8.89276035e-01 -3.40740947e-02 1.11223910e+02] [ 6.49989369e-02 4.89794294e-03 9.97873313e-01 3.47131909e+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:288.73, Y:111.24, Z:34.71 [[ 8.90700174e-01 -4.51179617e-01 -5.55891448e-02 2.88726526e+02] [ 4.49925094e-01 8.92417384e-01 -3.40385440e-02 1.11238038e+02] [ 6.49662165e-02 5.30718587e-03 9.97873351e-01 3.47082548e+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:288.76, Y:111.25, Z:34.71 [[ 8.93501746e-01 -4.45614552e-01 -5.55184702e-02 2.88756741e+02] [ 4.44341999e-01 8.95205808e-01 -3.41577123e-02 1.11254217e+02] [ 6.49216307e-02 5.85078758e-03 9.97873213e-01 3.47052147e+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:288.78, Y:111.27, Z:34.71 [[ 8.96308424e-01 -4.39940367e-01 -5.55309222e-02 2.88784397e+02] [ 4.38658323e-01 8.98005324e-01 -3.41366906e-02 1.11271241e+02] [ 6.48851720e-02 6.23790217e-03 9.97873240e-01 3.47102650e+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:288.81, Y:111.29, Z:34.71 [[ 8.98556018e-01 -4.35313557e-01 -5.56703697e-02 2.88813333e+02] [ 4.34037204e-01 9.00256870e-01 -3.39009460e-02 1.11288305e+02] [ 6.48751742e-02 6.29888743e-03 9.97873507e-01 3.47132570e+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:288.84, Y:111.31, Z:34.72 [[ 9.01372956e-01 -4.29447134e-01 -5.56951902e-02 2.88840633e+02] [ 4.28162283e-01 9.03067346e-01 -3.38589452e-02 1.11305060e+02] [ 6.48371345e-02 6.67295772e-03 9.97873548e-01 3.47157692e+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:288.87, Y:111.32, Z:34.72 [[ 9.00505905e-01 -4.31247296e-01 -5.58111556e-02 2.88869276e+02] [ 4.29977855e-01 9.02211661e-01 -3.36624909e-02 1.11320656e+02] [ 6.48703335e-02 6.31571089e-03 9.97873715e-01 3.47185848e+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:288.90, Y:111.34, Z:34.72 [[ 8.96624481e-01 -4.39261940e-01 -5.57986418e-02 2.88899098e+02] [ 4.38006453e-01 8.98340556e-01 -3.36837273e-02 1.11335609e+02] [ 6.49221622e-02 5.76148932e-03 9.97873698e-01 3.47183653e+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:288.93, Y:111.35, Z:34.72 [[ 8.93290984e-01 -4.45996381e-01 -5.58430504e-02 2.88926741e+02] [ 4.44758521e-01 8.95019743e-01 -3.36082944e-02 1.11352436e+02] [ 6.49698103e-02 5.18531387e-03 9.97873758e-01 3.47202664e+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:288.95, Y:111.37, Z:34.72 [[ 8.91378573e-01 -4.49814059e-01 -5.57812884e-02 2.88954731e+02] [ 4.48577076e-01 8.93108068e-01 -3.37132953e-02 1.11367403e+02] [ 6.49834328e-02 5.02910180e-03 9.97873670e-01 3.47223980e+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:288.98, Y:111.38, Z:34.72 [[ 8.87040636e-01 -4.58302284e-01 -5.58384002e-02 2.88984797e+02] [ 4.57087957e-01 8.88786005e-01 -3.36160070e-02 1.11382810e+02] [ 6.50346815e-02 4.29570392e-03 9.97873758e-01 3.47239660e+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:289.01, Y:111.40, Z:34.73 [[ 8.84512620e-01 -4.63148193e-01 -5.59569154e-02 2.89013742e+02] [ 4.61956152e-01 8.86273108e-01 -3.34139548e-02 1.11398422e+02] [ 6.50687221e-02 3.70542343e-03 9.97873906e-01 3.47267153e+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:289.04, Y:111.41, Z:34.73 [[ 8.80735187e-01 -4.70259119e-01 -5.62307015e-02 2.89037066e+02] [ 4.69110987e-01 8.82524446e-01 -3.29466983e-02 1.11414485e+02] [ 6.51184540e-02 2.63887663e-03 9.97874052e-01 3.47334517e+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:289.06, Y:111.43, Z:34.74 [[ 8.80027851e-01 -4.71623102e-01 -5.58805026e-02 2.89064755e+02] [ 4.70439774e-01 8.81794311e-01 -3.35441741e-02 1.11432208e+02] [ 6.50953168e-02 3.23139642e-03 9.97873819e-01 3.47356175e+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:289.09, Y:111.45, Z:34.73 [[ 8.78203100e-01 -4.75012161e-01 -5.58816874e-02 2.89092905e+02] [ 4.73835780e-01 8.79974192e-01 -3.35421508e-02 1.11447597e+02] [ 6.51073722e-02 2.97807786e-03 9.97873820e-01 3.47332169e+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:289.12, Y:111.46, Z:34.74 [[ 8.77853702e-01 -4.75652549e-01 -5.59243308e-02 2.89121270e+02] [ 4.74482088e-01 8.79628645e-01 -3.34693249e-02 1.11464052e+02] [ 6.51124130e-02 2.84607750e-03 9.97873877e-01 3.47378682e+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:289.15, Y:111.48, Z:34.74 [[ 8.77668861e-01 -4.75978532e-01 -5.60518240e-02 2.89149486e+02] [ 4.74822611e-01 8.79453147e-01 -3.32513338e-02 1.11480293e+02] [ 6.51218740e-02 2.56898683e-03 9.97874011e-01 3.47401296e+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:289.18, Y:111.50, Z:34.74 [[ 8.77882878e-01 -4.75589329e-01 -5.60039508e-02 2.89177758e+02] [ 4.74427395e-01 8.79663310e-01 -3.33332892e-02 1.11497046e+02] [ 6.51175773e-02 2.69291537e-03 9.97873965e-01 3.47435236e+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:289.21, Y:111.51, Z:34.74 [[ 8.79306952e-01 -4.72916992e-01 -5.62921165e-02 2.89205096e+02] [ 4.71781129e-01 8.81103935e-01 -3.28393462e-02 1.11513195e+02] [ 6.51294902e-02 2.31830709e-03 9.97874128e-01 3.47447500e+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:289.23, Y:111.53, Z:34.75 [[ 8.80400281e-01 -4.70877345e-01 -5.63016140e-02 2.89234447e+02] [ 4.69738358e-01 8.82195286e-01 -3.28230551e-02 1.11529050e+02] [ 6.51246515e-02 2.45039924e-03 9.97874128e-01 3.47471078e+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:289.26, Y:111.55, Z:34.75 [[ 8.84577520e-01 -4.62981212e-01 -5.63117026e-02 2.89261739e+02] [ 4.61827310e-01 8.86362973e-01 -3.28057379e-02 1.11548342e+02] [ 6.51010484e-02 3.01293612e-03 9.97874128e-01 3.47458353e+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:289.29, Y:111.56, Z:34.75 [[ 8.87013733e-01 -4.58270125e-01 -5.65254785e-02 2.89285831e+02] [ 4.57130024e-01 8.88808126e-01 -3.24384954e-02 1.11563743e+02] [ 6.51058979e-02 2.93389758e-03 9.97874047e-01 3.47543442e+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:289.32, Y:111.58, Z:34.75 [[ 8.89380876e-01 -4.53684781e-01 -5.63185290e-02 2.89315434e+02] [ 4.52512975e-01 8.91154626e-01 -3.27939104e-02 1.11581171e+02] [ 6.50666157e-02 3.68141165e-03 9.97874132e-01 3.47517849e+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:289.34, Y:111.59, Z:34.76 [[ 8.90695322e-01 -4.51061221e-01 -5.66181835e-02 2.89339878e+02] [ 4.49916699e-01 8.92486994e-01 -3.22789296e-02 1.11594298e+02] [ 6.50907658e-02 3.27722536e-03 9.97873966e-01 3.47625659e+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:289.37, Y:111.61, Z:34.76 [[ 8.91037368e-01 -4.50422356e-01 -5.63214850e-02 2.89368541e+02] [ 4.49244393e-01 8.92807025e-01 -3.27885956e-02 1.11610984e+02] [ 6.50529340e-02 3.91375261e-03 9.97874140e-01 3.47580112e+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:289.40, Y:111.63, Z:34.75 [[ 8.94081914e-01 -4.44334404e-01 -5.64311007e-02 2.89397184e+02] [ 4.43156203e-01 8.95851439e-01 -3.26002791e-02 1.11625552e+02] [ 6.50393084e-02 4.13952761e-03 9.97874117e-01 3.47508236e+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:289.43, Y:111.64, Z:34.75 [[ 8.94233584e-01 -4.44042113e-01 -5.63284888e-02 2.89426325e+02] [ 4.42852280e-01 8.95995285e-01 -3.27766263e-02 1.11642376e+02] [ 6.50242627e-02 4.36476033e-03 9.97874137e-01 3.47531476e+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:289.45, Y:111.66, Z:34.76 [[ 8.95040813e-01 -4.42411334e-01 -5.63396411e-02 2.89451888e+02] [ 4.41219492e-01 8.96801154e-01 -3.27574454e-02 1.11655307e+02] [ 6.50177203e-02 4.46110280e-03 9.97874138e-01 3.47628493e+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:289.48, Y:111.67, Z:34.76 [[ 8.96543259e-01 -4.39383490e-01 -5.61456398e-02 2.89476864e+02] [ 4.38164925e-01 8.98285299e-01 -3.30910786e-02 1.11670968e+02] [ 6.49744764e-02 5.06653337e-03 9.97874064e-01 3.47626922e+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:289.51, Y:111.69, Z:34.77 [[ 8.99248378e-01 -4.33850704e-01 -5.59099369e-02 2.89505776e+02] [ 4.32596290e-01 9.00965217e-01 -3.34981791e-02 1.11685170e+02] [ 6.49061170e-02 5.93675198e-03 9.97873715e-01 3.47692211e+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:289.53, Y:111.70, Z:34.78 [[ 9.03339936e-01 -4.25277767e-01 -5.58191769e-02 2.89533822e+02] [ 4.23997497e-01 9.05037825e-01 -3.36549902e-02 1.11701854e+02] [ 6.48311856e-02 6.73470546e-03 9.97873520e-01 3.47780479e+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:289.56, Y:111.72, Z:34.78 [[ 9.05417218e-01 -4.20809365e-01 -5.60280349e-02 2.89561117e+02] [ 4.19542725e-01 9.07124800e-01 -3.32941225e-02 1.11716023e+02] [ 6.48348985e-02 6.63891734e-03 9.97873920e-01 3.47808706e+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:289.59, Y:111.73, Z:34.78 [[ 9.08757482e-01 -4.13540652e-01 -5.60710999e-02 2.89589811e+02] [ 4.12264907e-01 9.10458188e-01 -3.32194937e-02 1.11731101e+02] [ 6.47880031e-02 7.07231668e-03 9.97873989e-01 3.47806042e+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:289.62, Y:111.75, Z:34.78 [[ 9.10048244e-01 -4.10716087e-01 -5.58971322e-02 2.89617568e+02] [ 4.09416791e-01 9.11731442e-01 -3.35211796e-02 1.11745115e+02] [ 6.47308606e-02 7.62066612e-03 9.97873660e-01 3.47785853e+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:289.65, Y:111.76, Z:34.78 [[ 9.10604286e-01 -4.09475036e-01 -5.59466698e-02 2.89647694e+02] [ 4.08178645e-01 9.12289583e-01 -3.34351657e-02 1.11759735e+02] [ 6.47304298e-02 7.60996929e-03 9.97873770e-01 3.47791862e+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:289.68, Y:111.78, Z:34.78 [[ 9.09948325e-01 -4.10930712e-01 -5.59463723e-02 2.89677659e+02] [ 4.09636986e-01 9.11635670e-01 -3.34356827e-02 1.11776105e+02] [ 6.47424575e-02 7.50704011e-03 9.97873769e-01 3.47832037e+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:289.71, Y:111.79, Z:34.79 [[ 9.07751914e-01 -4.15723095e-01 -5.62207354e-02 2.89705290e+02] [ 4.14467351e-01 9.09467166e-01 -3.29589061e-02 1.11791374e+02] [ 6.48326914e-02 6.61685075e-03 9.97874210e-01 3.47861411e+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:289.74, Y:111.80, Z:34.78 [[ 9.01892535e-01 -4.28273167e-01 -5.63200685e-02 2.89736494e+02] [ 4.27052012e-01 9.03632473e-01 -3.27861626e-02 1.11804554e+02] [ 6.49340765e-02 5.51799674e-03 9.97874299e-01 3.47838765e+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:289.76, Y:111.82, Z:34.78 [[ 8.99380285e-01 -4.33509519e-01 -5.64322597e-02 2.89764106e+02] [ 4.32310646e-01 9.01135581e-01 -3.25909399e-02 1.11818541e+02] [ 6.49815999e-02 4.91538218e-03 9.97874356e-01 3.47849785e+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:289.79, Y:111.83, Z:34.79 [[ 8.94020905e-01 -4.44461698e-01 -5.63952123e-02 2.89793472e+02] [ 4.43280303e-01 8.95788030e-01 -3.26554604e-02 1.11832943e+02] [ 6.50322575e-02 4.19577749e-03 9.97874341e-01 3.47858199e+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:289.82, Y:111.85, Z:34.79 [[ 8.91476443e-01 -4.49547694e-01 -5.63615363e-02 2.89820694e+02] [ 4.48372690e-01 8.93247847e-01 -3.27141408e-02 1.11847784e+02] [ 6.50513875e-02 3.89291227e-03 9.97874322e-01 3.47859637e+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:289.85, Y:111.87, Z:34.79 [[ 8.86088018e-01 -4.60082432e-01 -5.63221053e-02 2.89848954e+02] [ 4.58924148e-01 8.87870435e-01 -3.27828639e-02 1.11866571e+02] [ 6.50895519e-02 3.20092871e-03 9.97874293e-01 3.47929207e+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:289.87, Y:111.88, Z:34.80 [[ 8.85508015e-01 -4.61179181e-01 -5.64740426e-02 2.89874128e+02] [ 4.60039953e-01 8.87302565e-01 -3.25176896e-02 1.11882103e+02] [ 6.51060443e-02 2.81435890e-03 9.97874382e-01 3.48004483e+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:289.90, Y:111.90, Z:34.80 [[ 8.84536923e-01 -4.63061953e-01 -5.62855204e-02 2.89899392e+02] [ 4.61905620e-01 8.86320648e-01 -3.28467136e-02 1.11901668e+02] [ 6.50970823e-02 3.05553279e-03 9.97874257e-01 3.48049564e+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:289.93, Y:111.92, Z:34.80 [[ 8.84884469e-01 -4.62397216e-01 -5.62875801e-02 2.89925963e+02] [ 4.61239772e-01 8.86667470e-01 -3.28431181e-02 1.11920133e+02] [ 6.50949326e-02 3.10029447e-03 9.97874260e-01 3.48017965e+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:289.96, Y:111.93, Z:34.81 [[ 8.82306078e-01 -4.67289011e-01 -5.63645731e-02 2.89955475e+02] [ 4.66150042e-01 8.84100843e-01 -3.27083852e-02 1.11934704e+02] [ 6.51162356e-02 2.58445896e-03 9.97874339e-01 3.48052419e+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:289.99, Y:111.95, Z:34.81 [[ 8.80612821e-01 -4.70476627e-01 -5.63276365e-02 2.89985246e+02] [ 4.69340022e-01 8.82409128e-01 -3.27730637e-02 1.11949448e+02] [ 6.51229811e-02 2.42356594e-03 9.97874303e-01 3.48056740e+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:290.01, Y:111.97, Z:34.81 [[ 8.79895370e-01 -4.71799842e-01 -5.64716503e-02 2.90014606e+02] [ 4.70682081e-01 8.81703334e-01 -3.25209124e-02 1.11965820e+02] [ 6.51346037e-02 2.03480631e-03 9.97874412e-01 3.48055538e+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:290.04, Y:111.98, Z:34.81 [[ 8.81445847e-01 -4.68891047e-01 -5.65190678e-02 2.90043667e+02] [ 4.67772636e-01 8.83253387e-01 -3.24378634e-02 1.11976224e+02] [ 6.51304818e-02 2.15414665e-03 9.97874431e-01 3.48067095e+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:290.08, Y:111.99, Z:34.80 [[ 8.82934247e-01 -4.66089185e-01 -5.64622677e-02 2.90078283e+02] [ 4.64958678e-01 8.84734278e-01 -3.25374492e-02 1.11991939e+02] [ 6.51194568e-02 2.47580681e-03 9.97874404e-01 3.48007647e+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:290.10, Y:112.00, Z:34.81 [[ 8.83991676e-01 -4.63990404e-01 -5.71980956e-02 2.90097444e+02] [ 4.62938544e-01 8.85839489e-01 -3.12458551e-02 1.12003035e+02] [ 6.51661087e-02 1.14187277e-03 9.97873777e-01 3.48133531e+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:290.13, Y:112.02, Z:34.82 [[ 8.85247376e-01 -4.61685231e-01 -5.64254484e-02 2.90126328e+02] [ 4.60541795e-01 8.87039173e-01 -3.26000098e-02 1.12019800e+02] [ 6.51025262e-02 2.87279580e-03 9.97874445e-01 3.48160780e+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:290.15, Y:112.03, Z:34.82 [[ 8.88634831e-01 -4.55120957e-01 -5.65070915e-02 2.90154461e+02] [ 4.53973361e-01 8.90423911e-01 -3.24568249e-02 1.12033240e+02] [ 6.50870466e-02 3.18955088e-03 9.97874493e-01 3.48178568e+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:290.18, Y:112.05, Z:34.82 [[ 8.89218581e-01 -4.53972277e-01 -5.65640091e-02 2.90182764e+02] [ 4.52828703e-01 8.91010211e-01 -3.23569203e-02 1.12049412e+02] [ 6.50882544e-02 3.15856782e-03 9.97874512e-01 3.48213418e+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:290.21, Y:112.07, Z:34.82 [[ 8.89537646e-01 -4.53337390e-01 -5.66391032e-02 2.90210060e+02] [ 4.52200905e-01 8.91333770e-01 -3.22250152e-02 1.12067092e+02] [ 6.50931497e-02 3.05311036e-03 9.97874521e-01 3.48199270e+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:290.23, Y:112.08, Z:34.82 [[ 8.86489796e-01 -4.59246025e-01 -5.68236702e-02 2.90233165e+02] [ 4.58142233e-01 8.88306278e-01 -3.19006465e-02 1.12084482e+02] [ 6.51270680e-02 2.24627443e-03 9.97874451e-01 3.48221955e+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:290.26, Y:112.10, Z:34.82 [[ 8.83610063e-01 -4.64796190e-01 -5.65487268e-02 2.90262659e+02] [ 4.63672861e-01 8.85414461e-01 -3.23837976e-02 1.12098659e+02] [ 6.51209262e-02 2.39453950e-03 9.97874507e-01 3.48224936e+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:290.29, Y:112.11, Z:34.82 [[ 8.77861013e-01 -4.75558669e-01 -5.66038427e-02 2.90291444e+02] [ 4.74463712e-01 8.79682750e-01 -3.22869128e-02 1.12108939e+02] [ 6.51477453e-02 1.48695264e-03 9.97874521e-01 3.48239403e+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:290.32, Y:112.12, Z:34.83 [[ 8.75519070e-01 -4.79864262e-01 -5.65389160e-02 2.90319125e+02] [ 4.78770893e-01 8.77341783e-01 -3.24010439e-02 1.12123138e+02] [ 6.51520563e-02 1.29854448e-03 9.97874503e-01 3.48257967e+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:290.34, Y:112.14, Z:34.83 [[ 8.72050225e-01 -4.86151102e-01 -5.64403396e-02 2.90344049e+02] [ 4.85059649e-01 8.73874159e-01 -3.25743757e-02 1.12139019e+02] [ 6.51578229e-02 1.02956034e-03 9.97874440e-01 3.48270287e+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:290.37, Y:112.15, Z:34.83 [[ 8.74130210e-01 -4.82415807e-01 -5.63148670e-02 2.90374313e+02] [ 4.81302284e-01 8.75940948e-01 -3.27958359e-02 1.12151769e+02] [ 6.51497277e-02 1.56335683e-03 9.97874275e-01 3.48282403e+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:290.41, Y:112.17, Z:34.83 [[ 8.76075477e-01 -4.78874886e-01 -5.63081070e-02 2.90405570e+02] [ 4.77753277e-01 8.77881231e-01 -3.28077841e-02 1.12167315e+02] [ 6.51426542e-02 1.84071238e-03 9.97874264e-01 3.48275693e+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:290.43, Y:112.18, Z:34.83 [[ 8.77618766e-01 -4.75992641e-01 -5.67124878e-02 2.90429558e+02] [ 4.74911167e-01 8.79448401e-01 -3.20919630e-02 1.12179733e+02] [ 6.51512449e-02 1.23111522e-03 9.97874641e-01 3.48311733e+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:290.46, Y:112.19, Z:34.83 [[ 8.78634604e-01 -4.74168155e-01 -5.62653830e-02 2.90456959e+02] [ 4.73032067e-01 8.80431359e-01 -3.28829169e-02 1.12193813e+02] [ 6.51298396e-02 2.27673831e-03 9.97874201e-01 3.48334401e+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:290.49, Y:112.21, Z:34.83 [[ 8.82091516e-01 -4.67711356e-01 -5.62196205e-02 2.90485518e+02] [ 4.66556968e-01 8.83876676e-01 -3.29638710e-02 1.12207784e+02] [ 6.51087881e-02 2.84749530e-03 9.97874109e-01 3.48335089e+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:290.52, Y:112.22, Z:34.83 [[ 8.83486759e-01 -4.65063012e-01 -5.62809214e-02 2.90515566e+02] [ 4.63910180e-01 8.85272772e-01 -3.28551988e-02 1.12222059e+02] [ 6.51037050e-02 2.91784078e-03 9.97874237e-01 3.48334836e+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:290.55, Y:112.24, Z:34.84 [[ 8.86325631e-01 -4.59631392e-01 -5.62659701e-02 2.90546707e+02] [ 4.58465938e-01 8.88103471e-01 -3.28817231e-02 1.12236576e+02] [ 6.50834755e-02 3.34788320e-03 9.97874207e-01 3.48350181e+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:290.57, Y:112.25, Z:34.84 [[ 8.88989250e-01 -4.54424420e-01 -5.65381337e-02 2.90574631e+02] [ 4.53279210e-01 8.90779646e-01 -3.23972402e-02 1.12252041e+02] [ 6.50851157e-02 3.17323767e-03 9.97874671e-01 3.48415212e+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:290.60, Y:112.27, Z:34.85 [[ 8.92438603e-01 -4.47629025e-01 -5.64056414e-02 2.90601135e+02] [ 4.46455314e-01 8.94210673e-01 -3.26331790e-02 1.12269501e+02] [ 6.50460847e-02 3.94051037e-03 9.97874481e-01 3.48510730e+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:290.63, Y:112.29, Z:34.85 [[ 8.95277551e-01 -4.41921645e-01 -5.64213369e-02 2.90631373e+02] [ 4.40738394e-01 8.97043235e-01 -3.26052599e-02 1.12289857e+02] [ 6.50213487e-02 4.32370779e-03 9.97874506e-01 3.48453502e+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:290.66, Y:112.30, Z:34.86 [[ 8.96982851e-01 -4.38409013e-01 -5.67388937e-02 2.90656625e+02] [ 4.37254358e-01 8.98766986e-01 -3.20395251e-02 1.12304909e+02] [ 6.50414611e-02 3.92957608e-03 9.97874825e-01 3.48552579e+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:290.68, Y:112.32, Z:34.86 [[ 9.01246212e-01 -4.29594979e-01 -5.65987547e-02 2.90681654e+02] [ 4.28407280e-01 9.03008637e-01 -3.22893740e-02 1.12323682e+02] [ 6.49805173e-02 4.85335743e-03 9.97874730e-01 3.48617438e+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:290.71, Y:112.34, Z:34.86 [[ 9.02358454e-01 -4.27251226e-01 -5.66181147e-02 2.90706555e+02] [ 4.26061106e-01 9.04119220e-01 -3.22547701e-02 1.12342275e+02] [ 6.49704158e-02 4.98258794e-03 9.97874751e-01 3.48612469e+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:290.73, Y:112.36, Z:34.87 [[ 9.02671685e-01 -4.26619810e-01 -5.63858649e-02 2.90729125e+02] [ 4.25402708e-01 9.04414316e-01 -3.26692667e-02 1.12359960e+02] [ 6.49335398e-02 5.50292245e-03 9.97874418e-01 3.48675496e+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:290.76, Y:112.38, Z:34.87 [[ 9.04876940e-01 -4.21937346e-01 -5.62725517e-02 2.90761950e+02] [ 4.20698754e-01 9.06604666e-01 -3.28715434e-02 1.12376383e+02] [ 6.48866897e-02 6.07090919e-03 9.97874171e-01 3.48666276e+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:290.79, Y:112.39, Z:34.87 [[ 9.04371598e-01 -4.22970188e-01 -5.66412692e-02 2.90792231e+02] [ 4.21774417e-01 9.06128438e-01 -3.22117062e-02 1.12391679e+02] [ 6.49488563e-02 5.24151385e-03 9.97874828e-01 3.48660802e+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:290.82, Y:112.42, Z:34.84 [[ 8.98784673e-01 -4.34712890e-01 -5.66640580e-02 2.90817262e+02] [ 4.33542662e-01 9.00558601e-01 -3.21708845e-02 1.12419342e+02] [ 6.50144030e-02 4.34841135e-03 9.97874851e-01 3.48376418e+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:290.85, Y:112.42, Z:34.86 [[ 9.01552845e-01 -4.28910184e-01 -5.69080144e-02 2.90846612e+02] [ 4.27755936e-01 9.03337063e-01 -3.17334105e-02 1.12419897e+02] [ 6.50179016e-02 4.26660555e-03 9.97874976e-01 3.48596231e+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:290.88, Y:112.44, Z:34.86 [[ 9.00245712e-01 -4.31693743e-01 -5.65523627e-02 2.90876730e+02] [ 4.30505017e-01 9.02007487e-01 -3.23716426e-02 1.12435727e+02] [ 6.49852901e-02 4.79635658e-03 9.97874695e-01 3.48598092e+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:290.90, Y:112.45, Z:34.86 [[ 8.97099121e-01 -4.38188610e-01 -5.66030882e-02 2.90900670e+02] [ 4.37018367e-01 8.98873136e-01 -3.22805160e-02 1.12449339e+02] [ 6.50239498e-02 4.22223335e-03 9.97874771e-01 3.48579461e+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:290.93, Y:112.47, Z:34.86 [[ 8.95200540e-01 -4.42101787e-01 -5.62317006e-02 2.90931783e+02] [ 4.40897533e-01 8.96952568e-01 -3.29462593e-02 1.12466412e+02] [ 6.50027684e-02 4.70109102e-03 9.97874010e-01 3.48618058e+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:290.96, Y:112.48, Z:34.87 [[ 8.94071006e-01 -4.44346702e-01 -5.65070322e-02 2.90958013e+02] [ 4.43177935e-01 8.95846103e-01 -3.24511663e-02 1.12481549e+02] [ 6.50411733e-02 3.97097708e-03 9.97874680e-01 3.48713097e+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:290.99, Y:112.50, Z:34.87 [[ 8.93292302e-01 -4.45935063e-01 -5.63097069e-02 2.90986953e+02] [ 4.44747095e-01 8.95055168e-01 -3.28065229e-02 1.12497195e+02] [ 6.50298730e-02 4.26223577e-03 9.97874215e-01 3.48725147e+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:291.01, Y:112.51, Z:34.88 [[ 8.90332763e-01 -4.51809004e-01 -5.63577415e-02 2.91013006e+02] [ 4.50638144e-01 8.92106875e-01 -3.27198235e-02 1.12514813e+02] [ 6.50602395e-02 3.73458281e-03 9.97874350e-01 3.48781224e+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:291.05, Y:112.52, Z:34.87 [[ 8.90592725e-01 -4.51297029e-01 -5.63523736e-02 2.91045665e+02] [ 4.50124537e-01 8.92365777e-01 -3.27295202e-02 1.12524805e+02] [ 6.50576649e-02 3.78308646e-03 9.97874335e-01 3.48722607e+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:291.08, Y:112.54, Z:34.88 [[ 8.90932993e-01 -4.50590281e-01 -5.66286266e-02 2.91082209e+02] [ 4.49448115e-01 8.92724910e-01 -3.22277522e-02 1.12542098e+02] [ 6.50752975e-02 3.26113827e-03 9.97875028e-01 3.48787304e+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:291.10, Y:112.55, Z:34.88 [[ 8.88498337e-01 -4.55264296e-01 -5.74902300e-02 2.91099895e+02] [ 4.54232179e-01 8.90355632e-01 -3.06590145e-02 1.12554660e+02] [ 6.51447047e-02 1.12657096e-03 9.97875192e-01 3.48790713e+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:291.13, Y:112.57, Z:34.89 [[ 8.88066248e-01 -4.56213608e-01 -5.66346538e-02 2.91125627e+02] [ 4.55083546e-01 8.89865776e-01 -3.22159413e-02 1.12571241e+02] [ 6.50945910e-02 2.83639104e-03 9.97875067e-01 3.48882161e+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:291.15, Y:112.59, Z:34.89 [[ 8.87818935e-01 -4.56715180e-01 -5.64693149e-02 2.91153677e+02] [ 4.55566984e-01 8.89607420e-01 -3.25170976e-02 1.12586696e+02] [ 6.50865736e-02 3.14373952e-03 9.97874669e-01 3.48881865e+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:291.18, Y:112.60, Z:34.89 [[ 8.88182530e-01 -4.56008529e-01 -5.64625019e-02 2.91182774e+02] [ 4.54858122e-01 8.89969617e-01 -3.25295221e-02 1.12602112e+02] [ 6.50836507e-02 3.20972564e-03 9.97874650e-01 3.48903440e+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:291.21, Y:112.62, Z:34.89 [[ 8.85695841e-01 -4.60818439e-01 -5.64733812e-02 2.91213076e+02] [ 4.59679006e-01 8.87489907e-01 -3.25096566e-02 1.12615038e+02] [ 6.51006051e-02 2.83403994e-03 9.97874681e-01 3.48912583e+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:291.24, Y:112.63, Z:34.89 [[ 8.84818320e-01 -4.62465830e-01 -5.67617613e-02 2.91240297e+02] [ 4.61363533e-01 8.86634595e-01 -3.19810086e-02 1.12627763e+02] [ 6.51170650e-02 2.10957558e-03 9.97875402e-01 3.48916374e+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:291.27, Y:112.64, Z:34.89 [[ 8.86001885e-01 -4.60233455e-01 -5.64431250e-02 2.91270605e+02] [ 4.59089293e-01 8.87793062e-01 -3.25653204e-02 1.12642916e+02] [ 6.50974647e-02 2.94050092e-03 9.97874578e-01 3.48926750e+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:291.30, Y:112.66, Z:34.89 [[ 8.88742062e-01 -4.54902472e-01 -5.65799177e-02 2.91299597e+02] [ 4.53763525e-01 8.90536057e-01 -3.23139961e-02 1.12656324e+02] [ 6.50861736e-02 3.04490463e-03 9.97875001e-01 3.48943823e+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:291.33, Y:112.67, Z:34.90 [[ 8.90682703e-01 -4.51082280e-01 -5.66489090e-02 2.91330116e+02] [ 4.49943693e-01 8.92476704e-01 -3.21870523e-02 1.12670196e+02] [ 6.50768405e-02 3.17963144e-03 9.97875190e-01 3.48957282e+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:291.36, Y:112.68, Z:34.90 [[ 8.92682058e-01 -4.47097976e-01 -5.67639253e-02 2.91360685e+02] [ 4.45964815e-01 8.94479163e-01 -3.19751509e-02 1.12681764e+02] [ 6.50701737e-02 3.22893010e-03 9.97875466e-01 3.48969208e+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:291.39, Y:112.70, Z:34.90 [[ 8.93390877e-01 -4.45681238e-01 -5.67536269e-02 2.91390006e+02] [ 4.44544023e-01 8.95185448e-01 -3.19941507e-02 1.12696745e+02] [ 6.50642136e-02 3.35379677e-03 9.97875443e-01 3.49021329e+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:291.42, Y:112.71, Z:34.90 [[ 8.97592558e-01 -4.37139682e-01 -5.68902333e-02 2.91418268e+02] [ 4.36001326e-01 8.99386071e-01 -3.17417622e-02 1.12710730e+02] [ 6.50418672e-02 3.68695238e-03 9.97875725e-01 3.49031642e+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:291.44, Y:112.73, Z:34.90 [[ 8.98403620e-01 -4.35475577e-01 -5.68503087e-02 2.91443821e+02] [ 4.34329237e-01 9.00192134e-01 -3.18156532e-02 1.12725106e+02] [ 6.50311407e-02 3.89154676e-03 9.97875647e-01 3.49008842e+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:291.47, Y:112.74, Z:34.90 [[ 9.03878369e-01 -4.24051251e-01 -5.64307672e-02 2.91474359e+02] [ 4.22833906e-01 9.05620884e-01 -3.25929827e-02 1.12740277e+02] [ 6.49259763e-02 5.59925031e-03 9.97874374e-01 3.49020710e+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:291.50, Y:112.76, Z:34.91 [[ 9.10402415e-01 -4.09853058e-01 -5.64616163e-02 2.91504209e+02] [ 4.08612106e-01 9.12128046e-01 -3.25357489e-02 1.12757544e+02] [ 6.48350999e-02 6.54972445e-03 9.97874497e-01 3.49079483e+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:291.54, Y:112.77, Z:34.91 [[ 9.14226095e-01 -4.01205501e-01 -5.67872718e-02 2.91535027e+02] [ 3.99985322e-01 9.15965167e-01 -3.19304757e-02 1.12772590e+02] [ 6.48258454e-02 6.47759888e-03 9.97875569e-01 3.49098258e+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:291.56, Y:112.79, Z:34.92 [[ 9.17934979e-01 -3.92601047e-01 -5.70945908e-02 2.91562756e+02] [ 3.91399646e-01 9.19686342e-01 -3.13584011e-02 1.12789396e+02] [ 6.48204565e-02 6.43817065e-03 9.97876174e-01 3.49166617e+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:291.59, Y:112.80, Z:34.92 [[ 9.19042218e-01 -3.90000648e-01 -5.71042619e-02 2.91591376e+02] [ 3.88795399e-01 9.20790920e-01 -3.13403885e-02 1.12803361e+02] [ 6.48038577e-02 6.60126584e-03 9.97876186e-01 3.49192765e+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:291.62, Y:112.82, Z:34.92 [[ 9.17903605e-01 -3.92656689e-01 -5.72162233e-02 2.91616474e+02] [ 3.91469355e-01 9.19664376e-01 -3.11316592e-02 1.12817368e+02] [ 6.48437764e-02 6.17746414e-03 9.97876307e-01 3.49220085e+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:291.64, Y:112.83, Z:34.93 [[ 9.16594904e-01 -3.95754502e-01 -5.68520596e-02 2.91639927e+02] [ 3.94531584e-01 9.18331728e-01 -3.18066917e-02 1.12830726e+02] [ 6.47966915e-02 6.72391835e-03 9.97875833e-01 3.49252396e+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:291.67, Y:112.84, Z:34.93 [[ 9.14807352e-01 -3.99913000e-01 -5.65429064e-02 2.91671955e+02] [ 3.98662843e-01 9.16525758e-01 -3.23801134e-02 1.12843045e+02] [ 6.47722585e-02 7.08000996e-03 9.97874956e-01 3.49276822e+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:291.70, Y:112.85, Z:34.93 [[ 9.13521531e-01 -4.02830082e-01 -5.66245338e-02 2.91703501e+02] [ 4.01594712e-01 9.15250249e-01 -3.22283804e-02 1.12852996e+02] [ 6.48081798e-02 6.70120608e-03 9.97875240e-01 3.49260389e+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:291.74, Y:112.87, Z:34.93 [[ 9.14485240e-01 -4.00640763e-01 -5.66014541e-02 2.91739138e+02] [ 3.99398625e-01 9.16209200e-01 -3.22713536e-02 1.12865098e+02] [ 6.47879928e-02 6.90513364e-03 9.97875160e-01 3.49264918e+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:291.78, Y:112.88, Z:34.92 [[ 9.13266681e-01 -4.03347394e-01 -5.70512866e-02 2.91776437e+02] [ 4.02162342e-01 9.15028808e-01 -3.14281850e-02 1.12878428e+02] [ 6.48800473e-02 5.75843523e-03 9.97876455e-01 3.49192366e+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:291.81, Y:112.89, Z:34.92 [[ 9.13270626e-01 -4.03247637e-01 -5.76897463e-02 2.91805352e+02] [ 4.02137164e-01 9.15080276e-01 -3.02289437e-02 1.12891166e+02] [ 6.49804991e-02 4.40801533e-03 9.97876798e-01 3.49205943e+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:291.83, Y:112.90, Z:34.92 [[ 9.13240837e-01 -4.03327990e-01 -5.75995277e-02 2.91834088e+02] [ 4.02207048e-01 9.15043948e-01 -3.03984280e-02 1.12899537e+02] [ 6.49666361e-02 4.59414982e-03 9.97876861e-01 3.49240275e+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:291.87, Y:112.92, Z:34.92 [[ 9.11116177e-01 -4.08132728e-01 -5.74019819e-02 2.91867066e+02] [ 4.06998025e-01 9.12910646e-01 -3.07694572e-02 1.12915409e+02] [ 6.49609029e-02 4.67205696e-03 9.97876873e-01 3.49191204e+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:291.89, Y:112.93, Z:34.93 [[ 9.09386899e-01 -4.11910905e-01 -5.78348944e-02 2.91893832e+02] [ 4.10834950e-01 9.11217477e-01 -2.99558703e-02 1.12925203e+02] [ 6.50393161e-02 3.48088004e-03 9.97876631e-01 3.49263414e+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:291.92, Y:112.94, Z:34.93 [[ 9.08044985e-01 -4.14898800e-01 -5.75612018e-02 2.91924078e+02] [ 4.13796345e-01 9.09859422e-01 -3.04699480e-02 1.12939553e+02] [ 6.50145466e-02 3.84946856e-03 9.97876891e-01 3.49285492e+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:291.95, Y:112.95, Z:34.93 [[ 9.04849829e-01 -4.21798020e-01 -5.77340248e-02 2.91952690e+02] [ 4.20730028e-01 9.06684902e-01 -3.01451881e-02 1.12953312e+02] [ 6.50617493e-02 2.98643044e-03 9.97876771e-01 3.49339829e+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:291.98, Y:112.97, Z:34.94 [[ 9.01642161e-01 -4.28610407e-01 -5.77454078e-02 2.91980460e+02] [ 4.27557652e-01 9.03486033e-01 -3.01237862e-02 1.12966706e+02] [ 6.50835377e-02 2.47138473e-03 9.97876759e-01 3.49374799e+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:292.01, Y:112.98, Z:34.94 [[ 9.00835855e-01 -4.30312890e-01 -5.76678274e-02 2.92005925e+02] [ 4.29254294e-01 9.02676297e-01 -3.02696897e-02 1.12979156e+02] [ 6.50808186e-02 2.51385933e-03 9.97876830e-01 3.49353067e+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:292.03, Y:113.00, Z:34.95 [[ 8.96686589e-01 -4.38927851e-01 -5.74064653e-02 2.92034997e+02] [ 4.37855449e-01 8.98518977e-01 -3.07612460e-02 1.12997234e+02] [ 6.50827660e-02 2.44746313e-03 9.97876868e-01 3.49452858e+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:292.06, Y:113.01, Z:34.95 [[ 8.94513887e-01 -4.43302546e-01 -5.76867363e-02 2.92061463e+02] [ 4.42273016e-01 8.96370743e-01 -3.02335989e-02 1.13013005e+02] [ 6.51113341e-02 1.53108722e-03 9.97876831e-01 3.49503662e+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:292.09, Y:113.03, Z:34.96 [[ 8.90917914e-01 -4.50500957e-01 -5.75687329e-02 2.92088242e+02] [ 4.49472063e-01 8.92775059e-01 -3.04558590e-02 1.13029674e+02] [ 6.51163225e-02 1.25813318e-03 9.97876887e-01 3.49558516e+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:292.10, Y:113.04, Z:34.95 [[ 8.88962482e-01 -4.54349790e-01 -5.75497503e-02 2.92103551e+02] [ 4.53326623e-01 8.90822785e-01 -3.04916283e-02 1.13044583e+02] [ 6.51204938e-02 1.01707964e-03 9.97876890e-01 3.49547090e+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:292.14, Y:113.06, Z:34.96 [[ 8.87769149e-01 -4.56798287e-01 -5.65797001e-02 2.92142614e+02] [ 4.55662749e-01 8.89565538e-01 -3.23204795e-02 1.13062108e+02] [ 6.50952910e-02 2.91186291e-03 9.97874804e-01 3.49557121e+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:292.16, Y:113.08, Z:34.96 [[ 8.85010661e-01 -4.61996821e-01 -5.75766281e-02 2.92160081e+02] [ 4.60993408e-01 8.86881493e-01 -3.04350926e-02 1.13081866e+02] [ 6.51245619e-02 3.92935413e-04 9.97877065e-01 3.49568582e+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:292.19, Y:113.10, Z:34.96 [[ 8.85354994e-01 -4.61418870e-01 -5.69136262e-02 2.92186784e+02] [ 4.60333298e-01 8.87180469e-01 -3.16870650e-02 1.13101671e+02] [ 6.51136673e-02 1.85506401e-03 9.97876129e-01 3.49550931e+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:292.22, Y:113.12, Z:34.95 [[ 8.87045862e-01 -4.58135628e-01 -5.71085386e-02 2.92219989e+02] [ 4.57067010e-01 8.88880718e-01 -3.13180070e-02 1.13121796e+02] [ 6.51105736e-02 1.67807957e-03 9.97876644e-01 3.49507805e+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:292.24, Y:113.14, Z:34.95 [[ 8.86441142e-01 -4.59242860e-01 -5.76029350e-02 2.92240930e+02] [ 4.58237204e-01 8.88310593e-01 -3.03801769e-02 1.13141986e+02] [ 6.51211766e-02 5.34430840e-04 9.97877220e-01 3.49521870e+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:292.27, Y:113.16, Z:34.95 [[ 8.89276848e-01 -4.53780330e-01 -5.71847835e-02 2.92273439e+02] [ 4.52712036e-01 8.91111694e-01 -3.11730905e-02 1.13158969e+02] [ 6.51037646e-02 1.83326789e-03 9.97876816e-01 3.49523219e+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:292.30, Y:113.18, Z:34.95 [[ 8.90615120e-01 -4.51090323e-01 -5.76387680e-02 2.92300852e+02] [ 4.50072060e-01 8.92477681e-01 -3.03105706e-02 1.13182267e+02] [ 6.51141191e-02 1.05345351e-03 9.97877268e-01 3.49487941e+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:292.33, Y:113.19, Z:34.95 [[ 8.93046180e-01 -4.46228487e-01 -5.78675946e-02 2.92326453e+02] [ 4.45228197e-01 8.94918599e-01 -2.98756436e-02 1.13194597e+02] [ 6.51181499e-02 9.16044581e-04 9.97877140e-01 3.49530470e+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:292.35, Y:113.21, Z:34.96 [[ 8.95259967e-01 -4.41811562e-01 -5.75511438e-02 2.92353841e+02] [ 4.40763299e-01 8.97105826e-01 -3.04770655e-02 1.13209986e+02] [ 6.50945863e-02 1.91846472e-03 9.97877254e-01 3.49613870e+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:292.38, Y:113.22, Z:34.95 [[ 8.99292674e-01 -4.33546294e-01 -5.75351876e-02 2.92384280e+02] [ 4.32479135e-01 9.01127680e-01 -3.05074007e-02 1.13221519e+02] [ 6.50729207e-02 2.55231378e-03 9.97877247e-01 3.49527622e+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:292.41, Y:113.23, Z:34.96 [[ 9.01562015e-01 -4.28791897e-01 -5.76493061e-02 2.92410376e+02] [ 4.27728899e-01 9.03399405e-01 -3.02903279e-02 1.13232703e+02] [ 6.50685960e-02 2.65033482e-03 9.97877274e-01 3.49593983e+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:292.44, Y:113.25, Z:34.97 [[ 9.03516827e-01 -4.24694619e-01 -5.73744106e-02 2.92439178e+02] [ 4.23590108e-01 9.05329758e-01 -3.08131526e-02 1.13245531e+02] [ 6.50289414e-02 3.53696907e-03 9.97877110e-01 3.49682545e+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:292.47, Y:113.26, Z:34.98 [[ 9.05638401e-01 -4.20161733e-01 -5.72992574e-02 2.92469147e+02] [ 4.19039134e-01 9.07440313e-01 -3.09561300e-02 1.13258038e+02] [ 6.50022373e-02 4.02442883e-03 9.97877003e-01 3.49774292e+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:292.50, Y:113.27, Z:34.98 [[ 9.06519204e-01 -4.18226862e-01 -5.75258679e-02 2.92498430e+02] [ 4.17127643e-01 9.08335171e-01 -3.05245221e-02 1.13272413e+02] [ 6.50189441e-02 3.67543577e-03 9.97877261e-01 3.49769915e+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:292.53, Y:113.28, Z:34.98 [[ 9.08139522e-01 -4.14695135e-01 -5.75374044e-02 2.92529470e+02] [ 4.13590243e-01 9.09952035e-01 -3.05025277e-02 1.13283680e+02] [ 6.50055281e-02 3.90364181e-03 9.97877268e-01 3.49826149e+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:292.56, Y:113.30, Z:34.98 [[ 9.09556979e-01 -4.11556270e-01 -5.76848283e-02 2.92558461e+02] [ 4.10462863e-01 9.11376386e-01 -3.02211985e-02 1.13296033e+02] [ 6.50103141e-02 3.81042220e-03 9.97877317e-01 3.49828216e+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:292.59, Y:113.31, Z:34.98 [[ 9.12085887e-01 -4.05931084e-01 -5.76132724e-02 2.92589492e+02] [ 4.04817877e-01 9.13893261e-01 -3.03577581e-02 1.13306969e+02] [ 6.49755390e-02 4.36600009e-03 9.97877306e-01 3.49777053e+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:292.62, Y:113.32, Z:34.98 [[ 9.12871278e-01 -4.04158040e-01 -5.76394753e-02 2.92619142e+02] [ 4.03044464e-01 9.14678415e-01 -3.03077003e-02 1.13319981e+02] [ 6.49706846e-02 4.43575767e-03 9.97877314e-01 3.49831335e+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:292.65, Y:113.33, Z:34.98 [[ 9.13746261e-01 -4.02168310e-01 -5.76924708e-02 2.92649554e+02] [ 4.01057153e-01 9.15554877e-01 -3.02064160e-02 1.13332423e+02] [ 6.49686862e-02 4.46302157e-03 9.97877323e-01 3.49764258e+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:292.68, Y:113.35, Z:34.98 [[ 9.13910685e-01 -4.01774972e-01 -5.78284760e-02 2.92679947e+02] [ 4.00679380e-01 9.15728809e-01 -2.99463154e-02 1.13346335e+02] [ 6.49868815e-02 4.19757973e-03 9.97877290e-01 3.49776349e+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:292.71, Y:113.36, Z:34.97 [[ 9.14435517e-01 -4.00565101e-01 -5.79248236e-02 2.92708196e+02] [ 3.99478707e-01 9.16259237e-01 -2.97619518e-02 1.13358036e+02] [ 6.49957539e-02 4.07565216e-03 9.97877217e-01 3.49745869e+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:292.74, Y:113.37, Z:34.98 [[ 9.13899677e-01 -4.01804044e-01 -5.78004448e-02 2.92735752e+02] [ 4.00705137e-01 9.15715784e-01 -2.99999402e-02 1.13370970e+02] [ 6.49828769e-02 4.25600056e-03 9.97877303e-01 3.49832859e+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:292.77, Y:113.38, Z:34.98 [[ 9.13165922e-01 -4.03478697e-01 -5.77316177e-02 2.92767737e+02] [ 4.02374836e-01 9.14979003e-01 -3.01316296e-02 1.13383482e+02] [ 6.49806887e-02 4.28542718e-03 9.97877320e-01 3.49773368e+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:292.80, Y:113.40, Z:34.98 [[ 9.11138011e-01 -4.08009600e-01 -5.79283265e-02 2.92797864e+02] [ 4.06938548e-01 9.12970783e-01 -2.97551151e-02 1.13395343e+02] [ 6.50272422e-02 3.53774729e-03 9.97877218e-01 3.49805667e+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:292.82, Y:113.40, Z:34.98 [[ 9.09629639e-01 -4.11368954e-01 -5.78749005e-02 2.92822228e+02] [ 4.10298185e-01 9.11462524e-01 -2.98574281e-02 1.13404597e+02] [ 6.50332219e-02 3.41323494e-03 9.97877262e-01 3.49798909e+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:292.85, Y:113.42, Z:34.99 [[ 9.07089410e-01 -4.17002318e-01 -5.74270715e-02 2.92854365e+02] [ 4.15888677e-01 9.08896721e-01 -3.07141565e-02 1.13420753e+02] [ 6.50031514e-02 3.97721732e-03 9.97877133e-01 3.49898517e+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:292.88, Y:113.43, Z:34.99 [[ 9.05797784e-01 -4.19742642e-01 -5.78488427e-02 2.92883796e+02] [ 4.18685734e-01 9.07638633e-01 -2.99059929e-02 1.13433429e+02] [ 6.50586650e-02 2.86829695e-03 9.97877319e-01 3.49932134e+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:292.91, Y:113.44, Z:35.00 [[ 9.03197255e-01 -4.25313351e-01 -5.78210294e-02 2.92912509e+02] [ 4.24264394e-01 9.05042631e-01 -2.99593095e-02 1.13443889e+02] [ 6.50725909e-02 2.52776211e-03 9.97877331e-01 3.50006837e+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:292.94, Y:113.46, Z:35.00 [[ 9.01117208e-01 -4.29711990e-01 -5.77527824e-02 2.92943953e+02] [ 4.28663666e-01 9.02962926e-01 -3.00901367e-02 1.13455988e+02] [ 6.50787138e-02 2.35822053e-03 9.97877347e-01 3.50026308e+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:292.97, Y:113.47, Z:35.00 [[ 9.00156709e-01 -4.31710487e-01 -5.78269317e-02 2.92973377e+02] [ 4.30675382e-01 9.02009889e-01 -2.99478793e-02 1.13469015e+02] [ 6.50892778e-02 2.05314863e-03 9.97877332e-01 3.50042614e+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:293.00, Y:113.48, Z:35.01 [[ 8.98529906e-01 -4.35096391e-01 -5.77506506e-02 2.93001380e+02] [ 4.34058866e-01 9.00381717e-01 -3.00942633e-02 1.13479922e+02] [ 6.50915353e-02 1.97341364e-03 9.97877346e-01 3.50054329e+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:293.03, Y:113.49, Z:35.01 [[ 8.98714984e-01 -4.34735046e-01 -5.75918144e-02 2.93030423e+02] [ 4.33677251e-01 9.00555355e-01 -3.03989213e-02 1.13494873e+02] [ 6.50800933e-02 2.34370634e-03 9.97877291e-01 3.50077500e+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:293.06, Y:113.51, Z:35.01 [[ 8.98299759e-01 -4.35591037e-01 -5.76020060e-02 2.93060772e+02] [ 4.34536250e-01 9.00141846e-01 -3.03793548e-02 1.13508766e+02] [ 6.50829507e-02 2.25960748e-03 9.97877299e-01 3.50091177e+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:293.09, Y:113.52, Z:35.02 [[ 8.97322555e-01 -4.37594312e-01 -5.76493773e-02 2.93090168e+02] [ 4.36549480e-01 8.99170268e-01 -3.02882745e-02 1.13521680e+02] [ 6.50905827e-02 2.01154616e-03 9.97877332e-01 3.50183201e+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:293.12, Y:113.53, Z:35.02 [[ 8.96944312e-01 -4.38368007e-01 -5.76575409e-02 2.93120204e+02] [ 4.37325778e-01 8.98793489e-01 -3.02725640e-02 1.13533443e+02] [ 6.50927459e-02 1.93767518e-03 9.97877337e-01 3.50206448e+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:293.15, Y:113.55, Z:35.02 [[ 8.96738661e-01 -4.38790064e-01 -5.76459248e-02 2.93152010e+02] [ 4.37747269e-01 8.98587528e-01 -3.02949332e-02 1.13548201e+02] [ 6.50930248e-02 1.93229166e-03 9.97877329e-01 3.50178300e+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:293.18, Y:113.56, Z:35.02 [[ 8.97699613e-01 -4.36793194e-01 -5.78542136e-02 2.93182162e+02] [ 4.35772093e-01 8.99560486e-01 -2.98933832e-02 1.13559061e+02] [ 6.51005908e-02 1.62402676e-03 9.97877385e-01 3.50169774e+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:293.21, Y:113.58, Z:35.01 [[ 8.97601616e-01 -4.37006724e-01 -5.77621258e-02 2.93212749e+02] [ 4.35974638e-01 8.99456420e-01 -3.00709854e-02 1.13575510e+02] [ 6.50957377e-02 1.80894324e-03 9.97877384e-01 3.50139177e+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:293.24, Y:113.59, Z:35.01 [[ 9.01744536e-01 -4.28365052e-01 -5.79670101e-02 2.93239894e+02] [ 4.27340544e-01 9.03603580e-01 -2.96754020e-02 1.13590140e+02] [ 6.50911030e-02 1.98797799e-03 9.97877345e-01 3.50137480e+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:293.27, Y:113.60, Z:35.02 [[ 9.05634768e-01 -4.20080296e-01 -5.79500912e-02 2.93265581e+02] [ 4.19036701e-01 9.07483153e-01 -2.97080769e-02 1.13604426e+02] [ 6.50685092e-02 2.62145224e-03 9.97877356e-01 3.50186088e+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:293.30, Y:113.62, Z:35.02 [[ 9.11477144e-01 -4.07292140e-01 -5.76413812e-02 2.93295511e+02] [ 4.06185004e-01 9.13288236e-01 -3.03041507e-02 1.13622061e+02] [ 6.49858377e-02 4.20847605e-03 9.97877312e-01 3.50204928e+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:293.32, Y:113.64, Z:35.03 [[ 9.14291561e-01 -4.00903726e-01 -5.78545024e-02 2.93320498e+02] [ 3.99809813e-01 9.16110565e-01 -2.98922457e-02 1.13636700e+02] [ 6.49850335e-02 4.19943020e-03 9.97877402e-01 3.50263002e+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:293.35, Y:113.65, Z:35.03 [[ 9.17707065e-01 -3.93064394e-01 -5.75684355e-02 2.93348004e+02] [ 3.91920436e-01 9.19495223e-01 -3.04451425e-02 1.13651207e+02] [ 6.49008029e-02 5.37747600e-03 9.97877231e-01 3.50343848e+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:293.38, Y:113.66, Z:35.04 [[ 9.18584708e-01 -3.91004698e-01 -5.75974061e-02 2.93376498e+02] [ 3.89860216e-01 9.20372487e-01 -3.03891071e-02 1.13660747e+02] [ 6.48933515e-02 5.46003185e-03 9.97877268e-01 3.50394573e+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:293.40, Y:113.67, Z:35.04 [[ 9.18720259e-01 -3.90695312e-01 -5.75348459e-02 2.93404449e+02] [ 3.89542707e-01 9.20502912e-01 -3.05101246e-02 1.13671315e+02] [ 6.48811559e-02 5.61798998e-03 9.97877184e-01 3.50415379e+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:293.44, Y:113.68, Z:35.04 [[ 9.17795605e-01 -3.92873429e-01 -5.74603872e-02 2.93437996e+02] [ 3.91716092e-01 9.19575344e-01 -3.06543565e-02 1.13678608e+02] [ 6.48824375e-02 5.62627533e-03 9.97877054e-01 3.50444965e+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:293.47, Y:113.69, Z:35.05 [[ 9.17545224e-01 -3.93445145e-01 -5.75471910e-02 2.93468846e+02] [ 3.92299386e-01 9.19332255e-01 -3.04860054e-02 1.13689430e+02] [ 6.48995597e-02 5.39656094e-03 9.97877209e-01 3.50466485e+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:293.50, Y:113.69, Z:35.05 [[ 9.16970023e-01 -3.94786947e-01 -5.75260269e-02 2.93503087e+02] [ 3.93641240e-01 9.18757132e-01 -3.05271594e-02 1.13694263e+02] [ 6.49041715e-02 5.34787352e-03 9.97877171e-01 3.50475942e+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:293.53, Y:113.70, Z:35.05 [[ 9.15179515e-01 -3.98917242e-01 -5.75455502e-02 2.93533355e+02] [ 3.97781978e-01 9.16973233e-01 -3.04891572e-02 1.13698179e+02] [ 6.49303796e-02 5.01246927e-03 9.97877207e-01 3.50463876e+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:293.57, Y:113.71, Z:35.05 [[ 9.14777528e-01 -3.99873016e-01 -5.73031007e-02 2.93565287e+02] [ 3.98710356e-01 9.16554209e-01 -3.09585730e-02 1.13707517e+02] [ 6.49008961e-02 5.47286720e-03 9.97876707e-01 3.50496252e+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:293.60, Y:113.71, Z:35.05 [[ 9.13991608e-01 -4.01663691e-01 -5.73203254e-02 2.93603744e+02] [ 4.00506592e-01 9.15771862e-01 -3.09251928e-02 1.13712277e+02] [ 6.49138682e-02 5.30819852e-03 9.97876752e-01 3.50459832e+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:293.64, Y:113.72, Z:35.05 [[ 9.13671609e-01 -4.02336873e-01 -5.76994916e-02 2.93635865e+02] [ 4.01227156e-01 9.15480964e-01 -3.01889599e-02 1.13722158e+02] [ 6.49689179e-02 4.43219266e-03 9.97877445e-01 3.50451519e+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:293.67, Y:113.73, Z:35.04 [[ 9.12964077e-01 -4.03932270e-01 -5.77521795e-02 2.93670179e+02] [ 4.02832159e-01 9.14779236e-01 -3.00865518e-02 1.13727637e+02] [ 6.49834239e-02 4.20350591e-03 9.97877490e-01 3.50429033e+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:293.70, Y:113.73, Z:35.04 [[ 9.12587996e-01 -4.04774592e-01 -5.77986020e-02 2.93703903e+02] [ 4.03681849e-01 9.14407564e-01 -2.99962097e-02 1.13733634e+02] [ 6.49931824e-02 4.04193438e-03 9.97877522e-01 3.50447341e+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:293.74, Y:113.75, Z:35.05 [[ 9.11897834e-01 -4.06329569e-01 -5.77808138e-02 2.93735037e+02] [ 4.05237743e-01 9.13717965e-01 -3.00308474e-02 1.13745133e+02] [ 6.49977889e-02 3.97009812e-03 9.97877510e-01 3.50491328e+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:293.76, Y:113.75, Z:35.05 [[ 9.10814320e-01 -4.08729958e-01 -5.79404574e-02 2.93764876e+02] [ 4.07662627e-01 9.12648852e-01 -2.97196200e-02 1.13753140e+02] [ 6.50265909e-02 3.44889642e-03 9.97877571e-01 3.50506883e+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:293.80, Y:113.76, Z:35.05 [[ 9.10593966e-01 -4.09254322e-01 -5.77020689e-02 2.93796785e+02] [ 4.08158633e-01 9.12411871e-01 -3.01845725e-02 1.13763700e+02] [ 6.50012194e-02 3.93429196e-03 9.97877429e-01 3.50548797e+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:293.83, Y:113.77, Z:35.06 [[ 9.07506750e-01 -4.16040112e-01 -5.78111082e-02 2.93828782e+02] [ 4.14971531e-01 9.09340598e-01 -2.99717324e-02 1.13770673e+02] [ 6.50394306e-02 3.20958538e-03 9.97877533e-01 3.50607879e+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:293.86, Y:113.78, Z:35.06 [[ 9.04967165e-01 -4.21522279e-01 -5.79085442e-02 2.93859151e+02] [ 4.20476963e-01 9.06814313e-01 -2.97812784e-02 1.13783009e+02] [ 6.50657691e-02 2.60187028e-03 9.97877586e-01 3.50638327e+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:293.89, Y:113.79, Z:35.07 [[ 9.00772347e-01 -4.30415709e-01 -5.78921142e-02 2.93890940e+02] [ 4.29386574e-01 9.02628567e-01 -2.98134332e-02 1.13790755e+02] [ 6.50872460e-02 1.99701964e-03 9.97877579e-01 3.50705681e+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:293.92, Y:113.80, Z:35.07 [[ 8.98744729e-01 -4.34619724e-01 -5.79966144e-02 2.93922539e+02] [ 4.33612460e-01 9.00612878e-01 -2.96087454e-02 1.13802507e+02] [ 6.51010426e-02 1.46264923e-03 9.97877605e-01 3.50730078e+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:293.95, Y:113.81, Z:35.07 [[ 8.95211254e-01 -4.41850553e-01 -5.80077570e-02 2.93954953e+02] [ 4.40859797e-01 8.97088209e-01 -2.95868994e-02 1.13809663e+02] [ 6.51110627e-02 9.13237362e-04 9.97877606e-01 3.50727970e+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:293.99, Y:113.82, Z:35.07 [[ 8.93197882e-01 -4.45905204e-01 -5.80180440e-02 2.93987621e+02] [ 4.44924280e-01 8.95079993e-01 -2.95667136e-02 1.13819499e+02] [ 6.51147419e-02 5.95289487e-04 9.97877606e-01 3.50741318e+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:294.01, Y:113.83, Z:35.07 [[ 8.93191338e-01 -4.45916914e-01 -5.80287821e-02 2.94014794e+02] [ 4.44937384e-01 8.95074176e-01 -2.95456235e-02 1.13832577e+02] [ 6.51149576e-02 5.70720468e-04 9.97877606e-01 3.50739877e+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:294.05, Y:113.85, Z:35.08 [[ 8.96088067e-01 -4.40093000e-01 -5.78301584e-02 2.94045392e+02] [ 4.39076029e-01 8.97951055e-01 -2.99356587e-02 1.13846095e+02] [ 6.51031256e-02 1.43315023e-03 9.97877512e-01 3.50808240e+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:294.07, Y:113.86, Z:35.09 [[ 8.98592666e-01 -4.34928018e-01 -5.80417180e-02 2.94074974e+02] [ 4.33927141e-01 9.00464226e-01 -2.95197054e-02 1.13861166e+02] [ 6.51034376e-02 1.34031399e-03 9.97877621e-01 3.50850409e+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:294.10, Y:113.88, Z:35.09 [[ 9.03879568e-01 -4.23830658e-01 -5.80456758e-02 2.94100108e+02] [ 4.22807312e-01 9.05738938e-01 -2.95119210e-02 1.13876265e+02] [ 6.50822856e-02 2.13308627e-03 9.97877621e-01 3.50914983e+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:294.13, Y:113.89, Z:35.09 [[ 9.06557256e-01 -4.18092927e-01 -5.78985868e-02 2.94129975e+02] [ 4.17039341e-01 9.08399727e-01 -2.98014221e-02 1.13891925e+02] [ 6.50548243e-02 2.87070693e-03 9.97877562e-01 3.50922170e+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:294.16, Y:113.91, Z:35.09 [[ 9.10169006e-01 -4.10167391e-01 -5.79231592e-02 2.94156444e+02] [ 4.09100840e-01 9.12003981e-01 -2.97530179e-02 1.13909020e+02] [ 6.50298695e-02 3.38386159e-03 9.97877580e-01 3.50865961e+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:294.19, Y:113.93, Z:35.09 [[ 9.11414119e-01 -4.07396346e-01 -5.79009604e-02 2.94186920e+02] [ 4.06321447e-01 9.13244236e-01 -2.97967627e-02 1.13925413e+02] [ 6.50168106e-02 3.63078820e-03 9.97877564e-01 3.50889048e+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:294.21, Y:113.94, Z:35.09 [[ 9.12934101e-01 -4.03953167e-01 -5.80789692e-02 2.94210471e+02] [ 4.02893584e-01 9.14773039e-01 -2.94456673e-02 1.13942520e+02] [ 6.50237457e-02 3.48230969e-03 9.97877641e-01 3.50945645e+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:294.24, Y:113.96, Z:35.10 [[ 9.13712485e-01 -4.02219818e-01 -5.78680702e-02 2.94240840e+02] [ 4.01130466e-01 9.15534071e-01 -2.98615828e-02 1.13958306e+02] [ 6.49911102e-02 4.07225504e-03 9.97877534e-01 3.50988508e+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:294.27, Y:113.97, Z:35.10 [[ 9.15781963e-01 -3.97453008e-01 -5.80904678e-02 2.94267216e+02] [ 3.96381842e-01 9.17614163e-01 -2.94225084e-02 1.13973008e+02] [ 6.49987004e-02 3.91859590e-03 9.97877655e-01 3.50961647e+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:294.30, Y:113.99, Z:35.09 [[ 9.16915582e-01 -3.94863460e-01 -5.78676382e-02 2.94296879e+02] [ 3.93759453e-01 9.18728323e-01 -2.98623850e-02 1.13987533e+02] [ 6.49562029e-02 4.59535657e-03 9.97877535e-01 3.50935845e+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:294.33, Y:114.00, Z:35.10 [[ 9.18457683e-01 -3.91235838e-01 -5.80517268e-02 2.94325290e+02] [ 3.90147494e-01 9.20279721e-01 -2.94985969e-02 1.14000575e+02] [ 6.49647352e-02 4.44447725e-03 9.97877663e-01 3.50973182e+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:294.36, Y:114.01, Z:35.10 [[ 9.19852499e-01 -3.87963469e-01 -5.79286335e-02 2.94355452e+02] [ 3.86853398e-01 9.21661467e-01 -2.97420258e-02 1.14014616e+02] [ 6.49294088e-02 4.94838802e-03 9.97877590e-01 3.51014113e+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:294.38, Y:114.03, Z:35.11 [[ 9.20766721e-01 -3.85759850e-01 -5.81204199e-02 2.94381732e+02] [ 3.84669210e-01 9.22587366e-01 -2.93624139e-02 1.14025761e+02] [ 6.49480054e-02 4.67879754e-03 9.97877681e-01 3.51077515e+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:294.41, Y:114.04, Z:35.10 [[ 9.20624156e-01 -3.86139058e-01 -5.78601032e-02 2.94413558e+02] [ 3.85016933e-01 9.22425761e-01 -2.98776901e-02 1.14035675e+02] [ 6.49085929e-02 5.22900378e-03 9.97877514e-01 3.51026609e+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:294.44, Y:114.05, Z:35.10 [[ 9.20213357e-01 -3.87117714e-01 -5.78554477e-02 2.94443364e+02] [ 3.85996930e-01 9.22015804e-01 -2.98869045e-02 1.14046825e+02] [ 6.49133873e-02 5.17030357e-03 9.97877508e-01 3.51033510e+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:294.48, Y:114.06, Z:35.10 [[ 9.19377586e-01 -3.89096027e-01 -5.78717258e-02 2.94475004e+02] [ 3.87981137e-01 9.21183660e-01 -2.98546682e-02 1.14057484e+02] [ 6.49268209e-02 4.99457479e-03 9.97877529e-01 3.50986522e+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:294.50, Y:114.07, Z:35.10 [[ 9.18807459e-01 -3.90422004e-01 -5.79957952e-02 2.94502344e+02] [ 3.89325126e-01 9.20624387e-01 -2.96088468e-02 1.14070005e+02] [ 6.49522887e-02 4.62560901e-03 9.97877650e-01 3.51040288e+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:294.53, Y:114.08, Z:35.10 [[ 9.18156885e-01 -3.91947852e-01 -5.80070329e-02 2.94532065e+02] [ 3.90855393e-01 9.19976465e-01 -2.95865706e-02 1.14081302e+02] [ 6.49614979e-02 4.49275187e-03 9.97877657e-01 3.51040415e+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:294.56, Y:114.09, Z:35.11 [[ 9.15476899e-01 -3.98173761e-01 -5.79629474e-02 2.94562383e+02] [ 3.97088173e-01 9.17300626e-01 -2.96739747e-02 1.14092919e+02] [ 6.49848460e-02 4.14943742e-03 9.97877624e-01 3.51111901e+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:294.59, Y:114.11, Z:35.11 [[ 9.14622618e-01 -4.00105481e-01 -5.81469741e-02 2.94591482e+02] [ 3.99046824e-01 9.16462013e-01 -2.93088894e-02 1.14105270e+02] [ 6.50161402e-02 3.60320776e-03 9.97877707e-01 3.51125590e+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:294.62, Y:114.12, Z:35.11 [[ 9.12537366e-01 -4.04852789e-01 -5.80497651e-02 2.94621969e+02] [ 4.03791461e-01 9.14375250e-01 -2.95018206e-02 1.14115396e+02] [ 6.50231629e-02 3.48151413e-03 9.97877682e-01 3.51108894e+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:294.65, Y:114.13, Z:35.11 [[ 9.11380074e-01 -4.07456446e-01 -5.80138352e-02 2.94651853e+02] [ 4.06395846e-01 9.13218402e-01 -2.95730868e-02 1.14128302e+02] [ 6.50290467e-02 3.37574038e-03 9.97877662e-01 3.51134591e+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:294.68, Y:114.14, Z:35.12 [[ 9.11015205e-01 -4.08262820e-01 -5.80755163e-02 2.94677619e+02] [ 4.07211619e-01 9.12858889e-01 -2.94507505e-02 1.14138713e+02] [ 6.50383977e-02 3.18105651e-03 9.97877692e-01 3.51214087e+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:294.70, Y:114.15, Z:35.12 [[ 9.11024079e-01 -4.08256056e-01 -5.79837864e-02 2.94702387e+02] [ 4.07193297e-01 9.12861179e-01 -2.96325299e-02 1.14151117e+02] [ 6.50288074e-02 3.38533910e-03 9.97877645e-01 3.51188442e+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:294.73, Y:114.16, Z:35.13 [[ 9.13953562e-01 -4.01651818e-01 -5.80060603e-02 2.94732036e+02] [ 4.00578585e-01 9.15784543e-01 -2.95883177e-02 1.14160043e+02] [ 6.50052550e-02 3.80636279e-03 9.97877662e-01 3.51290387e+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:294.76, Y:114.17, Z:35.12 [[ 9.17027205e-01 -3.94585834e-01 -5.79924512e-02 2.94764824e+02] [ 3.93496800e-01 9.18848845e-01 -2.96153521e-02 1.14172847e+02] [ 6.49720952e-02 4.33823965e-03 9.97877651e-01 3.51233571e+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:294.79, Y:114.19, Z:35.13 [[ 9.21172295e-01 -3.84779715e-01 -5.81908423e-02 2.94794033e+02] [ 3.83696022e-01 9.22997023e-01 -2.92208557e-02 1.14185802e+02] [ 6.49535667e-02 4.58984798e-03 9.97877732e-01 3.51286955e+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:294.82, Y:114.20, Z:35.13 [[ 9.22704864e-01 -3.81088085e-01 -5.82031365e-02 2.94822197e+02] [ 3.79998627e-01 9.24526157e-01 -2.91963868e-02 1.14200138e+02] [ 6.49367172e-02 4.82253615e-03 9.97877731e-01 3.51325827e+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:294.85, Y:114.21, Z:35.13 [[ 9.24919911e-01 -3.75682432e-01 -5.81882225e-02 2.94853872e+02] [ 3.74580482e-01 9.26733672e-01 -2.92260802e-02 1.14211025e+02] [ 6.49047099e-02 5.23561111e-03 9.97877732e-01 3.51337203e+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:294.89, Y:114.22, Z:35.13 [[ 9.25714849e-01 -3.73718719e-01 -5.81922457e-02 2.94885016e+02] [ 3.72613422e-01 9.27526572e-01 -2.92180673e-02 1.14221953e+02] [ 6.48941929e-02 5.36438689e-03 9.97877732e-01 3.51327269e+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:294.91, Y:114.24, Z:35.13 [[ 9.25849829e-01 -3.73378473e-01 -5.82289438e-02 2.94914223e+02] [ 3.72277069e-01 9.27663924e-01 -2.91449345e-02 1.14236390e+02] [ 6.48989817e-02 5.30653209e-03 9.97877729e-01 3.51348240e+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:294.94, Y:114.25, Z:35.13 [[ 9.25297825e-01 -3.74742590e-01 -5.82402508e-02 2.94944571e+02] [ 3.73645268e-01 9.27114394e-01 -2.91223804e-02 1.14246451e+02] [ 6.49087711e-02 5.18568109e-03 9.97877728e-01 3.51326066e+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:294.97, Y:114.26, Z:35.14 [[ 9.24225244e-01 -3.77384742e-01 -5.82104386e-02 2.94974141e+02] [ 3.76288896e-01 9.26042702e-01 -2.91818744e-02 1.14259429e+02] [ 6.49181459e-02 5.06668329e-03 9.97877730e-01 3.51371820e+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:295.01, Y:114.27, Z:35.14 [[ 9.21416929e-01 -3.84189407e-01 -5.82180630e-02 2.95005456e+02] [ 3.83107947e-01 9.23242984e-01 -2.91666558e-02 1.14268281e+02] [ 6.49549383e-02 4.57084781e-03 9.97877730e-01 3.51389630e+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:295.04, Y:114.28, Z:35.14 [[ 9.19817306e-01 -3.88003039e-01 -5.82216890e-02 2.95035080e+02] [ 3.86929608e-01 9.21648093e-01 -2.91594158e-02 1.14279525e+02] [ 6.49738505e-02 4.29363998e-03 9.97877730e-01 3.51389592e+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:295.07, Y:114.29, Z:35.14 [[ 9.15530336e-01 -3.98023964e-01 -5.81474688e-02 2.95065151e+02] [ 3.96961206e-01 9.17367355e-01 -2.93076348e-02 1.14290239e+02] [ 6.50077306e-02 3.74973934e-03 9.97877715e-01 3.51435318e+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:295.10, Y:114.30, Z:35.14 [[ 9.12536441e-01 -4.04828776e-01 -5.82314770e-02 2.95096571e+02] [ 4.03790398e-01 9.14387330e-01 -2.91397594e-02 1.14300143e+02] [ 6.50427379e-02 3.07778109e-03 9.97877733e-01 3.51437657e+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:295.12, Y:114.31, Z:35.15 [[ 9.11030813e-01 -4.08204063e-01 -5.82434579e-02 2.95124642e+02] [ 4.07174070e-01 9.12886382e-01 -2.91158143e-02 1.14313310e+02] [ 6.50548532e-02 2.81017819e-03 9.97877733e-01 3.51478213e+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:295.16, Y:114.33, Z:35.15 [[ 9.11009319e-01 -4.08252769e-01 -5.82382839e-02 2.95155100e+02] [ 4.07222215e-01 9.12864576e-01 -2.91261599e-02 1.14325733e+02] [ 6.50545017e-02 2.81828009e-03 9.97877733e-01 3.51473010e+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:295.18, Y:114.34, Z:35.15 [[ 9.11461128e-01 -4.07242570e-01 -5.82417499e-02 2.95183647e+02] [ 4.06210402e-01 9.13315487e-01 -2.91192273e-02 1.14339347e+02] [ 6.50516812e-02 2.88263910e-03 9.97877733e-01 3.51485239e+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:295.21, Y:114.35, Z:35.15 [[ 9.13260097e-01 -4.03191831e-01 -5.82438183e-02 2.95211409e+02] [ 4.02151704e-01 9.15110004e-01 -2.91150897e-02 1.14353079e+02] [ 6.50384671e-02 3.16679889e-03 9.97877733e-01 3.51524108e+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:295.24, Y:114.37, Z:35.15 [[ 9.14912708e-01 -3.99427387e-01 -5.82451690e-02 2.95239454e+02] [ 3.98379822e-01 9.16758412e-01 -2.91123873e-02 1.14366984e+02] [ 6.50250334e-02 3.43159305e-03 9.97877733e-01 3.51544661e+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:295.27, Y:114.38, Z:35.15 [[ 9.18988009e-01 -3.89959463e-01 -5.82465148e-02 2.95270204e+02] [ 3.88893066e-01 9.20822898e-01 -2.91096944e-02 1.14379383e+02] [ 6.49863253e-02 4.09979435e-03 9.97877733e-01 3.51506984e+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:295.30, Y:114.39, Z:35.16 [[ 9.20929092e-01 -3.85336329e-01 -5.83568343e-02 2.95298231e+02] [ 3.84274629e-01 9.22766734e-01 -2.88888241e-02 1.14390461e+02] [ 6.49816588e-02 4.17950772e-03 9.97877706e-01 3.51597451e+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:295.33, Y:114.40, Z:35.16 [[ 9.21757046e-01 -3.83368466e-01 -5.82457450e-02 2.95325876e+02] [ 3.82288856e-01 9.23584194e-01 -2.91112956e-02 1.14403218e+02] [ 6.49552022e-02 4.56684261e-03 9.97877731e-01 3.51589168e+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:295.36, Y:114.41, Z:35.16 [[ 9.23091377e-01 -3.80141693e-01 -5.82632222e-02 2.95355503e+02] [ 3.79057893e-01 9.24916042e-01 -2.90762748e-02 1.14413249e+02] [ 6.49416931e-02 4.75492430e-03 9.97877732e-01 3.51620999e+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:295.39, Y:114.42, Z:35.16 [[ 9.24057626e-01 -3.77786524e-01 -5.82653154e-02 2.95386616e+02] [ 3.76698337e-01 9.25879678e-01 -2.90720797e-02 1.14424465e+02] [ 6.49297113e-02 4.91582955e-03 9.97877732e-01 3.51598244e+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:295.41, Y:114.43, Z:35.17 [[ 9.25011301e-01 -3.75433343e-01 -5.83429399e-02 2.95414983e+02] [ 3.74350251e-01 9.26836405e-01 -2.89165690e-02 1.14432626e+02] [ 6.49306048e-02 4.90745889e-03 9.97877715e-01 3.51698292e+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:295.44, Y:114.45, Z:35.17 [[ 9.23992875e-01 -3.77959330e-01 -5.81714024e-02 2.95443001e+02] [ 3.76859714e-01 9.25808076e-01 -2.92602436e-02 1.14446844e+02] [ 6.49147363e-02 5.11379851e-03 9.97877711e-01 3.51683258e+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:295.47, Y:114.45, Z:35.18 [[ 9.24536627e-01 -3.76612935e-01 -5.82642571e-02 2.95471990e+02] [ 3.75522305e-01 9.26357216e-01 -2.90741672e-02 1.14452626e+02] [ 6.49232224e-02 5.00060430e-03 9.97877733e-01 3.51764716e+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:295.50, Y:114.47, Z:35.17 [[ 9.23714431e-01 -3.78647910e-01 -5.81155002e-02 2.95503806e+02] [ 3.77542646e-01 9.25526239e-01 -2.93722870e-02 1.14467235e+02] [ 6.49091754e-02 5.19052564e-03 9.97877677e-01 3.51714032e+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:295.53, Y:114.48, Z:35.17 [[ 9.23029554e-01 -3.80277863e-01 -5.83540024e-02 2.95534290e+02] [ 3.79205769e-01 9.24861135e-01 -2.88940507e-02 1.14477965e+02] [ 6.49571168e-02 4.54188836e-03 9.97877720e-01 3.51743160e+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:295.56, Y:114.49, Z:35.18 [[ 9.22631334e-01 -3.81249187e-01 -5.83136188e-02 2.95562169e+02] [ 3.80173935e-01 9.24461047e-01 -2.89750247e-02 1.14489380e+02] [ 6.49553737e-02 4.56394779e-03 9.97877733e-01 3.51798593e+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:295.59, Y:114.50, Z:35.18 [[ 9.21257254e-01 -3.84573758e-01 -5.82073573e-02 2.95590427e+02] [ 3.83491725e-01 9.23082966e-01 -2.91879206e-02 1.14496839e+02] [ 6.49551283e-02 4.56754379e-03 9.97877732e-01 3.51832063e+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:295.62, Y:114.50, Z:35.18 [[ 9.19852680e-01 -3.87914357e-01 -5.82537519e-02 2.95616827e+02] [ 3.86844805e-01 9.21685725e-01 -2.90950307e-02 1.14503871e+02] [ 6.49780316e-02 4.22798067e-03 9.97877738e-01 3.51843710e+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:295.65, Y:114.51, Z:35.18 [[ 9.19631072e-01 -3.88459314e-01 -5.81210233e-02 2.95645650e+02] [ 3.87374146e-01 9.21454956e-01 -2.93604492e-02 1.14512760e+02] [ 6.49612450e-02 4.48619962e-03 9.97877703e-01 3.51802869e+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:295.67, Y:114.52, Z:35.18 [[ 9.16765436e-01 -3.95162841e-01 -5.82019321e-02 2.95674098e+02] [ 3.94101237e-01 9.18603099e-01 -2.91986691e-02 1.14521496e+02] [ 6.50027042e-02 3.83087716e-03 9.97877734e-01 3.51849995e+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:295.70, Y:114.53, Z:35.18 [[ 9.14911580e-01 -3.99435869e-01 -5.82047047e-02 2.95704327e+02] [ 3.98383201e-01 9.16754377e-01 -2.91931252e-02 1.14528178e+02] [ 6.50201991e-02 3.52135173e-03 9.97877735e-01 3.51759098e+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:295.73, Y:114.54, Z:35.18 [[ 9.13282291e-01 -4.03136900e-01 -5.82760450e-02 2.95731023e+02] [ 4.02100766e-01 9.15134438e-01 -2.90505515e-02 1.14539125e+02] [ 6.50417650e-02 3.09851187e-03 9.97877732e-01 3.51790674e+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:295.76, Y:114.55, Z:35.18 [[ 9.10710521e-01 -4.08906786e-01 -5.83231340e-02 2.95759172e+02] [ 4.07888394e-01 9.12572504e-01 -2.89565580e-02 1.14547030e+02] [ 6.50646215e-02 2.58171252e-03 9.97877713e-01 3.51833610e+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:295.78, Y:114.56, Z:35.18 [[ 9.09731961e-01 -4.11074520e-01 -5.83566471e-02 2.95784804e+02] [ 4.10064845e-01 9.11598710e-01 -2.88897109e-02 1.14556332e+02] [ 6.50736683e-02 2.35188389e-03 9.97877691e-01 3.51828222e+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:295.81, Y:114.56, Z:35.18 [[ 9.07243418e-01 -4.16561482e-01 -5.81885957e-02 2.95811869e+02] [ 4.15541625e-01 9.09104551e-01 -2.92245285e-02 1.14563648e+02] [ 6.50733300e-02 2.33397746e-03 9.97877755e-01 3.51828934e+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:295.84, Y:114.58, Z:35.19 [[ 9.05709737e-01 -4.19891399e-01 -5.81470970e-02 2.95838589e+02] [ 4.18873085e-01 9.07571721e-01 -2.93071838e-02 1.14575273e+02] [ 6.50784953e-02 2.18754789e-03 9.97877750e-01 3.51850565e+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:295.87, Y:114.59, Z:35.19 [[ 9.03821893e-01 -4.23930686e-01 -5.82130571e-02 2.95865447e+02] [ 4.22929141e-01 9.05692946e-01 -2.91758501e-02 1.14586172e+02] [ 6.50916933e-02 1.74977385e-03 9.97877753e-01 3.51935696e+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:295.89, Y:114.60, Z:35.20 [[ 9.03790117e-01 -4.23992350e-01 -5.82572906e-02 2.95888287e+02] [ 4.22996600e-01 9.05664273e-01 -2.90878020e-02 1.14597729e+02] [ 6.50945523e-02 1.64663214e-03 9.97877742e-01 3.51970987e+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:295.92, Y:114.61, Z:35.20 [[ 9.04539974e-01 -4.22425292e-01 -5.80026503e-02 2.95917019e+02] [ 4.21393788e-01 9.06394758e-01 -2.95942283e-02 1.14609625e+02] [ 6.50746487e-02 2.32720598e-03 9.97877685e-01 3.51969250e+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:295.94, Y:114.62, Z:35.20 [[ 9.04385626e-01 -4.22726567e-01 -5.82141679e-02 2.95941453e+02] [ 4.21722675e-01 9.06255420e-01 -2.91736003e-02 1.14622806e+02] [ 6.50893611e-02 1.83395012e-03 9.97877754e-01 3.51979335e+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:295.97, Y:114.64, Z:35.20 [[ 9.03302587e-01 -4.25046915e-01 -5.81339602e-02 2.95965935e+02] [ 4.24037575e-01 9.05169439e-01 -2.93329336e-02 1.14635841e+02] [ 6.50889571e-02 1.84553126e-03 9.97877759e-01 3.52044108e+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:295.99, Y:114.65, Z:35.21 [[ 9.01838397e-01 -4.28141754e-01 -5.81562013e-02 2.95992131e+02] [ 4.27141666e-01 9.03710222e-01 -2.92887713e-02 1.14646801e+02] [ 6.50960995e-02 1.57280188e-03 9.97877760e-01 3.52077308e+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:296.01, Y:114.66, Z:35.21 [[ 9.02160026e-01 -4.27464916e-01 -5.81466511e-02 2.96014957e+02] [ 4.26462204e-01 9.04030446e-01 -2.93077191e-02 1.14657047e+02] [ 6.50943646e-02 1.64290372e-03 9.97877760e-01 3.52112279e+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:296.04, Y:114.67, Z:35.21 [[ 8.99651725e-01 -4.32771779e-01 -5.77525907e-02 2.96040027e+02] [ 4.31729855e-01 9.01500986e-01 -3.00882941e-02 1.14669429e+02] [ 6.50853820e-02 2.13546806e-03 9.97877414e-01 3.52129994e+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:296.07, Y:114.68, Z:35.21 [[ 8.96834965e-01 -4.38581795e-01 -5.77326181e-02 2.96068585e+02] [ 4.37549308e-01 8.98689555e-01 -3.01278552e-02 1.14684410e+02] [ 6.50972297e-02 1.75884689e-03 9.97877376e-01 3.52134528e+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:296.09, Y:114.70, Z:35.21 [[ 8.94117758e-01 -4.44042469e-01 -5.81353739e-02 2.96091025e+02] [ 4.43073025e-01 8.96005619e-01 -2.93295946e-02 1.14696577e+02] [ 6.51132072e-02 4.65895406e-04 9.97877775e-01 3.52141955e+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:296.12, Y:114.71, Z:35.22 [[ 8.93147349e-01 -4.46033991e-01 -5.78056408e-02 2.96115509e+02] [ 4.45026411e-01 8.95015402e-01 -2.99820663e-02 1.14708155e+02] [ 6.51099595e-02 1.05336620e-03 9.97877539e-01 3.52208004e+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:296.14, Y:114.72, Z:35.23 [[ 8.89951603e-01 -4.52386275e-01 -5.77304332e-02 2.96137992e+02] [ 4.51382392e-01 8.91821780e-01 -3.01305474e-02 1.14721050e+02] [ 6.51159037e-02 7.56227961e-04 9.97877421e-01 3.52260937e+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:296.16, Y:114.73, Z:35.22 [[ 8.88616751e-01 -4.55029997e-01 -5.75149704e-02 2.96162883e+02] [ 4.54004074e-01 8.90475501e-01 -3.05562141e-02 1.14733913e+02] [ 6.51196661e-02 1.04073277e-03 9.97876919e-01 3.52241373e+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:296.19, Y:114.75, Z:35.23 [[ 8.84032340e-01 -4.63887399e-01 -5.74047229e-02 2.96193161e+02] [ 4.62865941e-01 8.85893943e-01 -3.07740536e-02 1.14751776e+02] [ 6.51301920e-02 6.34567562e-04 9.97876573e-01 3.52344334e+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:296.21, Y:114.77, Z:35.23 [[ 8.82926544e-01 -4.65899920e-01 -5.81204141e-02 2.96209721e+02] [ 4.64975377e-01 8.84836734e-01 -2.93573406e-02 1.14767201e+02] [ 6.51046600e-02 -1.10418620e-03 9.97877830e-01 3.52325890e+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:296.23, Y:114.78, Z:35.24 [[ 8.83613113e-01 -4.64687874e-01 -5.73850750e-02 2.96231755e+02] [ 4.63665676e-01 8.85474335e-01 -3.08114000e-02 1.14781677e+02] [ 6.51306951e-02 6.17867501e-04 9.97876551e-01 3.52365184e+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:296.26, Y:114.80, Z:35.24 [[ 8.85597436e-01 -4.60915000e-01 -5.72236300e-02 2.96258088e+02] [ 4.59864315e-01 8.87443403e-01 -3.11290574e-02 1.14797631e+02] [ 6.51305824e-02 1.25270800e-03 9.97875963e-01 3.52366865e+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:296.28, Y:114.81, Z:35.23 [[ 8.85733054e-01 -4.60626876e-01 -5.74442100e-02 2.96280507e+02] [ 4.59603667e-01 8.87593523e-01 -3.06953817e-02 1.14814624e+02] [ 6.51262265e-02 7.86344598e-04 9.97876724e-01 3.52334060e+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:296.31, Y:114.84, Z:35.24 [[ 8.86043529e-01 -4.60061532e-01 -5.71861078e-02 2.96310923e+02] [ 4.59004291e-01 8.87885933e-01 -3.12030426e-02 1.14835462e+02] [ 6.51300603e-02 1.39858512e-03 9.97875804e-01 3.52397705e+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:296.33, Y:114.85, Z:35.24 [[ 8.87200578e-01 -4.57714634e-01 -5.80727813e-02 2.96328482e+02] [ 4.56766059e-01 8.89099072e-01 -2.94551856e-02 1.14850978e+02] [ 6.51145254e-02 -3.93017733e-04 9.97877720e-01 3.52364358e+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:296.35, Y:114.87, Z:35.23 [[ 8.91615565e-01 -4.49139393e-01 -5.74063552e-02 2.96348599e+02] [ 4.48087567e-01 8.93460062e-01 -3.07676945e-02 1.14867949e+02] [ 6.51092692e-02 1.70988130e-03 9.97876675e-01 3.52330294e+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:296.37, Y:114.88, Z:35.23 [[ 8.96126652e-01 -4.40108856e-01 -5.71070840e-02 2.96373859e+02] [ 4.39000912e-01 8.97939320e-01 -3.13556474e-02 1.14883927e+02] [ 6.50785943e-02 3.02856939e-03 9.97875546e-01 3.52313426e+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:296.40, Y:114.90, Z:35.24 [[ 8.97505927e-01 -4.37286569e-01 -5.71276427e-02 2.96395381e+02] [ 4.36175494e-01 8.99316570e-01 -3.13152551e-02 1.14898531e+02] [ 6.50695761e-02 3.18794930e-03 9.97875637e-01 3.52365295e+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:296.42, Y:114.92, Z:35.24 [[ 9.00244072e-01 -4.31660418e-01 -5.68321704e-02 2.96419555e+02] [ 4.30501404e-01 9.02026190e-01 -3.18950515e-02 1.14915413e+02] [ 6.50319374e-02 4.24700185e-03 9.97874145e-01 3.52376616e+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:296.45, Y:114.93, Z:35.24 [[ 9.03608109e-01 -4.24515535e-01 -5.72620838e-02 2.96448241e+02] [ 4.23396134e-01 9.05412656e-01 -3.10424855e-02 1.14931470e+02] [ 6.50238327e-02 3.80569674e-03 9.97876454e-01 3.52387757e+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:296.48, Y:114.95, Z:35.24 [[ 9.04280230e-01 -4.23099375e-01 -5.71330423e-02 2.96477278e+02] [ 4.21960969e-01 9.06073573e-01 -3.12988819e-02 1.14945441e+02] [ 6.50092772e-02 4.19504620e-03 9.97875842e-01 3.52408771e+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:296.51, Y:114.96, Z:35.25 [[ 9.06215746e-01 -4.18935962e-01 -5.71461453e-02 2.96513001e+02] [ 4.17790956e-01 9.08004805e-01 -3.12728602e-02 1.14956542e+02] [ 6.49903003e-02 4.46481565e-03 9.97875907e-01 3.52478627e+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:296.53, Y:114.96, Z:35.24 [[ 9.08543569e-01 -4.13718382e-01 -5.81866270e-02 2.96525848e+02] [ 4.12694314e-01 9.10401434e-01 -2.91998821e-02 1.14958589e+02] [ 6.50537165e-02 2.51607497e-03 9.97878592e-01 3.52420661e+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:296.56, Y:114.97, Z:35.25 [[ 9.07310767e-01 -4.16605234e-01 -5.68089037e-02 2.96561901e+02] [ 4.15412511e-01 9.09071462e-01 -3.19612809e-02 1.14974542e+02] [ 6.49585900e-02 5.39968494e-03 9.97873351e-01 3.52497268e+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:296.59, Y:114.98, Z:35.26 [[ 9.05463770e-01 -4.20473442e-01 -5.77706400e-02 2.96593612e+02] [ 4.19410198e-01 9.07300015e-01 -3.00294579e-02 1.14984233e+02] [ 6.50418921e-02 2.96099055e-03 9.97878141e-01 3.52567493e+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:296.61, Y:114.99, Z:35.26 [[ 9.05222283e-01 -4.20920643e-01 -5.82960629e-02 2.96609435e+02] [ 4.19925994e-01 9.07095785e-01 -2.89723415e-02 1.14986573e+02] [ 6.50751696e-02 1.74637695e-03 9.97878837e-01 3.52641680e+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:296.63, Y:115.00, Z:35.27 [[ 9.05589550e-01 -4.20305128e-01 -5.70189921e-02 2.96634981e+02] [ 4.19145855e-01 9.07370837e-01 -3.15422905e-02 1.14999094e+02] [ 6.49947571e-02 4.66509450e-03 9.97874701e-01 3.52667977e+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:296.66, Y:115.01, Z:35.25 [[ 9.03200225e-01 -4.25425357e-01 -5.69440063e-02 2.96663182e+02] [ 4.24266678e-01 9.04982498e-01 -3.16932926e-02 1.15009182e+02] [ 6.50164593e-02 4.46594460e-03 9.97874198e-01 3.52545062e+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:296.69, Y:115.02, Z:35.27 [[ 9.00054701e-01 -4.32029586e-01 -5.70260683e-02 2.96690938e+02] [ 4.30894468e-01 9.01851409e-01 -3.15276767e-02 1.15015990e+02] [ 6.50499291e-02 3.80441630e-03 9.97874758e-01 3.52723613e+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:296.72, Y:115.02, Z:35.26 [[ 9.00562927e-01 -4.30998735e-01 -5.68023340e-02 2.96720628e+02] [ 4.29833044e-01 9.02341882e-01 -3.19794059e-02 1.15024419e+02] [ 6.50382084e-02 4.38394721e-03 9.97873144e-01 3.52605388e+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:296.75, Y:115.04, Z:35.28 [[ 8.98776537e-01 -4.34726231e-01 -5.66907447e-02 2.96747797e+02] [ 4.33553701e-01 9.00552074e-01 -3.22048204e-02 1.15036985e+02] [ 6.50532479e-02 4.36645481e-03 9.97872241e-01 3.52767645e+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:296.77, Y:115.04, Z:35.26 [[ 8.99974640e-01 -4.32200330e-01 -5.69958016e-02 2.96774640e+02] [ 4.31061862e-01 9.01769367e-01 -3.15860835e-02 1.15044350e+02] [ 6.50485836e-02 3.85795780e-03 9.97874640e-01 3.52617209e+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:296.80, Y:115.06, Z:35.28 [[ 8.97456702e-01 -4.37447541e-01 -5.66667223e-02 2.96801425e+02] [ 4.36277222e-01 8.99234006e-01 -3.22550603e-02 1.15056952e+02] [ 6.50665405e-02 4.22511985e-03 9.97871983e-01 3.52760953e+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:296.83, Y:115.07, Z:35.28 [[ 8.96626383e-01 -4.39116495e-01 -5.69019641e-02 2.96828935e+02] [ 4.37979676e-01 8.98423035e-01 -3.17781871e-02 1.15067869e+02] [ 6.50763615e-02 3.57125715e-03 9.97873897e-01 3.52782831e+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:296.86, Y:115.08, Z:35.28 [[ 8.94022589e-01 -4.44389105e-01 -5.69379846e-02 2.96855631e+02] [ 4.43267541e-01 8.95828485e-01 -3.17050996e-02 1.15075810e+02] [ 6.50960694e-02 3.10631482e-03 9.97874167e-01 3.52791513e+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:296.90, Y:115.09, Z:35.28 [[ 8.88214542e-01 -4.55891622e-01 -5.69012890e-02 2.96895175e+02] [ 4.54788692e-01 8.90032197e-01 -3.17794573e-02 1.15094885e+02] [ 6.51319676e-02 2.34891332e-03 9.97873895e-01 3.52782702e+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:296.92, Y:115.11, Z:35.28 [[ 8.86013371e-01 -4.59964512e-01 -5.84204969e-02 2.96919680e+02] [ 4.59071245e-01 8.87936191e-01 -2.86864370e-02 1.15107774e+02] [ 6.50684165e-02 -1.40260357e-03 9.97879819e-01 3.52808413e+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:296.93, Y:115.11, Z:35.28 [[ 8.90102425e-01 -4.52002193e-01 -5.84096824e-02 2.96931010e+02] [ 4.51090278e-01 8.92016472e-01 -2.87084400e-02 1.15113100e+02] [ 6.50786767e-02 -7.94587856e-04 9.97879820e-01 3.52848635e+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:296.97, Y:115.14, Z:35.29 [[ 8.88656348e-01 -4.55012023e-01 -5.70434375e-02 2.96967695e+02] [ 4.53926663e-01 8.90482866e-01 -3.14777605e-02 1.15136128e+02] [ 6.51189632e-02 2.07937444e-03 9.97875341e-01 3.52888997e+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:296.99, Y:115.15, Z:35.29 [[ 8.90742002e-01 -4.50740009e-01 -5.84134447e-02 2.96991529e+02] [ 4.49826652e-01 8.92654986e-01 -2.86890136e-02 1.15149537e+02] [ 6.50743389e-02 -7.21414868e-04 9.97880158e-01 3.52899953e+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:297.00, Y:115.16, Z:35.30 [[ 8.97965185e-01 -4.36173063e-01 -5.84087889e-02 2.97004629e+02] [ 4.35228054e-01 8.99862733e-01 -2.86984893e-02 1.15156872e+02] [ 6.50774004e-02 3.49100714e-04 9.97880158e-01 3.52961020e+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:297.04, Y:115.18, Z:35.30 [[ 8.97132995e-01 -4.38053150e-01 -5.71124093e-02 2.97038302e+02] [ 4.36943126e-01 8.98943567e-01 -3.13235889e-02 1.15181462e+02] [ 6.50622298e-02 3.14655040e-03 9.97876248e-01 3.52951343e+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:297.06, Y:115.20, Z:35.30 [[ 8.99442096e-01 -4.33121863e-01 -5.83897927e-02 2.97062060e+02] [ 4.32168510e-01 9.01335168e-01 -2.87279101e-02 1.15195186e+02] [ 6.50714595e-02 6.04861918e-04 9.97880423e-01 3.52970483e+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:297.09, Y:115.21, Z:35.30 [[ 9.04234823e-01 -4.23026321e-01 -5.83790815e-02 2.97085255e+02] [ 4.22050433e-01 9.06116377e-01 -2.87496601e-02 1.15211881e+02] [ 6.50601048e-02 1.35752722e-03 9.97880424e-01 3.52993196e+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:297.11, Y:115.22, Z:35.30 [[ 9.06342295e-01 -4.18493479e-01 -5.83682591e-02 2.97110084e+02] [ 4.17506769e-01 9.08218196e-01 -2.87716153e-02 1.15224880e+02] [ 6.50518484e-02 1.70778859e-03 9.97880424e-01 3.52985126e+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:297.13, Y:115.24, Z:35.29 [[ 9.08971404e-01 -4.12753466e-01 -5.83571976e-02 2.97134676e+02] [ 4.11753476e-01 9.10840260e-01 -2.87940338e-02 1.15235451e+02] [ 6.50389223e-02 2.14417440e-03 9.97880424e-01 3.52943525e+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:297.16, Y:115.25, Z:35.30 [[ 9.09268363e-01 -4.12100102e-01 -5.83485217e-02 2.97159821e+02] [ 4.11097643e-01 9.11135895e-01 -2.88116042e-02 1.15246251e+02] [ 6.50366976e-02 2.21054044e-03 9.97880424e-01 3.52954752e+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:297.19, Y:115.26, Z:35.30 [[ 9.08883531e-01 -4.12948824e-01 -5.83437710e-02 2.97186763e+02] [ 4.11947493e-01 9.10751668e-01 -2.88212211e-02 1.15255358e+02] [ 6.50383761e-02 2.16056297e-03 9.97880425e-01 3.52961613e+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:297.21, Y:115.26, Z:35.30 [[ 9.07322199e-01 -4.16369657e-01 -5.83329798e-02 2.97213978e+02] [ 4.15373968e-01 9.09193349e-01 -2.88430456e-02 1.15262882e+02] [ 6.50453263e-02 1.93993431e-03 9.97880425e-01 3.52950184e+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:297.24, Y:115.27, Z:35.30 [[ 9.06902324e-01 -4.17284916e-01 -5.83221523e-02 2.97240156e+02] [ 4.16289710e-01 9.08773731e-01 -2.88649228e-02 1.15273156e+02] [ 6.50465368e-02 1.89875366e-03 9.97880425e-01 3.52953847e+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:297.27, Y:115.28, Z:35.29 [[ 9.04876665e-01 -4.21661000e-01 -5.83114178e-02 2.97266261e+02] [ 4.20673451e-01 9.06752123e-01 -2.88865918e-02 1.15282218e+02] [ 6.50543511e-02 1.60873753e-03 9.97880425e-01 3.52932453e+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:297.29, Y:115.29, Z:35.30 [[ 9.03658632e-01 -4.24266656e-01 -5.82999311e-02 2.97292972e+02] [ 4.23283021e-01 9.05536145e-01 -2.89097605e-02 1.15292668e+02] [ 6.50581423e-02 1.44718371e-03 9.97880426e-01 3.52953122e+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:297.32, Y:115.30, Z:35.30 [[ 9.01270290e-01 -4.29317904e-01 -5.82923907e-02 2.97321734e+02] [ 4.28343810e-01 9.03152771e-01 -2.89249568e-02 1.15297717e+02] [ 6.50649359e-02 1.10001947e-03 9.97880426e-01 3.52957584e+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:297.35, Y:115.31, Z:35.30 [[ 9.00067298e-01 -4.31835705e-01 -5.82819304e-02 2.97348093e+02] [ 4.30865514e-01 9.01951793e-01 -2.89460182e-02 1.15306863e+02] [ 6.50674158e-02 9.41690495e-04 9.97880426e-01 3.52974363e+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:297.38, Y:115.32, Z:35.30 [[ 8.97472191e-01 -4.37204909e-01 -5.82712107e-02 2.97375095e+02] [ 4.36244592e-01 8.99361738e-01 -2.89675820e-02 1.15315365e+02] [ 6.50716664e-02 5.77098719e-04 9.97880426e-01 3.52998550e+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:297.40, Y:115.33, Z:35.30 [[ 8.96207102e-01 -4.39793779e-01 -5.82602975e-02 2.97400159e+02] [ 4.38837495e-01 8.98098692e-01 -2.89895143e-02 1.15326711e+02] [ 6.50729051e-02 4.13805551e-04 9.97880427e-01 3.53022761e+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:297.43, Y:115.34, Z:35.31 [[ 8.94048140e-01 -4.44167666e-01 -5.82495272e-02 2.97425248e+02] [ 4.43219227e-01 8.95943676e-01 -2.90111393e-02 1.15336658e+02] [ 6.50741056e-02 1.20044725e-04 9.97880427e-01 3.53050128e+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:297.45, Y:115.35, Z:35.31 [[ 8.92737335e-01 -4.46797032e-01 -5.82448522e-02 2.97451154e+02] [ 4.45853564e-01 8.94635349e-01 -2.90205222e-02 1.15347243e+02] [ 6.50741869e-02 -6.09713533e-05 9.97880427e-01 3.53062095e+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:297.48, Y:115.36, Z:35.30 [[ 8.90818163e-01 -4.50612675e-01 -5.82341684e-02 2.97478057e+02] [ 4.49675937e-01 8.92719507e-01 -2.90419451e-02 1.15355151e+02] [ 6.50734467e-02 -3.15412071e-04 9.97880427e-01 3.53044038e+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:297.50, Y:115.37, Z:35.31 [[ 8.89229961e-01 -4.53739179e-01 -5.82308723e-02 2.97503094e+02] [ 4.52808693e-01 8.91134372e-01 -2.90485524e-02 1.15367121e+02] [ 6.50719982e-02 -5.36602060e-04 9.97880427e-01 3.53057153e+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:297.53, Y:115.38, Z:35.31 [[ 8.87053261e-01 -4.57981359e-01 -5.82201606e-02 2.97526774e+02] [ 4.57058572e-01 8.88961415e-01 -2.90700054e-02 1.15379142e+02] [ 6.50689969e-02 -8.23380381e-04 9.97880428e-01 3.53083918e+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:297.55, Y:115.39, Z:35.31 [[ 8.86200961e-01 -4.59629322e-01 -5.82129158e-02 2.97551972e+02] [ 4.58709130e-01 8.88110368e-01 -2.90845060e-02 1.15391436e+02] [ 6.50675858e-02 -9.28078776e-04 9.97880428e-01 3.53134142e+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:297.58, Y:115.41, Z:35.32 [[ 8.86499212e-01 -4.59054242e-01 -5.82095394e-02 2.97577360e+02] [ 4.58132369e-01 8.88407807e-01 -2.90912620e-02 1.15405066e+02] [ 6.50682765e-02 -8.78293299e-04 9.97880428e-01 3.53199056e+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:297.60, Y:115.42, Z:35.33 [[ 8.88172183e-01 -4.55810182e-01 -5.82001065e-02 2.97600728e+02] [ 4.54880101e-01 8.90076792e-01 -2.91101213e-02 1.15418669e+02] [ 6.50712537e-02 -6.19270350e-04 9.97880428e-01 3.53253047e+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:297.63, Y:115.43, Z:35.33 [[ 8.89292052e-01 -4.53621934e-01 -5.81961144e-02 2.97625363e+02] [ 4.52686644e-01 8.91194108e-01 -2.91181000e-02 1.15431978e+02] [ 6.50726431e-02 -4.50108790e-04 9.97880428e-01 3.53276206e+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:297.65, Y:115.45, Z:35.33 [[ 8.91852892e-01 -4.48567575e-01 -5.81854777e-02 2.97647960e+02] [ 4.47620120e-01 8.93748917e-01 -2.91393394e-02 1.15446348e+02] [ 6.50741705e-02 -5.69864500e-05 9.97880428e-01 3.53318231e+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:297.67, Y:115.46, Z:35.34 [[ 8.92811287e-01 -4.46657576e-01 -5.81808923e-02 2.97671588e+02] [ 4.45705468e-01 8.94704980e-01 -2.91484920e-02 1.15460145e+02] [ 6.50741288e-02 9.25608445e-05 9.97880428e-01 3.53353418e+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:297.70, Y:115.47, Z:35.34 [[ 8.94987224e-01 -4.42282872e-01 -5.81698316e-02 2.97695043e+02] [ 4.41320074e-01 8.96875505e-01 -2.91705485e-02 1.15474913e+02] [ 6.50727310e-02 4.35753853e-04 9.97880429e-01 3.53379038e+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:297.72, Y:115.49, Z:35.34 [[ 8.97782754e-01 -4.36580799e-01 -5.81664271e-02 2.97717711e+02] [ 4.35605570e-01 8.99664644e-01 -2.91773355e-02 1.15491274e+02] [ 6.50685424e-02 8.57289047e-04 9.97880429e-01 3.53378622e+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:297.74, Y:115.50, Z:35.34 [[ 9.00599204e-01 -4.30742394e-01 -5.81555062e-02 2.97738118e+02] [ 4.29753562e-01 9.02473982e-01 -2.91990866e-02 1.15502285e+02] [ 6.50611157e-02 1.30413824e-03 9.97880429e-01 3.53382902e+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:297.77, Y:115.52, Z:35.34 [[ 9.02289131e-01 -4.27246582e-01 -5.77467132e-02 2.97766407e+02] [ 4.26198303e-01 9.04131775e-01 -3.00123437e-02 1.15518908e+02] [ 6.50333095e-02 2.46826033e-03 9.97880041e-01 3.53365383e+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:297.79, Y:115.53, Z:35.34 [[ 9.03915764e-01 -4.23738987e-01 -5.81512010e-02 2.97791338e+02] [ 4.22735121e-01 9.05782515e-01 -2.92070682e-02 1.15531046e+02] [ 6.50485146e-02 1.81817442e-03 9.97880446e-01 3.53353959e+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:297.81, Y:115.54, Z:35.34 [[ 9.07446647e-01 -4.16125322e-01 -5.81403342e-02 2.97813620e+02] [ 4.15104416e-01 9.09304134e-01 -2.92286840e-02 1.15539523e+02] [ 6.50300418e-02 2.38916183e-03 9.97880447e-01 3.53417402e+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:297.84, Y:115.55, Z:35.34 [[ 9.08086255e-01 -4.14792375e-01 -5.76770312e-02 2.97840972e+02] [ 4.13710201e-01 9.09909294e-01 -3.01487435e-02 1.15553580e+02] [ 6.49863356e-02 3.51608338e-03 9.97879959e-01 3.53415260e+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:297.86, Y:115.56, Z:35.34 [[ 9.09546491e-01 -4.11561958e-01 -5.78094753e-02 2.97864590e+02] [ 4.10489961e-01 9.11375245e-01 -2.98857071e-02 1.15562959e+02] [ 6.49859448e-02 3.45223077e-03 9.97880208e-01 3.53413976e+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:297.90, Y:115.58, Z:35.34 [[ 9.08001921e-01 -4.14991634e-01 -5.75713102e-02 2.97895391e+02] [ 4.13896607e-01 9.09817553e-01 -3.03581718e-02 1.15578369e+02] [ 6.49777759e-02 3.73670831e-03 9.97879715e-01 3.53357750e+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:297.92, Y:115.59, Z:35.33 [[ 9.06187222e-01 -4.18862807e-01 -5.81263086e-02 2.97923896e+02] [ 4.17845790e-01 9.08046809e-01 -2.92555864e-02 1.15587243e+02] [ 6.50354861e-02 2.22320526e-03 9.97880475e-01 3.53327432e+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:297.95, Y:115.59, Z:35.34 [[ 9.06085317e-01 -4.19084499e-01 -5.81169519e-02 2.97946604e+02] [ 4.18066748e-01 9.07944502e-01 -2.92741619e-02 1.15593880e+02] [ 6.50353144e-02 2.22812321e-03 9.97880476e-01 3.53384627e+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:297.98, Y:115.60, Z:35.34 [[ 9.02063327e-01 -4.27729688e-01 -5.76980772e-02 2.97975978e+02] [ 4.26676429e-01 9.03903130e-01 -3.01057613e-02 1.15603066e+02] [ 6.50306004e-02 2.53889367e-03 9.97880040e-01 3.53390460e+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:298.00, Y:115.61, Z:35.34 [[ 8.99474532e-01 -4.33126954e-01 -5.78498757e-02 2.98002740e+02] [ 4.32104128e-01 9.01331107e-01 -2.98036702e-02 1.15614966e+02] [ 6.50506654e-02 1.81047214e-03 9.97880320e-01 3.53415011e+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:298.03, Y:115.62, Z:35.34 [[ 8.97129828e-01 -4.37963065e-01 -5.78483017e-02 2.98032198e+02] [ 4.36950046e-01 8.98991775e-01 -2.98068009e-02 1.15621839e+02] [ 6.50594253e-02 1.46375201e-03 9.97880318e-01 3.53439625e+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:298.06, Y:115.63, Z:35.35 [[ 8.96261993e-01 -4.39735189e-01 -5.78567534e-02 2.98059465e+02] [ 4.38726938e-01 8.98126512e-01 -2.97899850e-02 1.15628016e+02] [ 6.50623888e-02 1.31631507e-03 9.97880330e-01 3.53518361e+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:298.08, Y:115.64, Z:35.35 [[ 8.95810532e-01 -4.40648777e-01 -5.78977263e-02 2.98083759e+02] [ 4.39647691e-01 8.97678847e-01 -2.97085020e-02 1.15639907e+02] [ 6.50645793e-02 1.15858728e-03 9.97880383e-01 3.53509777e+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:298.11, Y:115.65, Z:35.35 [[ 8.97098294e-01 -4.38054226e-01 -5.76467427e-02 2.98108703e+02] [ 4.37015715e-01 8.98946531e-01 -3.02059527e-02 1.15648193e+02] [ 6.50531846e-02 1.90517621e-03 9.97879980e-01 3.53521529e+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:298.14, Y:115.66, Z:35.35 [[ 8.97558494e-01 -4.37107803e-01 -5.76673086e-02 2.98137609e+02] [ 4.36069966e-01 8.99407055e-01 -3.01650986e-02 1.15658655e+02] [ 6.50517842e-02 1.92795919e-03 9.97880027e-01 3.53519860e+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:298.16, Y:115.67, Z:35.36 [[ 8.96453452e-01 -4.39344174e-01 -5.78610883e-02 2.98164424e+02] [ 4.38335781e-01 8.98317827e-01 -2.97795946e-02 1.15667696e+02] [ 6.50611385e-02 1.33343503e-03 9.97880389e-01 3.53600165e+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:298.19, Y:115.68, Z:35.37 [[ 8.95258338e-01 -4.41758049e-01 -5.79856409e-02 2.98190644e+02] [ 4.40770719e-01 8.97133798e-01 -2.95317141e-02 1.15679122e+02] [ 6.50667507e-02 8.80140598e-04 9.97880526e-01 3.53678596e+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:298.22, Y:115.69, Z:35.36 [[ 8.91861842e-01 -4.48575155e-01 -5.79895300e-02 2.98218554e+02] [ 4.47602664e-01 8.93745036e-01 -2.95239775e-02 1.15691640e+02] [ 6.50715774e-02 3.75040808e-04 9.97880529e-01 3.53589598e+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:298.24, Y:115.70, Z:35.36 [[ 8.92832089e-01 -4.46620838e-01 -5.81436832e-02 2.98244328e+02] [ 4.45664176e-01 8.94723307e-01 -2.92172137e-02 1.15699083e+02] [ 6.50715250e-02 1.73509310e-04 9.97880587e-01 3.53632562e+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:298.27, Y:115.71, Z:35.37 [[ 8.92831722e-01 -4.46653847e-01 -5.78952235e-02 2.98269538e+02] [ 4.45665153e-01 8.94706553e-01 -2.97112063e-02 1.15711854e+02] [ 6.50698604e-02 7.25223836e-04 9.97880447e-01 3.53651976e+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:298.29, Y:115.72, Z:35.37 [[ 8.92056090e-01 -4.48196280e-01 -5.79312315e-02 2.98294993e+02] [ 4.47215484e-01 8.93935015e-01 -2.96394951e-02 1.15724511e+02] [ 6.50710677e-02 5.32348359e-04 9.97880490e-01 3.53707164e+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:298.32, Y:115.74, Z:35.37 [[ 8.91389898e-01 -4.49517222e-01 -5.79509890e-02 2.98321757e+02] [ 4.48541769e-01 8.93271579e-01 -2.96001392e-02 1.15739950e+02] [ 6.50717438e-02 3.91825976e-04 9.97880511e-01 3.53672490e+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:298.35, Y:115.75, Z:35.37 [[ 8.91951364e-01 -4.48375246e-01 -5.81584383e-02 2.98349077e+02] [ 4.47424287e-01 8.93845422e-01 -2.91867853e-02 1.15753363e+02] [ 6.50712859e-02 1.16951944e-05 9.97880618e-01 3.53652799e+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:298.36, Y:115.76, Z:35.37 [[ 8.94192299e-01 -4.43889321e-01 -5.81584383e-02 2.98363745e+02] [ 4.42928860e-01 8.96081557e-01 -2.91867853e-02 1.15760989e+02] [ 6.50704062e-02 3.38547906e-04 9.97880618e-01 3.53701708e+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:298.40, Y:115.77, Z:35.39 [[ 8.97013258e-01 -4.38331291e-01 -5.68585538e-02 2.98396264e+02] [ 4.37193249e-01 8.98806095e-01 -3.17752539e-02 1.15774146e+02] [ 6.50329028e-02 3.64464817e-03 9.97876464e-01 3.53857568e+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:298.43, Y:115.78, Z:35.37 [[ 9.02754484e-01 -4.26274315e-01 -5.76589065e-02 2.98431282e+02] [ 4.25213048e-01 9.04589821e-01 -3.01847664e-02 1.15783825e+02] [ 6.50246505e-02 2.73211388e-03 9.97879918e-01 3.53707553e+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:298.45, Y:115.80, Z:35.39 [[ 9.01784216e-01 -4.28257637e-01 -5.81431339e-02 2.98449481e+02] [ 4.27262206e-01 9.03655421e-01 -2.92213603e-02 1.15801255e+02] [ 6.50556289e-02 1.50899787e-03 9.97880498e-01 3.53938179e+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:298.47, Y:115.82, Z:35.40 [[ 9.05394059e-01 -4.20629454e-01 -5.77274623e-02 2.98472960e+02] [ 4.19565479e-01 9.07227621e-01 -3.00475032e-02 1.15815280e+02] [ 6.50108132e-02 2.98438052e-03 9.97880097e-01 3.53963459e+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:298.50, Y:115.83, Z:35.40 [[ 9.07197069e-01 -4.16728137e-01 -5.77160068e-02 2.98497359e+02] [ 4.15654835e-01 9.09025213e-01 -3.00702573e-02 1.15827630e+02] [ 6.49964276e-02 3.28971200e-03 9.97880074e-01 3.53984011e+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:298.52, Y:115.84, Z:35.40 [[ 9.09571402e-01 -4.11529940e-01 -5.76452286e-02 2.98523352e+02] [ 4.10437332e-01 9.11388240e-01 -3.02104578e-02 1.15840739e+02] [ 6.49696914e-02 3.81881461e-03 9.97879931e-01 3.53964051e+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:298.55, Y:115.85, Z:35.39 [[ 9.10944318e-01 -4.08477468e-01 -5.76767622e-02 2.98549997e+02] [ 4.07382717e-01 9.12759785e-01 -3.01479267e-02 1.15851718e+02] [ 6.49597778e-02 3.96656644e-03 9.97880000e-01 3.53947748e+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:298.58, Y:115.86, Z:35.39 [[ 9.12260511e-01 -4.05529016e-01 -5.76799620e-02 2.98576637e+02] [ 4.04428799e-01 9.14072662e-01 -3.01415814e-02 1.15860113e+02] [ 6.49469623e-02 4.16953671e-03 9.97880006e-01 3.53890782e+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:298.60, Y:115.87, Z:35.39 [[ 9.11426493e-01 -4.07404435e-01 -5.76487115e-02 2.98603755e+02] [ 4.06304041e-01 9.13238617e-01 -3.02035559e-02 1.15868477e+02] [ 6.49520922e-02 4.10541657e-03 9.97879938e-01 3.53927259e+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:298.63, Y:115.88, Z:35.39 [[ 9.10651501e-01 -4.09137579e-01 -5.76219198e-02 2.98631412e+02] [ 4.08037285e-01 9.12463758e-01 -3.02566628e-02 1.15878264e+02] [ 6.49570512e-02 4.04138374e-03 9.97879877e-01 3.53946467e+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:298.66, Y:115.89, Z:35.40 [[ 9.07530901e-01 -4.16002204e-01 -5.77046753e-02 2.98655729e+02] [ 4.14926017e-01 9.09357372e-01 -3.00926947e-02 1.15885910e+02] [ 6.49927992e-02 3.36687924e-03 9.97880053e-01 3.53965007e+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:298.68, Y:115.90, Z:35.40 [[ 9.06777696e-01 -4.17658921e-01 -5.75780928e-02 2.98683111e+02] [ 4.16570182e-01 9.08597034e-01 -3.03432565e-02 1.15895497e+02] [ 6.49884161e-02 3.52927155e-03 9.97879777e-01 3.53987675e+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:298.71, Y:115.90, Z:35.40 [[ 9.04984098e-01 -4.21530143e-01 -5.75857646e-02 2.98711664e+02] [ 4.20450155e-01 9.06808622e-01 -3.03280502e-02 1.15903985e+02] [ 6.50034552e-02 3.23445957e-03 9.97879797e-01 3.54006993e+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:298.74, Y:115.91, Z:35.41 [[ 9.03340149e-01 -4.25029620e-01 -5.76749231e-02 2.98737313e+02] [ 4.23967960e-01 9.05175159e-01 -3.01513006e-02 1.15914737e+02] [ 6.50211035e-02 2.78456094e-03 9.97880004e-01 3.54062400e+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:298.76, Y:115.92, Z:35.41 [[ 9.00655175e-01 -4.30705574e-01 -5.75583584e-02 2.98764614e+02] [ 4.29640725e-01 9.02488653e-01 -3.03822202e-02 1.15921962e+02] [ 6.50315569e-02 2.63448904e-03 9.97879730e-01 3.54065915e+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:298.79, Y:115.93, Z:35.40 [[ 8.99540361e-01 -4.33017805e-01 -5.76430391e-02 2.98792852e+02] [ 4.31968436e-01 9.01382487e-01 -3.02139371e-02 1.15932463e+02] [ 6.50415986e-02 2.27868246e-03 9.97879952e-01 3.54049497e+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:298.82, Y:115.94, Z:35.40 [[ 8.97477059e-01 -4.37257922e-01 -5.77965275e-02 2.98820543e+02] [ 4.36236948e-01 8.99334675e-01 -2.99076471e-02 1.15943061e+02] [ 6.50557769e-02 1.62844635e-03 9.97880300e-01 3.54044485e+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:298.85, Y:115.95, Z:35.40 [[ 8.96490283e-01 -4.39272630e-01 -5.78336322e-02 2.98847732e+02] [ 4.38260590e-01 8.98352714e-01 -2.98338259e-02 1.15954088e+02] [ 6.50601835e-02 1.39953324e-03 9.97880361e-01 3.54040779e+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:298.87, Y:115.97, Z:35.40 [[ 8.96270187e-01 -4.39732122e-01 -5.77530287e-02 2.98873958e+02] [ 4.38710706e-01 8.98127647e-01 -2.99940987e-02 1.15966076e+02] [ 6.50589605e-02 1.54594448e-03 9.97880224e-01 3.54013978e+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:298.90, Y:115.98, Z:35.41 [[ 8.96975909e-01 -4.38281505e-01 -5.78233525e-02 2.98900624e+02] [ 4.37266087e-01 8.98836520e-01 -2.98543215e-02 1.15977543e+02] [ 6.50583379e-02 1.49441609e-03 9.97880343e-01 3.54069545e+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:298.93, Y:115.99, Z:35.41 [[ 8.98408322e-01 -4.35340648e-01 -5.78014398e-02 2.98926301e+02] [ 4.34316335e-01 9.00264092e-01 -2.98979205e-02 1.15989073e+02] [ 6.50523408e-02 1.75643113e-03 9.97880307e-01 3.54123915e+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:298.95, Y:116.00, Z:35.42 [[ 9.00196015e-01 -4.31638358e-01 -5.77534628e-02 2.98953026e+02] [ 4.30600278e-01 9.02044226e-01 -2.99935963e-02 1.16002212e+02] [ 6.50425643e-02 2.13145871e-03 9.97880214e-01 3.54202753e+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:298.98, Y:116.01, Z:35.42 [[ 9.01006494e-01 -4.29929949e-01 -5.78579012e-02 2.98978215e+02] [ 4.28901701e-01 9.02859985e-01 -2.97855428e-02 1.16014255e+02] [ 6.50432807e-02 2.02161528e-03 9.97880396e-01 3.54225510e+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:299.01, Y:116.03, Z:35.42 [[ 9.01711105e-01 -4.28458438e-01 -5.77966278e-02 2.99005339e+02] [ 4.27419352e-01 9.03558653e-01 -2.99075153e-02 1.16026453e+02] [ 6.50367704e-02 2.26454150e-03 9.97880299e-01 3.54217192e+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:299.03, Y:116.04, Z:35.43 [[ 9.00022690e-01 -4.31978992e-01 -5.79077580e-02 2.99031234e+02] [ 4.30961347e-01 9.01881946e-01 -2.96862320e-02 1.16040592e+02] [ 6.50497901e-02 1.76227700e-03 9.97880463e-01 3.54274096e+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:299.06, Y:116.05, Z:35.43 [[ 8.99832475e-01 -4.32367803e-01 -5.79620629e-02 2.99057199e+02] [ 4.31357915e-01 9.01695892e-01 -2.95781619e-02 1.16051189e+02] [ 6.50527989e-02 1.61299597e-03 9.97880520e-01 3.54262234e+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:299.08, Y:116.06, Z:35.43 [[ 8.97999345e-01 -4.36165012e-01 -5.79418673e-02 2.99083356e+02] [ 4.35160405e-01 8.99865639e-01 -2.96184593e-02 1.16062224e+02] [ 6.50584312e-02 1.38335058e-03 9.97880497e-01 3.54297610e+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:299.11, Y:116.07, Z:35.43 [[ 8.97396154e-01 -4.37395787e-01 -5.80092106e-02 2.99106948e+02] [ 4.36402409e-01 8.99268379e-01 -2.94842364e-02 1.16073502e+02] [ 6.50621295e-02 1.14368111e-03 9.97880560e-01 3.54336590e+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:299.13, Y:116.09, Z:35.44 [[ 8.95996620e-01 -4.40275609e-01 -5.78571062e-02 2.99132663e+02] [ 4.39268674e-01 8.97861774e-01 -2.97870354e-02 1.16089810e+02] [ 6.50621891e-02 1.27426873e-03 9.97880398e-01 3.54411388e+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:299.16, Y:116.10, Z:35.44 [[ 8.95590209e-01 -4.41065279e-01 -5.81343115e-02 2.99157568e+02] [ 4.40095740e-01 8.97474826e-01 -2.92348600e-02 1.16103398e+02] [ 6.50685627e-02 5.97791493e-04 9.97880617e-01 3.54449842e+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:299.18, Y:116.11, Z:35.45 [[ 8.95624277e-01 -4.40992934e-01 -5.81582996e-02 2.99180801e+02] [ 4.40026343e-01 8.97510407e-01 -2.91870973e-02 1.16114003e+02] [ 6.50689828e-02 5.49488981e-04 9.97880617e-01 3.54472879e+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:299.21, Y:116.13, Z:35.45 [[ 8.94018873e-01 -4.44268919e-01 -5.79256701e-02 2.99207035e+02] [ 4.43279188e-01 8.95893095e-01 -2.96500199e-02 1.16127762e+02] [ 6.50677901e-02 8.30433369e-04 9.97880500e-01 3.54485909e+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:299.23, Y:116.14, Z:35.45 [[ 8.92282266e-01 -4.47730777e-01 -5.80474646e-02 2.99233315e+02] [ 4.46764069e-01 8.94168361e-01 -2.94076500e-02 1.16139185e+02] [ 6.50709163e-02 3.06403133e-04 9.97880595e-01 3.54484585e+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:299.26, Y:116.15, Z:35.45 [[ 8.91497348e-01 -4.49283565e-01 -5.81098730e-02 2.99259670e+02] [ 4.48328226e-01 8.93389207e-01 -2.92835495e-02 1.16151991e+02] [ 6.50713509e-02 5.39103958e-05 9.97880612e-01 3.54495047e+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:299.29, Y:116.17, Z:35.45 [[ 8.90318973e-01 -4.51609761e-01 -5.81442241e-02 2.99286743e+02] [ 4.50663822e-01 8.92215550e-01 -2.92152773e-02 1.16167351e+02] [ 6.50710853e-02 -1.92582604e-04 9.97880613e-01 3.54501066e+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:299.31, Y:116.18, Z:35.45 [[ 8.91140880e-01 -4.49939467e-01 -5.85013493e-02 2.99311794e+02] [ 4.49036455e-01 8.93058634e-01 -2.85050521e-02 1.16179245e+02] [ 6.50706831e-02 -8.67221260e-04 9.97880280e-01 3.54474997e+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:299.34, Y:116.19, Z:35.46 [[ 8.91379835e-01 -4.49480133e-01 -5.83917789e-02 2.99336353e+02] [ 4.48561898e-01 8.93290133e-01 -2.87221436e-02 1.16191849e+02] [ 6.50708329e-02 -5.89987549e-04 9.97880473e-01 3.54550691e+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:299.36, Y:116.20, Z:35.45 [[ 8.91733565e-01 -4.48791020e-01 -5.82912512e-02 2.99362012e+02] [ 4.47858288e-01 8.93636682e-01 -2.89211672e-02 1.16203782e+02] [ 6.50707605e-02 -3.16244479e-04 9.97880602e-01 3.54521556e+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:299.39, Y:116.22, Z:35.45 [[ 8.91763669e-01 -4.48739124e-01 -5.82302117e-02 2.99387453e+02] [ 4.47798400e-01 8.93662782e-01 -2.90417943e-02 1.16216129e+02] [ 6.50703623e-02 -1.76978592e-04 9.97880663e-01 3.54540718e+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:299.41, Y:116.23, Z:35.45 [[ 8.91352059e-01 -4.49559633e-01 -5.82034676e-02 2.99412599e+02] [ 4.48617209e-01 8.93250303e-01 -2.90945942e-02 1.16229884e+02] [ 6.50700202e-02 -1.77550796e-04 9.97880685e-01 3.54540461e+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:299.44, Y:116.24, Z:35.46 [[ 8.92288542e-01 -4.47690732e-01 -5.82594707e-02 2.99437992e+02] [ 4.46751546e-01 8.94188448e-01 -2.89840436e-02 1.16243108e+02] [ 6.50708334e-02 -1.65378587e-04 9.97880634e-01 3.54566388e+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:299.46, Y:116.26, Z:35.46 [[ 8.92937927e-01 -4.46403347e-01 -5.81885734e-02 2.99461058e+02] [ 4.45452301e-01 8.94831852e-01 -2.91239278e-02 1.16256066e+02] [ 6.50700078e-02 8.56257765e-05 9.97880698e-01 3.54626027e+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:299.48, Y:116.27, Z:35.47 [[ 8.94357370e-01 -4.43583439e-01 -5.79536640e-02 2.99484771e+02] [ 4.42596367e-01 8.96232712e-01 -2.95868470e-02 1.16272988e+02] [ 6.50642049e-02 8.11133517e-04 9.97880750e-01 3.54677664e+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:299.51, Y:116.29, Z:35.47 [[ 8.97878341e-01 -4.36390160e-01 -5.81215345e-02 2.99506965e+02] [ 4.35409442e-01 8.99757024e-01 -2.92560270e-02 1.16287829e+02] [ 6.50623013e-02 9.61688060e-04 9.97880740e-01 3.54741752e+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:299.53, Y:116.30, Z:35.48 [[ 8.98903475e-01 -4.34296696e-01 -5.79562041e-02 2.99530689e+02] [ 4.33290602e-01 9.00768667e-01 -2.95814446e-02 1.16301810e+02] [ 6.50522564e-02 1.47898480e-03 9.97880763e-01 3.54784464e+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:299.56, Y:116.31, Z:35.48 [[ 9.01827218e-01 -4.28184041e-01 -5.80180569e-02 2.99555310e+02] [ 4.27173126e-01 9.03689795e-01 -2.94597287e-02 1.16314684e+02] [ 6.50445116e-02 1.78383047e-03 9.97880769e-01 3.54768898e+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:299.58, Y:116.33, Z:35.47 [[ 9.05483448e-01 -4.20391744e-01 -5.80560736e-02 2.99580502e+02] [ 4.19369590e-01 9.07339887e-01 -2.93849512e-02 1.16327164e+02] [ 6.50297822e-02 2.26063509e-03 9.97880763e-01 3.54736759e+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:299.61, Y:116.34, Z:35.48 [[ 9.07149947e-01 -4.16799095e-01 -5.79438366e-02 2.99606126e+02] [ 4.15755515e-01 9.08994424e-01 -2.96055604e-02 1.16339954e+02] [ 6.50101952e-02 2.76621292e-03 9.97880766e-01 3.54765111e+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:299.63, Y:116.35, Z:35.48 [[ 9.07821983e-01 -4.15338360e-01 -5.79076360e-02 2.99632144e+02] [ 4.14287286e-01 9.09662212e-01 -2.96766790e-02 1.16352793e+02] [ 6.50022514e-02 2.95074423e-03 9.97880755e-01 3.54754567e+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:299.66, Y:116.36, Z:35.47 [[ 9.08403411e-01 -4.14054113e-01 -5.79865065e-02 2.99659933e+02] [ 4.13010294e-01 9.10247748e-01 -2.95217641e-02 1.16363809e+02] [ 6.50056948e-02 2.86864708e-03 9.97880770e-01 3.54740621e+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:299.69, Y:116.37, Z:35.47 [[ 9.10089963e-01 -4.10329496e-01 -5.80169257e-02 2.99691526e+02] [ 4.09281927e-01 9.11932176e-01 -2.94620260e-02 1.16371589e+02] [ 6.49966395e-02 3.06781497e-03 9.97880767e-01 3.54709245e+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:299.71, Y:116.39, Z:35.48 [[ 9.04605409e-01 -4.22245694e-01 -5.82891774e-02 2.99712554e+02] [ 4.21256741e-01 9.06479990e-01 -2.89272618e-02 1.16385819e+02] [ 6.50523846e-02 1.61304860e-03 9.97880547e-01 3.54836962e+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:299.74, Y:116.40, Z:35.49 [[ 9.02683974e-01 -4.26381623e-01 -5.79685698e-02 2.99737311e+02] [ 4.25360805e-01 9.04541111e-01 -2.95561070e-02 1.16396311e+02] [ 6.50371354e-02 2.02226662e-03 9.97880795e-01 3.54872471e+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:299.76, Y:116.40, Z:35.49 [[ 8.98272320e-01 -4.35625948e-01 -5.77656655e-02 2.99764791e+02] [ 4.34598660e-01 9.00125984e-01 -2.99535796e-02 1.16404556e+02] [ 6.50449330e-02 1.80159059e-03 9.97880710e-01 3.54871179e+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:299.80, Y:116.42, Z:35.48 [[ 8.93191115e-01 -4.45952947e-01 -5.77546594e-02 2.99796233e+02] [ 4.44945705e-01 8.95055759e-01 -2.99751241e-02 1.16418474e+02] [ 6.50611354e-02 1.07582684e-03 9.97880700e-01 3.54844882e+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:299.82, Y:116.43, Z:35.49 [[ 8.92377906e-01 -4.47498497e-01 -5.83675310e-02 2.99817136e+02] [ 4.46572364e-01 8.94284601e-01 -2.87780525e-02 1.16428946e+02] [ 6.50753194e-02 -3.84428039e-04 9.97880281e-01 3.54863652e+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:299.84, Y:116.44, Z:35.49 [[ 8.91807364e-01 -4.48695282e-01 -5.78979253e-02 2.99842336e+02] [ 4.47712016e-01 8.93684637e-01 -2.96937808e-02 1.16442316e+02] [ 6.50659457e-02 5.59535578e-04 9.97880809e-01 3.54884707e+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:299.87, Y:116.46, Z:35.49 [[ 8.91476935e-01 -4.49350496e-01 -5.79051462e-02 2.99870185e+02] [ 4.48369523e-01 8.93355408e-01 -2.96797073e-02 1.16457974e+02] [ 6.50664667e-02 4.95871719e-04 9.97880809e-01 3.54887417e+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:299.89, Y:116.47, Z:35.50 [[ 8.92649697e-01 -4.46964981e-01 -5.82994352e-02 2.99892742e+02] [ 4.46028776e-01 8.94551434e-01 -2.89147460e-02 1.16470479e+02] [ 6.50757223e-02 -1.92486477e-04 9.97880310e-01 3.54950794e+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:299.92, Y:116.48, Z:35.50 [[ 8.92412815e-01 -4.47472948e-01 -5.80286942e-02 2.99917732e+02] [ 4.46503645e-01 8.94297395e-01 -2.94391798e-02 1.16483890e+02] [ 6.50681466e-02 3.61877803e-04 9.97880757e-01 3.54969970e+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:299.94, Y:116.50, Z:35.50 [[ 8.92827114e-01 -4.46647837e-01 -5.80125332e-02 2.99942338e+02] [ 4.45674761e-01 8.94709730e-01 -2.94704391e-02 1.16498295e+02] [ 6.50672857e-02 4.57285163e-04 9.97880774e-01 3.54975689e+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:299.96, Y:116.51, Z:35.50 [[ 8.91935735e-01 -4.48422534e-01 -5.80334117e-02 2.99964889e+02] [ 4.47455831e-01 8.93821655e-01 -2.94300434e-02 1.16514693e+02] [ 6.50686148e-02 2.82318913e-04 9.97880752e-01 3.54999705e+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:299.99, Y:116.53, Z:35.50 [[ 8.90762082e-01 -4.50768161e-01 -5.78876303e-02 2.99990344e+02] [ 4.49788086e-01 8.92640958e-01 -2.97119023e-02 1.16528709e+02] [ 6.50660493e-02 4.29069523e-04 9.97880867e-01 3.55021075e+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:300.01, Y:116.54, Z:35.50 [[ 8.87947393e-01 -4.56282271e-01 -5.79302729e-02 3.00014930e+02] [ 4.55319235e-01 8.89835088e-01 -2.96295378e-02 1.16539215e+02] [ 6.50678223e-02 -6.72967286e-05 9.97880842e-01 3.55033435e+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:300.04, Y:116.55, Z:35.51 [[ 8.86123280e-01 -4.59815469e-01 -5.79246666e-02 3.00041758e+02] [ 4.58859252e-01 8.88014435e-01 -2.96403600e-02 1.16552886e+02] [ 6.50670361e-02 -3.14256145e-04 9.97880846e-01 3.55064009e+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:300.07, Y:116.56, Z:35.50 [[ 8.85479865e-01 -4.61038156e-01 -5.80450415e-02 3.00066809e+02] [ 4.60099761e-01 8.87380062e-01 -2.94080803e-02 1.16560517e+02] [ 6.50662597e-02 -6.66246751e-04 9.97880723e-01 3.54980782e+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:300.09, Y:116.58, Z:35.51 [[ 8.83303443e-01 -4.65231227e-01 -5.77488814e-02 3.00091592e+02] [ 4.64264458e-01 8.85189130e-01 -2.99786133e-02 1.16580200e+02] [ 6.50656692e-02 -3.30540769e-04 9.97880930e-01 3.55146529e+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:300.12, Y:116.60, Z:35.52 [[ 8.81038420e-01 -4.69474717e-01 -5.80068371e-02 3.00116411e+02] [ 4.68549671e-01 8.82945094e-01 -2.94816377e-02 1.16595170e+02] [ 6.50577358e-02 -1.20462892e-03 9.97880774e-01 3.55183578e+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:300.14, Y:116.61, Z:35.52 [[ 8.78145382e-01 -4.74856624e-01 -5.80678442e-02 3.00141923e+02] [ 4.73951035e-01 8.80061461e-01 -2.93639428e-02 1.16610655e+02] [ 6.50469345e-02 -1.73550411e-03 9.97880696e-01 3.55196702e+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:300.17, Y:116.62, Z:35.52 [[ 8.77300557e-01 -4.76401041e-01 -5.81874672e-02 3.00165336e+02] [ 4.75514100e-01 8.79225565e-01 -2.91332431e-02 1.16623718e+02] [ 6.50390161e-02 -2.11035071e-03 9.97880490e-01 3.55191286e+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:300.19, Y:116.64, Z:35.52 [[ 8.75813942e-01 -4.79143540e-01 -5.80638243e-02 3.00189208e+02] [ 4.78246828e-01 8.77734178e-01 -2.93715079e-02 1.16638693e+02] [ 6.50377714e-02 -2.04486366e-03 9.97880708e-01 3.55175058e+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:300.21, Y:116.66, Z:35.52 [[ 8.75038224e-01 -4.80567371e-01 -5.79923127e-02 3.00211810e+02] [ 4.79664659e-01 8.76955541e-01 -2.95092107e-02 1.16657346e+02] [ 6.50378438e-02 -1.99517561e-03 9.97880804e-01 3.55240659e+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:300.23, Y:116.67, Z:35.53 [[ 8.73805016e-01 -4.82808666e-01 -5.79705610e-02 3.00234814e+02] [ 4.81908102e-01 8.75723313e-01 -2.95509886e-02 1.16674569e+02] [ 6.50336452e-02 -2.11468094e-03 9.97880831e-01 3.55259499e+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:300.26, Y:116.69, Z:35.53 [[ 8.71862735e-01 -4.86313178e-01 -5.79211987e-02 3.00257125e+02] [ 4.85414053e-01 8.73781634e-01 -2.96454504e-02 1.16692847e+02] [ 6.50274529e-02 -2.26900030e-03 9.97880896e-01 3.55275989e+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:300.28, Y:116.71, Z:35.53 [[ 8.70640719e-01 -4.88498523e-01 -5.79131358e-02 3.00277086e+02] [ 4.87603191e-01 8.72561380e-01 -2.96608604e-02 1.16707607e+02] [ 6.50220522e-02 -2.41467692e-03 9.97880906e-01 3.55286299e+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:300.30, Y:116.72, Z:35.53 [[ 8.69434027e-01 -4.90676076e-01 -5.76321243e-02 3.00299266e+02] [ 4.89749961e-01 8.71339833e-01 -3.01972035e-02 1.16723309e+02] [ 6.50342109e-02 -1.97085437e-03 9.97881089e-01 3.55306205e+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:300.32, Y:116.74, Z:35.53 [[ 8.66935525e-01 -4.95077625e-01 -5.76276071e-02 3.00319795e+02] [ 4.94160612e-01 8.68845727e-01 -3.02058216e-02 1.16742621e+02] [ 6.50237266e-02 -2.29079379e-03 9.97881089e-01 3.55341227e+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:300.34, Y:116.76, Z:35.53 [[ 8.65589554e-01 -4.97433550e-01 -5.75724564e-02 3.00344462e+02] [ 4.96514751e-01 8.67498903e-01 -3.03109837e-02 1.16761392e+02] [ 6.50217430e-02 -2.34870293e-03 9.97881083e-01 3.55348378e+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:300.36, Y:116.78, Z:35.54 [[ 8.66759911e-01 -4.95348334e-01 -5.79420780e-02 3.00364099e+02] [ 4.94471911e-01 8.68689292e-01 -2.96047944e-02 1.16779684e+02] [ 6.49983482e-02 -2.99048109e-03 9.97880891e-01 3.55404295e+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:300.39, Y:116.80, Z:35.53 [[ 8.67208161e-01 -4.94583489e-01 -5.77683128e-02 3.00388547e+02] [ 4.93683273e-01 8.69126359e-01 -2.99365612e-02 1.16796825e+02] [ 6.50140923e-02 -2.55801951e-03 9.97881067e-01 3.55333741e+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:300.41, Y:116.82, Z:35.54 [[ 8.68690567e-01 -4.91955243e-01 -5.79373539e-02 3.00409686e+02] [ 4.91070653e-01 8.70616224e-01 -2.96142575e-02 1.16817130e+02] [ 6.50100895e-02 -2.72570807e-03 9.97880884e-01 3.55359712e+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:300.43, Y:116.84, Z:35.54 [[ 8.69769150e-01 -4.90056085e-01 -5.78503260e-02 3.00432821e+02] [ 4.89156253e-01 8.71687612e-01 -2.97803038e-02 1.16835386e+02] [ 6.50214317e-02 -2.39585922e-03 9.97880992e-01 3.55360645e+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:300.45, Y:116.86, Z:35.53 [[ 8.72219258e-01 -4.85687849e-01 -5.78003416e-02 3.00453191e+02] [ 4.84772106e-01 8.74130118e-01 -2.98754400e-02 1.16856901e+02] [ 6.50351576e-02 -1.96205920e-03 9.97881044e-01 3.55323750e+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:300.47, Y:116.88, Z:35.53 [[ 8.72082461e-01 -4.85954393e-01 -5.76238564e-02 3.00474290e+02] [ 4.85017065e-01 8.73982700e-01 -3.02107022e-02 1.16878909e+02] [ 6.50432770e-02 -1.60233011e-03 9.97881158e-01 3.55335456e+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:300.50, Y:116.90, Z:35.54 [[ 8.71447326e-01 -4.87079347e-01 -5.77344555e-02 3.00495698e+02] [ 4.86158366e-01 8.73355602e-01 -3.00005918e-02 1.16896441e+02] [ 6.50353788e-02 -1.92415306e-03 9.97881104e-01 3.55350368e+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:300.52, Y:116.91, Z:35.53 [[ 8.71829888e-01 -4.86414637e-01 -5.75625514e-02 3.00521607e+02] [ 4.85470642e-01 8.73726809e-01 -3.03268872e-02 1.16913970e+02] [ 6.50453862e-02 -1.50504208e-03 9.97881172e-01 3.55305485e+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:300.54, Y:116.94, Z:35.54 [[ 8.73732675e-01 -4.82969946e-01 -5.77169269e-02 3.00541412e+02] [ 4.82037782e-01 8.75635504e-01 -3.00340047e-02 1.16935952e+02] [ 6.50445119e-02 -1.58004818e-03 9.97881113e-01 3.55376914e+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:300.56, Y:116.95, Z:35.54 [[ 8.75933810e-01 -4.78980006e-01 -5.76030706e-02 3.00563531e+02] [ 4.78024983e-01 8.77825196e-01 -3.02496501e-02 1.16953184e+02] [ 6.50544043e-02 -1.03901562e-03 9.97881178e-01 3.55386888e+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:300.58, Y:116.97, Z:35.54 [[ 8.79569495e-01 -4.72290901e-01 -5.74352492e-02 3.00584796e+02] [ 4.71300729e-01 8.81442721e-01 -3.05671682e-02 1.16972737e+02] [ 6.50624778e-02 -1.83326072e-04 9.97881176e-01 3.55445571e+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:300.61, Y:116.99, Z:35.55 [[ 8.84513993e-01 -4.62957064e-01 -5.74956843e-02 3.00607348e+02] [ 4.61954552e-01 8.86380627e-01 -3.04528426e-02 1.16992150e+02] [ 6.50614193e-02 3.75572296e-04 9.97881191e-01 3.55540449e+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:300.63, Y:117.01, Z:35.56 [[ 8.86899098e-01 -4.58369155e-01 -5.75126829e-02 3.00629984e+02] [ 4.57359072e-01 8.88761645e-01 -3.04206954e-02 1.17007480e+02] [ 6.50589751e-02 6.76140093e-04 9.97881192e-01 3.55600436e+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:300.66, Y:117.02, Z:35.57 [[ 8.90514805e-01 -4.51301209e-01 -5.75378116e-02 3.00655979e+02] [ 4.50279413e-01 8.92370954e-01 -3.03731900e-02 1.17024214e+02] [ 6.50525292e-02 1.13968339e-03 9.97881190e-01 3.55655653e+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:300.68, Y:117.04, Z:35.56 [[ 8.91753626e-01 -4.48815037e-01 -5.77973526e-02 3.00682151e+02] [ 4.47819706e-01 8.93624348e-01 -2.98836903e-02 1.17038534e+02] [ 6.50613711e-02 7.66095757e-04 9.97880970e-01 3.55570049e+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:300.71, Y:117.05, Z:35.56 [[ 8.93801036e-01 -4.44720509e-01 -5.78219482e-02 3.00706172e+02] [ 4.43719606e-01 8.95668826e-01 -2.98373266e-02 1.17051952e+02] [ 6.50585875e-02 1.01190127e-03 9.97880933e-01 3.55595108e+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:300.73, Y:117.06, Z:35.56 [[ 8.95097995e-01 -4.42094796e-01 -5.78944757e-02 3.00729763e+02] [ 4.41097246e-01 8.96967722e-01 -2.97006130e-02 1.17063641e+02] [ 6.50599624e-02 1.04786536e-03 9.97880806e-01 3.55628146e+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:300.76, Y:117.08, Z:35.56 [[ 8.97504823e-01 -4.37204840e-01 -5.77669554e-02 3.00757628e+02] [ 4.36181638e-01 8.99360396e-01 -2.99408919e-02 1.17075297e+02] [ 6.50436148e-02 1.67520966e-03 9.97881016e-01 3.55597551e+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:300.78, Y:117.09, Z:35.56 [[ 8.99384348e-01 -4.33320269e-01 -5.78043190e-02 3.00783027e+02] [ 4.32293566e-01 9.01238050e-01 -2.98705639e-02 1.17086474e+02] [ 6.50389725e-02 1.87668246e-03 9.97880960e-01 3.55628474e+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:300.81, Y:117.10, Z:35.56 [[ 9.01036978e-01 -4.29889331e-01 -5.76847307e-02 3.00811553e+02] [ 4.28841216e-01 9.02878454e-01 -3.00949854e-02 1.17096815e+02] [ 6.50198136e-02 2.37910463e-03 9.97881137e-01 3.55626355e+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:300.83, Y:117.11, Z:35.56 [[ 9.01387188e-01 -4.29132569e-01 -5.78478651e-02 3.00833974e+02] [ 4.28102480e-01 9.03239107e-01 -2.97889663e-02 1.17106097e+02] [ 6.50338696e-02 2.08657807e-03 9.97880876e-01 3.55618617e+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:300.86, Y:117.12, Z:35.57 [[ 8.99148947e-01 -4.33866533e-01 -5.73672705e-02 3.00861375e+02] [ 4.32788662e-01 9.00972909e-01 -3.06886197e-02 1.17115788e+02] [ 6.50011216e-02 2.76573582e-03 9.97881358e-01 3.55701481e+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:300.89, Y:117.12, Z:35.57 [[ 8.99675627e-01 -4.32771593e-01 -5.73804342e-02 3.00887015e+02] [ 4.31693070e-01 9.01499203e-01 -3.06639868e-02 1.17122193e+02] [ 6.49989182e-02 2.81690575e-03 9.97881359e-01 3.55704605e+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:300.92, Y:117.13, Z:35.57 [[ 8.98218208e-01 -4.35820851e-01 -5.71334997e-02 3.00915446e+02] [ 4.34719185e-01 9.00028027e-01 -3.11252365e-02 1.17131835e+02] [ 6.49867781e-02 3.12022574e-03 9.97881247e-01 3.55723348e+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:300.95, Y:117.14, Z:35.57 [[ 8.94077940e-01 -4.44243270e-01 -5.72062445e-02 3.00945189e+02] [ 4.43167339e-01 8.95903104e-01 -3.09893273e-02 1.17136052e+02] [ 6.50180521e-02 2.35493476e-03 9.97881309e-01 3.55746188e+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:300.98, Y:117.14, Z:35.58 [[ 8.89587085e-01 -4.53171269e-01 -5.71893198e-02 3.00976002e+02] [ 4.52111630e-01 8.91421771e-01 -3.10209746e-02 1.17142823e+02] [ 6.50376191e-02 1.73990180e-03 9.97881296e-01 3.55785009e+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:301.00, Y:117.15, Z:35.58 [[ 8.88153985e-01 -4.55951969e-01 -5.73611386e-02 3.01002227e+02] [ 4.54918786e-01 8.90003612e-01 -3.06996492e-02 1.17153604e+02] [ 6.50491861e-02 1.17135624e-03 9.97881371e-01 3.55804092e+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:301.03, Y:117.16, Z:35.58 [[ 8.87272143e-01 -4.57664751e-01 -5.73682820e-02 3.01028748e+02] [ 4.56636001e-01 8.89124240e-01 -3.06862946e-02 1.17162595e+02] [ 6.50515655e-02 1.03067150e-03 9.97881372e-01 3.55822997e+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:301.05, Y:117.17, Z:35.58 [[ 8.86150411e-01 -4.59830224e-01 -5.73900183e-02 3.01053458e+02] [ 4.58808630e-01 8.88006466e-01 -3.06456736e-02 1.17173809e+02] [ 6.50545142e-02 8.25640562e-04 9.97881370e-01 3.55836669e+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:301.08, Y:117.18, Z:35.58 [[ 8.85662181e-01 -4.60774398e-01 -5.73537793e-02 3.01081943e+02] [ 4.59750400e-01 8.87516907e-01 -3.07133462e-02 1.17181998e+02] [ 6.50543724e-02 8.33226130e-04 9.97881373e-01 3.55801084e+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:301.11, Y:117.19, Z:35.58 [[ 8.85781906e-01 -4.60539811e-01 -5.73889959e-02 3.01108695e+02] [ 4.59519579e-01 8.87638711e-01 -3.06476036e-02 1.17192063e+02] [ 6.50551359e-02 7.75725467e-04 9.97881369e-01 3.55828704e+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:301.14, Y:117.20, Z:35.58 [[ 8.84379457e-01 -4.63250569e-01 -5.72003945e-02 3.01136620e+02] [ 4.62213241e-01 8.86226809e-01 -3.09994047e-02 1.17203515e+02] [ 6.50530149e-02 9.76456936e-04 9.97881332e-01 3.55822009e+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:301.16, Y:117.21, Z:35.58 [[ 8.84756100e-01 -4.62514370e-01 -5.73332353e-02 3.01161720e+02] [ 4.61491532e-01 8.86611469e-01 -3.07517431e-02 1.17214901e+02] [ 6.50554270e-02 7.48989682e-04 9.97881371e-01 3.55813276e+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:301.19, Y:117.23, Z:35.58 [[ 8.86614572e-01 -4.58942375e-01 -5.73279874e-02 3.01187438e+02] [ 4.57911430e-01 8.88465447e-01 -3.07615232e-02 1.17225633e+02] [ 6.50517025e-02 1.02247404e-03 9.97881371e-01 3.55820590e+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:301.21, Y:117.24, Z:35.59 [[ 8.87904382e-01 -4.56443449e-01 -5.73165428e-02 3.01212046e+02] [ 4.55405921e-01 8.89751575e-01 -3.07828327e-02 1.17237377e+02] [ 6.50481066e-02 1.22991906e-03 9.97881371e-01 3.55856097e+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:301.24, Y:117.25, Z:35.59 [[ 8.89975693e-01 -4.52392143e-01 -5.73115569e-02 3.01238789e+02] [ 4.51345609e-01 8.91817799e-01 -3.07921128e-02 1.17247065e+02] [ 6.50415764e-02 1.53691238e-03 9.97881371e-01 3.55890819e+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:301.26, Y:117.26, Z:35.59 [[ 8.90911717e-01 -4.50547508e-01 -5.72996976e-02 3.01263686e+02] [ 4.49495743e-01 8.92750841e-01 -3.08141653e-02 1.17258259e+02] [ 6.50375986e-02 1.69673081e-03 9.97881372e-01 3.55907469e+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:301.29, Y:117.27, Z:35.59 [[ 8.92991288e-01 -4.46412245e-01 -5.72945702e-02 3.01288605e+02] [ 4.45351354e-01 8.94825162e-01 -3.08236961e-02 1.17269834e+02] [ 6.50286985e-02 2.00907760e-03 9.97881372e-01 3.55938610e+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:301.31, Y:117.28, Z:35.60 [[ 8.93979828e-01 -4.44430815e-01 -5.72827950e-02 3.01312516e+02] [ 4.43364461e-01 8.95810530e-01 -3.08455637e-02 1.17283670e+02] [ 6.50232500e-02 2.17815618e-03 9.97881372e-01 3.55955311e+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:301.34, Y:117.30, Z:35.60 [[ 8.94960639e-01 -4.42453972e-01 -5.72707423e-02 3.01335603e+02] [ 4.41382145e-01 8.96788143e-01 -3.08679257e-02 1.17297346e+02] [ 6.50173589e-02 2.34729537e-03 9.97881372e-01 3.55975338e+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:301.36, Y:117.31, Z:35.60 [[ 8.96400424e-01 -4.39530361e-01 -5.72655311e-02 3.01359474e+02] [ 4.38451959e-01 8.98224056e-01 -3.08775903e-02 1.17310085e+02] [ 6.50089160e-02 2.57050079e-03 9.97881372e-01 3.55999284e+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:301.38, Y:117.32, Z:35.60 [[ 8.96344355e-01 -4.39645353e-01 -5.72604629e-02 3.01383738e+02] [ 4.38566586e-01 8.98167770e-01 -3.08869861e-02 1.17323141e+02] [ 6.50088222e-02 2.57284994e-03 9.97881372e-01 3.56029193e+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:301.41, Y:117.34, Z:35.61 [[ 8.95725514e-01 -4.40906295e-01 -5.72489513e-02 3.01407739e+02] [ 4.39828735e-01 8.97549642e-01 -3.09083082e-02 1.17337747e+02] [ 6.50114434e-02 2.50562647e-03 9.97881373e-01 3.56068017e+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:301.43, Y:117.35, Z:35.61 [[ 8.93601332e-01 -4.45197202e-01 -5.72373171e-02 3.01429787e+02] [ 4.44127026e-01 8.95429802e-01 -3.09298380e-02 1.17352506e+02] [ 6.50218768e-02 2.21830506e-03 9.97881373e-01 3.56084719e+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:301.45, Y:117.37, Z:35.61 [[ 8.93437140e-01 -4.45527629e-01 -5.72294358e-02 3.01454623e+02] [ 4.44457197e-01 8.95265460e-01 -3.09444139e-02 1.17366206e+02] [ 6.50221285e-02 2.21085405e-03 9.97881373e-01 3.56103238e+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:301.48, Y:117.38, Z:35.61 [[ 8.91723007e-01 -4.48950086e-01 -5.72179932e-02 3.01477429e+02] [ 4.47885316e-01 8.93554631e-01 -3.09655575e-02 1.17379563e+02] [ 6.50293925e-02 1.98560106e-03 9.97881373e-01 3.56137857e+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:301.50, Y:117.39, Z:35.62 [[ 8.87112888e-01 -4.57992785e-01 -5.72130501e-02 3.01501594e+02] [ 4.56946103e-01 8.88954908e-01 -3.09746878e-02 1.17392237e+02] [ 6.50460052e-02 1.33476448e-03 9.97881374e-01 3.56162597e+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:301.53, Y:117.41, Z:35.62 [[ 8.83706805e-01 -4.64541760e-01 -5.71247471e-02 3.01528360e+02] [ 4.63498192e-01 8.85550605e-01 -3.11376373e-02 1.17406559e+02] [ 6.50515872e-02 1.03932492e-03 9.97881361e-01 3.56171352e+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:301.55, Y:117.42, Z:35.62 [[ 8.81038791e-01 -4.69545997e-01 -5.74212992e-02 3.01552365e+02] [ 4.68548490e-01 8.82908010e-01 -3.05901634e-02 1.17417265e+02] [ 6.50612138e-02 4.64575523e-05 9.97881274e-01 3.56187935e+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:301.58, Y:117.43, Z:35.62 [[ 8.76275452e-01 -4.78404288e-01 -5.71897705e-02 3.01577466e+02] [ 4.77397758e-01 8.78139694e-01 -3.10170757e-02 1.17427460e+02] [ 6.50593096e-02 -1.22766148e-04 9.97881391e-01 3.56163635e+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:301.60, Y:117.44, Z:35.62 [[ 8.72560321e-01 -4.85147779e-01 -5.71849582e-02 3.01601849e+02] [ 4.84155074e-01 8.74431962e-01 -3.10259454e-02 1.17440358e+02] [ 6.50565237e-02 -6.14378736e-04 9.97881391e-01 3.56172936e+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:301.63, Y:117.45, Z:35.62 [[ 8.71175166e-01 -4.87631973e-01 -5.71742022e-02 3.01625908e+02] [ 4.86643305e-01 8.73048942e-01 -3.10457539e-02 1.17453742e+02] [ 6.50547789e-02 -7.77152906e-04 9.97881392e-01 3.56193316e+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:301.65, Y:117.47, Z:35.62 [[ 8.68193677e-01 -4.92921969e-01 -5.71635545e-02 3.01649874e+02] [ 4.91943427e-01 8.70072761e-01 -3.10653468e-02 1.17466880e+02] [ 6.50492436e-02 -1.15049728e-03 9.97881392e-01 3.56182298e+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:301.67, Y:117.48, Z:35.62 [[ 8.66230393e-01 -4.96364544e-01 -5.71589525e-02 3.01674710e+02] [ 4.95392911e-01 8.68113058e-01 -3.10738121e-02 1.17480616e+02] [ 6.50443716e-02 -1.39905944e-03 9.97881392e-01 3.56189456e+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:301.70, Y:117.49, Z:35.62 [[ 8.62834248e-01 -5.02246061e-01 -5.71485366e-02 3.01698549e+02] [ 5.01285991e-01 8.64722836e-01 -3.10929564e-02 1.17494374e+02] [ 6.50339595e-02 -1.81969318e-03 9.97881392e-01 3.56176418e+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:301.72, Y:117.51, Z:35.62 [[ 8.59486416e-01 -5.07954388e-01 -5.71440300e-02 3.01721014e+02] [ 5.07006308e-01 8.61381052e-01 -3.11012366e-02 1.17511225e+02] [ 6.50207943e-02 -2.24129332e-03 9.97881392e-01 3.56187429e+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:301.74, Y:117.53, Z:35.62 [[ 8.58606552e-01 -5.09441423e-01 -5.71334012e-02 3.01743470e+02] [ 5.08495328e-01 8.60502179e-01 -3.11207496e-02 1.17527077e+02] [ 6.50176152e-02 -2.33158813e-03 9.97881392e-01 3.56221611e+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:301.76, Y:117.55, Z:35.63 [[ 8.59239793e-01 -5.08373835e-01 -5.71228794e-02 3.01762951e+02] [ 5.07424103e-01 8.61133600e-01 -3.11400506e-02 1.17547241e+02] [ 6.50212178e-02 -2.22875523e-03 9.97881393e-01 3.56269275e+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:301.78, Y:117.57, Z:35.63 [[ 8.60062326e-01 -5.06981552e-01 -5.71183179e-02 3.01784635e+02] [ 5.06028199e-01 8.61954313e-01 -3.11484154e-02 1.17565106e+02] [ 6.50250524e-02 -2.11390093e-03 9.97881393e-01 3.56287973e+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:301.80, Y:117.59, Z:35.63 [[ 8.62376582e-01 -5.03036105e-01 -5.71078648e-02 3.01803690e+02] [ 5.02072828e-01 8.64263535e-01 -3.11675685e-02 1.17586636e+02] [ 6.50346573e-02 -1.79412599e-03 9.97881393e-01 3.56322845e+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:301.82, Y:117.60, Z:35.64 [[ 8.63810561e-01 -5.00570198e-01 -5.71033380e-02 3.01823459e+02] [ 4.99600986e-01 8.65694473e-01 -3.11758599e-02 1.17602859e+02] [ 6.50397505e-02 -1.59884689e-03 9.97881393e-01 3.56378694e+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:301.85, Y:117.62, Z:35.64 [[ 8.63880854e-01 -5.00484496e-01 -5.67903091e-02 3.01845680e+02] [ 4.99477378e-01 8.65744990e-01 -3.17484060e-02 1.17623821e+02] [ 6.50555106e-02 -9.38634542e-04 9.97881205e-01 3.56373200e+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:301.87, Y:117.64, Z:35.64 [[ 8.63850842e-01 -5.00502460e-01 -5.70877466e-02 3.01867511e+02] [ 4.99531223e-01 8.65733706e-01 -3.12042746e-02 1.17639148e+02] [ 6.50406027e-02 -1.56127301e-03 9.97881397e-01 3.56405952e+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:301.89, Y:117.66, Z:35.65 [[ 8.62867044e-01 -5.02197197e-01 -5.70827447e-02 3.01888740e+02] [ 5.01229054e-01 8.64751501e-01 -3.12134221e-02 1.17660136e+02] [ 6.50376822e-02 -1.67849686e-03 9.97881397e-01 3.56457402e+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:301.91, Y:117.68, Z:35.65 [[ 8.61889977e-01 -5.03873308e-01 -5.70732632e-02 3.01914191e+02] [ 5.02907682e-01 8.63775725e-01 -3.12307492e-02 1.17680385e+02] [ 6.50348402e-02 -1.78511279e-03 9.97881397e-01 3.56515676e+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:301.94, Y:117.69, Z:35.65 [[ 8.61104785e-01 -5.05177918e-01 -5.73918140e-02 3.01936821e+02] [ 5.04253815e-01 8.63011457e-01 -3.06482492e-02 1.17694938e+02] [ 6.50126118e-02 -2.54868711e-03 9.97881188e-01 3.56525621e+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:301.96, Y:117.71, Z:35.65 [[ 8.60575801e-01 -5.06084243e-01 -5.73413373e-02 3.01960271e+02] [ 5.05156013e-01 8.62480394e-01 -3.07404195e-02 1.17711090e+02] [ 6.50130211e-02 -2.51186017e-03 9.97881254e-01 3.56509133e+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:301.98, Y:117.73, Z:35.65 [[ 8.60112100e-01 -5.06872671e-01 -5.73347359e-02 3.01981274e+02] [ 5.05945384e-01 8.62017143e-01 -3.07524647e-02 1.17727619e+02] [ 6.50111091e-02 -2.55767804e-03 9.97881262e-01 3.56475480e+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:302.01, Y:117.75, Z:35.65 [[ 8.62995960e-01 -5.01980536e-01 -5.70395899e-02 3.02009186e+02] [ 5.01006825e-01 8.64877486e-01 -3.12905129e-02 1.17747133e+02] [ 6.50394856e-02 -1.57363767e-03 9.97881450e-01 3.56468945e+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:302.03, Y:117.77, Z:35.65 [[ 8.63110228e-01 -5.01738785e-01 -5.74362787e-02 3.02028201e+02] [ 5.00812492e-01 8.65015905e-01 -3.05668379e-02 1.17765161e+02] [ 6.50198627e-02 -2.38225546e-03 9.97881126e-01 3.56490419e+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:302.05, Y:117.78, Z:35.65 [[ 8.65294954e-01 -4.98008224e-01 -5.70302722e-02 3.02050905e+02] [ 4.97024820e-01 8.67171397e-01 -3.13064979e-02 1.17782276e+02] [ 6.50459143e-02 -1.25610613e-03 9.97881482e-01 3.56484753e+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:302.07, Y:117.80, Z:35.65 [[ 8.65873699e-01 -4.97002603e-01 -5.70188604e-02 3.02074534e+02] [ 4.96015653e-01 8.67748278e-01 -3.13272686e-02 1.17797005e+02] [ 6.50477520e-02 -1.15678930e-03 9.97881482e-01 3.56487386e+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:302.10, Y:117.81, Z:35.65 [[ 8.66964547e-01 -4.95098595e-01 -5.70075038e-02 3.02096921e+02] [ 4.94106170e-01 8.68836234e-01 -3.13479211e-02 1.17814148e+02] [ 6.50504966e-02 -9.90223157e-04 9.97881482e-01 3.56482877e+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:302.12, Y:117.83, Z:35.65 [[ 8.68149957e-01 -4.93023430e-01 -5.69521663e-02 3.02119079e+02] [ 4.92019930e-01 8.70015735e-01 -3.14485044e-02 1.17832526e+02] [ 6.50541303e-02 -7.19583094e-04 9.97881477e-01 3.56464476e+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:302.14, Y:117.85, Z:35.65 [[ 8.69547836e-01 -4.90549051e-01 -5.69928949e-02 3.02142039e+02] [ 4.89545089e-01 8.71413361e-01 -3.13745199e-02 1.17849405e+02] [ 6.50551111e-02 -6.18945986e-04 9.97881481e-01 3.56485577e+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:302.16, Y:117.87, Z:35.65 [[ 8.74722323e-01 -4.81262872e-01 -5.69816308e-02 3.02163370e+02] [ 4.80237772e-01 8.76576317e-01 -3.13949641e-02 1.17868819e+02] [ 6.50579787e-02 9.71445143e-05 9.97881481e-01 3.56507658e+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:302.19, Y:117.88, Z:35.65 [[ 8.77924706e-01 -4.75397316e-01 -5.69701832e-02 3.02188256e+02] [ 4.74358483e-01 8.79771040e-01 -3.14157237e-02 1.17884250e+02] [ 6.50556680e-02 5.56350336e-04 9.97881481e-01 3.56503415e+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:302.21, Y:117.90, Z:35.65 [[ 8.81931516e-01 -4.67917985e-01 -5.70049126e-02 3.02209881e+02] [ 4.66867561e-01 8.83771285e-01 -3.13527797e-02 1.17900057e+02] [ 6.50498343e-02 1.03726000e-03 9.97881478e-01 3.56518854e+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:302.23, Y:117.91, Z:35.65 [[ 8.83250389e-01 -4.65432261e-01 -5.69347089e-02 3.02234712e+02] [ 4.64368462e-01 8.85082450e-01 -3.14799477e-02 1.17914921e+02] [ 6.50436949e-02 1.36599276e-03 9.97881482e-01 3.56538295e+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:302.26, Y:117.93, Z:35.66 [[ 8.83641592e-01 -4.64681913e-01 -5.69934864e-02 3.02258437e+02] [ 4.63623414e-01 8.85476725e-01 -3.13735433e-02 1.17929805e+02] [ 6.50451238e-02 1.29945299e-03 9.97881478e-01 3.56557272e+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:302.28, Y:117.94, Z:35.65 [[ 8.83681257e-01 -4.64613061e-01 -5.69397942e-02 3.02283061e+02] [ 4.63548160e-01 8.85512676e-01 -3.14706892e-02 1.17942763e+02] [ 6.50426028e-02 1.41572129e-03 9.97881484e-01 3.56544299e+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:302.31, Y:117.95, Z:35.66 [[ 8.81825582e-01 -4.68130691e-01 -5.68972735e-02 3.02309262e+02] [ 4.67068134e-01 8.83658366e-01 -3.15476077e-02 1.17954302e+02] [ 6.50461551e-02 1.24458418e-03 9.97881480e-01 3.56580627e+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:302.33, Y:117.96, Z:35.66 [[ 8.81480484e-01 -4.68776314e-01 -5.69291085e-02 3.02334013e+02] [ 4.67718813e-01 8.83316188e-01 -3.14900474e-02 1.17964085e+02] [ 6.50481915e-02 1.13104717e-03 9.97881483e-01 3.56583188e+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:302.36, Y:117.98, Z:35.66 [[ 8.77585787e-01 -4.76037001e-01 -5.68503214e-02 3.02359913e+02] [ 4.74985465e-01 8.79424926e-01 -3.16323842e-02 1.17976323e+02] [ 6.50537750e-02 7.57054475e-04 9.97881473e-01 3.56647821e+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:302.39, Y:117.99, Z:35.66 [[ 8.77077663e-01 -4.76965321e-01 -5.69109422e-02 3.02389055e+02] [ 4.75922828e-01 8.78921934e-01 -3.15229417e-02 1.17987754e+02] [ 6.50556253e-02 5.62851505e-04 9.97881480e-01 3.56649698e+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:302.41, Y:118.00, Z:35.67 [[ 8.73557162e-01 -4.83362351e-01 -5.70852172e-02 3.02414854e+02] [ 4.82353906e-01 8.75420335e-01 -3.12081138e-02 1.17999332e+02] [ 6.50583873e-02 -2.73206177e-04 9.97881422e-01 3.56690935e+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:302.44, Y:118.01, Z:35.68 [[ 8.71872926e-01 -4.86397137e-01 -5.70563437e-02 3.02439531e+02] [ 4.85391764e-01 8.73737737e-01 -3.12602506e-02 1.18012037e+02] [ 6.50571770e-02 -4.39713175e-04 9.97881441e-01 3.56763855e+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:302.47, Y:118.02, Z:35.67 [[ 8.67203604e-01 -4.94680593e-01 -5.70001750e-02 3.02465830e+02] [ 4.93686369e-01 8.69074347e-01 -3.13615761e-02 1.18023167e+02] [ 6.50513530e-02 -9.43337591e-04 9.97881472e-01 3.56718093e+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:302.49, Y:118.03, Z:35.68 [[ 8.63093074e-01 -5.01830606e-01 -5.68892694e-02 3.02494380e+02] [ 5.00838693e-01 8.64965014e-01 -3.15614859e-02 1.18032938e+02] [ 6.50457473e-02 -1.25184748e-03 9.97881498e-01 3.56807567e+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:302.52, Y:118.05, Z:35.68 [[ 8.59906231e-01 -5.07253463e-01 -5.70543446e-02 3.02520042e+02] [ 5.06293051e-01 8.61794590e-01 -3.12638955e-02 1.18047522e+02] [ 6.50278447e-02 -2.00219965e-03 9.97881441e-01 3.56771109e+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:302.54, Y:118.06, Z:35.68 [[ 8.53141744e-01 -5.18548379e-01 -5.70678735e-02 3.02542490e+02] [ 5.17614578e-01 8.55043415e-01 -3.12395177e-02 1.18061867e+02] [ 6.49947107e-02 -2.88742663e-03 9.97881431e-01 3.56812259e+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:302.57, Y:118.08, Z:35.68 [[ 8.50909324e-01 -5.22224610e-01 -5.68751172e-02 3.02566997e+02] [ 5.21275843e-01 8.52803484e-01 -3.15866070e-02 1.18075649e+02] [ 6.49986016e-02 -2.77028619e-03 9.97881510e-01 3.56837570e+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:302.59, Y:118.09, Z:35.69 [[ 8.48957323e-01 -5.25392303e-01 -5.68717097e-02 3.02591293e+02] [ 5.24450192e-01 8.50854803e-01 -3.15927410e-02 1.18090007e+02] [ 6.49881503e-02 -3.00549024e-03 9.97881510e-01 3.56861649e+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:302.61, Y:118.11, Z:35.69 [[ 8.47639297e-01 -5.27517316e-01 -5.68603832e-02 3.02614089e+02] [ 5.26578599e-01 8.49538457e-01 -3.16131133e-02 1.18105496e+02] [ 6.49815469e-02 -3.14494374e-03 9.97881510e-01 3.56884071e+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:302.64, Y:118.12, Z:35.69 [[ 8.49057005e-01 -5.25233668e-01 -5.68488996e-02 3.02636784e+02] [ 5.24288463e-01 8.50952944e-01 -3.16337505e-02 1.18122302e+02] [ 6.49908492e-02 -2.94636480e-03 9.97881510e-01 3.56915657e+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:302.66, Y:118.14, Z:35.69 [[ 8.50215634e-01 -5.23356458e-01 -5.68453505e-02 3.02659901e+02] [ 5.22406641e-01 8.52109268e-01 -3.16401267e-02 1.18138332e+02] [ 6.49975147e-02 -2.79545820e-03 9.97881510e-01 3.56947231e+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:302.68, Y:118.16, Z:35.70 [[ 8.53018323e-01 -5.18777056e-01 -5.68340264e-02 3.02680899e+02] [ 5.17815719e-01 8.54906133e-01 -3.16604549e-02 1.18155824e+02] [ 6.50124753e-02 -2.42260407e-03 9.97881511e-01 3.56982255e+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:302.70, Y:118.17, Z:35.70 [[ 8.53953350e-01 -5.17237012e-01 -5.68291283e-02 3.02704414e+02] [ 5.16271686e-01 8.55839123e-01 -3.16692443e-02 1.18171799e+02] [ 6.50170967e-02 -2.29521260e-03 9.97881511e-01 3.56996080e+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:302.73, Y:118.19, Z:35.70 [[ 8.55062803e-01 -5.15402083e-01 -5.68180948e-02 3.02728332e+02] [ 5.14431397e-01 8.56945823e-01 -3.16890274e-02 1.18189879e+02] [ 6.50226197e-02 -2.13290332e-03 9.97881511e-01 3.57015349e+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:302.75, Y:118.20, Z:35.70 [[ 8.56353348e-01 -5.13239292e-01 -5.69593938e-02 3.02750180e+02] [ 5.12280661e-01 8.58242580e-01 -3.14356430e-02 1.18203091e+02] [ 6.50189842e-02 -2.25917776e-03 9.97881470e-01 3.57012584e+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:302.78, Y:118.22, Z:35.70 [[ 8.58365720e-01 -5.09883945e-01 -5.68036305e-02 3.02777023e+02] [ 5.08899457e-01 8.60241550e-01 -3.17146353e-02 1.18218071e+02] [ 6.50356265e-02 -1.68458095e-03 9.97881521e-01 3.56961303e+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:302.80, Y:118.24, Z:35.70 [[ 8.59815462e-01 -5.07409971e-01 -5.70306202e-02 3.02795881e+02] [ 5.06446976e-01 8.61702538e-01 -3.13080826e-02 1.18236377e+02] [ 6.50294635e-02 -1.96381167e-03 9.97881412e-01 3.56975255e+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:302.82, Y:118.25, Z:35.70 [[ 8.62271979e-01 -5.03251476e-01 -5.67889688e-02 3.02822663e+02] [ 5.02250856e-01 8.64139237e-01 -3.17404535e-02 1.18252711e+02] [ 6.50470063e-02 -1.15340452e-03 9.97881534e-01 3.56955545e+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:302.84, Y:118.27, Z:35.69 [[ 8.67494698e-01 -4.94166660e-01 -5.70286031e-02 3.02844244e+02] [ 4.93174617e-01 8.69366658e-01 -3.13115284e-02 1.18271886e+02] [ 6.50518795e-02 -9.62474661e-04 9.97881419e-01 3.56930271e+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:302.87, Y:118.29, Z:35.69 [[ 8.70251464e-01 -4.89303895e-01 -5.69568850e-02 3.02865874e+02] [ 4.88292996e-01 8.72113235e-01 -3.14397183e-02 1.18289132e+02] [ 6.50564299e-02 -4.51187104e-04 9.97881485e-01 3.56939504e+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:302.89, Y:118.31, Z:35.69 [[ 8.77194744e-01 -4.76755591e-01 -5.68637587e-02 3.02886354e+02] [ 4.75707275e-01 8.79035638e-01 -3.16059480e-02 1.18309743e+02] [ 6.50535828e-02 6.74067798e-04 9.97881545e-01 3.56936884e+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:302.91, Y:118.33, Z:35.70 [[ 8.80567537e-01 -4.70491247e-01 -5.69104414e-02 3.02907585e+02] [ 4.69435214e-01 8.82404046e-01 -3.15226782e-02 1.18326393e+02] [ 6.50491480e-02 1.04208184e-03 9.97881517e-01 3.56967210e+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:302.93, Y:118.34, Z:35.70 [[ 8.86172702e-01 -4.59870018e-01 -5.67230944e-02 3.02930660e+02] [ 4.58770609e-01 8.87983499e-01 -3.18564685e-02 1.18343922e+02] [ 6.50190065e-02 2.20744423e-03 9.97881584e-01 3.57012130e+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:302.95, Y:118.36, Z:35.70 [[ 8.86044681e-01 -4.60088708e-01 -5.69491386e-02 3.02954433e+02] [ 4.59015593e-01 8.87871271e-01 -3.14530121e-02 1.18357471e+02] [ 6.50346798e-02 1.72823145e-03 9.97881508e-01 3.57028584e+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:302.98, Y:118.37, Z:35.71 [[ 8.87703597e-01 -4.56887590e-01 -5.68863273e-02 3.02975056e+02] [ 4.55800731e-01 8.89521982e-01 -3.15648255e-02 1.18370395e+02] [ 6.50232156e-02 2.09137956e-03 9.97881560e-01 3.57056868e+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:303.00, Y:118.38, Z:35.71 [[ 8.88204995e-01 -4.55960367e-01 -5.64980618e-02 3.03001980e+02] [ 4.54827631e-01 8.89995184e-01 -3.22552190e-02 1.18383970e+02] [ 6.49901044e-02 2.95236700e-03 9.97881541e-01 3.57104423e+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:303.03, Y:118.39, Z:35.71 [[ 8.88157615e-01 -4.56018660e-01 -5.67717554e-02 3.03028886e+02] [ 4.54917006e-01 8.89967007e-01 -3.17685993e-02 1.18391436e+02] [ 6.50120633e-02 2.38908637e-03 9.97881618e-01 3.57122274e+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:303.06, Y:118.40, Z:35.72 [[ 8.86793061e-01 -4.58690191e-01 -5.65807085e-02 3.03055384e+02] [ 4.57572335e-01 8.88592502e-01 -3.21079938e-02 1.18403433e+02] [ 6.50048151e-02 2.58337920e-03 9.97881606e-01 3.57151014e+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:303.08, Y:118.41, Z:35.72 [[ 8.85767127e-01 -4.60647390e-01 -5.67501404e-02 3.03083242e+02] [ 4.59552724e-01 8.87580755e-01 -3.18071859e-02 1.18409216e+02] [ 6.50222296e-02 2.09407805e-03 9.97881619e-01 3.57160556e+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:303.11, Y:118.42, Z:35.72 [[ 8.84172081e-01 -4.63715784e-01 -5.66339304e-02 3.03111016e+02] [ 4.62614212e-01 8.85981511e-01 -3.20133230e-02 1.18420466e+02] [ 6.50216985e-02 2.10562536e-03 9.97881629e-01 3.57196823e+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:303.14, Y:118.43, Z:35.72 [[ 8.82540184e-01 -4.66784357e-01 -5.68787093e-02 3.03139225e+02] [ 4.65717027e-01 8.84370092e-01 -3.15783242e-02 1.18427093e+02] [ 6.50420972e-02 1.37975667e-03 9.97881567e-01 3.57217927e+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:303.17, Y:118.43, Z:35.72 [[ 8.81499572e-01 -4.68755137e-01 -5.68077973e-02 3.03166178e+02] [ 4.67683804e-01 8.83327074e-01 -3.17039346e-02 1.18434531e+02] [ 6.50412476e-02 1.37891800e-03 9.97881624e-01 3.57192198e+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:303.19, Y:118.45, Z:35.72 [[ 8.80801856e-01 -4.70095933e-01 -5.65500188e-02 3.03192850e+02] [ 4.68998056e-01 8.82613481e-01 -3.21600153e-02 1.18447289e+02] [ 6.50301013e-02 1.80475226e-03 9.97881671e-01 3.57210050e+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:303.22, Y:118.46, Z:35.72 [[ 8.80489546e-01 -4.70670200e-01 -5.66367605e-02 3.03216939e+02] [ 4.69583362e-01 8.82307797e-01 -3.20065246e-02 1.18458762e+02] [ 6.50355727e-02 1.58572986e-03 9.97881686e-01 3.57206005e+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:303.24, Y:118.47, Z:35.72 [[ 8.79405292e-01 -4.72693493e-01 -5.66320972e-02 3.03243749e+02] [ 4.71610308e-01 8.81225721e-01 -3.20147737e-02 1.18468532e+02] [ 6.50388359e-02 1.44568056e-03 9.97881686e-01 3.57198276e+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:303.27, Y:118.48, Z:35.72 [[ 8.78035755e-01 -4.75243610e-01 -5.65395777e-02 3.03271095e+02] [ 4.74155179e-01 8.79853069e-01 -3.21783107e-02 1.18481286e+02] [ 6.50390575e-02 1.44517371e-03 9.97881673e-01 3.57211899e+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:303.30, Y:118.49, Z:35.72 [[ 8.75612601e-01 -4.79668621e-01 -5.67502138e-02 3.03297493e+02] [ 4.78613475e-01 8.77449452e-01 -3.18056874e-02 1.18491343e+02] [ 6.50516342e-02 6.88043647e-04 9.97881662e-01 3.57219536e+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:303.32, Y:118.50, Z:35.72 [[ 8.73885838e-01 -4.82818610e-01 -5.66544998e-02 3.03321321e+02] [ 4.81759107e-01 8.75720143e-01 -3.19748908e-02 1.18502892e+02] [ 6.50515590e-02 6.48582988e-04 9.97881693e-01 3.57240341e+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:303.35, Y:118.51, Z:35.73 [[ 8.71436454e-01 -4.87229945e-01 -5.66170279e-02 3.03347797e+02] [ 4.86175425e-01 8.73273625e-01 -3.20411045e-02 1.18513015e+02] [ 6.50535427e-02 3.95978900e-04 9.97881696e-01 3.57272294e+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:303.38, Y:118.52, Z:35.73 [[ 8.69732505e-01 -4.90274849e-01 -5.65326619e-02 3.03375197e+02] [ 4.89217073e-01 8.71567815e-01 -3.21900428e-02 1.18521752e+02] [ 6.50540170e-02 3.39983220e-04 9.97881686e-01 3.57262900e+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:303.40, Y:118.53, Z:35.73 [[ 8.68583911e-01 -4.92305701e-01 -5.65427860e-02 3.03400992e+02] [ 4.91253379e-01 8.70422351e-01 -3.21721755e-02 1.18534650e+02] [ 6.50546501e-02 1.67399282e-04 9.97881689e-01 3.57283128e+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:303.43, Y:118.55, Z:35.73 [[ 8.67207608e-01 -4.94720423e-01 -5.65921246e-02 3.03426646e+02] [ 4.93678896e-01 8.69052179e-01 -3.20851522e-02 1.18547878e+02] [ 6.50546893e-02 -1.13849485e-04 9.97881694e-01 3.57334164e+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:303.45, Y:118.56, Z:35.74 [[ 8.65792024e-01 -4.97194813e-01 -5.65817034e-02 3.03450942e+02] [ 4.96157358e-01 8.67638888e-01 -3.21035194e-02 1.18561710e+02] [ 6.50541896e-02 -2.78457366e-04 9.97881694e-01 3.57361728e+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:303.48, Y:118.57, Z:35.74 [[ 8.63248293e-01 -5.01599674e-01 -5.65698743e-02 3.03476850e+02] [ 5.00570277e-01 8.65099661e-01 -3.21243501e-02 1.18573579e+02] [ 6.50521426e-02 -5.85907217e-04 9.97881694e-01 3.57368082e+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:303.50, Y:118.59, Z:35.74 [[ 8.59773855e-01 -5.07538503e-01 -5.65118195e-02 3.03502034e+02] [ 5.06515175e-01 8.61628591e-01 -3.22265390e-02 1.18588097e+02] [ 6.50484087e-02 -9.16558390e-04 9.97881689e-01 3.57382697e+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:303.53, Y:118.60, Z:35.74 [[ 8.55547047e-01 -5.14626437e-01 -5.65586565e-02 3.03529357e+02] [ 5.13623913e-01 8.57413104e-01 -3.21441284e-02 1.18598229e+02] [ 6.50363514e-02 -1.54906434e-03 9.97881693e-01 3.57373004e+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:303.56, Y:118.61, Z:35.74 [[ 8.51949333e-01 -5.20573217e-01 -5.64434165e-02 3.03555990e+02] [ 5.19570286e-01 8.53815202e-01 -3.23468710e-02 1.18614062e+02] [ 6.50311618e-02 -1.76842683e-03 9.97881667e-01 3.57395888e+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:303.58, Y:118.63, Z:35.74 [[ 8.48097205e-01 -5.26813702e-01 -5.65548764e-02 3.03580652e+02] [ 5.25837533e-01 8.49977185e-01 -3.21508109e-02 1.18629665e+02] [ 6.50078423e-02 -2.47166379e-03 9.97881692e-01 3.57403025e+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:303.60, Y:118.65, Z:35.74 [[ 8.44479174e-01 -5.32596836e-01 -5.65290546e-02 3.03601177e+02] [ 5.31630505e-01 8.46364230e-01 -3.21962065e-02 1.18645234e+02] [ 6.49917675e-02 -2.86354399e-03 9.97881692e-01 3.57377729e+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:303.63, Y:118.66, Z:35.74 [[ 8.42383644e-01 -5.35944370e-01 -5.61553985e-02 3.03626833e+02] [ 5.34941716e-01 8.44249986e-01 -3.28530313e-02 1.18663404e+02] [ 6.50165915e-02 -2.36500906e-03 9.97881381e-01 3.57432196e+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:303.65, Y:118.68, Z:35.74 [[ 8.40224827e-01 -5.39288331e-01 -5.64830546e-02 3.03650288e+02] [ 5.38331597e-01 8.42114774e-01 -3.22769069e-02 1.18678031e+02] [ 6.49717741e-02 -3.28675444e-03 9.97881689e-01 3.57425410e+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:303.67, Y:118.70, Z:35.75 [[ 8.38050143e-01 -5.42662457e-01 -5.64749188e-02 3.03674469e+02] [ 5.41712370e-01 8.39943443e-01 -3.22912060e-02 1.18696138e+02] [ 6.49589629e-02 -3.53151233e-03 9.97881687e-01 3.57463904e+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:303.69, Y:118.72, Z:35.75 [[ 8.37906071e-01 -5.42877677e-01 -5.65441778e-02 3.03693067e+02] [ 5.41936252e-01 8.39803682e-01 -3.21694709e-02 1.18718764e+02] [ 6.49500963e-02 -3.68834483e-03 9.97881697e-01 3.57514242e+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:303.71, Y:118.74, Z:35.75 [[ 8.39345031e-01 -5.40651445e-01 -5.65325889e-02 3.03714400e+02] [ 5.39703620e-01 8.41239453e-01 -3.21898236e-02 1.18737654e+02] [ 6.49609189e-02 -3.49247442e-03 9.97881697e-01 3.57545707e+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:303.73, Y:118.76, Z:35.77 [[ 8.43393926e-01 -5.34325891e-01 -5.64139009e-02 3.03730981e+02] [ 5.33349941e-01 8.45274040e-01 -3.23981111e-02 1.18760168e+02] [ 6.49963555e-02 -2.76398066e-03 9.97881673e-01 3.57657364e+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:303.76, Y:118.78, Z:35.76 [[ 8.45094469e-01 -5.31671132e-01 -5.60459292e-02 3.03755953e+02] [ 5.30646480e-01 8.46948941e-01 -3.30424866e-02 1.18781280e+02] [ 6.50357766e-02 -1.81655235e-03 9.97881279e-01 3.57598749e+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:303.77, Y:118.80, Z:35.77 [[ 8.50639768e-01 -5.22712968e-01 -5.64192963e-02 3.03771220e+02] [ 5.21711988e-01 8.52506659e-01 -3.23882345e-02 1.18804214e+02] [ 6.50275760e-02 -1.88390297e-03 9.97881689e-01 3.57715818e+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:303.80, Y:118.83, Z:35.76 [[ 8.53306129e-01 -5.18403174e-01 -5.59177919e-02 3.03795687e+02] [ 5.17334997e-01 8.55136162e-01 -3.32662899e-02 1.18831797e+02] [ 6.50626762e-02 -5.41901654e-04 9.97881032e-01 3.57606759e+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:303.82, Y:118.85, Z:35.76 [[ 8.54642112e-01 -5.16133325e-01 -5.65088530e-02 3.03817539e+02] [ 5.15128409e-01 8.56506827e-01 -3.22300785e-02 1.18849480e+02] [ 6.50352359e-02 -1.56413319e-03 9.97881742e-01 3.57598296e+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:303.84, Y:118.87, Z:35.77 [[ 8.57306631e-01 -5.11696510e-01 -5.64979850e-02 3.03835184e+02] [ 5.10680688e-01 8.59165426e-01 -3.22491183e-02 1.18867896e+02] [ 6.50428767e-02 -1.20504689e-03 9.97881743e-01 3.57662257e+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:303.86, Y:118.89, Z:35.77 [[ 8.57361885e-01 -5.11656617e-01 -5.60187881e-02 3.03856957e+02] [ 5.10585726e-01 8.59189997e-01 -3.30872407e-02 1.18885125e+02] [ 6.50600880e-02 -2.34654539e-04 9.97881321e-01 3.57689518e+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:303.88, Y:118.91, Z:35.76 [[ 8.55267909e-01 -5.15152012e-01 -5.59929351e-02 3.03881903e+02] [ 5.14085633e-01 8.57098713e-01 -3.31324299e-02 1.18906832e+02] [ 6.50597105e-02 -4.48059467e-04 9.97881272e-01 3.57609153e+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:303.91, Y:118.92, Z:35.76 [[ 8.55005214e-01 -5.15534682e-01 -5.64807584e-02 3.03905775e+02] [ 5.14525236e-01 8.56867466e-01 -3.22789133e-02 1.18920731e+02] [ 6.50374236e-02 -1.46213639e-03 9.97881754e-01 3.57617794e+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:303.93, Y:118.94, Z:35.76 [[ 8.55618493e-01 -5.14517537e-01 -5.64685551e-02 3.03927792e+02] [ 5.13504469e-01 8.57478778e-01 -3.23002476e-02 1.18937487e+02] [ 6.50396315e-02 -1.36016624e-03 9.97881755e-01 3.57615384e+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:303.95, Y:118.95, Z:35.77 [[ 8.57368481e-01 -5.11596705e-01 -5.64632610e-02 3.03947842e+02] [ 5.10576690e-01 8.59224965e-01 -3.23094995e-02 1.18951479e+02] [ 6.50440769e-02 -1.12767835e-03 9.97881755e-01 3.57697915e+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:303.97, Y:118.97, Z:35.77 [[ 8.58610579e-01 -5.09563030e-01 -5.59767103e-02 3.03968510e+02] [ 5.08483161e-01 8.60433332e-01 -3.31565534e-02 1.18971244e+02] [ 6.50595812e-02 5.35294106e-06 9.97881381e-01 3.57721043e+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:303.99, Y:118.99, Z:35.77 [[ 8.59557943e-01 -5.07964899e-01 -5.59625189e-02 3.03994318e+02] [ 5.06880030e-01 8.61377755e-01 -3.31812859e-02 1.18988451e+02] [ 6.50597975e-02 1.54954628e-04 9.97881355e-01 3.57716302e+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:304.02, Y:119.01, Z:35.77 [[ 8.59104368e-01 -5.08718985e-01 -5.60774323e-02 3.04018083e+02] [ 5.07648813e-01 8.60932620e-01 -3.29803970e-02 1.19005804e+02] [ 6.50566448e-02 -1.34038797e-04 9.97881564e-01 3.57725970e+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:304.04, Y:119.02, Z:35.78 [[ 8.58994648e-01 -5.08933317e-01 -5.58128508e-02 3.04044586e+02] [ 5.07833512e-01 8.60805862e-01 -3.34423647e-02 1.19020060e+02] [ 6.50639628e-02 3.83176288e-04 9.97881022e-01 3.57751340e+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:304.07, Y:119.04, Z:35.78 [[ 8.56664559e-01 -5.12826420e-01 -5.59901414e-02 3.04067066e+02] [ 5.11755025e-01 8.58492277e-01 -3.31331323e-02 1.19036624e+02] [ 6.50586496e-02 -2.69256058e-04 9.97881406e-01 3.57824795e+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:304.09, Y:119.05, Z:35.79 [[ 8.54647200e-01 -5.16183353e-01 -5.59724019e-02 3.04090215e+02] [ 5.15117110e-01 8.56477966e-01 -3.31640709e-02 1.19054913e+02] [ 6.50578703e-02 -4.88761603e-04 9.97881373e-01 3.57914506e+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:304.11, Y:119.07, Z:35.80 [[ 8.54349658e-01 -5.16673100e-01 -5.59961599e-02 3.04114859e+02] [ 5.15610623e-01 8.56182561e-01 -3.31226088e-02 1.19069898e+02] [ 6.50564965e-02 -5.73925416e-04 9.97881417e-01 3.57956408e+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:304.14, Y:119.08, Z:35.79 [[ 8.54502713e-01 -5.16418845e-01 -5.60061615e-02 3.04140904e+02] [ 5.15356967e-01 8.56335942e-01 -3.31051336e-02 1.19084242e+02] [ 6.50562040e-02 -5.74739126e-04 9.97881436e-01 3.57919663e+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:304.17, Y:119.10, Z:35.79 [[ 8.54914474e-01 -5.15732780e-01 -5.60441016e-02 3.04165448e+02] [ 5.14673777e-01 8.56749287e-01 -3.30388084e-02 1.19097639e+02] [ 6.50549406e-02 -5.99073937e-04 9.97881504e-01 3.57925478e+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:304.19, Y:119.11, Z:35.79 [[ 8.55596596e-01 -5.14601360e-01 -5.60348556e-02 3.04189534e+02] [ 5.13538872e-01 8.57429411e-01 -3.30549684e-02 1.19110613e+02] [ 6.50560649e-02 -4.94358139e-04 9.97881488e-01 3.57949465e+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:304.21, Y:119.13, Z:35.79 [[ 8.56328809e-01 -5.13385407e-01 -5.60035184e-02 3.04214674e+02] [ 5.12316739e-01 8.58158091e-01 -3.31096684e-02 1.19125107e+02] [ 6.50578931e-02 -3.38776971e-04 9.97881434e-01 3.57948718e+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:304.24, Y:119.14, Z:35.80 [[ 8.59184717e-01 -5.08587596e-01 -5.60382011e-02 3.04239787e+02] [ 5.07512675e-01 8.61010253e-01 -3.30488954e-02 1.19144099e+02] [ 6.50577240e-02 -4.49914906e-05 9.97881501e-01 3.57984634e+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:304.26, Y:119.16, Z:35.80 [[ 8.61985377e-01 -5.03839861e-01 -5.59160529e-02 3.04264011e+02] [ 5.02741042e-01 8.63796898e-01 -3.32620493e-02 1.19157568e+02] [ 6.50588594e-02 5.60105426e-04 9.97881271e-01 3.58021482e+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:304.29, Y:119.17, Z:35.80 [[ 8.66615901e-01 -4.95822847e-01 -5.60052134e-02 3.04289709e+02] [ 4.94717321e-01 8.68423132e-01 -3.31064305e-02 1.19171526e+02] [ 6.50511474e-02 9.83809973e-04 9.97881446e-01 3.58007557e+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:304.31, Y:119.18, Z:35.80 [[ 8.70513437e-01 -4.88941942e-01 -5.60547346e-02 3.04312448e+02] [ 4.87827694e-01 8.72315207e-01 -3.30200189e-02 1.19183784e+02] [ 6.50422695e-02 1.39931824e-03 9.97881529e-01 3.58002174e+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:304.34, Y:119.20, Z:35.80 [[ 8.71635839e-01 -4.86974844e-01 -5.57356745e-02 3.04341989e+02] [ 4.85820628e-01 8.73413245e-01 -3.35800621e-02 1.19200306e+02] [ 6.50329218e-02 2.19204522e-03 9.97880711e-01 3.58022289e+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:304.38, Y:119.23, Z:35.79 [[ 8.70352351e-01 -4.89244039e-01 -5.59200776e-02 3.04379412e+02] [ 4.88115231e-01 8.72145372e-01 -3.32561477e-02 1.19226147e+02] [ 6.50408090e-02 1.64912475e-03 9.97881242e-01 3.57898550e+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:304.39, Y:119.23, Z:35.79 [[ 8.72282729e-01 -4.85590145e-01 -5.76632653e-02 3.04394447e+02] [ 4.84653326e-01 8.74185115e-01 -3.01916932e-02 1.19229676e+02] [ 6.50691569e-02 -1.61100073e-03 9.97879456e-01 3.57943519e+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:304.42, Y:119.24, Z:35.80 [[ 8.73579189e-01 -4.83455831e-01 -5.59451602e-02 3.04422025e+02] [ 4.82318697e-01 8.75366425e-01 -3.32008473e-02 1.19242844e+02] [ 6.50236581e-02 2.02017253e-03 9.97881678e-01 3.57986239e+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:304.45, Y:119.26, Z:35.80 [[ 8.74815288e-01 -4.81209567e-01 -5.59961122e-02 3.04447375e+02] [ 4.80073540e-01 8.76603108e-01 -3.31117425e-02 1.19255021e+02] [ 6.50200532e-02 2.08440676e-03 9.97881781e-01 3.58026529e+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:304.47, Y:119.27, Z:35.81 [[ 8.76565475e-01 -4.78009777e-01 -5.60323212e-02 3.04473481e+02] [ 4.76871272e-01 8.78351635e-01 -3.30483724e-02 1.19265989e+02] [ 6.50135261e-02 2.24885796e-03 9.97881849e-01 3.58083273e+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:304.50, Y:119.28, Z:35.81 [[ 8.76626287e-01 -4.77898851e-01 -5.60271461e-02 3.04497381e+02] [ 4.76759541e-01 8.78411946e-01 -3.30574299e-02 1.19279546e+02] [ 6.50130222e-02 2.26753559e-03 9.97881839e-01 3.58101218e+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:304.53, Y:119.29, Z:35.81 [[ 8.76387946e-01 -4.78331871e-01 -5.60605829e-02 3.04527223e+02] [ 4.77197187e-01 8.78176475e-01 -3.29988265e-02 1.19292842e+02] [ 6.50154755e-02 2.16782135e-03 9.97881901e-01 3.58086479e+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:304.55, Y:119.30, Z:35.82 [[ 8.76512943e-01 -4.78058817e-01 -5.64342855e-02 3.04550146e+02] [ 4.76965605e-01 8.78326657e-01 -3.23434032e-02 1.19302437e+02] [ 6.50297864e-02 1.43219847e-03 9.97882296e-01 3.58168833e+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:304.58, Y:119.31, Z:35.82 [[ 8.74887968e-01 -4.81064132e-01 -5.61101062e-02 3.04578676e+02] [ 4.79940691e-01 8.76683425e-01 -3.29105521e-02 1.19311248e+02] [ 6.50228863e-02 1.86352296e-03 9.97882033e-01 3.58195142e+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:304.61, Y:119.32, Z:35.82 [[ 8.74455941e-01 -4.81840261e-01 -5.61851395e-02 3.04605134e+02] [ 4.80726840e-01 8.76257511e-01 -3.27792475e-02 1.19321103e+02] [ 6.50270117e-02 1.65430319e-03 9.97882133e-01 3.58200167e+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:304.64, Y:119.33, Z:35.81 [[ 8.72574468e-01 -4.85231273e-01 -5.62530848e-02 3.04635770e+02] [ 4.84132530e-01 8.74384934e-01 -3.26600732e-02 1.19334510e+02] [ 6.50345387e-02 1.26439777e-03 9.97882213e-01 3.58128327e+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:304.66, Y:119.34, Z:35.82 [[ 8.69522839e-01 -4.90652632e-01 -5.64803194e-02 3.04663763e+02] [ 4.89591028e-01 8.71355171e-01 -3.22612847e-02 1.19341568e+02] [ 6.50435026e-02 3.99666217e-04 9.97882349e-01 3.58154475e+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:304.69, Y:119.35, Z:35.82 [[ 8.69736591e-01 -4.90270468e-01 -5.65077848e-02 3.04688904e+02] [ 4.89211188e-01 8.71570266e-01 -3.22131054e-02 1.19349255e+02] [ 6.50436393e-02 3.72675929e-04 9.97882351e-01 3.58180486e+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:304.72, Y:119.36, Z:35.82 [[ 8.69321718e-01 -4.91027483e-01 -5.63183940e-02 3.04718209e+02] [ 4.89948202e-01 8.71143801e-01 -3.25459380e-02 1.19363299e+02] [ 6.50423698e-02 6.99794942e-04 9.97882258e-01 3.58168067e+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:304.74, Y:119.37, Z:35.82 [[ 8.69902942e-01 -4.89959616e-01 -5.66431482e-02 3.04743400e+02] [ 4.88915162e-01 8.71745123e-01 -3.19750624e-02 1.19371229e+02] [ 6.50448775e-02 1.21506827e-04 9.97882332e-01 3.58210096e+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:304.77, Y:119.39, Z:35.83 [[ 8.68414133e-01 -4.92629007e-01 -5.63343229e-02 3.04768461e+02] [ 4.91555019e-01 8.70239257e-01 -3.25161538e-02 1.19386001e+02] [ 6.50427398e-02 5.46068344e-04 9.97882330e-01 3.58258242e+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:304.79, Y:119.40, Z:35.83 [[ 8.68101741e-01 -4.93164678e-01 -5.64620923e-02 3.04794697e+02] [ 4.92106358e-01 8.69935939e-01 -3.22923135e-02 1.19395188e+02] [ 6.50438317e-02 2.47658962e-04 9.97882377e-01 3.58253439e+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:304.82, Y:119.41, Z:35.83 [[ 8.66876359e-01 -4.95324327e-01 -5.63842982e-02 3.04820844e+02] [ 4.94261706e-01 8.68708093e-01 -3.24286023e-02 1.19407307e+02] [ 6.50441719e-02 2.42989267e-04 9.97882356e-01 3.58272994e+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:304.85, Y:119.42, Z:35.83 [[ 8.64862519e-01 -4.98823996e-01 -5.64574516e-02 3.04847833e+02] [ 4.97777146e-01 8.66703290e-01 -3.23004653e-02 1.19418635e+02] [ 6.50441063e-02 -1.67767326e-04 9.97882376e-01 3.58280656e+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:304.87, Y:119.43, Z:35.83 [[ 8.63280078e-01 -5.01552877e-01 -5.64997166e-02 3.04871752e+02] [ 5.00516685e-01 8.65126870e-01 -3.22264967e-02 1.19434185e+02] [ 6.50427152e-02 -4.58558204e-04 9.97882375e-01 3.58299213e+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:304.90, Y:119.45, Z:35.83 [[ 8.62682861e-01 -5.02582707e-01 -5.64703844e-02 3.04895460e+02] [ 5.01545360e-01 8.64529002e-01 -3.22777986e-02 1.19447968e+02] [ 6.50425485e-02 -4.76955706e-04 9.97882378e-01 3.58306800e+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:304.92, Y:119.46, Z:35.83 [[ 8.63868290e-01 -5.00555400e-01 -5.63548560e-02 3.04922452e+02] [ 4.99500535e-01 8.65704501e-01 -3.24797197e-02 1.19458723e+02] [ 6.50445516e-02 -9.10808290e-05 9.97882357e-01 3.58323123e+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:304.95, Y:119.47, Z:35.83 [[ 8.65444757e-01 -4.97814601e-01 -5.64446305e-02 3.04947119e+02] [ 4.96764144e-01 8.67283471e-01 -3.23228530e-02 1.19471453e+02] [ 6.50442832e-02 -6.60249152e-05 9.97882376e-01 3.58334366e+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:304.97, Y:119.49, Z:35.84 [[ 8.69209787e-01 -4.91220719e-01 -5.63609015e-02 3.04973209e+02] [ 4.90146825e-01 8.71034929e-01 -3.24690914e-02 1.19486406e+02] [ 6.50418043e-02 5.97335102e-04 9.97882361e-01 3.58383650e+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:305.00, Y:119.50, Z:35.84 [[ 8.71660445e-01 -4.86841129e-01 -5.65135700e-02 3.04997729e+02] [ 4.85775325e-01 8.73490317e-01 -3.22024734e-02 1.19501765e+02] [ 6.50415448e-02 6.16724492e-04 9.97882366e-01 3.58406514e+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:305.02, Y:119.52, Z:35.84 [[ 8.76919735e-01 -4.77305748e-01 -5.64889410e-02 3.05022051e+02] [ 4.76217283e-01 8.78736212e-01 -3.22454603e-02 1.19516398e+02] [ 6.50298216e-02 1.37567056e-03 9.97882373e-01 3.58443362e+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:305.05, Y:119.53, Z:35.85 [[ 8.78934880e-01 -4.73572793e-01 -5.65887431e-02 3.05047664e+02] [ 4.72487800e-01 8.80753486e-01 -3.20714125e-02 1.19531181e+02] [ 6.50288811e-02 1.45119235e-03 9.97882327e-01 3.58501155e+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:305.07, Y:119.54, Z:35.85 [[ 8.82694474e-01 -4.66517381e-01 -5.66744997e-02 3.05071600e+02] [ 4.65427429e-01 8.84510201e-01 -3.19219908e-02 1.19544343e+02] [ 6.50213367e-02 1.79949817e-03 9.97882251e-01 3.58510921e+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:305.10, Y:119.56, Z:35.85 [[ 8.84890140e-01 -4.62358693e-01 -5.65144056e-02 3.05098447e+02] [ 4.61242423e-01 8.86689657e-01 -3.22006213e-02 1.19556440e+02] [ 6.49989761e-02 2.42717092e-03 9.97882379e-01 3.58482534e+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:305.12, Y:119.57, Z:35.85 [[ 8.85572685e-01 -4.61047472e-01 -5.65353707e-02 3.05122756e+02] [ 4.59930860e-01 8.87372003e-01 -3.21641527e-02 1.19568080e+02] [ 6.49971064e-02 2.48133339e-03 9.97882367e-01 3.58501551e+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:305.15, Y:119.58, Z:35.85 [[ 8.85505110e-01 -4.61182201e-01 -5.64949345e-02 3.05150125e+02] [ 4.60061387e-01 8.87301787e-01 -3.22344338e-02 1.19579955e+02] [ 6.49940035e-02 2.55261791e-03 9.97882390e-01 3.58501452e+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:305.17, Y:119.59, Z:35.85 [[ 8.85356260e-01 -4.61451731e-01 -5.66267850e-02 3.05174395e+02] [ 4.60346057e-01 8.87162417e-01 -3.20055252e-02 1.19590290e+02] [ 6.50061605e-02 2.26837493e-03 9.97882284e-01 3.58521721e+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:305.20, Y:119.60, Z:35.85 [[ 8.82057372e-01 -4.67749081e-01 -5.64410311e-02 3.05201575e+02] [ 4.66635691e-01 8.83858618e-01 -3.23276303e-02 1.19599862e+02] [ 6.50071111e-02 2.17742511e-03 9.97882425e-01 3.58530899e+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:305.23, Y:119.61, Z:35.86 [[ 8.79536780e-01 -4.72477756e-01 -5.63899178e-02 3.05227997e+02] [ 4.71368379e-01 8.81340480e-01 -3.24161961e-02 1.19612454e+02] [ 6.50146488e-02 1.93081258e-03 9.97882442e-01 3.58557930e+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:305.25, Y:119.62, Z:35.86 [[ 8.75376488e-01 -4.80126219e-01 -5.65227165e-02 3.05254982e+02] [ 4.79047429e-01 8.77198728e-01 -3.21862185e-02 1.19620923e+02] [ 6.50351025e-02 1.09799692e-03 9.97882373e-01 3.58571598e+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:305.28, Y:119.63, Z:35.86 [[ 8.73983415e-01 -4.82661210e-01 -5.64902400e-02 3.05278785e+02] [ 4.81584074e-01 8.75806603e-01 -3.22424092e-02 1.19631378e+02] [ 6.50366855e-02 9.74530979e-04 9.97882398e-01 3.58584864e+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:305.31, Y:119.64, Z:35.87 [[ 8.70901141e-01 -4.88218109e-01 -5.63407458e-02 3.05306482e+02] [ 4.87135877e-01 8.72721227e-01 -3.25007462e-02 1.19643428e+02] [ 6.50372176e-02 8.59338371e-04 9.97882469e-01 3.58676500e+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:305.33, Y:119.65, Z:35.87 [[ 8.67933543e-01 -4.93456598e-01 -5.64973471e-02 3.05332206e+02] [ 4.92402937e-01 8.69770408e-01 -3.22301982e-02 1.19654628e+02] [ 6.50439246e-02 1.54210414e-04 9.97882390e-01 3.58687423e+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:305.36, Y:119.67, Z:35.87 [[ 8.65679842e-01 -4.97411213e-01 -5.63958818e-02 3.05358797e+02] [ 4.96354525e-01 8.67514888e-01 -3.24053195e-02 1.19668742e+02] [ 6.50430364e-02 6.02807657e-05 9.97882458e-01 3.58655176e+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:305.38, Y:119.68, Z:35.86 [[ 8.65231053e-01 -4.98161075e-01 -5.66636419e-02 3.05381320e+02] [ 4.97136229e-01 8.67084345e-01 -3.19422844e-02 1.19679583e+02] [ 6.50445595e-02 -5.32092892e-04 9.97882219e-01 3.58644425e+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:305.41, Y:119.69, Z:35.87 [[ 8.63265098e-01 -5.01594946e-01 -5.63549614e-02 3.05406701e+02] [ 5.00542588e-01 8.65102584e-01 -3.24751747e-02 1.19693625e+02] [ 6.50422063e-02 -1.73373350e-04 9.97882499e-01 3.58675084e+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:305.43, Y:119.71, Z:35.87 [[ 8.62378052e-01 -5.03115434e-01 -5.63822346e-02 3.05431837e+02] [ 5.02069392e-01 8.64219152e-01 -3.24281165e-02 1.19706503e+02] [ 6.50416929e-02 -3.42498352e-04 9.97882489e-01 3.58666542e+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:305.46, Y:119.72, Z:35.87 [[ 8.62673526e-01 -5.02613511e-01 -5.63386679e-02 3.05457621e+02] [ 5.01561490e-01 8.64511198e-01 -3.25032446e-02 1.19719872e+02] [ 6.50419791e-02 -2.17617579e-04 9.97882505e-01 3.58687918e+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:305.48, Y:119.73, Z:35.87 [[ 8.63202176e-01 -5.01704968e-01 -5.63393960e-02 3.05482338e+02] [ 5.00651095e-01 8.65038787e-01 -3.25019900e-02 1.19734507e+02] [ 6.50421726e-02 -1.50591767e-04 9.97882505e-01 3.58740729e+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:305.51, Y:119.75, Z:35.88 [[ 8.65404236e-01 -4.97901079e-01 -5.63029750e-02 3.05506147e+02] [ 4.96835052e-01 8.67233805e-01 -3.25646838e-02 1.19748876e+02] [ 6.50418344e-02 2.08323785e-04 9.97882516e-01 3.58819424e+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:305.53, Y:119.76, Z:35.89 [[ 8.69157714e-01 -4.91316033e-01 -5.63331544e-02 3.05530233e+02] [ 4.90239510e-01 8.70981138e-01 -3.25127620e-02 1.19761958e+02] [ 6.50391562e-02 6.41979899e-04 9.97882506e-01 3.58860865e+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:305.56, Y:119.78, Z:35.90 [[ 8.70509394e-01 -4.88920147e-01 -5.63070614e-02 3.05555967e+02] [ 4.87835703e-01 8.72328108e-01 -3.25576295e-02 1.19776827e+02] [ 6.50363134e-02 8.73127454e-04 9.97882516e-01 3.58966210e+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:305.58, Y:119.79, Z:35.90 [[ 8.74015851e-01 -4.82599779e-01 -5.65132289e-02 3.05578349e+02] [ 4.81525048e-01 8.75840500e-01 -3.22032062e-02 1.19790836e+02] [ 6.50378348e-02 9.33577477e-04 9.97882362e-01 3.59001251e+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:305.60, Y:119.80, Z:35.90 [[ 8.75235992e-01 -4.80393846e-01 -5.64243810e-02 3.05603565e+02] [ 4.79304681e-01 8.77051953e-01 -3.23557457e-02 1.19804956e+02] [ 6.50306146e-02 1.27444328e-03 9.97882456e-01 3.59021363e+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:305.63, Y:119.82, Z:35.90 [[ 8.77125546e-01 -4.76926315e-01 -5.64983873e-02 3.05629786e+02] [ 4.75838135e-01 8.78942190e-01 -3.22288116e-02 1.19815351e+02] [ 6.50295846e-02 1.38462667e-03 9.97882376e-01 3.59038119e+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:305.66, Y:119.83, Z:35.91 [[ 8.77866175e-01 -4.75567815e-01 -5.64467213e-02 3.05656197e+02] [ 4.74471132e-01 8.79677629e-01 -3.23173831e-02 1.19826103e+02] [ 6.50240253e-02 1.58799770e-03 9.97882435e-01 3.59058569e+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:305.68, Y:119.84, Z:35.91 [[ 8.78287251e-01 -4.74789397e-01 -5.64493909e-02 3.05681289e+02] [ 4.73691402e-01 8.80097914e-01 -3.23128113e-02 1.19840553e+02] [ 6.50227713e-02 1.64033906e-03 9.97882432e-01 3.59083067e+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:305.71, Y:119.85, Z:35.91 [[ 8.79317632e-01 -4.72886673e-01 -5.63799282e-02 3.05707987e+02] [ 4.71777142e-01 8.81121168e-01 -3.24317113e-02 1.19850958e+02] [ 6.50140722e-02 1.91901418e-03 9.97882502e-01 3.59069107e+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:305.73, Y:119.86, Z:35.90 [[ 8.79697433e-01 -4.72178402e-01 -5.63913413e-02 3.05731164e+02] [ 4.71068669e-01 8.81500856e-01 -3.24121813e-02 1.19862621e+02] [ 6.50133476e-02 1.94871856e-03 9.97882492e-01 3.59046658e+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:305.76, Y:119.87, Z:35.91 [[ 8.81643093e-01 -4.68566263e-01 -5.61347785e-02 3.05762830e+02] [ 4.67421223e-01 8.83424155e-01 -3.28506098e-02 1.19869074e+02] [ 6.49835067e-02 2.72392638e-03 9.97882620e-01 3.59073314e+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:305.79, Y:119.88, Z:35.91 [[ 8.81222277e-01 -4.69325350e-01 -5.64004831e-02 3.05785357e+02] [ 4.68210783e-01 8.83022724e-01 -3.23964792e-02 1.19881384e+02] [ 6.50073971e-02 2.14118485e-03 9.97882485e-01 3.59107763e+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:305.81, Y:119.90, Z:35.90 [[ 8.76781593e-01 -4.77602944e-01 -5.61200987e-02 3.05810308e+02] [ 4.76474703e-01 8.78573322e-01 -3.28751343e-02 1.19895914e+02] [ 6.50068825e-02 2.08450526e-03 9.97882638e-01 3.58991848e+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:305.84, Y:119.90, Z:35.92 [[ 8.81916800e-01 -4.68054149e-01 -5.61076756e-02 3.05840734e+02] [ 4.66905174e-01 8.83695304e-01 -3.28963230e-02 1.19900019e+02] [ 6.49793499e-02 2.81485591e-03 9.97882639e-01 3.59150465e+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:305.87, Y:119.91, Z:35.91 [[ 8.79301784e-01 -4.72917505e-01 -5.63684918e-02 3.05868695e+02] [ 4.71806796e-01 8.81104576e-01 -3.24511008e-02 1.19905858e+02] [ 6.50132296e-02 1.93927334e-03 9.97882518e-01 3.59121414e+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:305.90, Y:119.92, Z:35.91 [[ 8.75207770e-01 -4.80487466e-01 -5.60638413e-02 3.05897707e+02] [ 4.79359023e-01 8.76999355e-01 -3.29705588e-02 1.19915442e+02] [ 6.50098929e-02 1.98138103e-03 9.97882652e-01 3.59118966e+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:305.92, Y:119.93, Z:35.91 [[ 8.72636243e-01 -4.85106164e-01 -5.63737289e-02 3.05921995e+02] [ 4.84021234e-01 8.74454665e-01 -3.24420112e-02 1.19927527e+02] [ 6.50340898e-02 1.02399302e-03 9.97882517e-01 3.59074815e+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:305.95, Y:119.94, Z:35.92 [[ 8.72289240e-01 -4.85762795e-01 -5.60891059e-02 3.05949224e+02] [ 4.84647997e-01 8.74089321e-01 -3.29268711e-02 1.19938956e+02] [ 6.50215374e-02 1.53828258e-03 9.97882675e-01 3.59183379e+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:305.97, Y:119.95, Z:35.90 [[ 8.66248256e-01 -4.96434857e-01 -5.62707088e-02 3.05971569e+02] [ 4.95362308e-01 8.68073896e-01 -3.26174070e-02 1.19954042e+02] [ 6.50395511e-02 3.80383708e-04 9.97882614e-01 3.59010182e+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:306.00, Y:119.96, Z:35.92 [[ 8.68686620e-01 -4.92190388e-01 -5.59658634e-02 3.05999242e+02] [ 4.91075390e-01 8.70486603e-01 -3.31366113e-02 1.19963413e+02] [ 6.50270559e-02 1.30187268e-03 9.97882652e-01 3.59211169e+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:306.02, Y:119.98, Z:35.93 [[ 8.66265957e-01 -4.96431409e-01 -5.60280924e-02 3.06024122e+02] [ 4.95332076e-01 8.68075524e-01 -3.30305810e-02 1.19975711e+02] [ 6.50340336e-02 8.60756552e-04 9.97882675e-01 3.59252531e+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:306.05, Y:119.98, Z:35.92 [[ 8.64750668e-01 -4.99071476e-01 -5.59816389e-02 3.06051398e+02] [ 4.97972547e-01 8.66560496e-01 -3.31096656e-02 1.19984074e+02] [ 6.50355664e-02 7.54286092e-04 9.97882662e-01 3.59247285e+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:306.07, Y:120.00, Z:35.92 [[ 8.62963286e-01 -5.02145163e-01 -5.60767552e-02 3.06074647e+02] [ 5.01063190e-01 8.64783281e-01 -3.29477809e-02 1.20000178e+02] [ 6.50388092e-02 3.34727393e-04 9.97882679e-01 3.59239374e+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:306.10, Y:120.02, Z:35.92 [[ 8.62587833e-01 -5.02804484e-01 -5.59453432e-02 3.06098512e+02] [ 5.01709389e-01 8.64399997e-01 -3.31712969e-02 1.20016417e+02] [ 6.50378313e-02 5.44853168e-04 9.97882650e-01 3.59225867e+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:306.12, Y:120.03, Z:35.93 [[ 8.63395013e-01 -5.01408871e-01 -5.60196081e-02 3.06122246e+02] [ 5.00319036e-01 8.65210316e-01 -3.30449977e-02 1.20031042e+02] [ 6.50377978e-02 5.03209872e-04 9.97882674e-01 3.59260140e+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:306.15, Y:120.05, Z:35.93 [[ 8.63205254e-01 -5.01725627e-01 -5.61077913e-02 3.06146551e+02] [ 5.00646192e-01 8.65026764e-01 -3.28951141e-02 1.20045656e+02] [ 6.50390629e-02 3.05083285e-04 9.97882672e-01 3.59278340e+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:306.17, Y:120.06, Z:35.93 [[ 8.63960773e-01 -5.00424818e-01 -5.60962030e-02 3.06169540e+02] [ 4.99341363e-01 8.65779891e-01 -3.29147946e-02 1.20060070e+02] [ 6.50383446e-02 4.25936955e-04 9.97882675e-01 3.59320093e+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:306.20, Y:120.08, Z:35.94 [[ 8.62431280e-01 -5.03062681e-01 -5.60377281e-02 3.06202177e+02] [ 5.01978337e-01 8.64249861e-01 -3.30140501e-02 1.20077298e+02] [ 6.50387353e-02 3.42623892e-04 9.97882681e-01 3.59419754e+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:306.22, Y:120.09, Z:35.94 [[ 8.62993644e-01 -5.01995138e-01 -5.69460433e-02 3.06221399e+02] [ 5.01009665e-01 8.64869353e-01 -3.14693339e-02 1.20085141e+02] [ 6.50483402e-02 -1.37268293e-03 9.97881170e-01 3.59413110e+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:306.25, Y:120.10, Z:35.95 [[ 8.62198748e-01 -5.03462450e-01 -5.60257157e-02 3.06247278e+02] [ 5.02377876e-01 8.64017043e-01 -3.30305826e-02 1.20101192e+02] [ 6.50368313e-02 3.32846841e-04 9.97882809e-01 3.59498876e+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:306.27, Y:120.12, Z:35.95 [[ 8.60175851e-01 -5.06897038e-01 -5.61506733e-02 3.06269825e+02] [ 5.05833501e-01 8.62006591e-01 -3.28192951e-02 1.20119116e+02] [ 6.50382540e-02 -1.72526595e-04 9.97882757e-01 3.59541854e+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:306.29, Y:120.13, Z:35.95 [[ 8.59314765e-01 -5.08341948e-01 -5.62725432e-02 3.06292815e+02] [ 5.07294964e-01 8.61155150e-01 -3.26133095e-02 1.20133764e+02] [ 6.50381037e-02 -5.21679381e-04 9.97882645e-01 3.59548133e+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:306.31, Y:120.15, Z:35.94 [[ 8.57812574e-01 -5.10875638e-01 -5.62465098e-02 3.06314644e+02] [ 5.09831207e-01 8.59654374e-01 -3.26572654e-02 1.20147289e+02] [ 6.50363595e-02 -6.62413072e-04 9.97882675e-01 3.59427134e+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:306.34, Y:120.17, Z:35.94 [[ 8.56062752e-01 -5.13835923e-01 -5.59393370e-02 3.06340326e+02] [ 5.12763922e-01 8.57888433e-01 -3.31752365e-02 1.20165543e+02] [ 6.50363384e-02 -2.83589618e-04 9.97882856e-01 3.59437758e+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:306.36, Y:120.19, Z:35.95 [[ 8.55897336e-01 -5.14088078e-01 -5.61533373e-02 3.06362283e+02] [ 5.13040227e-01 8.57737095e-01 -3.28146448e-02 1.20185666e+02] [ 6.50344181e-02 -7.22953791e-04 9.97882760e-01 3.59509040e+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:306.38, Y:120.20, Z:35.94 [[ 8.58559454e-01 -5.09620120e-01 -5.62405301e-02 3.06383995e+02] [ 5.08572311e-01 8.60399341e-01 -3.26677083e-02 1.20201587e+02] [ 6.50374364e-02 -5.55206519e-04 9.97882670e-01 3.59433589e+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:306.41, Y:120.22, Z:35.95 [[ 8.59572385e-01 -5.07946115e-01 -5.59111760e-02 3.06407117e+02] [ 5.06858561e-01 8.61388818e-01 -3.32220230e-02 1.20218123e+02] [ 6.50362594e-02 2.17675360e-04 9.97882878e-01 3.59468294e+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:306.43, Y:120.24, Z:35.95 [[ 8.61718844e-01 -5.04297289e-01 -5.59006131e-02 3.06428819e+02] [ 5.03200891e-01 8.63529953e-01 -3.32397871e-02 1.20236790e+02] [ 6.50345883e-02 5.14112608e-04 9.97882878e-01 3.59500217e+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:306.45, Y:120.25, Z:35.95 [[ 8.63030825e-01 -5.02049886e-01 -5.58901382e-02 3.06451693e+02] [ 5.00947632e-01 8.64838376e-01 -3.32573905e-02 1.20253141e+02] [ 6.50328054e-02 7.04120766e-04 9.97882878e-01 3.59520877e+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:306.48, Y:120.27, Z:35.95 [[ 8.64658419e-01 -4.99242926e-01 -5.58777179e-02 3.06475396e+02] [ 4.98133457e-01 8.66461550e-01 -3.32782456e-02 1.20268978e+02] [ 6.50298227e-02 9.39754459e-04 9.97882878e-01 3.59525794e+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:306.50, Y:120.28, Z:35.95 [[ 8.67892646e-01 -4.93599938e-01 -5.58699980e-02 3.06498693e+02] [ 4.92477913e-01 8.69687991e-01 -3.32912012e-02 1.20283901e+02] [ 6.50220012e-02 1.37844875e-03 9.97882879e-01 3.59514294e+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:306.52, Y:120.30, Z:35.96 [[ 8.69705467e-01 -4.90399199e-01 -5.58661423e-02 3.06523128e+02] [ 4.89270152e-01 8.71496405e-01 -3.32976703e-02 1.20299505e+02] [ 6.50162930e-02 1.62552996e-03 9.97882879e-01 3.59555405e+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:306.55, Y:120.32, Z:35.96 [[ 8.69803082e-01 -4.90227300e-01 -5.58551130e-02 3.06548483e+02] [ 4.89096713e-01 8.71593047e-01 -3.33161611e-02 1.20315079e+02] [ 6.50154198e-02 1.65994748e-03 9.97882879e-01 3.59566446e+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:306.57, Y:120.33, Z:35.96 [[ 8.68571682e-01 -4.92391362e-01 -5.59819605e-02 3.06569948e+02] [ 4.91278910e-01 8.70373014e-01 -3.31036045e-02 1.20329966e+02] [ 6.50251167e-02 1.25009689e-03 9.97882845e-01 3.59613570e+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:306.60, Y:120.34, Z:35.96 [[ 8.64055091e-01 -5.00290927e-01 -5.58371590e-02 3.06595555e+02] [ 4.99179261e-01 8.65856861e-01 -3.33460762e-02 1.20342123e+02] [ 6.50297266e-02 9.40095108e-04 9.97882884e-01 3.59641501e+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:306.62, Y:120.35, Z:35.97 [[ 8.56358284e-01 -5.13355577e-01 -5.58259894e-02 3.06620113e+02] [ 5.12270184e-01 8.58176002e-01 -3.33647651e-02 1.20353061e+02] [ 6.50365127e-02 -2.57968498e-05 9.97882885e-01 3.59658801e+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:306.64, Y:120.37, Z:35.97 [[ 8.52260209e-01 -5.20131681e-01 -5.58172926e-02 3.06643549e+02] [ 5.19059787e-01 8.54085920e-01 -3.33793081e-02 1.20365766e+02] [ 6.50343993e-02 -5.24655913e-04 9.97882885e-01 3.59691285e+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:306.67, Y:120.38, Z:35.97 [[ 8.44318445e-01 -5.32941763e-01 -5.56726211e-02 3.06668256e+02] [ 5.31881605e-01 8.46151038e-01 -3.36211171e-02 1.20381633e+02] [ 6.50255435e-02 -1.22431381e-03 9.97882849e-01 3.59698771e+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:306.69, Y:120.40, Z:35.98 [[ 8.41841819e-01 -5.36831654e-01 -5.58043664e-02 3.06691860e+02] [ 5.35794523e-01 8.43687503e-01 -3.34010092e-02 1.20397385e+02] [ 6.50121656e-02 -1.78130757e-03 9.97882882e-01 3.59751154e+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:306.71, Y:120.41, Z:35.97 [[ 8.39193669e-01 -5.40964481e-01 -5.57800708e-02 3.06713946e+02] [ 5.39933743e-01 8.41042932e-01 -3.34415771e-02 1.20413938e+02] [ 6.50041397e-02 -2.05358261e-03 9.97882881e-01 3.59745884e+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:306.74, Y:120.43, Z:35.98 [[ 8.37682337e-01 -5.43300798e-01 -5.57901858e-02 3.06735949e+02] [ 5.42276341e-01 8.39535086e-01 -3.34246940e-02 1.20433080e+02] [ 6.49974813e-02 -2.25442202e-03 9.97882881e-01 3.59790048e+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:306.76, Y:120.45, Z:35.98 [[ 8.36866630e-01 -5.44557552e-01 -5.57791674e-02 3.06757404e+02] [ 5.43534654e-01 8.38720240e-01 -3.34430713e-02 1.20450883e+02] [ 6.49947937e-02 -2.33052014e-03 9.97882882e-01 3.59807880e+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:306.78, Y:120.47, Z:35.98 [[ 8.37310756e-01 -5.43875703e-01 -5.57666373e-02 3.06775170e+02] [ 5.42849906e-01 8.39162763e-01 -3.34639524e-02 1.20472456e+02] [ 6.49975161e-02 -2.25318653e-03 9.97882882e-01 3.59807229e+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:306.80, Y:120.49, Z:35.98 [[ 8.37839807e-01 -5.43088889e-01 -5.54879873e-02 3.06797999e+02] [ 5.42030594e-01 8.39673589e-01 -3.39278501e-02 1.20491427e+02] [ 6.50176359e-02 -1.65008335e-03 9.97882751e-01 3.59823785e+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:306.82, Y:120.51, Z:35.98 [[ 8.40108115e-01 -5.39545739e-01 -5.57561797e-02 3.06816785e+02] [ 5.38509248e-01 8.41954153e-01 -3.34812477e-02 1.20512941e+02] [ 6.50088116e-02 -1.89735058e-03 9.97882886e-01 3.59827565e+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:306.84, Y:120.53, Z:35.99 [[ 8.40882106e-01 -5.38356513e-01 -5.55837040e-02 3.06837512e+02] [ 5.37298430e-01 8.42715910e-01 -3.37682224e-02 1.20532216e+02] [ 6.50206141e-02 -1.46994292e-03 9.97882838e-01 3.59851025e+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:306.86, Y:120.56, Z:35.98 [[ 8.41675453e-01 -5.37117694e-01 -5.55609084e-02 3.06856194e+02] [ 5.36054412e-01 8.43506262e-01 -3.38061221e-02 1.20557525e+02] [ 6.50238405e-02 -1.32988690e-03 9.97882825e-01 3.59834178e+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:306.88, Y:120.58, Z:35.98 [[ 8.42213446e-01 -5.36256027e-01 -5.57313699e-02 3.06877378e+02] [ 5.35209581e-01 8.44053867e-01 -3.35227377e-02 1.20575544e+02] [ 6.50170484e-02 -1.59466270e-03 9.97882879e-01 3.59837524e+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:306.89, Y:120.60, Z:35.98 [[ 8.42724376e-01 -5.35454031e-01 -5.57189966e-02 3.06893554e+02] [ 5.34404475e-01 8.44563026e-01 -3.35432911e-02 1.20597127e+02] [ 6.50190948e-02 -1.50873204e-03 9.97882879e-01 3.59808722e+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:306.91, Y:120.62, Z:35.99 [[ 8.43531480e-01 -5.34224852e-01 -5.53032512e-02 3.06914864e+02] [ 5.33127239e-01 8.45342202e-01 -3.42331449e-02 1.20620784e+02] [ 6.50383689e-02 -6.06934275e-04 9.97882579e-01 3.59850659e+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:306.94, Y:120.64, Z:35.99 [[ 8.43745928e-01 -5.33844094e-01 -5.57071999e-02 3.06936277e+02] [ 5.32789748e-01 8.45581829e-01 -3.35627117e-02 1.20639180e+02] [ 6.50222514e-02 -1.36182361e-03 9.97882885e-01 3.59879319e+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:306.96, Y:120.66, Z:35.99 [[ 8.45185147e-01 -5.31563865e-01 -5.56949316e-02 3.06955812e+02] [ 5.30503226e-01 8.47017418e-01 -3.35830578e-02 1.20661029e+02] [ 6.50261172e-02 -1.16243921e-03 9.97882885e-01 3.59931491e+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:306.98, Y:120.68, Z:36.00 [[ 8.46255445e-01 -5.29859415e-01 -5.56841198e-02 3.06976749e+02] [ 5.28793906e-01 8.48084889e-01 -3.36009753e-02 1.20679319e+02] [ 6.50286537e-02 -1.01041498e-03 9.97882886e-01 3.59961070e+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:306.99, Y:120.70, Z:36.00 [[ 8.48915093e-01 -5.25588116e-01 -5.56803136e-02 3.06990646e+02] [ 5.24512988e-01 8.50738900e-01 -3.36072815e-02 1.20701548e+02] [ 6.50329965e-02 -6.75319215e-04 9.97882886e-01 3.59987878e+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:307.02, Y:120.72, Z:36.00 [[ 8.50655749e-01 -5.22825898e-01 -5.51169411e-02 3.07016958e+02] [ 5.21684144e-01 8.52439257e-01 -3.45393562e-02 1.20719590e+02] [ 6.50419142e-02 6.27467719e-04 9.97882336e-01 3.60026950e+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:307.04, Y:120.74, Z:36.01 [[ 8.52854305e-01 -5.19172485e-01 -5.56728477e-02 3.07036359e+02] [ 5.18082881e-01 8.54669469e-01 -3.36188470e-02 1.20741590e+02] [ 6.50358635e-02 -1.71170937e-04 9.97882913e-01 3.60062241e+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:307.05, Y:120.76, Z:36.01 [[ 8.55403277e-01 -5.14963291e-01 -5.56600607e-02 3.07052144e+02] [ 5.13863379e-01 8.57212213e-01 -3.36400041e-02 1.20764288e+02] [ 6.50358511e-02 1.74102832e-04 9.97882913e-01 3.60093822e+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:307.08, Y:120.78, Z:36.02 [[ 8.56793790e-01 -5.12688374e-01 -5.52723538e-02 3.07076504e+02] [ 5.11542195e-01 8.58574067e-01 -3.42805260e-02 1.20783025e+02] [ 6.50306366e-02 1.09720059e-03 9.97882665e-01 3.60150490e+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:307.09, Y:120.80, Z:36.02 [[ 8.60617568e-01 -5.06202509e-01 -5.56454978e-02 3.07092887e+02] [ 5.05082648e-01 8.62414210e-01 -3.36637593e-02 1.20803317e+02] [ 6.50301474e-02 8.66047352e-04 9.97882924e-01 3.60169618e+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:307.12, Y:120.82, Z:36.02 [[ 8.62406281e-01 -5.03197894e-01 -5.52022261e-02 3.07118421e+02] [ 5.02024789e-01 8.64169010e-01 -3.43952615e-02 1.20820091e+02] [ 6.50116762e-02 1.94980366e-03 9.97882598e-01 3.60205805e+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:307.14, Y:120.84, Z:36.02 [[ 8.64387733e-01 -4.99739231e-01 -5.56286517e-02 3.07140109e+02] [ 4.98604173e-01 8.66174798e-01 -3.36912191e-02 1.20837307e+02] [ 6.50209601e-02 1.38559863e-03 9.97882936e-01 3.60198940e+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:307.16, Y:120.85, Z:36.02 [[ 8.64973262e-01 -4.98726490e-01 -5.56160429e-02 3.07162683e+02] [ 4.97588002e-01 8.66758144e-01 -3.37120203e-02 1.20853062e+02] [ 6.50187357e-02 1.48612048e-03 9.97882937e-01 3.60213602e+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:307.19, Y:120.87, Z:36.02 [[ 8.66633553e-01 -4.95837203e-01 -5.56035338e-02 3.07185714e+02] [ 4.94691444e-01 8.68413775e-01 -3.37326398e-02 1.20869477e+02] [ 6.50127725e-02 1.72724510e-03 9.97882937e-01 3.60209066e+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:307.21, Y:120.88, Z:36.02 [[ 8.67100143e-01 -4.95021230e-01 -5.55996788e-02 3.07210438e+02] [ 4.93873388e-01 8.68879023e-01 -3.37389926e-02 1.20882773e+02] [ 6.50109122e-02 1.79588353e-03 9.97882937e-01 3.60181493e+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:307.24, Y:120.90, Z:36.02 [[ 8.66698590e-01 -4.95724375e-01 -5.55958565e-02 3.07235356e+02] [ 4.94577573e-01 8.68478140e-01 -3.37452900e-02 1.20896229e+02] [ 6.50121488e-02 1.75053151e-03 9.97882937e-01 3.60200645e+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:307.26, Y:120.91, Z:36.02 [[ 8.64076033e-01 -5.00283042e-01 -5.55831512e-02 3.07261294e+02] [ 4.99144286e-01 8.65860742e-01 -3.37662044e-02 1.20907035e+02] [ 6.50199280e-02 1.43255565e-03 9.97882937e-01 3.60234065e+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:307.29, Y:120.92, Z:36.03 [[ 8.62225053e-01 -5.03466886e-01 -5.55792426e-02 3.07285469e+02] [ 5.02334306e-01 8.64013688e-01 -3.37726367e-02 1.20919989e+02] [ 6.50246307e-02 1.20025318e-03 9.97882937e-01 3.60261711e+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:307.31, Y:120.93, Z:36.03 [[ 8.56842353e-01 -5.12575351e-01 -5.55669926e-02 3.07310043e+02] [ 5.11460482e-01 8.58642081e-01 -3.37927800e-02 1.20931562e+02] [ 6.50335042e-02 5.34764328e-04 9.97882938e-01 3.60293834e+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:307.34, Y:120.94, Z:36.03 [[ 8.53602813e-01 -5.17952834e-01 -5.55616815e-02 3.07335126e+02] [ 5.16848735e-01 8.55409167e-01 -3.38015103e-02 1.20943876e+02] [ 6.50355597e-02 1.36079478e-04 9.97882938e-01 3.60302771e+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:307.36, Y:120.96, Z:36.04 [[ 8.44486168e-01 -5.32701261e-01 -5.54299407e-02 3.07361412e+02] [ 5.31614485e-01 8.46303031e-01 -3.40179281e-02 1.20955497e+02] [ 6.50319200e-02 -7.39689686e-04 9.97882910e-01 3.60370400e+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:307.39, Y:120.97, Z:36.04 [[ 8.39770892e-01 -5.40091979e-01 -5.55473091e-02 3.07385748e+02] [ 5.39033916e-01 8.41604595e-01 -3.38251904e-02 1.20968807e+02] [ 6.50175845e-02 -1.53647325e-03 9.97882936e-01 3.60391192e+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:307.41, Y:120.98, Z:36.04 [[ 8.32826160e-01 -5.50741745e-01 -5.55348363e-02 3.07409846e+02] [ 5.49705756e-01 8.34672423e-01 -3.38456561e-02 1.20980471e+02] [ 6.49936121e-02 -2.34027136e-03 9.97882936e-01 3.60409555e+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:307.43, Y:121.00, Z:36.04 [[ 8.27922050e-01 -5.58087407e-01 -5.55295077e-02 3.07432047e+02] [ 5.57067206e-01 8.29777084e-01 -3.38543963e-02 1.20995682e+02] [ 6.49708252e-02 -2.90486653e-03 9.97882936e-01 3.60414724e+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:307.45, Y:121.01, Z:36.04 [[ 8.26132839e-01 -5.60733081e-01 -5.55242676e-02 3.07454446e+02] [ 5.59718243e-01 8.27990813e-01 -3.38629883e-02 1.21011756e+02] [ 6.49616812e-02 -3.10261885e-03 9.97882936e-01 3.60431231e+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:307.47, Y:121.03, Z:36.05 [[ 8.25061633e-01 -5.62309265e-01 -5.55120901e-02 3.07474967e+02] [ 5.61296638e-01 8.26920813e-01 -3.38829394e-02 1.21031285e+02] [ 6.49567934e-02 -3.20323622e-03 9.97882936e-01 3.60452424e+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:307.50, Y:121.05, Z:36.05 [[ 8.25198480e-01 -5.62109619e-01 -5.54999584e-02 3.07496260e+02] [ 5.61095211e-01 8.27056687e-01 -3.39027995e-02 1.21048520e+02] [ 6.49587014e-02 -3.16422229e-03 9.97882936e-01 3.60466472e+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:307.52, Y:121.07, Z:36.05 [[ 8.26722539e-01 -5.59866214e-01 -5.54947399e-02 3.07515489e+02] [ 5.58846191e-01 8.28577670e-01 -3.39113393e-02 1.21068353e+02] [ 6.49675154e-02 -2.97775547e-03 9.97882937e-01 3.60488194e+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:307.54, Y:121.09, Z:36.05 [[ 8.26880858e-01 -5.59632874e-01 -5.54895721e-02 3.07537239e+02] [ 5.58611762e-01 8.28735390e-01 -3.39197934e-02 1.21085671e+02] [ 6.49688036e-02 -2.94949979e-03 9.97882937e-01 3.60519160e+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:307.56, Y:121.10, Z:36.05 [[ 8.26687274e-01 -5.59919959e-01 -5.54778366e-02 3.07561283e+02] [ 5.58898207e-01 8.28541453e-01 -3.39389766e-02 1.21100617e+02] [ 6.49687978e-02 -2.94954340e-03 9.97882937e-01 3.60537685e+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:307.58, Y:121.12, Z:36.06 [[ 8.27576662e-01 -5.58605750e-01 -5.54660716e-02 3.07581561e+02] [ 5.57579769e-01 8.29428503e-01 -3.39581932e-02 1.21121226e+02] [ 6.49743827e-02 -2.82375124e-03 9.97882937e-01 3.60560395e+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:307.60, Y:121.14, Z:36.06 [[ 8.27719863e-01 -5.58393899e-01 -5.54624382e-02 3.07603420e+02] [ 5.57367047e-01 8.29571222e-01 -3.39641263e-02 1.21139715e+02] [ 6.49754036e-02 -2.80015345e-03 9.97882937e-01 3.60566934e+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:307.62, Y:121.16, Z:36.06 [[ 8.28389388e-01 -5.57401298e-01 -5.54510044e-02 3.07622415e+02] [ 5.56370982e-01 8.30238821e-01 -3.39827833e-02 1.21161971e+02] [ 6.49796241e-02 -2.70035270e-03 9.97882937e-01 3.60565742e+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:307.65, Y:121.18, Z:36.06 [[ 8.29387259e-01 -5.55915780e-01 -5.54474666e-02 3.07645291e+02] [ 5.54881765e-01 8.31234627e-01 -3.39885549e-02 1.21183537e+02] [ 6.49846282e-02 -2.57711381e-03 9.97882937e-01 3.60614398e+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:307.67, Y:121.20, Z:36.06 [[ 8.30394691e-01 -5.54409649e-01 -5.54490557e-02 3.07669828e+02] [ 5.53372457e-01 8.32240277e-01 -3.39859621e-02 1.21202189e+02] [ 6.49890828e-02 -2.46221771e-03 9.97882937e-01 3.60623289e+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:307.69, Y:121.22, Z:36.07 [[ 8.31584370e-01 -5.52623516e-01 -5.54498421e-02 3.07693384e+02] [ 5.51582445e-01 8.33427770e-01 -3.39846790e-02 1.21221185e+02] [ 6.49941711e-02 -2.32403160e-03 9.97882937e-01 3.60668005e+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:307.71, Y:121.24, Z:36.07 [[ 8.35149468e-01 -5.47220870e-01 -5.54498421e-02 3.07713611e+02] [ 5.46167870e-01 8.36986081e-01 -3.39846790e-02 1.21243577e+02] [ 6.50078717e-02 -1.90263561e-03 9.97882937e-01 3.60691631e+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:307.73, Y:121.26, Z:36.07 [[ 8.36479059e-01 -5.45177123e-01 -5.55399755e-02 3.07734401e+02] [ 5.44129381e-01 8.38318693e-01 -3.38376364e-02 1.21261161e+02] [ 6.50077050e-02 -1.91645825e-03 9.97882922e-01 3.60734689e+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:307.76, Y:121.28, Z:36.08 [[ 8.39036902e-01 -5.41243245e-01 -5.54330910e-02 3.07756349e+02] [ 5.40175363e-01 8.40864895e-01 -3.40118413e-02 1.21281479e+02] [ 6.50204196e-02 -1.40640005e-03 9.97882943e-01 3.60810192e+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:307.78, Y:121.30, Z:36.09 [[ 8.39260386e-01 -5.40877560e-01 -5.56189596e-02 3.07779121e+02] [ 5.39828898e-01 8.41099553e-01 -3.37091023e-02 1.21301211e+02] [ 6.50135790e-02 -1.73400743e-03 9.97882873e-01 3.60884463e+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:307.80, Y:121.32, Z:36.09 [[ 8.38927136e-01 -5.41379568e-01 -5.57622175e-02 3.07801553e+02] [ 5.40347475e-01 8.40775816e-01 -3.34758639e-02 1.21317065e+02] [ 6.50066727e-02 -2.04716279e-03 9.97882729e-01 3.60895091e+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:307.82, Y:121.33, Z:36.09 [[ 8.38711019e-01 -5.41717872e-01 -5.57276738e-02 3.07824898e+02] [ 5.40682794e-01 8.40557980e-01 -3.35320517e-02 1.21333282e+02] [ 6.50072526e-02 -2.00729314e-03 9.97882773e-01 3.60935519e+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:307.85, Y:121.35, Z:36.10 [[ 8.38535307e-01 -5.41985194e-01 -5.57726428e-02 3.07852722e+02] [ 5.40955551e-01 8.40385376e-01 -3.34590895e-02 1.21351382e+02] [ 6.50048446e-02 -2.11389285e-03 9.97882709e-01 3.60969209e+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:307.88, Y:121.37, Z:36.10 [[ 8.38938977e-01 -5.41347873e-01 -5.58916132e-02 3.07875662e+02] [ 5.40329665e-01 8.40795592e-01 -3.32659756e-02 1.21370133e+02] [ 6.50018872e-02 -2.29177305e-03 9.97882509e-01 3.60999808e+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:307.90, Y:121.38, Z:36.10 [[ 8.40796561e-01 -5.38463799e-01 -5.58379806e-02 3.07896637e+02] [ 5.37433442e-01 8.42646350e-01 -3.33530185e-02 1.21383532e+02] [ 6.50110636e-02 -1.96609491e-03 9.97882606e-01 3.61026511e+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:307.92, Y:121.40, Z:36.10 [[ 8.40417237e-01 -5.39094826e-01 -5.54584275e-02 3.07923754e+02] [ 5.38025170e-01 8.42244087e-01 -3.39678381e-02 1.21403934e+02] [ 6.50214184e-02 -1.29087325e-03 9.97883034e-01 3.61027898e+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:307.95, Y:121.42, Z:36.10 [[ 8.41562895e-01 -5.37261715e-01 -5.58725584e-02 3.07951632e+02] [ 5.36232379e-01 8.43413358e-01 -3.32978119e-02 1.21420872e+02] [ 6.50133016e-02 -1.93847195e-03 9.97882515e-01 3.61010666e+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:307.98, Y:121.44, Z:36.10 [[ 8.43203625e-01 -5.34666807e-01 -5.60272468e-02 3.07977592e+02] [ 5.33648358e-01 8.45060514e-01 -3.30477907e-02 1.21439472e+02] [ 6.50159707e-02 -2.03283137e-03 9.97882153e-01 3.60995290e+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:308.01, Y:121.46, Z:36.10 [[ 8.45124796e-01 -5.31636267e-01 -5.59192265e-02 3.08005069e+02] [ 5.30599611e-01 8.46971274e-01 -3.32221833e-02 1.21458851e+02] [ 6.50240960e-02 -1.59382896e-03 9.97882421e-01 3.60964739e+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:308.03, Y:121.48, Z:36.10 [[ 8.45899595e-01 -5.30401995e-01 -5.59249364e-02 3.08032670e+02] [ 5.29363255e-01 8.47744917e-01 -3.32129547e-02 1.21477324e+02] [ 6.50262980e-02 -1.50978146e-03 9.97882408e-01 3.60973997e+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:308.06, Y:121.50, Z:36.09 [[ 8.45726197e-01 -5.30674565e-01 -5.59616479e-02 3.08058029e+02] [ 5.29640348e-01 8.47574153e-01 -3.31535399e-02 1.21496545e+02] [ 6.50253866e-02 -1.60072942e-03 9.97882326e-01 3.60937760e+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:308.08, Y:121.51, Z:36.10 [[ 8.44532549e-01 -5.32585015e-01 -5.58388361e-02 3.08079251e+02] [ 5.31541814e-01 8.46375160e-01 -3.33524844e-02 1.21512888e+02] [ 6.50236373e-02 -1.51341762e-03 9.97882576e-01 3.61001893e+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:308.10, Y:121.53, Z:36.11 [[ 8.40249901e-01 -5.39325391e-01 -5.57514735e-02 3.08101703e+02] [ 5.38287596e-01 8.42095384e-01 -3.34937099e-02 1.21529414e+02] [ 6.50120667e-02 -1.86724019e-03 9.97882731e-01 3.61057977e+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:308.12, Y:121.55, Z:36.11 [[ 8.34489242e-01 -5.48199789e-01 -5.57198033e-02 3.08122730e+02] [ 5.47178203e-01 8.36343687e-01 -3.35447753e-02 1.21545732e+02] [ 6.49901445e-02 -2.49590775e-03 9.97882785e-01 3.61131151e+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:308.15, Y:121.56, Z:36.12 [[ 8.29291820e-01 -5.56077622e-01 -5.52517440e-02 3.08148504e+02] [ 5.55023289e-01 8.31127391e-01 -3.42988177e-02 1.21564166e+02] [ 6.49940428e-02 -2.22227574e-03 9.97883178e-01 3.61167324e+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:308.17, Y:121.58, Z:36.11 [[ 8.24094420e-01 -5.63701415e-01 -5.57593288e-02 3.08168620e+02] [ 5.62719004e-01 8.25969965e-01 -3.34804343e-02 1.21577529e+02] [ 6.49284990e-02 -3.78579488e-03 9.97882738e-01 3.61146830e+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:308.19, Y:121.60, Z:36.12 [[ 8.20053470e-01 -5.69614878e-01 -5.52376502e-02 3.08194727e+02] [ 5.68589383e-01 8.21905252e-01 -3.43201272e-02 1.21597248e+02] [ 6.49493698e-02 -3.26320203e-03 9.97883225e-01 3.61196554e+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:308.21, Y:121.61, Z:36.12 [[ 8.20548194e-01 -5.68851772e-01 -5.57523358e-02 3.08211930e+02] [ 5.67880403e-01 8.22429446e-01 -3.34911176e-02 1.21614104e+02] [ 6.49038443e-02 -4.17958283e-03 9.97882770e-01 3.61237141e+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:308.24, Y:121.63, Z:36.13 [[ 8.20055625e-01 -5.69613205e-01 -5.52229084e-02 3.08238221e+02] [ 5.68586202e-01 8.21906518e-01 -3.43425014e-02 1.21634872e+02] [ 6.49500106e-02 -3.23622226e-03 9.97883271e-01 3.61285610e+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:308.26, Y:121.66, Z:36.13 [[ 8.22032695e-01 -5.66716376e-01 -5.56308983e-02 3.08263005e+02] [ 5.65726938e-01 8.23904276e-01 -3.36864268e-02 1.21655199e+02] [ 6.49251847e-02 -3.78055349e-03 9.97882973e-01 3.61284548e+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:308.29, Y:121.68, Z:36.13 [[ 8.26377842e-01 -5.60359922e-01 -5.56454888e-02 3.08285359e+02] [ 5.59357655e-01 8.28242609e-01 -3.36629627e-02 1.21678183e+02] [ 6.49513399e-02 -3.30740362e-03 9.97882951e-01 3.61346332e+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:308.31, Y:121.70, Z:36.14 [[ 8.31243219e-01 -5.53123099e-01 -5.55837075e-02 3.08306857e+02] [ 5.52097956e-01 8.33095407e-01 -3.37622671e-02 1.21703293e+02] [ 6.49812213e-02 -2.62299568e-03 9.97883040e-01 3.61357549e+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:308.33, Y:121.72, Z:36.14 [[ 8.33720719e-01 -5.49393417e-01 -5.54674370e-02 3.08331022e+02] [ 5.48347566e-01 8.35561138e-01 -3.39489580e-02 1.21724649e+02] [ 6.49977688e-02 -2.11148437e-03 9.97883175e-01 3.61373771e+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:308.35, Y:121.75, Z:36.13 [[ 8.41589703e-01 -5.37263188e-01 -5.54530301e-02 3.08351138e+02] [ 5.36189274e-01 8.43413873e-01 -3.39720774e-02 1.21749469e+02] [ 6.50218014e-02 -1.14276942e-03 9.97883189e-01 3.61342529e+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:308.38, Y:121.77, Z:36.14 [[ 8.45282890e-01 -5.31461039e-01 -5.51905765e-02 3.08377142e+02] [ 5.30347037e-01 8.47082714e-01 -3.43932496e-02 1.21772391e+02] [ 6.50296555e-02 -1.98133285e-04 9.97883312e-01 3.61353419e+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:308.40, Y:121.80, Z:36.14 [[ 8.51935231e-01 -5.20713231e-01 -5.53542511e-02 3.08396851e+02] [ 5.19593577e-01 8.53731593e-01 -3.41303740e-02 1.21797577e+02] [ 6.50298102e-02 3.15154781e-04 9.97883272e-01 3.61365613e+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:308.42, Y:121.82, Z:36.14 [[ 8.53357097e-01 -5.18395839e-01 -5.52034317e-02 3.08422581e+02] [ 5.17255619e-01 8.55140427e-01 -3.43725996e-02 1.21818243e+02] [ 6.50252987e-02 7.77816601e-04 9.97883313e-01 3.61386715e+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:308.45, Y:121.84, Z:36.14 [[ 8.51827292e-01 -5.20904598e-01 -5.52147148e-02 3.08448767e+02] [ 5.19770806e-01 8.53614714e-01 -3.43544652e-02 1.21842035e+02] [ 6.50274919e-02 5.65074261e-04 9.97883313e-01 3.61403231e+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:308.47, Y:121.86, Z:36.14 [[ 8.50728627e-01 -5.22666799e-01 -5.54997266e-02 3.08472131e+02] [ 5.21566548e-01 8.52537040e-01 -3.38958884e-02 1.21859652e+02] [ 6.50318282e-02 -1.10598197e-04 9.97883184e-01 3.61445900e+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:308.50, Y:121.88, Z:36.15 [[ 8.44145487e-01 -5.33253923e-01 -5.53050770e-02 3.08496739e+02] [ 5.32155796e-01 8.45955051e-01 -3.42090766e-02 1.21881650e+02] [ 6.50277335e-02 -5.53479621e-04 9.97883304e-01 3.61504891e+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:308.52, Y:121.90, Z:36.15 [[ 8.40656365e-01 -5.38723807e-01 -5.54394806e-02 3.08522006e+02] [ 5.37651700e-01 8.42481540e-01 -3.39927223e-02 1.21899002e+02] [ 6.50194278e-02 -1.23093260e-03 9.97883239e-01 3.61526632e+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:308.55, Y:121.92, Z:36.15 [[ 8.35091234e-01 -5.47311780e-01 -5.54296633e-02 3.08548243e+02] [ 5.46257388e-01 8.36926691e-01 -3.40085231e-02 1.21917802e+02] [ 6.50038300e-02 -1.87864362e-03 9.97883246e-01 3.61541221e+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:308.58, Y:121.93, Z:36.15 [[ 8.34957939e-01 -5.47516003e-01 -5.54208155e-02 3.08575742e+02] [ 5.46461115e-01 8.36793105e-01 -3.40227647e-02 1.21933385e+02] [ 6.50037644e-02 -1.87774314e-03 9.97883252e-01 3.61547813e+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:308.60, Y:121.96, Z:36.16 [[ 8.32151449e-01 -5.51764021e-01 -5.55016388e-02 3.08600399e+02] [ 5.50727153e-01 8.33996933e-01 -3.38927530e-02 1.21955849e+02] [ 6.49889983e-02 -2.36235599e-03 9.97883184e-01 3.61554067e+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:308.62, Y:121.97, Z:36.16 [[ 8.31639307e-01 -5.52531321e-01 -5.55446006e-02 3.08624060e+02] [ 5.51500763e-01 8.33488374e-01 -3.38236278e-02 1.21974291e+02] [ 6.49843926e-02 -2.50383124e-03 9.97883139e-01 3.61627394e+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:308.65, Y:122.00, Z:36.17 [[ 8.29367730e-01 -5.55944615e-01 -5.54504641e-02 3.08647071e+02] [ 5.54911545e-01 8.31215295e-01 -3.39751673e-02 1.21996271e+02] [ 6.49795851e-02 -2.59219525e-03 9.97883227e-01 3.61683059e+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:308.67, Y:122.02, Z:36.17 [[ 8.25602207e-01 -5.61529617e-01 -5.53668232e-02 3.08669323e+02] [ 5.60500027e-01 8.27451655e-01 -3.41098132e-02 1.22019691e+02] [ 6.49670399e-02 -2.87196885e-03 9.97883278e-01 3.61718761e+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:308.69, Y:122.04, Z:36.17 [[ 8.24845372e-01 -5.62644740e-01 -5.53263837e-02 3.08694120e+02] [ 5.61613294e-01 8.26693767e-01 -3.41748892e-02 1.22039755e+02] [ 6.49662982e-02 -2.88303344e-03 9.97883294e-01 3.61732317e+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:308.72, Y:122.06, Z:36.18 [[ 8.26433995e-01 -5.60317485e-01 -5.52373815e-02 3.08715026e+02] [ 5.59271271e-01 8.28274055e-01 -3.43181459e-02 1.22064519e+02] [ 6.49807472e-02 -2.53099810e-03 9.97883308e-01 3.61764884e+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:308.74, Y:122.08, Z:36.18 [[ 8.29613531e-01 -5.55606927e-01 -5.51573278e-02 3.08737082e+02] [ 5.54541702e-01 8.31442665e-01 -3.44470083e-02 1.22084383e+02] [ 6.49991521e-02 -2.00933421e-03 9.97883296e-01 3.61778242e+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:308.76, Y:122.11, Z:36.18 [[ 8.31320640e-01 -5.53074284e-01 -5.49074602e-02 3.08756013e+02] [ 5.51976916e-01 8.33130871e-01 -3.48487646e-02 1.22106660e+02] [ 6.50190557e-02 -1.33715329e-03 9.97883127e-01 3.61822821e+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:308.77, Y:122.14, Z:36.19 [[ 8.38996760e-01 -5.41379395e-01 -5.47063677e-02 3.08772984e+02] [ 5.40235654e-01 8.40778418e-01 -3.51722840e-02 1.22136704e+02] [ 6.50374831e-02 -4.48979584e-05 9.97882821e-01 3.61873557e+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:308.79, Y:122.17, Z:36.18 [[ 8.46877766e-01 -5.28981979e-01 -5.45537844e-02 3.08792968e+02] [ 5.27796319e-01 8.48632207e-01 -3.54178267e-02 1.22165716e+02] [ 6.50314905e-02 1.20128332e-03 9.97882489e-01 3.61838773e+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:308.82, Y:122.19, Z:36.19 [[ 8.48147426e-01 -5.26917465e-01 -5.48081209e-02 3.08819207e+02] [ 5.25753941e-01 8.49916006e-01 -3.50082380e-02 1.22191772e+02] [ 6.50287512e-02 8.76561344e-04 9.97883006e-01 3.61874022e+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:308.83, Y:122.22, Z:36.19 [[ 8.52720679e-01 -5.19434968e-01 -5.52698582e-02 3.08832464e+02] [ 5.18303990e-01 8.54509794e-01 -3.42634641e-02 1.22215066e+02] [ 6.50262765e-02 5.70576296e-04 9.97883389e-01 3.61925438e+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:308.86, Y:122.23, Z:36.19 [[ 8.49558393e-01 -5.24660793e-01 -5.46039285e-02 3.08860616e+02] [ 5.23471157e-01 8.51310153e-01 -3.53407720e-02 1.22232159e+02] [ 6.50267962e-02 1.44046779e-03 9.97882478e-01 3.61939652e+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:308.89, Y:122.25, Z:36.20 [[ 8.47692947e-01 -5.27679113e-01 -5.45107497e-02 3.08889616e+02] [ 5.26486006e-01 8.49442659e-01 -3.54916163e-02 1.22246891e+02] [ 6.50319407e-02 1.38684589e-03 9.97882219e-01 3.61976891e+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:308.92, Y:122.26, Z:36.20 [[ 8.48330068e-01 -5.26651005e-01 -5.45418731e-02 3.08916409e+02] [ 5.25459018e-01 8.50080433e-01 -3.54411955e-02 1.22261787e+02] [ 6.50301203e-02 1.40631269e-03 9.97882311e-01 3.61993626e+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:308.95, Y:122.28, Z:36.19 [[ 8.48553364e-01 -5.26292234e-01 -5.45314008e-02 3.08947675e+02] [ 5.25098414e-01 8.50302518e-01 -3.54582026e-02 1.22278296e+02] [ 6.50295640e-02 1.45382504e-03 9.97882279e-01 3.61935040e+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:308.97, Y:122.29, Z:36.19 [[ 8.49611977e-01 -5.24572326e-01 -5.46201838e-02 3.08974465e+02] [ 5.23384251e-01 8.51364711e-01 -3.53136538e-02 1.22294309e+02] [ 6.50262625e-02 1.41555924e-03 9.97882549e-01 3.61923072e+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:309.01, Y:122.31, Z:36.19 [[ 8.48772502e-01 -5.25928010e-01 -5.46348527e-02 3.09007580e+02] [ 5.24744273e-01 8.50528118e-01 -3.52897643e-02 1.22313516e+02] [ 6.50283540e-02 1.28365545e-03 9.97882591e-01 3.61894686e+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:309.03, Y:122.33, Z:36.19 [[ 8.49079861e-01 -5.25346572e-01 -5.54469905e-02 3.09030225e+02] [ 5.24247570e-01 8.50888316e-01 -3.39640850e-02 1.22325711e+02] [ 6.50221120e-02 -2.29729444e-04 9.97883797e-01 3.61933247e+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:309.06, Y:122.34, Z:36.19 [[ 8.49148674e-01 -5.25295040e-01 -5.48784994e-02 3.09061448e+02] [ 5.24135674e-01 8.50919722e-01 -3.48915680e-02 1.22343865e+02] [ 6.50255650e-02 8.64349451e-04 9.97883224e-01 3.61915486e+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:309.09, Y:122.36, Z:36.19 [[ 8.49360457e-01 -5.24910715e-01 -5.52770784e-02 3.09088818e+02] [ 5.23792802e-01 8.51157286e-01 -3.42399782e-02 1.22360208e+02] [ 6.50224195e-02 1.28347781e-04 9.97883795e-01 3.61931697e+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:309.12, Y:122.37, Z:36.19 [[ 8.48501516e-01 -5.26295750e-01 -5.52988296e-02 3.09116493e+02] [ 5.25183089e-01 8.50301584e-01 -3.42043812e-02 1.22374515e+02] [ 6.50223029e-02 -1.95408416e-05 9.97883811e-01 3.61947010e+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:309.14, Y:122.39, Z:36.20 [[ 8.46963450e-01 -5.28779147e-01 -5.51863035e-02 3.09140124e+02] [ 5.27659751e-01 8.48759456e-01 -3.43885644e-02 1.22389903e+02] [ 6.50238527e-02 6.26592863e-06 9.97883710e-01 3.61962540e+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:309.17, Y:122.40, Z:36.20 [[ 8.45722388e-01 -5.30785458e-01 -5.49585378e-02 3.09173636e+02] [ 5.29646001e-01 8.47506173e-01 -3.47620456e-02 1.22403543e+02] [ 6.50288883e-02 2.90470425e-04 9.97883340e-01 3.61950200e+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:309.20, Y:122.42, Z:36.20 [[ 8.45171686e-01 -5.31631541e-01 -5.52514716e-02 3.09201368e+02] [ 5.30525230e-01 8.46975672e-01 -3.42810564e-02 1.22416667e+02] [ 6.50215432e-02 -3.38921393e-04 9.97883803e-01 3.61993365e+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:309.23, Y:122.43, Z:36.19 [[ 8.41590779e-01 -5.37291389e-01 -5.51627079e-02 3.09233815e+02] [ 5.36187658e-01 8.43396465e-01 -3.44267058e-02 1.22432888e+02] [ 6.50212054e-02 -6.04364981e-04 9.97883699e-01 3.61946656e+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:309.26, Y:122.45, Z:36.20 [[ 8.41277235e-01 -5.37743106e-01 -5.55424746e-02 3.09263394e+02] [ 5.36681380e-01 8.43107628e-01 -3.38027309e-02 1.22449070e+02] [ 6.50054695e-02 -1.37114389e-03 9.97883966e-01 3.61953078e+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:309.29, Y:122.46, Z:36.20 [[ 8.42272367e-01 -5.36181900e-01 -5.55538405e-02 3.09290070e+02] [ 5.35118013e-01 8.44101505e-01 -3.37840411e-02 1.22464485e+02] [ 6.50074717e-02 -1.27249641e-03 9.97883966e-01 3.62016457e+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:309.31, Y:122.48, Z:36.20 [[ 8.43126238e-01 -5.34846366e-01 -5.54753189e-02 3.09314036e+02] [ 5.33771083e-01 8.44948713e-01 -3.39131684e-02 1.22479614e+02] [ 6.50121342e-02 -1.01803892e-03 9.97883954e-01 3.62002518e+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:309.34, Y:122.50, Z:36.20 [[ 8.45075111e-01 -5.31790975e-01 -5.51943472e-02 3.09341710e+02] [ 5.30678851e-01 8.46875611e-01 -3.43752172e-02 1.22499291e+02] [ 6.50231768e-02 -2.40832283e-04 9.97883725e-01 3.62038346e+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:309.37, Y:122.52, Z:36.21 [[ 8.47208750e-01 -5.28345359e-01 -5.55744063e-02 3.09368548e+02] [ 5.27266820e-01 8.49029256e-01 -3.37494161e-02 1.22517172e+02] [ 6.50156442e-02 -7.09739763e-04 9.97883992e-01 3.62074842e+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:309.39, Y:122.54, Z:36.21 [[ 8.51632702e-01 -5.21183401e-01 -5.55842062e-02 3.09393602e+02] [ 5.20090604e-01 8.53444685e-01 -3.37332682e-02 1.22536213e+02] [ 6.50192648e-02 -1.80469058e-04 9.97883993e-01 3.62120080e+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:309.42, Y:122.55, Z:36.21 [[ 8.55898687e-01 -5.14147077e-01 -5.55897582e-02 3.09421236e+02] [ 5.13039979e-01 8.57701967e-01 -3.37241165e-02 1.22553028e+02] [ 6.50186009e-02 3.44658699e-04 9.97883993e-01 3.62098565e+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:309.45, Y:122.57, Z:36.21 [[ 8.57712898e-01 -5.11113758e-01 -5.55995715e-02 3.09448682e+02] [ 5.10001331e-01 8.59512896e-01 -3.37079300e-02 1.22568857e+02] [ 6.50171355e-02 5.55870865e-04 9.97883993e-01 3.62119184e+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:309.48, Y:122.59, Z:36.22 [[ 8.59268576e-01 -5.08493452e-01 -5.56050759e-02 3.09479559e+02] [ 5.07376124e-01 8.61065536e-01 -3.36988473e-02 1.22585024e+02] [ 6.50152577e-02 7.43672644e-04 9.97883993e-01 3.62179025e+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:309.50, Y:122.60, Z:36.21 [[ 8.60679775e-01 -5.06051603e-01 -5.60544443e-02 3.09501416e+02] [ 5.04977336e-01 8.62503201e-01 -3.29563102e-02 1.22599445e+02] [ 6.50247312e-02 5.86056742e-05 9.97883651e-01 3.62126431e+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:309.53, Y:122.62, Z:36.21 [[ 8.64192884e-01 -5.00078184e-01 -5.56099823e-02 3.09528519e+02] [ 4.98943931e-01 8.65979179e-01 -3.36900019e-02 1.22615605e+02] [ 6.50047218e-02 1.36839677e-03 9.97884018e-01 3.62139602e+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:309.56, Y:122.63, Z:36.21 [[ 8.64497733e-01 -4.99550011e-01 -5.56188521e-02 3.09557656e+02] [ 4.98415608e-01 8.66283933e-01 -3.36753524e-02 1.22630763e+02] [ 6.50042406e-02 1.39096180e-03 9.97884018e-01 3.62091803e+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:309.59, Y:122.65, Z:36.22 [[ 8.63630463e-01 -5.01046752e-01 -5.56289115e-02 3.09585987e+02] [ 4.99916516e-01 8.65419301e-01 -3.36587269e-02 1.22649135e+02] [ 6.50069295e-02 1.25889024e-03 9.97884018e-01 3.62160947e+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:309.61, Y:122.66, Z:36.21 [[ 8.62299179e-01 -5.03299105e-01 -5.59476290e-02 3.09611161e+02] [ 5.02207657e-01 8.64112139e-01 -3.31312786e-02 1.22661072e+02] [ 6.50199682e-02 4.71746603e-04 9.97883852e-01 3.62093340e+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:309.64, Y:122.68, Z:36.21 [[ 8.57804435e-01 -5.10955828e-01 -5.56389626e-02 3.09641285e+02] [ 5.09847358e-01 8.59606830e-01 -3.36417933e-02 1.22675655e+02] [ 6.50171026e-02 4.90701351e-04 9.97884029e-01 3.62065956e+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:309.67, Y:122.69, Z:36.21 [[ 8.50891098e-01 -5.22386254e-01 -5.56501699e-02 3.09668062e+02] [ 5.21303210e-01 8.52708884e-01 -3.36232440e-02 1.22692939e+02] [ 6.50177148e-02 -4.00893179e-04 9.97884029e-01 3.62119274e+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:309.70, Y:122.71, Z:36.21 [[ 8.48297427e-01 -5.26578334e-01 -5.57380818e-02 3.09698118e+02] [ 5.25513829e-01 8.50126145e-01 -3.34776654e-02 1.22709628e+02] [ 6.50130139e-02 -8.92115336e-04 9.97884017e-01 3.62137317e+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:309.74, Y:122.72, Z:36.22 [[ 8.45568008e-01 -5.30908149e-01 -5.61362707e-02 3.09736745e+02] [ 5.29896621e-01 8.47427018e-01 -3.28179789e-02 1.22723192e+02] [ 6.49947249e-02 -1.99658708e-03 9.97883610e-01 3.62194232e+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:309.75, Y:122.74, Z:36.21 [[ 8.39910431e-01 -5.39696047e-01 -5.72594611e-02 3.09752758e+02] [ 5.38829449e-01 8.41845959e-01 -3.09549013e-02 1.22739292e+02] [ 6.49098838e-02 -4.85373940e-03 9.97879325e-01 3.62129990e+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:309.79, Y:122.76, Z:36.22 [[ 8.38771521e-01 -5.41574307e-01 -5.62103690e-02 3.09787600e+02] [ 5.40594912e-01 8.40647647e-01 -3.26905961e-02 1.22756265e+02] [ 6.49575013e-02 -2.96709850e-03 9.97883620e-01 3.62177351e+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:309.80, Y:122.77, Z:36.21 [[ 8.35320499e-01 -5.46766664e-01 -5.73225871e-02 3.09804473e+02] [ 5.45923500e-01 8.37266812e-01 -3.08515542e-02 1.22771339e+02] [ 6.48629011e-02 -5.52281174e-03 9.97878902e-01 3.62106220e+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:309.84, Y:122.79, Z:36.22 [[ 8.37837324e-01 -5.43018108e-01 -5.62134597e-02 3.09838040e+02] [ 5.42042735e-01 8.39715298e-01 -3.26786099e-02 1.22789776e+02] [ 6.49483790e-02 -3.09073836e-03 9.97883839e-01 3.62162814e+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:309.87, Y:122.81, Z:36.21 [[ 8.40688022e-01 -5.38499010e-01 -5.71179932e-02 3.09867701e+02] [ 5.37613572e-01 8.42614208e-01 -3.11920442e-02 1.22805749e+02] [ 6.49253176e-02 -4.48463042e-03 9.97880049e-01 3.62146101e+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:309.89, Y:122.82, Z:36.22 [[ 8.42333533e-01 -5.35886276e-01 -5.74466495e-02 3.09886744e+02] [ 5.35031496e-01 8.44275861e-01 -3.06523865e-02 1.22821409e+02] [ 6.49270127e-02 -4.91623383e-03 9.97877905e-01 3.62210667e+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:309.90, Y:122.84, Z:36.22 [[ 8.42384975e-01 -5.35882177e-01 -5.67260708e-02 3.09903835e+02] [ 5.34947034e-01 8.44285423e-01 -3.18401492e-02 1.22836077e+02] [ 6.49555632e-02 -3.52378004e-03 9.97881936e-01 3.62173924e+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:309.93, Y:122.85, Z:36.22 [[ 8.50036638e-01 -5.23768547e-01 -5.57155507e-02 3.09932774e+02] [ 5.22696518e-01 8.51860371e-01 -3.35001298e-02 1.22852557e+02] [ 6.50081840e-02 -6.45986649e-04 9.97884522e-01 3.62196557e+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:309.97, Y:122.87, Z:36.23 [[ 8.56917729e-01 -5.12403041e-01 -5.59922270e-02 3.09966536e+02] [ 5.11336450e-01 8.58745029e-01 -3.30455651e-02 1.22872613e+02] [ 6.50156947e-02 -3.13536029e-04 9.97884192e-01 3.62336302e+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:309.99, Y:122.89, Z:36.23 [[ 8.62789432e-01 -5.02341514e-01 -5.69859637e-02 3.09994129e+02] [ 5.01360110e-01 8.64668067e-01 -3.14193379e-02 1.22891664e+02] [ 6.50571808e-02 -1.46221629e-03 9.97880466e-01 3.62285453e+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:310.00, Y:122.90, Z:36.22 [[ 8.63963411e-01 -5.00271312e-01 -5.74093937e-02 3.10004857e+02] [ 4.99331482e-01 8.65866105e-01 -3.07239147e-02 1.22904806e+02] [ 6.50791413e-02 -2.12197952e-03 9.97877850e-01 3.62201723e+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:310.03, Y:122.92, Z:36.23 [[ 8.66357883e-01 -4.96315197e-01 -5.56349193e-02 3.10029681e+02] [ 4.95177401e-01 8.68140958e-01 -3.36246682e-02 1.22919678e+02] [ 6.49873860e-02 1.58184165e-03 9.97884832e-01 3.62254102e+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:310.07, Y:122.93, Z:36.22 [[ 8.68041090e-01 -4.93386341e-01 -5.54489277e-02 3.10073437e+02] [ 4.92223107e-01 8.69807600e-01 -3.39286386e-02 1.22934500e+02] [ 6.49698256e-02 2.15820895e-03 9.97884895e-01 3.62209977e+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:310.10, Y:122.95, Z:36.23 [[ 8.65602345e-01 -4.97472703e-01 -5.70393801e-02 3.10097460e+02] [ 4.96488659e-01 8.67478763e-01 -3.12986780e-02 1.22952075e+02] [ 6.50506888e-02 -1.22719630e-03 9.97881206e-01 3.62313647e+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:310.04, Y:122.92, Z:36.22 [[ 8.69492984e-01 -4.90975921e-01 -5.40795315e-02 3.10038321e+02] [ 4.90235785e-01 8.71168179e-01 -2.71086532e-02 1.22915208e+02] [ 6.04220630e-02 -2.94093787e-03 9.98168586e-01 3.62226309e+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:309.98, Y:122.88, Z:36.21 [[ 8.74120320e-01 -4.82779434e-01 -5.32699099e-02 3.09983091e+02] [ 4.82192349e-01 8.75730366e-01 -2.42253038e-02 1.22879410e+02] [ 5.83455561e-02 -4.51051272e-03 9.98286257e-01 3.62136107e+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:309.93, Y:122.85, Z:36.21 [[ 8.79503286e-01 -4.73332606e-01 -4.92971994e-02 3.09928360e+02] [ 4.72808250e-01 8.80876909e-01 -2.25439540e-02 1.22849621e+02] [ 5.40955531e-02 -3.48064097e-03 9.98529697e-01 3.62066476e+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:309.88, Y:122.82, Z:36.20 [[ 8.80467072e-01 -4.71427122e-01 -5.03408807e-02 3.09882073e+02] [ 4.71319971e-01 8.81839359e-01 -1.47251424e-02 1.22818792e+02] [ 5.13344014e-02 -1.07616594e-02 9.98623536e-01 3.61975617e+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:309.83, Y:122.79, Z:36.19 [[ 8.76711471e-01 -4.78792644e-01 -4.62017449e-02 3.09832431e+02] [ 4.78745004e-01 8.77860514e-01 -1.28116385e-02 1.22785905e+02] [ 4.66928058e-02 -1.08867441e-02 9.98849969e-01 3.61900599e+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:309.80, Y:122.76, Z:36.18 [[ 8.74361053e-01 -4.82768481e-01 -4.92680735e-02 3.09800364e+02] [ 4.83145988e-01 8.75527053e-01 -4.72579601e-03 1.22764674e+02] [ 4.54169966e-02 -1.96716200e-02 9.98774411e-01 3.61785741e+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:309.77, Y:122.74, Z:36.17 [[ 8.70778785e-01 -4.89135343e-01 -4.99091529e-02 3.09770925e+02] [ 4.89812942e-01 8.71826162e-01 1.55741709e-03 1.22743319e+02] [ 4.27503175e-02 -2.58023147e-02 9.98752547e-01 3.61661776e+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:309.74, Y:122.72, Z:36.15 [[ 8.70020721e-01 -4.90244047e-01 -5.21988479e-02 3.09741135e+02] [ 4.91391774e-01 8.70866847e-01 1.11829786e-02 1.22723788e+02] [ 3.99758574e-02 -3.53795076e-02 9.98574094e-01 3.61547446e+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:309.71, Y:122.71, Z:36.14 [[ 8.70076256e-01 -4.89761967e-01 -5.56823461e-02 3.09711133e+02] [ 4.91435263e-01 8.70660759e-01 2.10053539e-02 1.22705190e+02] [ 3.81928102e-02 -4.56405281e-02 9.98227555e-01 3.61442207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11320.89 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